Python DiagnosticStatus.name方法代码示例

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
def _camera_diag(level = 0):
    array = DiagnosticArray()
    stat = DiagnosticStatus()
    stat.name = 'wge100: Driver Status'
    stat.level = level
    stat.message = 'OK'

    motor_stat = DiagnosticStatus()
    motor_stat.name = 'EtherCAT Master'
    motor_stat.level = 0
    motor_stat.values = [
        KeyValue(key='Dropped Packets', value='0'),
        KeyValue(key='RX Late Packet', value='0')]

    mcb_stat = DiagnosticStatus()
    mcb_stat.name = 'EtherCAT Device (my_motor)'
    mcb_stat.level = 0
    mcb_stat.values.append(KeyValue('Num encoder_errors', '0'))

    array.header.stamp = rospy.get_rostime()
    array.status.append(stat)
    array.status.append(motor_stat)
    array.status.append(mcb_stat)
        
    return array

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
def status_cb(msg):
    global BATTERY_STATES
    global diag_publisher
    diag_msg = DiagnosticArray()
    diag_msg.header.stamp = rospy.Time.now()
    diag_msg.status = []
    
    temp_status = DiagnosticStatus()
    temp_status.name = "Chassis Temperature"
    temp_status.hardware_id = "automow_pcb"
    temp_status.values = []
    top_F = msg.temperature_1 * 9/5 + 32
    bot_F = msg.temperature_2 * 9/5 + 32
    temp_status.values.append(KeyValue(key="Top Celsius",
                                       value="%3.2f C"%msg.temperature_1))
    temp_status.values.append(KeyValue(key="Bottom Celsius",
                                       value="%3.2f C"%msg.temperature_2))
    temp_status.values.append(KeyValue(key="Top Fahrenheit",
                                       value="%3.2f F"%(top_F)))
    temp_status.values.append(KeyValue(key="Bottom Fahrenheit",
                                       value="%3.2f F"%(bot_F)))
    if top_F > 100 or bot_F > 100:
        temp_status.message = "High Temperature"
        temp_status.level = temp_status.WARN
    elif top_F > 125 or bot_F > 125:
        temp_status.message = "Critical Temperature"
        temp_status.level = temp_status.ERROR
    else:
        temp_status.message = "OK"
        temp_status.level = temp_status.OK
    diag_msg.status.append(temp_status)

    batt_status = DiagnosticStatus()
    batt_status.name = "Battery Status"
    batt_status.hardware_id = "automow_pcb"
    batt_status.values = []
    state = BATTERY_STATES[msg.battery_state]
    batt_status.values.append(KeyValue(key="State",
                                       value=state))
    batt_status.values.append(KeyValue(key="Charge",
                                       value="{:.0%}".format(msg.charge/100.0)))
    batt_status.values.append(KeyValue(key="Voltage",
                                       value="%3.2f V"%(msg.voltage/1000.0)))
    batt_status.values.append(KeyValue(key="Battery Current",
                                       value="%3.2f A"%(msg.current/1000.0)))
    diag_msg.status.append(batt_status)
    if msg.battery_state >= 4:
        batt_status.level = batt_status.ERROR
    else:
        batt_status.level = batt_status.OK
    batt_status.message = state
    diag_publisher.publish(diag_msg)

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
 def publish_diagnostic(self):
     try:
         da = DiagnosticArray()
         ds = DiagnosticStatus()
         ds.name = rospy.get_caller_id().lstrip('/') + ': Status'
         ds.hardware_id = self.ifname
         if not self.iwconfig.is_enabled():
             ds.level = DiagnosticStatus.STALE
             ds.message = "Device not found"
         elif not self.iwconfig.is_connected():
             ds.level = DiagnosticStatus.ERROR
             ds.message = "No connection"
         else:
             if extract_number(self.iwconfig.status["Link Quality"]) < self.warn_quality:
                 ds.level = DiagnosticStatus.WARN
                 ds.message = "Connected, but bad quality"
             else:
                 ds.level = DiagnosticStatus.OK
                 ds.message = "Connected"
             for key, val in self.iwconfig.status.items():
                 ds.values.append(KeyValue(key, val))
         da.status.append(ds)
         da.header.stamp = rospy.Time.now()
         self.diagnostic_pub.publish(da)
     except Exception as e:
         rospy.logerr('Failed to publish diagnostic: %s' % str(e))
         rospy.logerr(traceback.format_exc())

