wifi_monitor.py

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#!/usr/bin/env python
#
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# Copyright (c) 2010, Willow Garage, Inc.
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from __future__ import with_statement
 
PKG = 'pr2_computer_monitor'
import roslib
roslib.load_manifest(PKG)
 
import rospy
 
import threading
import sys
 
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
from pr2_msgs.msg import AccessPoint
 
DIAG_NAME = 'Wifi Status (ddwrt)'
WARN_TIME = 30
ERROR_TIME = 60
 
 
def wifi_to_diag(msg):
    stat = DiagnosticStatus()
 
    stat.name = DIAG_NAME
    stat.level = DiagnosticStatus.OK
    stat.message = 'OK'
 
    stat.values.append(KeyValue(key='ESSID',       value=msg.essid))
    stat.values.append(KeyValue(key='Mac Address', value=msg.macaddr))
    stat.values.append(KeyValue(key='Signal',      value=str(msg.signal)))
    stat.values.append(KeyValue(key='Noise',       value=str(msg.noise)))
    stat.values.append(KeyValue(key='Sig/Noise',   value=str(msg.snr)))
    stat.values.append(KeyValue(key='Channel',     value=str(msg.channel)))
    stat.values.append(KeyValue(key='Rate',        value=msg.rate))
    stat.values.append(KeyValue(key='TX Power',    value=msg.tx_power))
    stat.values.append(KeyValue(key='Quality',     value=str(msg.quality)))
 
    return stat
 
def mark_diag_stale(diag_stat = None, error = False):
    if not diag_stat:
        diag_stat = DiagnosticStatus()
        diag_stat.message = 'No Updates'
        diag_stat.name    = DIAG_NAME
    else:
        diag_stat.message = 'Updates Stale'
 
    diag_stat.level = DiagnosticStatus.WARN
    if error:
        diag_stat.level = DiagnosticStatus.ERROR
 
    return diag_stat
 
class WifiMonitor(object):
    def __init__(self):
        self._mutex = threading.Lock()
        
        self._last_msg = None
        self._last_update_time = None
        self._start_time = rospy.get_time()
 
        self._diag_pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=10)
 
        self._ddwrt_sub = rospy.Subscriber('ddwrt/accesspoint', AccessPoint, self._cb)
 
    def _cb(self, msg):
        with self._mutex:
            self._last_msg = msg
            self._last_update_time = rospy.get_time()
 
    def publish_stats(self):
        with self._mutex:
            if self._last_msg:
                ddwrt_stat = wifi_to_diag(self._last_msg)
 
                update_diff = rospy.get_time() - self._last_update_time
                if update_diff > WARN_TIME:
                    ddwrt_stat = mark_diag_stale(ddwrt_stat)
                if (rospy.get_time() - self._last_update_time) > ERROR_TIME:
                    ddwrt_stat = mark_diag_stale(ddwrt_stat, True)
 
                ddwrt_stat.values.append(KeyValue(key='Time Since Update', value=str(update_diff)))
            else:
                error_state = (rospy.get_time() - self._start_time) > ERROR_TIME
                ddwrt_stat = mark_diag_stale(None, error_state)
                ddwrt_stat.values.append(KeyValue(key='Time Since Update', value="N/A"))
 
        msg = DiagnosticArray()
        msg.header.stamp = rospy.get_rostime()
        msg.status.append(ddwrt_stat)
        
        self._diag_pub.publish(msg)
 
 
if __name__ == '__main__':
    try:
        rospy.init_node('ddwrt_diag')
    except rospy.exceptions.ROSInitException:
        print('Wifi monitor is unable to initialize node. Master may not be running.')
        sys.exit(2)
        
    wifi_monitor = WifiMonitor()
    rate = rospy.Rate(1.0)
 
    try:
        while not rospy.is_shutdown():
            rate.sleep()
            wifi_monitor.publish_stats()
    except KeyboardInterrupt:
        pass
    except Exception as e:
        import traceback
        traceback.print_exc()
 
    sys.exit(0)