fake_diagnostics.py

Go to the documentation of this file.

#!/usr/bin/env python
#
# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#   http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.


import rospy
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus

class FakeDiagnostics():
    def __init__(self, options):
        self._options = options
        self._last_publish_time = 0
        self._fake_diag_pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=1)
        rospy.Timer(rospy.Duration(1.0), self.publish_stats)

    def publish_stats(self, event):
        msg = DiagnosticArray()
        msg.header.stamp = rospy.get_rostime()
        # Add all fake
        hostname_list = self._options.diag_hostnames.split(", ")
        for hostname in hostname_list:
            status = DiagnosticStatus()
            status.name = hostname
            status.level = DiagnosticStatus.OK
            status.message = "fake diagnostics"
            status.hardware_id = hostname
            msg.status.append(status)

        self._fake_diag_pub.publish(msg)

if __name__ == '__main__':

    import optparse
    parser = optparse.OptionParser(usage="usage: fake_diagnostics.py [--diag-hostnames=hostname1, hostname2, ...]")
    parser.add_option("--diag-hostnames", dest="diag_hostnames",
                      help="Fake Diagnostics")
    options, args = parser.parse_args(rospy.myargv())

    rospy.init_node('fake_diagnostics')

    fake_diagnostics = FakeDiagnostics(options)

    rospy.spin()