config_ctr.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 TestResult, TestResultRequest

import rospy 

NAME = 'config_ctr'

import os
import sys
from StringIO import StringIO
import subprocess

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

    r = TestResultRequest()
    r.plots = []

    ctr350_config_cmd = ['ctr350','-l','/usr/lib/ctr350/willow_default.gws','-n',essid]
    ctr350_config = subprocess.Popen(ctr350_config_cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
    (o,e) = ctr350_config.communicate()
    if ctr350_config.returncode != 0:
        r.html_result = "<p>Invocation of ctr350 on 192.168.0.1 failed with: %s</p>\n<p>Trying 10.68.0.250...</p>\n"%e
        ctr350_config_cmd = ['ctr350','-l','/usr/lib/ctr350/willow_default.gws','-i','10.68.0.250','-p','willow','-n',essid]
        ctr350_config = subprocess.Popen(ctr350_config_cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
        (o,e) = ctr350_config.communicate()

    if ctr350_config.returncode != 0:
        r.html_result = r.html_result + "<p>Invocation of ctr350 on 10.68.0.250 failed with: %s</p>\n"%e
        r.result = TestResultRequest.RESULT_FAIL
        r.text_summary = "Utility failed"
    elif 'WAP has resumed successfully on: 10.68.0.250' not in o:
        r.html_result = "<pre>%s</pre>"%o
        r.result = TestResultRequest.RESULT_FAIL
        r.text_summary = "Resume failed"
    else:
        r.html_result = "<pre>%s</pre>"%o
        r.result = TestResultRequest.RESULT_PASS
        r.text_summary = "Configured"
    
    # block until the test_result service is available
    rospy.wait_for_service('test_result')
    result_service = rospy.ServiceProxy('test_result', TestResult)
    result_service.call(r)

    rospy.spin()