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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,216 @@ | ||
| #!/usr/bin/env python | ||
|
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| # import wxpython GUI libraries | ||
| import wx | ||
|
|
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| # import system utilities module | ||
| import psutil | ||
|
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| # import general utilities | ||
| import re | ||
|
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| # import ROS | ||
| import roslib; roslib.load_manifest('rover') | ||
| import rospy | ||
| from rover.msg import Enabled, Battery, Encoder | ||
|
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| class GUIWindow(wx.Frame): | ||
| ID_ROS_TIMER = 1 | ||
| ID_SYS_TIMER = 2 | ||
| leftvel = 0.0 | ||
| rightvel = 0.0 | ||
| leftcount = 0.0 | ||
| rightcount = 0.0 | ||
| voltage = 0.0 | ||
| current = 0.0 | ||
| isenabled = False | ||
|
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| def __init__(self, *args, **kwargs): | ||
| super(GUIWindow, self).__init__(*args, **kwargs) | ||
| rospy.init_node('rover_gui', anonymous = True) | ||
| rospy.Subscriber('enabled', Enabled, self.enablecb) | ||
| rospy.Subscriber('encoders', Encoder, self.enccb) | ||
| rospy.Subscriber('battery/motor', Battery, self.battcb) | ||
| self.enablepub = rospy.Publisher('enable', Enabled, latch = True) | ||
| self.initUI() | ||
| self.initTimerLoop() | ||
|
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| def initTimerLoop(self): | ||
| self.rostimer = wx.Timer(self, GUIWindow.ID_ROS_TIMER) | ||
| self.rostimer.Start(1000/30) # 30 Hz | ||
| self.Bind(wx.EVT_TIMER, self.onROSTimerFire, id = GUIWindow.ID_ROS_TIMER) | ||
| self.systemtimer = wx.Timer(self, GUIWindow.ID_SYS_TIMER) | ||
| self.systemtimer.Start(1000/4) # 4 Hz | ||
| self.Bind(wx.EVT_TIMER, self.onSystemTimerFire, id = GUIWindow.ID_SYS_TIMER) | ||
|
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| def onROSTimerFire(self, e): | ||
| self.encoder_speed_label.SetLabel("Encoder Velocities: [ %.04f m/s, %.04f m/s ]" % (self.leftvel, self.rightvel)) | ||
| self.encoder_count_label.SetLabel("Encoder Counts: [ %d, %d ]" % (self.leftcount, self.rightcount)) | ||
| self.motor_battery_label.SetLabel("Motor Battery: %.02f volts, %.02f amperes" % (self.voltage, self.current)) | ||
|
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| self.enable_toggle.SetValue(self.isenabled) | ||
|
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| if self.enable_toggle.GetValue(): | ||
| self.enable_toggle.SetLabel('Disable') | ||
| else: | ||
| self.enable_toggle.SetLabel('Enable') | ||
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|
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| def enablecb(self, msg): | ||
| self.isenabled = msg.motorsEnabled | ||
|
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| def enccb(self, msg): | ||
| self.leftvel = msg.left | ||
| self.rightvel = msg.right | ||
| self.leftcount = msg.leftCount | ||
| self.rightcount = msg.rightCount | ||
|
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| def battcb(self, msg): | ||
| self.voltage = msg.voltage | ||
| self.current = msg.current | ||
|
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| def onSystemTimerFire(self, e): | ||
| # update CPU | ||
| self.cpu_usage = psutil.cpu_percent() | ||
| self.cpu_gauge.SetValue(self.cpu_usage) | ||
| self.cpu_label.SetLabel("CPU Usage: %d%%" % self.cpu_usage) | ||
|
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| # update RAM | ||
| self.ram_usage = psutil.phymem_usage().percent | ||
| self.ram_gauge.SetValue(self.ram_usage) | ||
| self.ram_label.SetLabel("RAM Usage: %d%%" % self.ram_usage) | ||
|
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| # update battery | ||
| remaining_capacity_re = re.compile(r'^remaining capacity:\W+(\d+) mAh') | ||
| full_capacity_re = re.compile(r'^design capacity:\W+(\d+) mAh') | ||
|
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| b_state_file = open('/proc/acpi/battery/BAT0/state', 'r') | ||
| b_state = b_state_file.readlines() | ||
| b_state_file.close() | ||
|
|
||
| for line in b_state: | ||
| m = remaining_capacity_re.match(line) | ||
| if m: | ||
| self.main_battery_remaining_capacity = float(m.group(1)) | ||
|
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|
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| b_info_file = open('/proc/acpi/battery/BAT0/info', 'r') | ||
| b_info = b_info_file.readlines() | ||
| b_info_file.close() | ||
|
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||
| for line in b_info: | ||
| m = full_capacity_re.match(line) | ||
| if m: | ||
| self.main_battery_full_capacity = float(m.group(1)) | ||
| self.main_battery_remaining = (100 * self.main_battery_remaining_capacity/self.main_battery_full_capacity) | ||
| self.main_battery_label.SetLabel("Main Battery Remaining: %d%%" % self.main_battery_remaining) | ||
|
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| def initUI(self): | ||
| self.initMenus() | ||
