def check_logs(config_params, test_duration, print_output=False):
"""Check the logs in mongodb and print the status.
:config_params: black_box.config.ConfigParams
:test_duration: float
:print_output: bool
:returns: None
"""
db_name = config_params.default.db_name
collection_names = DBUtils.get_data_collection_names(db_name)
# check if all topics are present in db
fail = False
size_status = []
if config_params.ros:
for topic_params in config_params.ros.topic:
topic_name = ConfigUtils.get_full_variable_name(
"ros", topic_params.name)
if topic_name not in collection_names:
fail = True
print(colored(topic_name + " not present in mongoDB", "red"))
size_status.append({
'collection':
topic_name,
'expected_size':
topic_params.max_frequency * test_duration,
'collection_size':
0
})
continue
collection_size = len(DBUtils.get_all_docs(db_name, topic_name))
size_status.append({
'collection': topic_name,
'expected_size': topic_params.max_frequency * test_duration,
'collection_size': collection_size
})
if config_params.zyre:
expected_size = test_duration * config_params.default.max_frequency
for message_type in config_params.zyre.message_types:
topic_name = ConfigUtils.get_full_variable_name(
"zyre", message_type)
if topic_name not in collection_names:
fail = True
print(colored(topic_name + " not present in mongoDB", "red"))
size_status.append({
'collection': topic_name,
'expected_size': expected_size,
'collection_size': 0
})
continue
collection_size = len(DBUtils.get_all_docs(db_name, topic_name))
size_status.append({
'collection': topic_name,
'expected_size': expected_size,
'collection_size': collection_size
})
if not fail and print_output:
print(
colored("All topics have their respective collection in mongoDB",
"green"))
for comparison in size_status:
color = "green" if comparison['expected_size'] == comparison[
'collection_size'] else "red"
string = comparison['collection'] + ': ' + str(comparison['collection_size']) \
+ '/' + str(comparison['expected_size'])
if print_output:
print(colored(string, color))
return size_status
def test_get_all_docs(self):
docs = DBUtils.get_all_docs(db_name=self.test_db_name,
collection_name='ros_ropod_cmd_vel')
self.assertEqual(len(docs), 149)
stdscr.refresh()
if __name__ == '__main__':
# rospy.init_node('rosbag_play')
config_param = get_config_param()
run_events = False
parser = argparse.ArgumentParser(description="Play rosbag from mongo db")
parser.add_argument('-db', help='name of the mongo db', default=config_param['db_name'])
parser.add_argument('-e', '--events', action='store_true', help='Enable events playback')
args = parser.parse_args()
db_name = args.db
if args.events and 'ros_ropod_event' in DBUtils.get_data_collection_names(db_name) \
and len(DBUtils.get_all_docs(db_name, 'ros_ropod_event')) > 0:
events = DBUtils.get_all_docs(db_name, 'ros_ropod_event')
chosen_event_index = choose_event(events, 1)
while chosen_event_index != 0 :
chosen_event = events[chosen_event_index-1]
event_time = chosen_event['timestamp']
play_rosbag(event_time-config_param['event_playback_duration'],
event_time+config_param['event_playback_duration'])
chosen_event_index = choose_event(events, chosen_event_index)
else :
start_time = DBUtils.get_db_oldest_timestamp(db_name)
stop_time = DBUtils.get_db_newest_timestamp(db_name)
start_time, stop_time = get_desired_duration(start_time, stop_time)
play_rosbag(start_time, stop_time)
return duration_doc['data']
def get_label(event_start, event_end):
if event_start and event_end:
if event_start == 'success':
return 1
else:
return 0
return 0
if __name__ == '__main__':
log_db_name = 'pull_logs'
event_docs = DBUtils.get_all_docs(log_db_name, 'ros_event')
event_timestamps = DataUtils.get_all_measurements(event_docs, 'timestamp')
event_descriptions = DataUtils.get_all_measurements(
event_docs, 'description')
data_point_count = len(event_timestamps) // 2
object_positions = np.zeros((data_point_count, 3))
goal_positions = np.zeros((data_point_count, 3))
distances_from_edge = np.zeros((data_point_count, 1))
motion_durations = np.zeros((data_point_count, 1))
labels = np.zeros(data_point_count, dtype=int)
data_idx = 0
for i in range(0, data_point_count * 2, 2):
object_positions[data_idx], _ = get_object_pose(
log_db_name, event_timestamps[i])
return 1
else:
return 0
return 0
def state_update_fn(state_update, pose, b_box):
p_copy = deepcopy(pose)
p_copy.position.x += state_update[0]
p_copy.position.y += state_update[1]
p_copy.position.z += state_update[2]
return {'pose': p_copy, 'b_box': b_box}
if __name__ == '__main__':
log_db_name = 'drawer_handle_grasping_failures'
event_docs = DBUtils.get_all_docs(log_db_name, 'ros_event')
event_timestamps = DataUtils.get_all_measurements(event_docs, 'timestamp')
event_descriptions = DataUtils.get_all_measurements(event_docs, 'description')
ground_truth_diagnoses = DBUtils.get_all_docs(log_db_name, 'fault_diagnoses_ground_truth')
data_point_count = len(event_timestamps) // 2
handle_positions = np.zeros((data_point_count, 3))
handle_bb_mins = np.zeros((data_point_count, 3))
handle_bb_maxs = np.zeros((data_point_count, 3))
goal_positions = np.zeros((data_point_count, 3))
goal_orientations = np.zeros((data_point_count, 3))
labels = np.zeros(data_point_count, dtype=int)
data_idx = 0
print('Extracting data...')