wgtest_status_indicator.cpp

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/* Simple utility to control delcom USB light from command line
 *
 *
 */

#include  <wgtest_status_indicator/delcom_usb_light.h>

#include <ros/ros.h>
#include <string>
#include <signal.h>

#include <pr2_self_test_msgs/TestInfoArray.h>

using namespace wgtest_status_indicator;

DelcomUSBLight *g_light;

ros::Time *g_last_callback;

volatile bool g_shutdown_req_;

void signal_handler(int sig)
{
  ROS_INFO("Caught signal, shutting down.");
  g_shutdown_req_ = true;
}

void callback(const pr2_self_test_msgs::TestInfoArray &msg)
{
  int status = 0;
  for (unsigned int i = 0; i < msg.data.size(); ++i)
  {
    // Ignore tests that aren't launched
    if (msg.data[i].test_status > 4)
      continue; 

    status = std::max(status, (int) msg.data[i].test_status);
  }
  
  // Make command
  USBLightCommand cmd;
  if (status == 0) // OK
    cmd.green = true;
  else if (status == 1) // WARN
    cmd.orange = true;
  else // ERROR
    cmd.red = true;

  g_light->sendCommand(cmd);

  if (g_last_callback)
    delete g_last_callback;
  g_last_callback = new ros::Time(ros::Time::now());
}

// Runs ROS node and handles any ROS communication
void runNode()
{
  ros::NodeHandle nh;

  ros::Subscriber stat_sub = nh.subscribe("test_info", 5, &callback);

  USBLightCommand red_cmd;
  red_cmd.red = true;

  ros::Rate my_rate(1.0);
  while (ros::ok() && !g_shutdown_req_)
  {
    ros::spinOnce();
    my_rate.sleep();

    // Send red if we haven't heard from Test Manager in a while
    if (ros::Time::now() - *g_last_callback > ros::Duration(30.0))
      g_light->sendCommand(red_cmd);

    if (!ros::master::check())
    {
      ROS_ERROR("ROS Master is down. Shutting down ROS.");
      break;
    }
  }

  // Send red if we're shut down
  g_light->sendCommand(red_cmd);

  ros::shutdown();
}

int main(int argc, char **argv)
{
  g_shutdown_req_ = false;
  g_last_callback = new ros::Time(0);
  g_light = new DelcomUSBLight();

  signal(SIGINT, signal_handler);

  ros::init(argc, argv, "wgtest_status_indicator", 
            ros::init_options::NoSigintHandler | ros::init_options::AnonymousName);
  ros::Time::init();

  USBLightCommand red_cmd;
  red_cmd.red = true;
  g_light->sendCommand(red_cmd);

  ros::WallRate wrate(1.0);

  while (!g_shutdown_req_)
  {
    wrate.sleep();

    if (!ros::master::check())
    {
      ROS_ERROR_THROTTLE(60, "Unable to contact master. Will retry");
      continue;
    }

    ROS_INFO("Main loop");

    // Run Node
    runNode();
  }

  USBLightCommand off_cmd;
  off_cmd.off = true;
  g_light->sendCommand(off_cmd);

  delete g_light;
  delete g_last_callback;
}