copy_bags_off_robot.py

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#!/usr/bin/env python

# Periodically copies bags off robot

import roslib; roslib.load_manifest('semanticmodel')
import rospy
import pr2_msgs.msg
import sys
import os
import re
import time
import subprocess as sp

INTERVAL = 60.0
plugged_in = False
DIR='/removable/cont_ops_world_model'

def handle_power_state(m):
    global plugged_in
    plugged_in = m.AC_present > 0

def possibly_copy_bags():
    rospy.loginfo("plugged_in = {0}".format(plugged_in))
    files = os.listdir(DIR)
    bags = [f for f in files if re.match('.*\.bag', f)]
    rospy.loginfo("Bags are {0}".format(bags))
    if bags and plugged_in:
        rospy.loginfo("Processing bag {0}".format(bags[0]))
        try:
            filename = '{0}/{1}'.format(DIR, bags[0])
            sp.check_call(['scp', '-C', filename, 'bhaskara@bab:/home/bhaskara/bags/prl'])
            sp.check_call(['rm', filename])
        except Exception as e:
            rospy.logerr("Error copying bag: {0}".format(e))
    

if __name__ == '__main__':
    rospy.init_node('possibly_copy_bags')
    wait_int = int(sys.argv[1]) if len(sys.argv) > 1 else INTERVAL 
    sub = rospy.Subscriber('power_state', pr2_msgs.msg.PowerState,
            handle_power_state)
    while not rospy.is_shutdown():
        possibly_copy_bags()
        time.sleep(wait_int)