def __init__(self,
parent,
id=wx.ID_ANY,
title='cob 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()
rospy.init_node('cob3_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("cob3_dashboard_cpp", anonymous=True)
except AttributeError:
pass
self.SetTitle('cob dashboard (%s)' % rosenv.get_master_uri())
icons_path = path.join(roslib.packages.get_pkg_dir('pr2_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)
static_sizer = wx.StaticBoxSizer(
wx.StaticBox(self, wx.ID_ANY, "Motors"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Breakers
breaker_names = ["Peft Arm", "Base/Body", "Right Arm"]
self._breaker_ctrls = []
for i in xrange(0, 3):
ctrl = BreakerControl(self, wx.ID_ANY, i, breaker_names[i],
icons_path)
ctrl.SetToolTip(wx.ToolTip("Breaker %s" % (breaker_names[i])))
self._breaker_ctrls.append(ctrl)
static_sizer.Add(ctrl, 0)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "EM"),
wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# run-stop
self._runstop_ctrl = StatusControl(self, wx.ID_ANY, icons_path,
"runstop", False)
self._runstop_ctrl.SetToolTip(wx.ToolTip("Physical Runstop: Unknown"))
static_sizer.Add(self._runstop_ctrl, 0)
# Wireless run-stop
#self._wireless_runstop_ctrl = StatusControl(self, wx.ID_ANY, icons_path, "runstop-wireless", False)
#self._wireless_runstop_ctrl.SetToolTip(wx.ToolTip("Wireless Runstop: Unknown"))
#static_sizer.Add(self._wireless_runstop_ctrl, 0)
static_sizer = wx.StaticBoxSizer(
wx.StaticBox(self, wx.ID_ANY, "Battery"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Battery State
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("pr2_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 __init__(self, parent, id=wx.ID_ANY, title='Bilibot 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()
rospy.init_node('bilibot_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("bilibot_dashboard_cpp", anonymous=True)
except AttributeError:
pass
self.SetTitle('Bilibot Dashboard (%s)'%rosenv.get_master_uri())
icons_path = path.join(roslib.packages.get_pkg_dir('bilibot_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("Mode"))
static_sizer.Add(self._motors_button, 0)
self._motors_button.Bind(wx.EVT_LEFT_DOWN, self.on_motors_clicked)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Breakers"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Breakers
breaker_names = ["Digital Out 1", "Digital Out 1", "Digital Out 2"]
self._breaker_ctrls = []
for i in xrange(0, 3):
ctrl = BreakerControl(self, wx.ID_ANY, i, breaker_names[i], icons_path)
ctrl.SetToolTip(wx.ToolTip("%s"%(breaker_names[i])))
self._breaker_ctrls.append(ctrl)
static_sizer.Add(ctrl, 0)
# static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Runstops"), wx.HORIZONTAL)
# sizer.Add(static_sizer, 0)
# run-stop
# self._runstop_ctrl = StatusControl(self, wx.ID_ANY, icons_path, "runstop", False)
# self._runstop_ctrl.SetToolTip(wx.ToolTip("Physical Runstop: Unknown"))
# static_sizer.Add(self._runstop_ctrl, 0)
# Wireless run-stop
# self._wireless_runstop_ctrl = StatusControl(self, wx.ID_ANY, icons_path, "runstop-wireless", False)
# self._wireless_runstop_ctrl.SetToolTip(wx.ToolTip("Wireless Runstop: Unknown"))
# static_sizer.Add(self._wireless_runstop_ctrl, 0)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Battery"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Battery State
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)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Computer"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Laptop Battery State
self._power_state_ctrl_laptop = PowerStateControl(self, wx.ID_ANY, icons_path)
self._power_state_ctrl_laptop.SetToolTip(wx.ToolTip("Computer Battery: Stale"))
static_sizer.Add(self._power_state_ctrl_laptop, 1, wx.EXPAND)
self._config = wx.Config("bilibot_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('diagnostics_agg', diagnostic_msgs.msg.DiagnosticArray, self.dashboard_callback)
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
def __init__(self,
parent,
id=wx.ID_ANY,
title='Hrpsys Dashboard',
pos=wx.DefaultPosition,
size=(400, 50),
style=wx.CAPTION | wx.CLOSE_BOX | wx.STAY_ON_TOP,
use_diagnostics=True,
use_rosout=True,
use_battery=True):
