power.py

机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。

# Desc: power interface handler
# Author: Andrew Howard
# Date: 27 Oct 2004
# CVS: $Id: power.py,v 1.2 2004/11/17 19:01:14 inspectorg Exp $

import sys
import math
import time
from wxPython.wx import *

from wxgazebo.panel import gzPanel
from gazebo import *


class gzPower(gzPanel):
    """Mediate power interface."""

    def __init__(self, parent, client, gzid):

        gzPanel.__init__(self, parent, 'power [%s]' % gzid, (0, 0))

        # Open interface
        self.iface = gz_power()
        if self.iface.open(client, gzid) != 0:
            raise gz_error_str()
        self.updateTime = 0.0

        # power feedback
        text = ''
        for level in self.iface.data.levels:
            text += 'XXXXXXXXXXXX\n'
        self.powerText = wxStaticText(self, -1, text)

        # Layout stuff in window
        sizer = wxBoxSizer(wxVERTICAL)
        sizer.Add(wxStaticText(self, -1, 'power'))
        sizer.Add(self.powerText, 1, wxCENTER)

        # All done; set frame size
        self.SetSizer(sizer)        
        self.SetAutoLayout(True)
        self.Fit()
        sizer.SetSizeHints(self)

        # We're ready, so show ourselves
        self.Show(True)
        return


    def __del__(self):

        # Close the interface
        self.iface.close()
        return


    def OnUpdate(self):
        """Process periodic updates."""
        
        self.iface.lock(1)
        data = self.iface.data

        # See if we have new data
        if data.time != self.updateTime:
            self.updateTime = data.time

            text = ''
            for (i, level) in enumerate(self.iface.data.levels):
                text += '%d %04.1f\n' % (i, level)
            self.powerText.SetLabel(text)
            
        self.iface.unlock()
        return