Go to the documentation of this file.00001 """
00002 Copyright (c) 2013, Cogniteam
00003 All rights reserved.
00004
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007
00008 * Redistributions of source code must retain the above copyright
00009 notice, this list of conditions and the following disclaimer.
00010
00011 * Redistributions in binary form must reproduce the above copyright
00012 notice, this list of conditions and the following disclaimer in the
00013 documentation and/or other materials provided with the distribution.
00014
00015 * Neither the name of the Cogniteam nor the
00016 names of its contributors may be used to endorse or promote products
00017 derived from this software without specific prior written permission.
00018
00019 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00020 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00021 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00022 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00023 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00024 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00025 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00026 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00027 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00028 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00029 """
00030
00031 from python_qt_binding.QtGui import QWidget
00032 import rospkg
00033 import rospy
00034 from diagnostic_msgs.msg import DiagnosticArray
00035 from rqt_gui_py.plugin import Plugin
00036 from .graph_widget import GraphWidget
00037
00038
00039 class DecisionMakingGraph(Plugin):
00040
00041 def __init__(self, context):
00042 super(DecisionMakingGraph, self).__init__(context)
00043
00044 self.initialized = False
00045 self.setObjectName('DecisionMakingGraph')
00046
00047 self._widget = GraphWidget(rospkg.RosPack())
00048 self._widget.setWindowTitle(GraphWidget.get_unique_name(context))
00049
00050 context.add_widget(self._widget)
00051
00052 self._filter = 'decision_making'
00053
00054 self._subscriber = None
00055 self._subscribe('/decision_making/monitoring')
00056
00057 def _on_message(self, message):
00058 if not message.status[0].name[-len(self._filter):] == self._filter:
00059 return
00060
00061 self._widget.update(message)
00062
00063 def _subscribe(self, topic):
00064 if self._subscriber:
00065 self._subscriber.unregister()
00066
00067 self._subscriber = rospy.Subscriber(topic, DiagnosticArray, self._on_message)
00068
00069 def shutdown_plugin(self):
00070 if self._subscriber is not None:
00071 self._subscriber.unregister()