From 33112d20b97955243b57c3e402f48d50c0b16cc9 Mon Sep 17 00:00:00 2001
From: MatthewTaylor24 <matcurtay@comcast.net>
Date: Sat, 27 Jan 2018 17:35:33 -0800
Subject: [PATCH] Added GPU Temperature to Jetson msg & pull data. Tested after
 ssh to jetson, but does not work on VM

---
 rover/system_statuses/msg/JetsonInfo.msg      |  3 +-
 .../scripts/.idea/workspace.xml               | 81 ++++++++++---------
 .../system_statuses/scripts/rover_statuses.py |  1 +
 .../scripts/system_statuses_node.py           | 10 ++-
 4 files changed, 53 insertions(+), 42 deletions(-)

diff --git a/rover/system_statuses/msg/JetsonInfo.msg b/rover/system_statuses/msg/JetsonInfo.msg
index 8440c13..92506cb 100644
--- a/rover/system_statuses/msg/JetsonInfo.msg
+++ b/rover/system_statuses/msg/JetsonInfo.msg
@@ -1,4 +1,5 @@
 float64 jetson_CPU
 float64 jetson_RAM
 float64 jetson_EMMC
-float64 jetson_NVME_SSD
\ No newline at end of file
+float64 jetson_NVME_SSD
+float64 jetson_GPU_temp
\ No newline at end of file
diff --git a/rover/system_statuses/scripts/.idea/workspace.xml b/rover/system_statuses/scripts/.idea/workspace.xml
index a8afe6f..c0c8e55 100644
--- a/rover/system_statuses/scripts/.idea/workspace.xml
+++ b/rover/system_statuses/scripts/.idea/workspace.xml
@@ -14,16 +14,16 @@
       <file leaf-file-name="system_statuses_node.py" pinned="false" current-in-tab="true">
         <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="812">
-              <caret line="132" column="41" lean-forward="true" selection-start-line="132" selection-start-column="41" selection-end-line="132" selection-end-column="41" />
+            <state relative-caret-position="137">
+              <caret line="116" column="57" lean-forward="true" selection-start-line="116" selection-start-column="57" selection-end-line="116" selection-end-column="57" />
               <folding>
                 <element signature="e#22#34#0" expanded="true" />
-                <element signature="e#5786#6077#0" expanded="false" />
-                <element signature="e#6434#6534#0" expanded="false" />
-                <element signature="e#6587#6809#0" expanded="false" />
-                <element signature="e#6860#6995#0" expanded="false" />
-                <element signature="e#7047#7538#0" expanded="false" />
-                <marker date="1517095289793" expanded="true" signature="5734:7538" ph="..." />
+                <element signature="e#6122#6413#0" expanded="false" />
+                <element signature="e#6842#6942#0" expanded="false" />
+                <element signature="e#6995#7217#0" expanded="false" />
+                <element signature="e#7268#7403#0" expanded="false" />
+                <element signature="e#7455#7946#0" expanded="false" />
+                <marker date="1517103102832" expanded="true" signature="6070:7946" ph="..." />
               </folding>
             </state>
           </provider>
@@ -32,8 +32,8 @@
       <file leaf-file-name="rover_statuses.py" pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/rover_statuses.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="370">
-              <caret line="59" column="36" lean-forward="false" selection-start-line="59" selection-start-column="36" selection-end-line="59" selection-end-column="36" />
+            <state relative-caret-position="226">
+              <caret line="53" column="62" lean-forward="false" selection-start-line="53" selection-start-column="62" selection-end-line="53" selection-end-column="62" />
               <folding>
                 <element signature="e#22#34#0" expanded="true" />
               </folding>
@@ -56,8 +56,8 @@
         <option value="$PROJECT_DIR$/system_statuses.py" />
         <option value="$PROJECT_DIR$/node_statuses.py" />
         <option value="$PROJECT_DIR$/camera_2_updater.py" />
-        <option value="$PROJECT_DIR$/rover_statuses.py" />
         <option value="$PROJECT_DIR$/system_statuses_node.py" />
+        <option value="$PROJECT_DIR$/rover_statuses.py" />
       </list>
     </option>
   </component>
@@ -68,10 +68,10 @@
     <sorting>DEFINITION_ORDER</sorting>
   </component>
   <component name="ProjectFrameBounds">
-    <option name="x" value="413" />
-    <option name="y" value="52" />
-    <option name="width" value="2300" />
-    <option name="height" value="1525" />
+    <option name="x" value="1063" />
+    <option name="y" value="534" />
+    <option name="width" value="1650" />
+    <option name="height" value="1043" />
   </component>
   <component name="ProjectView">
     <navigator currentView="ProjectPane" proportions="" version="1">
@@ -88,6 +88,7 @@
       <foldersAlwaysOnTop value="true" />
     </navigator>
     <panes>
+      <pane id="Scratches" />
       <pane id="ProjectPane">
         <subPane>
           <expand>
@@ -99,7 +100,6 @@
           <select />
         </subPane>
       </pane>
-      <pane id="Scratches" />
       <pane id="Scope" />
     </panes>
   </component>
@@ -137,7 +137,8 @@
     <servers />
   </component>
   <component name="ToolWindowManager">
-    <frame x="413" y="52" width="2300" height="1525" extended-state="0" />
+    <frame x="1063" y="534" width="1650" height="1043" extended-state="0" />
+    <editor active="true" />
     <layout>
       <window_info id="TODO" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="6" side_tool="false" content_ui="tabs" />
       <window_info id="Event Log" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="true" content_ui="tabs" />
@@ -145,7 +146,7 @@
       <window_info id="Python Console" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="8" side_tool="false" content_ui="tabs" />
       <window_info id="Run" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="2" side_tool="false" content_ui="tabs" />
       <window_info id="Terminal" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="9" side_tool="false" content_ui="tabs" />
-      <window_info id="Project" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.08041958" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
