dashboard_aggregator.py
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1 #!/usr/bin/env python
2 
3 # Software License Agreement (BSD License)
4 #
5 # Copyright (c) 2008, Willow Garage, Inc.
6 # All rights reserved.
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34 
35 import time
36 import rospy
37 from std_msgs.msg import Bool
38 from pr2_msgs.msg import PowerBoardState, PowerState, DashboardState, AccessPoint
39 
41  def __init__(self):
42  self.msg = DashboardState()
43 
44  # Create publisher
45  self.pub = rospy.Publisher("dashboard_agg", DashboardState, queue_size=10)
46 
47  # Create subscribers
48  # Circuit Breaker
49  rospy.Subscriber("power_board/state", PowerBoardState, self.powerBoardCB)
51  # Battery
52  rospy.Subscriber("power_state", PowerState, self.powerCB)
54  # Wireless
55  rospy.Subscriber("ddwrt/accesspoint", AccessPoint, self.accessPointCB)
57  # Motor State
58  rospy.Subscriber("pr2_etherCAT/motors_halted", Bool, self.motorsHaltedCB)
60 
61  def motorsHaltedCB(self, msg):
62  self.last_motors_halted = time.time()
63  self.msg.motors_halted = msg
64 
65  def powerBoardCB(self, msg):
66  self.last_power_board_state = time.time()
67  self.msg.power_board_state = msg
68 
69  def powerCB(self, msg):
70  self.last_power_state = time.time()
71  self.msg.power_state = msg
72 
73  def accessPointCB(self, msg):
74  self.last_access_point = time.time()
75  self.msg.access_point = msg
76 
77  def publish(self):
78  now = time.time()
79  self.msg.motors_halted_valid = (now - self.last_motors_halted) < 3
80  self.msg.power_board_state_valid = (now - self.last_power_board_state) < 3
81  self.msg.power_state_valid = (now - self.last_power_state) < 25
82  self.msg.access_point_valid = (now - self.last_access_point) < 5
83  self.pub.publish(self.msg)
84 
85 def main():
86  rospy.init_node("pr2_dashboard_aggregator")
87  da = DashboardAggregator()
88  r = rospy.Rate(1)
89  while not rospy.is_shutdown():
90  da.publish()
91  try:
92  r.sleep()
93  except rospy.exceptions.ROSInterruptException:
94  rospy.logdebug('Sleep interrupted')
95 
96 if __name__ == "__main__":
97  main()


pr2_dashboard_aggregator
Author(s): Rob Wheeler, Austin Hendrix
autogenerated on Thu Jun 6 2019 19:51:21