def parse_hardware_data(topic, datatype, data, timestamp):
"""
Handles messages from the ROS network to do with hardware information
in a threadsafe way.
@param topic: The ROS topic name the message was received on
@param datatype: The datatype of the message
@param data: The data contained in the message
@param timestamp: The timestamp of when the message was received
"""
global hwinfo, hwinfo_lock, hwinfo_json, hwinfo_json_lock
if RosWeb._isCamera(topic):
parse_camera(topic, datatype, data, timestamp)
else:
hwinfo_lock.acquire()
if datatype_helpers.datatype_is_array(datatype):
if topic.find("/hardware/vicon") != -1:
name = data.data.split(" ")[0]
if topic not in hwinfo.keys():
hwinfo[topic] = []
found = False
for i in hwinfo[topic]:
if i[-1] == name:
hwinfoo[topic][i] = [topic, data.data, timestam, name]
found = True
if not found:
hwinfo[topic].append([topic, data.data, timestam, name])
for i in range(0, len(data.data)):
topic_itr = topic + "_%s" % i
# Probably faster than checking key exists, right?
try:
if timestamp > hwinfo[topic_itr][2]:
hwinfo[topic_itr] = [topic_itr, data.data[i], timestamp]
except:
hwinfo[topic_itr] = [topic_itr, data.data[i], timestamp]
else:
try:
if timestamp > hwinfo[topic_itr][2]:
hwinfo[topic] = [topic, data.data, timestamp]
except:
hwinfo[topic] = [topic, data.data, timestamp]
hwinfo_lock.release()
json_data = json.dumps(hwinfo.values())
hwinfo_json_lock.acquire()
hwinfo_json = json_data
hwinfo_json_lock.release()
def _parse_data(self, data, datatype):
"""
If data is a list, returns a string of CSV columns, otherwise
encapsulates string in quotes.
"""
try:
str(data.data)
except:
return
if datatype_helpers.datatype_is_array(datatype):
data_text = ""
for i in data.data:
data_text = data_text + '"%s",' % str(i).replace('"', '""')
data_text = data_text[:-1]
else:
data_text = '"%s"' % str(data.data).replace('"', '""')
return data_text
