def do_log(proxy):
print 'Starting log...select component to log'
proxy.start(start_data_svc=False)
comp_name = m3t.user_select_components_interactive(
proxy.get_available_components())[0]
comp = mcf.create_component(comp_name)
proxy.register_log_component(comp)
print 'Enter log name [foo]'
try_again = True
while try_again:
logname = m3t.get_string('foo')
if not os.path.isdir(m3t.get_m3_log_path() + logname):
try_again = False
else:
print 'Log directory already exists. Please enter another name.'
print 'Enter sample frequence (0-X Hz) [250.0]'
freq = m3t.get_float(250.0)
default_samps = int(2 * freq / 5)
print 'Enter samples per file [' + str(default_samps) + ']'
samples = m3t.get_int(default_samps)
print 'Enter sample time (s) [5.0]'
duration = m3t.get_float(5.0)
print 'Hit enter to begin log...'
raw_input()
proxy.start_log_service(logname,
sample_freq_hz=freq,
samples_per_file=samples)
ts = time.time()
while time.time() - ts < duration:
time.sleep(0.25)
print 'Logging ', logname, ' Time: ', time.time() - ts
proxy.stop_log_service()
def do_log(proxy):
print 'Starting log...select component to log'
proxy.start(start_data_svc=False)
comp_name=m3t.user_select_components_interactive(proxy.get_available_components())[0]
comp=mcf.create_component(comp_name)
proxy.register_log_component(comp)
print 'Enter log name [foo]'
try_again = True
while try_again:
logname=m3t.get_string('foo')
if not os.path.isdir(m3t.get_m3_log_path()+logname):
try_again = False
else:
print 'Log directory already exists. Please enter another name.'
print 'Enter sample frequence (0-X Hz) [250.0]'
freq=m3t.get_float(250.0)
default_samps = int(2*freq/5)
print 'Enter samples per file ['+str(default_samps) +']'
samples=m3t.get_int(default_samps)
print 'Enter sample time (s) [5.0]'
duration=m3t.get_float(5.0)
print 'Hit enter to begin log...'
raw_input()
proxy.start_log_service(logname,sample_freq_hz=freq,samples_per_file=samples)
ts=time.time()
while time.time()-ts<duration:
time.sleep(0.25)
print 'Logging ',logname,' Time: ',time.time()-ts
proxy.stop_log_service()
def do_dump(proxy):
print 'Starting dump...'
print 'Enter log name [foo]'
logname = m3t.get_string('foo')
ns = proxy.get_log_num_samples(logname)
if ns == 0:
return
print '-------- Available components --------'
names = proxy.get_log_component_names(logname)
for i in range(len(names)):
print names[i]
print '--------------------------------------'
print 'Select component: [', names[0], ']'
name = m3t.get_string(names[0])
print '--------------------------------------'
print 'Num samples available: ', ns
print 'Enter start sample idx: [0]'
start = max(0, m3t.get_int(0))
print 'Enter end sample idx: [', ns - 1, ']'
end = min(ns - 1, m3t.get_int(ns - 1))
print '--------------------------------------'
comp = mcf.create_component(name)
proxy.register_log_component(comp)
fields = []
print 'Dump all data?[n]'
if m3t.get_yes_no('n'):
'''print 'Fetching data...'
fn=m3t.get_m3_log_path()+logname+'/'+logname+'_dump.yaml'
f=file(fn,'w')
print 'Saving...',fn
f.write(yaml.safe_dump(comp.status, default_flow_style=False,width=200))
f.close()'''
fields = comp.status.DESCRIPTOR.fields_by_name.keys()
print fields
else:
print ' Select fields to plot...'
while True:
fields.append(m3t.user_select_msg_field(comp.status))
print 'Another field [n]?'
if not m3t.get_yes_no('n'):
break
print 'Fetching data...'
data = {}
for k in fields:
data[k] = []
print '---------------------------'
print k
print m3t.get_msg_field_value(comp.status, k)
print dir(m3t.get_msg_field_value(comp.status, k))
if hasattr(m3t.get_msg_field_value(comp.status, k), '__len__'):
for j in range(len(m3t.get_msg_field_value(comp.status, k))):
data[k].append([])
for i in range(start, end):
proxy.load_log_sample(logname, i)
for k in fields:
repeated = False
# skip protobuf subclasses (like base) for now. note we'll want this for humanoid
if hasattr(m3t.get_msg_field_value(comp.status, k),
'__metaclass__'):
pass
elif hasattr(m3t.get_msg_field_value(comp.status, k), '__len__'):
for j in range(len(m3t.get_msg_field_value(comp.status, k))):
data[k][j].append(
m3t.get_msg_field_value(comp.status, k)[j])
else:
data[k].append(m3t.get_msg_field_value(comp.status, k))
fn = m3t.get_m3_log_path() + logname + '/' + logname + '_dump.yaml'
f = file(fn, 'w')
print 'Saving...', fn
print data
f.write(yaml.safe_dump(data, default_flow_style=False, width=200))
f.close()
def do_dump(proxy):
print 'Starting dump...'
print 'Enter log name [foo]'
logname=m3t.get_string('foo')
ns=proxy.get_log_num_samples(logname)
if ns==0:
return
print '-------- Available components --------'
names=proxy.get_log_component_names(logname)
for i in range(len(names)):
print names[i]
print '--------------------------------------'
print 'Select component: [',names[0],']'
name=m3t.get_string(names[0])
print '--------------------------------------'
print 'Num samples available: ',ns
print 'Enter start sample idx: [0]'
start=max(0,m3t.get_int(0))
print 'Enter end sample idx: [',ns-1,']'
end=min(ns-1,m3t.get_int(ns-1))
print '--------------------------------------'
comp=mcf.create_component(name)
proxy.register_log_component(comp)
fields=[]
print 'Dump all data?[n]'
if m3t.get_yes_no('n'):
'''print 'Fetching data...'
fn=m3t.get_m3_log_path()+logname+'/'+logname+'_dump.yaml'
f=file(fn,'w')
print 'Saving...',fn
f.write(yaml.safe_dump(comp.status, default_flow_style=False,width=200))
f.close()'''
fields=comp.status.DESCRIPTOR.fields_by_name.keys()
print fields
else:
print ' Select fields to plot...'
while True:
fields.append(m3t.user_select_msg_field(comp.status))
print 'Another field [n]?'
if not m3t.get_yes_no('n'):
break
print 'Fetching data...'
data={}
for k in fields:
data[k]=[]
print '---------------------------'
print k
print m3t.get_msg_field_value(comp.status,k)
print dir(m3t.get_msg_field_value(comp.status,k))
if hasattr(m3t.get_msg_field_value(comp.status,k),'__len__'):
for j in range(len(m3t.get_msg_field_value(comp.status,k))):
data[k].append([])
for i in range(start,end):
proxy.load_log_sample(logname,i)
for k in fields:
repeated = False
# skip protobuf subclasses (like base) for now. note we'll want this for humanoid
if hasattr(m3t.get_msg_field_value(comp.status,k),'__metaclass__'):
pass
elif hasattr(m3t.get_msg_field_value(comp.status,k),'__len__'):
for j in range(len(m3t.get_msg_field_value(comp.status,k))):
data[k][j].append(m3t.get_msg_field_value(comp.status,k)[j])
else:
data[k].append(m3t.get_msg_field_value(comp.status,k))
fn=m3t.get_m3_log_path()+logname+'/'+logname+'_dump.yaml'
f=file(fn,'w')
print 'Saving...',fn
print data
f.write(yaml.safe_dump(data, default_flow_style=False,width=200))
f.close()
