Exemplo n.º 1
0
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)
Exemplo n.º 2
0
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)
Exemplo n.º 3
0
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)
Exemplo n.º 4
0
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)
Exemplo n.º 5
0
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)