def __init__(self, config, use_global_subscriber):
"""
Constructor to create a object of TimingTopicGroup that exists per topic-pair.
The callback methods are defined depending on callerid filters.
:param config: Configuration from yaml file
"""
# topics that should be subscribed
self.topicA = Config.get_param(config, 'topicA')
self.topicB = Config.get_param(config, 'topicB')
self._callerA = Config.get_param(config, 'calleridA')
self._callerB = Config.get_param(config, 'calleridB')
self._base = TimingBase(config)
# callbacks and subscriptions to given topics
self.cb_a = self._cb_a_with_callerid if len(
self._callerA) else self._cb_a_without_callerid
self.cb_b = self._cb_b_with_callerid if len(
self._callerB) else self._cb_b_without_callerid
if not use_global_subscriber:
self.sub_a = rospy.Subscriber(self.topicA,
rospy.AnyMsg,
self.cb_a,
queue_size=1)
self.sub_b = rospy.Subscriber(self.topicB,
rospy.AnyMsg,
self.cb_b,
queue_size=1)
def initialize(self, config):
"""
Setup depending on the given config. For each topic a 'HzSubs'-object is created.
In addition it start the main thread of this plugin.
:param config: Configuration from yaml file
"""
self.rate = rospy.Rate(Config.get_param(config, 'main_loop_rate'))
try:
use_global_subscriber = Config.get_param(config,
'use_global_subscriber')
except KeyError:
use_global_subscriber = False
for topic_config in Config.get_param(config, 'topics'):
try:
self.subs.append(
TimingTopicGroup(topic_config, use_global_subscriber))
except (KeyError, StandardError) as e:
rospy.logerr(e)
sub_dict = dict()
if use_global_subscriber:
for sub in self.subs:
# print sub
sub_dict[sub.topicA] = sub.cb_a
sub_dict[sub.topicB] = sub.cb_b
self.start()
return sub_dict
def instantiate_rule(config):
is_single_shot = False
if YamlHelper.has_param(config, 'single_shot'):
is_single_shot = YamlHelper.get_param(config, 'single_shot')
host = YamlHelper.get_param(config, 'host')
port = YamlHelper.get_param(config, 'port')
username = YamlHelper.get_param(config, 'username')
password = YamlHelper.get_param(config, 'password')
subject = YamlHelper.get_param(config, 'subject')
to_address = YamlHelper.get_param(config, 'to_address')
from_address = YamlHelper.get_param(config, 'from_address')
content = YamlHelper.get_param(config, 'content')
positive_observations = RuleFactory.pars_positive_observations(config)
negative_observations = RuleFactory.pars_negative_observations(config)
positive_possible_faulty_resources = RuleFactory.pars_positive_possible_faulty_resources(
config)
negative_possible_faulty_resources = RuleFactory.pars_negative_possible_faulty_resources(
config)
recall_duration = None
if YamlHelper.has_param(config, 'recall_duration'):
recall_duration = rospy.Duration(
YamlHelper.get_param(config, 'recall_duration'))
return EMailRule(positive_observations, negative_observations,
positive_possible_faulty_resources,
negative_possible_faulty_resources, recall_duration,
is_single_shot, host, port, username, password,
subject, to_address, from_address, content)
def __init__(self, config):
"""
Constructor for gaussian verification. Uses mean and standard deviation.
:param config: Configuration from yaml file
"""
NominalValue.__init__(self)
self._mean = Config.get_param(config, 'mean')
self._std_deviation = Config.get_param(config, 'std_deviation')
def __init__(self, config):
"""
Constructor for k-mean filter object. Uses a ringbuffer of given size and take the mean of window.
:param config: Configuration from yaml file
"""
from collections import deque
ValueFilter.__init__(self)
self.k_half = Config.get_param(config, 'k_size') / 2
self.window_size = Config.get_param(config, 'window_size')
self._ring_buffer = deque(maxlen=self.window_size)
def __init__(self, config):
"""
Constructor of a new state. It reads the config used for this state and create a new hypothesis check instance.
:param config: Configuration from yaml file
"""
self.name = Config.get_param(config, 'state')
self.number = Config.get_param(config, 'number')
delay = Config.get_param(config, 'delay')
self.hypothesis_check = SingleValueHypothesisCheckFactory.create_single_value_hypothesis_check(
delay)
def __init__(self, config):
"""
Constructor for not in between verification.
