def setup(self, context):
self.name = "hrpsys dashbaord"
self._console = ConsoleDashWidget(self.context, minimal=False)
self._monitor = MonitorDashWidget(self.context)
self._log = HrpsysLogMenu()
rtcd_start_command = rospy.get_param('hrpsys_rtcd_start_command', None)
rtcd_stop_command = rospy.get_param('hrpsys_rtcd_stop_command', None)
if rtcd_stop_command or rtcd_start_command:
self._rtcd = HrpsysRTCDMenu(rtcd_start_command, rtcd_stop_command)
else:
self._rtcd = None
ros_bridge_start_command = rospy.get_param(
'hrpsys_ros_bridge_start_command', None)
ros_bridge_stop_command = rospy.get_param(
'hrpsys_ros_bridge_stop_command', None)
if ros_bridge_stop_command or ros_bridge_start_command:
self._ros_bridge = HrpsysROSBridgeMenu(ros_bridge_start_command,
ros_bridge_stop_command)
else:
self._ros_bridge = None
self._power = None
#self._power = HrpsysPowerMenu()
self._servo = HrpsysServoMenu(
rospy.get_param('hrpsys_servo_start_command', None),
rospy.get_param('hrpsys_servo_stop_command', None))
self._dashboard_agg_sub = rospy.Subscriber(
'diagnostics_agg', diagnostic_msgs.msg.DiagnosticArray,
self.dashboard_callback)
def setup(self, context):
self.name = 'PR2 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._motors = PR2Motors(self.on_reset_motors, self.on_halt_motors)
self._breakers = [
PR2BreakerButton('Left Arm', 0),
PR2BreakerButton('Base', 1),
PR2BreakerButton('Right Arm', 2)
]
self._runstop = PR2Runstops('RunStops')
self._batteries = [PR2Battery(self.context)]
self._dashboard_agg_sub = rospy.Subscriber('dashboard_agg',
DashboardState,
self.dashboard_callback)
def setup(self, context):
self.name = 'Youbot 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._base_motors = YoubotMotors("base",
self.on_base_motors_on_clicked,
self.on_base_motors_off_clicked)
self._arm_1_motors = YoubotMotors("arm",
self.on_arm_1_motors_on_clicked,
self.on_arm_1_motors_off_clicked)
self._ethercat = YoubotEthercat('EtherCAT', self.on_reconnect_clicked)
self._batteries = [PR2Battery(self.context)]
self._dashboard_agg_sub = rospy.Subscriber('dashboard_agg',
DashboardState,
self.dashboard_callback)
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 setup(self, context):
self.name = 'PR2 Dashboard'
self.max_icon_size = QSize(50, 30)
self.message = None
parser = argparse.ArgumentParser(prog='pr2_dashboard', add_help=False)
PR2Dashboard.add_arguments(parser)
args = parser.parse_args(context.argv())
self._motor_namespace = args.motor_namespace
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._motors = PR2Motors(self.on_reset_motors, self.on_halt_motors)
self._breakers = [
PR2BreakerButton('Left Arm', 0),
PR2BreakerButton('Base', 1),
PR2BreakerButton('Right Arm', 2)
]
self._runstop = PR2Runstops('RunStops')
self._batteries = [PR2Battery(self.context)]
self._dashboard_agg_sub = rospy.Subscriber('dashboard_agg',
DashboardState,
self.dashboard_callback)
class NAOqiDashboard(Dashboard):
def setup(self, context):
self.name = 'NAOqi Dashboard (%s)' % rosenv.get_master_uri()
self.robot_prefix = ''
# get robot info
rospy.wait_for_service("/naoqi_driver/get_robot_config")
try:
get_robot_info = rospy.ServiceProxy(
"/naoqi_driver/get_robot_config", GetRobotInfo)
resp = get_robot_info.call(GetRobotInfoRequest())
if resp.info.type == 0:
self.robot_prefix = "nao_robot"
elif resp.info.type == 2:
self.robot_prefix = "pepper_robot"
except rospy.ServiceException, e:
print "Unable to call naoqi_driver/get_robot_config:%s", e
#print "gonna work with robot prefix ", self.robot_prefix
self._robot_combobox = AvahiWidget()
# Diagnostics
self._monitor = MonitorDashWidget(self.context)
# Rosout
self._console = ConsoleDashWidget(self.context, minimal=False)
## Joint temperature
self._temp_joint_button = StatusControl('Joint temperature',
'temperature_joints')
## CPU temperature
self._temp_head_button = StatusControl('CPU temperature',
'temperature_head')
## Motors
self._motors_button = Motors(self.context, self.robot_prefix)
## Postures
self._postures = PostureWidget(self.robot_prefix)
## Battery State
self._power_state_ctrl = PowerStateControl('Battery')
self._agg_sub = rospy.Subscriber('/diagnostics_agg', DiagnosticArray,
self.new_diagnostic_message)
def setup(self, context):
self.name = 'Irp6 Dashboard (%s)'%rosenv.get_master_uri()
# Diagnostics
self._monitor = MonitorDashWidget(self.context)
# Rosout
self._console = ConsoleDashWidget(self.context, minimal=False)
## Motors
self._irp6p_motors_button = Irp6pMotors(self.context)
self._irp6ot_motors_button = Irp6otMotors(self.context)
self._conveyor_motors_button = ConveyorMotors(self.context)
self._stop_button = Irp6Stop('Irp6Stop',self.emergency_stop)
self._agg_sub = rospy.Subscriber('diagnostics', DiagnosticArray, self.new_diagnostic_message_diagnostics)
def setup(self, context):
self.name = 'NAO Dashboard (%s)'%rosenv.get_master_uri()
self._robot_combobox = AvahiWidget()
# Diagnostics
self._monitor = MonitorDashWidget(self.context)
# Rosout
self._console = ConsoleDashWidget(self.context, minimal=False)
## Joint temperature
self._temp_joint_button = StatusControl('Joint temperature', 'temperature_joints')
## CPU temperature
self._temp_head_button = StatusControl('CPU temperature', 'temperature_head')
## Motors
self._motors_button = Motors(self.context)
## Battery State
self._power_state_ctrl = PowerStateControl('NAO Battery')
self._agg_sub = rospy.Subscriber('diagnostics_agg', DiagnosticArray, self.new_diagnostic_message)