wx.Frame.__init__(self, parent, id, title, pos, size, style)
wx.InitAllImageHandlers()
rospy.init_node('hrpsys_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("hrpsys_dashboard_cpp", anonymous=True)
except AttributeError:
pass
self.SetTitle('%s (%s)' % (title, rosenv.get_master_uri()))
self._icons_path = path.join(
roslib.packages.get_pkg_dir('pr2_dashboard'), "icons/")
sizer = wx.BoxSizer(wx.HORIZONTAL)
self.SetSizer(sizer)
static_poser = wx.StaticBoxSizer(
wx.StaticBox(self, wx.ID_ANY, "Diagnostic"), wx.HORIZONTAL)
sizer.Add(static_poser, 0)
# Diagnostics
if use_diagnostics:
self._diagnostics_button = StatusControl(self, wx.ID_ANY,
self._icons_path, "diag",
True)
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics"))
static_poser.Add(self._diagnostics_button, 0)
else:
self._diagnostics_button = None
# Rosout
if use_rosout:
self._rosout_button = StatusControl(self, wx.ID_ANY,
self._icons_path, "rosout",
True)
self._rosout_button.SetToolTip(wx.ToolTip("Rosout"))
static_poser.Add(self._rosout_button, 0)
else:
self._rosout_button = None
# Log
self._log_button = StatusControl(self, wx.ID_ANY, self._icons_path,
"breakerleft", True)
self._log_button.SetToolTip(wx.ToolTip("Log"))
static_poser.Add(self._log_button, 0)
if not use_diagnostics:
self._log_button.set_ok()
# Motors
self._motors_button = StatusControl(self, wx.ID_ANY, self._icons_path,
"motor", True)
self._motors_button.SetToolTip(wx.ToolTip("Mode"))
static_poser.Add(self._motors_button, 0)
self._motors_button.Bind(wx.EVT_LEFT_DOWN, self.on_motors_clicked)
if not use_diagnostics:
self._motors_button.set_ok()
# power / motor
static_poser = wx.StaticBoxSizer(
wx.StaticBox(self, wx.ID_ANY, "Power"), wx.HORIZONTAL)
sizer.Add(static_poser, 0)
self._power_button = StatusControl(self, wx.ID_ANY, self._icons_path,
"runstop", False)
self._power_button.SetToolTip(wx.ToolTip("Power"))
static_poser.Add(self._power_button, 0)
if use_battery:
static_poser = wx.StaticBoxSizer(
wx.StaticBox(self, wx.ID_ANY, "Battery"), wx.HORIZONTAL)
sizer.Add(static_poser, 0)
# Battery State
self._battery_state_ctrl = PowerStateControl(
self, wx.ID_ANY, self._icons_path)
self._battery_state_ctrl.SetToolTip(wx.ToolTip("Battery: Stale"))
static_poser.Add(self._battery_state_ctrl, 1, wx.EXPAND)
else:
self._battery_state_ctrl = None
#
self.setup_extra_layout()
self._config = wx.Config("hrpsys_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()
if self._diagnostics_button:
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()
if self._rosout_button:
self._rosout_button.Bind(wx.EVT_BUTTON, self.on_rosout_clicked)
self._log_frame = RosoutFrame(self, wx.ID_ANY, "Log")
self._log_frame.Hide()
self._log_frame.Center()
self._log_button.Bind(wx.EVT_BUTTON, self.on_log_clicked)
self.load_config()
self._timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_timer)
self._timer.Start(500)
if use_diagnostics:
self._dashboard_agg_sub = rospy.Subscriber(
'diagnostics_agg', diagnostic_msgs.msg.DiagnosticArray,
self.dashboard_callback)
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
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 test_get_ros_master_uri(self):
from roslib.rosenv import get_master_uri
self.assertEquals(None, get_master_uri(required=False, env={}))
self.assertEquals(None, get_master_uri(False, {}))
try:
get_master_uri(required=True, env={})
self.fail("get_ros_package_path should have raised")
except: pass
env = {'ROS_MASTER_URI': 'http://localhost:1234'}
self.assertEquals('http://localhost:1234', get_master_uri(True, env=env))
self.assertEquals('http://localhost:1234', get_master_uri(False, env=env))
argv = ['__master:=http://localhost:5678']
self.assertEquals('http://localhost:5678', get_master_uri(False, env=env, argv=argv))
try:
argv = ['__master:=http://localhost:5678:=http://localhost:1234']
get_master_uri(required=False, env=env, argv=argv)
self.fail("should have thrown")
except roslib.rosenv.ROSEnvException: pass
try:
argv = ['__master:=']
get_master_uri(False, env=env, argv=argv)
self.fail("should have thrown")
except roslib.rosenv.ROSEnvException: pass
# make sure test works with os.environ
self.assertEquals(os.environ.get('ROS_MASTER_URI', None), get_master_uri(required=False))
