Merge pull request #980 from aginika/add-master-came-from

[jsk_tools] Add Checker for where rosmaster came from

jsk_tools/src/jsk_tools/sanity_lib.py

@@ -337,3 +337,36 @@ def checkBlackListDaemon(daemon_names, kill=False):
 
         else:
             okMessage("No BAD Daemon " + daemon_name + " found.")
+
+class ROSMasterChecker():
+    def __init__(self):
+        self.rosmater_pid = None
+        self.cur_tracking_pid = None
+
+    def getProcessNameFromPID(self, pid):
+        return subprocess.check_output("ps -p  %s -o comm= " % (str(pid)), shell=True).strip("\n")
+
+    def getParentPID(self, pid):
+        return subprocess.check_output("ps -p  " + str(pid) + " -oppid= ", shell=True).strip("\n")
+
+    def getMasterPID(self):
+        self.rosmaster_pid = subprocess.check_output("sudo ps aux | grep rosmaster | cut -f 3 -d ' ' |  sed -n '1p'", shell=True).strip("\n")
+
+    def checkIsFromRoscore(self):
+        self.getMasterPID()
+        self.cur_tracking_pid = self.rosmaster_pid
+        cur_tracking_pname = self.getProcessNameFromPID(self.cur_tracking_pid)
+        while not cur_tracking_pname in [ "bash", "gnome-terminal"]:
+            cur_tracking_pname = self.getProcessNameFromPID(self.cur_tracking_pid)
+            if cur_tracking_pname == "roslaunch":
+                errorMessage("This rosmaster is generated by ROSLAUNCH !!")
+                return False
+            self.cur_tracking_pid = self.getParentPID(self.cur_tracking_pid)
+        else:
+            okMessage("This rosmaster is generated by roscore")
+            return True
+
+def checkROSCoreROSMaster():
+    indexMessage("Check ROSmaster came from roscore")
+    rmc = ROSMasterChecker()
+    rmc.checkIsFromRoscore()