def __init__(self, config_dir, system, robot_desc, output_debug=False):
# Load configs
self.cam_config = yaml.load(open(config_dir + "/cam_config.yaml"))
self.chain_config = yaml.load(open(config_dir + "/chain_config.yaml"))
self.laser_config = yaml.load(open(config_dir + "/laser_config.yaml"))
self.controller_config = yaml.load(
open(config_dir + "/controller_config.yaml"))
# Not all robots have lasers.... :(
if self.laser_config == None:
self.laser_config = dict()
# Debug mode makes bag files huge...
self.output_debug = output_debug
# Error message from sample capture
self.message = None
# Status message from interval computation
self.interval_status = None
# parse urdf and get list of links
links = URDF().parse(robot_desc).link_map.keys()
# load system config
system = yaml.load(open(system))
# remove cams that are not on urdf
for cam in self.cam_config.keys():
try:
link = system['sensors']['rectified_cams'][cam]['frame_id']
if not link in links:
print 'URDF does not contain link [%s]. Removing camera [%s]' % (
link, cam)
del self.cam_config[cam]
except:
print 'System description does not contain camera [%s]' % cam
del self.cam_config[cam]
# remove arms that are not on urdf
for chain in self.chain_config.keys():
try:
link = system['sensors']['chains'][chain]['tip']
if not link in links:
print 'URDF does not contain link [%s]. Removing chain [%s]' % (
link, chain)
del self.chain_config[chain]
except:
print 'System description does not contain chain [%s]' % chain
del self.chain_config[chain]
self.cache = RobotMeasurementCache()
self.lock = threading.Lock()
# Specifies if we're currently waiting for a sample
self.active = False
# Construct Configuration Manager (manages configuration of nodes in the pipeline)
self.config_manager = ConfigManager(self.cam_config, self.chain_config,
self.laser_config,
self.controller_config)
# Construct a manager for each sensor stream (Don't enable any of them)
self.cam_managers = [(cam_id,
CamManager(cam_id, self.add_cam_measurement))
for cam_id in self.cam_config.keys()]
self.chain_managers = [(chain_id,
ChainManager(chain_id,
self.add_chain_measurement))
for chain_id in self.chain_config.keys()]
self.laser_managers = [(laser_id,
LaserManager(laser_id,
self.add_laser_measurement))
for laser_id in self.laser_config.keys()]
# Subscribe to topic containing stable intervals
self.request_interval_sub = rospy.Subscriber(
"intersected_interval", calibration_msgs.msg.Interval,
self.request_callback)
# Subscribe to topic containing stable intervals
self.interval_status_sub = rospy.Subscriber(
"intersected_interval_status", calibration_msgs.msg.IntervalStatus,
self.status_callback)
def __init__(self, config_dir, system, robot_desc, output_debug=False):
# Load configs
self.cam_config = yaml.load(open(config_dir + "/cam_config.yaml"))
self.chain_config = yaml.load(open(config_dir + "/chain_config.yaml"))
self.laser_config = yaml.load(open(config_dir + "/laser_config.yaml"))
self.controller_config = yaml.load(open(config_dir + "/controller_config.yaml"))
# Not all robots have lasers.... :(
if self.laser_config == None:
self.laser_config = dict()
