def __init__(self, context):
super(BatteryDashboard, self).__init__(context)
self.setObjectName('BatteryDashboard')
self._widget = QtGui.QWidget()
self._widget.setObjectName('BatteryDashboardUi')
self._widget.setWindowTitle('MK3 Battery Dashboard')
self.vbox = QtGui.QVBoxLayout()
self._widget.setLayout(self.vbox)
self.state_changed.connect(self._update_state)
self.totalBar = QtGui.QProgressBar()
self.totalBar.setValue(0)
self.totalBar.setFormat('Waiting for message')
self.vbox.addWidget(self.totalBar)
self.last_voltage_warning = rospy.get_rostime() - rospy.Duration(
VOLTAGE_WARNING_INTERVAL)
self.last_voltage_critical = rospy.get_rostime() - rospy.Duration(
VOLTAGE_CRITICAL_INTERVAL)
self._battery_sub = rospy.Subscriber(
'/battery', manzanita_mk3_driver.msg.BatteryPack,
self.battery_callback)
context.add_widget(self._widget)
def _update_state(self, msg):
self.totalBar.setValue(100 * msg.total_voltage / msg.max_total_voltage)
self.totalBar.setFormat(str(msg.total_voltage) + ' V')
if not self.inited:
cellContainer = QtGui.QWidget()
cellLayout = QtGui.QFormLayout()
cellContainer.setLayout(cellLayout)
i = 0
self.cellBars = list()
for cell in msg.cells:
voltBar = QtGui.QProgressBar()
voltBar.setGeometry(0, 0, 150, 25)
voltBar.setValue(75)
voltBar.setFormat('Cell ' + str(cell.cell_id))
cellLayout.addRow(cell.frame_id, voltBar)
self.cellBars.append(voltBar)
i += 1
self.vbox.addWidget(cellContainer)
self.alert = QtGui.QMessageBox(QtGui.QMessageBox.Information,
'Battery Voltage',
'The current battery voltage is: ' +
str(msg.total_voltage) + ' V',
flags=Qt.Dialog
| Qt.MSWindowsFixedSizeDialogHint
| Qt.WindowStaysOnTopHint)
self.alert.show()
self.inited = True
i = 0
for cell in msg.cells:
self.cellBars[i].setValue(100 * cell.voltage /
msg.max_cell_voltage)
self.cellBars[i].setFormat(str(cell.voltage) + ' V')
i += 1
if msg.total_voltage < msg.critical_total_voltage:
if (rospy.get_rostime() - self.last_voltage_critical
) > rospy.Duration(VOLTAGE_CRITICAL_INTERVAL):
self.alert = QtGui.QMessageBox(
QtGui.QMessageBox.Warning,
'Battery Voltage Critical!!!',
'The current battery voltage is: ' +
str(msg.total_voltage) + ' V. You should shutdown now!!!',
flags=Qt.Dialog | Qt.MSWindowsFixedSizeDialogHint
| Qt.WindowStaysOnTopHint)
self.alert.show()
self.last_voltage_critical = rospy.get_rostime()
elif msg.total_voltage < msg.warn_total_voltage:
if (rospy.get_rostime() - self.last_voltage_warning
) > rospy.Duration(VOLTAGE_WARNING_INTERVAL):
self.alert = QtGui.QMessageBox(
QtGui.QMessageBox.Warning,
'Battery Voltage Low',
'The current battery voltage is: ' +
str(msg.total_voltage) + ' V. You should plug in soon',
flags=Qt.Dialog | Qt.MSWindowsFixedSizeDialogHint
| Qt.WindowStaysOnTopHint)
self.alert.show()
self.last_voltage_warning = rospy.get_rostime()
