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system_statuses_node.py is updated so it handles 6 message types: GPSInfo.msg, JetsonInfo.msg, FrSkyStatus.msg, MiscStatuses.msg, BogieStatuses.msg, and CameraStatuses.msg instead of 1 giant message.

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This commit is contained in:
MatthewTaylor24
2018-01-20 16:08:22 -08:00
parent 5cfa5aef3b
commit bab7111971
13 changed files with 134 additions and 107 deletions
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7
rover/system_statuses/CMakeLists.txt
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@@ -57,7 +57,12 @@ find_package(catkin REQUIRED COMPONENTS
add_message_files( add_message_files(
FILES FILES
RoverSysStatus.msg RoverSysStatus.msg
Camera2Changer.msg BogieStatuses.msg
FrSkyStatus.msg
JetsonInfo.msg
CameraStatuses.msg
GPSInfo.msg
MiscStatuses.msg
) )
## Generate services in the 'srv' folder ## Generate services in the 'srv' folder

BIN
rover/system_statuses/msg/.RoverSysStatus.msg.kate-swp Normal file
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Binary file not shown.

3
rover/system_statuses/msg/BogieStatuses.msg Normal file
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@@ -0,0 +1,3 @@
int8 bogie_connection_1
int8 bogie_connection_2
int8 bogie_connection_3

1
rover/system_statuses/msg/Camera2Changer.msg
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@@ -1 +0,0 @@
int8 camera_2_value

4
rover/system_statuses/msg/CameraStatuses.msg Normal file
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@@ -0,0 +1,4 @@
int8 camera_zed
int8 camera_undercarriage
int8 camera_chassis
int8 camera_main_navigation

1
rover/system_statuses/msg/FrSkyStatus.msg Normal file
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@@ -0,0 +1 @@
int8 FrSky_controller_connection_status

2
rover/system_statuses/msg/GPSInfo.msg Normal file
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@@ -0,0 +1,2 @@
int8 UTC_GPS_time
int8 GPS_connection_status

4
rover/system_statuses/msg/JetsonInfo.msg Normal file
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@@ -0,0 +1,4 @@
int8 jetson_CPU
int8 jetson_RAM
int8 jetson_EMMC
int8 jetson_NVME_SSD

5
rover/system_statuses/msg/MiscStatuses.msg Normal file
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@@ -0,0 +1,5 @@
int8 arm_connection_status
int8 arm_end_effector_connection_statuses
int8 sample_containment_connection_status
int8 tower_connection_status
int8 chassis_pan_tilt_connection_status

