pr2_battery.py
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00001 # Software License Agreement (BSD License)
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00003 # Copyright (c) 2012, Willow Garage, Inc.
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00014 #    disclaimer in the documentation and/or other materials provided
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00032 
00033 import rospy
00034 
00035 from python_qt_binding.QtCore import QSize
00036 from rqt_robot_dashboard.widgets import BatteryDashWidget
00037 
00038 
00039 class PR2Battery(BatteryDashWidget):
00040     """
00041     Dashboard widget to display PR2 battery state.
00042     """
00043     #TODO When nonbutton Dashboard objects are available rebase this widget
00044     def __init__(self, context):
00045         """
00046         :param context: the plugin context
00047         :type context: qt_gui.plugin.Plugin
00048         """
00049         super(PR2Battery, self).__init__('PR2 Battery')
00050 
00051         self._power_consumption = 0.0
00052         self._pct = 0
00053         self._time_remaining = rospy.rostime.Duration(0)
00054         self._ac_present = 0
00055         self._plugged_in = False
00056 
00057         self.setFixedSize(self._icons[1].actualSize(QSize(50, 30)))
00058 
00059         self.update_perc(0)
00060 
00061     def set_power_state(self, msg):
00062         """
00063         Sets button state based on msg
00064 
00065         :param msg: message containing the power state of the PR2
00066         :type msg: pr2_msgs.PowerState
00067         """
00068         last_pct = self._pct
00069         last_plugged_in = self._plugged_in
00070         last_time_remaining = self._time_remaining
00071 
00072         self._power_consumption = msg.power_consumption
00073         self._time_remaining = msg.time_remaining
00074         self._pct = msg.relative_capacity / 100.0
00075         self._plugged_in = msg.AC_present
00076         if (last_pct != self._pct or last_plugged_in != self._plugged_in or last_time_remaining != self._time_remaining):
00077             drain_str = "remaining"
00078             if (self._plugged_in):
00079                 drain_str = "to full charge"
00080                 self.setToolTip("Battery: %.2f%% \nTime %s: %d Minutes" % (self._pct * 100.0, drain_str, self._time_remaining.to_sec() / 60.0))
00081                 self.charging = True
00082             self.update_perc(msg.relative_capacity)
00083 
00084     def set_stale(self):
00085         self._plugged_in = 0
00086         self._pct = 0
00087         self._time_remaining = rospy.rostime.Duration(0)
00088         self._power_consumption = 0
00089         self.setToolTip("Battery: Stale")


rqt_pr2_dashboard
Author(s): Aaron Blasdel
autogenerated on Wed Aug 26 2015 16:13:38