WIP: a standalone script to check device connection status.

realsense2_camera/scripts/rs_status.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python
+
+# Copyright (c) 2019, Plus One Robotics, Inc. All rights reserved.
+
+import datetime
+import logging
+import re
+import subprocess
+## These usb.* depend on python-usb package on Ubuntu, which is not installed
+## by default on Ubuntu.
+#import usb.core
+#import usb.util
+import time
+
+
+class RealsenseAccessor():
+    ID_VENDOR = "8086"
+    ID_PRODUCT = "0ad3"
+    MSG_ = ""
+
+    def __init__(self):
+        self.devs = None
+        logging.basicConfig(filename='realsense.log', level=logging.DEBUG)
+        logging.info("---- Realsense status check ran at {} ----".format(datetime.datetime.fromtimestamp(time.time()).strftime('%Y%m%d%H%M%S')))
+
+    def _device_notfound_subproc(self, 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 doesn't depend on special library and should run on generic
+            Linux installation (although tested on Ubuntu only as of Apr 2019). 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
+
+    def _find_usb_device(self):
+        """
+        @deprecated: Needs tested.
+        @summary: Search Realsense in USB level. Equivalent to 'lsusb' command
+            on Linux. This method is meant to be called by other public methods everytime
+            they get called, as USB status can change during runtime.
+        """
+        dev = usb.core.find(idVendor=self.ID_VENDOR, idProduct=self.ID_PRODUCT)
+        if dev:
+            logging.info("USB device found: ", dev)
+            self.dev = dev
+        else:
+            raise IOError("USB connection to Realsense is not found. Make sure it is plugged to the USB port.")
+
+    def _find_usb_device_nopyusb(self):
+        devices = self._device_notfound_subproc(self.ID_VENDOR, self.ID_PRODUCT)
+        if devices:
+            print("Num of USB device(s) found: {}".format(len(devices)))
+            self.devs = devices
+        else:
+            raise IOError("USB connection to Realsense is not found. Make sure it is plugged to the USB port.")
+
+    def status_usb(self):
+        try:
+            self._find_usb_device_nopyusb()
+            return True
+        except Exception as e:
+            logging.error(str(e))
+            return False
+
+    def status_serial_number(self):
+        """
+        @summary: See if serial number(s) are found using Realsense' utility 
+            called 'rs-enumerate-devices'.
+        """
+        ps = subprocess.Popen(("rs-enumerate-devices"), stdout=subprocess.PIPE)
+        output = subprocess.check_output(('grep', "-i", "serial"), stdin=ps.stdout)
+        ps.wait()
+        logging.info(output)
+
+    def status_usb_type(self):
+        ps = subprocess.Popen(("rs-enumerate-devices"), stdout=subprocess.PIPE)
+        output = subprocess.check_output(('grep', "Usb Type Descriptor"), stdin=ps.stdout)
+        ps.wait()
+        logging.info(output)
+
+    def main(self):
+        self.status_usb()
+        self.status_serial_number()
+        self.status_usb_type()
+
+if __name__ == '__main__':
+    rsa = RealsenseAccessor()
+    rsa.main()