52
rover/system_statuses/scripts/.idea/workspace.xml generated
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@@ -14,11 +14,9 @@
<file leaf-file-name="system_statuses_node.py" pinned="false" current-in-tab="false"> <file leaf-file-name="system_statuses_node.py" pinned="false" current-in-tab="false">
<entry file="file://$PROJECT_DIR$/system_statuses_node.py"> <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
<provider selected="true" editor-type-id="text-editor"> <provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="-732"> <state relative-caret-position="72">
<caret line="17" column="63" lean-forward="false" selection-start-line="17" selection-start-column="36" selection-end-line="17" selection-end-column="63" /> <caret line="3" column="32" lean-forward="false" selection-start-line="3" selection-start-column="32" selection-end-line="3" selection-end-column="32" />
<folding> <folding />
<element signature="e#22#43#0" expanded="true" />
</folding>
</state> </state>
</provider> </provider>
</entry> </entry>
@@ -26,22 +24,10 @@
<file leaf-file-name="rover_statuses.py" pinned="false" current-in-tab="true"> <file leaf-file-name="rover_statuses.py" pinned="false" current-in-tab="true">
<entry file="file://$PROJECT_DIR$/rover_statuses.py"> <entry file="file://$PROJECT_DIR$/rover_statuses.py">
<provider selected="true" editor-type-id="text-editor"> <provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="708"> <state relative-caret-position="0">
<caret line="43" column="40" lean-forward="false" selection-start-line="43" selection-start-column="40" selection-end-line="43" selection-end-column="40" /> <caret line="0" column="4" lean-forward="false" selection-start-line="0" selection-start-column="4" selection-end-line="0" selection-end-column="4" />
<folding> <folding>
<element signature="e#22#43#0" expanded="true" /> <element signature="e#22#34#0" expanded="true" />
</folding>
</state>
</provider>
</entry>
</file>
<file leaf-file-name="camera_2_updater.py" pinned="false" current-in-tab="false">
<entry file="file://$PROJECT_DIR$/camera_2_updater.py">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="216">
<caret line="9" column="33" lean-forward="false" selection-start-line="9" selection-start-column="33" selection-end-line="9" selection-end-column="33" />
<folding>
<element signature="e#23#35#0" expanded="true" />
</folding> </folding>
</state> </state>
</provider> </provider>
@@ -59,11 +45,11 @@
<component name="IdeDocumentHistory"> <component name="IdeDocumentHistory">
<option name="CHANGED_PATHS"> <option name="CHANGED_PATHS">
<list> <list>
<option value="$PROJECT_DIR$/camera_2_updater.py" />
<option value="$PROJECT_DIR$/system_statuses.py" /> <option value="$PROJECT_DIR$/system_statuses.py" />
<option value="$PROJECT_DIR$/node_statuses.py" /> <option value="$PROJECT_DIR$/node_statuses.py" />
<option value="$PROJECT_DIR$/system_statuses_node.py" /> <option value="$PROJECT_DIR$/camera_2_updater.py" />
<option value="$PROJECT_DIR$/rover_statuses.py" /> <option value="$PROJECT_DIR$/rover_statuses.py" />
<option value="$PROJECT_DIR$/system_statuses_node.py" />
</list> </list>
</option> </option>
</component> </component>
@@ -192,30 +178,26 @@
</entry> </entry>
<entry file="file://$PROJECT_DIR$/camera_2_updater.py"> <entry file="file://$PROJECT_DIR$/camera_2_updater.py">
<provider selected="true" editor-type-id="text-editor"> <provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="216"> <state relative-caret-position="192">
<caret line="9" column="33" lean-forward="false" selection-start-line="9" selection-start-column="33" selection-end-line="9" selection-end-column="33" /> <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> <folding />
<element signature="e#23#35#0" expanded="true" />
</folding>
</state> </state>
</provider> </provider>
</entry> </entry>
<entry file="file://$PROJECT_DIR$/system_statuses_node.py"> <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
<provider selected="true" editor-type-id="text-editor"> <provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="-732"> <state relative-caret-position="72">
<caret line="17" column="63" lean-forward="false" selection-start-line="17" selection-start-column="36" selection-end-line="17" selection-end-column="63" /> <caret line="3" column="32" lean-forward="false" selection-start-line="3" selection-start-column="32" selection-end-line="3" selection-end-column="32" />
<folding> <folding />
<element signature="e#22#43#0" expanded="true" />
</folding>
</state> </state>
</provider> </provider>
</entry> </entry>
<entry file="file://$PROJECT_DIR$/rover_statuses.py"> <entry file="file://$PROJECT_DIR$/rover_statuses.py">
<provider selected="true" editor-type-id="text-editor"> <provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="708"> <state relative-caret-position="0">
<caret line="43" column="40" lean-forward="false" selection-start-line="43" selection-start-column="40" selection-end-line="43" selection-end-column="40" /> <caret line="0" column="4" lean-forward="false" selection-start-line="0" selection-start-column="4" selection-end-line="0" selection-end-column="4" />
<folding> <folding>
<element signature="e#22#43#0" expanded="true" /> <element signature="e#22#34#0" expanded="true" />
</folding> </folding>
</state> </state>
</provider> </provider>

36
rover/system_statuses/scripts/camera_2_updater.py
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@@ -1,26 +1,26 @@
#!/usr/bin/env python #!/usr/bin/env python
import rospy # import rospy
from system_statuses.msg import Camera2Changer # from system_statuses.msg import Camera2Changer
def camera_2_changer(): # def camera_2_changer():
pub = rospy.Publisher('camera_2_changer_chatter', Camera2Changer, queue_size=10) # pub = rospy.Publisher('camera_2_changer_chatter', Camera2Changer, queue_size=10)
rospy.init_node('camera_2_changer_talker', anonymous=True) # rospy.init_node('camera_2_changer_talker', anonymous=True)
# r = rospy.sleep(10) # 10hz # # r = rospy.sleep(10) # 10hz
msg = Camera2Changer() # msg = Camera2Changer()
msg.camera_2_value = 0 # msg.camera_2_value = 0
while not rospy.is_shutdown(): # while not rospy.is_shutdown():
msg.camera_2_value = (msg.camera_2_value + 1) % 2 # msg.camera_2_value = (msg.camera_2_value + 1) % 2
rospy.loginfo(msg) # rospy.loginfo(msg)
pub.publish(msg) # pub.publish(msg)
# r.sleep() # r.sleep()
rospy.sleep(2.) ## rospy.sleep(2.)
if __name__ == '__main__': #if __name__ == '__main__':
try: # try:
camera_2_changer() # camera_2_changer()
except rospy.ROSInterruptException: # except rospy.ROSInterruptException:
pass # pass

2
rover/system_statuses/scripts/rover_statuses.py
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@@ -1,5 +1,5 @@
#!/usr/bin/env python #!/usr/bin/env python
import rospy, os.path import rospy
from system_statuses.msg import RoverSysStatus from system_statuses.msg import RoverSysStatus

