def on_data(self, item):
curr_time = time.time()
value = item.data
# This is kind of a hack to correctly interpret UInt8MultiArray
# messages. There should be a better way to do this
if item._slot_types[item.__slots__.index('data')] == "uint8[]":
value = [ord(x) for x in value]
# Throttle updates
delta_time = curr_time - self.last_time
if delta_time < self.min_update_interval:
return
if delta_time < self.max_update_interval and self.last_value:
delta_val = value - self.last_value
if abs(delta_val / self.last_value) <= 0.01:
return
# Save the data point
point = EnvironmentalDataPoint({
"environment": self.environment,
"variable": self.variable,
"is_desired": self.is_desired,
"value": value,
"timestamp": curr_time
})
point_id = gen_doc_id(curr_time)
self.db[point_id] = point
self.last_value = value
self.last_time = curr_time
def on_data(self, item):
curr_time = time.time()
value = item.data
# This is kind of a hack to correctly interpret UInt8MultiArray
# messages. There should be a better way to do this
if item._slot_types[item.__slots__.index('data')] == "uint8[]":
value = [ord(x) for x in value]
# Throttle updates
delta_time = curr_time - self.last_time
if delta_time < self.min_update_interval:
return
if delta_time < self.max_update_interval and self.last_value:
delta_val = value - self.last_value
if abs(delta_val / self.last_value) <= 0.01:
return
# Save the data point
point = EnvironmentalDataPoint({
"environment": self.environment,
"variable": self.variable,
"is_desired": self.is_desired,
"value": value,
"timestamp": curr_time
})
point_id = gen_doc_id(curr_time)
self.db[point_id] = point
self.last_value = value
self.last_time = curr_time
def on_data(self, item):
curr_time = time.time()
value = item.data
if value is None or value == self.last_value:
return
# This is kind of a hack to correctly interpret UInt8MultiArray
# messages. There should be a better way to do this
if item._slot_types[item.__slots__.index('data')] == "uint8[]":
value = [ord(x) for x in value]
# Throttle updates by value only (not time)
if self.topic_type == Float64 and \
self.last_value is not None and \
self.last_value != 0.0:
delta_val = value - self.last_value
if abs(delta_val / self.last_value) <= 0.01:
return
# Save the data point
point = EnvironmentalDataPoint({
"environment": self.environment,
"variable": self.variable,
"is_desired": self.is_desired,
"value": value,
"timestamp": curr_time
})
point_id = gen_doc_id(curr_time)
self.db[point_id] = point
self.last_value = value
def on_data(self, item):
curr_time = time.time()
value = item.data
if value is None or value == self.last_value:
return
# This is kind of a hack to correctly interpret UInt8MultiArray
# messages. There should be a better way to do this
if item._slot_types[item.__slots__.index('data')] == "uint8[]":
value = [ord(x) for x in value]
# Throttle updates by value only (not time)
if self.topic_type == Float64 and \
self.last_value is not None and \
self.last_value != 0.0:
delta_val = value - self.last_value
if abs(delta_val / self.last_value) <= 0.01:
return
# Save the data point
point = EnvironmentalDataPoint({
"environment": self.environment,
"variable": self.variable,
"is_desired": self.is_desired,
"value": value,
"timestamp": curr_time
})
point_id = gen_doc_id(curr_time)
self.db[point_id] = point
self.last_value = value
def loop(self):
while not rospy.is_shutdown():
# Check for a recipe
recipe = self.get_recipe()
# If we have a recipe, process it. Running a recipe is a blocking
# operation, so the recipe will stay in this turn of the loop
# until it is finished.
if recipe:
rospy.loginfo('Starting recipe "{}"'.format(recipe.id))
state = {}
for timestamp, variable, value in recipe:
# If recipe was canceled or changed, or ROS stopped,
# break setpoint iteration
if self.get_recipe() != recipe or rospy.is_shutdown():
break
# Skip invalid variable types
if variable not in VALID_VARIABLES:
msg = 'Recipe references invalid variable "{}"'
rospy.logwarn(msg.format(variable))
continue
# Publish any setpoints that coerce to float
try:
float_value = float(value)
topic_name = "{}/desired".format(variable)
pub = publisher_memo(topic_name, Float64, 10)
pub.publish(float_value)
except ValueError:
pass
# Advance state
prev = state.get(variable, None)
state[variable] = value
# Store unique datapoints
if prev != value:
# @TODO ideally, this should be handled in a separate
# desired_persistence ros node and we should only publish to
# topic endpoint.
doc = EnvironmentalDataPoint({
"environment": self.environment,
"variable": variable,
"is_desired": True,
"value": value,
"timestamp": timestamp
})
doc_id = gen_doc_id(time.time())
self.env_data_db[doc_id] = doc
# Clear running recipe if we exited by finishing iteration.
# If there is a new recipe or recipe was already cleared,
# we do nothing, and allow the loop to turn again and pick
# up new recipe.
if self.get_recipe() == recipe:
try:
self.clear_recipe()
except RecipeIdleError:
pass
rospy.sleep(1)
def save_recipe_dp(self, variable):
"""
Save the recipe start/end to the env. data pt. DB, so we can restart
the recipe if necessary.
"""
doc = EnvironmentalDataPoint({
"environment": self.environment,
"variable": variable,
"is_desired": True,
"value": rospy.get_param(params.CURRENT_RECIPE),
"timestamp": rospy.get_time()
})
doc_id = gen_doc_id(rospy.get_time())
self.env_data_db[doc_id] = doc
def save_recipe_dp(self, variable):
"""
Save the recipe start/end to the env. data pt. DB, so we can restart
the recipe if necessary.
"""
doc = EnvironmentalDataPoint({
"environment": self.environment,
"variable": variable,
"is_desired": True,
"value": rospy.get_param(params.CURRENT_RECIPE),
"timestamp": rospy.get_time()
})
doc_id = gen_doc_id(rospy.get_time())
self.env_data_db[doc_id] = doc