def _parse_interval_and_timeout(ConstraintHandler, const_dict):
"""Parse min_reaction_interval
and reaction_timeout out of the dictionary.
Both are attributes of a constraint.
If the interval and timeout is not specified in the dict
default values are assigned.
:param const_dict: The dict from the parameter server
holding the interval and timeout.
:type: dict
:return: the min_reaction_interval and reaction_timeout
:rtype: tuple (rospy.Duration, rospy.Duration)
"""
# default values
min_reaction_interval = helper.get_param_duration(
helper.ARNI_CTM_CFG_NS + "default/min_reaction_interval")
reaction_timeout = helper.get_param_duration(
helper.ARNI_CTM_CFG_NS + "default/reaction_timeout")
# check if interval and timeout have interger values
try:
if 'min_reaction_interval' in const_dict:
min_reaction_interval = rospy.Duration(
const_dict['min_reaction_interval'])
except ValueError:
rospy.logwarn(
"min_reaction_interval '%s'"
% (const_dict['min_reaction_interval'])
+ " is of invalid value. (Only numbers allowed.)")
try:
if 'reaction_timeout' in const_dict:
reaction_timeout = rospy.Duration(
const_dict['reaction_timeout'])
except ValueError:
rospy.logwarn(
"reaction_timeout '%s'"
% (const_dict['reaction_timeout'])
+ " is of invalid value. (Only numbers allowed.)")
return (min_reaction_interval, reaction_timeout)
def _parse_interval_and_timeout(ConstraintHandler, const_dict):
"""Parse min_reaction_interval
and reaction_timeout out of the dictionary.
Both are attributes of a constraint.
If the interval and timeout is not specified in the dict
default values are assigned.
:param const_dict: The dict from the parameter server
holding the interval and timeout.
:type: dict
:return: the min_reaction_interval and reaction_timeout
:rtype: tuple (rospy.Duration, rospy.Duration)
"""
# default values
min_reaction_interval = helper.get_param_duration(
helper.ARNI_CTM_CFG_NS + "default/min_reaction_interval")
reaction_timeout = helper.get_param_duration(
helper.ARNI_CTM_CFG_NS + "default/reaction_timeout")
# check if interval and timeout have interger values
try:
if 'min_reaction_interval' in const_dict:
min_reaction_interval = rospy.Duration(
const_dict['min_reaction_interval'])
except ValueError:
rospy.logwarn("min_reaction_interval '%s'" %
(const_dict['min_reaction_interval']) +
" is of invalid value. (Only numbers allowed.)")
try:
if 'reaction_timeout' in const_dict:
reaction_timeout = rospy.Duration(
const_dict['reaction_timeout'])
except ValueError:
rospy.logwarn("reaction_timeout '%s'" %
(const_dict['reaction_timeout']) +
" is of invalid value. (Only numbers allowed.)")
return (min_reaction_interval, reaction_timeout)
def __init__(self):
super(RatedStatisticStorage, self).__init__()
#: A dictionary containing all rated statis tic
#: information with their outcome and an timestamp
#: when they got added / updated to the dictionary.
self.__statistic_storage = dict()
#: The timeout after which an item in ratedstatistic
#: is declared too old and should be removed
#: from the dict.
#: type: Duration
self.__timeout = helper.get_param_duration(helper.ARNI_CTM_CFG_NS +
"storage_timeout")
def __init__(self):
super(RatedStatisticStorage, self).__init__()
#: A dictionary containing all rated statis tic
#: information with their outcome and an timestamp
#: when they got added / updated to the dictionary.
self.__statistic_storage = dict()
#: The timeout after which an item in ratedstatistic
#: is declared too old and should be removed
#: from the dict.
#: type: Duration
self.__timeout = helper.get_param_duration(
helper.ARNI_CTM_CFG_NS + "storage_timeout")
def __init__(self):
"""Periodically (threading)
evaluate the constraints and clean old statistics."""
super(CountermeasureNode, self).__init__()
rospy.init_node("countermeasure", log_level=rospy.DEBUG)
self.__enabled = False
self.__init_params()
#: The storage of all incoming rated statistic.
self.__rated_statistic_storage = RatedStatisticStorage()
#: The handler for all constraints.
self.__constraint_handler = ConstraintHandler(self.__rated_statistic_storage)
#: The time to wait between two evaluations.
self.__evaluation_period = helper.get_param_duration(helper.ARNI_CTM_CFG_NS + "evaluation_period")
self.__register_subscriber()
self.__register_services()
def __init__(self):
"""Periodically (threading)
evaluate the constraints and clean old statistics."""
super(CountermeasureNode, self).__init__()
rospy.init_node("countermeasure", log_level=rospy.DEBUG)
self.__enabled = False
self.__init_params()
#: The storage of all incoming rated statistic.
self.__rated_statistic_storage = RatedStatisticStorage()
#: The handler for all constraints.
self.__constraint_handler = ConstraintHandler(
self.__rated_statistic_storage)
#: The time to wait between two evaluations.
self.__evaluation_period = helper.get_param_duration(
helper.ARNI_CTM_CFG_NS + "evaluation_period")
self.__register_subscriber()
self.__register_services()
