[Personalrobots-commit] SF.net SVN: personalrobots:[23405] pkg/trunk/stacks/pr2_gui/pr2_dashboard2

[<jfa...@us...>]

Revision: 23405
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23405&view=rev
Author:   jfaustwg
Date:     2009-08-31 20:44:06 +0000 (Mon, 31 Aug 2009)

Log Message:
-----------
* Fix battery bar color
* Draw a plug if plugged in
* Add "stale" state to buttons -- greyed out if no data has been received
* Shrink the icons drawn over the red/yellow/green lights
* Add breaker state code
* Add motors button
* Add runstop/wireless runstop status
* Add heuristic for rosout to determine red/yellow/green status (requires ROS 0.8)

Modified Paths:
--------------
    pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/speech_bubble.png
    pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/stethoscope-32.png
    pkg/trunk/stacks/pr2_gui/pr2_dashboard2/src/pr2_dashboard/pr2_frame.py

Added Paths:
-----------
    pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/electricity.png
    pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/green_stoplight.png
    pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/grey_light.png
    pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/grey_stoplight.png
    pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/plug.png
    pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/red_stoplight.png
    pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/yellow_stoplight.png

Added: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/electricity.png
===================================================================
(Binary files differ)


Property changes on: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/electricity.png
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Added: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/green_stoplight.png
===================================================================
(Binary files differ)


Property changes on: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/green_stoplight.png
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Added: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/grey_light.png
===================================================================
(Binary files differ)


Property changes on: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/grey_light.png
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Added: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/grey_stoplight.png
===================================================================
(Binary files differ)


Property changes on: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/grey_stoplight.png
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Added: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/plug.png
===================================================================
(Binary files differ)


Property changes on: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/plug.png
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Added: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/red_stoplight.png
===================================================================
(Binary files differ)


Property changes on: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/red_stoplight.png
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Modified: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/speech_bubble.png
===================================================================
(Binary files differ)

Modified: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/stethoscope-32.png
===================================================================
(Binary files differ)

Added: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/yellow_stoplight.png
===================================================================
(Binary files differ)


Property changes on: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/icons/yellow_stoplight.png
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Modified: pkg/trunk/stacks/pr2_gui/pr2_dashboard2/src/pr2_dashboard/pr2_frame.py
===================================================================
--- pkg/trunk/stacks/pr2_gui/pr2_dashboard2/src/pr2_dashboard/pr2_frame.py	2009-08-31 20:43:52 UTC (rev 23404)
+++ pkg/trunk/stacks/pr2_gui/pr2_dashboard2/src/pr2_dashboard/pr2_frame.py	2009-08-31 20:44:06 UTC (rev 23405)
@@ -46,8 +46,9 @@
 
 import robot_monitor
 from robot_monitor.robot_monitor_panel import RobotMonitorPanel
-from pr2_msgs.msg import PowerState
-from pr2_power_board.srv import PowerBoardCommand, PowerBoardCommandRequest 
+from pr2_msgs.msg import PowerState, PowerBoardState
+from pr2_power_board.srv import PowerBoardCommand, PowerBoardCommandRequest
+import std_srvs.srv
 
 import rospy
 
@@ -73,10 +74,13 @@
     
     self._rosout_panel = rxtools.RosoutPanel(self)
     
+  def get_panel(self):
+    return self._rosout_panel
+    
   def on_close(self, evt):
     self.Hide()
     
-class BatteryStateControl(wx.Window):
+class PowerStateControl(wx.Window):
   def __init__(self, parent, id, icons_path):
     wx.Window.__init__(self, parent, id, wx.DefaultPosition, wx.Size(60, -1))
     
@@ -87,10 +91,13 @@
     
     self._left_bitmap = wx.Bitmap(path.join(icons_path, "battery_left.png"), wx.BITMAP_TYPE_PNG)
     self._right_bitmap = wx.Bitmap(path.join(icons_path, "battery_right.png"), wx.BITMAP_TYPE_PNG)
+    self._plug_bitmap = wx.Bitmap(path.join(icons_path, "plug.png"), wx.BITMAP_TYPE_PNG)
     self._start_x = self._left_bitmap.GetWidth()
     self._end_x = self.GetSize().x - self._right_bitmap.GetWidth()
     self._width = self._end_x - self._start_x
     
