def get_experiment_feedback(session_id, robot_id):
global data_thread
experiment_ongoing = True
feedback_received = False
black_box_id = BBUtils.get_bb_id(robot_id)
robot_smart_wheel_count = config.get_robot_smart_wheel_count(robot_id)
diagnostic_vars = DataUtils.expand_var_names(
experiment_diagnostic_vars, robot_smart_wheel_count)
zyre_communicator.reset_experiment_feedback(robot_id)
while experiment_ongoing:
feedback_msg = zyre_communicator.get_experiment_feedback(robot_id)
if feedback_msg and feedback_msg['robot_id'] == robot_id:
feedback_received = True
experiment_ongoing = send_experiment_feedback(
robot_id, feedback_msg, feedback_received)
if experiment_ongoing:
with data_thread_lock:
if not data_thread:
data_thread = threading.Thread(
target=send_diagnostic_data,
kwargs={
'session_id': session_id,
'black_box_id': black_box_id,
'diagnostic_vars': diagnostic_vars
})
data_thread.start()
global feedback_thread
feedback_thread = None
def setup_robot_query_params(robots):
for robot in robots:
# for each robot, we expand the smart wheel variable names
# depending on the robot's smart wheel count, combine the
# query variables into a single list, and generate a robot-specific
# data query message
black_box_id = BBUtils.get_bb_id(robot)
robot_smart_wheel_count = config.get_robot_smart_wheel_count(robot)
expanded_wheel_vars = DataUtils.expand_var_names(
wheel_vars, robot_smart_wheel_count)
query_vars = expanded_wheel_vars + cmd_vel_vars
query_msg = DataUtils.get_bb_latest_data_query_msg(
session['uid'].hex, black_box_id, query_vars)
robot_data_query_msgs[robot] = query_msg
# for each robot, we get a short variable name mapping for the smart wheel variables
robot_wheel_var_name_mapping[robot] = []
for i in range(robot_smart_wheel_count):
robot_wheel_var_name_mapping[robot].append({})
for var in wheel_var_name_mapping:
var_name = var.replace('*', str(i + 1))
robot_wheel_var_name_mapping[robot][i][
var_name] = wheel_var_name_mapping[var]