def __init__(self, parent, id=wx.ID_ANY, title='Kuka LWR 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()
rospy.init_node('lwr_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("lwr_dashboard_cpp", anonymous=True)
except AttributeError:
print "rxtools error"
pass
self.SetTitle('Kuka LWR Dashboard (%s)' % rosenv.get_master_uri())
icons_path = path.join(roslib.packages.get_pkg_dir('lwr_dashboard'), "icons/")
self._robots = rospy.get_param("robots", [""])
if (len(self._robots) == 0):
self._has_many = False
else:
self._has_many = True
sizer = wx.BoxSizer(wx.HORIZONTAL)
self.SetSizer(sizer)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, " ROS state "), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Diagnostics
self._diagnostics_button = StatusControl(self, wx.ID_ANY, icons_path, "btn_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, "btn_rosout", True)
self._rosout_button.SetToolTip(wx.ToolTip("Rosout"))
static_sizer.Add(self._rosout_button, 0)
self.FRI_COMMAND = 1
self.FRI_MONITOR = 2
self._fri_state_button = {}
self._fri_control = {}
self._fri_mode_topic = {}
self._robot_control = {}
i = 0
for robot in self._robots:
print "Preparing robot: '%s'"%(robot)
robot_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, " %s " % robot), wx.HORIZONTAL)
# FRI State
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, " FRI "), wx.HORIZONTAL)
robot_sizer.Add(static_sizer, 0)
self._fri_state_button[robot] = StatusControl(self, wx.ID_ANY, icons_path, "btn_state", True)
self._fri_state_button[robot].SetToolTip(wx.ToolTip("FRI state"))
self._fri_state_button[robot].Bind(wx.EVT_BUTTON, lambda x, r=robot: self.on_fri_state_clicked(x, r))
static_sizer.Add(self._fri_state_button[robot], 0)
self._fri_control[robot] = FRIControl(self, wx.ID_ANY, icons_path)
self._fri_control[robot].SetToolTip(wx.ToolTip("FRI: Stale"))
static_sizer.Add(self._fri_control[robot], 1, wx.EXPAND)
self._fri_mode_topic[robot] = rospy.Publisher("%sarm_controller/fri_set_mode" % robot, std_msgs.msg.Int32)
# Robot State
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, " Robot "), wx.HORIZONTAL)
robot_sizer.Add(static_sizer, 0)
self._robot_control[robot] = RobotControl(self, wx.ID_ANY, icons_path)
self._robot_control[robot].SetToolTip(wx.ToolTip("Robot: Stale"))
static_sizer.Add(self._robot_control[robot], 1, wx.EXPAND)
sizer.Add(robot_sizer, 0)
i = i + 1
self._config = wx.Config("elektron_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._topic = "diagnostic"
self._subs = []
sub = rospy.Subscriber(self._topic, diagnostic_msgs.msg.DiagnosticArray, self.dashboard_callback)
self._subs.append(sub)
print "Subs.size %d" % len(self._subs)
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
def __init__(self, parent, id=wx.ID_ANY, title='youbot_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()
rospy.init_node('youbot_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("youbot_dashboard_cpp", anonymous=True)
except AttributeError:
pass
self.SetTitle('youbot_dashboard (%s)'%rosenv.get_master_uri())
icons_path = path.join(roslib.packages.get_pkg_dir('pr2_dashboard'), "icons/")
youbot_icons_path = path.join(roslib.packages.get_pkg_dir('youbot_dashboard'), "icons/")
sizer = wx.BoxSizer(wx.HORIZONTAL)
self.SetSizer(sizer)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Diagn."), 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)
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, youbot_icons_path, "base", True)
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, youbot_icons_path, "arm", True)
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)
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, youbot_icons_path, "driver", True)
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)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Battery"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Battery State
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("youbot_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 __init__(self,
parent,
id=wx.ID_ANY,
title='youbot_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()
rospy.init_node('youbot_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("youbot_dashboard_cpp", anonymous=True)
except AttributeError:
pass
