def do_ecto():
#Set up the ecto_ros subscribers, with a dict of output name -> subscriber cell
subs = dict(image=ImageSub(topic_name='image',queue_size=0),
depth=ImageSub(topic_name='depth',queue_size=0),
)
#The synchronizer expects this dict, and will have an output foreach key:value pair
sync = ecto_ros.Synchronizer('Synchronizator', subs=subs)
#some rosmsg ~> opencv type converters
rgb = ecto_ros.Image2Mat()
depth = ecto_ros.Image2Mat()
#declare a graph that just shows the images using opencv highgui
graph = [
sync["image"] >> rgb["image"],
sync["depth"] >> depth["image"],
rgb["image"] >> imshow(name="rgb")["image"],
depth["image"] >> imshow(name="depth")["image"]
]
#add the graph to our ecto plasm
plasm = ecto.Plasm()
plasm.connect(graph)
#We'll use a threadpool based scheduler to execute this one.
sched = ecto.Scheduler(plasm)
sched.execute() #execute forever
def handle_look(self, req):
print("in look service call back")
self.sched = ecto.Scheduler(self.lookPlasm)
lock.acquire()
self.keepRun = self.sched.execute(niter=1)
lock.release()
return LookResponse(0)
def handle_load(self, req):
print "file name = ", req.fileName
self.sched = ecto.Scheduler(self.loadPlasm)
lock.acquire()
self.sched.execute(niter=1)
lock.release()
return LoadPCLResponse(0)
def __init__(self, plasm, parent=None):
super(DynamicReconfigureForm, self).__init__(parent)
self.plasm = plasm
self.setWindowTitle("Dynamic Reconfigure")
plasm.configure_all()
self.generate_dialogs()
self.sched = ecto.Scheduler(plasm)
def do_ecto(bag_name):
baggers = dict(
image=ImageBagger(topic_name='/camera/rgb/image_mono'),
depth=ImageBagger(topic_name='/camera/depth/image_raw'),
)
bagwriter = ecto_ros.BagWriter(
'Bag Writer',
baggers=baggers,
bag=bag_name,
)
subs = dict(
image=ImageSub(topic_name='/camera/rgb/image_mono', queue_size=0),
depth=ImageSub(topic_name='/camera/depth/image_raw', queue_size=0),
)
sync = ecto_ros.Synchronizer('Synchronizator', subs=subs)
im2mat_rgb = ecto_ros.Image2Mat()
im2mat_depth = ecto_ros.Image2Mat()
graph = [
sync["image"] >> im2mat_rgb["image"],
im2mat_rgb["image"] >> highgui.imshow("rgb show", name="rgb")[:],
sync[:] >> bagwriter[:], sync["depth"] >> im2mat_depth["image"],
im2mat_depth["image"] >> highgui.imshow("depth show", name="depth")[:]
]
plasm = ecto.Plasm()
plasm.connect(graph)
ecto.view_plasm(plasm)
sched = ecto.Scheduler(plasm)
sched.execute(niter=30) # capture a second.
