def callback_Triggered(self, data):
topic = self.param_out_topic
if topic[0] == '/':
topic = topic[1:len(topic)]
self.time_triggered = time.time()
self.triggered = True
obs_msg = []
if self.triggering:
self.triggering = False
diff_t = self.time_triggered - self.time_triggering
if diff_t <= self.req_delta_t:
obs_msg.append('ok(' + topic + '_Triggered)')
print "\nIn Time Triggered after seconds : ", diff_t
print 'ok(' + topic + '_Triggered)'
self.pub.publish(Observations(time.time(), obs_msg))
else:
obs_msg.append('~ok(' + topic + '_Triggered)')
self.pub.publish(Observations(time.time(), obs_msg))
print "Late Triggered after seconds : ", diff_t
print '~ok(' + topic + '_Triggered)'
self.triggered = True
else:
print '~ok(' + topic + '_Triggered)'
obs_msg.append('~ok(' + topic + '_Triggered)')
self.pub.publish(Observations(time.time(), obs_msg))
def start(self):
print "NObs is up...."
if self.param_node_name[0] != '/':
self.param_node_name = "/%s" % (self.param_node_name)
r = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
found = False
code, statusMessage, sysState = self.m.getSystemState(
self.caller_id)
for lst in sysState:
for row in lst:
for node in row[1]:
if node == self.param_node_name:
found = True
break
obs_msg = []
if found == True:
self.msg = 'running(' + self.param_node_name[
1:len(self.param_node_name)] + ')'
rospy.loginfo(
'running(' +
self.param_node_name[1:len(self.param_node_name)] + ')')
obs_msg.append(self.msg)
self.pub.publish(Observations(time.time(), obs_msg))
else:
self.msg = '~running(' + self.param_node_name[
1:len(self.param_node_name)] + ')'
rospy.loginfo(
'~running(' +
self.param_node_name[1:len(self.param_node_name)] + ')')
obs_msg.append(self.msg)
self.pub.publish(Observations(time.time(), obs_msg))
r.sleep()
def access_data(self, data):
temp_data = data
for f in temp_data.__slots__:
if f == "status":
a = getattr(temp_data, f)
i = 0
print "\n"
while (i < len(a)):
obs_msg = []
if self.param_dev_node in a[i].name:
if a[i].level == 0:
print "Name:", a[i].name, "OK"
obs_msg.append('ok(' + self.param_dev_node + ')')
self.pub.publish(Observations(
time.time(), obs_msg))
elif a[i].level == 1:
print "Name:", a[i].name, "WARNINNG"
obs_msg.append('n_ok(' + self.param_dev_node + ')')
self.pub.publish(Observations(
time.time(), obs_msg))
else:
print "Name:", a[i].name, "ERROR"
obs_msg.append('n_ok(' + self.param_dev_node + ')')
self.pub.publish(Observations(
time.time(), obs_msg))
else:
print self.param_dev_node + " not found."
i = i + 1
def check_topic(self, string, sleeptime, *args):
try:
while not rospy.is_shutdown():
t = 0
m = xmlrpclib.ServerProxy(os.environ['ROS_MASTER_URI'])
pubcode, statusMessage, topicList = m.getPublishedTopics(
self.caller_id, "")
for item in topicList:
if item[0] == string:
t = 1
if time.time() - self.prev_t > 2:
rospy.loginfo('~ok(' + self.topic_name + ')')
self.pub.publish(
Observations(time.time(),
['~ok(' + self.topic_name + ')']))
break
if t == 0:
t = 1
self.msg = '~ok(' + self.topic_name + ')'
rospy.loginfo('~ok(' + self.topic_name + ')')
self.pub.publish(Observations(time.time(), [self.msg]))
time.sleep(sleeptime) #sleep for a specified amount of time.
except:
print "An unhandled exception occured, here's the traceback!"
