class NaoDCMDashboard(Dashboard):
def setup(self, context):
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
self.name = "NaoDCM Dashboard"
rospy.sleep(0.5)
self.motor_bat = NaoDCMBatteryWidget("Battery")
self.console = ConsoleDashWidget(self.context)
self.monitor = MonitorDashWidget(self.context)
self.monitor._show_monitor()
self.nav = NavViewDashWidget(self.context)
self.cam = CameraViewDashWidget(self.context, 'nao_dcm/CameraTop/image_raw', 'CameraTop')
self.cam._show_cam_view()
self.camBot = CameraViewDashWidget(self.context, 'nao_dcm/CameraBottom/image_raw', 'CameraBottom')
self.camBot._show_cam_view()
self.stiff = NaoDCMStiffnessWidget("Stiffness")
# This is what gets dashboard_callback going eagerly
self._dashboard_agg_sub = rospy.Subscriber('diagnostics_agg', diagnostic_msgs.msg.DiagnosticArray, self.dashboard_callback)
def get_widgets(self):
return [[self.monitor, self.console],[self.motor_bat],[self.nav],[self.cam, self.camBot],[self.stiff]]
def dashboard_callback(self, msg):
self._dashboard_message = msg
self._last_dashboard_message_time = rospy.get_time()
battery_status = {} # Used to store Battery status info
for status in msg.status:
if status.name == "/Nao/Battery/Battery":
for value in status.values:
battery_status[value.key]=value.value
# If battery diagnostics were found, calculate percentages and stuff
if (battery_status):
self.motor_bat.set_power_state(battery_status['Battery Charge'])
def shutdown_dashboard(self):
self._dashboard_agg_sub.unregister()
def save_settings(self, plugin_settings, instance_settings):
self.console.save_settings(plugin_settings, instance_settings)
self.monitor.save_settings(plugin_settings, instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self.console.restore_settings(plugin_settings, instance_settings)
self.monitor.restore_settings(plugin_settings, instance_settings)