124
rover/system_statuses/scripts/system_statuses_node.py
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@@ -1,11 +1,14 @@
#!/usr/bin/env python #!/usr/bin/env python
import rospy, os.path import rospy
from system_statuses.msg import RoverSysStatus, Camera2Changer import os.path
from system_statuses.msg import CameraStatuses, BogieStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
class SystemStatuses: class SystemStatuses:
def __init__(self): def __init__(self):
# Camera path locations
self.system_path_locations = [ self.system_path_locations = [
'/dev/rover/camera_zed', '/dev/rover/camera_zed',
'/dev/rover/camera_undercarriage', '/dev/rover/camera_undercarriage',
@@ -15,28 +18,26 @@ class SystemStatuses:
rospy.init_node('SystemStatuses') rospy.init_node('SystemStatuses')
self.pub = rospy.Publisher('rover_system_status_chatter', RoverSysStatus, queue_size=10) # 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)
# Test Subscription for updating camera_undercarriage # init all message variables
rospy.Subscriber('camera_2_changer_chatter', Camera2Changer, self.__sub_callback) self.camera_msg = CameraStatuses()
self.bogie_msg = BogieStatuses()
self.msg = RoverSysStatus() self.FrSky_msg = FrSkyStatus()
self.GPS_msg = GPSInfo()
self.jetson_msg = JetsonInfo()
self.misc_msg = MiscStatuses()
self.__set_msg_values() self.__set_msg_values()
# Simple Subscriber test boolean -- camera_2_updated.py
# self.hasCameraUndercarriageChanged = False
# Callback for test Subscription of camera_2_updater.py -- checks if camera_undercarriage
# has changed, updates value, and updates bool for run->pub.publish to execute
def __sub_callback(self, data):
rospy.loginfo("Camera_undercarriage Status Changed: %d " % data.camera_2_value)
if self.msg.camera_undercarriage != data.camera_2_value:
self.msg.camera_undercarriage = data.camera_2_value
self.hasCameraUndercarriageChanged = True
# INIT all RoverSysMessage values # INIT all RoverSysMessage values
def __set_msg_values(self): def __set_msg_values(self):
self.__utc_gps_time() self.__gps_update()
self.__bogie_connection_statuses() self.__bogie_connection_statuses()
self.__arm_connection_status() self.__arm_connection_status()
self.__arm_end_effector_connection_statuses() self.__arm_end_effector_connection_statuses()
@@ -44,77 +45,98 @@ class SystemStatuses:
self.__sample_containment_connection_status() self.__sample_containment_connection_status()
self.__tower_connection_status() self.__tower_connection_status()
self.__chassis_pan_tilt_connection_status() self.__chassis_pan_tilt_connection_status()
self.__gps_connection_status()
self.__jetson_usage_information() self.__jetson_usage_information()
self.__frsky_controller_connection_status() self.__frsky_controller_connection_status()
# Pulls the UTC GPS Time (WIP) # Pulls the UTC GPS Time (WIP)
def __utc_gps_time(self): def __gps_update(self):
self.msg.UTC_GPS_time = 0 self.GPS_msg.UTC_GPS_time = 0
self.GPS_msg.GPS_connection_status = 0
# Pulls bogie connection statuses (WIP) # Pulls bogie connection statuses (WIP)
def __bogie_connection_statuses(self): def __bogie_connection_statuses(self):
self.msg.bogie_connection_1 = 0 self.bogie_msg.bogie_connection_1 = 0
self.msg.bogie_connection_2 = 0 self.bogie_msg.bogie_connection_2 = 0
self.msg.bogie_connection_3 = 0 self.bogie_msg.bogie_connection_3 = 0
# Checks arm connection status (WIP) # Checks arm connection status (WIP)
def __arm_connection_status(self): def __arm_connection_status(self):
self.msg.arm_connection_status = 0 self.misc_msg.arm_connection_status = 0
# Checks Arm End Effector Connection Statuses (WIP) # Checks Arm End Effector Connection Statuses (WIP)
def __arm_end_effector_connection_statuses(self): def __arm_end_effector_connection_statuses(self):
self.msg.arm_end_effector_connection_statuses = 0 self.misc_msg.arm_end_effector_connection_statuses = 0
# Sets the Camera values (zed, undercarriage, chassis, and main_nav # Sets the Camera values (zed, undercarriage, chassis, and main_nav
def __set_cameras(self): def __set_cameras(self):
# Check if camera_zed is found # Check if camera_zed is found
self.msg.camera_zed = 1 if os.path.exists(self.system_path_locations[0]) else 0 self.camera_msg.camera_zed = 1 if os.path.exists(self.system_path_locations[0]) else 0