+      <window_info id="Project" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.11233211" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
       <window_info id="Docker" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="false" weight="0.33" sideWeight="0.5" order="10" side_tool="false" content_ui="tabs" />
       <window_info id="Database" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
       <window_info id="SciView" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="4" side_tool="false" content_ui="tabs" />
@@ -180,12 +181,12 @@
           <caret line="124" column="61" lean-forward="false" selection-start-line="124" selection-start-column="61" selection-end-line="124" selection-end-column="61" />
           <folding>
             <element signature="e#22#34#0" expanded="true" />
-            <element signature="e#5786#6077#0" expanded="false" />
-            <element signature="e#6434#6534#0" expanded="false" />
-            <element signature="e#6587#6809#0" expanded="false" />
-            <element signature="e#6860#6995#0" expanded="false" />
-            <element signature="e#7047#7538#0" expanded="false" />
-            <marker date="1517095289793" expanded="true" signature="5734:7538" ph="..." />
+            <element signature="e#6122#6413#0" expanded="false" />
+            <element signature="e#6842#6942#0" expanded="false" />
+            <element signature="e#6995#7217#0" expanded="false" />
+            <element signature="e#7268#7403#0" expanded="false" />
+            <element signature="e#7455#7946#0" expanded="false" />
+            <marker date="1517103102832" expanded="true" signature="6070:7946" ph="..." />
           </folding>
         </state>
       </provider>
@@ -206,12 +207,12 @@
           <caret line="0" column="0" lean-forward="false" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
           <folding>
             <element signature="e#22#34#0" expanded="true" />
-            <element signature="e#5786#6077#0" expanded="false" />
-            <element signature="e#6434#6534#0" expanded="false" />
-            <element signature="e#6587#6809#0" expanded="false" />
-            <element signature="e#6860#6995#0" expanded="false" />
-            <element signature="e#7047#7538#0" expanded="false" />
-            <marker date="1517095289793" expanded="true" signature="5734:7538" ph="..." />
+            <element signature="e#6122#6413#0" expanded="false" />
+            <element signature="e#6842#6942#0" expanded="false" />
+            <element signature="e#6995#7217#0" expanded="false" />
+            <element signature="e#7268#7403#0" expanded="false" />
+            <element signature="e#7455#7946#0" expanded="false" />
+            <marker date="1517103102832" expanded="true" signature="6070:7946" ph="..." />
           </folding>
         </state>
       </provider>
@@ -237,8 +238,8 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/rover_statuses.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="370">
-          <caret line="59" column="36" lean-forward="false" selection-start-line="59" selection-start-column="36" selection-end-line="59" selection-end-column="36" />
+        <state relative-caret-position="226">
+          <caret line="53" column="62" lean-forward="false" selection-start-line="53" selection-start-column="62" selection-end-line="53" selection-end-column="62" />
           <folding>
             <element signature="e#22#34#0" expanded="true" />
           </folding>
@@ -247,16 +248,16 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="812">
-          <caret line="132" column="41" lean-forward="true" selection-start-line="132" selection-start-column="41" selection-end-line="132" selection-end-column="41" />
+        <state relative-caret-position="137">
+          <caret line="116" column="57" lean-forward="true" selection-start-line="116" selection-start-column="57" selection-end-line="116" selection-end-column="57" />
           <folding>
             <element signature="e#22#34#0" expanded="true" />
-            <element signature="e#5786#6077#0" expanded="false" />
-            <element signature="e#6434#6534#0" expanded="false" />
-            <element signature="e#6587#6809#0" expanded="false" />
-            <element signature="e#6860#6995#0" expanded="false" />
-            <element signature="e#7047#7538#0" expanded="false" />
-            <marker date="1517095289793" expanded="true" signature="5734:7538" ph="..." />
+            <element signature="e#6122#6413#0" expanded="false" />
+            <element signature="e#6842#6942#0" expanded="false" />
+            <element signature="e#6995#7217#0" expanded="false" />
+            <element signature="e#7268#7403#0" expanded="false" />
+            <element signature="e#7455#7946#0" expanded="false" />
+            <marker date="1517103102832" expanded="true" signature="6070:7946" ph="..." />
           </folding>
         </state>
       </provider>
diff --git a/rover/system_statuses/scripts/rover_statuses.py b/rover/system_statuses/scripts/rover_statuses.py
index 270a7c0..5a8e12b 100755
--- a/rover/system_statuses/scripts/rover_statuses.py
+++ b/rover/system_statuses/scripts/rover_statuses.py
@@ -51,6 +51,7 @@ class RoverStatuses:
         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):
diff --git a/rover/system_statuses/scripts/system_statuses_node.py b/rover/system_statuses/scripts/system_statuses_node.py
index 3cd5ea5..1f3d16c 100755
--- a/rover/system_statuses/scripts/system_statuses_node.py
+++ b/rover/system_statuses/scripts/system_statuses_node.py
@@ -110,6 +110,12 @@ class SystemStatuses:
         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
+        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]
+
     # EMMC and NVMe_SSD used % calculation
     def __used_percent_fs(self, pathname):
         statvfs = os.statvfs(pathname)
@@ -146,6 +152,7 @@ class SystemStatuses:
         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
@@ -185,7 +192,8 @@ class SystemStatuses:
             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):
+                    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)