class PR2Frame(wx.Frame):
_CONFIG_WINDOW_X = "/Window/X"
_CONFIG_WINDOW_Y = "/Window/Y"
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 __del__(self):
self._dashboard_agg_sub.unregister()
def on_timer(self, evt):
level = self._diagnostics_frame._diagnostics_panel.get_top_level_state(
)
if (level == -1 or level == 3):
if (self._diagnostics_button.set_stale()):
self._diagnostics_button.SetToolTip(
wx.ToolTip("Diagnostics: Stale"))
elif (level >= 2):
if (self._diagnostics_button.set_error()):
self._diagnostics_button.SetToolTip(
wx.ToolTip("Diagnostics: Error"))
elif (level == 1):
if (self._diagnostics_button.set_warn()):
self._diagnostics_button.SetToolTip(
wx.ToolTip("Diagnostics: Warning"))
else:
if (self._diagnostics_button.set_ok()):
self._diagnostics_button.SetToolTip(
wx.ToolTip("Diagnostics: OK"))
self.update_rosout()
if (rospy.get_time() - self._last_dashboard_message_time > 5.0):
self._motors_button.set_stale()
self._power_state_ctrl.set_stale()
[ctrl.reset() for ctrl in self._breaker_ctrls]
self._runstop_ctrl.set_stale()
#self._wireless_runstop_ctrl.set_stale()
ctrls = [
self._motors_button, self._power_state_ctrl, self._runstop_ctrl
]
ctrls.extend(self._breaker_ctrls)
for ctrl in ctrls:
ctrl.SetToolTip(
wx.ToolTip(
"No message received on dashboard_agg in the last 5 seconds"
))
if (rospy.is_shutdown()):
self.Close()
def on_diagnostics_clicked(self, evt):
self._diagnostics_frame.Show()
self._diagnostics_frame.Raise()
def on_rosout_clicked(self, evt):
self._rosout_frame.Show()
self._rosout_frame.Raise()
def on_motors_clicked(self, evt):
menu = wx.Menu()
menu.Bind(wx.EVT_MENU, self.on_reset_motors,
menu.Append(wx.ID_ANY, "Reset"))
menu.Bind(wx.EVT_MENU, self.on_halt_motors,
menu.Append(wx.ID_ANY, "Halt"))
self._motors_button.toggle(True)
self.PopupMenu(menu)
self._motors_button.toggle(False)
def on_reset_motors(self, evt):
# if any of the breakers is not enabled ask if they'd like to enable them
if (self._dashboard_message is not None
and self._dashboard_message.power_board_state_valid):
all_breakers_enabled = reduce(lambda x, y: x and y, [
state == PowerBoardState.STATE_ON for state in
self._dashboard_message.power_board_state.circuit_state
])
if (not all_breakers_enabled):
if (wx.MessageBox(
"Resetting the motors may not work because not all breakers are enabled. Enable all the breakers first?",
"Enable Breakers?", wx.YES_NO | wx.ICON_QUESTION,
self) == wx.YES):
[breaker.set_enable() for breaker in self._breaker_ctrls]
reset = rospy.ServiceProxy("pr2_etherCAT/reset_motors",
std_srvs.srv.Empty)
try:
reset()
except rospy.ServiceException, e:
wx.MessageBox(
"Failed to reset the motors: service call failed with error: %s"
% (e), "Error", wx.OK | wx.ICON_ERROR)
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
class DragonbotFrame(wx.Frame):
_CONFIG_WINDOW_X="/Window/X"
_CONFIG_WINDOW_Y="/Window/Y"
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 __del__(self):
self._dashboard_agg_sub.unregister()
def motorStateCallback(self, msg):
self.motorState = msg.data
if(self.motorState):
self._motors_button.set_ok()
self._motors_button.SetToolTip(wx.ToolTip("Motors: Running"))
else:
self._motors_button.set_error()
self._motors_button.SetToolTip(wx.ToolTip("Motors: Halted"))
def on_timer(self, evt):
level = self._diagnostics_frame.get_top_level_state()
if self._diagnostics_frame._diagnostics_panel is not None:
level_old = self._diagnostics_frame._diagnostics_panel.get_top_level_state()
if level != level_old:
print 'level differs: ', level, level_old
if (level == -1 or level == 3):
