progress, not rm container while debugging to keep logs

plib/safetyShutdown.py

@@ -71,8 +71,10 @@ def main():
   str_to_log = "'Starting safetyShutdown.py at {:.2f} volts.'".format(egpg.volt()+battery.REV_PROTECT_DIODE)
   os.system("/home/pi/GoPi5Go/utils/logMaintenance.py " + str_to_log)
 
-  try:
-    while True:
+  doloop = True
+
+  while doloop:
+      try:
         status.printStatus(egpg)
         if (battery.too_low(egpg)):
             batteryLowCount += 1
@@ -109,15 +111,23 @@ def main():
           sys.exit(0)
         time.sleep(10)    # check battery status every 10 seconds
                           # important to make four checks low V quickly
-    #end while
-  except SystemExit:
-    print("safetyShutdown.py: exiting")
-
-  except Exception as e:
-      print("safetyShutdown.py exiting with exception: ",type(e).__name__,",",str(e))
-      str_to_log="Exiting with Exception "+type(e).__name__+": "+str(e)+"\n"
-      print(str_to_log)
-      lifeLog.logger.info(str_to_log)
+      except SystemExit:
+          doloop = False
+
+      except Exception as e:
+          print("safetyShutdown.py exception: ",type(e).__name__,",",str(e))
+          str_to_log="Continuing after Exception "+type(e).__name__+": "+str(e)
+          print(str_to_log)
+          lifeLog.logger.info(str_to_log)
+
+      #end try
+  #end while
+  print("safetyShutdown.py: exiting")
+  str_to_log="Normal Exit"
+  lifeLog.logger.info(str_to_log)
+
+
+
 if __name__ == "__main__":
     main()
 

ros2ws/run_docker_detached_gopi5goROS2.sh

@@ -4,7 +4,7 @@
 
 
 cd /home/pi/GoPi5Go/ros2ws
-# --rm    remove container after running
+# --rm \    remove container after running
 # Prob not need
 # --device /dev/gpiochip4 \
 
@@ -18,6 +18,5 @@ docker run -dt --net=host \
  -e TZ=America/New_York \
  -w /home/pi/GoPi5Go/ros2ws \
  --privileged \
- --rm \
  --name gopi5goROS2 \
  gopi5gor2hdp

ros2ws/src/gopi5go_dave/gopi5go_dave/dave_node.py

@@ -284,7 +284,7 @@ def dave_main_cb(self):
                     try:
                         # Announce Undocking with say service
                         if self.say_svc_client.service_is_ready():
-                            sayMsg = "charging at {:.0f} mA, calling undock service ".format(self.battery_state.milliamps)
+                            sayMsg = "charging at {:d} milliamps, calling undock service ".format(int(abs(self.battery_state.milliamps)))
                             self.send_say_svc_req(sayMsg)
                     except Exception as e:
                         dtstr = dt.datetime.now().strftime(DT_FORMAT)
@@ -340,7 +340,7 @@ def dave_main_cb(self):
                     try:
                         # Announce Docking with say service
                         if self.say_svc_client.service_is_ready():
-                            sayMsg = "battery_status.volts {:.1f}v calling dock service ".format(self.battery_state.volts)
+                            sayMsg = "battery at {:.1f} volts, calling dock service ".format(self.battery_state.volts)
                             self.send_say_svc_req(sayMsg)
                     except Exception as e:
                         dtstr = dt.datetime.now().strftime(DT_FORMAT)

ros2ws/src/gopi5go_dave/gopi5go_dave/say_node.py

@@ -99,21 +99,26 @@ def say_cb(self, request, response):
         audio = voice.synthesize(text,wav_file)
         if DEBUG:
             dtstr = dt.datetime.now().strftime(DT_FORMAT)
-            print(dtstr,"say_node: file written, speaking phrase")
+            print(dtstr,"say_node: file written, calling aplay")
 
         # subprocess.check_output(['aplay -D plughw:2,0 -r 22050 -f S16_LE ' + filename], stderr=subprocess.STDOUT, shell=True)
-        os.system('aplay -D plughw:2,0 -r 22050 -f S16_LE ' + filename)
-
+        try:
+            os.system('aplay -D plughw:2,0 -r 22050 -f S16_LE ' + filename)
+            response.spoken = True
+        except Exception as e:
+            logStr = "Exception: {}".format(str(e))
+            self.get_logger().info(logStr)
+            response.spoken = False
         if DEBUG:
             dtstr = dt.datetime.now().strftime(DT_FORMAT)
             print(dtstr,"say_node: after aplay")
 
-        os.remove(filename)
-        if DEBUG:
-            dtstr = dt.datetime.now().strftime(DT_FORMAT)
-            print(dtstr,"say_node: file removed")
+        if os.path.isfile(filename):  
+            os.remove(filename)
+            if DEBUG:
+                dtstr = dt.datetime.now().strftime(DT_FORMAT)
+                print(dtstr,"say_node: file removed")
 
-        response.spoken = True
         self.logger.info(text + " - spoken: " + str(response.spoken) )
 
         return response

utils/what_uses.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+# FILE:  what_uses.sh
+# USAGE:  ./what_uses.sh "pattern"
+
+if [ "$#" -ne 1 ] ;
+	then echo "Usage:  ./what_uses.sh \"import xyz\" "
+	exit
+fi
+echo "Searching to find what Python files use \"$1\" "
+grep -r --include "*.py" "$1" .