def __init__(self):
rospy.init_node('exp_script')
#shuffle gains
pat_gains = [15,30]
shuffle_pg = pat_gains
np.random.shuffle(shuffle_pg)
spg = shuffle_pg
led_ids2.write('{0}\n'.format(spg))
#shuffle patterns
pat_ids = [5, 4, 6, 3]
shuffle_ids = pat_ids
np.random.shuffle(shuffle_ids)
spids = shuffle_ids
led_ids2.write('{0}\n'.format(spids))
#3 - -90
#5 - 0
#4 - +90
#6 - 180
### Experiment Protocol ###
t0 = 12 #dark
pattern_id0 = functools.partial(self.panels_off)
t1 = 30 #1 min panels ON
pattern_id1 = functools.partial(self.show_pattern, pattern_id=1, gain_x=30, bias_x = 0)
t2 = 360 #2 min
pattern_id2 = functools.partial(self.show_pattern, pattern_id=spids[0], gain_x=spg[0], bias_x = 0)
t3 = 360 #2 min
pattern_id3 = functools.partial(self.show_pattern, pattern_id=spids[1], gain_x=spg[1], bias_x = 0)
self.display_action_list = [
{'type': 'fixed', 'duration': t0, 'func': pattern_id0},
{'type': 'fixed', 'duration': t1, 'func': pattern_id1},
{'type': 'fixed', 'duration': t2, 'func': pattern_id2},
{'type': 'fixed', 'duration': t1, 'func': pattern_id1},
{'type': 'fixed', 'duration': t3, 'func': pattern_id3},
]
self.config_id = 1
self.ctrl = display_ctrl.LedControler()
self.ctrl.set_config_id(self.config_id)
self.start_t = rospy.get_time()
self.lock = threading.Lock()
self.rolling_circ_mean = RollingCircularMean(size=1800)
self.angles = rospy.Subscriber('/angle_data', MsgAngleData,self.on_angle_data_callback)
self.display_event = DisplayEvent(0.0, 0.0, self.do_nothing)
self.pubpatters = rospy.Publisher('/pattern_ids',String , queue_size=10)
self.mymsg = spids
with open(os.path.join(script_dir, 'tracked_git_repos.txt')) as f:
repo_dirs = f.readlines()
assert git_tools.check_git_status(repo_dirs)
git_SHA = git_tools.get_SHA_keys(repo_dirs)
#############################################################################
################################ Run experiment #############################
#############################################################################
if __name__ == '__main__':
try:
import numpy as np
print 'start'
rospy.init_node('exp_script')
exp_dir = script_dir
ctrl = display_ctrl.LedControler()
ctrl.load_SD_inf(exp_dir + '/firmware/SD.mat')
exp_pub = rospy.Publisher('/exp_scripts/exp_state',
MsgExpState,
queue_size=10)
exp_msg = MsgExpState()
meta_pub = rospy.Publisher('/exp_scripts/exp_metadata',
MsgExpMetadata,
queue_size=10)
rospy.wait_for_service('RefFrameServer')
get_ref_frame = rospy.ServiceProxy('RefFrameServer', SrvRefFrame)
# init experiment
time.sleep(5) # wait for all the publishers to come online