+    self._plugged_in = False
+    
     self.Bind(wx.EVT_PAINT, self.on_paint)
 
   def on_paint(self, evt):
@@ -106,9 +113,9 @@
     green = [0.0, 255, 0.0]
     
     color = None
-    if (self._pct > 50):
+    if (self._pct > 0.5):
       color = wx.Colour(green[0], green[1], green[2])
-    elif (self._pct > 30):
+    elif (self._pct > 0.3):
       color = wx.Colour(yellow[0], yellow[1], yellow[2])
     else:
       color = wx.Colour(red[0], red[1], red[2])
@@ -122,30 +129,35 @@
     dc.DrawRectangle(self._start_x, 0, self._width * (self._pct), h)
     dc.DrawBitmap(self._left_bitmap, 0, 0, True)
     dc.DrawBitmap(self._right_bitmap, self._end_x, 0, True)
+    
+    if (self._plugged_in):
+      dc.DrawBitmap(self._plug_bitmap, 
+                    (self._start_x + self._width) / 2.0 - (self._plug_bitmap.GetWidth() / 2.0), 
+                    self.GetSize().GetHeight() / 2.0 - (self._plug_bitmap.GetHeight() / 2.0))
       
-  def set_battery_state(self, msg):
+  def set_power_state(self, msg):
     self._power_consumption = msg.power_consumption
     self._time_remaining = msg.time_remaining
-    print msg.relative_capacity
     self._pct = msg.relative_capacity / 100.0
-    self._msg = msg
+    self._plugged_in = msg.AC_present
     
-    self.SetToolTip(wx.ToolTip("Battery: %.2f%% (%d minutes remaining)"%(self._pct, self._time_remaining)))
+    self.SetToolTip(wx.ToolTip("Battery: %.2f%% (%d minutes remaining)"%(self._pct * 100, self._time_remaining)))
     
     self.Refresh()
     
 class StatusControl(wx.Window):
-  def __init__(self, parent, id, bitmap, icons_path):
+  def __init__(self, parent, id, bitmap, icons_path, lights = ("green_light.png", "yellow_light.png", "red_light.png", "grey_light.png")):
     wx.Window.__init__(self, parent, id)
     self.SetSize(wx.Size(32, 32))
     
     self._bitmap = bitmap
     
-    self._green = wx.Bitmap(path.join(icons_path, "green_light.png"), wx.BITMAP_TYPE_PNG)
-    self._yellow = wx.Bitmap(path.join(icons_path, "yellow_light.png"), wx.BITMAP_TYPE_PNG)
-    self._red = wx.Bitmap(path.join(icons_path, "red_light.png"), wx.BITMAP_TYPE_PNG)
+    self._green = wx.Bitmap(path.join(icons_path, lights[0]), wx.BITMAP_TYPE_PNG)
+    self._yellow = wx.Bitmap(path.join(icons_path, lights[1]), wx.BITMAP_TYPE_PNG)
+    self._red = wx.Bitmap(path.join(icons_path, lights[2]), wx.BITMAP_TYPE_PNG)
+    self._stale = wx.Bitmap(path.join(icons_path, lights[3]), wx.BITMAP_TYPE_PNG)
     
-    self.set_ok()
+    self.set_stale()
     
     self.Bind(wx.EVT_PAINT, self.on_paint)
     self.Bind(wx.EVT_LEFT_UP, self.on_left_up)
@@ -161,8 +173,11 @@
     dc = wx.BufferedPaintDC(self)
     dc.SetBackground(wx.Brush(self.GetBackgroundColour()))
     dc.Clear()
-    dc.DrawBitmap(self._color, 0, 0, True)
-    dc.DrawBitmap(self._bitmap, 0, 0, True)
+    
+    size = self.GetSize();
+    
+    dc.DrawBitmap(self._color, (size.GetWidth() - self._color.GetWidth()) / 2.0, (size.GetHeight() - self._color.GetHeight()) / 2.0, True)
+    dc.DrawBitmap(self._bitmap, (size.GetWidth() - self._bitmap.GetWidth()) / 2.0, (size.GetHeight() - self._bitmap.GetHeight()) / 2.0, True)
 
   def set_ok(self):
     self._color = self._green
@@ -176,6 +191,10 @@
     self._color = self._red
     self.Refresh()
     