if (self._diagnostics_button.set_stale()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: Stale"))
elif (level >= 2):
if (self._diagnostics_button.set_error()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: Error"))
elif (level == 1):
if (self._diagnostics_button.set_warn()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: Warning"))
else:
if (self._diagnostics_button.set_ok()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: OK"))
self.update_rosout()
if (rospy.is_shutdown()):
self.Close()
def on_diagnostics_clicked(self, evt):
self._diagnostics_frame.Show()
self._diagnostics_frame.Raise()
def on_rosout_clicked(self, evt):
self._rosout_frame.Show()
self._rosout_frame.Raise()
def on_motors_clicked(self, evt):
menu = wx.Menu()
menu.Bind(wx.EVT_MENU, self.on_reset_motors, menu.Append(wx.ID_ANY, "Enable"))
menu.Bind(wx.EVT_MENU, self.on_halt_motors, menu.Append(wx.ID_ANY, "Disable"))
self._motors_button.toggle(True)
self.PopupMenu(menu)
self._motors_button.toggle(False)
def on_reset_motors(self, evt):
self.motorStatePub.publish(Int32(1))
def on_halt_motors(self, evt):
self.motorStatePub.publish(Int32(0))
def update_rosout(self):
summary_dur = 30.0
if (rospy.get_time() < 30.0):
summary_dur = rospy.get_time() - 1.0
if (summary_dur < 0):
summary_dur = 0.0
summary = self._rosout_frame.get_panel().getMessageSummary(summary_dur)
if (summary.fatal or summary.error):
self._rosout_button.set_error()
elif (summary.warn):
self._rosout_button.set_warn()
else:
self._rosout_button.set_ok()
tooltip = ""
if (summary.fatal):
tooltip += "\nFatal: %s"%(summary.fatal)
if (summary.error):
tooltip += "\nError: %s"%(summary.error)
if (summary.warn):
tooltip += "\nWarn: %s"%(summary.warn)
if (summary.info):
tooltip += "\nInfo: %s"%(summary.info)
if (summary.debug):
tooltip += "\nDebug: %s"%(summary.debug)
if (len(tooltip) == 0):
tooltip = "Rosout: no recent activity"
else:
tooltip = "Rosout: recent activity:" + tooltip
if (tooltip != self._rosout_button.GetToolTip().GetTip()):
self._rosout_button.SetToolTip(wx.ToolTip(tooltip))
def load_config(self):
# Load our window options
(x, y) = self.GetPositionTuple()
(width, height) = self.GetSizeTuple()
if (self._config.HasEntry(self._CONFIG_WINDOW_X)):
x = self._config.ReadInt(self._CONFIG_WINDOW_X)
if (self._config.HasEntry(self._CONFIG_WINDOW_Y)):
y = self._config.ReadInt(self._CONFIG_WINDOW_Y)
self.SetPosition((x, y))
self.SetSize((width, height))
def save_config(self):
config = self._config
(x, y) = self.GetPositionTuple()
(width, height) = self.GetSizeTuple()
config.WriteInt(self._CONFIG_WINDOW_X, x)
config.WriteInt(self._CONFIG_WINDOW_Y, y)
config.Flush()
def on_close(self, event):
self.save_config()
self.Destroy()
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
class MainFrame(wx.Frame):
_CONFIG_WINDOW_X = "/Window/X"
_CONFIG_WINDOW_Y = "/Window/Y"
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 __del__(self):
for sub in self._subs:
sub.unregister()
def on_timer(self, evt):
level = self._diagnostics_frame._diagnostics_panel.get_top_level_state()
if (level == -1 or level == 3):
if (self._diagnostics_button.set_stale()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: Stale"))
elif (level >= 2):
if (self._diagnostics_button.set_error()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: Error"))
elif (level == 1):
if (self._diagnostics_button.set_warn()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: Warning"))
else:
if (self._diagnostics_button.set_ok()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: OK"))
self.update_rosout()
if (rospy.get_time() - self._last_dashboard_message_time > 5.0):