def do_ecto():
baggers = dict(image=ImageBagger(topic_name='/camera/rgb/image_color'),
depth=ImageBagger(topic_name='/camera/depth/image'),
)
bagreader = ecto_ros.BagReader('Bag Ripper',
baggers=baggers,
bag=sys.argv[1],
)
im2mat_rgb = ecto_ros.Image2Mat()
im2mat_depth = ecto_ros.Image2Mat()
graph = [
bagreader["image"] >> im2mat_rgb["image"],
im2mat_rgb["image"] >> highgui.imshow("rgb show", name="rgb")[:],
bagreader["depth"] >> im2mat_depth["image"],
im2mat_depth["image"] >> highgui.imshow("depth show", name="depth")[:]
]
plasm = ecto.Plasm()
plasm.connect(graph)
ecto.view_plasm(plasm)
sched = ecto.Scheduler(plasm)
sched.execute()
def stoppable():
def makeplasm():
plasm = ecto.Plasm()
ping = ecto_test.Ping("Ping")
sleeps = [ecto_test.Sleep("Sleep_0", seconds=0.1) for x in range(20)]
plasm.connect(ping[:] >> sleeps[0][:])
for i in range(1, 19):
print "i=", i
plasm.connect(sleeps[i][:] >> sleeps[i + 1][:])
return plasm
p = makeplasm()
st = ecto.Scheduler(p)
assert not st.running()
start = time.time()
st.execute(1)
elapsed = time.time() - start
print "elapsed Scheduler:", elapsed
assert elapsed > 2.0
assert elapsed < 2.1
assert st.running()
start = time.time()
st.execute_async(1)
st.run()
elapsed = time.time() - start
print "elapsed Scheduler:", elapsed
assert elapsed > 2.0
assert elapsed < 2.1
def app():
cd = ClusterDetector(n=20)
cp = ClusterPrinter()
plasm = ecto.Plasm()
plasm.connect(cd['clusters'] >> cp['clusters'])
sched = ecto.Scheduler(plasm)
sched.execute(niter=3)
def scope():
p = Printer(print_type='double')
sink = Sink(url='localhost', port=2932)
plasm2 = ecto.Plasm()
plasm2.connect(sink[:] >> p[:])
sched2 = ecto.Scheduler(plasm2)
sched2.execute(10)
def handle_clean(self, req):
print "cleannig point cloude"
self.pclFunsion.params.clean = True
self.sched = ecto.Scheduler(self.cleanPlasm)
lock.acquire()
self.keepRun = self.sched.execute(niter=1)
lock.release()
self.pclFunsion.params.clean = False
return CleanPCLResponse(0)
def test_tp(niter, n_nodes):
(plasm, metrics) = makeplasm(n_nodes)
sched = ecto.Scheduler(plasm)
sched.execute(niter=niter)
print "Hz:", metrics.outputs.hz, " Latency in seconds:", metrics.outputs.latency_seconds
assert n_nodes * 0.95 < metrics.outputs.hz < n_nodes * 1.05
assert 0.9 < metrics.outputs.latency_seconds < 1.1
def do_one_st(N):
print "multithreaded test w/ quit after", N
(gen, plasm) = makeplasm(N)
sched = ecto.Scheduler(plasm)
sched.execute(niter=N + 100)
print "singlethreaded: actual out:", gen.outputs.out, " N:", N
assert N == gen.outputs.out
print "\n" * 5
def __init__(self, plasm_dict={}, disable_qt_management=False):
self.plasms = plasm_dict
self.schedulers = {}
self.threads = {}
for plasm_name in self.plasms:
self.schedulers[plasm_name] = ecto.Scheduler(self.plasms[plasm_name])
self.threads[plasm_name] = threading.Thread(name=plasm_name, target=self.schedulers[plasm_name].execute)
self.disable_qt_management = disable_qt_management
self.timer = None if disable_qt_management else QTimer()
self.counter = 0
def handle_save(self, req):
print("saving pcl to pcd file")
print("file name = ", req.fileName)
self.pclFunsion.params.save = True
self.sched = ecto.Scheduler(self.savePlasm)
lock.acquire()
self.keepRun = self.sched.execute(niter=1)
lock.release()
self.pclFunsion.params.save = False
return SavePCLResponse(0)
def test_tp(niter, n_nodes):
(plasm, metrics) = makeplasm(n_nodes)
sched = ecto.Scheduler(plasm)
sched.execute(niter=niter)
print "Hz:", metrics.outputs.hz, " Latency in seconds:", metrics.outputs.latency_seconds