# Debug mode makes bag files huge...
self.output_debug = output_debug
# Error message from sample capture
self.message = None
# Status message from interval computation
self.interval_status = None
# parse urdf and get list of links
links = URDF().parse(robot_desc).links.keys()
# load system config
system = yaml.load(open(system))
# remove cams that are not on urdf
for cam in self.cam_config.keys():
try:
link = system['sensors']['rectified_cams'][cam]['frame_id']
if not link in links:
print 'URDF does not contain link [%s]. Removing camera [%s]' % (link, cam)
del self.cam_config[cam]
except:
print 'System description does not contain camera [%s]' % cam
del self.cam_config[cam]
# remove arms that are not on urdf
for chain in self.chain_config.keys():
try:
link = system['sensors']['chains'][chain]['tip']
if not link in links:
print 'URDF does not contain link [%s]. Removing chain [%s]' % (link, chain)
del self.chain_config[chain]
except:
print 'System description does not contain chain [%s]' % chain
del self.chain_config[chain]
self.cache = RobotMeasurementCache()
self.lock = threading.Lock()
# Specifies if we're currently waiting for a sample
self.active = False
# Construct Configuration Manager (manages configuration of nodes in the pipeline)
self.config_manager = ConfigManager(self.cam_config,
self.chain_config,
self.laser_config,
self.controller_config)
# Construct a manager for each sensor stream (Don't enable any of them)
self.cam_managers = [ (cam_id, CamManager( cam_id, self.add_cam_measurement) ) for cam_id in self.cam_config.keys() ]
self.chain_managers = [ (chain_id, ChainManager(chain_id, self.add_chain_measurement) ) for chain_id in self.chain_config.keys() ]
self.laser_managers = [ (laser_id, LaserManager(laser_id, self.add_laser_measurement) ) for laser_id in self.laser_config.keys() ]
# Subscribe to topic containing stable intervals
self.request_interval_sub = rospy.Subscriber("intersected_interval", calibration_msgs.msg.Interval, self.request_callback)
# Subscribe to topic containing stable intervals
self.interval_status_sub = rospy.Subscriber(
"intersected_interval_status",
calibration_msgs.msg.IntervalStatus, self.status_callback)
class CaptureExecutive:
def __init__(self, config_dir, system, robot_desc, output_debug=False):
# Load configs
self.cam_config = yaml.load(open(config_dir + "/cam_config.yaml"))
self.chain_config = yaml.load(open(config_dir + "/chain_config.yaml"))
self.laser_config = yaml.load(open(config_dir + "/laser_config.yaml"))
self.controller_config = yaml.load(
open(config_dir + "/controller_config.yaml"))
# Not all robots have lasers.... :(
if self.laser_config == None:
self.laser_config = dict()
# Debug mode makes bag files huge...
self.output_debug = output_debug
# Error message from sample capture
self.message = None
# Status message from interval computation
self.interval_status = None
# parse urdf and get list of links
links = URDF().parse(robot_desc).link_map.keys()
# load system config
system = yaml.load(open(system))
# remove cams that are not on urdf
for cam in self.cam_config.keys():
try:
link = system['sensors']['rectified_cams'][cam]['frame_id']
if not link in links:
print 'URDF does not contain link [%s]. Removing camera [%s]' % (
link, cam)
del self.cam_config[cam]
except:
print 'System description does not contain camera [%s]' % cam
del self.cam_config[cam]
# remove arms that are not on urdf
for chain in self.chain_config.keys():
try:
link = system['sensors']['chains'][chain]['tip']
if not link in links:
print 'URDF does not contain link [%s]. Removing chain [%s]' % (
link, chain)
del self.chain_config[chain]
except:
print 'System description does not contain chain [%s]' % chain
del self.chain_config[chain]
self.cache = RobotMeasurementCache()
self.lock = threading.Lock()
# Specifies if we're currently waiting for a sample
self.active = False
# Construct Configuration Manager (manages configuration of nodes in the pipeline)
self.config_manager = ConfigManager(self.cam_config, self.chain_config,
self.laser_config,
self.controller_config)
# Construct a manager for each sensor stream (Don't enable any of them)
self.cam_managers = [(cam_id,
CamManager(cam_id, self.add_cam_measurement))
for cam_id in self.cam_config.keys()]
self.chain_managers = [(chain_id,
ChainManager(chain_id,
self.add_chain_measurement))
for chain_id in self.chain_config.keys()]
self.laser_managers = [(laser_id,
LaserManager(laser_id,
self.add_laser_measurement))
for laser_id in self.laser_config.keys()]
# Subscribe to topic containing stable intervals
self.request_interval_sub = rospy.Subscriber(
"intersected_interval", calibration_msgs.msg.Interval,
self.request_callback)
# Subscribe to topic containing stable intervals
self.interval_status_sub = rospy.Subscriber(
"intersected_interval_status", calibration_msgs.msg.IntervalStatus,
self.status_callback)
