battery_dash_widget.py

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import os
import rospkg
from python_qt_binding.QtCore import Signal, QSize
from python_qt_binding.QtWidgets import QLabel
from .util import IconHelper

class BatteryDashWidget(QLabel):
    """
    A Widget which displays incremental battery state, including a status tip.
    To use this widget simply call :func:`update_perc` and :func:`update_time`
    to change the displayed charge percentage and time remaining, respectively.

    :param name: The name of this widget
    :type name: str
    """
    state_changed = Signal(int)

    def __init__(self, name='Battery', icons=None, charge_icons=None,
                 icon_paths=None, suppress_overlays=False, stale_icon=None):
        super(BatteryDashWidget, self).__init__()
        if not icons:
            icons = []
            charge_icons = []
            for x in range(6):
                icons.append(['ic-battery-%s.svg' % (x * 20)])
                charge_icons.append(['ic-battery-charge-%s.svg' % (x * 20)])
        if not stale_icon:
            stale_icon = ['ic-battery-0.svg', 'ol-stale-battery.svg']
        icon_paths = (icon_paths if icon_paths else []) + [['rqt_robot_dashboard', 'images']]
        paths = []
        rp = rospkg.RosPack()
        for path in icon_paths:
            paths.append(os.path.join(rp.get_path(path[0]), path[1]))
        self._icon_helper = IconHelper(paths, name)
        # Add stale icon at end of icons so that it gets composited
        icons.append(stale_icon)
        charge_icons.append(stale_icon) # Need icons and charge_icons length to be same
        converted_icons = self._icon_helper.set_icon_lists(icons, charge_icons, suppress_overlays)
        self._icons = converted_icons[0]
        self._charge_icons = converted_icons[1]
        self._name = name
        self._charging = False
        self._stale = True
        self.__state = 0
        self.setMargin(5)
        self.state_changed.connect(self._update_state)
        self.update_perc(0)
        self.update_time(0)

    def _update_state(self, state):
        if self._stale:
            self.setPixmap(self._icons[-1].pixmap(QSize(60, 100)))
        elif self._charging:
            self.setPixmap(self._charge_icons[state].pixmap(QSize(60, 100)))
        else:
            self.setPixmap(self._icons[state].pixmap(QSize(60, 100)))

    @property
    def state(self):
        """
        Read-only accessor for the widgets current state.
        """
        return self.__state

    def set_charging(self, value):
        self._charging = value

    def update_perc(self, val):
        """
        Update the displayed battery percentage.
        The default implementation of this method displays in 20% increments

        :param val: The new value to be displayed.
        :type val: int
        """
        self.update_state(round(val / 20.0))

    def update_state(self, state):
        """
        Set the state of this button.
        This will also update the icon for the button based on the ``self._icons`` list

        :raises IndexError: If state is not a proper index to ``self._icons``

        :param state: The state to set.
        :type state: int
        """
        if 0 <= state and state < len(self._icons):
            self.__state = state
            self.state_changed.emit(self.__state)
        else:
            raise IndexError("%s update_state received invalid state: %s" % (self._name, state))

    def update_time(self, value):
        try:
            fval = float(value)
            self.setToolTip("%s: %.2f%% remaining" % (self._name, fval))
        except ValueError:
            self.setToolTip("%s: %s%% remaining" % (self._name, value))

    def set_stale(self):
        """Set button to stale.

        Not used by base dashboard implementation.
        """
        self._charging = False
        self._stale = True
        self.setToolTip("%s: Stale" % self._name)
        # This triggers self.update_state which in turn will trigger _update_state
        self.update_perc(0)

    def unset_stale(self):
        self._stale = False