class RobotMonitor(QWidget):
sig_err = pyqtSignal(str)
sig_warn = pyqtSignal(str)
sig_clear = pyqtSignal()
def __init__(self, topic):
super(RobotMonitor, self).__init__()
self.setObjectName('Robot Monitor')
self.top_items = []
layout = QVBoxLayout()
self.err = QTreeWidget()
self.err.setHeaderLabel("Errors")
self.warn = QTreeWidget()
self.warn.setHeaderLabel("Warnings")
self.sig_clear.connect(self.clear)
self.sig_err.connect(self.disp_err)
self.sig_warn.connect(self.disp_warn)
self.comp = QTreeWidget()
self.comp.setHeaderLabel("All")
self.comp.itemDoubleClicked.connect(self.tree_clicked)
self.time = TimelineWidget(self)
layout.addWidget(self.err)
layout.addWidget(self.warn)
layout.addWidget(self.comp, 1)
layout.addWidget(self.time, 0)
self.setLayout(layout)
self.paused = False
self.topic = topic
self.sub = rospy.Subscriber(self.topic, DiagnosticArray, self.cb)
self.setWindowTitle('Robot Monitor')
def cb(self, msg):
if not self.paused:
self.sig_clear.emit()
self.update_tree(msg)
self.update_we(msg)
self.time.add_message(msg)
def tree_clicked(self, item, yes):
item.on_click()
def update_tree(self, msg):
#Update the tree from the bottom
names = [get_nice_name(k.name) for k in self.top_items]
add = []
for i in self._top_level(msg):
name = get_nice_name(i.name)
if name in names:
self.top_items[names.index(name)].update(i, msg)
else:
nw = StatusItem(i)
nw.update(i, msg)
self.top_items.append(nw)
add.append(nw)
self.comp.addTopLevelItems(add)
def _top_level(self, msg):
ret = []
for i in msg.status:
if len(i.name.split('/')) == 2:
ret.append(i)
return ret
def update_we(self, msg):
"""Update the warning and error boxes"""
for status in msg.status:
if status.level == status.WARN:
txt = "%s : %s"%(status.name, status.message)
self.sig_warn.emit(txt)
elif status.level == status.ERROR:
txt = "%s : %s"%(status.name, status.message)
self.sig_err.emit(txt)
def pause(self, msg):
self.paused = True
self.sig_clear.emit()
self.update_we(msg)
self.update_tree(msg)
def unpause(self):
self.paused = False
def clear(self):
self.err.clear()
self.warn.clear()
def disp_err(self, msg):
i = QTreeWidgetItem()
i.setText(0, msg)
self.err.addTopLevelItem(i)
def disp_warn(self,msg):
i = QTreeWidgetItem()
i.setText(0, msg)
self.warn.addTopLevelItem(i)
def close(self):
if self.sub:
self.sub.unregister()
self.sub = None
