ntp_monitor.py
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00001 #!/usr/bin/env python
00002 # -*- coding: utf-8 -*-
00003 # Software License Agreement (BSD License)
00004 #
00005 # Copyright (c) 2008, Willow Garage, Inc.
00006 # All rights reserved.
00007 #
00008 # Redistribution and use in source and binary forms, with or without
00009 # modification, are permitted provided that the following conditions
00010 # are met:
00011 #
00012 #  * Redistributions of source code must retain the above copyright
00013 #    notice, this list of conditions and the following disclaimer.
00014 #  * Redistributions in binary form must reproduce the above
00015 #    copyright notice, this list of conditions and the following
00016 #    disclaimer in the documentation and/or other materials provided
00017 #    with the distribution.
00018 #  * Neither the name of the Willow Garage nor the names of its
00019 #    contributors may be used to endorse or promote products derived
00020 #    from this software without specific prior written permission.
00021 #
00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 # POSSIBILITY OF SUCH DAMAGE.
00034 
00035 import roslib
00036 roslib.load_manifest('diagnostic_common_diagnostics')
00037 import rospy
00038 import diagnostic_updater as DIAG
00039 
00040 import sys
00041 import socket
00042 from subprocess import Popen, PIPE
00043 import time
00044 import re
00045 
00046 
00047 def ntp_diag(st, host, off, error_offset):
00048     try:
00049         p = Popen(["ntpdate", "-q", host], stdout=PIPE, stdin=PIPE, stderr=PIPE)
00050         res = p.wait()
00051         (o,e) = p.communicate()
00052     except OSError, (errno, msg):
00053         if errno == 4:
00054             return None #ctrl-c interrupt
00055         else:
00056             raise
00057     if (res == 0):
00058         measured_offset = float(re.search("offset (.*),", o).group(1))*1000000
00059 
00060         st.level = DiagnosticStatus.OK
00061         st.message = "OK"
00062         st.values = [ KeyValue("Offset (us)", str(measured_offset)),
00063                         KeyValue("Offset tolerance (us)", str(off)),
00064                         KeyValue("Offset tolerance (us) for Error", str(error_offset)) ]
00065 
00066         if (abs(measured_offset) > off):
00067             st.level = DiagnosticStatus.WARN
00068             st.message = "NTP Offset Too High"
00069         if (abs(measured_offset) > error_offset):
00070             st.level = DiagnosticStatus.ERROR
00071             st.message = "NTP Offset Too High"
00072 
00073     else:
00074         st.level = DiagnosticStatus.ERROR
00075         st.message = "Error Running ntpdate. Returned %d" % res
00076         st.values = [ KeyValue("Offset (us)", "N/A"),
00077                         KeyValue("Offset tolerance (us)", str(off)),
00078                         KeyValue("Offset tolerance (us) for Error", str(error_offset)),
00079                         KeyValue("Output", o),
00080                         KeyValue("Errors", e) ]
00081 
00082     return st
00083 
00084 
00085 def ntp_monitor(ntp_hostname, offset=500, self_offset=500, diag_hostname = None, error_offset = 5000000, do_self_test=True):
00086     pub = rospy.Publisher("/diagnostics", DiagnosticArray)
00087     rospy.init_node(ntp_monitor, anonymous=True)
00088 
00089     hostname = socket.gethostname()
00090     if diag_hostname is None:
00091         diag_hostname = hostname
00092 
00093     stat = DiagnosticStatus()
00094     stat.level = DiagnosticStatus.OK
00095     stat.name = "NTP offset from "+ diag_hostname + " to " + ntp_hostname
00096     stat.message = "OK"
00097     stat.hardware_id = hostname
00098     stat.values = []
00099 
00100     self_stat = DiagnosticStatus()
00101     self_stat.level = DiagnosticStatus.OK
00102     self_stat.name = "NTP self-offset for "+ diag_hostname
00103     self_stat.message = "OK"
00104     self_stat.hardware_id = hostname
00105     self_stat.values = []
00106 
00107     while not rospy.is_shutdown():
00108         msg = DiagnosticArray()
00109         msg.header.stamp = rospy.get_rostime()
00110 
00111         st = ntp_diag(stat, ntp_hostname, offset, error_offset)
00112         if st is not None:
00113             msg.status.append(st)
00114 
00115         if do_self_test:
00116             st = ntp_diag(self_stat, hostname, self_offset, error_offset)
00117             if st is not None:
00118                 msg.status.append(st)
00119 
00120         pub.publish(msg)
00121         time.sleep(1)
00122 
00123 def ntp_monitor_main(argv=sys.argv):
00124     import optparse
00125     parser = optparse.OptionParser(usage="usage: ntp_monitor ntp-hostname []")
00126     parser.add_option("--offset-tolerance", dest="offset_tol",
00127                       action="store", default=500,
00128                       help="Offset from NTP host", metavar="OFFSET-TOL")
00129     parser.add_option("--error-offset-tolerance", dest="error_offset_tol",
00130                       action="store", default=5000000,
00131                       help="Offset from NTP host. Above this is error", metavar="OFFSET-TOL")
00132     parser.add_option("--self_offset-tolerance", dest="self_offset_tol",
00133                       action="store", default=500,
00134                       help="Offset from self", metavar="SELF_OFFSET-TOL")
00135     parser.add_option("--diag-hostname", dest="diag_hostname",
00136                       help="Computer name in diagnostics output (ex: 'c1')",
00137                       metavar="DIAG_HOSTNAME",
00138                       action="store", default=None)
00139     parser.add_option("--no-self-test", dest="do_self_test",
00140                       help="Disable self test",
00141                       action="store_false", default=True)
00142     options, args = parser.parse_args(rospy.myargv())
00143 
00144     if (len(args) != 2):
00145         parser.error("Invalid arguments. Must have HOSTNAME [args]. %s" % args)
00146 
00147 
00148     try:
00149         offset = int(options.offset_tol)
00150         self_offset = int(options.self_offset_tol)
00151         error_offset = int(options.error_offset_tol)
00152     except:
00153         parser.error("Offsets must be numbers")
00154 
00155     ntp_monitor(args[1], offset, self_offset, options.diag_hostname, error_offset, options.do_self_test)
00156 
00157 
00158 if __name__ == "__main__":
00159     try:
00160         ntp_monitor_main(rospy.myargv())
00161     except KeyboardInterrupt: pass
00162     except SystemExit: pass
00163     except:
00164         import traceback
00165         traceback.print_exc()


diagnostic_common_diagnostics
Author(s): Brice Rebsamen
autogenerated on Sun Oct 5 2014 23:27:39