00001 #!/usr/bin/env python 00002 # 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2014, Austin Hendrix 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of Austin Hendrix. nor the names of its 00019 # contributors may be used to endorse or promote products derived 00020 # from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 # 00035 # Author: Austin Hendrix 00036 00037 00038 from rqt_bag.plugins.plugin import Plugin 00039 from rqt_bag import TopicMessageView 00040 00041 from rqt_robot_monitor.robot_monitor import RobotMonitorWidget 00042 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus 00043 00044 class RobotMonitorBagPlugin(Plugin): 00045 def __init__(self): 00046 pass 00047 00048 def get_view_class(self): 00049 return RobotMonitorBagView 00050 00051 def get_renderer_class(self): 00052 return None 00053 00054 def get_message_types(self): 00055 return ['diagnostic_msgs/DiagnosticArray'] 00056 00057 class RobotMonitorBagView(TopicMessageView): 00058 name = 'Diagnostics Viewer' 00059 00060 def __init__(self, timeline, parent, topic): 00061 super(RobotMonitorBagView, self).__init__(timeline, parent, topic) 00062 00063 self._widget = RobotMonitorWidget(parent) 00064 parent.layout().addWidget(self._widget) 00065 00066 def message_viewed(self, bag, msg_details): 00067 msg = msg_details[1] 00068 # generic conversion of DiagnosticStatus from bag type to current type 00069 # this should be fairly robust to minor changes in the message format 00070 status = [DiagnosticStatus(**dict((slot, getattr(m, slot)) for slot in m.__slots__)) for m in msg.status] 00071 msg = DiagnosticArray(msg.header, status) 00072 self._widget.message_updated.emit(msg) 00073 00074 def close(self): 00075 self._widget.shutdown() # Closes unclosed popup windows.