power_board_cmd.py

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#!/usr/bin/env python
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##\author Kevin Watts

import roslib
roslib.load_manifest('qualification')
import rospy, sys,time
import subprocess
from optparse import OptionParser
from pr2_self_test_msgs.srv import ScriptDone, ScriptDoneRequest
from pr2_power_board.srv import PowerBoardCommand
import traceback
import socket

BOARD_NAMESPACE = '/qualification/powerboard'

def main():
  parser = OptionParser()
  parser.add_option("--srv=", type="string", dest="service", action="store", default="prestartup_done")
  parser.add_option("--cmd=", type="string", dest="commands", action="append")

  options, args = parser.parse_args()

  rospy.init_node("power_cmd")
  
  done_proxy = rospy.ServiceProxy(options.service, ScriptDone)
  done = ScriptDoneRequest()
  done.result = ScriptDoneRequest.RESULT_OK
  done.failure_msg = ''

  try:
    rospy.wait_for_service('power_board/control', 5)
  except:
    rospy.logerr('Service wait timed out! %s' % traceback.format_exc())
    # Timeout exceeded, return fail
    done.result = ScriptDoneRequest.RESULT_ERROR
    done.failure_msg = 'Power bower service timed out! %s\n' % traceback.format_exc()
    try:
      rospy.wait_for_service(options.service, 5)
      done_proxy.call(done)
    finally:
      time.sleep(2)

  
  # Get powerboard serial from parameters
  serial = int(rospy.get_param('%s/serial' % BOARD_NAMESPACE, 0))

  if serial == 0:
    done.result = ScriptDoneRequest.RESULT_ERROR
    done.failure_msg = 'No power board serial. Parameter \"%s/serial\" was unassigned.' % BOARD_NAMESPACE
    done_proxy.call(done)
    time.sleep(2)

  # Only call commands on specified breakers
  breakers = {}
  breakers[0] = rospy.get_param('%s/0' % BOARD_NAMESPACE, False)
  breakers[1] = rospy.get_param('%s/1' % BOARD_NAMESPACE, False)
  breakers[2] = rospy.get_param('%s/2' % BOARD_NAMESPACE, False)

  rospy.loginfo('Board: %d, Breakers: %s, %s, %s' % (serial, breakers[0], breakers[1], breakers[2]))

  brk_ok = False
  for brk in breakers:
    brk_ok = brk_ok or brk
  if not brk_ok:
    done.result = ScriptDoneRequest.RESULT_ERROR
    done.failure_msg = 'No breakers enabled.'
    done_proxy.call(done)
    time.sleep(2)

  control_proxy = rospy.ServiceProxy('power_board/control', PowerBoardCommand)

  is_first = True
  try:
    for power_cmd in options.commands:
      # Wait for previous power cmd to take effect
      if not is_first:
        time.sleep(2)
        
      is_first = False
      for num in breakers.keys():
        if not breakers[num]:
          continue

        resp = control_proxy(serial, num, power_cmd, 0)  
        rospy.loginfo('CMD: %d %d %s. Received return code %d' % 
                     (serial, num, power_cmd, resp.retval))
        if resp.retval != 0:
          details = 'Commanded power board, return code %s.\n\n' % resp.retval
          if resp.retval == -1:
            details += 'Power board may not be connected. Check network connections.'
          
          done.result = ScriptDoneRequest.RESULT_ERROR
          done.failure_msg = details
          break

  except Exception, e:
    rospy.logerr('Caught exception!')
    rospy.logerr(traceback.format_exc())
    done.result = ScriptDoneRequest.RESULT_ERROR
    done.failure_msg = 'Caught exception.\n%s' % traceback.format_exc()

  rospy.wait_for_service(options.service, 5)
  done_proxy.call(done)
  rospy.spin()
  

if __name__ == '__main__':
  main()