jsk_network_tools: network_status.py Source File

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00001 #!/usr/bin/python
00002 import re
00003 import rospy
00004 from std_msgs.msg import Float32
00005 from collections import deque
00006 import os
00007 
00008 def rosSafeName(name):
00009     return name.lower().replace("-", "_")
00010 
00011 class NetworkStatus():
00012     def __init__(self):
00013         rospy.init_node('network')
00014         self.match_face = re.compile('(.+):(.*)')
00015         self.hz = rospy.get_param('~hz', 10)
00016         rospy.logdebug('publish network status (bps) at ' +  str(self.hz) + 'Hz')
00017         rospy.logdebug('usage:\n$rosrun jsk_network_tools network_status.py _hz:=[Hz]')
00018         self.init_publisher()
00019         rospy.Timer(rospy.Duration(1.0/self.hz), self.publish)
00020         rospy.spin()
00021     def init_publisher(self):
00022         faces = self.read_net_file()
00023         self.faces_map = {}
00024         self.non_local_transmit_pub = rospy.Publisher(rosSafeName(os.uname()[1]) + "/nonlocal" + '/transmit', Float32)
00025         self.non_local_receive_pub = rospy.Publisher(rosSafeName(os.uname()[1]) + "/nonlocal" + '/receive', Float32)
00026         self.non_local_transmit_kbps_pub = rospy.Publisher(rosSafeName(os.uname()[1]) + "/nonlocal" + '/transmit_kbps', Float32)
00027         self.non_local_receive_kbps_pub = rospy.Publisher(rosSafeName(os.uname()[1]) + "/nonlocal" + '/receive_kbps', Float32)
00028         self.non_local_transmit_mbps_pub = rospy.Publisher(rosSafeName(os.uname()[1]) + "/nonlocal" + '/transmit_mbps', Float32)
00029         self.non_local_receive_mbps_pub = rospy.Publisher(rosSafeName(os.uname()[1]) + "/nonlocal" + '/receive_mbps', Float32)
00030         for face in faces:
00031             pub_transmit = rospy.Publisher(rosSafeName(os.uname()[1]) + "/" + face[0] + '/transmit', Float32)
00032             pub_receive = rospy.Publisher(rosSafeName(os.uname()[1]) + "/" + face[0] + '/receive', Float32)
00033             pub_transmit_kbps = rospy.Publisher(rosSafeName(os.uname()[1]) + "/" + face[0] + '/transmit_kbps', Float32)
00034             pub_receive_kbps = rospy.Publisher(rosSafeName(os.uname()[1]) + "/" + face[0] + '/receive_kbps', Float32)
00035             pub_transmit_mbps = rospy.Publisher(rosSafeName(os.uname()[1]) + "/" + face[0] + '/transmit_mbps', Float32)
00036             pub_receive_mbps = rospy.Publisher(rosSafeName(os.uname()[1]) + "/" + face[0] + '/receive_mbps', Float32)
00037             queue_transmit = deque()
00038             queue_reveice = deque()
00039 
00040             for i in range(self.hz):
00041                 queue_transmit.append(-1)
00042                 queue_reveice.append(-1)
00043 
00044             self.faces_map[face[0]] = {}
00045             self.faces_map[face[0]]["transmit"] = {"publisher": pub_transmit, "value": queue_transmit,
00046                                                    "publisher_kbps": pub_transmit_kbps,
00047                                                    "publisher_mbps": pub_transmit_mbps}
00048             self.faces_map[face[0]]["receive"] = {"publisher": pub_receive, "value": queue_reveice,
00049                                                   "publisher_kbps": pub_receive_kbps,
00050                                                   "publisher_mbps": pub_receive_mbps}
00051 
00052     def publish(self, event):
00053         faces = self.read_net_file()
00054         non_local_transmit = 0
00055         non_local_receive = 0
00056         for face in faces:
00057             name = face[0]
00058             if name in self.faces_map:
00059                 self.faces_map[name]["transmit"]["value"].append(int(face[1]))
00060                 self.faces_map[name]["receive"]["value"].append(int(face[2]))
00061                 transmit_value = (int(face[1]) - self.faces_map[name]["transmit"]["value"].popleft()) * 8
00062                 receive_value = (int(face[2]) - self.faces_map[name]["receive"]["value"].popleft()) * 8
00063                 self.faces_map[name]["transmit"]["publisher"].publish(Float32(transmit_value))
00064                 self.faces_map[name]["receive"]["publisher"].publish(Float32(receive_value))
00065                 self.faces_map[name]["transmit"]["publisher_kbps"].publish(Float32(transmit_value / 1024))
00066                 self.faces_map[name]["receive"]["publisher_kbps"].publish(Float32(receive_value / 1024))
00067                 self.faces_map[name]["transmit"]["publisher_mbps"].publish(Float32(transmit_value / 1024 / 1024))
00068                 self.faces_map[name]["receive"]["publisher_mbps"].publish(Float32(receive_value / 1024 / 1024))
00069                 if name != "lo":
00070                     non_local_receive = receive_value + non_local_receive
00071                     non_local_transmit = transmit_value + non_local_transmit
00072         self.non_local_transmit_pub.publish(Float32(non_local_transmit))
00073         self.non_local_receive_pub.publish(Float32(non_local_receive))
00074         self.non_local_transmit_kbps_pub.publish(Float32(non_local_transmit / 1024))
00075         self.non_local_receive_kbps_pub.publish(Float32(non_local_receive / 1024))
00076         self.non_local_transmit_mbps_pub.publish(Float32(non_local_transmit / 1024 / 1024))
00077         self.non_local_receive_mbps_pub.publish(Float32(non_local_receive / 1024 / 1024))
00078     def read_net_file(self):
00079         with open("/proc/net/dev") as f:
00080             status =  f.readlines()
00081         ret = []
00082         for s in status:
00083             match = self.match_face.match(s)
00084             if match:
00085                 nums = match.group(2).split()
00086                 ret.append([match.group(1).strip(), nums[8], nums[0]])
00087         return ret
00088 
00089 if __name__ == '__main__':
00090     NetworkStatus()