pr2_dashboard: pr2_dashboard: power_state

00001 # Software License Agreement (BSD License)
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00003 # Copyright (c) 2008, Willow Garage, Inc.
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00032 
00033 import rospy
00034 
00035 import wx
00036 
00037 from pr2_msgs.msg import PowerState, PowerBoardState
00038 from pr2_power_board.srv import PowerBoardCommand, PowerBoardCommandRequest
00039 
00040 from os import path
00041 
00042 class PowerStateControl(wx.Window):
00043   def __init__(self, parent, id, icons_path):
00044     wx.Window.__init__(self, parent, id, wx.DefaultPosition, wx.Size(60, 32))
00045     
00046     self._power_consumption = 0.0
00047     self._pct = 0
00048     self._time_remaining = rospy.rostime.Duration(0)
00049     self._ac_present = 0
00050     
00051     self._left_bitmap = wx.Bitmap(path.join(icons_path, "battery-minus.png"), wx.BITMAP_TYPE_PNG)
00052     self._right_bitmap = wx.Bitmap(path.join(icons_path, "battery-plus.png"), wx.BITMAP_TYPE_PNG)
00053     self._plug_bitmap = wx.Bitmap(path.join(icons_path, "battery-charging.png"), wx.BITMAP_TYPE_PNG)
00054     self._background_bitmap = wx.Bitmap(path.join(icons_path, "battery-background.png"), wx.BITMAP_TYPE_PNG)
00055     self._green = wx.Bitmap(path.join(icons_path, "battery-green-bar.png"), wx.BITMAP_TYPE_PNG)
00056     self._yellow = wx.Bitmap(path.join(icons_path, "battery-yellow-bar.png"), wx.BITMAP_TYPE_PNG)
00057     self._red = wx.Bitmap(path.join(icons_path, "battery-red-bar.png"), wx.BITMAP_TYPE_PNG)
00058     
00059     self.SetSize(wx.Size(self._left_bitmap.GetWidth() + self._right_bitmap.GetWidth() + self._background_bitmap.GetWidth(), 32))
00060     
00061     self._start_x = self._left_bitmap.GetWidth()
00062     self._end_x = self.GetSize().x - self._right_bitmap.GetWidth()
00063     self._width = self._end_x - self._start_x
00064     
00065     self._plugged_in = False
00066     
00067     self.Bind(wx.EVT_PAINT, self.on_paint)
00068 
00069   def on_paint(self, evt):
00070     dc = wx.BufferedPaintDC(self)
00071 
00072     dc.SetBackground(wx.Brush(self.GetBackgroundColour()))
00073     dc.Clear()
00074  
00075     w = self.GetSize().GetWidth()
00076     h = self._left_bitmap.GetHeight()
00077     
00078     color_bitmap = None
00079     if (self._pct > 0.5):
00080       color_bitmap = self._green
00081     elif (self._pct > 0.3):
00082       color_bitmap = self._yellow
00083     else:
00084       color_bitmap = self._red
00085     
00086     dc.DrawBitmap(self._background_bitmap, self._start_x, 0, True)
00087     
00088     color_image = color_bitmap.ConvertToImage()
00089     scaled_color_image = color_image.Rescale(round(self._width * self._pct), color_bitmap.GetHeight())
00090     color_bitmap = wx.BitmapFromImage(scaled_color_image)
00091     dc.DrawBitmap(color_bitmap, self._start_x, 0, True)
00092     dc.DrawBitmap(self._left_bitmap, 0, 0, True)
00093     dc.DrawBitmap(self._right_bitmap, self._end_x, 0, True)
00094     
00095     if (self._plugged_in):
00096       dc.DrawBitmap(self._plug_bitmap, 
00097                     (self._start_x + self._width) / 2.0 - (self._plug_bitmap.GetWidth() / 2.0), 
00098                     self.GetSize().GetHeight() / 2.0 - (self._plug_bitmap.GetHeight() / 2.0))
00099       
00100       
00101   def set_power_state(self, msg):
00102     last_pct = self._pct
00103     last_plugged_in = self._plugged_in
00104     last_time_remaining = self._time_remaining
00105       
00106     self._power_consumption = msg.power_consumption
00107     self._time_remaining = msg.time_remaining
00108     self._pct = msg.relative_capacity / 100.0
00109     self._plugged_in = msg.AC_present
00110     
00111     if (last_pct != self._pct or last_plugged_in != self._plugged_in or last_time_remaining != self._time_remaining):
00112         drain_str = "remaining"
00113         if (self._plugged_in):
00114             drain_str = "to full charge"
00115         self.SetToolTip(wx.ToolTip("Battery: %.2f%% (%d minutes %s)"%(self._pct * 100.0, self._time_remaining.to_sec()/60.0, drain_str)))
00116         self.Refresh()
00117     
00118   def set_stale(self):
00119     self._plugged_in = 0
00120     self._pct = 0
00121     self._time_remaining = rospy.rostime.Duration(0)
00122     self._power_consumption = 0
00123     self.SetToolTip(wx.ToolTip("Battery: Stale"))
00124     
00125     self.Refresh()
power_state_control.py
