def onExecute(self, ec_id):
print("\n")
print("Command list: ")
print(" echo [msg] : echo message.")
print(" set_value [value]: set value.")
print(" get_value : get current value.")
print(" get_echo_history : get input messsage history.")
print(" get_value_history: get input value history.")
print("> ", end="")
args = str(sys.stdin.readline())
argv = str.split(args)
argv[-1] = argv[-1].rstrip("\n")
if self._async_echo and self._async_echo.finished():
print("echo() finished: ", self._result[0])
self._async_echo = None
if argv[0] == "echo" and len(argv) > 1:
if not self._async_echo:
retmsg = ""
func = echo_functor(argv[1], self._result)
self._async_echo = OpenRTM_aist.Async_tInvoker(
self._myservice0._ptr(), func)
self._async_echo.invoke()
else:
print("echo() still invoking")
return RTC.RTC_OK
if argv[0] == "set_value" and len(argv) > 1:
val = float(argv[1])
self._myservice0._ptr().set_value(val)
print("Set remote value: ", val)
return RTC.RTC_OK
if argv[0] == "get_value":
retval = self._myservice0._ptr().get_value()
print("Current remote value: ", retval)
return RTC.RTC_OK
if argv[0] == "get_echo_history":
OpenRTM_aist.CORBA_SeqUtil.for_each(
self._myservice0._ptr().get_echo_history(), self.seq_print())
return RTC.RTC_OK
if argv[0] == "get_value_history":
OpenRTM_aist.CORBA_SeqUtil.for_each(
self._myservice0._ptr().get_value_history(), self.seq_print())
return RTC.RTC_OK
print("Invalid command or argument(s).")
return RTC.RTC_OK
def onDeactivated(self, ec_id):
if self._fs:
self._fs.close()
self._fs = None
self._datasize = 1
self.setDataSize(self._datasize)
self._sendcount = 0
self._logmulcnt = 0
if self.getInPortConnectorSize() == 0:
async_ = OpenRTM_aist.Async_tInvoker(self, Throughput_py.exit)
async_.invoke()
return RTC.RTC_OK
def receiveData(self, tm, seq_length):
received_time = OpenRTM_aist.Time().getTime()
if self._size == 0:
self._size = seq_length
record_num = len(self._record)
record_ptr = record_num
if self._size != seq_length and record_num != 0:
max_latency = 0.0
min_latency = 0.0
mean_latency = 0.0
variance = 0.0
stddev = 0.0
throughput = 0.0
sum = 0.0
sq_sum = 0.0
record_len = len(self._record)
#print record_len
for d in self._record:
tmp = d
sum += tmp
sq_sum += tmp * tmp
if tmp > max_latency:
max_latency = tmp
elif tmp < min_latency:
min_latency = tmp
mean_latency = sum / record_len
variance = (sq_sum / record_len) - (mean_latency * mean_latency)
stddev = math.sqrt(variance)
throughput = ((((self._size * self._varsize) + 8) * 8) /
mean_latency) / (1024 * 1024)
self._fs.write(str(self._size) + "\t")
self._fs.write(str(min_latency) + "\t" + str(max_latency) + "\t")
self._fs.write(str(mean_latency) + "\t" + str(stddev) + "\t")
self._fs.write(str(throughput) + "\n")
self._record = []
if seq_length < self._size:
async = OpenRTM_aist.Async_tInvoker(self, Throughput_py.exit)
async .invoke()
return
send_time = OpenRTM_aist.TimeValue(tm.sec, tm.nsec / 1000)
if record_ptr == self._maxsample[0]:
self._record.pop(0)
self._record.append((received_time - send_time).toDouble())
self._size = seq_length
def callServiceAsync(self, name, func):
async_call = OpenRTM_aist.Async_tInvoker(self.getServicePtr(name),
func)
async_call.invoke()
return async_call