00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029
00030
00031
00032
00033 import roslib; roslib.load_manifest('generic_dashboard')
00034
00035 WXVER = '2.8'
00036 import wxversion
00037 if wxversion.checkInstalled(WXVER):
00038 wxversion.select(WXVER)
00039 else:
00040 print >> sys.stderr, "This application requires wxPython version %s"%(WXVER)
00041 sys.exit(1)
00042
00043 import wx
00044 import wx.aui
00045 import wx.py.shell
00046 import rxtools
00047 import rxtools.cppwidgets as rxtools
00048
00049 import robot_monitor
00050 from robot_monitor.robot_monitor_panel import RobotMonitorPanel
00051 import std_msgs.msg
00052 import std_srvs.srv
00053 import rospy
00054 from roslib import rosenv
00055 from diagnostics_control import DiagnosticsControl
00056 import diagnostic_msgs.msg
00057 import collections
00058 from os import path
00059 import threading
00060
00061 class GenericFrame(wx.Frame):
00062 _CONFIG_WINDOW_X="/Window/X"
00063 _CONFIG_WINDOW_Y="/Window/Y"
00064
00065 def __init__(self, parent=None, id=wx.ID_ANY, title='Dashboard', pos=wx.DefaultPosition, size=(400, 50), style=wx.CAPTION|wx.CLOSE_BOX|wx.STAY_ON_TOP, app = wx.App()):
00066 wx.Frame.__init__(self, parent, id, title, pos, size, style)
00067
00068 wx.InitAllImageHandlers()
00069
00070 rospy.init_node('dashboard', anonymous=True)
00071 try:
00072 getattr(rxtools, "initRoscpp")
00073 rxtools.initRoscpp("dashboard_cpp", anonymous=True)
00074 except AttributeError:
00075 pass
00076
00077 self._dashboard_agg_sub = rospy.Subscriber('diagnostics_agg', diagnostic_msgs.msg.DiagnosticArray, self.dashboard_callback)
00078 self._dashboard_message = None
00079 self._last_dashboard_message_time = 0.0
00080
00081 self.SetTitle('%s (%s)'%(title, rosenv.get_master_uri()))
00082 self._app = app
00083 self._triggers = collections.defaultdict(list)
00084
00085 def init(self, components):
00086 sizer = wx.BoxSizer(wx.HORIZONTAL)
00087 self.SetSizer(sizer)
00088
00089 self._components_list = []
00090
00091 self.recursive_init(sizer, components)
00092 static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Breakers"), wx.HORIZONTAL)
00093 sizer.Add(static_sizer, 0)
00094
00095 self._config = wx.Config("dashboard")
00096
00097 self.Bind(wx.EVT_CLOSE, self.on_close)
00098
00099 self.Layout()
00100 self.Fit()
00101
00102 self.load_config()
00103
00104 self._timer = wx.Timer(self)
00105 self.Bind(wx.EVT_TIMER, self.on_timer)
00106 self._timer.Start(500)
00107
00108 def recursive_init(self, parent, components):
00109 if type(components)==type({}):
00110 for category in components:
00111 static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, category), wx.HORIZONTAL)
00112 parent.Add(static_sizer, 0)
00113 subcomps = self.recursive_init(static_sizer, components[category])
00114 elif type(components)==type([]):
00115 for component in components:
00116 parent.Add(component, 0)
00117 self.add(component)
00118
00119 def add(self, component):
00120 self._components_list.append(component)
00121 if type(component) == DiagnosticsControl:
00122 self._triggers['*'].append(component)
00123 elif component.trigger:
00124 self._triggers[ component.trigger ].append( component )
00125
00126
00127 def start(self):
00128 self.Show()
00129 self._app.MainLoop()
00130
00131 def __del__(self):
00132 self._dashboard_agg_sub.unregister()
00133
00134 def on_timer(self, evt):
00135 if (rospy.get_time() - self._last_dashboard_message_time > 5.0):
00136 for component in self._components_list:
00137 component.set_status('stale')
00138
00139 for component in self._components_list:
00140 component.update()
00141
00142 if (rospy.is_shutdown()):
00143 self.Close()
00144
00145 def dashboard_callback(self, msg):
00146 wx.CallAfter(self.new_dashboard_message, msg)
00147
00148 def new_dashboard_message(self, msg):
00149 self._dashboard_message = msg
00150 self._last_dashboard_message_time = rospy.get_time()
00151
00152 for status in msg.status:
00153 path = status.name.split(':')[0]
00154 if path in self._triggers:
00155 for component in self._triggers[path]:
00156 if component.callback:
00157 component.set_data( component.callback(status) )
00158 """
00159 for status in msg.status:
00160 if status.name == "/Power System/Battery":
00161 for value in status.values:
00162 battery_status[value.key]=value.value
00163 if status.name == "/Power System/Laptop Battery":
00164 for value in status.values:
00165 laptop_battery_status[value.key]=value.value
00166 if status.name == "/Mode/Operating Mode":
00167 op_mode=status.message
00168 if status.name == "/Digital IO/Digital Outputs":
00169 #print "got digital IO"
00170 for value in status.values:
00171 breaker_status[value.key]=value.value"""
00172
00173 """
00174 def on_motors_clicked(self, evt):
00175 menu = wx.Menu()
00176 menu.Bind(wx.EVT_MENU, self.on_passive_mode, menu.Append(wx.ID_ANY, "Passive Mode"))
00177 menu.Bind(wx.EVT_MENU, self.on_safe_mode, menu.Append(wx.ID_ANY, "Safety Mode"))
00178 menu.Bind(wx.EVT_MENU, self.on_full_mode, menu.Append(wx.ID_ANY, "Full Mode"))
00179 self._motors_button.toggle(True)
00180 self.PopupMenu(menu)
00181 self._motors_button.toggle(False)
00182
00183 def on_passive_mode(self, evt):
00184 passive = rospy.ServiceProxy("/turtlebot_node/set_operation_mode",turtlebot_node.srv.SetTurtlebotMode )
00185 try:
00186 passive(turtlebot_node.msg.TurtlebotSensorState.OI_MODE_PASSIVE)
00187 except rospy.ServiceException, e:
00188 wx.MessageBox("Failed to put the turtlebot in passive mode: service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
00189
00190 def on_safe_mode(self, evt):
00191 safe = rospy.ServiceProxy("/turtlebot_node/set_operation_mode",turtlebot_node.srv.SetTurtlebotMode)
00192 try:
00193 safe(turtlebot_node.msg.TurtlebotSensorState.OI_MODE_SAFE)
00194 except rospy.ServiceException, e:
00195 wx.MessageBox("Failed to put the turtlebot in safe mode: service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
00196
00197 def on_full_mode(self, evt):
00198 full = rospy.ServiceProxy("/turtlebot_node/set_operation_mode", turtlebot_node.srv.SetTurtlebotMode)
00199 try:
00200 full(turtlebot_node.msg.TurtlebotSensorState.OI_MODE_FULL)
00201 except rospy.ServiceException, e:
00202 wx.MessageBox("Failed to put the turtlebot in full mode: service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
00203
00204 """
00205
00206 def load_config(self):
00207
00208 (x, y) = self.GetPositionTuple()
00209 (width, height) = self.GetSizeTuple()
00210 if (self._config.HasEntry(self._CONFIG_WINDOW_X)):
00211 x = self._config.ReadInt(self._CONFIG_WINDOW_X)
00212 if (self._config.HasEntry(self._CONFIG_WINDOW_Y)):
00213 y = self._config.ReadInt(self._CONFIG_WINDOW_Y)
00214
00215 self.SetPosition((x, y))
00216 self.SetSize((width, height))
00217
00218 def save_config(self):
00219 config = self._config
00220
00221 (x, y) = self.GetPositionTuple()
00222 (width, height) = self.GetSizeTuple()
00223 config.WriteInt(self._CONFIG_WINDOW_X, x)
00224 config.WriteInt(self._CONFIG_WINDOW_Y, y)
00225
00226 config.Flush()
00227
00228 def on_close(self, event):
00229 self.save_config()
00230
00231 self.Destroy()
00232