| self.initSizers() | ||
| self.SetSize((400, 300)) | ||
| self.SetMinSize((400, 390)) | ||
| self.SetMaxSize((400, 390)) | ||
| self.SetTitle('Rover Status') | ||
| self.Centre() | ||
| self.Show(True) | ||
|
|
||
| def initSizers(self): | ||
| panel = wx.Panel(self) | ||
| font = wx.SystemSettings_GetFont(wx.SYS_SYSTEM_FONT) | ||
|
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||
| vbox = wx.BoxSizer(wx.VERTICAL) | ||
| hbox1 = wx.BoxSizer(wx.HORIZONTAL) | ||
|
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| # system runtime information | ||
| systembox = wx.BoxSizer(wx.VERTICAL) | ||
|
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| sbox = wx.StaticBox(panel, -1, 'System Information', (10, 10), size=(380, 185)) | ||
| self.cpu_label = wx.StaticText(panel, label = "CPU Usage: 0%") | ||
| self.cpu_gauge = wx.Gauge(panel, -1, 100, (-1, -1), (360, 10), wx.GA_HORIZONTAL | wx.GA_SMOOTH) | ||
|
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| self.ram_label = wx.StaticText(panel, label = "RAM Usage: 0%") | ||
| self.ram_gauge = wx.Gauge(panel, -1, 100, (-1, -1), (360, 10), wx.GA_HORIZONTAL | wx.GA_SMOOTH) | ||
|
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| self.motor_battery_label = wx.StaticText(panel, label = "Motor Battery: 0 volts, 0 amperes") | ||
| self.main_battery_label = wx.StaticText(panel, label = "Main Battery Remaining: 0%") | ||
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| systembox.Add(self.cpu_label, 1, wx.ALIGN_TOP | wx.ALIGN_LEFT | wx.BOTTOM, 5) | ||
| systembox.Add(self.cpu_gauge, 1, wx.ALIGN_TOP | wx.BOTTOM, 5) | ||
| systembox.Add(self.ram_label, 1, wx.ALIGN_LEFT | wx.BOTTOM, 5) | ||
| systembox.Add(self.ram_gauge, 1, wx.BOTTOM, 5) | ||
| systembox.Add(wx.StaticLine(panel, -1, (-1, -1), (360, 2)), 1, wx.TOP | wx.BOTTOM) | ||
| systembox.Add(self.motor_battery_label, 1) | ||
| systembox.Add(self.main_battery_label, 1) | ||
| hbox1.Add(systembox, 1, wx.ALIGN_LEFT) | ||
|
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| vbox.Add((0, 35), 0) | ||
| vbox.Add(hbox1, 0, wx.ALIGN_CENTRE) | ||
|
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| # rover-specific information | ||
| sbox2 = wx.StaticBox(panel, -1, 'Robot Information', (10, 200), size=(380, 160)) | ||
| enabled_label = wx.StaticText(panel, label = "Robot state:") | ||
| self.enable_toggle = wx.ToggleButton(panel, 1, 'Enable', (-1, -1)) | ||
| self.Bind(wx.EVT_TOGGLEBUTTON, self.onToggleEnable, id = 1) | ||
|
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| vbox2 = wx.BoxSizer(wx.VERTICAL) | ||
| vbox2.Add(enabled_label, 1) | ||
| vbox2.Add(self.enable_toggle, 1) | ||
| vbox2.Add((0, 15), 0) | ||
|
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| self.encoder_speed_label = wx.StaticText(panel, label = "Encoder Velocities: [ 0.00 m/s, 0.00 m/s ]") | ||
| self.encoder_count_label = wx.StaticText(panel, label = "Encoder Counts: [ 0, 0 ]") | ||
| vbox2.Add(self.encoder_speed_label) | ||
| vbox2.Add((0, 15), 0) | ||
| vbox2.Add(self.encoder_count_label) | ||
| vbox2.Add((0, 15), 0) | ||
|
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| hbox2 = wx.BoxSizer(wx.HORIZONTAL) | ||
| hbox2.Add((20, 0), 0) | ||
| hbox2.Add(vbox2, wx.LEFT | wx.RIGHT, 20) | ||
|
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| vbox.Add((0, 35), 0) | ||
| vbox.Add(hbox2, wx.ALIGN_TOP) | ||
|
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| # set the sizer | ||
| panel.SetSizer(vbox) | ||
|
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| def initMenus(self): | ||
| menubar = wx.MenuBar() | ||
|
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| # file menu | ||
| fileMenu = wx.Menu() | ||
| closeItem = fileMenu.Append(wx.ID_EXIT, 'Quit', 'Quit application', kind = wx.ITEM_NORMAL) | ||
| self.Bind(wx.EVT_MENU, self.onQuit, closeItem) | ||
| menubar.Append(fileMenu, '&File') | ||
|
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| # about menu | ||
| aboutMenu = wx.Menu() | ||
| aboutItem = aboutMenu.Append(wx.ID_ABOUT, 'About', 'About this program', kind = wx.ITEM_NORMAL) | ||
| self.Bind(wx.EVT_MENU, self.onAbout, aboutItem) | ||
| menubar.Append(aboutMenu, '&Help') | ||
|
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| self.SetMenuBar(menubar) | ||
|
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| def onToggleEnable(self, e): | ||
| msg = Enabled() | ||
| msg.motorsEnabled = self.enable_toggle.GetValue() | ||
| msg.settingsDumpEnabled = False | ||
| self.enablepub.publish(msg) | ||
|
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| def onAbout(self, e): | ||
| aboutText = "Rover status indicator by Robert Ying" | ||
| dlg = wx.MessageDialog(self, aboutText, "", wx.OK) | ||
| dlg.ShowModal() | ||
| dlg.Destroy() | ||
|
|
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| def onQuit(self, e): | ||
| self.Close() | ||
|
|
||
| if __name__ == '__main__': | ||
| try: | ||
| app = wx.App() # create a new app | ||
| GUIWindow(None) # create a GUIWindow | ||
| app.MainLoop() # run the main event loop | ||
| except rospy.ROSInterruptException: | ||
| pass |