class DragonbotFrame(wx.Frame):
_CONFIG_WINDOW_X="/Window/X"
_CONFIG_WINDOW_Y="/Window/Y"
def __init__(self, parent, id=wx.ID_ANY, title='Dragonbot Dashboard', pos=wx.DefaultPosition, size=(400, 50), style=wx.CAPTION|wx.CLOSE_BOX|wx.STAY_ON_TOP):
wx.Frame.__init__(self, parent, id, title, pos, size, style)
wx.InitAllImageHandlers()
#self.battStateSub = rospy.Subscriber("battery_state", BatteryState, self.battStateCallback)
self.motorState = 0
rospy.init_node('dragonbot_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("dragonbot_dashboard_cpp", anonymous=True)
except AttributeError:
pass
self.SetTitle('Dragonbot Dashboard (%s)'%rosenv.get_master_uri())
icons_path = path.join(roslib.packages.get_pkg_dir('dragonbot_dashboard'), "icons/")
sizer = wx.BoxSizer(wx.HORIZONTAL)
self.SetSizer(sizer)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Diagnostic"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Diagnostics
self._diagnostics_button = StatusControl(self, wx.ID_ANY, icons_path, "diag", True)
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics"))
static_sizer.Add(self._diagnostics_button, 0)
# Rosout
self._rosout_button = StatusControl(self, wx.ID_ANY, icons_path, "rosout", True)
self._rosout_button.SetToolTip(wx.ToolTip("Rosout"))
static_sizer.Add(self._rosout_button, 0)
# Motors
self._motors_button = StatusControl(self, wx.ID_ANY, icons_path, "motor", True)
self._motors_button.SetToolTip(wx.ToolTip("Motors"))
static_sizer.Add(self._motors_button, 0)
self._motors_button.Bind(wx.EVT_LEFT_DOWN, self.on_motors_clicked)
self.motorStatePub = rospy.Publisher('cmd_motor_state', Int32)
self.motorStateSub = rospy.Subscriber("motor_state", Int32, self.motorStateCallback)
#sizer.Add(static_sizer, 0)
# Battery State (not yet)
#self._power_state_ctrl = PowerStateControl(self, wx.ID_ANY, icons_path)
#self._power_state_ctrl.SetToolTip(wx.ToolTip("Battery: Stale"))
#static_sizer.Add(self._power_state_ctrl, 1, wx.EXPAND)
self._config = wx.Config("dragonbot_dashboard")
self.Bind(wx.EVT_CLOSE, self.on_close)
self.Layout()
self.Fit()
self._diagnostics_frame = DiagnosticsFrame(self, wx.ID_ANY, "Diagnostics")
self._diagnostics_frame.Hide()
self._diagnostics_frame.Center()
self._diagnostics_button.Bind(wx.EVT_BUTTON, self.on_diagnostics_clicked)
self._rosout_frame = RosoutFrame(self, wx.ID_ANY, "Rosout")
self._rosout_frame.Hide()
self._rosout_frame.Center()
self._rosout_button.Bind(wx.EVT_BUTTON, self.on_rosout_clicked)
self.load_config()
self._timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_timer)
self._timer.Start(500)
#self._dashboard_agg_sub = rospy.Subscriber('dashboard_agg', DashboardState, self.dashboard_callback)
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
def __del__(self):
self._dashboard_agg_sub.unregister()
def motorStateCallback(self, msg):
self.motorState = msg.data
if(self.motorState):
self._motors_button.set_ok()
self._motors_button.SetToolTip(wx.ToolTip("Motors: Running"))
else:
self._motors_button.set_error()
self._motors_button.SetToolTip(wx.ToolTip("Motors: Halted"))
def on_timer(self, evt):
level = self._diagnostics_frame.get_top_level_state()
if self._diagnostics_frame._diagnostics_panel is not None:
level_old = self._diagnostics_frame._diagnostics_panel.get_top_level_state()
if level != level_old:
print 'level differs: ', level, level_old
if (level == -1 or level == 3):
if (self._diagnostics_button.set_stale()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: Stale"))
elif (level >= 2):
if (self._diagnostics_button.set_error()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: Error"))
elif (level == 1):
if (self._diagnostics_button.set_warn()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: Warning"))
else:
if (self._diagnostics_button.set_ok()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: OK"))
self.update_rosout()
if (rospy.is_shutdown()):
self.Close()
def on_diagnostics_clicked(self, evt):
self._diagnostics_frame.Show()
self._diagnostics_frame.Raise()
def on_rosout_clicked(self, evt):
self._rosout_frame.Show()
self._rosout_frame.Raise()
def on_motors_clicked(self, evt):
menu = wx.Menu()
menu.Bind(wx.EVT_MENU, self.on_reset_motors, menu.Append(wx.ID_ANY, "Enable"))
menu.Bind(wx.EVT_MENU, self.on_halt_motors, menu.Append(wx.ID_ANY, "Disable"))
self._motors_button.toggle(True)
self.PopupMenu(menu)
self._motors_button.toggle(False)
def on_reset_motors(self, evt):
self.motorStatePub.publish(Int32(1))
def on_halt_motors(self, evt):
self.motorStatePub.publish(Int32(0))
def update_rosout(self):
summary_dur = 30.0
if (rospy.get_time() < 30.0):
summary_dur = rospy.get_time() - 1.0
if (summary_dur < 0):
summary_dur = 0.0
summary = self._rosout_frame.get_panel().getMessageSummary(summary_dur)
if (summary.fatal or summary.error):
self._rosout_button.set_error()
elif (summary.warn):
self._rosout_button.set_warn()
else:
self._rosout_button.set_ok()
tooltip = ""
if (summary.fatal):
tooltip += "\nFatal: %s"%(summary.fatal)
if (summary.error):
tooltip += "\nError: %s"%(summary.error)
if (summary.warn):
tooltip += "\nWarn: %s"%(summary.warn)
if (summary.info):
tooltip += "\nInfo: %s"%(summary.info)
if (summary.debug):
tooltip += "\nDebug: %s"%(summary.debug)
if (len(tooltip) == 0):
tooltip = "Rosout: no recent activity"
else:
tooltip = "Rosout: recent activity:" + tooltip
if (tooltip != self._rosout_button.GetToolTip().GetTip()):
self._rosout_button.SetToolTip(wx.ToolTip(tooltip))
def load_config(self):
# Load our window options
(x, y) = self.GetPositionTuple()
(width, height) = self.GetSizeTuple()
if (self._config.HasEntry(self._CONFIG_WINDOW_X)):
x = self._config.ReadInt(self._CONFIG_WINDOW_X)
if (self._config.HasEntry(self._CONFIG_WINDOW_Y)):
y = self._config.ReadInt(self._CONFIG_WINDOW_Y)
self.SetPosition((x, y))
self.SetSize((width, height))
def save_config(self):
config = self._config
(x, y) = self.GetPositionTuple()
(width, height) = self.GetSizeTuple()
config.WriteInt(self._CONFIG_WINDOW_X, x)
config.WriteInt(self._CONFIG_WINDOW_Y, y)
config.Flush()
def on_close(self, event):
self.save_config()
self.Destroy()