+  def set_stale(self):
+    self._color = self._stale
+    self.Refresh()
+    
 class BreakerControl(StatusControl):
   def __init__(self, parent, id, icons_path):
     StatusControl.__init__(self, parent, id, wx.Bitmap(path.join(icons_path, "electricity.png"), wx.BITMAP_TYPE_PNG), icons_path)
@@ -242,6 +261,30 @@
   def on_disable_all(self, evt):
     self.control3("disable")
     
+  def set_power_board_state_msg(self, msg):
+    self._power_board_state = msg
+    
+    status_msg = "OK"
+    
+    if (msg.circuit_state[0] == PowerBoardState.STATE_DISABLED or
+        msg.circuit_state[1] == PowerBoardState.STATE_DISABLED or
+        msg.circuit_state[2] == PowerBoardState.STATE_DISABLED):
+      self.set_error()
+      status_msg = "Disabled"
+    elif (msg.circuit_state[0] == PowerBoardState.STATE_NOPOWER or
+          msg.circuit_state[1] == PowerBoardState.STATE_NOPOWER or
+          msg.circuit_state[2] == PowerBoardState.STATE_NOPOWER):
+      self.set_error()
+      status_msg = "No Power"
+    elif (msg.circuit_state[0] == PowerBoardState.STATE_STANDBY or
+          msg.circuit_state[1] == PowerBoardState.STATE_STANDBY or
+          msg.circuit_state[2] == PowerBoardState.STATE_STANDBY):
+      self.set_warn()
+      status_msg = "Standby"
+    else:
+      self.set_ok()
+      
+    self.SetToolTip(wx.ToolTip("Breaker State [%s]"%(status_msg)))  
 
 class PR2Frame(wx.Frame):
     _CONFIG_WINDOW_X="/Window/X"
@@ -284,13 +327,32 @@
         self._breakers_ctrl.SetToolTip(wx.ToolTip("Breakers"))
         sizer.Add(self._breakers_ctrl, 0)
         
+        # Motors
+        self._motors_button = StatusControl(self, wx.ID_ANY, wx.NullBitmap, icons_path)
+        self._motors_button.SetToolTip(wx.ToolTip("Motors"))
+        sizer.Add(self._motors_button, 0)
+        self._motors_button.Bind(wx.EVT_LEFT_DOWN, self.on_motors_clicked)
+        
         # Separator
         sizer.Add(wx.StaticLine(self, wx.ID_ANY, wx.DefaultPosition, wx.DefaultSize, wx.LI_VERTICAL), 0, wx.EXPAND)
         
+        # run-stop
+        self._runstop_ctrl = StatusControl(self, wx.ID_ANY, wx.NullBitmap, icons_path, lights=("green_stoplight.png", "yellow_stoplight.png", "red_stoplight.png", "grey_stoplight.png"))
+        self._runstop_ctrl.SetToolTip(wx.ToolTip("Runstop Status"))
+        sizer.Add(self._runstop_ctrl, 0)
+        
+        # Wireless run-stop
+        self._wireless_runstop_ctrl = StatusControl(self, wx.ID_ANY, wx.NullBitmap, icons_path, lights=("green_stoplight.png", "yellow_stoplight.png", "red_stoplight.png", "grey_stoplight.png"))
+        self._wireless_runstop_ctrl.SetToolTip(wx.ToolTip("Wireless Runstop Status"))
+        sizer.Add(self._wireless_runstop_ctrl, 0)
+        
+        # Separator
+        sizer.Add(wx.StaticLine(self, wx.ID_ANY, wx.DefaultPosition, wx.DefaultSize, wx.LI_VERTICAL), 0, wx.EXPAND)
+        
         # Battery State
-        self._battery_state_ctrl = BatteryStateControl(self, wx.ID_ANY, icons_path)
-        self._battery_state_ctrl.SetToolTip(wx.ToolTip("Battery"))
-        sizer.Add(self._battery_state_ctrl, 1, wx.EXPAND)
+        self._power_state_ctrl = PowerStateControl(self, wx.ID_ANY, icons_path)
+        self._power_state_ctrl.SetToolTip(wx.ToolTip("Battery"))
+        sizer.Add(self._power_state_ctrl, 1, wx.EXPAND)
         
         self._config = wx.Config("pr2_dashboard")
         
