def setup(self, context):
self.message = None
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
self._motor_widget = MotorWidget('/mobile_base/commands/motor_power')
self._laptop_bat = BatteryDashWidget("Laptop")
self._kobuki_bat = BatteryDashWidget("Kobuki")
self._dashboard_agg_sub = rospy.Subscriber('diagnostics_agg', diagnostic_msgs.msg.DiagnosticArray, self.dashboard_callback)
def setup(self, context):
self.message = None
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
self._motor_widget = MotorWidget('/mobile_base/commands/motor_power')
self._laptop_bat = BatteryDashWidget("Laptop")
self._kobuki_bat = BatteryDashWidget("Kobuki")
self._dashboard_agg_sub = rospy.Subscriber(
'diagnostics_agg', diagnostic_msgs.msg.DiagnosticArray,
self.dashboard_callback)
class KobukiDashboard(Dashboard):
def setup(self, context):
self.message = None
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
self._motor_widget = MotorWidget('/mobile_base/commands/motor_power')
self._laptop_bat = BatteryDashWidget("Laptop")
self._kobuki_bat = BatteryDashWidget("Kobuki")
self._dashboard_agg_sub = rospy.Subscriber('diagnostics_agg', diagnostic_msgs.msg.DiagnosticArray, self.dashboard_callback)
def get_widgets(self):
leds = [LedWidget('/mobile_base/commands/led1'), LedWidget('/mobile_base/commands/led2')]
return [[MonitorDashWidget(self.context), ConsoleDashWidget(self.context), self._motor_widget], leds, [self._laptop_bat, self._kobuki_bat]]
def dashboard_callback(self, msg):
self._dashboard_message = msg
self._last_dashboard_message_time = rospy.get_time()
laptop_battery_status = {}
for status in msg.status:
if status.name == "/Kobuki/Motor State":
motor_state = int(status.values[0].value)
self._motor_widget.update_state(motor_state)
elif status.name == "/Power System/Battery":
for value in status.values:
if value.key == 'Percent':
self._kobuki_bat.update_perc(float(value.value))
# This should be self._last_dashboard_message_time?
# Is it even used graphically by the widget
self._kobuki_bat.update_time(float(value.value))
elif value.key == "Charging State":
if value.value == "Trickle Charging" or value.value == "Full Charging":
self._kobuki_bat.set_charging(True)
else:
self._kobuki_bat.set_charging(False)
elif status.name == "/Power System/Laptop Battery":
for value in status.values:
laptop_battery_status[value.key]=value.value
if (laptop_battery_status):
percentage = float(laptop_battery_status['Charge (Ah)'])/float(laptop_battery_status['Capacity (Ah)'])
self._laptop_bat.update_perc(percentage*100)
self._laptop_bat.update_time(percentage*100)
charging_state = True if float(laptop_battery_status['Current (A)']) > 0.0 else False
self._laptop_bat.set_charging(charging_state)
def shutdown_dashboard(self):
self._dashboard_agg_sub.unregister()
class KobukiDashboard(Dashboard):
def setup(self, context):
self.message = None
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
self._motor_widget = MotorWidget('/mobile_base/commands/motor_power')
self._laptop_bat = BatteryDashWidget("Laptop")
self._laptop_bat2 = BatteryDashWidget("Laptop (2)")
self._kobuki_bat = BatteryDashWidget("Kobuki")
self._dashboard_agg_sub = rospy.Subscriber(
'diagnostics_agg', diagnostic_msgs.msg.DiagnosticArray,
self.dashboard_callback)
def get_widgets(self):
leds = [
LedWidget('/mobile_base/commands/led1'),
LedWidget('/mobile_base/commands/led2')
]
return [[
MonitorDashWidget(self.context),
ConsoleDashWidget(self.context), self._motor_widget
], leds, [self._laptop_bat, self._laptop_bat2, self._kobuki_bat]]
def dashboard_callback(self, msg):
self._dashboard_message = msg
self._last_dashboard_message_time = rospy.get_time()
laptop_battery_status = {}
laptop_battery_2_status = {}
for status in msg.status:
if status.name == "/Kobuki/Motor State":
motor_state = int(status.values[0].value)
self._motor_widget.update_state(motor_state)
elif status.name == "/Power System/Battery":
for value in status.values:
if value.key == 'Percent':
self._kobuki_bat.update_perc(float(value.value))
