pr2_runstop.py

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from python_qt_binding.QtCore import QSize

from rqt_robot_dashboard.widgets import IconToolButton


class PR2Runstops(IconToolButton):
    """
    Dashboard widget to display PR2 Runstop state.
    """
    def __init__(self, context):
        """
        :param context: the plugin context
        :type context: qt_gui.plugin.Plugin
        """
        ok_icon = ['bg-green.svg', 'ic-runstop-off.svg']
        physical_engaged_icon = ['bg-red.svg', 'ic-runstop-on.svg']
        wireless_engaged_icon = ['bg-red.svg', 'ic-wireless-runstop-on.svg']
        stale_icon = ['bg-grey.svg',  'ic-runstop-off.svg', 'ol-stale-badge.svg']

        icons = [ok_icon, physical_engaged_icon, wireless_engaged_icon, stale_icon]
        super(PR2Runstops, self).__init__('Runstop', icons, icons)
        self.setToolTip('Runstop')
        self.set_stale()
        self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))

    def set_ok(self):
        self.update_state(0)

    def set_physical_engaged(self):
        self.update_state(1)

    def set_wireless_engaged(self):
        self.update_state(2)

    def set_stale(self):
        self.update_state(3)