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00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 00035 ##\brief Uses robot monitor panel to display aggregated diagnostics 00036 00037 ##\author Kevin Watts 00038 00039 PKG = 'robot_monitor' 00040 00041 import roslib 00042 roslib.load_manifest('robot_monitor') 00043 00044 import rospy 00045 00046 WXVER = '2.8' 00047 import wxversion 00048 if wxversion.checkInstalled(WXVER): 00049 wxversion.select(WXVER) 00050 else: 00051 print >> sys.stderr, "This application requires wxPython version %s"%(WXVER) 00052 sys.exit(1) 00053 00054 from robot_monitor.robot_monitor_panel import RobotMonitorPanel 00055 import wx 00056 00057 00058 ##\brief Main frame of robot monitor 00059 class RobotMonitorFrame(wx.Frame): 00060 def __init__(self, parent, title): 00061 wx.Frame.__init__(self, parent, wx.ID_ANY, title) 00062 00063 self._sizer = wx.BoxSizer(wx.VERTICAL) 00064 self._panel = RobotMonitorPanel(self) 00065 self._sizer.Add(self._panel, 1, wx.EXPAND) 00066 self.SetSizer(self._sizer) 00067 00068 self._shutdown_timer = wx.Timer() 00069 self._shutdown_timer.Bind(wx.EVT_TIMER, self._on_shutdown_timer) 00070 self._shutdown_timer.Start(100) 00071 00072 def _on_shutdown_timer(self, event): 00073 if (rospy.is_shutdown()): 00074 self.Close() 00075 00076 ##\brief wxApp of robot monitor 00077 class RobotMonitorApp(wx.App): 00078 def OnInit(self): 00079 rospy.init_node('robot_monitor', anonymous=True) 00080 00081 wx.MessageBox("robot_monitor.py is deprecated, please use robot_monitor instead", "Deprecated", wx.OK|wx.ICON_WARNING) 00082 00083 self._frame = RobotMonitorFrame(None, 'Robot Monitor') 00084 self._frame.SetSize(wx.Size(500, 700)) 00085 self._frame.Layout() 00086 self._frame.Show(True) 00087 return True 00088 00089 00090 if __name__ == '__main__': 00091 try: 00092 app = RobotMonitorApp() 00093 app.MainLoop() 00094 except KeyboardInterrupt, e: 00095 pass 00096 except rospy.exceptions.ROSInitException, e: 00097 print 'Failed to initialize node, master probably isn\'t up.' 00098 except Exception, e: 00099 import traceback 00100 traceback.print_exc() 00101