-
Notifications
You must be signed in to change notification settings - Fork 11
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Add node preventing start of incorrect hardware (#147)
- Loading branch information
Showing
4 changed files
with
120 additions
and
38 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,69 @@ | ||
| #!/usr/bin/python3 | ||
|
|
||
| import click | ||
| import os | ||
| import textwrap | ||
|
|
||
| import rospy | ||
| import rospkg | ||
|
|
||
|
|
||
| class WelcomMsgNode: | ||
| PANTHER_TEXT = ''' | ||
| ____ _ _ | ||
| | _ \ __ _ _ __ | |_| |__ ___ _ __ | ||
| | |_) / _` | '_ \| __| '_ \ / _ \ '__| | ||
| | __/ (_| | | | | |_| | | | __/ | | ||
| |_| \__,_|_| |_|\__|_| |_|\___|_| | ||
| ''' | ||
| ERROR_MESSAGE = ''' | ||
| OS detected incorrect hardware. ROS nodes are prevented from starting! | ||
| Refer to instructions in manual or those shown on terminal login. | ||
| ''' | ||
|
|
||
| def __init__(self, name: str) -> None: | ||
| rospy.init_node(name, anonymous=False) | ||
|
|
||
| correct_hw_env = os.environ.get('PANTHER_HW_CONFIG_CORRECT') | ||
|
|
||
| exit_on_wrong_hw = rospy.get_param('~exit_on_wrong_hw', True) | ||
|
|
||
| rospack = rospkg.RosPack() | ||
| stats_to_show = { | ||
| 'Serial number': rospy.get_param('/panther/serial_no', '----'), | ||
| 'Robot version': rospy.get_param('/panther/robot_version', '1.0'), | ||
| 'ROS driver version': rospack.get_manifest('panther').version, | ||
| 'Website': 'https://husarion.com', | ||
| 'Support': 'https://community.husarion.com/', | ||
| 'Bugtracker': 'https://github.com/husarion/panther_ros/issues', | ||
| } | ||
|
|
||
| pth_txt = textwrap.dedent(WelcomMsgNode.PANTHER_TEXT) | ||
| stats_msg = click.style(pth_txt, bold=True) + ''.join( | ||
| [f'{click.style(name, bold=True)}: {value}\n' for name, value in stats_to_show.items()] | ||
| ) | ||
| rospy.loginfo(f'[{rospy.get_name()}] Panther statistics: {stats_msg}') | ||
|
|
||
| if not correct_hw_env or correct_hw_env.lower() == 'false': | ||
| for msg in textwrap.dedent(WelcomMsgNode.ERROR_MESSAGE).strip('\n').split('\n'): | ||
| rospy.logerr(f'[{rospy.get_name()}] {msg}') | ||
|
|
||
| if exit_on_wrong_hw: | ||
| rospy.signal_shutdown('Panther configuration is incorrect!') | ||
| return | ||
|
|
||
| else: | ||
| rospy.loginfo(f'[{rospy.get_name()}] Panther configuration is correct') | ||
|
|
||
|
|
||
| def main(): | ||
| welcome_msg_node = WelcomMsgNode('welcome_msg_node') | ||
| rospy.spin() | ||
|
|
||
|
|
||
| if __name__ == '__main__': | ||
| try: | ||
| main() | ||
| except rospy.ROSInterruptException: | ||
| pass |