controllers_to_diagnostics.py

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#! /usr/bin/python
# Copyright (c) 2009, Willow Garage, Inc.
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#       this software without specific prior written permission.
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import roslib; roslib.load_manifest('pr2_controller_manager')
import rospy

from pr2_mechanism_msgs.msg import MechanismStatistics
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue

def controller_to_diag(c):
    d = DiagnosticStatus()
    d.name = 'Controller ('+c.name+')'

    d.level = 0
    if (c.running):
        d.message = 'Running'
    else:
        d.message = 'Stopped'

    if (not use_sim_time and c.num_control_loop_overruns > 0):
        d.message += ' !!! Broke Realtime, used '+str(int(c.max_time.to_sec()*1e6))+' micro seconds in update loop'
        if c.time_last_control_loop_overrun + rospy.Duration(30.0) > rospy.Time.now():
            d.level = 1

    d.values.append(KeyValue('Avg Time in Update Loop (usec)',str(int(c.mean_time.to_sec()*1e6))))
    d.values.append(KeyValue('Max Time in update Loop (usec)',str(int(c.max_time.to_sec()*1e6))))
    d.values.append(KeyValue('Variance on Time in Update Loop',str(int(c.variance_time.to_sec()*1e6))))
    d.values.append(KeyValue('Percent of Cycle Time Used',str(int(c.mean_time.to_sec()/0.00001))))
    d.values.append(KeyValue('Number of Control Loop Overruns',str(int(c.num_control_loop_overruns))))
    d.values.append(KeyValue('Timestamp of Last Control Loop Overrun (sec)',str(int(c.time_last_control_loop_overrun.to_sec()))))
    return d

rospy.init_node('controller_to_diagnostics')
use_sim_time = rospy.get_param('use_sim_time', False)
pub_diag = rospy.Publisher('/diagnostics', DiagnosticArray)

last_publish_time = rospy.Time(0.0)
def state_cb(msg):
    global last_publish_time
    now = rospy.get_rostime()
    if (now - last_publish_time).to_sec() > 1.0:
        if len(msg.controller_statistics) == 0:
            d = DiagnosticArray()
            d.header.stamp = msg.header.stamp
            ds = DiagnosticStatus()
            ds.name = "Controller: No controllers loaded in controller manager"
            d.status = [ds]
            pub_diag.publish(d)
        else:
            for c in msg.controller_statistics:
                d = DiagnosticArray()
                d.header.stamp = msg.header.stamp
                d.status = [controller_to_diag(c)]
                pub_diag.publish(d)
        last_publish_time = now

rospy.Subscriber('mechanism_statistics', MechanismStatistics, state_cb)
rospy.spin()