def main():
# Get parameters
bundle_topic = rospy.get_param('~bundle_topic', '/bc/bundle')
src_bag_path = rospy.get_param('~source_bag_path', None)
backchannel_topic = rospy.get_param('~backchannel_topic', '/bc/backchannels')
sink_bag_path = rospy.get_param('~sink_bag_path', None)
# Instantiate source
if src_bag_path:
bundle_source = BagSource(src_bag_path, bundle_topic)
else:
bundle_source = TopicSource(bundle_topic, Bundle)
# Instantiate sinks
if sink_bag_path:
bag = rosbag.Bag(sink_bag_path, 'w')
backchannel_sink = BagSink(bag, backchannel_topic, Backchannel)
else:
bag = None
backchannel_sink = TopicSink(backchannel_topic, Backchannel)
with conditional(bag, bag):
with bundle_source, backchannel_sink:
for msg, t in bundle_source:
if random.random() > 0.2:
backchannel_msg = Backchannel()
backchannel_msg.header.stamp = t
pids = [1,2,3]
to_pid = random.choice(pids)
pids.remove(to_pid)
from_pid = random.choice(pids)
backchannel_msg.to_pid = to_pid
backchannel_msg.from_pid = from_pid
backchannel_sink.put(backchannel_msg, t)
def main():
# Get parameters
bundle_topic = rospy.get_param('~bundle_topic', '/bc/bundle')
src_bag_path = rospy.get_param('~source_bag_path', None)
csv_path = rospy.get_param('~csv_path')
# Instantiate source
if src_bag_path:
bundle_source = BagSource(src_bag_path, bundle_topic)
else:
bundle_source = TopicSource(bundle_topic, Bundle)
with bundle_source, open(csv_path, 'w') as csv_file:
writer = None
for msg, t in bundle_source:
row = bundle_msg_to_dict(msg)
for key in row.keys():
if row[key] == 'True':
row[key] = 1
elif row[key] == 'False':
row[key] = 0
row['time'] = t.to_sec()
pairwise_rows = create_pairwise_rows(row)
if not writer:
headers = pairwise_rows[0].keys()
writer = csv.DictWriter(csv_file, headers)
writer.writeheader()
for pairwise_row in pairwise_rows:
writer.writerow(pairwise_row)
def main():
input_topic = rospy.get_param('~input_topic')
threadsafe = rospy.get_param('~threadsafe', False)
dst = rospy.get_param('~dst', 'out.wav')
source = TopicSource(input_topic, AudioData)
wf = None
with source:
for msg, t in source:
if not wf:
wf = wave.open(dst, 'wb')
wf.setnchannels(msg.num_channels)
wf.setframerate(msg.sample_rate)
wf.setsampwidth(msg.sample_width)
if msg.is_bigendian:
# Wave files are little-endian
msg.data = switch_endianness(data=msg.data,
width=msg.sample_width)
wf.writeframes(msg.data)
def test_topic(self):
from std_msgs.msg import String
rospy.init_node('test_topic', anonymous=True)
topic = '/test_topic'
source = TopicSource(topic, String)
sink = TopicSink(topic, String)
pub = rospy.Publisher(topic, String)
with source, sink:
while pub.get_num_connections() < 1:
rospy.sleep(2)
test_strs = ['a', 'b', 'c']
for s in test_strs:
sink.put(s, rospy.Time.now())
for msg, t in source:
self.assertTrue(msg.data in test_strs)
i = test_strs.index(msg.data)
test_strs.pop(i)
if not test_strs:
return