ecstats_listener.py

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#!/usr/bin/env python
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##\author Kevin Watts
##\brief Listens to ecstats, makes sure no dropping packets

from __future__ import with_statement
PKG = 'pr2_hardware_test_monitor'

import roslib
roslib.load_manifest(PKG)

from ectools.msg import ecstats
from std_srvs.srv import *
from diagnostic_msgs.msg import DiagnosticStatus, KeyValue

import rospy

import threading

from pr2_hw_listener import PR2HWListenerBase

class ECStatsListener(PR2HWListenerBase):
    def __init__(self):
        self._ec_stats_sub = rospy.Subscriber('ecstats', ecstats, self._ecstats_cb)
        self._mutex = threading.Lock()

        self._ok = True
        self._update_time = -1
        
        self._halt_motors = rospy.ServiceProxy('pr2_etherCAT/halt_motors', Empty)

        self._drop_count_at_reset = 0
        self._time_at_last_reset = rospy.get_time()
        self._reset_count = 0

        self._has_link = False
        self._max_device_count = 0
        self._total_sent = 0
        self._interval_sent = 0
        self._total_dropped = 0
        self._interval_dropped = 0
        self._total_late = 0
        self._interval_late = 0
        self._total_bandwidth = 0
        self._interval_bandwidth = 0

        self._lost_link_count_since_reset = 0
        self._lost_link_count = 0

    def reset(self):
        with self._mutex:
            self._time_at_last_reset = rospy.get_time()
            self._drop_count_at_reset = self._total_dropped
            self._ok = True
            self._reset_count += 1
            self._lost_link_count_since_reset = 0

    def _ecstats_cb(self, msg):
        with self._mutex:
            self._has_link              = msg.has_link
            self._max_device_count      = msg.max_device_count
            self._total_sent            = msg.total_sent_packets
            self._interval_sent_packets = msg.interval_sent_packets
            self._total_dropped         = msg.total_dropped_packets
            self._interval_dropped      = msg.interval_dropped_packets
            self._total_late            = msg.total_late_packets
            self._interval_late         = msg.interval_late_packets
            self._total_bandwidth       = msg.total_bandwidth_mbps
            self._interval_bandwidth    = msg.interval_bandwidth_mbps
            
            if not self._has_link:
                self._lost_link_count += 1
                self._lost_link_count_since_reset += 1

            was_ok = self._ok
            self._ok = self._ok and self._has_link
            #self._total_dropped == self._drop_count_at_reset 
            if was_ok and not self._ok:
                try:
                    # self._halt_motors()
                    rospy.logerr('Should\'ve halted motors, went down')
                except Exception, e:
                    rospy.logerr('Attempted to halt motors after dropped packets, failed')
                    
            self._update_time = rospy.get_time()

    
    def check_ok(self):
        with self._mutex:
            stat = 0 if self._ok else 2
            msg = '' if self._ok else 'Dropped Packets'

            if rospy.get_time() - self._update_time > 3:
                stat = 3
                msg = 'Packet Data Stale'
                if self._update_time == -1:
                    msg = 'No Packet Data'
        
            diag = DiagnosticStatus()
            diag.name = 'EC Stats Packet Data'
            diag.level = stat
            diag.message = msg
            if diag.level == 0:
                diag.message = 'OK'
            
            diag.values = [
                KeyValue(key='Has Link?',              value=str(self._has_link)),
                KeyValue(key='Dropped Since Reset',    value=str(self._total_dropped - self._drop_count_at_reset)),
                KeyValue(key='Total Drops',            value=str(self._total_dropped)),
                KeyValue(key='Lost Link Count',        value=str(self._lost_link_count)),
                KeyValue(key='Lost Links Since Reset', value=str(self._lost_link_count_since_reset)),
                KeyValue(key='Number of Resets',       value=str(self._reset_count)),
                KeyValue(key='Time Since Last Reset',  value=str(rospy.get_time() - self._time_at_last_reset)),
                KeyValue(key='Drops at Last Reset',    value=str(self._drop_count_at_reset)),
                KeyValue(key='Max Device Count',       value=str(self._max_device_count)),
                KeyValue(key='Interval Drops',         value=str(self._interval_dropped)),
                KeyValue(key='Total Late Packets',     value=str(self._total_late)),
                KeyValue(key='Interval Late Packets',  value=str(self._interval_late)),
                KeyValue(key='Total Sent Packets',     value=str(self._total_sent)),
                KeyValue(key='Interval Sent Packets',  value=str(self._interval_sent)),
                KeyValue(key='Total Bandwidth',        value=str(self._total_bandwidth)),
                KeyValue(key='Interval Bandwidth',     value=str(self._interval_bandwidth))
                ]
        
        return stat, msg, [ diag ]