:param config: Configuration from yaml file
"""
NominalValue.__init__(self)
self._lower_bound = Config.get_param(config, 'lower_bound')
self._upper_bound = Config.get_param(config, 'upper_bound')
if self._lower_bound > self._lower_bound:
rospy.logwarn(
"lower bound is bigger than upper bound. 'NotInBetweenValue' will not work correctly!"
)
def __init__(self, config):
"""
Constructor for a new hypothesis by using the student t test. It includes the value,
the deviation and the number of samples.
:param config: Configuration from yaml file
"""
self._true_mean = Config.get_param(config, 'true_mean')
if Config.has_key(config, 'std_deviation'):
self._std_deviation = Config.get_param(config, 'std_deviation')
else:
self._std_deviation = None
self._significance_level = Config.get_param(config,
'significance_level')
def pars_diag(resources):
result = set()
for res in resources:
the_res = DiagnosisContainer()
the_res.resource = YamlHelper.get_param(res, 'resource')
if YamlHelper.has_param(res, 'occurrences'):
the_res.occurrences = YamlHelper.get_param(res, 'occurrences')
else:
the_res.occurrences = None
if YamlHelper.has_param(res, 'window_size'):
the_res.window_size = YamlHelper.get_param(res, 'window_size')
else:
the_res.window_size = None
result.add(the_res)
return result
def create_nominal_value(config):
"""
Decode verification type and return new corresponding object.
:param config: Configuration from yaml file
:return: New instance of a corresponding verification object
"""
type = Config.get_param(config, 'type')
if type == "gauss":
return GaussNominalValue(config)
elif type == "exact":
return ExactValue(config)
elif type == "not":
return NotValue(config)
elif type == "greather_than":
return GreaterThanValue(config)
elif type == "less_than":
return LessThanValue(config)
elif type == "in_between":
return InBetweenValue(config)
elif type == "not_in_between":
return NotInBetweenValue(config)
else:
rospy.logwarn("nominal value type '" + str(type) + "' not found")
# return None
return NominalValue()
def add_callerid(self, callerid):
"""
Add a new object for a new callerid and add it to list
:param callerid: name of the callerid
:return: the new object created for the given callerid
"""
print 'new callerid should be added'
best_config = self._config_for_unknown
new_base = None
for callerid_config in self._callerids_config:
try:
if callerid in Config.get_param(callerid_config, 'callerid'):
best_config = callerid_config
break
except KeyError as e:
rospy.logerr(e)
# print best_config
if best_config:
new_base = TimestampBase(self.topic, callerid, best_config)
self._bases[callerid] = new_base
return new_base
def __init__(self, config):
"""
Constructor for less than verification.
:param config: Configuration from yaml file
"""
NominalValue.__init__(self)
self._less_than = Config.get_param(config, 'less_than')
def __init__(self, config):
"""
Constructor for exact verification.
:param config: Configuration from yaml file
"""
NominalValue.__init__(self)
self._exact = Config.get_param(config, 'exact')
def instantiate_rule(config):
is_single_shot = False
if YamlHelper.has_param(config, 'single_shot'):
is_single_shot = YamlHelper.get_param(config, 'single_shot')
process = YamlHelper.get_param(config, 'process')
positive_observations = RuleFactory.pars_positive_observations(config)
negative_observations = RuleFactory.pars_negative_observations(config)
positive_possible_faulty_resources = RuleFactory.pars_positive_possible_faulty_resources(
config)
negative_possible_faulty_resources = RuleFactory.pars_negative_possible_faulty_resources(
config)
recall_duration = None
if YamlHelper.has_param(config, 'recall_duration'):
recall_duration = rospy.Duration(
YamlHelper.get_param(config, 'recall_duration'))
return ProcessRule(positive_observations, negative_observations,
positive_possible_faulty_resources,
negative_possible_faulty_resources, recall_duration,
is_single_shot, process)
def __init__(self, config):
"""
Constructor for exponentially weighted moving average (EWMA) filter object.
Applies new values weighted to history.
