check_routes.py

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#!/usr/bin/env python
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##\author Jeremy Leibs

import roslib
roslib.load_manifest('qualification')

from pr2_self_test_msgs.srv import ScriptDone, ScriptDoneRequest

import rospy 

NAME = 'check_routes'

import os
import sys
import subprocess
import re

if __name__ == "__main__":
    rospy.init_node(NAME)
    
    ip = rospy.myargv()[1]
    via = rospy.myargv()[2]

    r = ScriptDoneRequest()

    success = False

    iproute_cmd = ['ip', 'route', 'get', ip]
    iproute = subprocess.Popen(iproute_cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
    (o,e) = iproute.communicate()

    m = re.search(r"%s via (.*) dev"%ip, o)
    if m is not None:
        real_via = m.group(1)

    if via == real_via:
        r.result = ScriptDoneRequest.RESULT_OK
        r.failure_msg = "Routes correct"
    else:
        r.result = ScriptDoneRequest.RESULT_ERROR
        r.failure_msg = "Routes Wrong. Run \"sudo ip route add %s via %s\"" % (ip, via)
    
    # block until the test_result service is available
    rospy.wait_for_service('prestartup_done')
    result_service = rospy.ServiceProxy('prestartup_done', ScriptDone)
    result_service.call(r)

    rospy.spin()