mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
synced 2025-11-09 10:41:15 +00:00
addes system status work to fixed branch
This commit is contained in:
Ken Steinfeldt
4
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26
software/rover/system_statuses/scripts/camera_2_updater.py
Executable file
26
software/rover/system_statuses/scripts/camera_2_updater.py
Executable file
@@ -0,0 +1,26 @@
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#!/usr/bin/env python
|
||||
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# import rospy
|
||||
# from system_statuses.msg import Camera2Changer
|
||||
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||||
|
||||
# def camera_2_changer():
|
||||
# pub = rospy.Publisher('camera_2_changer_chatter', Camera2Changer, queue_size=10)
|
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# rospy.init_node('camera_2_changer_talker', anonymous=True)
|
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# # r = rospy.sleep(10) # 10hz
|
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# msg = Camera2Changer()
|
||||
# msg.camera_2_value = 0
|
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|
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# while not rospy.is_shutdown():
|
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# msg.camera_2_value = (msg.camera_2_value + 1) % 2
|
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# rospy.loginfo(msg)
|
||||
# pub.publish(msg)
|
||||
# r.sleep()
|
||||
## rospy.sleep(2.)
|
||||
|
||||
|
||||
#if __name__ == '__main__':
|
||||
# try:
|
||||
# camera_2_changer()
|
||||
# except rospy.ROSInterruptException:
|
||||
# pass
|
||||
80
software/rover/system_statuses/scripts/rover_statuses.py
Executable file
80
software/rover/system_statuses/scripts/rover_statuses.py
Executable file
@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python
|
||||
import rospy
|
||||
from system_statuses.msg import CameraStatuses, BogieStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
|
||||
|
||||
|
||||
# THIS IS A SUPER ROUGH EXAMPLE OF HOW TO PULL THE DATA
|
||||
# You can create your own message formats in the msg folder
|
||||
# This is a simple example of pulling data from system_statuses_node.py
|
||||
# and storing them into self values.
|
||||
# The ground control code sounds like it'll be fairly different in format.
|
||||
|
||||
class RoverStatuses:
|
||||
|
||||
def __init__(self):
|
||||
|
||||
rospy.init_node('RoverStatuses')
|
||||
|
||||
# self.pub = rospy.Publisher('rover_statuses_chatter', RoverSysStatus, queue_size=10)
|
||||
|
||||
# Subscription examples on pulling data from system_statuses_node.py
|
||||
rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
|
||||
rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__bogie_callback)
|
||||
rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__frsky_callback)
|
||||
rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__gps_callback)
|
||||
rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__jetson_callback)
|
||||
rospy.Subscriber('misc_system_status_chatter', MiscStatuses, self.__misc_callback)
|
||||
|
||||
self.camera_msg = CameraStatuses()
|
||||
self.bogie_msg = BogieStatuses()
|
||||
self.FrSky_msg = FrSkyStatus()
|
||||
self.GPS_msg = GPSInfo()
|
||||
self.jetson_msg = JetsonInfo()
|
||||
self.misc_msg = MiscStatuses()
|
||||
|
||||
def __camera_callback(self, data):
|
||||
self.camera_msg.camera_zed = data.camera_zed
|