for ctrl in self._fri_control.values():
ctrl.set_stale()
for ctrl in self._robot_control.values():
ctrl.set_stale()
for ctrl in self._fri_state_button.values():
ctrl.set_stale()
if (rospy.is_shutdown()):
self.Close()
def on_diagnostics_clicked(self, evt):
self._diagnostics_frame.Show()
self._diagnostics_frame.Raise()
def on_rosout_clicked(self, evt):
self._rosout_frame.Show()
self._rosout_frame.Raise()
def dashboard_callback(self, msg):
wx.CallAfter(self.new_dashboard_message, msg)
def new_dashboard_message(self, msg):
self._dashboard_message = msg
self._last_dashboard_message_time = rospy.get_time()
fri_status = {}
robot_status = {}
for status in msg.status:
parts = status.name.split(" ");
robot = parts[0]
dtype = parts[1]
if dtype == "FRI":
for value in status.values:
fri_status[value.key] = value.value
if dtype == "robot":
for value in status.values:
robot_status[value.key] = value.value
if (fri_status):
self._fri_control[robot].set_state(fri_status)
self.update_fri(fri_status, robot)
else:
self._fri_control[robot].set_stale()
if (robot_status):
self._robot_control[robot].set_state(robot_status)
else:
self._robot_control[robot].set_stale()
###################################################################
# FRI related stuff
###################################################################
def update_fri(self, msg, robot):
if (msg["State"] == "command"):
self._fri_state_button[robot].set_ok()
else:
self._fri_state_button[robot].set_warn()
def on_fri_state_clicked(self, ev, robot):
menu = wx.Menu()
menu.Bind(wx.EVT_MENU, lambda x, r=robot: self.on_monitor(x, r), menu.Append(wx.ID_ANY, "Monitor"))
menu.Bind(wx.EVT_MENU, lambda x, r=robot: self.on_command(x, r), menu.Append(wx.ID_ANY, "Command"))
self.PopupMenu(menu)
def on_monitor(self, evt, robot):
self.set_mode(self.FRI_MONITOR, robot)
def on_command(self, evt, robot):
self.set_mode(self.FRI_COMMAND, robot)
def set_mode(self, mode, robot):
self._fri_mode_topic[robot].publish(std_msgs.msg.Int32(mode))
def update_rosout(self):
summary_dur = 30.0
#if (rospy.get_time() < 30.0):
# summary_dur = rospy.get_time() - 1.0
#if (summary_dur < 0):
# summary_dur = 0.0
summary = self._rosout_frame.get_panel().getMessageSummary(summary_dur)
if (summary.fatal or summary.error):
self._rosout_button.set_error()
elif (summary.warn):
self._rosout_button.set_warn()
else:
self._rosout_button.set_ok()
tooltip = ""
if (summary.fatal):
tooltip += "\nFatal: %s"%(summary.fatal)
if (summary.error):
tooltip += "\nError: %s"%(summary.error)
if (summary.warn):
tooltip += "\nWarn: %s"%(summary.warn)
if (summary.info):
tooltip += "\nInfo: %s"%(summary.info)
if (summary.debug):
tooltip += "\nDebug: %s"%(summary.debug)
if (len(tooltip) == 0):
tooltip = "Rosout: no recent activity"
else:
tooltip = "Rosout: recent activity:" + tooltip
if (tooltip != self._rosout_button.GetToolTip().GetTip()):
self._rosout_button.SetToolTip(wx.ToolTip(tooltip))
def load_config(self):
# Load our window options
(x, y) = self.GetPositionTuple()
(width, height) = self.GetSizeTuple()
if (self._config.HasEntry(self._CONFIG_WINDOW_X)):
x = self._config.ReadInt(self._CONFIG_WINDOW_X)
if (self._config.HasEntry(self._CONFIG_WINDOW_Y)):
y = self._config.ReadInt(self._CONFIG_WINDOW_Y)
self.SetPosition((x, y))
self.SetSize((width, height))
def save_config(self):
config = self._config
(x, y) = self.GetPositionTuple()
(width, height) = self.GetSizeTuple()
config.WriteInt(self._CONFIG_WINDOW_X, x)
config.WriteInt(self._CONFIG_WINDOW_Y, y)
config.Flush()
def on_close(self, event):
self.save_config()
print "Closing..."
