class CobDashboard(Dashboard):
"""
Dashboard for Care-O-bots
:param context: the plugin context
:type context: qt_gui.plugin.Plugin
"""
def setup(self, context):
self.name = 'CobDashboard'
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._runstop = COBRunstops('RunStops')
self._battery = COBBattery(self.context)
self._dashboard_agg_sub = rospy.Subscriber("/dashboard_agg", DashboardState, self.db_agg_cb)
def get_widgets(self):
return [[self._monitor, self._console], [self._runstop], [self._battery]]
def db_agg_cb(self, msg):
self._last_dashboard_message_time = rospy.get_time()
self._battery.set_power_state(msg.power_state)
if(msg.emergency_stop_state.emergency_state == 0):
self._runstop.set_ok()
self._runstop.setToolTip(self.tr("Button stop: OK\nScanner stop: OK"))
else:
if msg.emergency_stop_state.emergency_button_stop:
self._runstop.set_button_stop()
elif msg.emergency_stop_state.scanner_stop:
self._runstop.set_scanner_stop()
else:
rospy.logerr("reason for emergency stop not known")
self._runstop.setToolTip(self.tr("Button stop: %s\nScanner stop: %s" %(str(msg.emergency_stop_state.emergency_button_stop), str(msg.emergency_stop_state.scanner_stop))))
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)
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)
class MovoDashboard(Dashboard):
def setup(self, context):
super(Dashboard, self).__init__(context)
self.name = 'Movo Dashboard'
self.message = None
self._console = ConsoleDashWidget(self.context, minimal=False)
self._monitor = MonitorDashWidget(self.context)
self._bat = BatteryWidget("Battery Power")
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
self._bat_sub = rospy.Subscriber('/movo/feedback/battery', Battery,
self._battery_callback)
self._last_dashboard_message_time = rospy.get_time()
self._system_charging = False
def get_widgets(self):
return [[self._console, self._monitor], [self._bat]]
def _battery_callback(self, msg):
self._bat.update_perc(msg.battery_soc)
self._bat.update_time(msg.battery_soc)
if (0x1000 == (msg.battery_status & 0x1000)):
self._bat.set_charging(True)
self._system_charging = True
else:
self._bat.set_charging(False)
self._system_charging = False
def shutdown_dashboard(self):
self._bat_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)
class VectorDashboard(Dashboard):
def setup(self, context):
super(Dashboard, self).__init__(context)
self.name = 'Vector Dashboard'
self.message = None
self._console = ConsoleDashWidget(self.context, minimal=False)
self._monitor = MonitorDashWidget(self.context)
self._bat = BatteryWidget("Battery Power")
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
self._bat_sub = rospy.Subscriber('/vector/feedback/battery', Battery, self._battery_callback)
self._last_dashboard_message_time = rospy.get_time()
self._system_charging = False
def get_widgets(self):
return [[self._console, self._monitor], [self._bat]]
def _battery_callback(self,msg):
self._bat.update_perc(msg.battery_soc)
self._bat.update_time(msg.battery_soc)
if (0x1000 == (msg.battery_status & 0x1000)):
self._bat.set_charging(True)
self._system_charging = True
else:
self._bat.set_charging(False)
self._system_charging = False
def shutdown_dashboard(self):
self._bat_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)
class CobDashboard(Dashboard):
"""
Dashboard for Care-O-bots
:param context: the plugin context
:type context: qt_gui.plugin.Plugin
"""
def setup(self, context):
self.name = 'CobDashboard'
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._runstop = PR2Runstops('RunStops')
self._batteries = [COBBattery(self.context)]
self._dashboard_agg_sub = rospy.Subscriber('dashboard_agg',
DashboardState,
self.dashboard_callback)
def get_widgets(self):
return [[self._monitor, self._console], [self._runstop],
self._batteries]
def dashboard_callback(self, msg):
"""
callback to process dashboard_agg messages
:param msg: dashboard_agg DashboardState message
:type msg: pr2_msgs.msg.DashboardState
"""
self._dashboard_message = msg
self._last_dashboard_message_time = rospy.get_time()
if (msg.power_state_valid):
self._batteries[0].set_power_state(msg.power_state)
else:
self._batteries[0].set_stale()
if (msg.power_board_state_valid):
if msg.power_board_state.run_stop:
self._runstop.set_ok()
self._runstop.setToolTip(
self.tr("Physical Runstop: OK\nWireless Runstop: OK"))
elif msg.power_board_state.wireless_stop:
self._runstop.set_physical_engaged()
self._runstop.setToolTip(
self.tr("Physical Runstop: Pressed\nWireless Runstop: OK"))
if not msg.power_board_state.wireless_stop:
self._runstop.set_wireless_engaged()
self._runstop.setToolTip(
self.
tr("Physical Runstop: Unknown\nWireless Runstop: Pressed"))
else:
self._runstop.set_stale()
self._runstop.setToolTip(
self.tr("Physical Runstop: Stale\nWireless Runstop: Stale"))
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)
class CobDashboard(Dashboard):
"""
Dashboard for Care-O-bots
:param context: the plugin context
:type context: qt_gui.plugin.Plugin
"""
def setup(self, context):
self.name = 'CobDashboard'
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._runstop = COBRunstops('RunStops')
self._batteries = [COBBattery(self.context)]
self._dashboard_agg_sub = rospy.Subscriber("/dashboard_agg",
DashboardState,
self.db_agg_cb)
self.em_sub = rospy.Subscriber("/emergency_stop_state",
EmergencyStopState, self.emcb)
self._powerstate_sub = rospy.Subscriber('/power_state', PowerState,
self.dashboard_callback)
def get_widgets(self):
return [[self._monitor, self._console], [self._runstop],
self._batteries]
def db_agg_cb(self, msg):
pass
def emcb(self, msg):
self._last_dashboard_message_time = rospy.get_time()
if (not msg.emergency_button_stop):
self._runstop.set_button_engaged()
self._runstop.setToolTip(self.tr("Button Runstop: Pressed"))
if (not msg.scanner_stop):
self._runstop.set_scanner_engaged()
self._runstop.setToolTip(
self.tr("Button Runstop: Unknown\nScanner Runstop: Active"))
if (msg.emergency_button_stop and msg.scanner_stop):
self._runstop.set_ok()
self._runstop.setToolTip(
self.tr("Button Runstop: OK\nScanner Runstop: OK"))
def dashboard_callback(self, msg):
self._last_dashboard_message_time = rospy.get_time()
self._batteries[0].set_power_state(msg)
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)
