def test_get_master_uri():
from rosgraph.rosenv import get_master_uri
val = get_master_uri()
if 'ROS_MASTER_URI' in os.environ:
assert val == os.environ['ROS_MASTER_URI']
# environment override
val = get_master_uri(env=dict(ROS_MASTER_URI='foo'))
assert val == 'foo'
# argv override precedence, first arg wins
val = get_master_uri(env=dict(ROS_MASTER_URI='foo'), argv=['__master:=bar', '__master:=bar2'])
assert val == 'bar'
# empty env
assert None == get_master_uri(env={})
# invalid argv
try:
val = get_master_uri(argv=['__master:='])
assert False, "should have failed"
except ValueError:
pass
# invalid argv
try:
val = get_master_uri(argv=['__master:=foo:=bar'])
assert False, "should have failed"
except ValueError:
pass
def test_get_master_uri():
from rosgraph.rosenv import get_master_uri
val = get_master_uri()
if 'ROS_MASTER_URI' in os.environ:
assert val == os.environ['ROS_MASTER_URI']
# environment override
val = get_master_uri(env=dict(ROS_MASTER_URI='foo'))
assert val == 'foo'
# argv override precedence, first arg wins
val = get_master_uri(env=dict(ROS_MASTER_URI='foo'),
argv=['__master:=bar', '__master:=bar2'])
assert val == 'bar'
# empty env
assert None == get_master_uri(env={})
# invalid argv
try:
val = get_master_uri(argv=['__master:='])
assert False, "should have failed"
except ValueError:
pass
# invalid argv
try:
val = get_master_uri(argv=['__master:=foo:=bar'])
assert False, "should have failed"
except ValueError:
pass
def __init__(self, parent):
"""
@type parent: LaunchMain
"""
super(LaunchWidget, self).__init__()
self._parent = parent
self._config = None
self._settings = QSettings('ros', 'rqt_launch')
self._settings.sync()
self._package_update = False
self._launchfile_update = False
# TODO: should be configurable from gui
self._port_roscore = 11311
self._run_id = None
self._rospack = rospkg.RosPack()
ui_file = os.path.join(
self._rospack.get_path('rqt_launch'), 'resource', 'launch_widget.ui'
)
loadUi(ui_file, self)
# row=0 allows any number of rows to be added.
self._datamodel = QStandardItemModel(0, 1)
master_uri = rosenv.get_master_uri()
rospy.loginfo('LaunchWidget master_uri={}'.format(master_uri))
self._delegate = NodeDelegate(master_uri, self._rospack)
self._treeview.setModel(self._datamodel)
self._treeview.setItemDelegate(self._delegate)
# NodeController used in controller class for launch operation.
self._node_controllers = []
self._pushbutton_load_params.clicked.connect(self._parent.load_params)
self._pushbutton_start_all.clicked.connect(self._parent.start_all)
self._pushbutton_stop_all.clicked.connect(self._parent.stop_all)
self._pushbutton_refresh.clicked.connect(
self._update_pkgs_contain_launchfiles
)
# Bind package selection with .launch file selection.
self._combobox_pkg.currentIndexChanged[str].connect(
self._refresh_launchfiles
)
