Fix failing import in test (See CI failure https://github.com/kinu-garage/linux_peripheral_interfaces/actions/runs/4242516401/jobs/7374123303#step:4:480)

Fix failing test (https://github.com/kinu-garage/linux_peripheral_interfaces/actions/runs/4261908716/jobs/7416781435)

Author: 130s

computer_hw/package.xml

@@ -21,5 +21,6 @@
   <exec_depend>diagnostic_aggregator</exec_depend>
   <exec_depend>libsensors_monitor</exec_depend>
   <exec_depend>rospy</exec_depend>
+  <test_depend>roslib</test_depend>
 
 </package>

computer_hw/src/computer_hw/nvidia_temperature_monitor.py

@@ -34,7 +34,7 @@
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 import rospy
 
-from computer_hw.gpu_util import Nvidia_GPU_Stat
+from computer_hw.gpu_util import GPUStatusHandler
 
 
 class NVidiaTempMonitor(object):
@@ -55,7 +55,7 @@ def gpu_status_to_diag(gpu_stat):
         stat.values.append(KeyValue(key='Display',              value = gpu_stat.display))
         stat.values.append(KeyValue(key='Driver Version',       value = gpu_stat.driver_version))
         stat.values.append(KeyValue(key='Temperature (C)',      value = '%.0f' % gpu_stat.temperature))
-        stat.values.append(KeyValue(key='Fan Speed (RPM)',      value = '%.0f' % _rads_to_rpm(gpu_stat.fan_speed)))
+        stat.values.append(KeyValue(key='Fan Speed (RPM)',      value = '%.0f' % GPUStatusHandler.rads_to_rpm(gpu_stat.fan_speed)))
         stat.values.append(KeyValue(key='Usage (%)',            value = '%.0f' % gpu_stat.gpu_usage))
         stat.values.append(KeyValue(key='Memory (%)',           value = '%.0f' % gpu_stat.memory_usage))
 
@@ -111,33 +111,33 @@ def pub_status(self):
 def parse_smi_output(output):
     gpu_stat = GPUStatus()
 
-    gpu_stat.product_name   = _find_val(output, 'Product Name')
-    gpu_stat.pci_device_id  = _find_val(output, 'PCI Device/Vendor ID')
-    gpu_stat.pci_location   = _find_val(output, 'PCI Location ID')
-    gpu_stat.display        = _find_val(output, 'Display')
-    gpu_stat.driver_version = _find_val(output, 'Driver Version')
+    gpu_stat.product_name   = GPUStatusHandler._find_val(output, 'Product Name')
+    gpu_stat.pci_device_id  = GPUStatusHandler._find_val(output, 'PCI Device/Vendor ID')
+    gpu_stat.pci_location   = GPUStatusHandler._find_val(output, 'PCI Location ID')
+    gpu_stat.display        = GPUStatusHandler._find_val(output, 'Display')
+    gpu_stat.driver_version = GPUStatusHandler._find_val(output, 'Driver Version')
 
     TEMPERATURE_QUERIES = ["Temperature", "GPU Current Temp"]
     for query in TEMPERATURE_QUERIES:
-        temp_str = _find_val(output, query)
+        temp_str = GPUStatusHandler._find_val(output, query)
         if temp_str:
-            temp, units = temp_str.split()
+            temp = temp_str.split()[0]
             gpu_stat.temperature = int(temp)
             break
 
-    fan_str = _find_val(output, 'Fan Speed')
+    fan_str = GPUStatusHandler._find_val(output, 'Fan Speed')
     if fan_str:
         # Fan speed in RPM
-        fan_spd = float(fan_str.strip('\%').strip()) * 0.01 * MAX_FAN_RPM
+        fan_spd = float(fan_str.strip('\%').strip()) * 0.01 * GPUStatusHandler._MAX_FAN_RPM
         # Convert fan speed to Hz
-        gpu_stat.fan_speed = _rpm_to_rads(fan_spd)
+        gpu_stat.fan_speed = GPUStatusHandler.rpm_to_rads(fan_spd)
 