self.Destroy()
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
class PR2Frame(wx.Frame):
_CONFIG_WINDOW_X = "/Window/X"
_CONFIG_WINDOW_Y = "/Window/Y"
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 __del__(self):
self._dashboard_agg_sub.unregister()
def on_timer(self, evt):
# level = self._diagnostics_frame._diagnostics_panel.get_top_level_state()
level = self._diagnostics_frame.get_top_level_state()
if (level == -1 or level == 3):
if (self._diagnostics_button.set_stale()):
self._diagnostics_button.SetToolTip(
wx.ToolTip("Diagnostics: Stale"))
elif (level >= 2):
if (self._diagnostics_button.set_error()):
self._diagnostics_button.SetToolTip(
wx.ToolTip("Diagnostics: Error"))
elif (level == 1):
if (self._diagnostics_button.set_warn()):
self._diagnostics_button.SetToolTip(
wx.ToolTip("Diagnostics: Warning"))
else:
if (self._diagnostics_button.set_ok()):
self._diagnostics_button.SetToolTip(
wx.ToolTip("Diagnostics: OK"))
self.update_rosout()
if (rospy.get_time() - self._last_dashboard_message_time > 5.0):
self._power_state_ctrl.set_stale()
self._arm_status.set_stale()
self._base_status.set_stale()
self._driver_status.set_stale()
ctrls = [
self._power_state_ctrl, self._arm_status, self._base_status,
self._driver_status
]
for ctrl in ctrls:
ctrl.SetToolTip(
wx.ToolTip(
"No message received on dashboard_agg in the last 5 seconds"
))
if (rospy.is_shutdown()):
self.Close()
def on_diagnostics_clicked(self, evt):
self._diagnostics_frame.Show()
self._diagnostics_frame.Raise()
def on_rosout_clicked(self, evt):
self._rosout_frame.Show()
self._rosout_frame.Raise()
def on_base_status_clicked(self, evt):
menu = wx.Menu()
menu.Bind(wx.EVT_MENU, self.on_base_switch_on,
menu.Append(wx.ID_ANY, "Enable Base Motors"))
menu.Bind(wx.EVT_MENU, self.on_base_switch_off,
menu.Append(wx.ID_ANY, "Disable Base Motors"))
self._base_status.toggle(True)
self.PopupMenu(menu)
self._base_status.toggle(False)
def on_base_switch_on(self, evt):
# if any of the breakers is not enabled ask if they'd like to enable them
if (self._dashboard_message is not None
and self._dashboard_message.power_board_state_valid):
if (self._dashboard_message.power_board_state.circuit_state[0] ==
PowerBoardState.STATE_STANDBY):
switch_on_base = rospy.ServiceProxy("/base/switchOnMotors",
std_srvs.srv.Empty)
try:
switch_on_base()
except rospy.ServiceException, e:
wx.MessageBox(
"Failed to switch ON base motors: service call failed with error: %s"
% (e), "Error", wx.OK | wx.ICON_ERROR)
elif (self._dashboard_message.power_board_state.circuit_state[0] ==
PowerBoardState.STATE_ENABLED):
wx.MessageBox("Base motors are already switched ON", "Error",
wx.OK | wx.ICON_ERROR)
elif (self._dashboard_message.power_board_state.circuit_state[0] ==
PowerBoardState.STATE_DISABLED):
wx.MessageBox("Base is not connected", "Error",
wx.OK | wx.ICON_ERROR)
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
def __init__(self, parent, id=wx.ID_ANY, title='Elektron 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('elektron_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("elektron_dashboard_cpp", anonymous=True)
except AttributeError:
pass
self.SetTitle('Elektron Dashboard (%s)' % rosenv.get_master_uri())
icons_path = path.join(roslib.packages.get_pkg_dir('elektron_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, "CPU0"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._cpu0_state = CpuFrame(self, wx.ID_ANY)
static_sizer.Add(self._cpu0_state, 1, wx.EXPAND)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "CPU1"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._cpu1_state = CpuFrame(self, wx.ID_ANY)