||||
self.camera_msg.camera_undercarriage = data.camera_undercarriage
|
||||
self.camera_msg.camera_chassis = data.camera_chassis
|
||||
self.camera_msg.camera_main_navigation = data.camera_main_navigation
|
||||
|
||||
def __frsky_callback(self, data):
|
||||
self.FrSky_msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
|
||||
|
||||
def __bogie_callback(self, data):
|
||||
self.bogie_msg.bogie_connection_1 = data.bogie_connection_1
|
||||
self.bogie_msg.bogie_connection_2 = data.bogie_connection_2
|
||||
self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
|
||||
|
||||
def __jetson_callback(self, data):
|
||||
self.jetson_msg.jetson_CPU = data.jetson_CPU
|
||||
self.jetson_msg.jetson_RAM = data.jetson_RAM
|
||||
self.jetson_msg.jetson_EMMC = data.jetson_EMMC
|
||||
self.jetson_msg.jetson_NVME_SSD = data.jetson_NVME_SSD
|
||||
self.jetson_msg.jetson_GPU_temp = data.jetson_GPU_temp
|
||||
rospy.loginfo(self.jetson_msg)
|
||||
|
||||
def __gps_callback(self, data):
|
||||
self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time
|
||||
self.GPS_msg.GPS_connection_status = data.GPS_connection_status
|
||||
|
||||
def __misc_callback(self, data):
|
||||
self.misc_msg.arm_connection_status = data.arm_connection_status
|
||||
self.misc_msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses
|
||||
self.misc_msg.sample_containment_connection_status = data.sample_containment_connection_status
|
||||
self.misc_msg.tower_connection_status = data.tower_connection_status
|
||||
self.misc_msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
|
||||
|
||||
def run(self):
|
||||
rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
|
||||
rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__bogie_callback)
|
||||
rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__frsky_callback)
|
||||
rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__gps_callback)
|
||||
rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__jetson_callback)
|
||||
rospy.Subscriber('misc_system_status_chatter', MiscStatuses, self.__misc_callback)
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
rover_statuses = RoverStatuses()
|
||||
rover_statuses.run()
|
||||
244
software/rover/system_statuses/scripts/system_statuses_node.py
Executable file
244
software/rover/system_statuses/scripts/system_statuses_node.py
Executable file
@@ -0,0 +1,244 @@
|
||||
#!/usr/bin/env python
|
||||
import rospy
|
||||
import os.path
|
||||
import psutil
|
||||
import subprocess
|
||||
from system_statuses.msg import CameraStatuses, BogieStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
|
||||
|
||||
|
||||
class SystemStatuses:
|
||||
|
||||
def __init__(self):
|
||||
# Camera path locations
|
||||
self.system_path_locations = [
|
||||
'/dev/rover/camera_zed',
|
||||
'/dev/rover/camera_undercarriage',
|
||||
'/dev/rover/camera_chassis',
|
||||
'/dev/rover/camera_main_navigation'
|
||||
]
|
||||
|
||||
# filesystem paths for EMMC [0] and NVME_SSD [1]
|
||||
# -- UPDATE [1] FOR JETSON --
|
||||
self.file_systems_EMMC_NVMe_SSD = [
|
||||
'/',
|
||||
'/dev/shm'
|
||||
]
|
||||
|
||||
rospy.init_node('SystemStatuses')
|
||||
|
||||
# init all publisher functions
|
||||
self.pub_camera = rospy.Publisher('camera_system_status_chatter', CameraStatuses, queue_size=10)
|
||||
self.pub_bogie = rospy.Publisher('bogie_system_status_chatter', BogieStatuses, queue_size=10)
|
||||
self.pub_FrSky = rospy.Publisher('FrSky_system_status_chatter', FrSkyStatus, queue_size=10)
