From 8c280158e8b04ee7c74f9b17eae5fa0111d46493 Mon Sep 17 00:00:00 2001
From: MatthewTaylor24 <matcurtay@comcast.net>
Date: Mon, 22 Jan 2018 21:32:02 -0800
Subject: [PATCH] Fixed rover_statuses.py to actually pull data correctly. Also
 updated system_statuses_node.py to use psutil to pull CPU and RAM data

---
 rover/system_statuses/msg/JetsonInfo.msg      |   4 +-
 .../scripts/.idea/workspace.xml               | 108 ++++++++++--------
 .../system_statuses/scripts/rover_statuses.py |  21 ++--
 .../scripts/system_statuses_node.py           |   7 +-
 4 files changed, 79 insertions(+), 61 deletions(-)

diff --git a/rover/system_statuses/msg/JetsonInfo.msg b/rover/system_statuses/msg/JetsonInfo.msg
index 5cc9745..7762b80 100644
--- a/rover/system_statuses/msg/JetsonInfo.msg
+++ b/rover/system_statuses/msg/JetsonInfo.msg
@@ -1,4 +1,4 @@
-int8 jetson_CPU
-int8 jetson_RAM
+float64 jetson_CPU
+float64 jetson_RAM
 int8 jetson_EMMC
 int8 jetson_NVME_SSD
\ 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 4454e84..a5b3cee 100644
--- a/rover/system_statuses/scripts/.idea/workspace.xml
+++ b/rover/system_statuses/scripts/.idea/workspace.xml
@@ -10,31 +10,30 @@
     <option name="LAST_RESOLUTION" value="IGNORE" />
   </component>
   <component name="FileEditorManager">
-    <leaf>
-      <file leaf-file-name="system_statuses_node.py" pinned="false" current-in-tab="true">
+    <leaf SIDE_TABS_SIZE_LIMIT_KEY="525">
+      <file leaf-file-name="system_statuses_node.py" pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="384">
-              <caret line="16" column="9" lean-forward="false" selection-start-line="16" selection-start-column="9" selection-end-line="16" selection-end-column="9" />
+            <state relative-caret-position="2808">
+              <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#4801#5092#0" expanded="false" />
-                <element signature="e#5146#5397#0" expanded="false" />
-                <element signature="e#5449#5549#0" expanded="false" />
-                <element signature="e#5602#5824#0" expanded="false" />
-                <element signature="e#5875#6010#0" expanded="false" />
-                <element signature="e#6062#6553#0" expanded="false" />
-                <marker date="1516500076983" expanded="true" signature="4749:6553" ph="..." />
+                <element signature="e#4881#5172#0" expanded="false" />
+                <element signature="e#5529#5629#0" expanded="false" />
+                <element signature="e#5682#5904#0" expanded="false" />
+                <element signature="e#5955#6090#0" expanded="false" />
+                <element signature="e#6142#6633#0" expanded="false" />
+                <marker date="1516685047842" expanded="true" signature="4829:6633" ph="..." />
               </folding>
             </state>
           </provider>
         </entry>
       </file>
-      <file leaf-file-name="rover_statuses.py" pinned="false" current-in-tab="false">
+      <file leaf-file-name="rover_statuses.py" pinned="false" current-in-tab="true">
         <entry file="file://$PROJECT_DIR$/rover_statuses.py">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="672">
-              <caret line="28" column="17" lean-forward="false" selection-start-line="28" selection-start-column="17" selection-end-line="28" selection-end-column="17" />
+            <state relative-caret-position="226">
+              <caret line="53" column="37" lean-forward="false" selection-start-line="53" selection-start-column="37" selection-end-line="53" selection-end-column="37" />
               <folding>
                 <element signature="e#22#34#0" expanded="true" />
               </folding>
@@ -69,10 +68,10 @@
     <sorting>DEFINITION_ORDER</sorting>
   </component>
   <component name="ProjectFrameBounds">
-    <option name="x" value="1118" />
-    <option name="y" value="21" />
-    <option name="width" value="1595" />
-    <option name="height" value="1556" />
+    <option name="x" value="978" />
+    <option name="y" value="470" />
+    <option name="width" value="1735" />
+    <option name="height" value="1107" />
   </component>
   <component name="ProjectView">
     <navigator currentView="ProjectPane" proportions="" version="1">
@@ -90,7 +89,6 @@
     </navigator>
     <panes>
       <pane id="Scratches" />
-      <pane id="Scope" />
       <pane id="ProjectPane">
         <subPane>
           <expand>
@@ -102,6 +100,7 @@
           <select />
         </subPane>
       </pane>
+      <pane id="Scope" />
     </panes>
   </component>
   <component name="PropertiesComponent">
@@ -138,7 +137,7 @@
     <servers />
   </component>
   <component name="ToolWindowManager">
-    <frame x="1118" y="21" width="1595" height="1556" extended-state="0" />
+    <frame x="978" y="470" width="1735" height="1107" 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" />
@@ -147,10 +146,9 @@
       <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="0.116234995" 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="0.10679048" 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="Find" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.3294347" sideWeight="0.5" order="1" 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" />
       <window_info id="Structure" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
       <window_info id="Favorites" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="2" side_tool="true" content_ui="tabs" />
@@ -160,6 +158,7 @@
       <window_info id="Commander" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
       <window_info id="Inspection" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="5" side_tool="false" content_ui="tabs" />
       <window_info id="Hierarchy" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="2" side_tool="false" content_ui="combo" />
+      <window_info id="Find" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.3294347" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
       <window_info id="Ant Build" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
     </layout>
   </component>
@@ -171,31 +170,30 @@
   </component>
   <component name="XDebuggerManager">
     <breakpoint-manager>
-      <option name="time" value="3" />
+      <option name="time" value="5" />
     </breakpoint-manager>
     <watches-manager />
   </component>
   <component name="editorHistoryManager">
-    <entry file="file://$PROJECT_DIR$/system_statuses.py" />
-    <entry file="file://$PROJECT_DIR$/node_statuses.py">
+    <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="72">
-          <caret line="3" column="8" lean-forward="false" selection-start-line="3" selection-start-column="8" selection-end-line="3" selection-end-column="8" />
-          <folding />
-        </state>
-      </provider>
-    </entry>
-    <entry file="file://$PROJECT_DIR$/camera_2_updater.py">
-      <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="192">
-          <caret line="8" column="63" lean-forward="true" selection-start-line="8" selection-start-column="63" selection-end-line="8" selection-end-column="63" />
-          <folding />
+        <state relative-caret-position="0">
+          <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#4881#5172#0" expanded="false" />
+            <element signature="e#5529#5629#0" expanded="false" />
+            <element signature="e#5682#5904#0" expanded="false" />
+            <element signature="e#5955#6090#0" expanded="false" />
+            <element signature="e#6142#6633#0" expanded="false" />
+            <marker date="1516685047842" expanded="true" signature="4829:6633" ph="..." />
+          </folding>
         </state>
       </provider>
     </entry>
     <entry file="file://$PROJECT_DIR$/rover_statuses.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="672">
+        <state relative-caret-position="648">
           <caret line="28" column="17" lean-forward="false" selection-start-line="28" selection-start-column="17" selection-end-line="28" selection-end-column="17" />
           <folding>
             <element signature="e#22#34#0" expanded="true" />
@@ -203,19 +201,37 @@
         </state>
       </provider>
     </entry>
+    <entry file="file://$PROJECT_DIR$/system_statuses.py" />
+    <entry file="file://$PROJECT_DIR$/node_statuses.py" />
+    <entry file="file://$PROJECT_DIR$/camera_2_updater.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="192">
+          <caret line="8" column="63" lean-forward="true" selection-start-line="8" selection-start-column="63" selection-end-line="8" selection-end-column="63" />
+        </state>
+      </provider>
+    </entry>
     <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="384">
-          <caret line="16" column="9" lean-forward="false" selection-start-line="16" selection-start-column="9" selection-end-line="16" selection-end-column="9" />
+        <state relative-caret-position="2808">
+          <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#4881#5172#0" expanded="false" />
+            <element signature="e#5529#5629#0" expanded="false" />
+            <element signature="e#5682#5904#0" expanded="false" />
+            <element signature="e#5955#6090#0" expanded="false" />
+            <element signature="e#6142#6633#0" expanded="false" />
+            <marker date="1516685047842" expanded="true" signature="4829:6633" ph="..." />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/rover_statuses.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="226">
+          <caret line="53" column="37" lean-forward="false" selection-start-line="53" selection-start-column="37" selection-end-line="53" selection-end-column="37" />
           <folding>
             <element signature="e#22#34#0" expanded="true" />
-            <element signature="e#4801#5092#0" expanded="false" />
-            <element signature="e#5146#5397#0" expanded="false" />
-            <element signature="e#5449#5549#0" expanded="false" />
-            <element signature="e#5602#5824#0" expanded="false" />
-            <element signature="e#5875#6010#0" expanded="false" />
-            <element signature="e#6062#6553#0" expanded="false" />
-            <marker date="1516500076983" expanded="true" signature="4749:6553" ph="..." />
           </folding>
         </state>
       </provider>
diff --git a/rover/system_statuses/scripts/rover_statuses.py b/rover/system_statuses/scripts/rover_statuses.py
index 772c831..270a7c0 100755
--- a/rover/system_statuses/scripts/rover_statuses.py
+++ b/rover/system_statuses/scripts/rover_statuses.py
@@ -19,11 +19,11 @@ class RoverStatuses:
 
