def diag_cb(msg: diag_msg):
if frame_id in msg.header.frame_id:
timer.reset()
if csv:
print(message_to_csv(msg)) # ,end="\r")
else:
now = msg.header.stamp.sec + 1e-9 * msg.header.stamp.nanosec
dt = datetime.datetime.fromtimestamp(now)
s_now = dt.strftime("%H:%M:%S.%f")[:-3]
print(
f"[{s_now:}] {Colors.BOLDMAGENTA}<{msg.header.frame_id}>{Colors.RESET}"
)
s: DiagnosticStatus
for s in msg.status:
color = Colors.INVERT
s_level = "STALE"
if s.level == DiagnosticStatus.OK:
color, s_level = Colors.BOLDGREEN, "OK"
elif s.level == DiagnosticStatus.WARN:
color, s_level = Colors.BOLDYELLOW, "WARN"
elif s.level == DiagnosticStatus.ERROR:
color, s_level = Colors.BOLDRED, "ERROR"
line = f"\t{color}[ {s.name:<22} : {s_level:>5} ]{Colors.RESET}"
print(line)
if s.message:
print(f"\t↳ {Colors.BOLDCYAN}{s.message}{Colors.RESET}")
max_k_len = 0
for v in s.values:
if len(v.key) > max_k_len:
max_k_len = len(v.key)
for v in s.values:
print(f"\t {v.key:<{max_k_len+1}}= {v.value}")
print("-----")
def cb(msg):
nonlocal truncate_length, noarr, nostr
print(
message_to_csv(msg,
truncate_length=truncate_length,
no_arr=noarr,
no_str=nostr))
def _print_csv(msg, truncate_length, noarr, nostr):
if hasattr(msg, '__slots__'):
print(
message_to_csv(msg,
truncate_length=truncate_length,
no_arr=noarr,
no_str=nostr))
else:
print(msg)
def cb(msg):
nonlocal truncate_length, noarr, nostr
if isinstance(msg, bytes):
print(msg)
else:
print(
message_to_csv(msg,
truncate_length=truncate_length,
no_arr=noarr,
no_str=nostr))
def test_primitives():
# Smoke-test the formatters on a bunch of messages
msgs = []
msgs.extend(message_fixtures.get_msg_arrays())
msgs.extend(message_fixtures.get_msg_basic_types())
msgs.extend(message_fixtures.get_msg_bounded_sequences())
msgs.extend(message_fixtures.get_msg_builtins())
msgs.extend(message_fixtures.get_msg_constants())
msgs.extend(message_fixtures.get_msg_defaults())
msgs.extend(message_fixtures.get_msg_empty())
msgs.extend(message_fixtures.get_msg_multi_nested())
msgs.extend(message_fixtures.get_msg_nested())
msgs.extend(message_fixtures.get_msg_strings())
msgs.extend(message_fixtures.get_msg_unbounded_sequences())
for m in msgs:
message_to_csv(m, 100)
message_to_csv(m, None)
message_to_ordereddict(m, 100)
message_to_ordereddict(m, None)
message_to_yaml(m, 100)
message_to_yaml(m, None)
def _subscriber_callback(self, msg, info):
submsg = msg
if self.field is not None:
for field in self.field:
try:
submsg = getattr(submsg, field)
except AttributeError as ex:
raise RuntimeError(
f"Invalid field '{'.'.join(self.field)}': {ex}")
# Evaluate the current msg against the supplied expression
if self.filter_fn is not None and not self.filter_fn(submsg):
return
if self.future is not None:
self.future.set_result(True)
if not hasattr(submsg, '__slots__'):
# raw
if self.include_message_info:
print('---Got new message, message info:---')
print(info)
print('---Message data:---')
print(submsg, end='\n---\n')
return
if self.csv:
to_print = message_to_csv(submsg,
truncate_length=self.truncate_length,
no_arr=self.no_arr,
no_str=self.no_str)
if self.include_message_info:
to_print = f'{",".join(str(x) for x in info.values())},{to_print}'
print(to_print)
return
# yaml
if self.include_message_info:
print(yaml.dump(info), end='---\n')
print(message_to_yaml(submsg,
truncate_length=self.truncate_length,
no_arr=self.no_arr,
no_str=self.no_str,
flow_style=self.flow_style),
end='---\n')
def cb(msg):
nonlocal truncate_length
print(message_to_csv(msg, truncate_length))