|
||||
self.pub_GPS = rospy.Publisher('GPS_system_status_chatter', GPSInfo, queue_size=10)
|
||||
self.pub_jetson = rospy.Publisher('jetson_system_status_chatter', JetsonInfo, queue_size=10)
|
||||
self.pub_Misc = rospy.Publisher('misc_system_status_chatter', MiscStatuses, queue_size=10)
|
||||
|
||||
# init all message variables
|
||||
self.camera_msg = CameraStatuses()
|
||||
self.bogie_msg = BogieStatuses()
|
||||
self.FrSky_msg = FrSkyStatus()
|
||||
self.GPS_msg = GPSInfo()
|
||||
self.jetson_msg = JetsonInfo()
|
||||
self.misc_msg = MiscStatuses()
|
||||
|
||||
# init all message values
|
||||
self.__pull_new_message_values()
|
||||
|
||||
# init all previous values
|
||||
self.__update_all_previous_values()
|
||||
|
||||
# init all RoverSysMessage values
|
||||
def __pull_new_message_values(self):
|
||||
self.__set_gps_info()
|
||||
self.__set_bogie_connection_statuses()
|
||||
self.__set_arm_connection_status()
|
||||
self.__set_arm_end_effector_connection_statuses()
|
||||
self.__set_cameras()
|
||||
self.__set_sample_containment_connection_status()
|
||||
self.__set_tower_connection_status()
|
||||
self.__set_chassis_pan_tilt_connection_status()
|
||||
self.__set_jetson_usage_information()
|
||||
self.__set_frsky_controller_connection_status()
|
||||
|
||||
# Pulls the UTC GPS Time (WIP)
|
||||
def __set_gps_info(self):
|
||||
self.GPS_msg.UTC_GPS_time = 0
|
||||
self.GPS_msg.GPS_connection_status = 0
|
||||
|
||||
# Pulls bogie connection statuses (WIP)
|
||||
def __set_bogie_connection_statuses(self):
|
||||
self.bogie_msg.bogie_connection_1 = 0
|
||||
self.bogie_msg.bogie_connection_2 = 0
|
||||
self.bogie_msg.bogie_connection_3 = 0
|
||||
|
||||
# Checks arm connection status (WIP)
|
||||
def __set_arm_connection_status(self):
|
||||
self.misc_msg.arm_connection_status = 0
|
||||
|
||||
# Checks Arm End Effector Connection Statuses (WIP)
|
||||
def __set_arm_end_effector_connection_statuses(self):
|
||||
self.misc_msg.arm_end_effector_connection_statuses = 0
|
||||
|
||||
# Sets the Camera values (zed, undercarriage, chassis, and main_nav
|
||||
def __set_cameras(self):
|
||||
# Check if camera_zed is found
|
||||
self.camera_msg.camera_zed = 1 if os.path.exists(self.system_path_locations[0]) else 0
|
||||
# Check if camera_undercarriage is found
|
||||
self.camera_msg.camera_undercarriage = 1 if os.path.exists(self.system_path_locations[1]) else 0
|
||||
# Check if camera_chassis is found
|
||||
self.camera_msg.camera_chassis = 1 if os.path.exists(self.system_path_locations[2]) else 0
|
||||
# Check if camera_main_navigation is found
|
||||
self.camera_msg.camera_main_navigation = 1 if os.path.exists(self.system_path_locations[3]) else 0
|
||||
|
||||
# Checks Sample Containment Connection Status (WIP)
|
||||
def __set_sample_containment_connection_status(self):
|
||||
self.misc_msg.sample_containment_connection_status = 0
|
||||
|
||||
def __set_tower_connection_status(self):
|
||||
self.misc_msg.tower_connection_status = 0
|
||||
|
||||
# Checks Tower Connection Status (WIP)
|
||||
def __set_chassis_pan_tilt_connection_status(self):
|
||||
self.misc_msg.chassis_pan_tilt_connection_status = 0
|
||||
|
||||
# Get Jetson Statuses (WIP)
|
||||
def __set_jetson_usage_information(self):
|
||||
self.jetson_msg.jetson_CPU = psutil.cpu_percent()
|
||||
mem = psutil.virtual_memory()
|
||||
self.jetson_msg.jetson_RAM = mem.percent
|
||||
