monitor_dash_widget.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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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 
00033 import rospy
00034 from diagnostic_msgs.msg import DiagnosticStatus
00035 from python_qt_binding.QtCore import QMutex, QMutexLocker, QSize, QTimer, Signal
00036 from rqt_robot_monitor.robot_monitor import RobotMonitorWidget
00037 from .icon_tool_button import IconToolButton
00038 
00039 
00040 class MonitorDashWidget(IconToolButton):
00041     """
00042     A widget which brings up the rqt_robot_monitor.
00043 
00044     Times out after certain period of time (set as 5 sec as of Apr 2013)
00045     without receiving diagnostics msg ('/diagnostics_toplevel_state' of
00046     DiagnosticStatus type), status becomes as 'stale'.
00047 
00048     :param context: The plugin context to create the monitor in.
00049     :type context: qt_gui.plugin_context.PluginContext
00050     """
00051     _msg_trigger = Signal()
00052 
00053     def __init__(self, context, icon_paths=[]):
00054         self._graveyard = []
00055         ok_icon = ['bg-green.svg', 'ic-diagnostics.svg']
00056         warn_icon = ['bg-yellow.svg', 'ic-diagnostics.svg',
00057                      'ol-warn-badge.svg']
00058         err_icon = ['bg-red.svg', 'ic-diagnostics.svg', 'ol-err-badge.svg']
00059         stale_icon = ['bg-grey.svg', 'ic-diagnostics.svg',
00060                       'ol-stale-badge.svg']
00061 
00062         icons = [ok_icon, warn_icon, err_icon, stale_icon]
00063 
00064         super(MonitorDashWidget, self).__init__('MonitorWidget', icons,
00065                                                 icon_paths=icon_paths)
00066 
00067         self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
00068 
00069         self._monitor = None
00070         self._close_mutex = QMutex()
00071         self._show_mutex = QMutex()
00072 
00073         self._last_update = rospy.Time.now()
00074 
00075         self.context = context
00076         self.clicked.connect(self._show_monitor)
00077 
00078         self._monitor_shown = False
00079         self.setToolTip('Diagnostics')
00080 
00081         self._diagnostics_toplevel_state_sub = rospy.Subscriber(
00082                                 'diagnostics_toplevel_state',
00083                                 DiagnosticStatus, self.toplevel_state_callback)
00084         self._top_level_state = -1
00085         self._stall_timer = QTimer()
00086         self._stall_timer.timeout.connect(self._stalled)
00087         self._stalled()
00088         self._plugin_settings = None
00089         self._instance_settings = None
00090         self._msg_trigger.connect(self._handle_msg_trigger)   
00091 
00092     def toplevel_state_callback(self, msg):
00093         self._is_stale = False
00094         self._msg_trigger.emit()
00095 
00096         if self._top_level_state != msg.level:
00097             if (msg.level >= 2):
00098                 self.update_state(2)
00099                 self.setToolTip("Diagnostics: Error")
00100             elif (msg.level == 1):
00101                 self.update_state(1)
00102                 self.setToolTip("Diagnostics: Warning")
00103             else:
00104                 self.update_state(0)
00105                 self.setToolTip("Diagnostics: OK")
00106             self._top_level_state = msg.level
00107 
00108     def _handle_msg_trigger(self):
00109         self._stall_timer.start(5000)
00110 
00111     def _stalled(self):
00112         self._stall_timer.stop()
00113         self._is_stale = True
00114         self.update_state(3)
00115         self._top_level_state = 3
00116         self.setToolTip("Diagnostics: Stale\nNo message received on "
00117                         "/diagnostics_agg in the last 5 seconds")
00118 
00119     def _show_monitor(self):
00120         with QMutexLocker(self._show_mutex):
00121             try:
00122                 if self._monitor_shown:
00123                     self.context.remove_widget(self._monitor)
00124                     self._monitor_close()
00125                     self._monitor_shown = False
00126                 else:
00127                     self._monitor = RobotMonitorWidget(self.context,
00128                                                        '/diagnostics_agg')
00129                     if self._plugin_settings:
00130                         self._monitor.restore_settings(self._plugin_settings,
00131                                                        self._instance_settings)
00132                     self.context.add_widget(self._monitor)
00133                     self._monitor_shown = True
00134             except Exception:
00135                 if self._monitor_shown == False:
00136                     raise
00137                 #TODO: when closeEvents is available fix this hack
00138                 # (It ensures the button will toggle correctly)
00139                 self._monitor_shown = False
00140                 self._show_monitor()
00141 
00142     def _monitor_close(self):
00143         if self._monitor_shown:
00144             with QMutexLocker(self._close_mutex):
00145                 if self._plugin_settings:
00146                     self._monitor.save_settings(self._plugin_settings,
00147                                                 self._instance_settings)
00148                 self._monitor.shutdown()
00149                 self._monitor.close()
00150                 self._graveyard.append(self._monitor)
00151                 self._monitor = None
00152 
00153     def shutdown_widget(self):
00154         self._stall_timer.stop()
00155         if self._monitor:
00156             self._monitor.shutdown()
00157         self._diagnostics_toplevel_state_sub.unregister()
00158 
00159     def save_settings(self, plugin_settings, instance_settings):
00160         if self._monitor_shown:
00161             self._monitor.save_settings(self._plugin_settings,
00162                                         self._instance_settings)
00163 
00164     def restore_settings(self, plugin_settings, instance_settings):
00165         self._plugin_settings = plugin_settings
00166         self._instance_settings = instance_settings


rqt_robot_dashboard
Author(s): Ze'ev Klapow
autogenerated on Wed May 3 2017 02:40:43