# Bind a launch file selection with launch GUI generation.
self._combobox_launchfile_name.currentIndexChanged[str].connect(
self._load_launchfile_slot
)
self._update_pkgs_contain_launchfiles()
def setup(self, context):
self.name = 'NAO Dashboard (%s)'%rosenv.get_master_uri()
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]
icons_path = path.join(roslib.packages.get_pkg_dir('nao_dashboard'), "icons/")
self._robot_combobox = QComboBox()
self._robot_combobox.setSizeAdjustPolicy(QComboBox.AdjustToContents)
self._robot_combobox.setInsertPolicy(QComboBox.InsertAlphabetically)
self._robot_combobox.setEditable(True)
gobject.threads_init()
dbus.glib.threads_init()
self.robots = []
self.sys_bus = dbus.SystemBus()
self.avahi_server = dbus.Interface(self.sys_bus.get_object(avahi.DBUS_NAME, '/'), avahi.DBUS_INTERFACE_SERVER)
self.sbrowser = dbus.Interface(self.sys_bus.get_object(avahi.DBUS_NAME, self.avahi_server.ServiceBrowserNew(avahi.IF_UNSPEC,
avahi.PROTO_INET, '_naoqi._tcp', 'local', dbus.UInt32(0))), avahi.DBUS_INTERFACE_SERVICE_BROWSER)
self.sbrowser.connect_to_signal("ItemNew", self.avahiNewItem)
self.sbrowser.connect_to_signal("ItemRemove", self.avahiItemRemove)
# 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)
self._last_dashboard_message_time = 0.0
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
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._agg_sub = rospy.Subscriber('diagnostics', DiagnosticArray, self.new_diagnostic_message_diagnostics)
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 = '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
def __init__(self, parent):
'''
@type parent: LaunchMain
'''
super(LaunchWidget, self).__init__()
self._parent = parent
print 'FROM WIDGET'
self._config = None
#TODO: should be configurable from gui
self._port_roscore = 11311
self._run_id = None
self._rospack = rospkg.RosPack()
ui_file = os.path.join(self._rospack.get_path('rqt_launch'),
'resource', 'launch_widget.ui')
loadUi(ui_file, self)
# row=0 allows any number of rows to be added.
self._datamodel = QStandardItemModel(0, 1)
master_uri = rosenv.get_master_uri()
rospy.loginfo('LaunchWidget master_uri={}'.format(master_uri))
self._delegate = NodeDelegate(master_uri,
self._rospack)
self._treeview.setModel(self._datamodel)
self._treeview.setItemDelegate(self._delegate)
# NodeController used in controller class for launch operation.
self._node_controllers = []
self._pushbutton_start_all.clicked.connect(self._parent.start_all)
self._pushbutton_stop_all.clicked.connect(self._parent.stop_all)
# Bind package selection with .launch file selection.
self._combobox_pkg.currentIndexChanged[str].connect(
self._refresh_launchfiles)
# Bind a launch file selection with launch GUI generation.
self._combobox_launchfile_name.currentIndexChanged[str].connect(
self._load_launchfile_slot)
self._update_pkgs_contain_launchfiles()
# Used for removing previous nodes
self._num_nodes_previous = 0
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)
def __init__(self, parent, id=wx.ID_ANY, title='SLAW Dashboard', pos=wx.DefaultPosition, size=(400, 50), style=wx.CAPTION|wx.CLOSE_BOX):
wx.Frame.__init__(self, parent, id, title, pos, size, style)
wx.InitAllImageHandlers()
self.SetBackgroundColour(wx.Colour(242,241,240,255))
self.SetTitle('SLAW dashboard (%s)'%rosenv.get_master_uri())
rospy.init_node('slaw_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("slaw_dashboard_cpp", anonymous=True)
except AttributeError:
pass
slaw_icons_path = path.join(roslib.packages.get_pkg_dir('slaw_dashboard'), "icons/")
sizer = wx.BoxSizer(wx.HORIZONTAL)
self.SetSizer(sizer)
# Diagnostics Panel
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Diagnostics"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Diagnostics