self.jetson_msg.jetson_EMMC = self.__used_percent_fs(self.file_systems_EMMC_NVMe_SSD[0])
|
||||
self.jetson_msg.jetson_NVME_SSD = self.__used_percent_fs(self.file_systems_EMMC_NVMe_SSD[1])
|
||||
|
||||
# Temperature
|
||||
# This try except causes a bunch of annoying messages, but lets it run on non-jetson devices
|
||||
# sets to -1.0 if sensor fails to give it a default value notifying failure to pull
|
||||
try:
|
||||
sensor_temperatures = subprocess.check_output("sensors | grep temp", shell=True)
|
||||
parsed_temps = sensor_temperatures.replace("\xc2\xb0C","").replace("(crit = ","").replace("temp1:","")\
|
||||
.replace("\n","").replace("+","").split()
|
||||
self.jetson_msg.jetson_GPU_temp = parsed_temps[4]
|
||||
except subprocess.CalledProcessError:
|
||||
print 'sensors call failed (potential reason: on VM)'
|
||||
self.jetson_msg.jetson_GPU_temp = -1.0
|
||||
|
||||
# EMMC and NVMe_SSD used % calculation
|
||||
def __used_percent_fs(self, pathname):
|
||||
statvfs = os.statvfs(pathname)
|
||||
# percentage :: USED:
|
||||
# used amount: blocks - bfree
|
||||
# used%: used_amount / (used_amount + bavail)
|
||||
used_available = (statvfs.f_frsize * statvfs.f_blocks / 1024) - (statvfs.f_frsize * statvfs.f_bfree / 1024.0)
|
||||
used_percent = used_available / (used_available + (statvfs.f_frsize * statvfs.f_bavail / 1024.0))
|
||||
# Round 4 for 2 decimal accuracy
|
||||
value = 100 * round(used_percent, 4)
|
||||
return value
|
||||
|
||||
# Check FrSky Controller Connection Status (WIP)
|
||||
def __set_frsky_controller_connection_status(self):
|
||||
self.FrSky_msg.FrSky_controller_connection_status = 0
|
||||
|
||||
# Used mainly for init, sets all previous values in one go
|
||||
def __update_all_previous_values(self):
|
||||
self.__set_previous_camera_values()
|
||||
self.__set_previous_jetson_values()
|
||||
self.__set_previous_frsky_value()
|
||||
self.__set_previous_bogie_values()
|
||||
self.__set_previous_gps_values()
|
||||
self.__set_previous_misc_values()
|
||||
|
||||
def __set_previous_camera_values(self):
|
||||
self.previous_camera_zed = self.camera_msg.camera_zed
|
||||
self.previous_camera_undercarriage = self.camera_msg.camera_undercarriage
|
||||
self.previous_camera_chassis = self.camera_msg.camera_chassis
|
||||
self.previous_camera_main_navigation = self.camera_msg.camera_main_navigation
|
||||
|
||||
def __set_previous_jetson_values(self):
|
||||
self.previous_jetson_CPU = self.jetson_msg.jetson_CPU
|
||||
self.previous_jetson_RAM = self.jetson_msg.jetson_RAM
|
||||
self.previous_jetson_EMMC = self.jetson_msg.jetson_EMMC
|
||||
self.previous_jetson_NVME_SSD = self.jetson_msg.jetson_NVME_SSD
|
||||
self.previous_jetson_GPU_temp = self.jetson_msg.jetson_GPU_temp
|
||||
|
||||
def __set_previous_frsky_value(self):
|
||||
self.previous_FrSky_controller_connection_status = self.FrSky_msg.FrSky_controller_connection_status
|
||||
|
||||
def __set_previous_bogie_values(self):
|
||||
self.previous_bogie_connection_1 = self.bogie_msg.bogie_connection_1
|
||||
self.previous_bogie_connection_2 = self.bogie_msg.bogie_connection_2
|
||||
self.previous_bogie_connection_3 = self.bogie_msg.bogie_connection_3
|
||||
|
||||
def __set_previous_gps_values(self):
|
||||
self.previous_UTC_GPS_time = self.GPS_msg.UTC_GPS_time
|
||||
self.previous_GPS_connection_status = self.GPS_msg.GPS_connection_status
|
||||
|
||||
def __set_previous_misc_values(self):
|
||||
self.previous_arm_connection_status = self.misc_msg.arm_connection_status
