ethercat analyzer

diagnostic_agg_analyzer.py

#!/usr/bin/env python


import csv

import rospy
from diagnostic_msgs.msg import DiagnosticArray


class DiagnosticAggAnalyzer():
    def __init__(self):
        self.subscribe()
        self.keys = ['timestamp']
        self.count = 0
        self.output_file = 'diagnostic_agg_rx_error.csv'

    def subscribe(self):
        self.sub = rospy.Subscriber("/diagnostics_agg",
                                    DiagnosticArray,
                                    self.callback,
                                    queue_size=1)

    def write_keys(self):
        with open(self.output_file, 'w') as f:
            writer = csv.writer(f)
            writer.writerow(self.keys)

    def write_values(self):
        with open(self.output_file, 'a') as f:
            writer = csv.writer(f)
            writer.writerow(self.values)

    def callback(self, msg):
        print(self.count)
        status = msg.status
        self.values = [msg.header.stamp.secs]
        for s in status:
            if 'values' not in dir(s):
                continue

            for v in s.values:
                if 'RX Error' in v.key:
                    if self.count == 0:
                        self.keys.append(s.name + ' - ' + v.key)
                    self.values.append(v.value)

        if self.count == 0:
            self.write_keys()
        self.write_values()

        self.count += 1


if __name__ == '__main__':
    rospy.init_node("diagnostic_agg_analyzer", anonymous=False)
    diagnostic_agg_analyzer = DiagnosticAggAnalyzer()
    rospy.spin()

ethtool_rx_error_analyzer.py

#!/usr/bin/env python

import csv
import re
import subprocess
import time

error_type = 'rx_crc_errors'
keys = ['timestamp', error_type]

output_file = 'ethtool_rx_error.csv'

with open(output_file, 'w') as f:
    writer = csv.writer(f)
    writer.writerow(keys)

regex = re.compile('\d+')
count = 0

while True:
    print(count)
    timestamp = int(time.time())
    p = subprocess.Popen("ethtool -S ecat0".split(),
                         stdout=subprocess.PIPE,
                         stderr=subprocess.STDOUT)

    for line in iter(p.stdout.readline, b''):
        if error_type in line:
            values = [timestamp, int(regex.findall(line)[0])]
            continue

    with open(output_file, 'a') as f:
        writer = csv.writer(f)
        writer.writerow(values)

    time.sleep(1)
    count += 1