class RobotMonitorPlugin(Plugin):
def __init__(self, context):
"""
:type context: qt_gui.PluginContext
"""
super(RobotMonitorPlugin, self).__init__(context)
self._robot_monitor = RobotMonitorWidget(context, 'diagnostics_agg')
if context.serial_number() > 1:
self._robot_monitor.setWindowTitle(
self._robot_monitor.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._robot_monitor)
self.setObjectName('rqt Robot Monitor')
def shutdown_plugin(self):
"""
Call RobotMonitorWidget's corresponding function.
Overriding Plugin's method.
"""
self._robot_monitor.shutdown() # Closes unclosed popup windows.
def save_settings(self, plugin_settings, instance_settings):
"""
Call RobotMonitorWidget's corresponding function.
Overriding Plugin's method.
"""
self._robot_monitor.save_settings(plugin_settings, instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
"""
Call RobotMonitorWidget's corresponding function.
Overriding Plugin's method.
"""
self._robot_monitor.restore_settings(plugin_settings,
instance_settings)
class MonitorDashWidget(IconToolButton):
"""
A widget which brings up the rqt_robot_monitor.
Times out after certain period of time (set as 5 sec as of Apr 2013)
without receiving diagnostics msg ('/diagnostics_toplevel_state' of
DiagnosticStatus type), status becomes as 'stale'.
:param context: The plugin context to create the monitor in.
:type context: qt_gui.plugin_context.PluginContext
"""
def __init__(self, context, icon_paths=[]):
self._graveyard = []
ok_icon = ['bg-green.svg', 'ic-diagnostics.svg']
warn_icon = ['bg-yellow.svg', 'ic-diagnostics.svg',
'ol-warn-badge.svg']
err_icon = ['bg-red.svg', 'ic-diagnostics.svg', 'ol-err-badge.svg']
stale_icon = ['bg-grey.svg', 'ic-diagnostics.svg',
'ol-stale-badge.svg']
icons = [ok_icon, warn_icon, err_icon, stale_icon]
super(MonitorDashWidget, self).__init__('MonitorWidget', icons,
icon_paths=icon_paths)
self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
self._monitor = None
self._close_mutex = QMutex()
self._show_mutex = QMutex()
self._last_update = rospy.Time.now()
self.context = context
self.clicked.connect(self._show_monitor)
self._monitor_shown = False
self.setToolTip('Diagnostics')
self._diagnostics_toplevel_state_sub = rospy.Subscriber(
'diagnostics_toplevel_state',
DiagnosticStatus, self.toplevel_state_callback)
self._top_level_state = -1
self._stall_timer = QTimer()
self._stall_timer.timeout.connect(self._stalled)
self._stalled()
self._plugin_settings = None
self._instance_settings = None
def toplevel_state_callback(self, msg):
self._is_stale = False
self._stall_timer.start(5000)
if self._top_level_state != msg.level:
if (msg.level >= 2):
self.update_state(2)
self.setToolTip("Diagnostics: Error")
elif (msg.level == 1):
self.update_state(1)
self.setToolTip("Diagnostics: Warning")
else:
self.update_state(0)
self.setToolTip("Diagnostics: OK")
self._top_level_state = msg.level
def _stalled(self):
self._stall_timer.stop()
self._is_stale = True
self.update_state(3)
self._top_level_state = 3
self.setToolTip("Diagnostics: Stale\nNo message received on " +
"dashboard_agg in the last 5 seconds")
def _show_monitor(self):
with QMutexLocker(self._show_mutex):
try:
if self._monitor_shown:
self.context.remove_widget(self._monitor)
self._monitor_close()
self._monitor_shown = False
else:
self._monitor = RobotMonitorWidget(self.context,
'/diagnostics_agg')
if self._plugin_settings:
self._monitor.restore_settings(self._plugin_settings,
self._instance_settings)
self.context.add_widget(self._monitor)
self._monitor_shown = True
except Exception:
if self._monitor_shown == False:
raise
#TODO: when closeEvents is available fix this hack
# (It ensures the button will toggle correctly)
self._monitor_shown = False
self._show_monitor()
def _monitor_close(self):
if self._monitor_shown:
with QMutexLocker(self._close_mutex):
if self._plugin_settings:
self._monitor.save_settings(self._plugin_settings,
self._instance_settings)
self._monitor.shutdown()
self._monitor.close()
self._graveyard.append(self._monitor)
self._monitor = None
def shutdown_widget(self):
self._stall_timer.stop()
if self._monitor:
self._monitor.shutdown()
self._diagnostics_toplevel_state_sub.unregister()
def save_settings(self, plugin_settings, instance_settings):
if self._monitor_shown:
self._monitor.save_settings(self._plugin_settings,
self._instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self._plugin_settings = plugin_settings
self._instance_settings = instance_settings
class MonitorDashWidget(IconToolButton):
"""
A widget which brings up the rqt_robot_monitor.
