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Merge pull request #80 from plusone-robotics/add_roswtf/indigo_devel
Add a simple roswtf plugin that checks the number of connected devices
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| ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD | ||
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| from distutils.core import setup | ||
| from catkin_pkg.python_setup import generate_distutils_setup | ||
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| # fetch values from package.xml | ||
| setup_args = generate_distutils_setup( | ||
| packages=["openni2_launch"], | ||
| package_dir={'': 'src'}) | ||
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| setup(**setup_args) |
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| # Software License Agreement (BSD License) | ||
| # | ||
| # Copyright (c) 2018, PlusOne Robotics, Inc. All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions | ||
| # are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright | ||
| # notice, this list of conditions and the following disclaimer. | ||
| # * Redistributions in binary form must reproduce the above | ||
| # copyright notice, this list of conditions and the following | ||
| # disclaimer in the documentation and/or other materials provided | ||
| # with the distribution. | ||
| # * Neither the name of Plus One Robotics, Inc. nor the names of its | ||
| # contributors may be used to endorse or promote products derived | ||
| # from this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| # POSSIBILITY OF SUCH DAMAGE. | ||
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| from __future__ import print_function | ||
| import logging | ||
| import re | ||
| import subprocess | ||
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| import rospy | ||
| from roswtf.rules import warning_rule, error_rule | ||
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| def _device_notfound_subproc(id_manufacturer, id_product): | ||
| """ | ||
| @rtype: [dict] | ||
| @return: Example: | ||
| [{'device': '/dev/bus/usb/002/004', 'tag': 'Lenovo ', 'id': '17ef:305a'}, | ||
| {'device': '/dev/bus/usb/002/001', 'tag': 'Linux Foundation 3.0 root hub', 'id': '1d6b:0003'}, | ||
| {'device': '/dev/bus/usb/001/006', 'tag': 'Validity Sensors, Inc. ', 'id': '138a:0090'},,,] | ||
| @note: This method depends on Linux command (via subprocess), which makes | ||
| this command platform-dependent. Ubuntu Xenial onward, a Python module | ||
| that encapsulate platform operation becomes available so this method | ||
| can be wiped out. See https://github.com/ros-drivers/openni2_camera/pull/80#discussion_r193295442 | ||
| """ | ||
| device_re = re.compile("Bus\s+(?P<bus>\d+)\s+Device\s+(?P<device>\d+).+ID\s(?P<id>\w+:\w+)\s(?P<tag>.+)$", re.I) | ||
| df = subprocess.check_output("lsusb") | ||
| devices = [] | ||
| for i in df.split('\n'): | ||
| if i: | ||
| info = device_re.match(i) | ||
| if info: | ||
| dinfo = info.groupdict() | ||
| logging.debug("dinfo: {}, dinfo.id: {}".format(dinfo, dinfo["id"])) | ||
| if dinfo["id"] == "{}:{}".format(id_manufacturer, id_product): | ||
| dinfo['device'] = "/dev/bus/usb/{}/{}".format(dinfo.pop('bus'), dinfo.pop('device')) | ||
| devices.append(dinfo) | ||
| logging.info("#devices: {}\ndevices: {}".format(len(devices), devices)) | ||
| return devices | ||
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| def sensor_notfound(ctx): | ||
| """ | ||
| @summary: Check if expected number of sensors are found. | ||
| Expected number of sensors can be set by | ||
| ROS Parameter 'openni2_num_sensors_expected'. | ||
| @note: Technically this can be static check, but because of the | ||
| need for connecting to ROS Param server, this needs | ||
| to be online check. | ||
| """ | ||
| errors = [] | ||
| num_sensors_expected = rospy.get_param("openni2_num_sensors_expected", 1) | ||
| # The set of manufacture id and prod id. Default: Asus Xtion. | ||
| id_manufacturer = rospy.get_param("id_manufacturer", "1d27") | ||
| id_product = rospy.get_param("id_product", "0601") | ||
| devices = _device_notfound_subproc( | ||
| id_manufacturer=id_manufacturer, id_product=id_product) | ||
| num_sensors = len(devices) | ||
| if num_sensors != num_sensors_expected: | ||
| errors.append("{} openni2 sensors found (expected: {}).".format( | ||
| num_sensors, num_sensors_expected)) | ||
| return errors | ||
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| # app_warnings and app_errors declare the rules that we actually check | ||
| app_warnings_online = [ | ||
| ] | ||
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| app_warnings_static = [ | ||
| ] | ||
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| app_errors_online = [ | ||
| (sensor_notfound, "Different number of openni2 sensors found."), | ||
| ] | ||
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| app_errors_static = [ | ||
| ] | ||
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| # roswtf entry point for online checks | ||
| def roswtf_plugin_online(ctx): | ||
| for r in app_warnings_online: | ||
| warning_rule(r, r[0](ctx), ctx) | ||
| for r in app_errors_online: | ||
| error_rule(r, r[0](ctx), ctx) | ||
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| def roswtf_plugin_static(ctx): | ||
| for r in app_warnings_static: | ||
| warning_rule(r, r[0](ctx), ctx) | ||
| for r in app_errors_static: | ||
| error_rule(r, r[0](ctx), ctx) |