# Check if camera_undercarriage is found # Check if camera_undercarriage is found
self.msg.camera_undercarriage = 1 if os.path.exists(self.system_path_locations[1]) else 0 self.camera_msg.camera_undercarriage = 1 if os.path.exists(self.system_path_locations[1]) else 0
# Check if camera_chassis is found # Check if camera_chassis is found
self.msg.camera_chassis = 1 if os.path.exists(self.system_path_locations[2]) else 0 self.camera_msg.camera_chassis = 1 if os.path.exists(self.system_path_locations[2]) else 0
# Check if camera_main_navigation is found # Check if camera_main_navigation is found
self.msg.camera_main_navigation = 1 if os.path.exists(self.system_path_locations[3]) else 0 self.camera_msg.camera_main_navigation = 1 if os.path.exists(self.system_path_locations[3]) else 0
# Checks Sample Containment Connection Status (WIP) # Checks Sample Containment Connection Status (WIP)
def __sample_containment_connection_status(self): def __sample_containment_connection_status(self):
self.msg.sample_containment_connection_status = 0 self.misc_msg.sample_containment_connection_status = 0
def __tower_connection_status(self): def __tower_connection_status(self):
self.msg.tower_connection_status = 0 self.misc_msg.tower_connection_status = 0
# Checks Tower Connection Status (WIP) # Checks Tower Connection Status (WIP)
def __chassis_pan_tilt_connection_status(self): def __chassis_pan_tilt_connection_status(self):
self.msg.chassis_pan_tilt_connection_status = 0 self.misc_msg.chassis_pan_tilt_connection_status = 0
# Checks GPS Status (WIP)
def __gps_connection_status(self):
self.msg.GPS_connection_status = 0
# Get Jetson Statuses (WIP) # Get Jetson Statuses (WIP)
def __jetson_usage_information(self): def __jetson_usage_information(self):
self.msg.jetson_CPU = 0 self.jetson_msg.jetson_CPU = 0
self.msg.jetson_RAM = 0 self.jetson_msg.jetson_RAM = 0
self.msg.jetson_EMMC = 0 self.jetson_msg.jetson_EMMC = 0
self.msg.jetson_NVME_SSD = 0 self.jetson_msg.jetson_NVME_SSD = 0
# Check FrSky Controller Connection Status (WIP) # Check FrSky Controller Connection Status (WIP)
def __frsky_controller_connection_status(self): def __frsky_controller_connection_status(self):
self.msg.FrSky_controller_connection_status = 0 self.FrSky_msg.FrSky_controller_connection_status = 0
def run(self): def run(self):
r = rospy.Rate(10) r = rospy.Rate(10)
# rospy.loginfo(self.msg)
# self.pub.publish(self.msg)
while not rospy.is_shutdown(): while not rospy.is_shutdown():
if (self.msg.camera_zed != os.path.exists(self.system_path_locations[0]) or # Camera Check & update if change
self.msg.camera_undercarriage != os.path.exists(self.system_path_locations[1]) or if (self.camera_msg.camera_zed != os.path.exists(self.system_path_locations[0]) or
self.msg.camera_chassis != os.path.exists(self.system_path_locations[2]) or self.camera_msg.camera_undercarriage != os.path.exists(self.system_path_locations[1]) or
self.msg.camera_main_navigation != os.path.exists(self.system_path_locations[3])): self.camera_msg.camera_chassis != os.path.exists(self.system_path_locations[2]) or
self.camera_msg.camera_main_navigation != os.path.exists(self.system_path_locations[3])):
self.__set_cameras() self.__set_cameras()
rospy.loginfo(self.msg) self.pub_camera.publish(self.camera_msg)
self.pub.publish(self.msg)
# Placeholder Jetson Info Check
if (self.jetson_msg.jetson_CPU != 0 or
self.jetson_msg.jetson_RAM != 0 or
self.jetson_msg.jetson_EMMC != 0 or
self.jetson_msg.jetson_NVME_SSD != 0):
self.__jetson_usage_information()
self.pub_jetson.publish(self.jetson_msg)
# Placeholder FrSky Controller Check
if self.FrSky_msg.FrSky_controller_connection_status != 0:
self.__frsky_controller_connection_status()
self.pub_FrSky.publish(self.FrSky_msg)
# Placeholder bogie status check
if (self.bogie_msg.bogie_connection_1 != 0 or
self.bogie_msg.bogie_connection_2 != 0 or
self.bogie_msg.bogie_connection_3 != 0):
self.__bogie_connection_statuses()
self.pub_bogie.publish(self.bogie_msg)
# Placeholder GPS Information check
if (self.GPS_msg.UTC_GPS_time != 0 or self.GPS_msg.UTC_GPS_time != 0):
self.__gps_update()
self.pub_GPS.publish(self.GPS_msg)
# rospy.loginfo(self.msg)
r.sleep() r.sleep()