:param config: Configuration from yaml file
"""
ValueFilter.__init__(self)
self._decay_rate = Config.get_param(config, 'decay_rate')
if Config.has_key(config, 'window_size'):
from collections import deque
self.window_size = Config.get_param(config, 'window_size')
self._ring_buffer = deque(maxlen=self.window_size)
self.update = self.update_buffered
self.get_value = self.get_value_buffered
self.reset = self.reset_buffered
else:
self._current_value = None
self.update = self.update_unbuffered
self.get_value = self.get_value_unbuffered
self.reset = self.reset_unbuffered
def instantiate_rule(config):
is_single_shot = False
if YamlHelper.has_param(config, 'single_shot'):
is_single_shot = YamlHelper.get_param(config, 'single_shot')
log_file = YamlHelper.get_param(config, 'log_file')
log_entry = YamlHelper.get_param(config, 'log_entry')
positive_observations = RuleFactory.pars_positive_observations(config)
negative_observations = RuleFactory.pars_negative_observations(config)
positive_possible_faulty_resources = RuleFactory.pars_positive_possible_faulty_resources(
config)
negative_possible_faulty_resources = RuleFactory.pars_negative_possible_faulty_resources(
config)
recall_duration = None
if YamlHelper.has_param(config, 'recall_duration'):
recall_duration = rospy.Duration(
YamlHelper.get_param(config, 'recall_duration'))
return LogFileRule(positive_observations, negative_observations,
positive_possible_faulty_resources,
negative_possible_faulty_resources, recall_duration,
is_single_shot, log_file, log_entry)
def __init__(self, config, use_global_subscriber):
"""
Constructor to create a object of TimeoutSubs that exists per topic. The last callerid-config that
defines no callerid exactly is used as default config for new callerids that are not explicitly
named in the config. If there is no callerid-config that can be used as default config, unknown
callerids are ignored.
:param config: Configuration from yaml file
"""
# topic that should be subscribed
self.topic = Config.get_param(config, 'name')
# store all callerids of this topic separately
self._bases = dict()
self._bases_lock = Lock()
# define necessary stuff to handle combinations of callerid
self._callerids_config = Config.get_param(config, 'callerids')
self._merged_bases = []
self._config_for_unknown = None
# init all states per callerid-combination and detect a possible
# config that can be used as default config.
for callerid_config in self._callerids_config:
try:
callerid_list = Config.get_param(callerid_config, 'callerid')
self._merged_bases.append(
TimestampMergedBase(self.topic, callerid_config))
if not len(callerid_list):
self._config_for_unknown = callerid_config
except KeyError as e:
rospy.logerr(e)
# get topic class and subscribe
if not use_global_subscriber:
msg_class, real_topic, msg_eval = rostopic.get_topic_class(
self.topic)
self.sub = rospy.Subscriber(self.topic,
msg_class,
self.cb,
queue_size=1)
def __init__(self, topic, config):
"""
Constructor that defines which callerids should be merged. Also all states for this combination
of callerids are defined depending on the config.
:param topic: name of topic that is subscribed
:param config: Configuration from yaml file
"""
# public variables
self.callerids = Config.get_param(config, 'callerid')
self.use_all_bases = True if not len(self.callerids) else False
# Try to load and setup all states as defined in the yaml-file
self._states = []
for state_config in Config.get_param(config, 'states'):
try:
self._states.append(TimestampState(state_config))
except KeyError as e:
rospy.logerr(e)
# create a predefined msgs for info and error
self._observation_info = observation_info(
type='timestamp', resource=str(topic + ' ' + str(self.callerids)))
def __init__(self, topic, callerid, config):
"""
Constructor of the TimeoutBase class.