self.SetTitle('youbot_dashboard (%s)' % rosenv.get_master_uri())
icons_path = path.join(roslib.packages.get_pkg_dir('pr2_dashboard'),
"icons/")
youbot_icons_path = path.join(
roslib.packages.get_pkg_dir('youbot_dashboard'), "icons/")
sizer = wx.BoxSizer(wx.HORIZONTAL)
self.SetSizer(sizer)
static_sizer = wx.StaticBoxSizer(
wx.StaticBox(self, wx.ID_ANY, "Diagn."), 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)
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, youbot_icons_path,
"base", True)
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, youbot_icons_path,
"arm", True)
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)
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, youbot_icons_path,
"driver", True)
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)
static_sizer = wx.StaticBoxSizer(
wx.StaticBox(self, wx.ID_ANY, "Battery"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Battery State
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("youbot_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 __init__(self, parent, id=wx.ID_ANY, title='Hrpsys Dashboard', pos=wx.DefaultPosition, size=(400, 50), style=wx.CAPTION|wx.CLOSE_BOX|wx.STAY_ON_TOP, use_diagnostics=True, use_rosout=True, use_battery=True):
wx.Frame.__init__(self, parent, id, title, pos, size, style)
wx.InitAllImageHandlers()
rospy.init_node('hrpsys_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("hrpsys_dashboard_cpp", anonymous=True)
except AttributeError:
pass
self.SetTitle('%s (%s)'%(title,rosenv.get_master_uri()))
self._icons_path = path.join(roslib.packages.get_pkg_dir('pr2_dashboard'), "icons/")
sizer = wx.BoxSizer(wx.HORIZONTAL)
self.SetSizer(sizer)
static_poser = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Diagnostic"), wx.HORIZONTAL)
sizer.Add(static_poser, 0)
# Diagnostics
if use_diagnostics:
self._diagnostics_button = StatusControl(self, wx.ID_ANY, self._icons_path, "diag", True)
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics"))
static_poser.Add(self._diagnostics_button, 0)
else:
self._diagnostics_button = None
# Rosout
if use_rosout:
self._rosout_button = StatusControl(self, wx.ID_ANY, self._icons_path, "rosout", True)
self._rosout_button.SetToolTip(wx.ToolTip("Rosout"))
static_poser.Add(self._rosout_button, 0)
else:
self._rosout_button = None
# Log
self._log_button = StatusControl(self, wx.ID_ANY, self._icons_path, "breakerleft", True)
self._log_button.SetToolTip(wx.ToolTip("Log"))
static_poser.Add(self._log_button, 0)
if not use_diagnostics:
self._log_button.set_ok()
# Motors
self._motors_button = StatusControl(self, wx.ID_ANY, self._icons_path, "motor", True)
self._motors_button.SetToolTip(wx.ToolTip("Mode"))
static_poser.Add(self._motors_button, 0)
self._motors_button.Bind(wx.EVT_LEFT_DOWN, self.on_motors_clicked)
if not use_diagnostics:
self._motors_button.set_ok()
# power / motor
static_poser = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Power"), wx.HORIZONTAL)
sizer.Add(static_poser, 0)
self._power_button = StatusControl(self, wx.ID_ANY, self._icons_path, "runstop", False)
self._power_button.SetToolTip(wx.ToolTip("Power"))
static_poser.Add(self._power_button, 0)
if use_battery:
static_poser = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Battery"), wx.HORIZONTAL)
sizer.Add(static_poser, 0)
# Battery State
self._battery_state_ctrl = PowerStateControl(self, wx.ID_ANY, self._icons_path)
self._battery_state_ctrl.SetToolTip(wx.ToolTip("Battery: Stale"))
static_poser.Add(self._battery_state_ctrl, 1, wx.EXPAND)
else:
self._battery_state_ctrl = None
#
self.setup_extra_layout()
self._config = wx.Config("hrpsys_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()
if self._diagnostics_button:
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()
if self._rosout_button:
self._rosout_button.Bind(wx.EVT_BUTTON, self.on_rosout_clicked)
self._log_frame = RosoutFrame(self, wx.ID_ANY, "Log")
self._log_frame.Hide()
self._log_frame.Center()
self._log_button.Bind(wx.EVT_BUTTON, self.on_log_clicked)
self.load_config()
self._timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.on_timer)
self._timer.Start(500)
if use_diagnostics:
self._dashboard_agg_sub = rospy.Subscriber('diagnostics_agg', diagnostic_msgs.msg.DiagnosticArray, self.dashboard_callback)
