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00033 import roslib
00034 roslib.load_manifest('turtlebot_dashboard')
00035 import rospy
00036 import wx
00037
00038 from os import path
00039
00040 def non_zero(value):
00041 if value < 0.00001 and value > -0.00001:
00042 return 0.00001
00043 return value
00044
00045
00046 class PowerStateControl(wx.Window):
00047 def __init__(self, parent, id, icons_path):
00048 wx.Window.__init__(self, parent, id, wx.DefaultPosition, wx.Size(60, 32))
00049
00050 self._power_consumption = 0.0
00051 self._pct = 0.0
00052 self._cap = 2.7
00053 self._char_cap = 2.7
00054 self._time_remaining = 0.0
00055 self._ac_present = 0.0
00056
00057 self._left_bitmap = wx.Bitmap(path.join(icons_path, "battery-minus.png"), wx.BITMAP_TYPE_PNG)
00058 self._right_bitmap = wx.Bitmap(path.join(icons_path, "battery-plus.png"), wx.BITMAP_TYPE_PNG)
00059 self._plug_bitmap = wx.Bitmap(path.join(icons_path, "battery-charging.png"), wx.BITMAP_TYPE_PNG)
00060 self._background_bitmap = wx.Bitmap(path.join(icons_path, "battery-background.png"), wx.BITMAP_TYPE_PNG)
00061 self._green = wx.Bitmap(path.join(icons_path, "battery-green-bar.png"), wx.BITMAP_TYPE_PNG)
00062 self._yellow = wx.Bitmap(path.join(icons_path, "battery-yellow-bar.png"), wx.BITMAP_TYPE_PNG)
00063 self._red = wx.Bitmap(path.join(icons_path, "battery-red-bar.png"), wx.BITMAP_TYPE_PNG)
00064
00065 self.SetSize(wx.Size(self._left_bitmap.GetWidth() + self._right_bitmap.GetWidth() + self._background_bitmap.GetWidth(), 32))
00066
00067 self._start_x = self._left_bitmap.GetWidth()
00068 self._end_x = self.GetSize().x - self._right_bitmap.GetWidth()
00069 self._width = self._end_x - self._start_x
00070
00071 self._plugged_in = False
00072
00073 self.Bind(wx.EVT_PAINT, self.on_paint)
00074
00075 def on_paint(self, evt):
00076 dc = wx.BufferedPaintDC(self)
00077
00078 dc.SetBackground(wx.Brush(self.GetBackgroundColour()))
00079 dc.Clear()
00080
00081 w = self.GetSize().GetWidth()
00082 h = self._left_bitmap.GetHeight()
00083
00084 color_bitmap = None
00085 if (self._pct > 0.5):
00086 color_bitmap = self._green
00087 elif (self._pct > 0.3):
00088 color_bitmap = self._yellow
00089 else:
00090 color_bitmap = self._red
00091
00092 dc.DrawBitmap(self._background_bitmap, self._start_x, 0, True)
00093
00094 color_image = color_bitmap.ConvertToImage()
00095 scaled_color_image = color_image.Rescale(round(self._width * self._pct), color_bitmap.GetHeight())
00096 color_bitmap = wx.BitmapFromImage(scaled_color_image)
00097 dc.DrawBitmap(color_bitmap, self._start_x, 0, True)
00098 dc.DrawBitmap(self._left_bitmap, 0, 0, True)
00099 dc.DrawBitmap(self._right_bitmap, self._end_x, 0, True)
00100
00101 if (self._plugged_in):
00102 dc.DrawBitmap(self._plug_bitmap,
00103 (self._start_x + self._width) / 2.0 - (self._plug_bitmap.GetWidth() / 2.0),
00104 self.GetSize().GetHeight() / 2.0 - (self._plug_bitmap.GetHeight() / 2.0))
00105
00106
00107 def set_power_state(self, msg):
00108 last_pct = self._pct
00109 last_plugged_in = self._plugged_in
00110 last_time_remaining = self._time_remaining
00111 self._char_cap = 0.8*self._char_cap +0.2*float(msg['Charge (Ah)'])
00112
00113 if self._char_cap < float(msg['Capacity (Ah)']):
00114 self._cap = float(msg['Capacity (Ah)'])
00115 else:
00116 self._cap = self._char_cap
00117
00118 self._power_consumption = float(msg['Current (A)'])*float(msg['Voltage (V)'])
00119
00120 if float(msg['Current (A)'])<0:
00121 tmp = (float(msg['Charge (Ah)'])/non_zero(float(msg['Current (A)'])))*60.0
00122 else:
00123 tmp = ((float(msg['Charge (Ah)'])-self._cap)/non_zero(float(msg['Current (A)'])))*60.0
00124
00125 self._time_remaining = 0.8*self._time_remaining + 0.2*tmp
00126
00127 self._pct = float(msg['Charge (Ah)'])/self._cap
00128
00129 if self._pct == 1 and float(msg['Current (A)']) == 0:
00130 self._plugged_in = True
00131 else:
00132 self._plugged_in = (float(msg['Current (A)'])>0)
00133
00134 if (last_pct != self._pct or last_plugged_in != self._plugged_in or last_time_remaining != self._time_remaining):
00135 drain_str = "remaining"
00136 if (self._plugged_in):
00137 drain_str = "to full charge"
00138 self.SetToolTip(wx.ToolTip("Battery: %.2f%% (%d minutes %s)"%(self._pct * 100.0, abs(self._time_remaining), drain_str)))
00139 self.Refresh()
00140
00141 def set_stale(self):
00142 self._plugged_in = 0
00143 self._pct = 0
00144 self._time_remaining = 0.0
00145 self._power_consumption = 0
00146 self.SetToolTip(wx.ToolTip("Battery: Stale"))
00147
00148 self.Refresh()
