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='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='P2OS 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.motorStatePub = rospy.Publisher('cmd_motor_state', MotorState)
self.motorStateSub = rospy.Subscriber("motor_state", MotorState,
self.motorStateCallback)
self.battStateSub = rospy.Subscriber("battery_state", BatteryState,
self.battStateCallback)
self.motorState = 0
rospy.init_node('p2os_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("p2os_dashboard_cpp", anonymous=True)
except AttributeError:
pass
self.SetTitle('P2OS Dashboard (%s)' % rosenv.get_master_uri())
icons_path = path.join(roslib.packages.get_pkg_dir('p2os_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, "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("p2os_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(1000)
self.battery_msg_last_time = rospy.Time.now()