traceback.print_exc()
def publish_output(self,obtained_val):
obs_msg = []
if (float(obtained_val) >= float(self.th) - float(self.dev)) | (float(obtained_val) <= float(self.th) + float(self.dev)) :
print 'ok('+self.property+','+self.node+')'
obs_msg.append('ok('+self.property+','+self.node+')')
self.pub.publish(Observations(time.time(),obs_msg))
else:
print '~ok('+self.property+','+self.node+')'
obs_msg.append('~ok('+self.property+','+self.node+')')
self.pub.publish(Observations(time.time(),obs_msg))
def make_output(self, diff_freq):
if self.param_topic[0] == '/':
self.param_topic = self.param_topic[1:len(self.param_topic)]
obs_msg = []
if self.param_dev > diff_freq:
self.msg = 'ok(' + self.topic_name + ')'
rospy.loginfo('ok(' + self.topic_name + ')')
obs_msg.append(self.msg)
self.pub.publish(Observations(time.time(), obs_msg))
else:
self.msg = '~ok(' + self.topic_name + ')'
rospy.loginfo('~ok(' + self.topic_name + ')')
obs_msg.append(self.msg)
self.pub.publish(Observations(time.time(), obs_msg))
def check_topic(self, string, sleeptime, *args):
while True:
t1 = 0
t2 = 0
pubcode, statusMessage, topicList = self.m.getPublishedTopics(
self.caller_id, "")
for item in topicList:
if item[0] == self.param_in_topic:
t1 = 1
if item[0] == self.param_out_topic:
t2 = 1
if t1 == 0:
t1 = 1
print "Topic:[" + self.param_in_topic + "] does not exist."
if t2 == 0:
t2 = 1
print "Topic:[" + self.param_out_topic + "] does not exist."
self.pub.publish(
Observations(time.time(), [
'~Ok(' +
self.param_out_topic[1:len(self.param_out_topic)] +
'_Triggered)'
]))
time.sleep(sleeptime) #sleep for a specified amount of time.
def start(self):
if self.param_topic[0] != '/':
self.param_topic = "/%s" % (self.param_topic)
self.topic_name = self.param_topic[1:len(self.param_topic)]
#print self.param_topic, self.param_frq, self.param_dev, self.param_ws
topic_found = False
firstcheck = True
while firstcheck:
pubcode, statusMessage, topicList = self.m.getPublishedTopics(
self.caller_id, "")
for item in topicList:
if item[0] == self.param_topic:
self.param_topic = item[0]
self.topic_type = item[1]
topic_found = True
if topic_found == True:
firstcheck = False
msg_class = roslib.message.get_message_class(self.topic_type)
rospy.Subscriber(self.param_topic, msg_class, self.callback)
rospy.spin()
else:
self.msg = '~ok(' + self.topic_name + ')'
rospy.loginfo('Observer=' + rospy.get_name() + ',Topic=\\' +
self.topic_name + ',' + self.msg)
self.pub.publish(Observations(time.time(), [self.msg]))
time.sleep(1)
def make_output(self, Trend):
if self.topic[0] == '/':
self.topic = self.topic[1:len(self.topic)]
obs_msg = []
if Trend == +1 :
rospy.loginfo('1');
obs_msg.append('inc('+self.topic+'_'+self.param_field+')')
self.pub.publish(Observations(time.time(),obs_msg))
elif Trend == -1 :
rospy.loginfo('-1');
obs_msg.append('dec('+self.topic+'_'+self.param_field+')')
self.pub.publish(Observations(time.time(),obs_msg))
else:
rospy.loginfo('0');
obs_msg.append('con('+self.topic+'_'+self.param_field+')')
self.pub.publish(Observations(time.time(),obs_msg))
def BQObs_thread(self, topic1, topic2, sleeptime, *args):
while True:
t1 = 0
t2 = 0
pubcode, statusMessage, topicList = self.m.getPublishedTopics(
self.caller_id, "")
for item in topicList:
if item[0] == topic1:
t1 = 1
if item[0] == topic2:
t2 = 1
if t1 == 0:
t1 = 1
self.pub.publish(
Observations(time.time(), [
'~matched(' + topic1[1:len(topic1)] + ',' +
topic2[1:len(topic2)] + ')'
]))
if t2 == 0:
t2 = 1
self.pub.publish(
Observations(time.time(), [
'~matched(' + topic1[1:len(topic1)] + ',' +
topic2[1:len(topic2)] + ')'
]))
print('Num1=' + str(self.num1) + ',Num2' + str(self.num2))
if (self.num1 != 0) & (self.num2 != 0):
data1 = self.sum1 / self.num1
data2 = self.sum2 / self.num2
self.Trend1 = self.regression1.find(data1, self.curr_t1,
self.r11)
self.Trend2 = self.regression2.find(data2, self.curr_t2,
self.r12)
rospy.loginfo(self.topic1 + '_avg_data=' + str(data1) + ',' +
self.topic1 + 'Trend=' + str(self.Trend1) + ',' +
self.topic2 + 'Trend=' + str(self.Trend2) + ',' +
self.topic2 + '_avg_data=' + str(data2))
self.num1 = 0
self.num2 = 0
self.sum1 = 0.0
self.sum2 = 0.0
self.publish_output()
time.sleep(sleeptime) #sleep for a specified amount of time.
