00001 #!/usr/bin/env python 00002 # 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2010, Willow Garage, Inc. 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of Willow Garage, Inc. nor the names of its 00019 # contributors may be used to endorse or promote products derived 00020 # from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 # 00035 00036 ##\author Kevin Watts 00037 ##\brief Checks whether PR2 is driving during PR2 burn in test 00038 00039 from __future__ import with_statement 00040 PKG = 'pr2_hardware_test_monitor' 00041 00042 import roslib; roslib.load_manifest(PKG) 00043 00044 from std_msgs.msg import Bool 00045 from std_srvs.srv import * 00046 00047 import rospy 00048 00049 import threading 00050 00051 from pr2_hw_listener import PR2HWListenerBase 00052 00053 class DriveListener(PR2HWListenerBase): 00054 def __init__(self): 00055 self._mutex = threading.Lock() 00056 00057 self._cal = False 00058 self._ok = True 00059 self._update_time = -1 00060 self._reset_driving = rospy.ServiceProxy('pr2_base/reset_drive', Empty) 00061 self._halt_driving = rospy.ServiceProxy('pr2_base/halt_drive', Empty) 00062 00063 self._is_driving = True 00064 self._drive_sub = rospy.Subscriber('base_driving', Bool, self._drive_cb) 00065 00066 def halt(self): 00067 self._halt_driving() 00068 00069 def reset(self): 00070 self._reset_driving() 00071 00072 def _drive_cb(self, msg): 00073 with self._mutex: 00074 self._is_driving = not msg.data 00075 self._update_time = rospy.get_time() 00076 00077 def check_ok(self): 00078 with self._mutex: 00079 msg = '' 00080 stat = 0 00081 if not self._is_driving: 00082 stat = 1 00083 msg = 'Not driving' 00084 00085 if rospy.get_time() - self._update_time > 3: 00086 stat = 3 00087 msg = 'Drive Status Stale' 00088 if self._update_time == -1: 00089 msg = 'No Drive Status' 00090 00091 return stat, msg, None 00092