ping.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 = 'ping'

import os
import sys
from StringIO import StringIO
import subprocess
from optparse import OptionParser


if __name__ == "__main__":
    rospy.init_node(NAME)
    
    check_eula = True
    
    parser = OptionParser(usage="usage: ping.py [--eula] <ip-addr>")
    parser.add_option("--eula", action="store_true", dest="eula")

    (options,args) = parser.parse_args()

    ip = args[0]

    r = TestResultRequest()
    r.plots = []

    success = False

    for i in xrange(60):
        ret = subprocess.call(['ping','-c','1',ip],stdout=subprocess.PIPE, stderr=subprocess.PIPE)
        if ret == 0:
            success = True
            break
        else:
            if options.eula:
                subprocess.call(['wgeula'],stdout=subprocess.PIPE, stderr=subprocess.PIPE)

    if success:
        r.html_result = "<p>Successfully pinged %s</p>"%ip
        r.result = TestResultRequest.RESULT_PASS
        r.text_summary = "Ping successful"
    else:
        r.html_result = "<p>Failed to ping %s</p>"%ip
        r.result = TestResultRequest.RESULT_FAIL
        r.text_summary = "Ping Failed"
    
    # 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()