# Hardcoded cache sizes. Not sure where these params should live
# ...
def capture(self, next_configuration, timeout):
done = False
self.m_robot = None
self.message = None
self.interval_status = None
timeout_time = rospy.Time().now() + timeout
self.lock.acquire()
if self.active:
rospy.logerr("Can't capture since we're already active")
done = True
self.lock.release()
camera_measurements = next_configuration["camera_measurements"]
next_configuration["camera_measurements"] = []
for (i, cam) in enumerate(camera_measurements):
if self.cam_config.has_key(cam["cam_id"]):
next_configuration["camera_measurements"].append(cam)
else:
rospy.logdebug("Not capturing measurement for camera: %s" %
(cam["cam_id"]))
# Set up the pipeline
self.config_manager.reconfigure(next_configuration)
time.sleep(2.0)
# Set up the cache with only the sensors we care about
cam_ids = [
x["cam_id"] for x in next_configuration["camera_measurements"]
]
chain_ids = [
x["chain_id"] for x in next_configuration["joint_measurements"]
]
try:
laser_ids = [
x["laser_id"] for x in next_configuration["laser_measurements"]
]
except:
laser_ids = list()
self.cache.reconfigure(cam_ids, chain_ids, laser_ids)
rospy.logdebug("Setting up sensor managers")
enable_list = []
disable_list = []
# Set up the sensor managers
for cam_id, cam_manager in self.cam_managers:
if cam_id in [
x["cam_id"]
for x in next_configuration["camera_measurements"]
]:
enable_list.append(cam_id)
cam_manager.enable(self.output_debug)
else:
disable_list.append(cam_id)
cam_manager.disable()
for chain_id, chain_manager in self.chain_managers:
if chain_id in [
x["chain_id"]
for x in next_configuration["joint_measurements"]
]:
enable_list.append(chain_id)
chain_manager.enable()
else:
disable_list.append(chain_id)
chain_manager.disable()
for laser_id, laser_manager in self.laser_managers:
enabled_lasers = [
x["laser_id"] for x in next_configuration["laser_measurements"]
]
if laser_id in enabled_lasers:
enable_list.append(laser_id)
laser_manager.enable(self.output_debug)
else:
disable_list.append(laser_id)
laser_manager.disable()
print "Enabling:"
for cur_enabled in enable_list:
print " + %s" % cur_enabled
print "Disabling:"
for cur_disabled in disable_list:
print " - %s" % cur_disabled
self.lock.acquire()
self.active = True
self.lock.release()
print "\nCollecting sensor data.."
# Keep waiting until the request_callback function populates the m_robot msg
while (not rospy.is_shutdown()) and (not done) and (rospy.Time().now()
< timeout_time):
time.sleep(.1)
self.lock.acquire()
if self.m_robot is not None:
done = True
self.lock.release()
print "Stopping sensor streams..\n"
# Stop listening to all the sensor streams
for cam_id, cam_manager in self.cam_managers:
cam_manager.disable()
for chain_id, chain_manager in self.chain_managers:
chain_manager.disable()
for laser_id, laser_manager in self.laser_managers:
laser_manager.disable()
# Turn off the entire pipeline
self.config_manager.stop()
# Fill in meta information about the sample
if self.m_robot is not None:
self.m_robot.sample_id = next_configuration["sample_id"]
self.m_robot.target_id = next_configuration["target"]["target_id"]
self.m_robot.chain_id = next_configuration["target"]["chain_id"]
elif self.interval_status is not None:
total = 0
bad_sensors = []
l = len(self.interval_status.names)
if l != len(self.interval_status.yeild_rates):
rospy.logerr(
"Invalid interval status message; names and yeild rates have different lengths"
)
l = min(l, len(self.interval_status.yeild_rates))
# analyze status message
for i in range(l):
if self.interval_status.yeild_rates[i] == 0.0:
bad_sensors.append(self.interval_status.names[i])
total += self.interval_status.yeild_rates[i]
# if we didn't get any samples from some sensors, complain
if len(bad_sensors) > 0:
print "Didn't get good data from %s" % (', '.join(bad_sensors))
else:
# if we got data from all of our sensors, complain about the
# ones that were below the mean (heuristic)
avg = total / l
for i in range(l):
if self.interval_status.yeild_rates[i] <= avg:
bad_sensors.append(self.interval_status.names[i])