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
def send_diags():
    # See diagnostics with: rosrun rqt_runtime_monitor rqt_runtime_monitor
    msg = DiagnosticArray()
    msg.status = []
    msg.header.stamp = rospy.Time.now()
    
    for gripper in grippers:
        for servo in gripper.servos:
            status = DiagnosticStatus()
            status.name = "Gripper '%s' servo %d"%(gripper.name, servo.servo_id)
            status.hardware_id = '%s'%servo.servo_id
            temperature = servo.read_temperature()
            status.values.append(KeyValue('Temperature', str(temperature)))
            status.values.append(KeyValue('Voltage', str(servo.read_voltage())))
    
            if temperature >= 70:
                status.level = DiagnosticStatus.ERROR
                status.message = 'OVERHEATING'
            elif temperature >= 65:
                status.level = DiagnosticStatus.WARN
                status.message = 'HOT'
            else:
                status.level = DiagnosticStatus.OK
                status.message = 'OK'
        
            msg.status.append(status)
    
    diagnostics_pub.publish(msg)

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
    def spin(self):
        r = rospy.Rate(self._diagnostic_freq)
        while not rospy.is_shutdown():
            diag = DiagnosticArray()
            diag.header.stamp = rospy.get_rostime()
            for mon in self._monitors:
                d = DiagnosticStatus()
                d.name=mon.get_name()
                d.hardware_id="PC0"
                d.message=mon.get_field_value("status")
                d.level=mon.get_field_value("status_level")
                    

                for key in mon.get_fields():
                    p = KeyValue()
                    p.key = key
                    p.value = str(mon.get_field_value(key))
                    d.values.append(p)
                diag.status.append(d)
            self._diagnostic_pub.publish(diag)
            
            r.sleep()
            
        self._cpu_temp_mon.stop()
        self._cpu_usage_mon.stop()
        self._wlan_mon.stop()
        self._bandwidth_mon.stop()

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
 def update_diagnostics(self):
   da = DiagnosticArray()
   ds = DiagnosticStatus()
   ds.name = rospy.get_caller_id().lstrip('/') + ": Tasks"
   in_progress = 0;
   longest_interval = 0;
   for updater in list(asynchronous_updaters):
       (name, interval) = updater.getStatus()
       if interval == 0:
           msg = "Idle"
       else:
           in_progress = in_progress + 1
           msg = "Update in progress (%i s)"%interval
       longest_interval = max(interval, longest_interval)
       ds.values.append(KeyValue(name, msg))
   if in_progress == 0:
       ds.message = "Idle"
   else:
       ds.message = "Updates in progress: %i"%in_progress
   if longest_interval > 10:
       ds.level = 1
       ds.message = "Update is taking too long: %i"%in_progress
   ds.hardware_id = "none"
   da.status.append(ds)
   da.header.stamp = rospy.get_rostime()
   self.diagnostic_pub.publish(da)

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
 def fill_diags(name, summary, hid, diags):
     ds = DiagnosticStatus()
     ds.values = [KeyValue(k, str(v)) for (k, v) in diags]
     ds.hardware_id = hid
     ds.name = rospy.get_caller_id().lstrip('/') + ": " + name
     ds.message = summary
     return ds

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
    def _publish_diagnostic(self):
        """Publish diagnostics."""
        diagnostic = DiagnosticArray()
        diagnostic.header.stamp = rospy.Time.now()
        status = DiagnosticStatus()
        status.name = "LocalXY Origin"
        status.hardware_id = "origin_publisher"
        if self.origin is None:
            status.level = DiagnosticStatus.ERROR
            status.message = "No Origin"
        else:
            if self.origin_source == "gpsfix":
                status.level = DiagnosticStatus.OK
                status.message = "Has Origin (GPSFix)"
            elif self.origin_source == "navsat":
                status.level = DiagnosticStatus.OK
                status.message = "Has Origin (NavSatFix)"
            else:
                status.level = DiagnosticStatus.WARN
                status.message = "Origin Was Set Manually"

            frame_id = self.origin.header.frame_id
            status.values.append(KeyValue(key="Origin Frame ID", value=frame_id))

            latitude = "%f" % self.origin.pose.position.y
            status.values.append(KeyValue(key="Latitude", value=latitude))

            longitude = "%f" % self.origin.pose.position.x
            status.values.append(KeyValue(key="Longitude", value=longitude))

            altitude = "%f" % self.origin.pose.position.z
            status.values.append(KeyValue(key="Altitude", value=altitude))

            diagnostic.status.append(status)
            self.diagnostic_pub.publish(diagnostic)