|
||||
self.previous_arm_end_effector_connection_statuses = self.misc_msg.arm_end_effector_connection_statuses
|
||||
self.previous_chassis_pan_tilt_connection_status = self.misc_msg.chassis_pan_tilt_connection_status
|
||||
self.previous_sample_containment_connection_status = self.misc_msg.sample_containment_connection_status
|
||||
self.previous_tower_connection_status = self.misc_msg.tower_connection_status
|
||||
|
||||
def run(self):
|
||||
r = rospy.Rate(10) # 10Hz
|
||||
while not rospy.is_shutdown():
|
||||
# Update all message values
|
||||
self.__pull_new_message_values()
|
||||
|
||||
# Camera Check -- if current value is now different from previous value,
|
||||
# update the previous value for cameras and publish to listening Subscribers
|
||||
if (self.camera_msg.camera_zed != self.previous_camera_zed or
|
||||
self.camera_msg.camera_undercarriage != self.previous_camera_undercarriage or
|
||||
self.camera_msg.camera_chassis != self.previous_camera_chassis or
|
||||
self.camera_msg.camera_main_navigation != self.previous_camera_main_navigation):
|
||||
self.__set_previous_camera_values()
|
||||
self.pub_camera.publish(self.camera_msg)
|
||||
|
||||
# Placeholder Jetson Info Check
|
||||
if (self.jetson_msg.jetson_CPU != self.previous_jetson_CPU or
|
||||
self.jetson_msg.jetson_RAM != self.previous_jetson_RAM or
|
||||
self.jetson_msg.jetson_EMMC != self.previous_jetson_EMMC or
|
||||
self.jetson_msg.jetson_NVME_SSD != self.previous_jetson_NVME_SSD or
|
||||
self.jetson_msg.jetson_GPU_temp != self.previous_jetson_GPU_temp):
|
||||
self.__set_previous_jetson_values()
|
||||
self.pub_jetson.publish(self.jetson_msg)
|
||||
|
||||
# Placeholder FrSky Controller Check
|
||||
if self.FrSky_msg.FrSky_controller_connection_status != self.previous_FrSky_controller_connection_status:
|
||||
self.__set_previous_frsky_value()
|
||||
self.pub_FrSky.publish(self.FrSky_msg)
|
||||
|
||||
# Placeholder bogie status check
|
||||
if (self.bogie_msg.bogie_connection_1 != self.previous_bogie_connection_1 or
|
||||
self.bogie_msg.bogie_connection_2 != self.previous_bogie_connection_2 or
|
||||
self.bogie_msg.bogie_connection_3 != self.previous_bogie_connection_3):
|
||||
self.__set_previous_bogie_values()
|
||||
self.pub_bogie.publish(self.bogie_msg)
|
||||
|
||||
# Placeholder GPS Information check
|
||||
if (self.GPS_msg.UTC_GPS_time != self.previous_UTC_GPS_time or
|
||||
self.GPS_msg.UTC_GPS_time != self.previous_GPS_connection_status):
|
||||
self.__set_previous_gps_values()
|
||||
self.pub_GPS.publish(self.GPS_msg)
|
||||
|
||||
# Placeholder Misc Information check
|
||||
if (self.misc_msg.arm_connection_status !=
|
||||
self.previous_arm_connection_status or
|
||||
self.misc_msg.arm_end_effector_connection_statuses !=
|
||||
self.previous_arm_end_effector_connection_statuses or
|
||||
self.misc_msg.chassis_pan_tilt_connection_status !=
|
||||
self.previous_chassis_pan_tilt_connection_status or
|
||||
self.misc_msg.sample_containment_connection_status !=
|
||||
self.previous_sample_containment_connection_status or
|
||||
self.misc_msg.tower_connection_status !=
|
||||
self.previous_tower_connection_status):
|
||||
self.__set_previous_misc_values()
|
||||
self.pub_Misc.publish(self.misc_msg)
|
||||
|
||||
# rospy.loginfo(self.msg)
|
||||
r.sleep()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
system_status = SystemStatuses()
|
||||
system_status.run()
|
||||
Reference in New Issue
Block a user