@@ -315,6 +377,7 @@
         
         self._mutex = threading.Lock()
         rospy.Subscriber("power_state", PowerState, self.power_callback)
+        rospy.Subscriber("power_board_state", PowerBoardState, self.power_board_callback)
         
     def on_timer(self, evt):
       level = self._diagnostics_frame._diagnostics_panel.get_top_level_state()
@@ -322,9 +385,13 @@
         self._diagnostics_button.set_error()
       elif (level == 1):
         self._diagnostics_button.set_warn()
+      elif (level == -1):
+        self._diagnostics_button.set_stale()
       else:
         self._diagnostics_button.set_ok()
         
+      self.update_rosout()
+        
       if (rospy.is_shutdown()):
         self.Close()
         
@@ -336,46 +403,133 @@
       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.PopupMenu(menu)
+      
+    def on_reset_motors(self, evt):
+      reset = rospy.ServiceProxy("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 on_halt_motors(self, evt):
+      halt = rospy.ServiceProxy("halt_motors", std_srvs.srv.Empty)
+       
+      try:
+        halt()
+      except rospy.ServiceException, e:
+        wx.MessageBox("Failed to halt the motors: service call failed with error: %s"%(e), "Error", wx.OK|wx.ICON_ERROR)
+      
     def power_callback(self, msg):
       self._mutex.acquire()
       self._power_message = msg
       self._mutex.release()
       
-      wx.CallAfter(self.new_battery_message) 
+      wx.CallAfter(self.new_power_message) 
       
-    def new_battery_message(self):
+    def new_power_message(self):
       self._mutex.acquire()
       msg = self._power_message
       self._power_message = None
       self._mutex.release()
       
       if (msg is not None):
-        self._battery_state_ctrl.set_battery_state(msg)
+        self._power_state_ctrl.set_power_state(msg)
         
-    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)
+    def power_board_callback(self, msg):
+      self._mutex.acquire()
+      self._power_board_message = msg
+      self._mutex.release()
+      
+      wx.CallAfter(self.new_power_board_message) 
+      
+    def new_power_board_message(self):
+      self._mutex.acquire()
+      msg = self._power_board_message
+      self._power_board_message = None
+      self._mutex.release()
+      
+      if (msg is not None):
+        self._breakers_ctrl.set_power_board_state_msg(msg)
+        if (not msg.run_stop):
+          # if the wireless stop is also off, we can't tell if the runstop is pressed or not
+          if (not msg.wireless_stop):
+            self._runstop_ctrl.set_warn()
+          else:
+            self._runstop_ctrl.set_error()
+        else:
+          self._runstop_ctrl.set_ok()
+          
+        if (not msg.wireless_stop):
+          self._wireless_runstop_ctrl.set_error()
+        else:
+          self._wireless_runstop_ctrl.set_ok()
+          
+    def update_rosout(self):
+      # Support pre-ROS-0.8, just don't have this functionality
+      try:
+          getattr(self._rosout_frame.get_panel(), "getMessageSummary")
+      except AttributeError:
+          return
+      
+      summary = self._rosout_frame.get_panel().getMessageSummary(30.0)
+      
+      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()
         
-        self.SetPosition((x, y))
-        self.SetSize((width, height))
         
-    def save_config(self):
-        config = self._config
+      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
         
-        (x, y) = self.GetPositionTuple()
-        (width, height) = self.GetSizeTuple()
-        config.WriteInt(self._CONFIG_WINDOW_X, x)
-        config.WriteInt(self._CONFIG_WINDOW_Y, y)
+      self._rosout_button.SetToolTip(wx.ToolTip(tooltip))
         
-        config.Flush()
+    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()
-        
+      self.save_config()
+      
+      self.Destroy()
+      


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