From e1a3b4ebe2b66fa0f0462002203228fd76a21679 Mon Sep 17 00:00:00 2001
From: MatthewTaylor24 <matcurtay@comcast.net>
Date: Sat, 27 Jan 2018 15:28:15 -0800
Subject: [PATCH] Updated System_statuses.py to include Jetson EMMC and
 NVMe_SSD values. NVMe is a PLACEHOLDER atm due to not being on the jetson but
 a local machine. Edit [1] of system_fs_emmc_nvme near top of init to actual
 fs location on actual run

---
 rover/system_statuses/msg/JetsonInfo.msg      |   4 +-
 .../scripts/.idea/workspace.xml               | 103 +++++++++++-------
 .../scripts/system_statuses_node.py           |  24 +++-
 3 files changed, 88 insertions(+), 43 deletions(-)

diff --git a/rover/system_statuses/msg/JetsonInfo.msg b/rover/system_statuses/msg/JetsonInfo.msg
index 7762b80..8440c13 100644
--- a/rover/system_statuses/msg/JetsonInfo.msg
+++ b/rover/system_statuses/msg/JetsonInfo.msg
@@ -1,4 +1,4 @@
 float64 jetson_CPU
 float64 jetson_RAM
-int8 jetson_EMMC
-int8 jetson_NVME_SSD
\ No newline at end of file
+float64 jetson_EMMC
+float64 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 a5b3cee..a8afe6f 100644
--- a/rover/system_statuses/scripts/.idea/workspace.xml
+++ b/rover/system_statuses/scripts/.idea/workspace.xml
@@ -11,29 +11,29 @@
   </component>
   <component name="FileEditorManager">
     <leaf SIDE_TABS_SIZE_LIMIT_KEY="525">
-      <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="true">
         <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
           <provider selected="true" editor-type-id="text-editor">
-            <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" />
+            <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" />
               <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="..." />
+                <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="..." />
               </folding>
             </state>
           </provider>
         </entry>
       </file>
-      <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="false">
         <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" />
+            <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" />
               <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="$PROJECT_DIR$/system_statuses_node.py" />
         <option value="$PROJECT_DIR$/rover_statuses.py" />
+        <option value="$PROJECT_DIR$/system_statuses_node.py" />
       </list>
     </option>
   </component>
@@ -68,10 +68,10 @@
     <sorting>DEFINITION_ORDER</sorting>
   </component>
   <component name="ProjectFrameBounds">
-    <option name="x" value="978" />
-    <option name="y" value="470" />
-    <option name="width" value="1735" />
-    <option name="height" value="1107" />
+    <option name="x" value="413" />
+    <option name="y" value="52" />
+    <option name="width" value="2300" />
+    <option name="height" value="1525" />
   </component>
   <component name="ProjectView">
     <navigator currentView="ProjectPane" proportions="" version="1">
@@ -88,7 +88,6 @@
       <foldersAlwaysOnTop value="true" />
     </navigator>
     <panes>
-      <pane id="Scratches" />
       <pane id="ProjectPane">
         <subPane>
           <expand>
@@ -100,6 +99,7 @@
           <select />
         </subPane>
       </pane>
+      <pane id="Scratches" />
       <pane id="Scope" />
     </panes>
   </component>
@@ -137,8 +137,7 @@
     <servers />
   </component>
   <component name="ToolWindowManager">
-    <frame x="978" y="470" width="1735" height="1107" extended-state="0" />
-    <editor active="true" />
+    <frame x="413" y="52" width="2300" height="1525" extended-state="0" />
     <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" />
@@ -146,7 +145,7 @@
       <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="0.10679048" 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="0.08041958" 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" />
@@ -175,18 +174,44 @@
     <watches-manager />
   </component>
   <component name="editorHistoryManager">
+    <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="2976">
+          <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="..." />
+          </folding>
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/rover_statuses.py">
+      <provider selected="true" editor-type-id="text-editor">
+        <state relative-caret-position="1248">
+          <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>
+        </state>
+      </provider>
+    </entry>
     <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
       <provider selected="true" editor-type-id="text-editor">
         <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="..." />
+            <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="..." />
           </folding>
         </state>
       </provider>
@@ -210,28 +235,28 @@
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
+    <entry file="file://$PROJECT_DIR$/rover_statuses.py">
       <provider selected="true" editor-type-id="text-editor">
-        <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" />
+        <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" />
           <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">
+    <entry file="file://$PROJECT_DIR$/system_statuses_node.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" />
+        <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" />
           <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="..." />
           </folding>
         </state>
       </provider>
diff --git a/rover/system_statuses/scripts/system_statuses_node.py b/rover/system_statuses/scripts/system_statuses_node.py
index bb7c5b9..3cd5ea5 100755
--- a/rover/system_statuses/scripts/system_statuses_node.py
+++ b/rover/system_statuses/scripts/system_statuses_node.py
@@ -2,6 +2,7 @@
 import rospy
 import os.path
 import psutil
+import subprocess
 from system_statuses.msg import CameraStatuses, BogieStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
 
 
@@ -16,6 +17,13 @@ class SystemStatuses:
             '/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
@@ -99,8 +107,20 @@ class SystemStatuses:
         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
+        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])
+
+    # 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):