get_debug_info.cpp

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#include <ros/ros.h>
#include <std_msgs/String.h>
#include <librealsense/rs.hpp>
#include <librealsense/rs.h>
#include <string>
#include <sstream>
#include <ros/package.h>
#include <sys/utsname.h>
#include <cstdlib>
#include <stdlib.h>
#include <array>

rs_context *rs_context_ = NULL;
rs_error *rs_error_ = NULL;

std::string getSystemCallOutput(const char* cmd)
{
  std::array<char, 128> buffer;
  std::string result;
  std::shared_ptr<FILE>pipe(popen(cmd, "r"), pclose);

  if (!pipe)
  {
    throw std::runtime_error("popen(\"" + std::string(cmd) + "\", \"r\") failed");
  }

  while (!feof(pipe.get()))
  {
    if (fgets(buffer.data(), 128, pipe.get()) != NULL)
    {
      result += buffer.data();
    }
  }

  std::string::size_type pos = result.find_last_not_of("\n \t");
  if (pos != std::string::npos)
  {
    result = result.substr(0, pos + 1);
  }
  return result;
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "debug_tool");
  ros::NodeHandle n;
  std::string message = "\n----------CUT-PASTE-THIS----------\n";
  message = message + "|Version | Your Configuration | \n|:----------|:----------| \n";

  /* Acquire OS */
  message = message + "|Operating System | ";
  std::string operating_system;
  try
  {
    operating_system = getSystemCallOutput("lsb_release -ds");
    if (operating_system.empty())
    {
      operating_system = "Unable to detect operating system";
    }
  }
  catch(const std::exception& e)
  {
    operating_system = e.what();
  }
  message = message + operating_system + "|\n";

  /* Acquire Kernel Release */
  struct utsname* buf = new utsname();
  int uname_return = uname(buf);
  std::string kernel;
  if (uname_return == 0)
  {
    kernel = buf->release;
  }
  else
  {
    kernel = "Unable to detect Kernel";
  }
  message = message + "|Kernel | ";
  message = message + kernel + "|\n";

  /* Acquire ROS Version */
  message = message + "|ROS | ";
  std::string ros_version;
  char* ros_version_char = getenv("ROS_DISTRO");
  if (ros_version_char == NULL)
  {
    ros_version = "Unable to detect ROS version";
  }
  else
  {
    ros_version = ros_version_char;
  }
  message = message + ros_version + "| \n";

  /* Acquire ROS RealSense Version */
  message = message + "|ROS RealSense | ";
  std::string realsense_version;
  try
  {
    realsense_version = getSystemCallOutput("rosversion realsense_camera");
    if (realsense_version.empty())
    {
      realsense_version = "Unable to detect realsense version";
    }
  }
  catch(const std::exception& e)
  {
    realsense_version = e.what();
  }
  message = message + realsense_version + "|\n";

  /* Acquire librealsense version */
  message = message + "|librealsense | ";
  std::string librealsense_version;
  try
  {
    librealsense_version = getSystemCallOutput("rosversion librealsense");
    if (librealsense_version.empty())
    {
      librealsense_version = "Unable to detect librealsense version";
    }
  }
  catch(const std::exception& e)
  {
    librealsense_version = e.what();
  }
  message = message + librealsense_version + "|";

  /* Acquire detected cameras' types and firmwares */
  rs_context_ = rs_create_context(RS_API_VERSION, &rs_error_);

  int num_of_cameras = rs_get_device_count(rs_context_, &rs_error_);

  if (rs_error_)
  {
    message = message + "\n|Camera Type-Firmware | Error detecting cameras |";
    rs_error_ = NULL;
  }
  else
  {
    if (num_of_cameras == 0)
    {
      message = message + "\n|Camera Type-Firmware | No Cameras Detected |";
    }

    for (int i = 0; i < num_of_cameras; i++)
    {
      rs_device* rs_detected_device = rs_get_device(rs_context_, i, &rs_error_);
      if (rs_error_)
      {
        message = message + "\n|Camera Type-Firmware | Error detecting camera|";
        rs_error_ = NULL;
      }
      else
      {
        std::string camera_name = rs_get_device_name(rs_detected_device, &rs_error_);
        if (rs_error_)
        {
          camera_name = "Error detecting camera name";
          rs_error_ = NULL;
        }
        std::string camera_fw = rs_get_device_firmware_version(rs_detected_device, &rs_error_);
        if (rs_error_)
        {
          camera_fw = "Error detecting camera firmware";
          rs_error_ = NULL;
        }
        message = message + "\n|Camera Type | " + camera_name + "|\n|Camera Firmware | " + camera_fw + "|";
        if (rs_supports(rs_detected_device, RS_CAPABILITIES_ADAPTER_BOARD, &rs_error_))
        {
          std::string adapter_fw = rs_get_device_info(rs_detected_device,
              RS_CAMERA_INFO_ADAPTER_BOARD_FIRMWARE_VERSION, &rs_error_);
          if (rs_error_)
          {
            adapter_fw = "Error detecting adapter firmware";
            rs_error_ = NULL;
          }
          message = message + "\n|Adapter Firmware | " + adapter_fw + "|";
        }
        if (rs_supports(rs_detected_device, RS_CAPABILITIES_MOTION_EVENTS, &rs_error_))
        {
          std::string motion_module_fw = rs_get_device_info(rs_detected_device,
              RS_CAMERA_INFO_MOTION_MODULE_FIRMWARE_VERSION, &rs_error_);
          if (rs_error_)
          {
            motion_module_fw = "Error detecting motion module firmware";
            rs_error_ = NULL;
          }
          message = message + "\n|Motion Module Firmware | " + motion_module_fw + "|";
        }
      }
    }
  }
  message = message + "\n----------CUT-PASTE-THIS----------";

  ROS_INFO_STREAM(message);

  return 0;
}