Times out after certain period of time (set as 5 sec as of Apr 2013)
without receiving diagnostics msg ('/diagnostics_toplevel_state' of
DiagnosticStatus type), status becomes as 'stale'.
:param context: The plugin context to create the monitor in.
:type context: qt_gui.plugin_context.PluginContext
"""
def __init__(self, context, icon_paths=[]):
self._graveyard = []
ok_icon = ['bg-green.svg', 'ic-diagnostics.svg']
warn_icon = [
'bg-yellow.svg', 'ic-diagnostics.svg', 'ol-warn-badge.svg'
]
err_icon = ['bg-red.svg', 'ic-diagnostics.svg', 'ol-err-badge.svg']
stale_icon = [
'bg-grey.svg', 'ic-diagnostics.svg', 'ol-stale-badge.svg'
]
icons = [ok_icon, warn_icon, err_icon, stale_icon]
super(MonitorDashWidget, self).__init__('MonitorWidget',
icons,
icon_paths=icon_paths)
self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
self._monitor = None
self._close_mutex = QMutex()
self._show_mutex = QMutex()
self._last_update = rospy.Time.now()
self.context = context
self.clicked.connect(self._show_monitor)
self._monitor_shown = False
self.setToolTip('Diagnostics')
self._diagnostics_toplevel_state_sub = rospy.Subscriber(
'diagnostics_toplevel_state', DiagnosticStatus,
self.toplevel_state_callback)
self._top_level_state = -1
self._stall_timer = QTimer()
self._stall_timer.timeout.connect(self._stalled)
self._stalled()
self._plugin_settings = None
self._instance_settings = None
def toplevel_state_callback(self, msg):
self._is_stale = False
self._stall_timer.start(5000)
if self._top_level_state != msg.level:
if (msg.level >= 2):
self.update_state(2)
self.setToolTip("Diagnostics: Error")
elif (msg.level == 1):
self.update_state(1)
self.setToolTip("Diagnostics: Warning")
else:
self.update_state(0)
self.setToolTip("Diagnostics: OK")
self._top_level_state = msg.level
def _stalled(self):
self._stall_timer.stop()
self._is_stale = True
self.update_state(3)
self._top_level_state = 3
self.setToolTip("Diagnostics: Stale\nNo message received on " +
"dashboard_agg in the last 5 seconds")
def _show_monitor(self):
with QMutexLocker(self._show_mutex):
try:
if self._monitor_shown:
self.context.remove_widget(self._monitor)
self._monitor_close()
self._monitor_shown = False
else:
self._monitor = RobotMonitorWidget(self.context,
'/diagnostics_agg')
if self._plugin_settings:
self._monitor.restore_settings(self._plugin_settings,
self._instance_settings)
self.context.add_widget(self._monitor)
self._monitor_shown = True
except Exception:
if self._monitor_shown == False:
raise
#TODO: when closeEvents is available fix this hack
# (It ensures the button will toggle correctly)
self._monitor_shown = False
self._show_monitor()
def _monitor_close(self):
if self._monitor_shown:
with QMutexLocker(self._close_mutex):
if self._plugin_settings:
self._monitor.save_settings(self._plugin_settings,
self._instance_settings)
self._monitor.shutdown()
self._monitor.close()
self._graveyard.append(self._monitor)
self._monitor = None
def shutdown_widget(self):
self._stall_timer.stop()
if self._monitor:
self._monitor.shutdown()
self._diagnostics_toplevel_state_sub.unregister()
def save_settings(self, plugin_settings, instance_settings):
if self._monitor_shown:
self._monitor.save_settings(self._plugin_settings,
self._instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self._plugin_settings = plugin_settings
self._instance_settings = instance_settings
