From e61749ad8f59b27200cb0b88b605907cd07aff8f Mon Sep 17 00:00:00 2001 From: David Soto Date: Sun, 16 Apr 2017 00:21:48 -0400 Subject: [PATCH] SELF CHECK: adapt to new thruster config Also makes self check return the name of lost thrusters (#208) --- command/sub8_launch/nodes/self_check.py | 20 ++++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/command/sub8_launch/nodes/self_check.py b/command/sub8_launch/nodes/self_check.py index f209b711..a3cc7bcb 100755 --- a/command/sub8_launch/nodes/self_check.py +++ b/command/sub8_launch/nodes/self_check.py @@ -3,6 +3,7 @@ from mil_misc_tools import text_effects from twisted.internet import defer, reactor import sys +import xmlrpclib MESSAGE_TIMEOUT = 1 # s @@ -75,12 +76,15 @@ class ThrusterChecker(TemplateChecker): def tx_init(self): self.thruster_topic = self.nh.subscribe("thrusters/thruster_status", ThrusterStatus) - busses = yield self.nh.get_param("/busses") + thrusters = None + try: + thrusters = yield self.nh.get_param("/thruster_layout/thrusters") + except txros.rosxmlrpc.Error as e: + raise IOError(e.message) self.found_thrusters = {} - for bus in busses: - for thruster in bus.get("thrusters"): - self.found_thrusters[thruster] = False + for thruster_name in thrusters.keys(): + self.found_thrusters[thruster_name] = False print self.p.bold(" >>>> ").set_blue.bold("Thruster Check") @txros.util.cancellableInlineCallbacks @@ -88,12 +92,16 @@ def do_check(self): try: passed = yield txros.util.wrap_timeout(self.get_all_thrusters(), MESSAGE_TIMEOUT) except txros.util.TimeoutError: + lost_thrusters = [x[0] for x in self.found_thrusters.items() if not x[1]] + err_msg = '' if not any(self.found_thrusters.values()): self.fail_check("no messages found.") elif self.found_thrusters.values().count(False) > 1: - self.fail_check("more than one failed thruster.") + err_msg += "more than one failed thruster: {}".format(lost_thrusters) + self.fail_check(err_msg) elif self.found_thrusters.values().count(False) == 1: - self.warn_check("one thruster is out, things should still work.") + err_msg += "one thruster is out ({}), things should still work.".format(lost_thrusters) + self.warn_check(err_msg) else: self.warn_check("unknown timeout reason.")