cob_dashboard.py
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00001 # Software License Agreement (BSD License)
00002 #
00003 # Copyright (c) 2012, 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 Willow Garage, Inc. 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('cob_dashboard')
00035 import rospy
00036 
00037 from pr2_msgs.msg import PowerBoardState, DashboardState
00038 import std_srvs.srv
00039 
00040 from rqt_robot_dashboard.dashboard import Dashboard
00041 from rqt_robot_dashboard.widgets import MonitorDashWidget, ConsoleDashWidget
00042 
00043 from python_qt_binding.QtCore import QSize
00044 from python_qt_binding.QtGui import QMessageBox
00045 
00046 from cob_battery import COBBattery
00047 from rqt_pr2_dashboard.pr2_runstop import PR2Runstops
00048 
00049 
00050 class CobDashboard(Dashboard):
00051     """
00052     Dashboard for Care-O-bots
00053 
00054     :param context: the plugin context
00055     :type context: qt_gui.plugin.Plugin
00056     """
00057     def setup(self, context):
00058         self.name = 'CobDashboard'
00059         self.max_icon_size = QSize(50, 30)
00060         self.message = None
00061 
00062         self._dashboard_message = None
00063         self._last_dashboard_message_time = 0.0
00064 
00065         self._raw_byte = None
00066         self.digital_outs = [0, 0, 0]
00067 
00068         self._console = ConsoleDashWidget(self.context, minimal=False)
00069         self._monitor = MonitorDashWidget(self.context)
00070         self._runstop = PR2Runstops('RunStops')
00071         self._batteries = [COBBattery(self.context)]
00072 
00073         self._dashboard_agg_sub = rospy.Subscriber('dashboard_agg', DashboardState, self.dashboard_callback)
00074 
00075     def get_widgets(self):
00076         return [[self._monitor, self._console], [self._runstop], self._batteries]
00077 
00078     def dashboard_callback(self, msg):
00079         """
00080         callback to process dashboard_agg messages
00081 
00082         :param msg: dashboard_agg DashboardState message
00083         :type msg: pr2_msgs.msg.DashboardState
00084         """
00085         self._dashboard_message = msg
00086         self._last_dashboard_message_time = rospy.get_time()
00087 
00088         if (msg.power_state_valid):
00089             self._batteries[0].set_power_state(msg.power_state)
00090         else:
00091             self._batteries[0].set_stale()
00092 
00093         if (msg.power_board_state_valid):
00094             if msg.power_board_state.run_stop:
00095                 self._runstop.set_ok()
00096                 self._runstop.setToolTip(self.tr("Physical Runstop: OK\nWireless Runstop: OK"))
00097             elif msg.power_board_state.wireless_stop:
00098                 self._runstop.set_physical_engaged()
00099                 self._runstop.setToolTip(self.tr("Physical Runstop: Pressed\nWireless Runstop: OK"))
00100             if not msg.power_board_state.wireless_stop:
00101                 self._runstop.set_wireless_engaged()
00102                 self._runstop.setToolTip(self.tr("Physical Runstop: Unknown\nWireless Runstop: Pressed"))
00103         else:
00104             self._runstop.set_stale()
00105             self._runstop.setToolTip(self.tr("Physical Runstop: Stale\nWireless Runstop: Stale"))
00106 
00107 
00108     def shutdown_dashboard(self):
00109         self._dashboard_agg_sub.unregister()
00110 
00111     def save_settings(self, plugin_settings, instance_settings):
00112         self._console.save_settings(plugin_settings, instance_settings)
00113         self._monitor.save_settings(plugin_settings, instance_settings)
00114 
00115     def restore_settings(self, plugin_settings, instance_settings):
00116         self._console.restore_settings(plugin_settings, instance_settings)
00117         self._monitor.restore_settings(plugin_settings, instance_settings)


cob_dashboard
Author(s): Alexander Bubeck
autogenerated on Sun Oct 5 2014 23:02:08