nvidia_temp.py

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#!/usr/bin/env python
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##\author Kevin Watts
##\brief Publishes diagnostic data on temperature and usage for a Quadro 600 GPU

from __future__ import with_statement, division

PKG = 'pr2_computer_monitor'
import roslib; roslib.load_manifest(PKG)

import rospy

from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
from pr2_msgs.msg import GPUStatus

import pr2_computer_monitor

class NVidiaTempMonitor(object):
    def __init__(self):
        self._pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=10)
        self._gpu_pub = rospy.Publisher('gpu_status', GPUStatus, queue_size=10)

    def pub_status(self):
        gpu_stat = GPUStatus()
        stat = DiagnosticStatus()
        try:
            card_out = pr2_computer_monitor.get_gpu_status()
            gpu_stat = pr2_computer_monitor.parse_smi_output(card_out)
            stat = pr2_computer_monitor.gpu_status_to_diag(gpu_stat)
        except Exception as e:
            import traceback
            rospy.logerr('Unable to process nVidia GPU data')
            rospy.logerr(traceback.format_exc())

        gpu_stat.header.stamp = rospy.get_rostime()

        array = DiagnosticArray()
        array.header.stamp = rospy.get_rostime()
        
        array.status = [ stat ]

        self._pub.publish(array)
        self._gpu_pub.publish(gpu_stat)

if __name__ == '__main__':
    rospy.init_node('nvidia_temp_monitor')
    
    monitor = NVidiaTempMonitor()
    my_rate = rospy.Rate(1.0)
    while not rospy.is_shutdown():
        monitor.pub_status()
        my_rate.sleep()