static_sizer.Add(self._cpu1_state, 1, wx.EXPAND)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Memory"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._mem_state = MemFrame(self, wx.ID_ANY)
static_sizer.Add(self._mem_state, 1, wx.EXPAND)
# WiFi State
self.wlan_interface = rospy.get_param('~wlan_interface', 'eth1')
self.wlan_power = rospy.get_param('~wlan_power', 100)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "WiFi: %s" % self.wlan_interface), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._wifi_state = WifiControl(self, wx.ID_ANY, icons_path, self.wlan_interface, self.wlan_power)
self._wifi_state.SetToolTip(wx.ToolTip("WiFi: Stale"))
static_sizer.Add(self._wifi_state, 1, wx.EXPAND)
# Laptop Battery State
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Laptop"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._power_state_ctrl_laptop = PowerStateControl(self, wx.ID_ANY, icons_path)
self._power_state_ctrl_laptop.SetToolTip(wx.ToolTip("Laptop Battery: Stale"))
static_sizer.Add(self._power_state_ctrl_laptop, 1, wx.EXPAND)
# Laptop Battery State
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Main power"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._main_power_ctrl = MainPowerControl(self, wx.ID_ANY, icons_path)
static_sizer.Add(self._main_power_ctrl, 1, wx.EXPAND)
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._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
class ElektronFrame(wx.Frame):
_CONFIG_WINDOW_X = "/Window/X"
_CONFIG_WINDOW_Y = "/Window/Y"
def __init__(self, parent, id=wx.ID_ANY, title='Elektron 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('elektron_dashboard', anonymous=True)
try:
getattr(rxtools, "initRoscpp")
rxtools.initRoscpp("elektron_dashboard_cpp", anonymous=True)
except AttributeError:
pass
self.SetTitle('Elektron Dashboard (%s)' % rosenv.get_master_uri())
icons_path = path.join(roslib.packages.get_pkg_dir('elektron_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, "CPU0"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._cpu0_state = CpuFrame(self, wx.ID_ANY)
static_sizer.Add(self._cpu0_state, 1, wx.EXPAND)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "CPU1"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._cpu1_state = CpuFrame(self, wx.ID_ANY)
static_sizer.Add(self._cpu1_state, 1, wx.EXPAND)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Memory"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._mem_state = MemFrame(self, wx.ID_ANY)
static_sizer.Add(self._mem_state, 1, wx.EXPAND)
# WiFi State
self.wlan_interface = rospy.get_param('~wlan_interface', 'eth1')
self.wlan_power = rospy.get_param('~wlan_power', 100)
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "WiFi: %s" % self.wlan_interface), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._wifi_state = WifiControl(self, wx.ID_ANY, icons_path, self.wlan_interface, self.wlan_power)
self._wifi_state.SetToolTip(wx.ToolTip("WiFi: Stale"))
static_sizer.Add(self._wifi_state, 1, wx.EXPAND)
# Laptop Battery State
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Laptop"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._power_state_ctrl_laptop = PowerStateControl(self, wx.ID_ANY, icons_path)
self._power_state_ctrl_laptop.SetToolTip(wx.ToolTip("Laptop Battery: Stale"))
static_sizer.Add(self._power_state_ctrl_laptop, 1, wx.EXPAND)
# Laptop Battery State
static_sizer = wx.StaticBoxSizer(wx.StaticBox(self, wx.ID_ANY, "Main power"), wx.HORIZONTAL)
sizer.Add(static_sizer, 0)
self._main_power_ctrl = MainPowerControl(self, wx.ID_ANY, icons_path)
static_sizer.Add(self._main_power_ctrl, 1, wx.EXPAND)
