projector_check_dmm.py

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#!/usr/bin/env python
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##\author Kevin Watts
##\brief Checks if DMM is available for projector test

PKG = 'qualification'

import roslib
roslib.load_manifest(PKG)

from pr2_self_test_msgs.srv import ScriptDone, ScriptDoneRequest

import rospy
import traceback
import socket
import subprocess


class ProjectorChecker:
    def __init__(self):
        self._dmm_address = rospy.get_param("~dmm_address")

    @property
    def dmm_address(self): return self._dmm_address

    def check_projector(self):
        retcode = subprocess.call('ping -c1 -W1 %s > /dev/null' % self._dmm_address, shell=True)
        if retcode != 0:
            return False

        try :
            sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
            lxi_port = 5025
            sock.settimeout(15)
            sock.connect((self._dmm_address, 5025))
            sock.close()
            return True
        except socket.error:
            return False
        except Exception, e:
            rospy.logerr('Caught unknown exception checking projector:\n%s' % traceback.format_exc())
            return False
        return True
        

def main():
    r = ScriptDoneRequest()
    r.result = ScriptDoneRequest.RESULT_ERROR
    r.failure_msg = 'Unable to contact projector'

    try:
        rospy.init_node('projector_monitor')
        done_srv = rospy.ServiceProxy('prestartup_done', ScriptDone)

        monitor = ProjectorChecker()
        if not monitor.check_projector():
            r.failure_msg = 'Unable to contact projector at %s' % monitor.dmm_address
            done_srv.call(r)
            rospy.spin()
        else:
            r.result = ScriptDoneRequest.RESULT_OK
            r.failure_msg = 'Projector OK'
            done_srv.call(r)
        
    except Exception, e:
        import traceback
        r.failure_msg = 'Error contacting projector. Exception:\n%s' % traceback.format_exc()
        done_srv.call(r)
        
    rospy.spin()

if __name__ == '__main__':
    main()