def setup(self, context):
self.name = 'Scitos Dashboard'
self.max_icon_size = QSize(50, 30)
self.message = None
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
self._raw_byte = None
self.digital_outs = [0, 0, 0]
self._console = ConsoleDashWidget(self.context, minimal=False)
self._monitor = MonitorDashWidget(self.context)
self._mileage = ScitosMileage()
self._drive = ScitosDrive(self.reset_motorstop_cb, self.freerun_cb,
self.enable_motorstop_cb)
self._batteries = ScitosBattery()
self._freerun_state = True
self._motor_state_sub = rospy.Subscriber('/motor_status', MotorStatus,
self.motor_status_callback)
self._battery_state_sub = rospy.Subscriber('/battery_state',
BatteryState,
self.battery_callback)
self._mileage_sub = rospy.Subscriber('/mileage', Float32,
self.mileage_callback)
self._motor_stale_timer = Timer(0, self._drive.set_stale)
self._motor_stale_timer.start()
self._battery_stale_timer = Timer(0, self._batteries.set_stale)
self._battery_stale_timer.start()
self._mileage_stale_timer = Timer(0, self._mileage.set_stale)
self._mileage_stale_timer.start()
class ScitosDashboard(Dashboard):
def setup(self, context):
self.name = 'Scitos Dashboard'
self.max_icon_size = QSize(50, 30)
self.message = None
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
self._raw_byte = None
self.digital_outs = [0, 0, 0]
self._console = ConsoleDashWidget(self.context, minimal=False)
self._monitor = MonitorDashWidget(self.context)
self._mileage = ScitosMileage()
self._drive = ScitosDrive(self.reset_motorstop_cb, self.freerun_cb,
self.enable_motorstop_cb)
self._batteries = ScitosBattery()
self._freerun_state = True
self._motor_state_sub = rospy.Subscriber('/motor_status', MotorStatus,
self.motor_status_callback)
self._battery_state_sub = rospy.Subscriber('/battery_state',
BatteryState,
self.battery_callback)
self._mileage_sub = rospy.Subscriber('/mileage', Float32,
self.mileage_callback)
self._motor_stale_timer = Timer(0, self._drive.set_stale)
self._motor_stale_timer.start()
self._battery_stale_timer = Timer(0, self._batteries.set_stale)
self._battery_stale_timer.start()
self._mileage_stale_timer = Timer(0, self._mileage.set_stale)
self._mileage_stale_timer.start()
def get_widgets(self):
return [[self._monitor, self._console], [self._drive],
[self._batteries], [self._mileage]]
def motor_status_callback(self, msg):
self._motor_stale_timer.cancel()
self._motor_stale_timer = Timer(1, self._drive.set_stale)
self._motor_stale_timer.start()
self._motorstatus_message = msg
self._last_motorstatus_message_time = rospy.get_time()
if msg.emergency_button_pressed:
self._drive.set_hardstop()
elif msg.normal:
self._drive.set_ok()
elif msg.free_run:
self._freerun_state = msg.free_run
self._drive.set_free_run(msg.motor_stopped)
elif msg.motor_stopped:
self._drive.set_stopped()
def battery_callback(self, msg):
self._battery_stale_timer.cancel()
self._battery_stale_timer = Timer(3, self._batteries.set_stale)
self._battery_stale_timer.start()
self._batteries.set_power_state(msg)
def mileage_callback(self, msg):
self._mileage_stale_timer.cancel()
self._mileage_stale_timer = Timer(1, self._mileage.set_stale)
self._mileage_stale_timer.start()
self._mileage.set_mileage_from_msg(msg)
def reset_motorstop_cb(self):
reset_srv = rospy.ServiceProxy("/reset_motorstop", ResetMotorStop)
try:
reset_srv()
except rospy.ServiceException, e:
QMessageBox.critical(
self._drive, "Error",
"Failed to halt the motors: service call failed with error: %s"
% (e))