# FIXME: (JTF) This assert doesn't seem right - changing it for now.
#assert n_nodes * 0.95 < metrics.outputs.hz < n_nodes * 1.05
assert 0.95 < metrics.outputs.hz < 1.05
assert 0.9 < metrics.outputs.latency_seconds < 1.1
def test_nodelay():
plasm = ecto.Plasm()
ping = ecto_test.Ping("Ping")
metrics = ecto_test.Metrics("Metrics", queue_size=10)
plasm.connect(ping[:] >> metrics[:])
sched = ecto.Scheduler(plasm)
sched.execute(niter=10000)
print "Hz:", metrics.outputs.hz, " Latency in seconds: %f" % metrics.outputs.latency_seconds
# these are kinda loose
assert metrics.outputs.hz > 5000
assert metrics.outputs.latency_seconds < 0.0001
def handle_look(self, req):
self.regionFilter.params.minX = -0.40
self.regionFilter.params.maxX = 0.1
self.regionFilter.params.minY = -0.15
self.regionFilter.params.maxY = 1
self.regionFilter.params.minZ = 0
self.regionFilter.params.maxZ = 2.1
print("in look service call back")
self.sched = ecto.Scheduler(self.lookPlasm)
lock.acquire()
self.keepRun = self.sched.execute(niter=1)
lock.release()
return LookResponse(0)
def test_async_stop_on_destructor():
generate = ecto_test.Generate()
param_watcher = ecto_test.ParameterWatcher(value=2)
sleep = ecto_test.Sleep()
printer = ecto_test.Printer()
plasm = ecto.Plasm()
plasm.connect(generate["out"] >> param_watcher["input"],
param_watcher['output'] >> printer[:])
plasm.insert(sleep)
#ecto.view_plasm(plasm)
sched = ecto.Scheduler(plasm)
sched.execute_async()
for i in range(0, 10):
sched.run_job()
def __init__(self, ecto_plasm, ecto_cells):
self.ecto_plasm = ecto_plasm
self.ecto_cells = ecto_cells
self.ecto_scheduler = ecto.Scheduler(self.ecto_plasm)
self.outputgraph = None
self.found_objects = None
rospy.Subscriber('geometry_graph', Graph,
self.callback_vision_result_graph)
rospy.loginfo('Subscribed to the geometry_graph topic.')
rospy.Subscriber('objects', ObjectList,
self.callback_vision_result_objects)
rospy.loginfo('Subscribed to the objects topic.')
def do_ecto(device_id=0, frame_id='base'):
video_capture = highgui.VideoCapture('Video Camera',
video_device=device_id)
mat2image = ecto_ros.Mat2Image(frame_id=frame_id, encoding='bgr8')
pub_rgb = ImagePub("image pub", topic_name='image')
graph = [
video_capture["image"] >> mat2image["image"],
mat2image["image"] >> pub_rgb["input"]
]
plasm = ecto.Plasm()
plasm.connect(graph)
sched = ecto.Scheduler(plasm)
sched.execute()
def test_20hz():
plasm = ecto.Plasm()
ping = ecto_test.Ping("Ping")
throttle = ecto_test.Throttle("Throttle", rate=20)
metrics = ecto_test.Metrics("Metrics", queue_size=10)
plasm.connect(ping[:] >> throttle[:], throttle[:] >> metrics[:])
sched = ecto.Scheduler(plasm)
sched.execute(niter=100)
print "Hz:", metrics.outputs.hz, " Latency in seconds: %f" % metrics.outputs.latency_seconds
# these are kinda loose
assert 19 < metrics.outputs.hz < 21
assert 0.04 < metrics.outputs.latency_seconds < 0.06
def test_circular():
a1 = ecto_test.Add()
a2 = ecto_test.Add()
p = ecto.Plasm()
p.connect(a1['out'] >> a2['left'],
a2['out'] >> a1['right']
)
sched = ecto.Scheduler(p)
try:
sched.execute(niter=1)
fail("that should have thrown")
except ecto.EctoException as e: # Thrown when Lumberg's "BFS" is used.
print "okay, threw"
except ValueError as e: # Thrown when boost::topological_sort() is used.
print "okay, threw"
def __init__(self, plasm, whitelist=None, parent=None):
'''
Accepts a plasm for connecting tendrils to a frontend widget. Also
takes an optional whitelist parameter so that you can selectively
decide which parameters are for show.
:param Plasm ecto.Plasm: live squelchy thing that contains the configuration of your system locked in its parameter tendrils.
