constants.py
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1 import os
2 
3 # Bit of a hack here, but this is the easiest way to find out the ROS version that I am aware of
4 _MICROSTRAIN_ROS_VERISON = 0
5 try:
6  import rospy
7  _MICROSTRAIN_ROS_VERISON = 1
8 except ImportError:
9  pass
10 try:
11  import rclpy
12  _MICROSTRAIN_ROS_VERISON = 2
13 except ImportError:
14  pass
15 if _MICROSTRAIN_ROS_VERISON == 0:
16  raise Exception("Unable to find ROS1 or ROS2 library")
17 
18 # ROS version specific imports
19 if _MICROSTRAIN_ROS_VERISON == 1:
20  import rospkg
21 elif _MICROSTRAIN_ROS_VERISON == 2:
22  from ament_index_python.packages import get_package_share_directory
23 
24 _PACKAGE_NAME = "microstrain_inertial_rqt"
25 _RESOURCE_DIR_NAME = "microstrain_inertial_rqt_common/resource"
26 if _MICROSTRAIN_ROS_VERISON == 1:
27  _PACKAGE_RESOURCE_DIR = os.path.join(rospkg.RosPack().get_path(_PACKAGE_NAME), _RESOURCE_DIR_NAME)
28 elif _MICROSTRAIN_ROS_VERISON == 2:
29  _PACKAGE_RESOURCE_DIR = os.path.join(get_package_share_directory(_PACKAGE_NAME), _RESOURCE_DIR_NAME)
30 
31 # Environment variable used to configure the default node name for plugins
32 _NODE_NAME_ENV_KEY = "MICROSTRAIN_INERTIAL_RQT_NODE_NAME"
33 _DEFAULT_NODE_NAME = "/"
34 
35 _DEFAULT_MESSAGE_TIMEOUT = 5
36 _DEFAULT_POLL_INTERVAL = 1.0
37 _DEFAULT_VAL = None
38 _DEFAULT_STR = "Unavailable"
39 
40 _UNIT_DEGREES = u"\N{DEGREE SIGN}"
41 _UNIT_METERS = "m"
42 _UNIT_RADIANS = "rad"
43 _UNIT_GS = "g"
44 _UNIT_METERS_PER_SEC = "m/s"
45 _UNIT_RADIANS_PER_SEC = "rad/s"
46 _UNIT_GUASSIAN = "guass"
47 
48 _ICON_TEMPLATE = '<html><img height="%%d" width="%%d" src="%s" /></html>'
49 _ICON_FILE_TEMPLATE = 'icon-%s-%s'
50 _ICON_COLOR_GREY = "grey"
51 _ICON_COLOR_RED = "red"
52 _ICON_COLOR_YELLOW = "yellow"
53 _ICON_COLOR_GREEN = "green"
54 _ICON_COLOR_BLUE = "blue"
55 _ICON_COLOR_TEAL = "teal"
56 _ICON_CHECKED = "checked"
57 _ICON_UNCHECKED = "unchecked"
58 _ICON_SIZE_SMALL = (25, 25)
59 _ICON_SIZE_MEDIUM = (75, 75)
60 
61 def _FORM_ICON_STRING(color, size, checked):
62  icon_file = os.path.join(_PACKAGE_RESOURCE_DIR, 'icons', _ICON_FILE_TEMPLATE % (color, checked))
63  icon_tag_no_size = _ICON_TEMPLATE % icon_file
64  return icon_tag_no_size % size
65 
66 _ICON_GREY_CHECKED_SMALL = _FORM_ICON_STRING(_ICON_COLOR_GREY, _ICON_SIZE_SMALL, _ICON_CHECKED)
67 _ICON_RED_CHECKED_SMALL = _FORM_ICON_STRING(_ICON_COLOR_RED, _ICON_SIZE_SMALL, _ICON_CHECKED)