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
def _laptop_charge_to_diag(laptop_msg):
    rv = DiagnosticStatus()
    rv.level   = DiagnosticStatus.OK
    rv.message = 'OK'
    rv.name    = 'Laptop Battery'
    rv.hardware_id = socket.gethostname()

    if not laptop_msg.present:
        rv.level = DiagnosticStatus.ERROR
        rv.message = 'Laptop battery missing'

    charging_state = {
        SmartBatteryStatus.DISCHARGING: 'Not Charging',
        SmartBatteryStatus.CHARGING: 'Charging',
        SmartBatteryStatus.CHARGED: 'Trickle Charging'
    }.get(laptop_msg.charge_state, 'Not Charging')

    rv.values.append(KeyValue('Voltage (V)',          str(laptop_msg.voltage)))
    rv.values.append(KeyValue('Current (A)',          str(laptop_msg.rate)))
    rv.values.append(KeyValue('Charge (Ah)',          str(laptop_msg.charge)))
    rv.values.append(KeyValue('Capacity (Ah)',        str(laptop_msg.capacity)))
    rv.values.append(KeyValue('Design Capacity (Ah)', str(laptop_msg.design_capacity)))
    rv.values.append(KeyValue('Charging State',       str(charging_state)))

    return rv

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
def sensor_status_to_diag(sensorList, hostname='localhost', ignore_fans=False):
    stat = DiagnosticStatus()
    stat.name = '%s Sensor Status'%hostname
    stat.message = 'OK'
    stat.level = DiagnosticStatus.OK
    stat.hardware_id = hostname
    
    for sensor in sensorList:
        if sensor.getType() == "Temperature":
            if sensor.getInput() > sensor.getCrit():
                stat.level = max(stat.level, DiagnosticStatus.ERROR)
                stat.message = "Critical Temperature"
            elif sensor.getInput() > sensor.getHigh():
                stat.level = max(stat.level, DiagnosticStatus.WARN)
                stat.message = "High Temperature"
            stat.values.append(KeyValue(key=" ".join([sensor.getName(), sensor.getType()]), 
                                                     value=str(sensor.getInput())))
        elif sensor.getType() == "Voltage":
            if sensor.getInput() < sensor.getMin():
                stat.level = max(stat.level, DiagnosticStatus.ERROR)
                stat.message = "Low Voltage"
            elif sensor.getInput() > sensor.getMax():
                stat.level = max(stat.level, DiagnosticStatus.ERROR)
                stat.message = "High Voltage"
            stat.values.append(KeyValue(key=" ".join([sensor.getName(), sensor.getType()]), 
                                                     value=str(sensor.getInput())))
        elif sensor.getType() == "Speed":
            if not ignore_fans:
                if sensor.getInput() < sensor.getMin():
                    stat.level = max(stat.level, DiagnosticStatus.ERROR)
                    stat.message = "No Fan Speed"
            stat.values.append(KeyValue(key=" ".join([sensor.getName(), sensor.getType()]), 
                                                     value=str(sensor.getInput())))
            
    return stat 

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
 def diagnostics_processor(self):
     diag_msg = DiagnosticArray()
     
     rate = rospy.Rate(self.diagnostics_rate)
     while not rospy.is_shutdown():
         diag_msg.status = []
         diag_msg.header.stamp = rospy.Time.now()
         
         for controller in self.controllers.values():
             try:
                 joint_state = controller.joint_state
                 temps = joint_state.motor_temps
                 max_temp = max(temps)
                 
                 status = DiagnosticStatus()
                 status.name = 'Joint Controller (%s)' % controller.joint_name
                 status.hardware_id = 'Robotis Dynamixel %s on port %s' % (str(joint_state.motor_ids), controller.port_namespace)
                 status.values.append(KeyValue('Goal', str(joint_state.goal_pos)))
                 status.values.append(KeyValue('Position', str(joint_state.current_pos)))
                 status.values.append(KeyValue('Error', str(joint_state.error)))
                 status.values.append(KeyValue('Velocity', str(joint_state.velocity)))
                 status.values.append(KeyValue('Load', str(joint_state.load)))
                 status.values.append(KeyValue('Moving', str(joint_state.is_moving)))
                 status.values.append(KeyValue('Temperature', str(max_temp)))
                 status.level = DiagnosticStatus.OK
                 status.message = 'OK'
                     
                 diag_msg.status.append(status)
             except:
                 pass
                 
         self.diagnostics_pub.publish(diag_msg)
         rate.sleep()

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
    def _publish_diag(self):
        ok = False
        with self._mutex:
            ok = self._ok

        msg = DiagnosticArray()
        stat = DiagnosticStatus()
        msg.status.append(stat)

        # Simulate pr2_etherCAT diagnostics
        stat.level = 0
        if not ok:
            stat.level = 2
        stat.name = 'EtherCAT Master'
        stat.message = 'OK'
        stat.values.append(KeyValue('Dropped Packets', '0'))
        stat.values.append(KeyValue('RX Late Packet', '0'))
        
        # Check for encoder errors
        mcb_stat = DiagnosticStatus()
        mcb_stat.name = 'EtherCAT Device (my_motor)'
        mcb_stat.level = 0
        mcb_stat.values.append(KeyValue('Num encoder_errors', '0'))

