pretty and add update map

README.md

@@ -0,0 +1,11 @@
+# system_monitor
+xiaoqiang system monitor. This program publishs current status of xiaoqiang to ```/system_monitor/report```. It also monitors the voltage of battery, and shutdown the system when battery is low.
+
+
+Made with :heart: by BlueWhale Tech corp.
+
+
+小强系统监控程序。这个程序把小强的当前状态发布到```/system_monitor/report``` topic中。同时此程序还会监控电池的电压，如果电压过低就会自动关闭整个系统。  
+
+
+由蓝鲸科技精 :heart: 制作。

broadcast.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-#coding:utf-8
+# coding:utf-8
 
 import rospy
 from std_msgs.msg import String, UInt32, Float64, Bool
@@ -13,10 +13,10 @@
 from socket import *
 import commands
 
-HOST = ''#should not be 127.0.0.1 or localhost
-UserSocket_port=20001  #局域网udp命令监听端口
-UserSocket_remote=None
-UserSerSocket=None;
+HOST = ''  # should not be 127.0.0.1 or localhost
+UserSocket_port = 20001  # 局域网udp命令监听端口
+UserSocket_remote = None
+UserSerSocket = None
 BUFSIZE = 1024
 
 PACKAGE_HEADER = [205, 235, 215]
@@ -37,22 +37,24 @@
 
 dataCache = []
 
+
 def getDataFromReq(req):
     pass
 
+
 def unpackReq(req):
     global dataCache
     res = []
     packageList = splitReq(req)
     # process the first package
     completeData = dataCache + packageList[0]
     packageList.remove(packageList[0])
-    packageList =  splitReq(completeData) + packageList
+    packageList = splitReq(completeData) + packageList
 
     for count in range(0, len(packageList)):
         if len(packageList[count]) != 0 and len(packageList[count]) == packageList[count][0] + 1:
             res.append(packageList[count][1:])
-    lastOne = packageList[-1:][0] # the last one
+    lastOne = packageList[-1:][0]  # the last one
     if len(lastOne) == 0 or len(lastOne) != lastOne[0] + 1:
         dataCache = lastOne
     return res
@@ -66,6 +68,7 @@ def findPackageHeader(req):
             return count
     return -1
 
+
 def splitReq(req):
     res = []
     startIndex = 0
@@ -79,11 +82,12 @@ def splitReq(req):
     res.append(req[startIndex:])
     return res
 
+
 def parseData(cmds):
     res = None
     for count in range(0, len(cmds)):
-        #判断是否为关机命令
-        if cmds[count][0]==0xaa and cmds[count][1]==0x44:
+        # 判断是否为关机命令
+        if cmds[count][0] == 0xaa and cmds[count][1] == 0x44:
             print "system poweroff"
             status, output = commands.getstatusoutput('sudo shutdown -h now')
         # cmds[count][0] 为目标编号,取值为0到127
@@ -93,51 +97,53 @@ def parseData(cmds):
         # todo 发布目标编号
         # todo 发布目标编号
 
-
-
-
-        #only for debug
-        print "TargetNum %d" %(cmds[count][0])
-        print "MoveSpeed %d" %(cmds[count][1])
+        # only for debug
+        print "TargetNum %d" % (cmds[count][0])
+        print "MoveSpeed %d" % (cmds[count][1])
     return res
 
+
 class UserSer(threading.Thread):
-    #接收udp命令的socket
+    # 接收udp命令的socket
     def __init__(self):
-        global HOST,CarSocket_port,UserSocket_port,CarSocket_remote,UserSocket_remote,CarSerSocket,UserSerSocket,BUFSIZE
+        global HOST, CarSocket_port, UserSocket_port, CarSocket_remote, UserSocket_remote, CarSerSocket, UserSerSocket, BUFSIZE
         super(UserSer, self).__init__()
         self._stop = threading.Event()
-        UserSerSocket=socket(AF_INET, SOCK_DGRAM)
-        UserSerSocket.bind((HOST,UserSocket_port))
+        UserSerSocket = socket(AF_INET, SOCK_DGRAM)
+        UserSerSocket.bind((HOST, UserSocket_port))
+
     def stop(self):
-        global HOST,CarSocket_port,UserSocket_port,CarSocket_remote,UserSocket_remote,CarSerSocket,UserSerSocket,BUFSIZE
-        if UserSerSocket!=None:
+        global HOST, CarSocket_port, UserSocket_port, CarSocket_remote, UserSocket_remote, CarSerSocket, UserSerSocket, BUFSIZE
+        if UserSerSocket != None:
             UserSerSocket.close()
         self._stop.set()
 
     def stopped(self):
-        global HOST,CarSocket_port,UserSocket_port,CarSocket_remote,UserSocket_remote,CarSerSocket,UserSerSocket,BUFSIZE
+        global HOST, CarSocket_port, UserSocket_port, CarSocket_remote, UserSocket_remote, CarSerSocket, UserSerSocket, BUFSIZE
         return self._stop.isSet()
 
     def run(self):
-        global HOST,CarSocket_port,UserSocket_port,CarSocket_remote,UserSocket_remote,CarSerSocket,UserSerSocket,BUFSIZE
+        global HOST, CarSocket_port, UserSocket_port, CarSocket_remote, UserSocket_remote, CarSerSocket, UserSerSocket, BUFSIZE
         while not self.stopped() and not rospy.is_shutdown():
             data, UserSocket_remote = UserSerSocket.recvfrom(BUFSIZE)
             #print "UserSocket get data"
-            if not data: break
-            #rospy.loginfo(data)
+            if not data:
+                break
+            # rospy.loginfo(data)
             dataList = []
             for c in data:
                 dataList.append(ord(c))
-            parseData(unpackReq(dataList))  ##处理命令数据
-        self.stop();
+            parseData(unpackReq(dataList))  # 处理命令数据
+        self.stop()
+
 
 def getPower(power):
     mStatusLock.acquire()
     mStatus.power = power.data
-    #if power.data < powerLow and not os.path.isfile(powerFlagFilePath) and power.data > 0.1:
+    # if power.data < powerLow and not os.path.isfile(powerFlagFilePath) and power.data > 0.1:
     mStatusLock.release()
 
