pr2_dashboard.py
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00001 # Software License Agreement (BSD License)
00002 #
00003 # Copyright (c) 2012, Willow Garage, Inc.
00004 # All rights reserved.
00005 #
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions
00008 # are met:
00009 #
00010 #  * Redistributions of source code must retain the above copyright
00011 #    notice, this list of conditions and the following disclaimer.
00012 #  * Redistributions in binary form must reproduce the above
00013 #    copyright notice, this list of conditions and the following
00014 #    disclaimer in the documentation and/or other materials provided
00015 #    with the distribution.
00016 #  * Neither the name of Willow Garage, Inc. nor the names of its
00017 #    contributors may be used to endorse or promote products derived
00018 #    from this software without specific prior written permission.
00019 #
00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00021 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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00031 # POSSIBILITY OF SUCH DAMAGE.
00032 
00033 import roslib
00034 roslib.load_manifest('rqt_pr2_dashboard')
00035 import rospy
00036 
00037 from pr2_msgs.msg import PowerBoardState, DashboardState
00038 import std_srvs.srv
00039 
00040 from rqt_robot_dashboard.dashboard import Dashboard
00041 from rqt_robot_dashboard.monitor_dash_widget import MonitorDashWidget
00042 from rqt_robot_dashboard.console_dash_widget import ConsoleDashWidget
00043 
00044 from python_qt_binding.QtCore import QSize
00045 from python_qt_binding.QtGui import QMessageBox
00046 
00047 from .pr2_breaker import PR2BreakerButton
00048 from .pr2_battery import PR2Battery
00049 from .pr2_motors import PR2Motors
00050 from .pr2_runstop import PR2Runstops
00051 
00052 
00053 class PR2Dashboard(Dashboard):
00054     """
00055     Dashboard for PR2s
00056 
00057     :param context: the plugin context
00058     :type context: qt_gui.plugin.Plugin
00059     """
00060     def setup(self, context):
00061         self.name = 'PR2 Dashboard'
00062         self.max_icon_size = QSize(50, 30)
00063         self.message = None
00064 
00065         self._dashboard_message = None
00066         self._last_dashboard_message_time = 0.0
00067 
00068         self._raw_byte = None
00069         self.digital_outs = [0, 0, 0]
00070 
00071         self._console = ConsoleDashWidget(self.context, minimal=False)
00072         self._monitor = MonitorDashWidget(self.context)
00073         self._motors = PR2Motors(self.on_reset_motors, self.on_halt_motors)
00074         self._breakers = [PR2BreakerButton('Left Arm', 0),
00075                          PR2BreakerButton('Base', 1),
00076                          PR2BreakerButton('Right Arm', 2)]
00077 
00078         self._runstop = PR2Runstops('RunStops')
00079         self._batteries = [PR2Battery(self.context)]
00080 
00081         self._dashboard_agg_sub = rospy.Subscriber('dashboard_agg', DashboardState, self.dashboard_callback)
00082 
00083     def get_widgets(self):
00084         return [[self._monitor, self._console, self._motors], self._breakers, [self._runstop], self._batteries]
00085 
00086     def dashboard_callback(self, msg):
00087         """
00088         callback to process dashboard_agg messages
00089 
00090         :param msg: dashboard_agg DashboardState message
00091         :type msg: pr2_msgs.msg.DashboardState
00092         """
00093         self._dashboard_message = msg
00094         self._last_dashboard_message_time = rospy.get_time()
00095 
00096         if (msg.motors_halted_valid):
00097             if (not msg.motors_halted.data):
00098                 self._motors.set_ok()
00099                 self._motors.setToolTip(self.tr("Motors: Running"))
00100             else:
00101                 self._motors.set_error()
00102                 self._motors.setToolTip(self.tr("Motors: Halted"))
00103         else:
00104             self._motors.set_stale()
00105             self._motors.setToolTip(self.tr("Motors: Stale"))
00106 
00107         if (msg.power_state_valid):
00108             self._batteries[0].set_power_state(msg.power_state)
00109         else:
00110             self._batteries[0].set_stale()
00111 
00112         if (msg.power_board_state_valid):
00113             [breaker.set_power_board_state_msg(msg.power_board_state) for breaker in self._breakers]
00114             if msg.power_board_state.run_stop:
00115                 self._runstop.set_ok()
00116                 self._runstop.setToolTip(self.tr("Physical Runstop: OK\nWireless Runstop: OK"))
00117             elif msg.power_board_state.wireless_stop:
00118                 self._runstop.set_physical_engaged()
00119                 self._runstop.setToolTip(self.tr("Physical Runstop: Pressed\nWireless Runstop: OK"))
00120             if not msg.power_board_state.wireless_stop:
00121                 self._runstop.set_wireless_engaged()
00122                 self._runstop.setToolTip(self.tr("Physical Runstop: Unknown\nWireless Runstop: Pressed"))
00123         else:
00124             [breaker.reset() for breaker in self._breakers]
00125             self._runstop.set_stale()
00126             self._runstop.setToolTip(self.tr("Physical Runstop: Stale\nWireless Runstop: Stale"))
00127 
00128     def on_reset_motors(self):
00129         # if any of the breakers is not enabled ask if they'd like to enable them
00130         if (self._dashboard_message is not None and self._dashboard_message.power_board_state_valid):
00131             all_breakers_enabled = reduce(lambda x, y: x and y, [state == PowerBoardState.STATE_ON for state in self._dashboard_message.power_board_state.circuit_state])
00132             if (not all_breakers_enabled):
00133                 if(QMessageBox.question(self._breakers[0], self.tr('Enable Breakers?'), self.tr("Resetting the motors may not work because not all breakers are enabled.  Enable all the breakers first?"), QMessageBox.Yes | QMessageBox.No, QMessageBox.Yes) == QMessageBox.Yes):
00134                     [breaker.set_enable() for breaker in self._breakers]
00135         reset = rospy.ServiceProxy("pr2_ethercat/reset_motors", std_srvs.srv.Empty)
00136         try:
00137             reset()
00138         except rospy.ServiceException, e:
00139             QMessageBox.critical(self._breakers[0], "Error", "Failed to reset the motors: service call failed with error: %s" % (e))
00140 
00141     def on_halt_motors(self):
00142         halt = rospy.ServiceProxy("pr2_ethercat/halt_motors", std_srvs.srv.Empty)
00143         try:
00144             halt()
00145         except rospy.ServiceException, e:
00146             QMessageBox.critical(self._motors, "Error", "Failed to halt the motors: service call failed with error: %s" % (e))
00147 
00148     def shutdown_dashboard(self):
00149         self._dashboard_agg_sub.unregister()
00150 
00151     def save_settings(self, plugin_settings, instance_settings):
00152         self._console.save_settings(plugin_settings, instance_settings)
00153         self._monitor.save_settings(plugin_settings, instance_settings)
00154 
00155     def restore_settings(self, plugin_settings, instance_settings):
00156         self._console.restore_settings(plugin_settings, instance_settings)
00157         self._monitor.restore_settings(plugin_settings, instance_settings)


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