motors.py

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#
# Ported from pr2_motors: Vincent Rabaud, Aldebaran Robotics, 2014
#

from python_qt_binding.QtGui import QMessageBox

import actionlib
import rospy
from rqt_robot_dashboard.widgets import MenuDashWidget
import std_srvs.srv

from naoqi_bridge_msgs.msg import BodyPoseWithSpeedAction, BodyPoseWithSpeedGoal


class Motors(MenuDashWidget):
    """
    Dashboard widget to display motor state and allow interaction.
    """
    def __init__(self, context, topic_prefix):
        """
        :param context: the plugin context
        :type context: qt_gui.plugin.Plugin
        :param reset_callback: calback for the "reset" action
        :type reset_callback: function
        :param halt_callback: calback for the "reset" action
        :type halt_callback: function
        """
        ok_icon = ['bg-green.svg', 'ic-motors.svg']
        warn_icon = ['bg-yellow.svg', 'ic-motors.svg', 'ol-warn-badge.svg']
        err_icon = ['bg-red.svg', 'ic-motors.svg', 'ol-err-badge.svg']
        stale_icon = ['bg-grey.svg', 'ic-motors.svg', 'ol-stale-badge.svg']

        icons = [ok_icon, warn_icon, err_icon, stale_icon]

        super(Motors, self).__init__('Motors', icons)
        self.update_state(3)

        self.add_action('Wakeup', self.on_wakeup)
        self.add_action('Rest', self.on_rest)
        self.add_action('Enable Life', self.on_enable_life)
        self.add_action('Disable Life', self.on_disable_life)
        self.add_action('Remove stiffness immediately', self.on_remove_stiffness)

        # clients for controlling the robot
        self.stiffnessEnableClient = rospy.ServiceProxy(str(topic_prefix)+"/pose/body_stiffness/enable", std_srvs.srv.Empty)
        self.stiffnessDisableClient = rospy.ServiceProxy(str(topic_prefix)+"/pose/body_stiffness/disable", std_srvs.srv.Empty)
        self.wakeupClient = rospy.ServiceProxy(str(topic_prefix)+"/pose/wakeup", std_srvs.srv.Empty)
        self.restClient = rospy.ServiceProxy(str(topic_prefix)+"/pose/rest", std_srvs.srv.Empty)
        self.lifeEnableClient = rospy.ServiceProxy(str(topic_prefix)+"/pose/life/enable", std_srvs.srv.Empty)
        self.lifeDisableClient = rospy.ServiceProxy(str(topic_prefix)+"/pose/life/disable", std_srvs.srv.Empty)

    def set_ok(self):
        self.update_state(0)

    def set_warn(self):
        self.update_state(1)

    def set_error(self):
        self.update_state(2)

    def set_stale(self):
        self.update_state(3)

    def on_wakeup(self):
        self.wakeupClient.call()

    def on_rest(self):
        self.restClient.call()

    def on_enable_life(self):
        self.lifeEnableClient.call()

    def on_disable_life(self):
        self.lifeDisableClient.call()

    def on_remove_stiffness(self):
      reply = QMessageBox.question(self, 'Caution',
                     'Robot may fall. Continue to remove stiffness?', QMessageBox.Yes, QMessageBox.No)
      if(reply == QMessageBox.Yes):
          self.stiffnessDisableClient.call()