+
 def getOrbTrackingFlag(cam_pose):
     mStatusLock.acquire()
     if cam_pose != None:
@@ -146,6 +152,7 @@ def getOrbTrackingFlag(cam_pose):
         mStatus.orbInitStatus = False
     mStatusLock.release()
 
+
 def broadcast():
     global reportPub
     rospy.init_node("broadcast", anonymous=True)
@@ -156,27 +163,27 @@ def broadcast():
 if __name__ == "__main__":
     broadcast()
     rate = rospy.Rate(1)
-    #配置udp广播
-    MYPORT = 22001  #广播端口
+    # 配置udp广播
+    MYPORT = 22001  # 广播端口
     s = socket(AF_INET, SOCK_DGRAM)
     s.bind(('', 0))
     s.setsockopt(SOL_SOCKET, SO_BROADCAST, 1)
-    #开启udp接收监听线程
+    # 开启udp接收监听线程
     UserSerThread = UserSer()
     UserSerThread.start()
     while not rospy.is_shutdown():
 
-        #每秒广播一次电压和ORB_SLAM tracker 状态
+        # 每秒广播一次电压和ORB_SLAM tracker 状态
         if(mStatus.orbInitStatus):
             data = "xq%5.2f1" % mStatus.power
         else:
             data = "xq%5.2f0" % mStatus.power
-        #发送广播包
+        # 发送广播包
         s.sendto(data, ('<broadcast>', MYPORT))
 
-        #持续反馈状态
-        if UserSocket_remote!=None and UserSerSocket!=None:
-            UserSerSocket.sendto(data,UserSocket_remote)
+        # 持续反馈状态
+        if UserSocket_remote != None and UserSerSocket != None:
+            UserSerSocket.sendto(data, UserSocket_remote)
 
         # clear data
         mStatus.power = 0.0

monitor.py

@@ -28,13 +28,15 @@
 powerLow = 9.8
 
 mStatusLock = threading.Lock()
-power_last=0
+power_last = 0
+
 
 def getBrightness(brightness):
     mStatusLock.acquire()
     mStatus.brightness = brightness.data
     mStatusLock.release()
 
+
 def getImage(image):
     mStatusLock.acquire()
     if image != None:
@@ -43,25 +45,28 @@ def getImage(image):
         mStatus.imageStatus = False
     mStatusLock.release()
 
+
 def getPower(power):
-    global power_last,lower_nums
+    global power_last, lower_nums
 
     mStatusLock.acquire()
-    if mStatus.power<0.1:
-        power_last=power.data
-    if power_last< power.data+0.7 and power_last> power.data-0.7:
+    if mStatus.power < 0.1:
+        power_last = power.data
+    if power_last < power.data + 0.7 and power_last > power.data - 0.7:
         mStatus.power = power.data
-        if power.data < powerLow and power.data > 12.0: #and not os.path.isfile(powerFlagFilePath)
+        # and not os.path.isfile(powerFlagFilePath)
+        if power.data < powerLow and power.data > 12.0:
             #flagFile = open(powerFlagFilePath, "w+")
-            #flagFile.write(str(power.data))
-            #flagFile.close()
-            lower_nums+=1
+            # flagFile.write(str(power.data))
+            # flagFile.close()
+            lower_nums += 1
 #            if lower_nums>100:
 #                status, output = commands.getstatusoutput('sudo shutdown -h now')
-    lower_nums=0
-    power_last=power.data
+    lower_nums = 0
+    power_last = power.data
     mStatusLock.release()
 
+
 def getOdom(odom):
     mStatusLock.acquire()
     if odom != None:
@@ -70,6 +75,7 @@ def getOdom(odom):
         mStatus.odomStatus = False
     mStatusLock.release()
 
+
 def getOrbStartStatus(orb_frame):
     mStatusLock.acquire()
     if orb_frame != None:
@@ -78,6 +84,7 @@ def getOrbStartStatus(orb_frame):
         mStatus.orbStartStatus = False
     mStatusLock.release()
 
+
 def getOrbTrackingFlag(cam_pose):
     mStatusLock.acquire()
     if cam_pose != None:
@@ -86,6 +93,7 @@ def getOrbTrackingFlag(cam_pose):
         mStatus.orbInitStatus = False
     mStatusLock.release()
 
+
 def getOrbScaleStatus(flag):
     mStatusLock.acquire()
     mStatus.orbScaleStatus = flag.data
@@ -102,8 +110,7 @@ def monitor():
     rospy.Subscriber("/xqserial_server/Odom", Odometry, getOdom)
     rospy.Subscriber("/ORB_SLAM/Camera", Pose, getOrbTrackingFlag)
     rospy.Subscriber("/orb_scale/scaleStatus", Bool, getOrbScaleStatus)
-    reportPub = rospy.Publisher('/system_monitor/report', Status , queue_size
-=0)
+    reportPub = rospy.Publisher('/system_monitor/report', Status, queue_size=0)
 
 
 if __name__ == "__main__":
@@ -112,7 +119,7 @@ def monitor():
 
     while not rospy.is_shutdown():
         mStatusLock.acquire()
-        if reportPub !=  "":
+        if reportPub != "":
             reportPub.publish(mStatus)
         # clear data
         mStatus.brightness = 0