network_status.py

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#!/usr/bin/python
import re
import rospy
from std_msgs.msg import Float32
from collections import deque

class NetworkStatus():
    def __init__(self):
        rospy.init_node('network')
        self.match_face = re.compile('(.+):(.*)')
        self.hz = rospy.get_param('~hz', 100)
        rospy.logwarn('publish network status (bps) at ' +  str(self.hz) + 'Hz')
        rospy.logwarn('usage:\n$rosrun jsk_network_tools network_status.py _hz:=[Hz]')
        self.init_publisher()
        rospy.Timer(rospy.Duration(1.0/self.hz), self.publish)
        rospy.spin()

    def init_publisher(self):
        faces = self.read_net_file()
        self.faces_map = {}
        for face in faces:
            pub_transmit = rospy.Publisher(face[0] + '/transmit', Float32)
            pub_receive = rospy.Publisher(face[0] + '/receive', Float32)
            queue_transmit = deque()
            queue_reveice = deque()

            for i in range(self.hz):
                queue_transmit.append(-1)
                queue_reveice.append(-1)

            self.faces_map[face[0]] = {}
            self.faces_map[face[0]]["transmit"] = {"publisher": pub_transmit, "value": queue_transmit}
            self.faces_map[face[0]]["receive"] = {"publisher": pub_receive, "value": queue_reveice}

    def publish(self, event):
        faces = self.read_net_file()
        for face in faces:
            name = face[0]

            if name in self.faces_map:
                self.faces_map[name]["transmit"]["value"].append(int(face[1]))
                self.faces_map[name]["receive"]["value"].append(int(face[2]))

                msg_transmit = Float32((int(face[1]) - self.faces_map[name]["transmit"]["value"].popleft()) * 8)
                msg_receive = Float32((int(face[2]) - self.faces_map[name]["receive"]["value"].popleft()) * 8)

                self.faces_map[name]["transmit"]["publisher"].publish(msg_transmit)
                self.faces_map[name]["receive"]["publisher"].publish(msg_receive)

    def read_net_file(self):
        with open("/proc/net/dev") as f:
            status =  f.readlines()
        ret = []
        for s in status:
            match = self.match_face.match(s)
            if match:
                nums = match.group(2).split()
                ret.append([match.group(1).strip(), nums[8], nums[0]])
        return ret

if __name__ == '__main__':
    NetworkStatus()