print "%s may be performing poorly" % (", ".join(bad_sensors))
elif self.message is not None:
print self.message
self.lock.acquire()
self.active = False
self.lock.release()
return self.m_robot
def request_callback(self, msg):
# See if the interval is big enough to care
if (msg.end - msg.start) < rospy.Duration(1, 0):
return
self.lock.acquire()
if self.active:
# Do some query into the cache, and possibly stop stuff from running
m = self.cache.request_robot_measurement(msg.start, msg.end)
if isinstance(m, basestring):
self.message = m
else:
self.m_robot = m
# We found a sample, so we can deactive (kind of a race condition, since 'active' triggers capture() to exit... I don't care)
if self.m_robot is not None:
self.active = False
self.lock.release()
def status_callback(self, msg):
self.lock.acquire()
if self.active:
self.interval_status = msg
self.lock.release()
def add_cam_measurement(self, cam_id, msg):
if len(msg.image_points) > 0:
self.lock.acquire()
self.cache.add_cam_measurement(cam_id, msg)
self.lock.release()
def add_chain_measurement(self, chain_id, msg):
self.lock.acquire()
self.cache.add_chain_measurement(chain_id, msg)
self.lock.release()
def add_laser_measurement(self, laser_id, msg, interval_start,
interval_end):
self.lock.acquire()
self.cache.add_laser_measurement(laser_id, msg, interval_start,
interval_end)
self.lock.release()
class CaptureExecutive:
def __init__(self, config_dir, system, robot_desc, output_debug=False):
# Load configs
self.cam_config = yaml.load(open(config_dir + "/cam_config.yaml"))
self.chain_config = yaml.load(open(config_dir + "/chain_config.yaml"))
self.laser_config = yaml.load(open(config_dir + "/laser_config.yaml"))
self.controller_config = yaml.load(open(config_dir + "/controller_config.yaml"))
# Not all robots have lasers.... :(
if self.laser_config == None:
self.laser_config = dict()
# Debug mode makes bag files huge...
self.output_debug = output_debug
# Error message from sample capture
self.message = None
# Status message from interval computation
self.interval_status = None
# parse urdf and get list of links
links = URDF().parse(robot_desc).links.keys()
# load system config
system = yaml.load(open(system))
# remove cams that are not on urdf
for cam in self.cam_config.keys():
try:
link = system['sensors']['rectified_cams'][cam]['frame_id']
if not link in links:
print 'URDF does not contain link [%s]. Removing camera [%s]' % (link, cam)
del self.cam_config[cam]
except:
print 'System description does not contain camera [%s]' % cam
del self.cam_config[cam]
# remove arms that are not on urdf
for chain in self.chain_config.keys():
try:
link = system['sensors']['chains'][chain]['tip']
if not link in links:
print 'URDF does not contain link [%s]. Removing chain [%s]' % (link, chain)
del self.chain_config[chain]
except:
print 'System description does not contain chain [%s]' % chain
del self.chain_config[chain]
self.cache = RobotMeasurementCache()
self.lock = threading.Lock()
# Specifies if we're currently waiting for a sample
self.active = False
# Construct Configuration Manager (manages configuration of nodes in the pipeline)
self.config_manager = ConfigManager(self.cam_config,
self.chain_config,
self.laser_config,
self.controller_config)
# Construct a manager for each sensor stream (Don't enable any of them)
self.cam_managers = [ (cam_id, CamManager( cam_id, self.add_cam_measurement) ) for cam_id in self.cam_config.keys() ]
self.chain_managers = [ (chain_id, ChainManager(chain_id, self.add_chain_measurement) ) for chain_id in self.chain_config.keys() ]
self.laser_managers = [ (laser_id, LaserManager(laser_id, self.add_laser_measurement) ) for laser_id in self.laser_config.keys() ]
# Subscribe to topic containing stable intervals
self.request_interval_sub = rospy.Subscriber("intersected_interval", calibration_msgs.msg.Interval, self.request_callback)
# Subscribe to topic containing stable intervals
self.interval_status_sub = rospy.Subscriber(
"intersected_interval_status",
calibration_msgs.msg.IntervalStatus, self.status_callback)