         # 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.__camera_callback)
-        rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__camera_callback)
-        rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__camera_callback)
-        rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__camera_callback)
-        rospy.Subscriber('misc_system_status_chatter', MiscStatuses, 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()
@@ -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
+        rospy.loginfo(self.jetson_msg)
 
     def __gps_callback(self, data):
         self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time
@@ -65,11 +66,11 @@ class RoverStatuses:
 
     def run(self):
         rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
-        rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__camera_callback)
-        rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__camera_callback)
-        rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__camera_callback)
-        rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__camera_callback)
-        rospy.Subscriber('misc_system_status_chatter', MiscStatuses, 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()
 
 
diff --git a/rover/system_statuses/scripts/system_statuses_node.py b/rover/system_statuses/scripts/system_statuses_node.py
index f86e13b..bb7c5b9 100755
--- a/rover/system_statuses/scripts/system_statuses_node.py
+++ b/rover/system_statuses/scripts/system_statuses_node.py
@@ -1,10 +1,10 @@
 #!/usr/bin/env python
 import rospy
 import os.path
+import psutil
 from system_statuses.msg import CameraStatuses, BogieStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
 
 
-
 class SystemStatuses:
 
     def __init__(self):
@@ -96,8 +96,9 @@ class SystemStatuses:
 
     # Get Jetson Statuses (WIP)
     def __set_jetson_usage_information(self):
-        self.jetson_msg.jetson_CPU = 0
-        self.jetson_msg.jetson_RAM = 0
+        self.jetson_msg.jetson_CPU = psutil.cpu_percent()
+        mem = psutil.virtual_memory()
+        self.jetson_msg.jetson_RAM = mem.percent
         self.jetson_msg.jetson_EMMC = 0
         self.jetson_msg.jetson_NVME_SSD = 0