power_state_control.py

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import roslib
roslib.load_manifest('turtlebot_dashboard')
import rospy
import wx

from os import path

def non_zero(value):
  if value < 0.00001 and value > -0.00001:
    return 0.00001
  return value
  

class PowerStateControl(wx.Window):
  def __init__(self, parent, id, icons_path):
    wx.Window.__init__(self, parent, id, wx.DefaultPosition, wx.Size(60, 32))
    
    self._power_consumption = 0.0
    self._pct = 0.0
    self._cap = 2.7
    self._char_cap = 2.7
    self._time_remaining = 0.0
    self._ac_present = 0.0
    
    self._left_bitmap = wx.Bitmap(path.join(icons_path, "battery-minus.png"), wx.BITMAP_TYPE_PNG)
    self._right_bitmap = wx.Bitmap(path.join(icons_path, "battery-plus.png"), wx.BITMAP_TYPE_PNG)
    self._plug_bitmap = wx.Bitmap(path.join(icons_path, "battery-charging.png"), wx.BITMAP_TYPE_PNG)
    self._background_bitmap = wx.Bitmap(path.join(icons_path, "battery-background.png"), wx.BITMAP_TYPE_PNG)
    self._green = wx.Bitmap(path.join(icons_path, "battery-green-bar.png"), wx.BITMAP_TYPE_PNG)
    self._yellow = wx.Bitmap(path.join(icons_path, "battery-yellow-bar.png"), wx.BITMAP_TYPE_PNG)
    self._red = wx.Bitmap(path.join(icons_path, "battery-red-bar.png"), wx.BITMAP_TYPE_PNG)
    
    self.SetSize(wx.Size(self._left_bitmap.GetWidth() + self._right_bitmap.GetWidth() + self._background_bitmap.GetWidth(), 32))
    
    self._start_x = self._left_bitmap.GetWidth()
    self._end_x = self.GetSize().x - self._right_bitmap.GetWidth()
    self._width = self._end_x - self._start_x
    
    self._plugged_in = False
    
    self.Bind(wx.EVT_PAINT, self.on_paint)

  def on_paint(self, evt):
    dc = wx.BufferedPaintDC(self)

    dc.SetBackground(wx.Brush(self.GetBackgroundColour()))
    dc.Clear()
 
    w = self.GetSize().GetWidth()
    h = self._left_bitmap.GetHeight()
    
    color_bitmap = None
    if (self._pct > 0.5):
      color_bitmap = self._green
    elif (self._pct > 0.3):
      color_bitmap = self._yellow
    else:
      color_bitmap = self._red
    
    dc.DrawBitmap(self._background_bitmap, self._start_x, 0, True)
    
    color_image = color_bitmap.ConvertToImage()
    scaled_color_image = color_image.Rescale(round(self._width * self._pct), color_bitmap.GetHeight())
    color_bitmap = wx.BitmapFromImage(scaled_color_image)
    dc.DrawBitmap(color_bitmap, self._start_x, 0, True)
    dc.DrawBitmap(self._left_bitmap, 0, 0, True)
    dc.DrawBitmap(self._right_bitmap, self._end_x, 0, True)
    
    if (self._plugged_in):
      dc.DrawBitmap(self._plug_bitmap, 
                    (self._start_x + self._width) / 2.0 - (self._plug_bitmap.GetWidth() / 2.0), 
                    self.GetSize().GetHeight() / 2.0 - (self._plug_bitmap.GetHeight() / 2.0))
      
      
  def set_power_state(self, msg):
    last_pct = self._pct
    last_plugged_in = self._plugged_in
    last_time_remaining = self._time_remaining
    self._char_cap = 0.8*self._char_cap +0.2*float(msg['Charge (Ah)'])     
    #make sure that battery percentage is not greater than 100%
    if self._char_cap < float(msg['Capacity (Ah)']):
      self._cap = float(msg['Capacity (Ah)'])
    else: 
      self._cap = self._char_cap

    self._power_consumption = float(msg['Current (A)'])*float(msg['Voltage (V)'])
    #determine if we're charging or discharging
    if float(msg['Current (A)'])<0:
      tmp = (float(msg['Charge (Ah)'])/non_zero(float(msg['Current (A)'])))*60.0
    else:
      tmp = ((float(msg['Charge (Ah)'])-self._cap)/non_zero(float(msg['Current (A)'])))*60.0

    self._time_remaining = 0.8*self._time_remaining + 0.2*tmp
  
    self._pct = float(msg['Charge (Ah)'])/self._cap

    if self._pct == 1 and float(msg['Current (A)']) == 0:
        self._plugged_in = True
    else:
        self._plugged_in = (float(msg['Current (A)'])>0)
    
    if (last_pct != self._pct or last_plugged_in != self._plugged_in or last_time_remaining != self._time_remaining):
        drain_str = "remaining"
        if (self._plugged_in):
            drain_str = "to full charge"
        self.SetToolTip(wx.ToolTip("Battery: %.2f%% (%d minutes %s)"%(self._pct * 100.0, abs(self._time_remaining), drain_str)))
    self.Refresh()
    
  def set_stale(self):
    self._plugged_in = 0
    self._pct = 0
    self._time_remaining = 0.0
    self._power_consumption = 0
    self.SetToolTip(wx.ToolTip("Battery: Stale"))
    
    self.Refresh()