def publish_output(self):
if self.topic1[0] == '/':
self.topic1 = self.topic1[1:len(self.topic1)]
if self.topic2[0] == '/':
self.topic2 = self.topic2[1:len(self.topic2)]
obs_msg = []
if self.Trend1 == self.Trend2:
if self.mismatch != 0:
self.mismatch = self.mismatch - 1
else:
self.mismatch = self.mismatch + 1
rospy.loginfo('mismatch=' + str(self.mismatch) + ',thr=' +
str(self.mismatch_thr))
if self.mismatch <= self.mismatch_thr:
rospy.loginfo('matched(' + self.topic1 + ',' + self.topic2 + ')')
obs_msg.append('matched(' + self.topic1 + ',' + self.topic2 + ')')
self.pub.publish(Observations(time.time(), obs_msg))
else:
rospy.loginfo('~matched(' + self.topic1 + ',' + self.topic2 + ')')
obs_msg.append('~matched(' + self.topic1 + ',' + self.topic2 + ')')
self.pub.publish(Observations(time.time(), obs_msg))
def access_data(self, data):
temp_data = data
for f in temp_data.__slots__:
if f == "channel":
att = getattr(temp_data, f)
j = 0
obs_msg = []
while (j < len(att)):
if att[j].status == 1:
obs_msg.append('on(' + att[j].dev_connected + ')')
else:
obs_msg.append('~on(' + att[j].dev_connected + ')')
j = j + 1
self.pub.publish(Observations(time.time(), obs_msg))
def check_topic(self, top, sleeptime, *args):
while True:
t = 0
m = xmlrpclib.ServerProxy(os.environ['ROS_MASTER_URI'])
pubcode, statusMessage, topicList = m.getPublishedTopics(
self.caller_id, "")
for item in topicList:
if item[0] == top:
self.Topic = True
t = 1
break
if t == 0:
t = 1
print "Topic:[" + top + "] does not exist."
self.pub.publish(
Observations(time.time(),
['~ok(' + self.param_dev_node + ')']))
time.sleep(sleeptime) #sleep for a specified amount of time.
def check_thread(self, topic1, topic2, sleeptime, *args):
try:
while not rospy.is_shutdown():
t1 = 0
t2 = 0
m = xmlrpclib.ServerProxy(os.environ['ROS_MASTER_URI'])
pubcode, statusMessage, topicList = m.getPublishedTopics(
self.caller_id, "")
for item in topicList:
if item[0] == topic1:
t1 = 1
if item[0] == topic2:
t2 = 1
if t1 == 0 | t2 == 0:
t1 = 1
self.pub.publish(
Observations(time.time(), [
'~matched(' + topic1[1:len(topic1)] + ',' +
topic2[1:len(topic2)] + ')'
]))
time.sleep(sleeptime) #sleep for a specified amount of time.
except:
print "An unhandled exception occured, here's the traceback!"
traceback.print_exc()