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._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 __del__(self):
#~ self._dashboard_agg_sub.unregister()
def on_timer(self, evt):
level = self._diagnostics_frame._diagnostics_panel.get_top_level_state()
if (level == -1 or level == 3):
if (self._diagnostics_button.set_stale()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: Stale"))
elif (level >= 2):
if (self._diagnostics_button.set_error()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: Error"))
elif (level == 1):
if (self._diagnostics_button.set_warn()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: Warning"))
else:
if (self._diagnostics_button.set_ok()):
self._diagnostics_button.SetToolTip(wx.ToolTip("Diagnostics: OK"))
self.update_rosout()
#~ if (rospy.get_time() - self._last_dashboard_message_time > 5.0):
#~ self._motors_button.set_stale()
#~ self._power_state_ctrl.set_stale()
#~ self._power_state_ctrl_laptop.set_stale()
#~ [ctrl.reset() for ctrl in self._breaker_ctrls]
#~ # self._runstop_ctrl.set_stale()
#~ # self._wireless_runstop_ctrl.set_stale()
#~ ctrls = [self._motors_button, self._power_state_ctrl, self._power_state_ctrl_laptop]
#~ ctrls.extend(self._breaker_ctrls)
#~ for ctrl in ctrls:
#~ ctrl.SetToolTip(wx.ToolTip("No message received on dashboard_agg in the last 5 seconds"))
if (rospy.is_shutdown()):
self.Close()
def on_diagnostics_clicked(self, evt):
self._diagnostics_frame.Show()
self._diagnostics_frame.Raise()
def on_rosout_clicked(self, evt):
self._rosout_frame.Show()
self._rosout_frame.Raise()
#~ def on_motors_clicked(self, evt):
#~ menu = wx.Menu()
#~ menu.Bind(wx.EVT_MENU, self.on_passive_mode, menu.Append(wx.ID_ANY, "Passive Mode"))
#~ menu.Bind(wx.EVT_MENU, self.on_safe_mode, menu.Append(wx.ID_ANY, "Safety Mode"))
#~ menu.Bind(wx.EVT_MENU, self.on_full_mode, menu.Append(wx.ID_ANY, "Full Mode"))
#~ self._motors_button.toggle(True)
#~ self.PopupMenu(menu)
#~ self._motors_button.toggle(False)
#~
#~ def on_passive_mode(self, evt):
#~ passive = rospy.ServiceProxy("/turtlebot_node/set_operation_mode",turtlebot_node.srv.SetTurtlebotMode )
#~ try:
#~ passive(turtlebot_node.msg.TurtlebotSensorState.OI_MODE_PASSIVE)
#~ except rospy.ServiceException, e:
#~ wx.MessageBox("Failed to put the turtlebot in passive mode: service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
#~
#~ def on_safe_mode(self, evt):
#~ safe = rospy.ServiceProxy("/turtlebot_node/set_operation_mode",turtlebot_node.srv.SetTurtlebotMode)
#~ try:
#~ safe(turtlebot_node.msg.TurtlebotSensorState.OI_MODE_SAFE)
#~ except rospy.ServiceException, e:
#~ wx.MessageBox("Failed to put the turtlebot in safe mode: service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
#~
#~ def on_full_mode(self, evt):
#~ full = rospy.ServiceProxy("/turtlebot_node/set_operation_mode", turtlebot_node.srv.SetTurtlebotMode)
#~ try:
#~ full(turtlebot_node.msg.TurtlebotSensorState.OI_MODE_FULL)
#~ except rospy.ServiceException, e:
#~ wx.MessageBox("Failed to put the turtlebot in full mode: service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
#~
#~
#~
def dashboard_callback(self, msg):
wx.CallAfter(self.new_dashboard_message, msg)
def new_dashboard_message(self, msg):
self._dashboard_message = msg
self._last_dashboard_message_time = rospy.get_time()
battery_status = {}
laptop_battery_status = {}
breaker_status = {}
wifi_status = {}
cpu0_status = {}
cpu1_status = {}
mem_status = {}
main_power_status = {}
op_mode = None
for status in msg.status:
if status.name == "/Power System/Battery":
for value in status.values:
battery_status[value.key] = value.value
if status.name == "/Power System/Laptop Battery":
for value in status.values:
