# Our ROS node main entry point. Starts up the node and then waits forever.
if __name__ == '__main__':
if TRACE:
rospy.init_node("recipe_handler", log_level=rospy.DEBUG)
pub_debug = rospy.Publisher('debug/recipe_handler', \
String, queue_size=10)
else:
rospy.init_node("recipe_handler")
db_server = config["local_server"]["url"]
if not db_server:
raise RuntimeError("No local database specified")
server = Server(db_server)
namespace = rospy.get_namespace()
environment = read_environment_from_ns(namespace)
recipe_handler = RecipeHandler(server, environment)
recipe_handler.register_services()
recipe_handler.recover_any_previous_recipe()
# Subscribe to our own 'recipe_end' message so we can stop publishing
# and clear the recipe when we get it.
topic_name = "{}/desired".format(RECIPE_END.name)
def callback(data):
try:
recipe_handler.clear_recipe()
except RecipeIdleError:
pass
trace("recipe_handler.Subscriber: clearing current recipe.")
sub = rospy.Subscriber(topic_name, String, callback)
if __name__ == '__main__':
db_server = cli_config["local_server"]["url"]
if not db_server:
raise RuntimeError("No local database specified")
server = Server(db_server)
rospy.init_node('sensor_persistence')
try:
max_update_interval = rospy.get_param("~max_update_interval")
except KeyError:
rospy.logwarn(
"No maximum update interval specified for sensor persistence "
"module"
)
max_update_interval = 600
try:
min_update_interval = rospy.get_param("~min_update_interval")
except KeyError:
rospy.logwarn(
"No minimum update interval specified for sensor persistence "
"module"
)
min_update_interval = 5
environment_id = read_environment_from_ns(rospy.get_namespace())
create_persistence_objects(
server, environment_id,
max_update_interval=max_update_interval,
min_update_interval=min_update_interval
)
rospy.spin()
headers = {
"Content-Type": "image/png"
}
res = requests.put(url, data=buf, headers=headers)
if res.status_code != 201:
raise RuntimeError(
"Failed to post image to database: {}".format(res.content)
)
if __name__ == '__main__':
db_server = cli_config["local_server"]["url"]
if not db_server:
raise RuntimeError("No database server specified")
server = Server(db_server)
rospy.init_node('image_persistence_1')
environment_id = read_environment_from_ns(rospy.get_namespace())
try:
min_update_interval = rospy.get_param("~min_update_interval")
except KeyError:
rospy.logwarn(
"No minimum update interval specified for image persistence module"
)
min_update_interval = 3600
env_var_db = server[ENVIRONMENTAL_DATA_POINT]
persistence_objs = []
for variable in CAMERA_VARIABLES.itervalues():
topic = "{}/image_raw".format(variable)
persistence_objs.append(ImagePersistence(
db=env_var_db, topic=topic, variable=variable,
environment=environment_id,
min_update_interval=min_update_interval
# Our ROS node main entry point. Starts up the node and then waits forever.
if __name__ == '__main__':
if TRACE:
rospy.init_node("recipe_handler", log_level=rospy.DEBUG)
pub_debug = rospy.Publisher('debug/recipe_handler', \
String, queue_size=10)
else:
rospy.init_node("recipe_handler")
db_server = config["local_server"]["url"]
if not db_server:
raise RuntimeError("No local database specified")
server = Server(db_server)
namespace = rospy.get_namespace()
environment = read_environment_from_ns(namespace)
recipe_handler = RecipeHandler(server, environment)
recipe_handler.register_services()
recipe_handler.recover_any_previous_recipe()
# Subscribe to our own 'recipe_end' message so we can stop publishing
# and clear the recipe when we get it.
topic_name = "{}/desired".format(RECIPE_END.name)
def callback(data):
try:
recipe_handler.clear_recipe()
except RecipeIdleError:
pass
trace("recipe_handler.Subscriber: clearing current recipe.")
sub = rospy.Subscriber(topic_name, String, callback)