:param topic: name of topic that is subscribed
:param callerid: name of the node that publish on the topic
:param config: Configuration from yaml file
"""
# create a filter and lock
self._filter_lock = Lock()
self._filter = Filter(Config.get_param(config, 'filter'))
# create a predefined error msg
# self._observation_info = observation_info(type='timestemp', resource=str(topic + '[' + str(callerid)) + ']')
self._topic = topic
def instantiate_rule(config):
is_single_shot = False
if YamlHelper.has_param(config, 'single_shot'):
is_single_shot = YamlHelper.get_param(config, 'single_shot')
service_name = YamlHelper.get_param(config, 'service_name')
service_type = YamlHelper.get_param(config, 'service_type')
call_msg = YamlHelper.get_param(config, 'call_msg')
positive_observations = RuleFactory.pars_positive_observations(config)
negative_observations = RuleFactory.pars_negative_observations(config)
positive_possible_faulty_resources = RuleFactory.pars_positive_possible_faulty_resources(
config)
negative_possible_faulty_resources = RuleFactory.pars_negative_possible_faulty_resources(
config)
recall_duration = None
if YamlHelper.has_param(config, 'recall_duration'):
recall_duration = rospy.Duration(
YamlHelper.get_param(config, 'recall_duration'))
return ServiceRule(positive_observations, negative_observations,
positive_possible_faulty_resources,
negative_possible_faulty_resources, recall_duration,
is_single_shot, service_name, service_type,
call_msg)
def __init__(self, config):
"""
Constructor for a new nominal value hypothesis. It includes the value and the deviation(s)
:param config: Configuration from yaml file
"""
SingleValueHypothesisCheck.__init__(self)
self._value_check = NominalValueFactory.create_nominal_value(config)
self._deviation_checks = []
if not Config.has_key(config, 'deviation'):
return
for deviation_config in Config.get_param(config, 'deviation'):
self._deviation_checks.append(
NominalValueFactory.create_nominal_value(deviation_config))
def instantiate_rule(config):
is_single_shot = False
if YamlHelper.has_param(config, 'single_shot'):
is_single_shot = YamlHelper.get_param(config, 'single_shot')
node_name = YamlHelper.get_param(config, 'node_name')
paramter_name = YamlHelper.get_param(config, 'paramter_name')
paramter_value = YamlHelper.get_param(config, 'paramter_value')
positive_observations = RuleFactory.pars_positive_observations(config)
negative_observations = RuleFactory.pars_negative_observations(config)
positive_possible_faulty_resources = RuleFactory.pars_positive_possible_faulty_resources(
config)
negative_possible_faulty_resources = RuleFactory.pars_negative_possible_faulty_resources(
config)
recall_duration = None
if YamlHelper.has_param(config, 'recall_duration'):
recall_duration = rospy.Duration(
YamlHelper.get_param(config, 'recall_duration'))
return DynamicParameterRule(positive_observations,
negative_observations,
positive_possible_faulty_resources,
negative_possible_faulty_resources,
recall_duration, is_single_shot, node_name,
paramter_name, paramter_value)
def __init__(self):
self._observer_sub = rospy.Subscriber("/observer/info", observer_info, self.observer_callback)
self._diagnosis_sub = rospy.Subscriber("/diagnosis", diagnosis_set, self.diagnosis_callback)
self._observation_store = ObservationStore()
self._diagnosis_store = DiagnosisStore()
self._trigger_condition = threading.Condition()
self._rules = []
rule_configs = rospy.get_param(rospy.get_name() + "/rules")
for rule_config in rule_configs:
rule_type = YamlHelper.get_param(rule_config, "type")
self._rules.append(RuleFactory.create_rule(rule_type, rule_config))
for rule in self._rules:
self._observation_store.observations_used(rule.observations_to_use())
self._diagnosis_store.resources_used(rule.resources_to_use())
self._background_thread = thread.start_new_thread(self.run, tuple())
def __init__(self, config):
"""
Constructor to create StdDeviationFilter object. It reads and setup
the buffer (defined or not defined buffer size)
:param config: Configuration from yaml file
"""
DeviationFilter.__init__(self)
from math import sqrt
self.sqrt = sqrt
if Config.has_key(config, 'window_size'):
from collections import deque
self.window_size = Config.get_param(config, 'window_size')
self._buffer = deque(maxlen=self.window_size)
self.reset = self.reset_buffered
else:
self._buffer = []
self.reset = self.reset_unbuffered
def create_value_filter(config):
"""
Decode filter type from config and return new instance of corresponding filter.
:param config: Configuration from yaml file
:return: New instance of a corresponding filter
"""
value_filter_type = Config.get_param(config, 'type')
if value_filter_type == "mean":
return MeanValueFilter(config)
elif value_filter_type == "median":
return MedianValueFilter(config)
elif value_filter_type == "kmeans":
return KMeansValueFilter(config)
elif value_filter_type == "ewma":
return ExponentiallyWeightedMovingAverageValueFilter(config)
elif value_filter_type == "nofilter":
return NoValueFilter(config)
else:
return ValueFilter()
def create_single_value_hypothesis_check(config):
"""
Decode single value hypothesis type from config and return new instance of corresponding hypothesis check.
