def __init__(self):
self.__metadata_storage = MetadataStorage()
self.__specification_handler = SpecificationHandler()
self.__publisher = rospy.Publisher('/statistics_rated',
arni_msgs.msg.RatedStatistics,
queue_size=50)
self.__master_api_publisher = rospy.Publisher('/statistics_master',
arni_msgs.msg.MasterApi,
queue_size=10)
self.__pub_queue = []
self.__master_api_queue = []
self.__aggregate = []
self.__aggregation_window = rospy.get_param("~aggregation_window", 3)
self.__aggregate_start = rospy.Time.now()
self.__processing_enabled = rospy.get_param("/enable_statistics",
False)
self.__alive_timers = {}
self.__alive_countdown = {}
rospy.Timer(rospy.Duration(rospy.get_param("~publish_interval", 5)),
self.__publish_queue)
rospy.Timer(rospy.Duration(rospy.get_param("~alive_interval", 5)),
self.__check_alive)
rospy.Timer(
rospy.Duration(rospy.get_param("~master_api_publish_interval", 1)),
self.__pollMasterAPI)
rospy.Timer(
rospy.Duration(rospy.get_param("/arni/check_enabled_interval",
10)), self.__update_enabled)