-    usage_str = _find_val(output, 'GPU')
+    usage_str = GPUStatusHandler._find_val(output, 'GPU')
     if usage_str:
         usage = usage_str.strip('\%').strip()
         gpu_stat.gpu_usage = int(usage)
 
-    mem_str = _find_val(output, 'Memory')
+    mem_str = GPUStatusHandler._find_val(output, 'Memory')
     if mem_str:
         mem = mem_str.strip('\%').strip()
         gpu_stat.memory_usage = int(mem)

computer_hw/test/parse_test.py

@@ -42,7 +42,10 @@
 import sys
 import unittest
 
+import roslib
+
 import computer_hw
+from computer_hw.nvidia_temperature_monitor import NVidiaTempMonitor, parse_smi_output
 
 TEXT_PATH = 'test/sample_output/nvidia_smi_out_2021.txt'
 TEXT_HIGH_TEMP_PATH = 'test/sample_output/nvidia_smi_high_temp.txt'
@@ -58,7 +61,7 @@ def setUp(self):
             self.high_temp_data = f.read()
 
     def test_parse(self):
-        gpu_stat = computer_hw.parse_smi_output(self.data)
+        gpu_stat = parse_smi_output(self.data)
 
         # Check valid
         self.assert_(self.data, "Unable to read sample output, no test to run")
@@ -73,12 +76,12 @@ def test_parse(self):
         self.assert_(gpu_stat.temperature > 40 and gpu_stat.temperature < 90, "Invalid temperature readings. Temperature: %d" % gpu_stat.temperature)
         self.assert_(gpu_stat.fan_speed > 0 and gpu_stat.fan_speed < 471, "Invalid fan speed readings. Fan Speed %f" % gpu_stat.fan_speed)
 
-        diag_stat = computer_hw.gpu_status_to_diag(gpu_stat)
+        diag_stat = NVidiaTempMonitor.gpu_status_to_diag(gpu_stat)
 
         self.assert_(diag_stat.level == 0, "Diagnostics reports an error for nominal input. Message: %s" % diag_stat.message)
 
     def test_high_temp_parse(self):
-        gpu_stat = computer_hw.parse_smi_output(self.high_temp_data)
+        gpu_stat = parse_smi_output(self.high_temp_data)
 
         # Check valid
         self.assert_(self.high_temp_data, "Unable to read sample output, no test to run")
@@ -93,17 +96,17 @@ def test_high_temp_parse(self):
         self.assert_(gpu_stat.temperature > 90, "Invalid temperature readings. Temperature: %d" % gpu_stat.temperature)
         self.assert_(gpu_stat.fan_speed > 0 and gpu_stat.fan_speed < 471, "Invalid fan speed readings. Fan Speed %s" % gpu_stat.fan_speed)
 
-        diag_stat = computer_hw.gpu_status_to_diag(gpu_stat)
+        diag_stat = NVidiaTempMonitor.gpu_status_to_diag(gpu_stat)
 
         self.assert_(diag_stat.level == 1, "Diagnostics didn't report warning for high temp input. Level %d, Message: %s" % (diag_stat.level, diag_stat.message))
 
 
     def test_empty_parse(self):
-        gpu_stat = computer_hw.parse_smi_output('')
+        gpu_stat = parse_smi_output('')
 
         self.assert_(gpu_stat.temperature == 0, "Invalid temperature reading. Should be 0. Reading: %d" % gpu_stat.temperature)
 
-        diag_stat = computer_hw.gpu_status_to_diag(gpu_stat)
+        diag_stat = NVidiaTempMonitor.gpu_status_to_diag(gpu_stat)
 
         self.assert_(diag_stat.level == 2, "Diagnostics didn't reports an error for empty input. Level: %d, Message: %s" % (diag_stat.level, diag_stat.message))