# This should be self._last_dashboard_message_time?
# Is it even used graphically by the widget
self._kobuki_bat.update_time(float(value.value))
elif value.key == "Charging State":
if value.value == "Trickle Charging" or value.value == "Full Charging":
self._kobuki_bat.set_charging(True)
else:
self._kobuki_bat.set_charging(False)
elif status.name == "/Power System/Laptop Battery":
for value in status.values:
laptop_battery_status[value.key] = value.value
elif status.name == "/Power System/laptop_battery_1":
for value in status.values:
laptop_battery_status[value.key] = value.value
elif status.name == "/Power System/laptop_battery_2":
for value in status.values:
laptop_battery_2_status[value.key] = value.value
if (laptop_battery_status):
percentage = float(laptop_battery_status['Charge (Ah)']) / float(
laptop_battery_status['Capacity (Ah)'])
self._laptop_bat.update_perc(percentage * 100)
self._laptop_bat.update_time(percentage * 100)
charging_state = True if float(
laptop_battery_status['Current (A)']) > 0.0 else False
self._laptop_bat.set_charging(charging_state)
if (laptop_battery_2_status):
percentage = float(laptop_battery_2_status['Charge (Ah)']) / float(
laptop_battery_2_status['Capacity (Ah)'])
self._laptop_bat2.update_perc(percentage * 100)
self._laptop_bat2.update_time(percentage * 100)
charging_state = True if float(
laptop_battery_2_status['Current (A)']) > 0.0 else False
self._laptop_bat2.set_charging(charging_state)
def shutdown_dashboard(self):
self._dashboard_agg_sub.unregister()
class TurtlebotDashboard(Dashboard):
def setup(self, context):
self.message = None
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
self._motor_widget = MotorWidget('/mobile_base/commands/motor_power')
self._laptop_bat = BatteryDashWidget("Laptop")
self._kobuki_bat = BatteryDashWidget("Kobuki")
self._dashboard_agg_sub = rospy.Subscriber('diagnostics_agg', diagnostic_msgs.msg.DiagnosticArray, self.dashboard_callback)
self._laptop_bat_sub = rospy.Subscriber('/laptop_charge', LaptopChargeStatus, self.laptop_cb)
def get_widgets(self):
leds = [LedWidget('/mobile_base/commands/led1'), LedWidget('/mobile_base/commands/led2')]
return [[MonitorDashWidget(self.context), ConsoleDashWidget(self.context), self._motor_widget], leds, [self._laptop_bat, self._kobuki_bat], [NavViewDashWidget(self.context)]]
def dashboard_callback(self, msg):
self._dashboard_message = msg
self._last_dashboard_message_time = rospy.get_time()
for status in msg.status:
if status.name == "/Kobuki/Motor State":
motor_state = int(status.values[0].value)
self._motor_widget.update_state(motor_state)
elif status.name == "/Power System/Battery":
for value in status.values:
if value.key == 'Percent':
self._kobuki_bat.update_perc(float(value.value))
self._kobuki_bat.update_time(float(value.value))
elif value.key == "State":
if value.value == "Charging":
self._kobuki_bat.set_charging(True)
else:
self._kobuki_bat.set_charging(False)
def laptop_cb(self, msg):
self._laptop_bat.update_perc(float(msg.percentage))
self._laptop_bat.update_time(float(msg.percentage))
self._laptop_bat.set_charging(bool(msg.charge_state))
def shutdown_dashboard(self):
self._laptop_bat_sub.unregister()
self._dashboard_agg_sub.unregister()
