sensors_monitor.py
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00001 #!/usr/bin/env python
00002 
00003 # Software License Agreement (BSD License)
00004 #
00005 # Copyright (c) 2012, 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
00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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 from __future__ import with_statement, division
00036 
00037 import roslib; roslib.load_manifest('diagnostic_common_diagnostics')
00038 import rospy
00039 import diagnostic_updater as DIAG
00040 
00041 import socket, string
00042 import subprocess
00043 import math
00044 import re
00045 from StringIO import StringIO
00046 
00047 class Sensor(object):
00048     def __init__(self):
00049         self.critical = None
00050         self.min = None
00051         self.max = None
00052         self.input = None
00053         self.name = None
00054         self.type = None
00055         self.high = None
00056         self.alarm = None
00057 
00058     def getCrit(self):
00059         return self.critical
00060 
00061     def getMin(self):
00062         return self.min
00063 
00064     def getMax(self):
00065         return self.max
00066 
00067     def getInput(self):
00068         return self.input
00069 
00070     def getName(self):
00071         return self.name
00072 
00073     def getType(self):
00074         return self.type
00075 
00076     def getHigh(self):
00077         return self.high
00078 
00079     def getAlarm(self):
00080         return self.alarm
00081 
00082     def __str__(self):
00083         lines = []
00084         lines.append(str(self.name))
00085         lines.append("\t" + "Type:  " + str(self.type))
00086         if self.input:
00087             lines.append("\t" + "Input: " + str(self.input))
00088         if self.min:
00089             lines.append("\t" + "Min:   " + str(self.min))
00090         if self.max:
00091             lines.append("\t" + "Max:   " + str(self.max))
00092         if self.high:
00093             lines.append("\t" + "High:  " + str(self.high))
00094         if self.critical:
00095             lines.append("\t" + "Crit:  " + str(self.critical))
00096         lines.append("\t" + "Alarm: " + str(self.alarm))
00097         return "\n".join(lines)
00098 
00099 
00100 def parse_sensor_line(line):
00101     sensor = Sensor()
00102     line = line.lstrip()
00103     [name, reading] = line.split(":")
00104 
00105     #hack for when the name is temp1
00106     if name.find("temp") != -1:
00107         return None
00108     else:
00109         [sensor.name, sensor.type] = name.rsplit(" ",1)
00110 
00111     if sensor.name == "Core":
00112         sensor.name = name
00113         sensor.type = "Temperature"
00114     elif sensor.name.find("Physical id") != -1:
00115         sensor.name = name
00116         sensor.type = "Temperature"
00117 
00118     [reading, params] = reading.lstrip().split("(")
00119 
00120     sensor.alarm = False
00121     if line.find("ALARM") != -1:
00122         sensor.alarm = True
00123 
00124     if reading.find("\xc2\xb0C") == -1:
00125         sensor.input = float(reading.split()[0])
00126     else:
00127         sensor.input = float(reading.split("\xc2\xb0C")[0])
00128 
00129     params = params.split(",")
00130     for param in params:
00131         m = re.search("[0-9]+.[0-9]*", param)
00132         if param.find("min") != -1:
00133             sensor.min = float(m.group(0))
00134         elif param.find("max") != -1:
00135             sensor.max = float(m.group(0))
00136         elif param.find("high") != -1:
00137             sensor.high = float(m.group(0))
00138         elif param.find("crit") != -1:
00139             sensor.critical = float(m.group(0))
00140 
00141     return sensor
00142 
00143 def _rads_to_rpm(rads):
00144     return rads / (2 * math.pi) * 60
00145 
00146 def _rpm_to_rads(rpm):
00147     return rpm * (2 * math.pi) / 60
00148 
00149 def parse_sensors_output(output):
00150     out = StringIO(output)
00151 
00152     sensorList = []
00153     for line in out.readlines():
00154         # Check for a colon
00155         if line.find(":") != -1 and line.find("Adapter") == -1:
00156             s = parse_sensor_line(line)
00157             if s is not None:
00158                 sensorList.append(s)
00159     return sensorList
00160 
00161 def get_sensors():
00162     p = subprocess.Popen('sensors', stdout = subprocess.PIPE,
00163                          stderr = subprocess.PIPE, shell = True)
00164     (o,e) = p.communicate()
00165     if not p.returncode == 0:
00166         return ''
00167     if not o:
00168         return ''
00169     return o
00170 
00171 class SensorsMonitor(object):
00172     def __init__(self, hostname):
00173         self.hostname = hostname
00174         self.ignore_fans = rospy.get_param('~ignore_fans', False)
00175         rospy.loginfo("Ignore fanspeed warnings: %s" % self.ignore_fans)
00176 
00177         self.updater = DIAG.Updater()
00178         self.updater.setHardwareID("none")
00179         self.updater.add('%s Sensor Status'%self.hostname, self.monitor)
00180 
00181         self.timer = rospy.Timer(rospy.Duration(1), self.timer_cb)
00182 
00183     def timer_cb(self, dummy):
00184         self.updater.update()
00185 
00186     def monitor(self, stat):
00187         try:
00188             stat.summary(DIAG.OK, "OK")
00189             for sensor in parse_sensors_output(get_sensors()):
00190                 if sensor.getType() == "Temperature":
00191                     if sensor.getInput() > sensor.getCrit():
00192                         stat.mergeSummary(DIAG.ERROR, "Critical Temperature")
00193                     elif sensor.getInput() > sensor.getHigh():
00194                         stat.mergeSummary(DIAG.WARN, "High Temperature")
00195                     stat.add(" ".join([sensor.getName(), sensor.getType()]), sensor.getInput())
00196                 elif sensor.getType() == "Voltage":
00197                     if sensor.getInput() < sensor.getMin():
00198                         stat.mergeSummary(DIAG.ERROR, "Low Voltage")
00199                     elif sensor.getInput() > sensor.getMax():
00200                         stat.mergeSummary(DIAG.ERROR, "High Voltage")
00201                     stat.add(" ".join([sensor.getName(), sensor.getType()]), sensor.getInput())
00202                 elif sensor.getType() == "Speed":
00203                     if not ignore_fans:
00204                         if sensor.getInput() < sensor.getMin():
00205                             stat.mergeSummary(DIAG.ERROR, "No Fan Speed")
00206                     stat.add(" ".join([sensor.getName(), sensor.getType()]), sensor.getInput())
00207         except Exception, e:
00208             import traceback
00209             rospy.logerr('Unable to process lm-sensors data')
00210             rospy.logerr(traceback.format_exc())
00211         return stat
00212 
00213 if __name__ == '__main__':
00214     hostname = socket.gethostname()
00215     hostname_clean = string.translate(hostname, string.maketrans('-','_'))
00216     try:
00217         rospy.init_node('sensors_monitor_%s'%hostname_clean)
00218     except rospy.ROSInitException:
00219         print >> sys.stderr, 'Unable to initialize node. Master may not be running'
00220         sys.exit(0)
00221 
00222     monitor = SensorsMonitor(hostname)
00223     rospy.spin()


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