laptop_battery_status[value.key] = value.value
if status.message == "Stale":
laptop_battery_status = {}
if status.name == "/Mode/Operating Mode":
op_mode = status.message
if status.name == "/Digital IO/Digital Outputs":
for value in status.values:
breaker_status[value.key] = value.value
if status.name == "/Network/%s" % self.wlan_interface:
for value in status.values:
wifi_status[value.key] = value.value
if status.name == "/System/cpu0":
for value in status.values:
cpu0_status[value.key] = value.value
if status.name == "/System/cpu1":
for value in status.values:
cpu1_status[value.key] = value.value
if status.name == "/System/Memory":
for value in status.values:
mem_status[value.key] = value.value
if status.name == "/Robot/Main Battery":
for value in status.values:
main_power_status[value.key] = value.value
#~ if (battery_status):
#~ self._power_state_ctrl.set_power_state(battery_status)
#~ else:
#~ self._power_state_ctrl.set_stale()
if (laptop_battery_status):
self._power_state_ctrl_laptop.set_power_state(laptop_battery_status)
else:
self._power_state_ctrl_laptop.set_stale()
if (cpu0_status):
self._cpu0_state.set_state(cpu0_status)
if (cpu1_status):
self._cpu1_state.set_state(cpu1_status)
if (mem_status):
self._mem_state.set_state(mem_status)
if (main_power_status):
self._main_power_ctrl.set_power_state(main_power_status)
if (wifi_status):
self._wifi_state.set_wifi_state(wifi_status)
else:
self._wifi_state.set_stale()
#~ if (op_mode):
#~ if (op_mode=='Full'):
#~ if (self._motors_button.set_ok()):
#~ self._motors_button.SetToolTip(wx.ToolTip("Mode: Full"))
#~ elif(op_mode=='Safe'):
#~ if (self._motors_button.set_warn()):
#~ self._motors_button.SetToolTip(wx.ToolTip("Mode: Safe"))
#~ elif(op_mode=='Passive'):
#~ if (self._motors_button.set_error()):
#~ self._motors_button.SetToolTip(wx.ToolTip("Mode: Passive"))
#~ else:
#~ if (self._motors_button.set_stale()):
#~ self._motors_button.SetToolTip(wx.ToolTip("Mode: Stale"))
#~ if (breaker_status):
#~ [ctrl.set_breaker_state(breaker_status) for ctrl in self._breaker_ctrls]
def update_rosout(self):
summary_dur = 30.0
#if (rospy.get_time() < 30.0):
# summary_dur = rospy.get_time() - 1.0
#if (summary_dur < 0):
# summary_dur = 0.0
summary = self._rosout_frame.get_panel().getMessageSummary(summary_dur)
if (summary.fatal or summary.error):
self._rosout_button.set_error()
elif (summary.warn):
self._rosout_button.set_warn()
else:
self._rosout_button.set_ok()
tooltip = ""
if (summary.fatal):
tooltip += "\nFatal: %s"%(summary.fatal)
if (summary.error):
tooltip += "\nError: %s"%(summary.error)
if (summary.warn):
tooltip += "\nWarn: %s"%(summary.warn)
if (summary.info):
tooltip += "\nInfo: %s"%(summary.info)
if (summary.debug):
tooltip += "\nDebug: %s"%(summary.debug)
if (len(tooltip) == 0):
tooltip = "Rosout: no recent activity"
else:
tooltip = "Rosout: recent activity:" + tooltip
if (tooltip != self._rosout_button.GetToolTip().GetTip()):
self._rosout_button.SetToolTip(wx.ToolTip(tooltip))
def load_config(self):
# Load our window options
(x, y) = self.GetPositionTuple()
(width, height) = self.GetSizeTuple()
if (self._config.HasEntry(self._CONFIG_WINDOW_X)):
x = self._config.ReadInt(self._CONFIG_WINDOW_X)
if (self._config.HasEntry(self._CONFIG_WINDOW_Y)):
y = self._config.ReadInt(self._CONFIG_WINDOW_Y)
self.SetPosition((x, y))
self.SetSize((width, height))
def save_config(self):
config = self._config
(x, y) = self.GetPositionTuple()
(width, height) = self.GetSizeTuple()
config.WriteInt(self._CONFIG_WINDOW_X, x)
config.WriteInt(self._CONFIG_WINDOW_Y, y)
config.Flush()
def on_close(self, event):
self.save_config()
self.Destroy()