:param whitelist dic: dictionary of {cell name: [tendril_name]} to show
'''
super(DynamicReconfigureForm, self).__init__(parent)
self.plasm = plasm
self.whitelist = whitelist
self.setWindowTitle("Dynamic Reconfigure")
plasm.configure_all()
self.generate_dialogs()
self.sched = ecto.Scheduler(plasm)
def test_parameter_callbacks():
generate = ecto_test.Generate()
param_watcher = ecto_test.ParameterWatcher(value=2)
sleep = ecto_test.Sleep()
printer = ecto_test.Printer()
plasm = ecto.Plasm()
plasm.connect(generate["out"] >> param_watcher["input"],
param_watcher['output'] >> printer[:])
plasm.insert(sleep)
#ecto.view_plasm(plasm)
sched = ecto.Scheduler(plasm)
sched.execute_async(1)
sched.run_job() # check plasm, init parms, and compute_stack
number = 1000
param_watcher.params.value = number
sched.run()
assert 1000 == param_watcher.outputs.value
def test_parameter_callbacks():
generate = ecto_test.Generate()
handle_holder = ecto_test.HandleHolder(value=2)
plasm = ecto.Plasm()
plasm.connect(generate, "out", handle_holder, "input")
sched = ecto.Scheduler(plasm)
for i in range(0, 5):
value = handle_holder.params.value * (i + 1)
handle_holder.params.value = value
print "execute..."
sched.execute(niter=1)
print "parameter:", handle_holder.outputs.value
result = handle_holder.outputs.output
print result
assert handle_holder.outputs.value == 240
assert handle_holder.outputs.output == 1920
def test_one_to_many():
plasm = ecto.Plasm()
g = ecto_test.Generate(start=2, step=2)
modules = []
for x in range(0,5):
m = ecto_test.Multiply(factor=2)
plasm.connect(g,"out",m,"in")
modules.append(m)
sched = ecto.Scheduler(plasm)
sched.execute(niter=1)
for x in modules:
#print x.outputs.out
assert(x.outputs.out == 4)
sched.execute(niter=1)
for x in modules:
#print x.outputs.out
assert(x.outputs.out == 8)
def doit():
print "**** pre import of ecto_lifecycle ********"
import ecto.ecto_lifecycle as ecto_lifecycle
print "**** post import of ecto_lifecycle *******"
print "**** pre allocation of LifeCycle cell ********"
lifecycle = ecto_lifecycle.LifeCycle() #allocate a cell
print "**** post allocation of LifeCycle cell *******"
plasm = ecto.Plasm()
print "**** pre insert ********"
plasm.insert(lifecycle)
print "**** post insert *******"
print "**** pre execute ********"
sched = ecto.Scheduler(plasm)
sched.execute(1)
print "**** post execute *******"
def do_ecto():
sub_rgb = ImageSub("image_sub",topic_name='/camera/rgb/image_mono')
sub_depth = ImageSub("depth_sub",topic_name='/camera/depth/image')
pub_rgb = ImagePub("image_pub", topic_name='my_image')
pub_depth = ImagePub("depth_pub", topic_name='my_depth')
graph = [
sub_rgb["output"] >> pub_rgb["input"],
sub_depth["output"] >> pub_depth["input"]
]
plasm = ecto.Plasm()
plasm.connect(graph)
ecto.view_plasm(plasm)
sched = ecto.Scheduler(plasm)
sched.execute()
def do_ecto():
sub_rgb = ImageSub("image_sub", topic_name='/camera/rgb/image_mono')
sub_depth = ImageSub("depth_sub", topic_name='/camera/depth/image')
im2mat_rgb = ecto_ros.Image2Mat()
im2mat_depth = ecto_ros.Image2Mat()
graph = [
sub_rgb["output"] >> im2mat_rgb["image"],
im2mat_rgb["image"] >> highgui.imshow("rgb show", name="rgb")[:],
sub_depth["output"] >> im2mat_depth["image"],
im2mat_depth["image"] >> highgui.imshow("depth show", name="depth")[:]
]
plasm = ecto.Plasm()
plasm.connect(graph)
ecto.view_plasm(plasm)
sched = ecto.Scheduler(plasm)
sched.execute()
def test_plasm():
plasm = ecto.Plasm()
sps = []
for i in range(0, 7):
sps.append(ecto_test.SharedPass(x=i))
plasm.connect(sps[6], "output", sps[1], "input")
plasm.connect(sps[1], "output", sps[2], "input")
plasm.connect(sps[6], "output", sps[0], "input")
plasm.connect(sps[0], "output", sps[4], "input")
plasm.connect(sps[4], "output", sps[5], "input")
sched = ecto.Scheduler(plasm)
sched.execute(niter=1)
#ecto.view_plasm(plasm)
print sps[2].outputs.value
assert sps[2].outputs.value == 6
assert sps[4].outputs.value == 6
assert sps[6].outputs.value == 6
