Go to the documentation of this file.00001 import rospy
00002 from functools import partial
00003
00004 from kobuki_msgs.msg import MotorPower
00005
00006 from rqt_robot_dashboard.widgets import IconToolButton
00007 from python_qt_binding.QtCore import QSize
00008
00009 class MotorWidget(IconToolButton):
00010 def __init__(self, topic):
00011 self._pub = rospy.Publisher(topic, MotorPower)
00012
00013 self._off_icon = ['bg-red.svg', 'ic-motors.svg']
00014 self._on_icon = ['bg-green.svg', 'ic-motors.svg']
00015 self._stale_icon = ['bg-grey.svg', 'ic-motors.svg', 'ol-stale-badge.svg']
00016
00017 icons = [self._off_icon, self._on_icon, self._stale_icon]
00018 super(MotorWidget, self).__init__(topic, icons=icons)
00019 self.setFixedSize(QSize(40,40))
00020
00021 super(MotorWidget, self).update_state(2)
00022 self.setToolTip("Motors: Stale")
00023
00024 self.clicked.connect(self.toggle)
00025
00026
00027 def update_state(self, state):
00028 if state is not super(MotorWidget, self).state:
00029 super(MotorWidget, self).update_state(state)
00030 if state is 0:
00031 self.setToolTip("Motors: Off")
00032 else:
00033 self.setToolTip("Motors: On")
00034
00035 def toggle(self):
00036 if super(MotorWidget, self).state is 1:
00037 self._pub.publish(MotorPower(0))
00038 else:
00039 self._pub.publish(MotorPower(1))
00040
00041 def close(self):
00042 self._pub.unregister()
00043