slip_ring_power_check.py
Go to the documentation of this file.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 the Willow Garage 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 ##\author Kevin Watts 00036 ##\brief Checks that power wires of slip rings are OK 00037 00038 PKG = 'qualification' 00039 import roslib; roslib.load_manifest(PKG) 00040 00041 import wx 00042 import sys 00043 00044 from pr2_self_test_msgs.srv import ScriptDone, ScriptDoneRequest 00045 import rospy 00046 00047 SRV_NAME = 'prestartup_done' 00048 00049 def prompt_check_wires(): 00050 msg = "Check slip ring power cable for resistance.\n\nCheck both cables, make sure resistance is less than 1ohm.\n\nClick \"OK\" if resistance is less than 1ohm or \"Cancel\" to abort." 00051 00052 dlg = wx.MessageDialog(None, msg, "Check slip ring power wires", wx.OK|wx.CANCEL) 00053 rv = dlg.ShowModal() == wx.ID_OK 00054 dlg.Destroy() 00055 return rv 00056 00057 if __name__ == '__main__': 00058 rospy.init_node('slip_ring_power_test') 00059 done_srv = rospy.ServiceProxy(SRV_NAME, ScriptDone) 00060 rospy.wait_for_service(SRV_NAME) 00061 00062 app = wx.PySimpleApp() 00063 00064 val = prompt_check_wires() 00065 if val: 00066 done_srv.call(result = ScriptDoneRequest.RESULT_OK) 00067 else: 00068 done_srv.call(result = ScriptDoneRequest.RESULT_FAIL, failure_msg='Slip ring power connection is bad') 00069 00070 rospy.spin() 00071 00072 sys.exit(0) 00073