From a8d84c11645b84e8b568e30bd8a938ac40d9a59f Mon Sep 17 00:00:00 2001
From: I Heart Engineering <code@iheartengineering.com>
Date: Thu, 26 Jul 2012 18:06:11 -0400
Subject: [PATCH] Start/Stop/Disconnect works; State change requires gksudo

---
 debian/changelog    |  7 +++++++
 turtlebot-indicator | 38 +++++++++++++++++++++++++++++++-------
 2 files changed, 38 insertions(+), 7 deletions(-)

diff --git a/debian/changelog b/debian/changelog
index 7f50d98..c5eb4b2 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,3 +1,10 @@
+turtlebot-indicator (0.0.2) precise; urgency=low
+
+  * Start/Stop/Disconnect works
+  * State change requires gksudo
+
+ -- I Heart Engineering <code@iheartengineering.com>  Thu, 26 Jul 2012 18:04:31 -0400
+
 turtlebot-indicator (0.0.1) precise; urgency=low
 
   * Basic status working
diff --git a/turtlebot-indicator b/turtlebot-indicator
index 68faf83..d528695 100755
--- a/turtlebot-indicator
+++ b/turtlebot-indicator
@@ -37,6 +37,7 @@ import sys
 import gobject
 import gtk
 import appindicator
+import subprocess
 import rosgraph.masterapi
 
 class TurtleBotIndicator:
@@ -56,6 +57,14 @@ class TurtleBotIndicator:
         self._subs = {} # Subscribers keyed by topic
 
     def update(self):
+        p = subprocess.Popen(['turtlebot-network','interface'], stdout=subprocess.PIPE)
+        output = p.communicate()[0].strip()
+        p.wait()
+        if output != "lo":
+            self._network_online = True
+        else:
+            self._network_online = False
+
         if not self._master_online and self._master.is_online():
             self._master_update = True
             self._master_online = True
@@ -104,15 +113,30 @@ class TurtleBotIndicator:
                   self._turtlebot_online = True
             #self._nodes = list(set(self._pubs.values() + self._subs.values()))
 
+    def menuitem_shutdown (self,item):
+        os.system('gksudo "initctl stop turtlebot"')
+
+    def menuitem_startup (self,item):
+        os.system('gksudo "initctl start turtlebot"')
+
     def build_menu(self):
         self._menu = gtk.Menu()
 
-        if self._turtlebot_online:
-            self._ind.set_icon ("turtlebot-panel")
-            topic_item = gtk.MenuItem("Online")
-            topic_item.set_sensitive(False)
-            topic_item.show()
-            self._menu.append(topic_item)
+        if self._network_online:
+            if self._turtlebot_online:
+                self._ind.set_icon ("turtlebot-panel")
+                topic_item = gtk.MenuItem("Stop TurtleBot")
+                topic_item.set_sensitive(True)
+                topic_item.show()
+                topic_item.connect("activate",self.menuitem_shutdown)
+                self._menu.append(topic_item)
+            else:
+                self._ind.set_icon ("turtlebot-idle")
+                topic_item = gtk.MenuItem("Start TurtleBot")
+                topic_item.set_sensitive(True)
+                topic_item.show()
+                topic_item.connect("activate",self.menuitem_startup)
+                self._menu.append(topic_item)
         else:
             self._ind.set_icon ("turtlebot-idle")
             disconnect_item = gtk.MenuItem("disconnected")
@@ -124,7 +148,7 @@ class TurtleBotIndicator:
     def run(self):
         self.update()
         if not self._exit:
-            source_id = gobject.timeout_add(1000, self.run)
+            source_id = gobject.timeout_add(2000, self.run)
 
     def start(self):
         self.run()