diagnostics_frame.py

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import roslib
roslib.load_manifest('pr2_dashboard')

import rospy
from diagnostic_msgs.msg import DiagnosticStatus

import threading
import wx
import robot_monitor
from robot_monitor.robot_monitor_panel import RobotMonitorPanel

class DiagnosticsFrame(wx.Frame):
  def __init__(self, parent, id, title):
    wx.Frame.__init__(self, parent, id, title, wx.DefaultPosition, wx.Size(400, 600))
    wx.Frame.Hide(self)
    
    self.Bind(wx.EVT_CLOSE, self.on_close)
    
    self._diagnostics_panel = None
    self._is_stale = True
    self._top_level_state = -1
    
    self._diagnostics_toplevel_state_sub = rospy.Subscriber('diagnostics_toplevel_state', DiagnosticStatus, self.dashboard_callback)
    self._stall_timer = None
    
  def on_close(self, evt):
    self.Hide()
    
  def Show(self):
    self._diagnostics_panel = RobotMonitorPanel(self)
    self._diagnostics_panel.SetSize(self.GetClientSize())
    wx.Frame.Show(self)
    
  def Hide(self):
    wx.Frame.Hide(self)
    if self._diagnostics_panel is not None:
      self._diagnostics_panel.Close()
      self._diagnostics_panel.Destroy()
      self._diagnostics_panel = None
      
  def dashboard_callback(self, msg):
    self._is_stale = False
    if self._stall_timer is not None:
      self._stall_timer.cancel()
    # timer to mark stalled when not receiving messages for some time
    self._stall_timer = threading.Timer(10, self._stalled)
    
    self._top_level_state = msg.level
    
  def _stalled(self, event):
    self._stall_timer = None
    self._is_stale = True
    
  def get_top_level_state(self):
    if (self._is_stale):
      return 3
      
    return self._top_level_state