self._dashboard_message = None
self._last_dashboard_message_time = 0.0
def test_get_ros_master_uri(self):
from roslib.rosenv import get_master_uri
self.assertEquals(None, get_master_uri(required=False, env={}))
self.assertEquals(None, get_master_uri(False, {}))
try:
get_master_uri(required=True, env={})
self.fail("get_ros_package_path should have raised")
except:
pass
env = {'ROS_MASTER_URI': 'http://localhost:1234'}
self.assertEquals('http://localhost:1234', get_master_uri(True,
env=env))
self.assertEquals('http://localhost:1234',
get_master_uri(False, env=env))
argv = ['__master:=http://localhost:5678']
self.assertEquals('http://localhost:5678',
get_master_uri(False, env=env, argv=argv))
try:
argv = ['__master:=http://localhost:5678:=http://localhost:1234']
get_master_uri(required=False, env=env, argv=argv)
self.fail("should have thrown")
except roslib.rosenv.ROSEnvException:
pass
try:
argv = ['__master:=']
get_master_uri(False, env=env, argv=argv)
self.fail("should have thrown")
except roslib.rosenv.ROSEnvException:
pass
# make sure test works with os.environ
self.assertEquals(os.environ.get('ROS_MASTER_URI', None),
get_master_uri(required=False))
def __init__(self, parent, id=wx.ID_ANY, title='Nao 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()
rospy.init_node('nao_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("nao_dashboard_cpp", anonymous=True)
except AttributeError:
pass
self.SetTitle('Nao Dashboard (%s)'%rosenv.get_master_uri())
icons_path = path.join(roslib.packages.get_pkg_dir('nao_dashboard'), "icons/")
sizer = wx.BoxSizer(wx.HORIZONTAL)
self.SetSizer(sizer)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Robot"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._robot_combobox = wx.ComboBox(self, wx.ID_ANY, "", choices = [])
static_sizer.Add(self._robot_combobox, 0)
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)
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)
# Joint temperature
self._temp_joint_button = StatusControl(self, wx.ID_ANY, icons_path, "temperature_joints", True)
self._temp_joint_button.SetToolTip(wx.ToolTip("Joint temperatures"))
static_sizer.Add(self._temp_joint_button, 0)
# CPU temperature
self._temp_head_button = StatusControl(self, wx.ID_ANY, icons_path, "temperature_head", True)
self._temp_head_button.SetToolTip(wx.ToolTip("CPU temperature"))
static_sizer.Add(self._temp_head_button, 0)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Stiffness"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Motors
self._motors_button = StatusControl(self, wx.ID_ANY, icons_path, "motor", True)
self._motors_button.SetToolTip(wx.ToolTip("Stiffness"))
self._motors_button._ok = (wx.Bitmap(path.join(icons_path, "stiffness-off-untoggled.png"), wx.BITMAP_TYPE_PNG),
wx.Bitmap(path.join(icons_path, "stiffness-off-toggled.png"), wx.BITMAP_TYPE_PNG))
self._motors_button._warn = (wx.Bitmap(path.join(icons_path, "stiffness-partially-untoggled.png"), wx.BITMAP_TYPE_PNG),
wx.Bitmap(path.join(icons_path, "stiffness-partially-toggled.png"), wx.BITMAP_TYPE_PNG))
self._motors_button._error = (wx.Bitmap(path.join(icons_path, "stiffness-on-untoggled.png"), wx.BITMAP_TYPE_PNG),
wx.Bitmap(path.join(icons_path, "stiffness-on-toggled.png"), wx.BITMAP_TYPE_PNG))
self._motors_button._stale = (wx.Bitmap(path.join(icons_path, "stiffness-stale-untoggled.png"), wx.BITMAP_TYPE_PNG),
wx.Bitmap(path.join(icons_path, "stiffness-stale-toggled.png"), wx.BITMAP_TYPE_PNG))
static_sizer.Add(self._motors_button, 0)
self._motors_button.Bind(wx.EVT_LEFT_DOWN, self.on_motors_clicked)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Battery"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
# Battery State
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("nao_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._agg_sub = rospy.Subscriber('diagnostics_agg', DiagnosticArray, self.diagnostic_callback)
self._last_diagnostics_message_time = 0.0
self.bodyPoseClient = actionlib.SimpleActionClient('body_pose', BodyPoseAction)
self.stiffnessEnableClient = rospy.ServiceProxy("body_stiffness/enable", std_srvs.srv.Empty)
self.stiffnessDisableClient = rospy.ServiceProxy("body_stiffness/disable", std_srvs.srv.Empty)