Go to the documentation of this file.00001 import rospy
00002 from functools import partial
00003
00004 from kobuki_msgs.msg import Led
00005
00006 from rqt_robot_dashboard.widgets import MenuDashWidget
00007 from python_qt_binding.QtCore import QSize
00008
00009 class LedWidget(MenuDashWidget):
00010 def __init__(self, topic):
00011 self._pub = rospy.Publisher(topic, Led)
00012
00013 self._off_icon = ['bg-grey.svg', 'ic-led.svg']
00014 self._green_icon = ['bg-green.svg', 'ic-led.svg']
00015 self._orange_icon = ['bg-orange.svg', 'ic-led.svg']
00016 self._red_icon = ['bg-red.svg', 'ic-led.svg']
00017
00018 icons = [self._off_icon, self._green_icon, self._orange_icon, self._red_icon]
00019 super(LedWidget, self).__init__(topic, icons=icons)
00020 self.setFixedSize(QSize(40,40))
00021
00022 self.add_action('Off', partial(self.update_state, 0))
00023 self.add_action('Green', partial(self.update_state, 1))
00024 self.add_action('Orange', partial(self.update_state, 2))
00025 self.add_action('Red', partial(self.update_state, 3))
00026
00027 self.setToolTip("LED: Off")
00028
00029 def update_state(self, state):
00030 super(LedWidget, self).update_state(state)
00031 self._pub.publish(Led(state))
00032 if state is 1:
00033 self.setToolTip("LED: Green")
00034 elif state is 2:
00035 self.setToolTip("LED: Orange")
00036 elif state is 3:
00037 self.setToolTip("LED: Red")
00038 else:
00039 self.setToolTip("LED: Off")
00040
00041 def close(self):
00042 self._pub.unregister()
00043