rqt_pr2_dashboard: pr2_motors.py Source File

Go to the documentation of this file.
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
00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00023 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00024 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00025 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00026 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00027 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00028 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00029 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00030 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031 # POSSIBILITY OF SUCH DAMAGE.
00032 from python_qt_binding.QtCore import QSize
00033 
00034 from rqt_robot_dashboard.widgets import MenuDashWidget
00035 
00036 
00037 class PR2Motors(MenuDashWidget):
00038     """
00039     Dashboard widget to display motor state and allow interaction.
00040     """
00041     def __init__(self, reset_callback, halt_callback):
00042         """
00043         :param context: the plugin context
00044         :type context: qt_gui.plugin.Plugin
00045         :param reset_callback: calback for the "reset" action
00046         :type reset_callback: function
00047         :param halt_callback: calback for the "reset" action
00048         :type halt_callback: function
00049         """
00050         ok_icon = ['bg-green.svg', 'ic-motors.svg']
00051         warn_icon = ['bg-yellow.svg', 'ic-motors.svg', 'ol-warn-badge.svg']
00052         err_icon = ['bg-red.svg', 'ic-motors.svg', 'ol-err-badge.svg']
00053         stale_icon = ['bg-grey.svg', 'ic-motors.svg', 'ol-stale-badge.svg']
00054 
00055         icons = [ok_icon, warn_icon, err_icon, stale_icon]
00056         super(PR2Motors, self).__init__('Motors', icons)
00057         self.update_state(3)
00058 
00059         self.add_action('Reset', reset_callback)
00060         self.add_action('Halt', halt_callback)
00061         self.setToolTip('Motors')
00062 
00063         self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
00064 
00065     def set_ok(self):
00066         self.update_state(0)
00067 
00068     def set_warn(self):
00069         self.update_state(1)
00070 
00071     def set_error(self):
00072         self.update_state(2)
00073 
00074     def set_stale(self):
00075         self.update_state(3)