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Commit 9aa3e405 authored by Jack Henderson's avatar Jack Henderson
Browse files

update ptp mon

parent c31ec198
#!/usr/bin/env python3
#!/usr/bin/env python
import os
import rospy
......@@ -11,6 +11,7 @@ class PtpMonitor:
def __init__(self):
rospy.init_node('ptp_monitor')
self.diagnostics = diagnostic_updater.Updater()
self.diagnostics.setHardwareID('none')
task = diagnostic_updater.CompositeDiagnosticTask("PTP")
task.addTask(diagnostic_updater.FunctionDiagnosticTask("PTP Stats", self.update_stats))
task.addTask(diagnostic_updater.FunctionDiagnosticTask("Clock sync check", self.check_sync_bounds))
......@@ -61,6 +62,7 @@ class PtpMonitor:
self.port_state = data['Port state']
self.offset = float(data.get('Offset from Master', '0').split(' ')[0])
self.clock_correction = float(data.get('Clock correction', '0').split(' ')[0])
stat.summary(diagnostic_msgs.msg.DiagnosticStatus.OK, "PTP is connected")
else:
stat.summary(diagnostic_msgs.msg.DiagnosticStatus.ERROR, "PTPD is not connected to master")
else:
......
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