text: #!/usr/bin/env python
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  ##\author Kevin Watts
  ##\brief Publishes diagnostic data on temperature and usage for a Quadro 600 GPU
  
  from __future__ import with_statement, division
  
  PKG = 'pr2_computer_monitor'
  import roslib
  
  import rospy
  
  from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
  from pr2_msgs.msg import GPUStatus
  
  import spencer_diagnostics
  
  class NVidiaTempMonitor(object):
      def __init__(self):
          self._pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=3)
          self._gpu_pub = rospy.Publisher('gpu_status', GPUStatus, queue_size=3)
  
      def pub_status(self):
          gpu_stat = GPUStatus()
          stat = DiagnosticStatus()
          try:
              card_out = spencer_diagnostics.get_gpu_status()
              gpu_stat = spencer_diagnostics.parse_smi_output(card_out)
              stat = spencer_diagnostics.gpu_status_to_diag(gpu_stat)
          except Exception, e:
              import traceback
              rospy.logerr('Unable to process nVidia GPU data')
              rospy.logerr(traceback.format_exc())
  
          gpu_stat.header.stamp = rospy.get_rostime()
  
          array = DiagnosticArray()
          array.header.stamp = rospy.get_rostime()
          
          array.status = [ stat ]
  
          self._pub.publish(array)
          self._gpu_pub.publish(gpu_stat)
  
  if __name__ == '__main__':
      rospy.init_node('nvidia_temp_monitor')
      
      monitor = NVidiaTempMonitor()
      my_rate = rospy.Rate(1.0)
      while not rospy.is_shutdown():
          monitor.pub_status()
          my_rate.sleep()
  
                          
  