68 _ICON_YELLOW_CHECKED_SMALL = _FORM_ICON_STRING(_ICON_COLOR_YELLOW, _ICON_SIZE_SMALL, _ICON_CHECKED)
69 _ICON_GREEN_CHECKED_SMALL = _FORM_ICON_STRING(_ICON_COLOR_GREEN, _ICON_SIZE_SMALL, _ICON_CHECKED)
70 _ICON_BLUE_CHECKED_SMALL = _FORM_ICON_STRING(_ICON_COLOR_BLUE, _ICON_SIZE_SMALL, _ICON_CHECKED)
71 _ICON_TEAL_CHECKED_SMALL = _FORM_ICON_STRING(_ICON_COLOR_TEAL, _ICON_SIZE_SMALL, _ICON_CHECKED)
72 
73 _ICON_GREY_UNCHECKED_SMALL = _FORM_ICON_STRING(_ICON_COLOR_GREY, _ICON_SIZE_SMALL, _ICON_UNCHECKED)
74 _ICON_RED_UNCHECKED_SMALL = _FORM_ICON_STRING(_ICON_COLOR_RED, _ICON_SIZE_SMALL, _ICON_UNCHECKED)
75 _ICON_YELLOW_UNCHECKED_SMALL = _FORM_ICON_STRING(_ICON_COLOR_YELLOW, _ICON_SIZE_SMALL, _ICON_UNCHECKED)
76 _ICON_GREEN_UNCHECKED_SMALL = _FORM_ICON_STRING(_ICON_COLOR_GREEN, _ICON_SIZE_SMALL, _ICON_UNCHECKED)
77 _ICON_BLUE_UNCHECKED_SMALL = _FORM_ICON_STRING(_ICON_COLOR_BLUE, _ICON_SIZE_SMALL, _ICON_UNCHECKED)
78 _ICON_TEAL_UNCHECKED_SMALL = _FORM_ICON_STRING(_ICON_COLOR_TEAL, _ICON_SIZE_SMALL, _ICON_UNCHECKED)
79 
80 _ICON_GREY_CHECKED_MEDIUM = _FORM_ICON_STRING(_ICON_COLOR_GREY, _ICON_SIZE_MEDIUM, _ICON_CHECKED)
81 _ICON_RED_CHECKED_MEDIUM = _FORM_ICON_STRING(_ICON_COLOR_RED, _ICON_SIZE_MEDIUM, _ICON_CHECKED)
82 _ICON_YELLOW_CHECKED_MEDIUM = _FORM_ICON_STRING(_ICON_COLOR_YELLOW, _ICON_SIZE_MEDIUM, _ICON_CHECKED)
83 _ICON_GREEN_CHECKED_MEDIUM = _FORM_ICON_STRING(_ICON_COLOR_GREEN, _ICON_SIZE_MEDIUM, _ICON_CHECKED)
84 _ICON_BLUE_CHECKED_MEDIUM = _FORM_ICON_STRING(_ICON_COLOR_BLUE, _ICON_SIZE_MEDIUM, _ICON_CHECKED)
85 _ICON_TEAL_CHECKED_MEDIUM = _FORM_ICON_STRING(_ICON_COLOR_TEAL, _ICON_SIZE_MEDIUM, _ICON_CHECKED)
86 
87 _ICON_GREY_UNCHECKED_MEDIUM = _FORM_ICON_STRING(_ICON_COLOR_GREY, _ICON_SIZE_MEDIUM, _ICON_UNCHECKED)
88 _ICON_RED_UNCHECKED_MEDIUM = _FORM_ICON_STRING(_ICON_COLOR_RED, _ICON_SIZE_MEDIUM, _ICON_UNCHECKED)
89 _ICON_YELLOW_UNCHECKED_MEDIUM = _FORM_ICON_STRING(_ICON_COLOR_YELLOW, _ICON_SIZE_MEDIUM, _ICON_UNCHECKED)
90 _ICON_GREEN_UNCHECKED_MEDIUM = _FORM_ICON_STRING(_ICON_COLOR_GREEN, _ICON_SIZE_MEDIUM, _ICON_UNCHECKED)
91 _ICON_BLUE_UNCHECKED_MEDIUM = _FORM_ICON_STRING(_ICON_COLOR_BLUE, _ICON_SIZE_MEDIUM, _ICON_UNCHECKED)
92 _ICON_TEAL_UNCHECKED_MEDIUM = _FORM_ICON_STRING(_ICON_COLOR_TEAL, _ICON_SIZE_MEDIUM, _ICON_UNCHECKED)
microstrain_inertial_rqt.utils.constants._FORM_ICON_STRING
def _FORM_ICON_STRING(color, size, checked)
Definition: constants.py:61

microstrain_inertial_rqt
Author(s): Parker Hannifin Corp
autogenerated on Fri Apr 18 2025 02:52:41