def on_data_passing(self, data): """ Callback for the subscribed topic. Receives data from js client and saves the configuration on mongoDB using label @robot_side @params: RosMessage of type StringArray """ #Write to db db = mongodb_interface.MongoDBInterface() db.write_robot_sv(data, "robot_side") ## Label for reading
def __init__(self):
self._db = mongodb_interface.MongoDBInterface()
self._message = None # The message containing all state var
self._publicators = {
} # key: SV, value: tuples (topic, type, ). corresponds to msgs published by planner for each SV
self._subscriptors = {
} # key: SV, value: tuples (topic, type, ). corresponds to msgs subscribed by planner for each SV
self.build_java_methods()
def get_state_var(self):
'''Reads data from JSON file and extracts the state variables only'''
state_vars = []
db = mongodb_interface.MongoDBInterface()
message = db.read_robot_sv("planner_side")
for sv in message:
state_vars.append(json.loads(sv))
return state_vars
label = "test_interface" ## Label for writing and reading
d = [
"{{field1: topo}, {field2: gigio}}",
"{{field1: gatto}, {field2: silvestro}}"
]
d2 = [
"{{field1: topo}, {field2: gigio}}",
"{{field1: gatto}, {field2: silvestro}}",
"{{field1: cocco}, {field2: bill}}"
]
data = np.array(d, dtype=np.str)
data2 = np.array(d2, dtype=np.str)
db = mongodb_interface.MongoDBInterface()
class TestDataOnFilePersistence(unittest.TestCase):
def test_normal_flow(self):
db.write_robot_sv(data, label)
info = db.read_robot_sv(label)
for i in xrange(len(data)):
self.assertEqual(data[i], info[i],
"Value read and wrote are different.")
def test_different_data(self):
db.write_robot_sv(data2, label)
info = db.read_robot_sv(label)
self.assertNotEqual(len(data), len(info),
"Value read and wrote must be different.")
def __init__(self): self._db = mongodb_interface.MongoDBInterface() self._syncronization = [] self._timelines = []
def __init__(self):
self._pub = rospy.Publisher('config_plan_side_sender',numpy_msg(StringArray), queue_size=10)
self._db = mongodb_interface.MongoDBInterface()