Added auto_poweroff monitor. Testing now.

software/environment/rover/auto_poweroff/auto_poweroff.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python
+#####################################
+# Imports
+#####################################
+# Python native imports
+from time import time, sleep
+from os.path import exists
+from os import system
+
+#####################################
+# Global Variables
+#####################################
+UDEV_RULES_PATHS = ["../UDEV_rules/99-rover-usb-serial.rules", "../UDEV_rules/99-rover-cameras.rules"]
+
+SHUTDOWN_TIMEOUT = 5
+
+
+#####################################
+# udev_parser Definition
+#####################################
+def udev_parser(rules_paths):
+    device_paths = {}
+
+    for current_file in rules_paths:
+        lines = open(current_file).readlines()
+
+        for line in lines:
+            if line[0] != "#" and line[0] != "\n":
+                current_path = line.split("SYMLINK+=")[1].strip("\"\n")
+                device_paths["/dev/" + current_path] = time()
+
+    return device_paths
+
+
+#####################################
+# AutoPoweroffWatchdog Class Definition
+#####################################
+class AutoPoweroffWatchdog(object):
+    def __init__(self, devices, shutdown_timeout, do_poweroff=True):
+        self.watched_devices = devices
+        self.shutdown_timeout = shutdown_timeout
+        self.do_poweroff = do_poweroff
+
+        # ########## Thread Flags ##########
+        self.run_thread_flag = True
+
+        self.run()
+
+    def run(self):
+        while self.run_thread_flag:
+            self.check_and_update_devices()
+            self.initiate_shutdown_if_needed()
+            sleep(0.25)
+
+    def check_and_update_devices(self):
+        for device in self.watched_devices:
+            if exists(device):
+                self.watched_devices[device] = time()
+
+    def initiate_shutdown_if_needed(self):
+        for device in self.watched_devices:
+            if (time() - self.watched_devices[device]) < self.shutdown_timeout:
+                return
+
+        if self.do_poweroff:
+            system("sudo wall -n No devices seen for %s seconds. Powering down. Poweroff script exiting." %
+                   self.shutdown_timeout)
+            system("sudo poweroff")
+            exit()
+        else:
+            system("sudo wall -n No devices seen for %s seconds, but not powering down. Poweroff script exiting.")
+            exit()
+
+
+#####################################
+# Main
+#####################################
+if __name__ == "__main__":
+    watched_devices = udev_parser(UDEV_RULES_PATHS)
+    AutoPoweroffWatchdog(watched_devices, SHUTDOWN_TIMEOUT, True)