cob_battery.py
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00001 # Software License Agreement (BSD License)
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00003 # Copyright (c) 2012, Willow Garage, Inc.
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00014 #    disclaimer in the documentation and/or other materials provided
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00032 
00033 import rospy
00034 
00035 from python_qt_binding.QtCore import QSize
00036 from rqt_robot_dashboard.widgets import BatteryDashWidget
00037 
00038 
00039 class COBBattery(BatteryDashWidget):
00040     """
00041     Dashboard widget to display COB battery state.
00042     """
00043     #TODO When nonbutton Dashboard objects are available rebase this widget
00044     def __init__(self, context):
00045         """
00046         :param context: the plugin context
00047         :type context: qt_gui.plugin.Plugin
00048         """
00049         super(COBBattery, self).__init__('COB Battery')
00050         self._power_consumption = 0.0
00051         self._pct = 0
00052         self._time_remaining = rospy.rostime.Duration(0)
00053         self._ac_present = 0
00054         self._plugged_in = False
00055 
00056         self.setFixedSize(self._icons[1].actualSize(QSize(50, 30)))
00057 
00058         self.update_perc(0)
00059 
00060     def set_power_state(self, msg):
00061         """
00062         Sets button state based on msg
00063 
00064         :param msg: message containing the power state of the COB
00065         :type msg: pr2_msgs.PowerState
00066         """
00067         last_pct = self._pct
00068         last_plugged_in = self._plugged_in
00069         last_time_remaining = self._time_remaining
00070 
00071         self._power_consumption = msg.power_consumption
00072         self._time_remaining = msg.time_remaining
00073         self._pct = msg.relative_capacity / 100.0
00074         self._plugged_in = msg.AC_present
00075         if (last_pct != self._pct or last_plugged_in != self._plugged_in or last_time_remaining != self._time_remaining):
00076             drain_str = "remaining"
00077             if (self._plugged_in):
00078                 drain_str = "to full charge"
00079                 self.charging = True
00080             self.setToolTip("Battery: %.2f%% \nTime %s: %d Minutes" % (self._pct * 100.0, drain_str, self._time_remaining.to_sec() / 60.0))
00081             self.update_perc(msg.relative_capacity)
00082 
00083     def set_stale(self):
00084         self._plugged_in = 0
00085         self._pct = 0
00086         self._time_remaining = rospy.rostime.Duration(0)
00087         self._power_consumption = 0
00088         self.setToolTip("Battery: Stale")


cob_dashboard
Author(s): Alexander Bubeck
autogenerated on Thu Aug 27 2015 12:43:03