def _make_alarms(cls):
cls.kill_listener = yield TxAlarmListener.init(cls.nh, 'kill', cls.kill_alarm_cb)
cls.odom_loss_listener = yield TxAlarmListener.init(
cls.nh, 'odom-kill',
lambda _, alarm: setattr(cls, 'odom_loss', alarm.raised))
fprint("Alarm listener created, listening to alarms: ", title="NAVIGATOR")
cls.kill_alarm = yield cls.kill_listener.get_alarm()
cls.killed = cls.kill_alarm.raised
cls.odom_loss = yield cls.odom_loss_listener.is_raised()
fprint("\tkill :", newline=False)
fprint(cls.killed)
fprint("\todom-kill :", newline=False)
fprint(cls.odom_loss)
def _make_alarms(cls):
cls.kill_listener = yield TxAlarmListener.init(cls.nh, 'kill', cls.kill_alarm_cb)
cls.odom_loss_listener = yield TxAlarmListener.init(
cls.nh, 'odom-kill',
lambda _, alarm: setattr(cls, 'odom_loss', alarm.raised))
fprint("Alarm listener created, listening to alarms: ", title="NAVIGATOR")
cls.kill_alarm = yield cls.kill_listener.get_alarm()
cls.killed = cls.kill_alarm.raised
cls.odom_loss = yield cls.odom_loss_listener.is_raised()
fprint("\tkill :", newline=False)
fprint(cls.killed)
fprint("\todom-kill :", newline=False)
fprint(cls.odom_loss)
def run(sub):
al = yield TxAlarmListener.init(sub.nh, "network-loss")
_auto_param_watchdog(sub.nh)
call_with_sub = lambda *args: _check_for_run(sub, *args)
al.add_callback(call_with_sub, call_when_cleared=False)
fprint("Waiting for network-loss...", msg_color="blue")
yield defer.Deferred()
def run(sub):
al = yield TxAlarmListener.init(sub.nh, "network-loss")
_auto_param_watchdog(sub.nh)
call_with_sub = lambda *args: _check_for_run(sub, *args)
al.add_callback(call_with_sub, call_when_cleared=False)
fprint("Waiting for network-loss...", msg_color="blue")
yield defer.Deferred()
def main():
global publish
nh = yield txros.NodeHandle.from_argv('tx_hearbeat_test')
alarm_name = "test_alarm123"
hbm = yield TxHeartbeatMonitor.init(nh,
alarm_name,
"/heartbeat",
String,
nowarn=True)
monitor_df = hbm.start_monitor()
do_publishing(nh)
al = yield TxAlarmListener.init(nh, alarm_name)
print "Inital Clear test"
assert (yield al.is_cleared())
yield nh.sleep(0.5)
print "Heartbeat raise test"
publish = False
yield nh.sleep(1)
assert (yield al.is_raised())
yield nh.sleep(0.5)
print "Hearbeat clear test"
publish = True
yield nh.sleep(1)
assert (yield al.is_cleared())
print "Stop monitoring test"
monitor_df.addErrback(lambda e: e.trap(defer.CancelledError)).cancel()
publish = False
yield nh.sleep(1)
assert (yield al.is_cleared())
yield nh.sleep(0.5)
print "Predicated test"
publish = True
@txros.util.cancellableInlineCallbacks
def cb(nh, alarm):
yield nh.sleep(1)
defer.returnValue(False) # Should never raise
hbm.set_predicate(cb)
monitor_df = hbm.start_monitor()
yield nh.sleep(0.5)
publish = False
yield nh.sleep(0.5)
assert (yield al.is_cleared())
print "\nPassed!"
def main():
nh = yield txros.NodeHandle.from_argv('tx_alarm_test')
alarm_name = "tx"
ab = yield TxAlarmBroadcaster.init(nh, alarm_name)
al = yield TxAlarmListener.init(nh, alarm_name, nowarn=True)
assert (yield al.is_cleared())
yield ab.raise_alarm()
assert (yield al.is_raised())
yield ab.raise_alarm()
assert (yield al.is_raised())
yield ab.clear_alarm()
assert (yield al.is_cleared())
var = False
@txros.util.cancellableInlineCallbacks
def cb(nh, alarm):
global var
var = True
yield nh.sleep(1)
print "DONE SLEEPING"
yield al.add_callback(cb, call_when_raised=False)
yield nh.sleep(.1)
assert not var
yield ab.raise_alarm()
assert not var
yield ab.clear_alarm()
assert not var
print "\nPassed"
yield nh.sleep(2)