#!/usr/bin/env python
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## A basic node to listen to and display incoming diagnostic messages using wx

import roslib
roslib.load_manifest('runtime_monitor')

import sys
import rospy
from diagnostic_msgs.msg import *

import wx
import threading, time

import runtime_monitor
from runtime_monitor.monitor_panel import *

NAME = 'runtime_monitor'

ID_RESET = 8686
ID_CHANGE_TOPIC = 7777

class MainWindow(wx.Frame):
    def __init__(self, parent, id, title):
        wx.Frame.__init__(self, parent, wx.ID_ANY, title)
        self.filemenu = wx.Menu()
        self.filemenu.Append(wx.ID_EXIT, "E&xit"," Exit the program")

        self.monitor_menu = wx.Menu()
        self.monitor_menu.Append(ID_CHANGE_TOPIC, "Change Topic")
        self.monitor_menu.Append(ID_RESET, "Reset Monitor")
        
        self.menubar = wx.MenuBar()
        self.menubar.Append(self.filemenu,"&File")
        self.menubar.Append(self.monitor_menu, "&Monitor")
        self.SetMenuBar(self.menubar)
        self.Bind(wx.EVT_MENU, self.on_menu)

        self.panel = MonitorPanel(self)
        self.panel.set_new_errors_callback(self.on_error)
        
        self.SetSize(wx.Size(750,450))

        self._shutdown_timer = wx.Timer()
        self._shutdown_timer.Bind(wx.EVT_TIMER, self._on_shutdown_timer)
        self._shutdown_timer.Start(100)

    def _on_shutdown_timer(self, event):
        if (rospy.is_shutdown()):
            self.Close()

    def on_menu(self, event):
        if (event.GetEventObject() == self.filemenu):
            if (event.GetId() == wx.ID_EXIT):
                self.Close(True)
                return
        if (event.GetEventObject() == self.monitor_menu):
            if (event.GetId() == ID_RESET):
                self.panel.reset_monitor()
                return
            if (event.GetId() == ID_CHANGE_TOPIC):
                topic = wx.GetTextFromUser('Enter new diagnostics topic', 'Change Topic', '/diagnostics')
                self.panel.change_diagnostic_topic(str(topic))
                return


    def on_exit(self, e):
        self.Close(True)
            
    def on_error(self):
        pass
    
def wxmonitor():
    app = wx.PySimpleApp()
    rospy.init_node(NAME, anonymous=True)
    
    frame = MainWindow(None, -1, "Runtime Monitor")
    frame.Show()
    
    app.MainLoop()
        
        
if __name__ == '__main__':
    try:
        wxmonitor()
    except KeyboardInterrupt, e:
        pass
    except rospy.exceptions.ROSInitException, e:
        print 'Failed to initialize node, master probably isn\'t up.'

