breaker_control.py
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00001 # Software License Agreement (BSD License)
00002 #
00003 # Copyright (c) 2008, 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 the Willow Garage 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
00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00023 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00024 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 roslib
00034 roslib.load_manifest('pr2_dashboard')
00035 
00036 import wx
00037 import rospy
00038 
00039 from pr2_msgs.msg import PowerState, PowerBoardState
00040 from pr2_power_board.srv import PowerBoardCommand, PowerBoardCommandRequest
00041 
00042 from status_control import StatusControl
00043 
00044 from os import path
00045 
00046 breaker_prefixes = ("breakerleft", "breakerbase", "breakerright")
00047 
00048 class BreakerControl(StatusControl):
00049   def __init__(self, parent, id, breaker_index, breaker_name, icons_path):
00050     StatusControl.__init__(self, parent, id, icons_path, breaker_prefixes[breaker_index], True)
00051     
00052     self.Bind(wx.EVT_LEFT_DOWN, self.on_left_down)
00053     
00054     self._power_control = rospy.ServiceProxy('power_board/control', PowerBoardCommand)
00055     self._serial = 0
00056     self._index = breaker_index
00057     self._name = breaker_name
00058     self._power_board_state = None
00059     self._last_status_msg = None
00060     
00061   def on_left_down(self, evt):
00062     menu = wx.Menu()
00063     menu.Bind(wx.EVT_MENU, self.on_enable, menu.Append(wx.ID_ANY, "Enable"))
00064     menu.Bind(wx.EVT_MENU, self.on_standby, menu.Append(wx.ID_ANY, "Standby"))
00065     menu.Bind(wx.EVT_MENU, self.on_disable, menu.Append(wx.ID_ANY, "Disable"))
00066     menu.AppendSeparator()
00067     menu.Bind(wx.EVT_MENU, self.on_enable_all, menu.Append(wx.ID_ANY, "Enable All Breakers"))
00068     menu.Bind(wx.EVT_MENU, self.on_standby_all, menu.Append(wx.ID_ANY, "Standby All Breakers"))
00069     menu.Bind(wx.EVT_MENU, self.on_disable_all, menu.Append(wx.ID_ANY, "Disable All Breakers"))
00070     
00071     self.toggle(True)
00072     self.PopupMenu(menu)
00073     self.toggle(False)
00074     
00075   def control(self, breaker, cmd):
00076     if (not self._power_board_state):
00077       wx.MessageBox("Cannot control breakers until we have received a power board state message", "Error", wx.OK|wx.ICON_ERROR)
00078       return False
00079     
00080     if (not self._power_board_state.run_stop or not self._power_board_state.wireless_stop):
00081       if (cmd == "start"):
00082         wx.MessageBox("Breakers will not enable because one of the runstops is pressed", "Error", wx.OK|wx.ICON_ERROR)
00083         return False
00084     
00085     try:
00086       power_cmd = PowerBoardCommandRequest()
00087       power_cmd.breaker_number = breaker
00088       power_cmd.command = cmd
00089       power_cmd.serial_number = self._serial
00090       self._power_control(power_cmd)
00091       
00092       return True
00093     except rospy.ServiceException, e:
00094       wx.MessageBox("Service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
00095       return False
00096       
00097     return False
00098   
00099   def control3(self, cmd):
00100     if (not self.control(0, cmd)):
00101       return False
00102     if (not self.control(1, cmd)):
00103       return False
00104     if (not self.control(2, cmd)):
00105       return False
00106     
00107     return True
00108   
00109   def on_enable(self, evt):
00110     self.set_enable()
00111   
00112   def on_standby(self, evt):
00113     self.set_standby()
00114   
00115   def on_disable(self, evt):
00116     self.set_disable()
00117     
00118   def on_enable_all(self, evt):
00119     self.set_enable_all()
00120   
00121   def on_standby_all(self, evt):
00122     self.set_standby_all()
00123   
00124   def on_disable_all(self, evt):
00125     self.set_disable_all()
00126     
00127   def set_enable(self):
00128     if (not self.control(self._index, "reset")):
00129       return
00130     
00131     self.control(self._index, "start")
00132     
00133   def set_standby(self):
00134     if (not self.control(self._index, "reset")):
00135       return
00136     
00137     self.control(self._index, "stop")
00138     
00139   def set_disable(self):
00140     self.control(self._index, "disable")
00141     
00142   def set_enable_all(self):
00143     if (not self.control3("reset")):
00144       return
00145     
00146     self.control3("start")
00147   
00148   def set_standby_all(self):
00149     if (not self.control3("reset")):
00150       return
00151     
00152     self.control3("stop")
00153   
00154   def set_disable_all(self):
00155     self.control3("disable")
00156     
00157   def set_power_board_state_msg(self, msg):
00158     last_voltage = msg.circuit_voltage[self._index]
00159       
00160     self._power_board_state = msg
00161     self._serial = msg.serial_num
00162     
00163     status_msg = "OK"
00164     
00165     if (msg.circuit_state[self._index] == PowerBoardState.STATE_DISABLED):
00166       self.set_error()
00167       status_msg = "Disabled"
00168     elif (msg.circuit_state[self._index] == PowerBoardState.STATE_NOPOWER):
00169       self.set_error()
00170       status_msg = "No Power"
00171     elif (msg.circuit_state[self._index] == PowerBoardState.STATE_STANDBY):
00172       self.set_warn()
00173       status_msg = "Standby"
00174     else:
00175       self.set_ok()
00176     
00177     if (status_msg != self._last_status_msg or abs(last_voltage - msg.circuit_voltage[self._index]) >= 0.1):  
00178         self.SetToolTip(wx.ToolTip("Breaker %s (index=[%s], voltage=[%.02f])) State: %s"%(self._name, self._index, msg.circuit_voltage[self._index], status_msg)))
00179         self._last_status_msg = status_msg
00180     
00181   def reset(self):
00182     self.set_stale()
00183     self.SetToolTip(wx.ToolTip("Breaker %s: Stale"%(self._name)))


pr2_dashboard
Author(s): Josh Faust
autogenerated on Tue Apr 22 2014 19:31:38