:param config: Configuration from yaml file
:return: New instance of a corresponding hypothesis check
"""
hypothesis_type = Config.get_param(config, 'type')
if hypothesis_type in [
'gauss', 'exact', 'not', 'greather_than', 'less_than',
'in_between', 'not_in_between'
]:
return NominalValueHypothesis(config)
elif hypothesis_type == 'student_t':
return StudentTTest(config)
else:
rospy.logwarn("single value hypothesis check type '" +
str(hypothesis_type) + "' not found")
return SingleValueHypothesisCheck()
def __init__(self, config):
"""
Constructor to create min-max deviation object. It reads and setup
the buffer (defined or not defined buffer size)
:param config: Configuration from yaml file
"""
DeviationFilter.__init__(self)
if Config.has_key(config, 'window_size'):
from collections import deque
self.window_size = Config.get_param(config, 'window_size')
self._ring_buffer = deque(maxlen=self.window_size)
self.update = self.update_buffered
self.get_deviation = self.get_deviation_buffered
self.reset = self.reset_buffered
else:
self._min = float("nan")
self._max = float("nan")
self.update = self.update_unbuffered
self.get_deviation = self.get_deviation_unbuffered
self.reset = self.reset_unbuffered
def __init__(self, config):
"""
Constructor of the TimingBase class. It manages the filter, creates and
setups the states and initialize stuff for the delay calculation.
:param config: Configuration from yaml file
"""
# topics and callerids
topicA = Config.get_param(config, 'topicA')
topicB = Config.get_param(config, 'topicB')
calleridA = Config.get_param(config, 'calleridA')
calleridB = Config.get_param(config, 'calleridB')
try:
self._single_shot_mode = Config.get_param(config,
'single_shot_mode')
except KeyError:
self._single_shot_mode = False
# necessary stuff to calculate time between topics
self._first_topic_time_a = None if not self._single_shot_mode else 0
self._first_topic_time_a_lock = Lock()
# Try to load and setup all states as defined in the yaml-file
self._states = []
for state_config in Config.get_param(config, 'states'):
try:
self._states.append(TimingState(state_config))
except KeyError as e:
rospy.logerr(e)
# create a predefined msgs for info and error
self._observation_info = observation_info(
type='timing',
resource=str(topicA + ' ' + str(calleridA) + ' ' + topicB + ' ' +
str(calleridB)))
# create a filter
self._filter = Filter(Config.get_param(config, 'filter'))
def pars_observation(observations):
result = set()
for obs in observations:
the_obs = ObservationContainer()
the_obs.type = YamlHelper.get_param(obs, 'type')
the_obs.resource = YamlHelper.get_param(obs, 'resource')
if YamlHelper.has_param(obs, 'observation'):
the_obs.observation = ObservationWithNumber(
YamlHelper.get_param(obs, 'observation'))
else:
the_obs.observation = ObservationWithString(
YamlHelper.get_param(obs, 'observation_msg'))
if YamlHelper.has_param(obs, 'occurrences'):
the_obs.occurrences = YamlHelper.get_param(obs, 'occurrences')
else:
the_obs.occurrences = None
if YamlHelper.has_param(obs, 'window_size'):
the_obs.window_size = YamlHelper.get_param(obs, 'window_size')
else:
the_obs.window_size = None
result.add(the_obs)
return result
from tug_python_utils import YamlHelper
from tug_diagnosis_msgs.msg import configuration, node_configuration, observer_configuration
from tug_diagnosis_msgs.srv import *
if __name__ == "__main__":
rospy.init_node('tug_diagnosis_initialization', anonymous=False)
rospy.loginfo("tug_diagnosis_initialization: starting")
rospy.loginfo("tug_diagnosis_initialization: load config")
configs = rospy.get_param('/tug_diagnosis_initialization_node')
model_configuration = configuration()
rospy.loginfo("tug_diagnosis_initialization: load nodes")
for node in YamlHelper.get_param(configs, 'nodes'):
name = YamlHelper.get_param(node, 'name')
sub_topic = YamlHelper.get_param(node, 'sub_topic', [])
pub_topic = YamlHelper.get_param(node, 'pub_topic', [])
model_configuration.nodes.append(
node_configuration(name=str(name),
pub_topic=list(pub_topic),
sub_topic=list(sub_topic)))
rospy.loginfo("tug_diagnosis_initialization: load observers")
for observation in YamlHelper.get_param(configs, 'observations'):
type = YamlHelper.get_param(observation, 'type')
resource = []
if YamlHelper.has_key(observation, 'nodes'):