        # Test camera listener
        stat_cam = DiagnosticStatus()
        stat_cam.level = 0
        stat_cam.name = 'wge100: Frequency Status'
        stat_cam.message = 'OK'

        # Test HK listener
        stat_hk = DiagnosticStatus()
        stat_hk.level = 0
        stat_hk.name = 'tilt_hokuyo_node: Frequency Status'
        stat_hk.message = 'OK'

        msg.status.append(stat_cam)
        msg.status.append(mcb_stat)
        msg.status.append(stat_hk)
        msg.header.stamp = rospy.get_rostime()
     
        self.diag_pub.publish(msg)

        self._last_diag_pub = rospy.get_time()

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
def gpu_status_to_diag(gpu_stat):
    stat = DiagnosticStatus()
    stat.name = socket.gethostname() + ' GPU Status'
    stat.message = ''
    stat.level = DiagnosticStatus.OK
    stat.hardware_id = socket.gethostname() + "/" + gpu_stat.product_name

    stat.values.append(KeyValue(key='Product Name',         value = gpu_stat.product_name))
    #stat.values.append(KeyValue(key='PCI Device/Vendor ID', value = gpu_stat.pci_device_id))
    #stat.values.append(KeyValue(key='PCI Location ID',      value = gpu_stat.pci_location))
    #stat.values.append(KeyValue(key='Display',              value = gpu_stat.display))
    stat.values.append(KeyValue(key='Driver Version',       value = gpu_stat.driver_version))
    stat.values.append(KeyValue(key='Temperature (C)',      value = '%.0f' % gpu_stat.temperature))
    #stat.values.append(KeyValue(key='Fan Speed (RPM)',      value = '%.0f' % _rads_to_rpm(gpu_stat.fan_speed)))
    #stat.values.append(KeyValue(key='Usage (%)',            value = '%.0f' % gpu_stat.gpu_usage))
    stat.values.append(KeyValue(key='Memory (%)',           value = '%.0f' % gpu_stat.memory_usage))

    errors = []

    # Check for valid data
    if not gpu_stat.product_name:
        stat.level = DiagnosticStatus.ERROR
        errors.append('No Device Data')
    else:
        # Check load
        if gpu_stat.gpu_usage > 95:
            stat.level = max(stat.level, DiagnosticStatus.WARN)
            errors.append('High Load')

        # Check thresholds
        if gpu_stat.temperature > 95:
            stat.level = max(stat.level, DiagnosticStatus.ERROR)
            errors.append('Temperature Alarm')
        elif gpu_stat.temperature > 90:
            stat.level = max(stat.level, DiagnosticStatus.WARN)
            errors.append('High Temperature')

        # Check memory usage
        if gpu_stat.memory_usage > 95:
            stat.level = max(stat.level, DiagnosticStatus.ERROR)
            errors.append('Memory critical')
        elif gpu_stat.memory_usage > 90:
            stat.level = max(stat.level, DiagnosticStatus.WARN)
            errors.append('Low Memory')

        # Check fan
        #if gpu_stat.fan_speed == 0:
        #    stat.level = max(stat.level, DiagnosticStatus.ERROR)
        #    stat.message = 'No Fan Speed'

    if not errors:
        stat.message = 'OK'
    else:
        stat.message = ', '.join(errors)

    return stat

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
 def cb_diagnostics_update(self):
     tabpage_status = DiagnosticStatus()
     tabpage_status.level = tabpage_status.OK
     tabpage_status.name = self.handler_name + " Handler"
     tabpage_status.hardware_id = self.ros_name
     tabpage_status.message = "OK"
     tabpage_status.values = []
     tabpage_status.values.append(KeyValue(key="Number of Clients",
                                           value=str(len(self.osc_clients))))
     return tabpage_status

# 需要导入模块: from diagnostic_msgs.msg import DiagnosticStatus [as 别名]
# 或者: from diagnostic_msgs.msg.DiagnosticStatus import name [as 别名]
def _ecat_diag(enc_errors = 0):
    array = DiagnosticArray()
    stat = DiagnosticStatus()
    stat.name = 'EtherCAT Master'
    stat.level = 0
    stat.message = 'OK'
    stat.values.append(KeyValue('Dropped Packets', '0'))
    stat.values.append(KeyValue('RX Late Packet', '0'))

    mcb_stat = DiagnosticStatus()
    mcb_stat.name = 'EtherCAT Device (my_motor)'
    mcb_stat.level = 0
    mcb_stat.values.append(KeyValue('Num encoder_errors', str(enc_errors)))

    array.header.stamp = rospy.get_rostime()
    array.status.append(stat)
    array.status.append(mcb_stat)
    
    return array