main_power_control.py

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# Copyright (c) 2008, Willow Garage, Inc.
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import roslib
roslib.load_manifest('elektron_dashboard')

import wx

from os import path

def non_zero(value):
  if value < 0.00001 and value > -0.00001:
    return 0.00001
  return value


class MainPowerControl(wx.Window):
  def __init__(self, parent, id, icons_path):
    wx.Window.__init__(self, parent, id, wx.DefaultPosition, wx.Size(82, 32))

    self._voltage = 0.0

    self.Bind(wx.EVT_PAINT, self.on_paint)

  def on_paint(self, evt):
    dc = wx.BufferedPaintDC(self)

    dc.SetBackground(wx.Brush(self.GetBackgroundColour()))
    dc.Clear()

    w = self.GetSize().GetWidth()
    h = self.GetSize().GetHeight()
    
    br_black = wx.Brush(wx.Colour(0, 0, 0, 255))
    br_white = wx.Brush(wx.Colour(255, 255, 255, 255))
    
    pen_black = wx.Pen(wx.Colour(0, 0, 0, 255))
    pen_white = wx.Pen(wx.Colour(255, 255, 255, 255))
    
    dc.SetBrush(br_black)
    
    dc.DrawRectangle(0, 0, w, h)
    
    cols = [wx.Colour(255, 0, 0), 
            wx.Colour(255, 128, 0), 
            wx.Colour(255, 255, 0), 
            wx.Colour(128, 255, 0), 
            wx.Colour(0, 255, 0), 
            wx.Colour(0, 255, 0), 
            wx.Colour(0, 255, 0) ]
    
    fnt = dc.GetFont()
    fnt.SetFamily(wx.FONTFAMILY_MODERN)
    fnt.SetFaceName("FreeMono")
    fnt.SetWeight(wx.FONTWEIGHT_BOLD)
    fnt.SetPointSize(7)
    dc.SetFont(fnt)
    
    # plugged in
    if (self._voltage > 26):
        dc.SetTextForeground(wx.Colour(255, 255, 255, 255))
        dc.DrawText(' Plugged in. ', 1, 1)
    else:
        dc.SetTextForeground(wx.Colour(255, 255, 255, 255))
        dc.DrawText('      %6.2fV' % self._voltage, 1, 1)
        dc.SetPen(pen_white)
        for i in range(7):
            dc.SetPen(wx.Pen(cols[i]))
            dc.DrawLine(11 + i * 10, h-3, 11 + i * 10, h-15)
            
        dc.SetPen(pen_white)
        dc.SetBrush(br_white)
        xx = 11 + (self._voltage-20) * 10
        yy = h-10
        dc.DrawPolygon([wx.Point(xx, yy), wx.Point(xx+3, yy-3), wx.Point(xx+3, yy-9), wx.Point(xx-3, yy-9), wx.Point(xx-3, yy-3)])


  def set_power_state(self, msg):
    self._voltage = float(msg['Voltage'])
    
    self.Refresh()

  def set_stale(self):
    self._voltage = 0.0

    self.Refresh()