self._diagnostics_button = StatusControl(self, wx.ID_ANY, slaw_icons_path, "diagnostics", False)
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics"))
static_sizer.Add(self._diagnostics_button, 0)
# Rosout
self._rosout_button = StatusControl(self, wx.ID_ANY, slaw_icons_path, "rosout", False)
self._rosout_button.SetToolTip(wx.ToolTip("Rosout"))
static_sizer.Add(self._rosout_button, 0)
# SmachViewer
self._smach_button = StatusControl(self, wx.ID_ANY, slaw_icons_path, "smach", False)
self._smach_button.SetToolTip(wx.ToolTip("Smach Viewer"))
static_sizer.Add(self._smach_button, 0)
self._smach_button.Bind(wx.EVT_LEFT_DOWN, self.on_smach_button_clicked)
self._smach_button.set_ok()
# Platform
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Platform"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# base status
self._base_status = StatusControl(self, wx.ID_ANY, slaw_icons_path, "wheel", False)
self._base_status.SetToolTip(wx.ToolTip("Base Motors: Stale"))
static_sizer.Add(self._base_status, 0)
self._base_status.Bind(wx.EVT_LEFT_DOWN, self.on_base_status_clicked)
# arm status
self._arm_status = StatusControl(self, wx.ID_ANY, slaw_icons_path, "arm", False)
self._arm_status.SetToolTip(wx.ToolTip("Arm Motors: Stale"))
static_sizer.Add(self._arm_status, 0)
self._arm_status.Bind(wx.EVT_LEFT_DOWN, self.on_arm_status_clicked)
# Driver
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Drv"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# driver status
self._driver_status = StatusControl(self, wx.ID_ANY, slaw_icons_path, "motor", False)
self._driver_status.SetToolTip(wx.ToolTip("Driver: Stale"))
static_sizer.Add(self._driver_status, 0)
self._driver_status.Bind(wx.EVT_BUTTON, self.on_driver_status_clicked)
# System info
self._robot_sysinfo = SysInfoControl(self, wx.ID_ANY, "System", slaw_icons_path)
sizer.Add(self._robot_sysinfo)
# Apps
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Apps"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Clear costmap
self._costmap_ctrl = StatusControl(self, wx.ID_ANY, slaw_icons_path, "costmap", False)
self._costmap_ctrl.SetToolTip(wx.ToolTip("Clear costmap"))
static_sizer.Add(self._costmap_ctrl, 0)
self._costmap_ctrl.Bind(wx.EVT_BUTTON, self.on_costmap_clicked)
# Cancel goals
self._goal_ctrl = StatusControl(self, wx.ID_ANY, slaw_icons_path, "cancel-goal", False)
self._goal_ctrl.SetToolTip(wx.ToolTip("Cancel goal"))
static_sizer.Add(self._goal_ctrl, 0)
self._goal_ctrl.Bind(wx.EVT_BUTTON, self.on_goal_clicked)
# Tuck arm
self._arm_ctrl = StatusControl(self, wx.ID_ANY, slaw_icons_path, "arm-tuck", False)
self._arm_ctrl.SetToolTip(wx.ToolTip("Tuck arm"))
static_sizer.Add(self._arm_ctrl, 0)
self._arm_ctrl.Bind(wx.EVT_BUTTON, self.on_arm_clicked)
# Store location
self._location_ctrl = StatusControl(self, wx.ID_ANY, slaw_icons_path, "nav", False)
self._location_ctrl.SetToolTip(wx.ToolTip("Store location"))
static_sizer.Add(self._location_ctrl, 0)
self._location_ctrl.Bind(wx.EVT_BUTTON, self.on_location_clicked)
# Wrap up stuff
self._config = wx.Config("slaw_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)
# Message subscribers
self._last_sysinfo_message = 0.0
self._last_power_state_message = 0.0
self._last_platform_state_message = 0.0
self._platform_state_message = None
self._sub_sysinfo = rospy.Subscriber('dashboard/sysinfo', SysInfo, self.cb_sysinfo)
self._sub_platform_state = rospy.Subscriber('dashboard/platform_state', PowerBoardState, self.cb_platform_state)
try:
rospy.wait_for_service('/move_base/clear_costmaps', 1)
self._srv_costmap = rospy.ServiceProxy('/move_base/clear_costmaps', Empty)
self._costmap_ctrl.set_ok()
self._costmap_ok = True
except rospy.ROSException, e:
rospy.logwarn("move base not running yet, can't clear costmap")
self._costmap_ctrl.set_stale()
self._costmap_ok = False
