def sensor_logger(request, result_base_folder, dcm, mem):
"""
Return a dictionary with several objects for
each X coordinate of all lasers segments
"""
thread_flag = threading.Event()
h_sides = ["Front", "Left", "Right"]
v_sides = ["Left", "Right"]
s_sides = ["Front", "Back"]
bag = qha_tools.Bag(mem)
dico = {}
for each in h_sides:
for i in range(1, 10):
bag.add_object("Horizontal_X_seg" + str(i) + "_" + each, Laser(
dcm, mem, each + "/Horizontal/Seg0" + str(i) + "/X/Sensor"))
for i in range(10, 16):
bag.add_object("Horizontal_X_seg" + str(i) + "_" + each, Laser(
dcm, mem, each + "/Horizontal/Seg" + str(i) + "/X/Sensor"))
for each in v_sides:
bag.add_object("Vertical_X_seg01_" + each, Laser(
dcm, mem, "Front/Vertical/" + each + "/Seg01/X/Sensor"))
for each in s_sides:
bag.add_object("Sonar_" + each, Sonar(
dcm, mem, each))
for i in range(1, 4):
bag.add_object("Shovel_X_seg" + str(i), Laser(
dcm, mem, "Front/Shovel/Seg0" + str(i) + "/X/Sensor"))
logger = qha_tools.Logger()
def log(logger, bag):
"""
Docstring
"""
t_0 = time.time()
while not thread_flag.is_set():
sensor_value = bag.value
for each in sensor_value.keys():
logger.log((each, sensor_value[each]))
logger.log(("Time", time.time() - t_0))
time.sleep(0.01)
log_thread = threading.Thread(target=log, args=(logger, bag))
log_thread.start()
def fin():
"""Method executed after a joint test."""
thread_flag.set()
result_file_path1 = "/".join(
[
result_base_folder,
"Front_sensors_distances"
]) + ".csv"
logger.log_file_write(result_file_path1)
request.addfinalizer(fin)
return dico
def log_joints(request, result_base_folder, dcm, mem, motion):
"""
Return a dictionary with several objects for
POD test
"""
thread_flag = threading.Event()
bag = qha_tools.Bag(mem)
for each in motion.getBodyNames("Body"):
if "Wheel" in each:
bag.add_object(each + "_Actuator",
WheelSpeedActuator(dcm, mem, each))
bag.add_object(each + "_Sensor",
WheelSpeedSensor(dcm, mem, each))
else:
bag.add_object(each + "_Actuator",
JointPositionActuator(dcm, mem, each))
bag.add_object(each + "_Sensor",
JointPositionSensor(dcm, mem, each))
bag.add_object("BackBumper", Bumper(dcm, mem, "Back"))
bag.add_object(
"robot_on_charging_station", ChargingStationSensor(dcm, mem))
bag.add_object("battery_current", BatteryCurrentSensor(dcm, mem))
logger = qha_tools.Logger()
def log(logger, bag):
"""
Docstring
"""
t_0 = time.time()
while not thread_flag.is_set():
joints_value = bag.value
for each in joints_value.keys():
if "Wheel" in each or "Bumper" in each or \
"charging" in each or "battery" in each:
logger.log((each, joints_value[each]))
else:
logger.log((each, joints_value[each] * (180 / pi)))
logger.log(("Time", time.time() - t_0))
time.sleep(0.01)
log_thread = threading.Thread(target=log, args=(logger, bag))
log_thread.start()
def fin():
"""
Docstring
"""
thread_flag.set()
result_file_path = "/".join(
[
result_base_folder,
"Joint_Log"
]) + ".csv"
logger.log_file_write(result_file_path)
request.addfinalizer(fin)
def get_sensor_objects(request, result_base_folder, dcm, mem):
"""
Return a dictionary with several objects for
each X coordinate of all lasers segments
"""
h_sides = ["Front", "Left", "Right"]
v_sides = ["Left", "Right"]
s_sides = ["Front", "Back"]
bag = qha_tools.Bag(mem)
dico = {}
for each in h_sides:
for i in range(1, 10):
bag.add_object(
"Horizontal_X_seg" + str(i) + "_" + each,
Laser(dcm, mem,
each + "/Horizontal/Seg0" + str(i) + "/X/Sensor"))
for i in range(10, 16):
bag.add_object(
"Horizontal_X_seg" + str(i) + "_" + each,
Laser(dcm, mem,
each + "/Horizontal/Seg" + str(i) + "/X/Sensor"))
for each in v_sides:
bag.add_object(
"Vertical_X_seg01_" + each,
Laser(dcm, mem, "Front/Vertical/" + each + "/Seg01/X/Sensor"))
for each in s_sides:
bag.add_object("Sonar_" + each, Sonar(dcm, mem, each))
for i in range(1, 4):
bag.add_object(
"Shovel_X_seg" + str(i),
Laser(dcm, mem, "Front/Shovel/Seg0" + str(i) + "/X/Sensor"))
logger_dist = qha_tools.Logger()
logger_error = qha_tools.Logger()
dico["logger_dist"] = logger_dist
dico["logger_error"] = logger_error
dico["bag"] = bag
def fin():
"""Method executed after a joint test."""
result_file_path1 = "/".join(
[result_base_folder, "Dance_test_distances"]) + ".csv"
logger_dist.log_file_write(result_file_path1)
request.addfinalizer(fin)
return dico
def log_wheel(request, result_base_folder, dcm, mem):
"""
Return a dictionary with several objects for
POD test
"""
thread_flag = threading.Event()
bag = qha_tools.Bag(mem)
wheels = ["WheelFR", "WheelFL", "WheelB"]
for wheel in wheels:
bag.add_object(
wheel + "SpeedActuator", WheelSpeedActuator(dcm, mem, wheel))
bag.add_object(
wheel + "SpeedSensor", WheelSpeedSensor(dcm, mem, wheel))
bag.add_object(
wheel + "CurrentSensor", WheelCurrentSensor(dcm, mem, wheel))
logger = qha_tools.Logger()
def log(logger, bag):
"""
Docstring
"""
t_0 = time.time()
while not thread_flag.is_set():
wheel_value = bag.value
for each in wheel_value.keys():
logger.log((each, wheel_value[each]))
logger.log(("Time", time.time() - t_0))
time.sleep(0.01)
log_thread = threading.Thread(target=log, args=(logger, bag))
log_thread.start()
def fin():
"""
Docstring
"""
thread_flag.set()
result_file_path = "/".join(
[
result_base_folder,
"wheel_Log"
]) + ".csv"
logger.log_file_write(result_file_path)
request.addfinalizer(fin)
def bag_log(dcm, mem, joint_to_test):
'''
Docstring
'''
bag = qha_tools.Bag(mem)
for each in joint_to_test:
if "Wheel" in each:
bag.add_object(each + "_Joint_Actuator",
WheelSpeedActuator(dcm, mem, each))
bag.add_object(each + "_Joint_Sensor",
WheelSpeedSensor(dcm, mem, each))
else:
bag.add_object(each + "_Joint_Actuator",
JointPositionActuator(dcm, mem, each))
bag.add_object(each + "_Joint_Sensor",
JointPositionSensor(dcm, mem, each))
bag.add_object(each + "_Joint_Current",
JointCurrentSensor(dcm, mem, each))
return bag