drive_listener.py

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#!/usr/bin/env python
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##\author Kevin Watts
##\brief Checks whether PR2 is driving during PR2 burn in test

from __future__ import with_statement
PKG = 'pr2_hardware_test_monitor'

import roslib; roslib.load_manifest(PKG)

from std_msgs.msg import Bool
from std_srvs.srv import *

import rospy

import threading

from pr2_hw_listener import PR2HWListenerBase

class DriveListener(PR2HWListenerBase):
    def __init__(self):
        self._mutex = threading.Lock()

        self._cal = False
        self._ok = True
        self._update_time = -1
        self._reset_driving = rospy.ServiceProxy('pr2_base/reset_drive', Empty)
        self._halt_driving = rospy.ServiceProxy('pr2_base/halt_drive', Empty)

        self._is_driving = True
        self._drive_sub = rospy.Subscriber('base_driving', Bool, self._drive_cb)

    def halt(self):
        self._halt_driving()

    def reset(self):
        self._reset_driving()

    def _drive_cb(self, msg):
        with self._mutex:
            self._is_driving = not msg.data
            self._update_time = rospy.get_time()
            
    def check_ok(self):
        with self._mutex:
            msg = ''
            stat = 0
            if not self._is_driving:
                stat = 1
                msg = 'Not driving'

            if rospy.get_time() - self._update_time > 3:
                stat = 3
                msg = 'Drive Status Stale'
                if self._update_time == -1:
                    msg = 'No Drive Status'
        
        return stat, msg, None