# Hardcoded cache sizes. Not sure where these params should live
# ...
def capture(self, next_configuration, timeout):
done = False
self.m_robot = None
self.message = None
self.interval_status = None
timeout_time = rospy.Time().now() + timeout
self.lock.acquire()
if self.active:
rospy.logerr("Can't capture since we're already active")
done = True
self.lock.release()
camera_measurements = next_configuration["camera_measurements"]
next_configuration["camera_measurements"] = []
for (i, cam) in enumerate(camera_measurements):
if self.cam_config.has_key(cam["cam_id"]):
next_configuration["camera_measurements"].append(cam)
else:
rospy.logdebug("Not capturing measurement for camera: %s"%(cam["cam_id"]))
# Set up the pipeline
self.config_manager.reconfigure(next_configuration)
time.sleep(2.0)
# Set up the cache with only the sensors we care about
cam_ids = [x["cam_id"] for x in next_configuration["camera_measurements"]]
chain_ids = [x["chain_id"] for x in next_configuration["joint_measurements"]]
try:
laser_ids = [x["laser_id"] for x in next_configuration["laser_measurements"]]
except:
laser_ids = list()
self.cache.reconfigure(cam_ids, chain_ids, laser_ids)
rospy.logdebug("Setting up sensor managers")
enable_list = []
disable_list = []
# Set up the sensor managers
for cam_id, cam_manager in self.cam_managers:
if cam_id in [x["cam_id"] for x in next_configuration["camera_measurements"]]:
enable_list.append(cam_id)
cam_manager.enable(self.output_debug)
else:
disable_list.append(cam_id)
cam_manager.disable()
for chain_id, chain_manager in self.chain_managers:
if chain_id in [x["chain_id"] for x in next_configuration["joint_measurements"]]:
enable_list.append(chain_id)
chain_manager.enable()
else:
disable_list.append(chain_id)
chain_manager.disable()
for laser_id, laser_manager in self.laser_managers:
enabled_lasers = [x["laser_id"] for x in next_configuration["laser_measurements"]]
if laser_id in enabled_lasers:
enable_list.append(laser_id)
laser_manager.enable(self.output_debug)
else:
disable_list.append(laser_id)
laser_manager.disable()
print "Enabling:"
for cur_enabled in enable_list:
print " + %s" % cur_enabled
print "Disabling:"
for cur_disabled in disable_list:
print " - %s" % cur_disabled
self.lock.acquire()
self.active = True
self.lock.release()
print "\nCollecting sensor data.."
# Keep waiting until the request_callback function populates the m_robot msg
while (not rospy.is_shutdown()) and (not done) and (rospy.Time().now() < timeout_time):
time.sleep(.1)
self.lock.acquire()
if self.m_robot is not None:
done = True
self.lock.release()
print "Stopping sensor streams..\n"
# Stop listening to all the sensor streams
for cam_id, cam_manager in self.cam_managers:
cam_manager.disable()
for chain_id, chain_manager in self.chain_managers:
chain_manager.disable()
for laser_id, laser_manager in self.laser_managers:
laser_manager.disable()
# Turn off the entire pipeline
self.config_manager.stop()
# Fill in meta information about the sample
if self.m_robot is not None:
self.m_robot.sample_id = next_configuration["sample_id"]
self.m_robot.target_id = next_configuration["target"]["target_id"]
self.m_robot.chain_id = next_configuration["target"]["chain_id"]
elif self.interval_status is not None:
total = 0
bad_sensors = []
l = len(self.interval_status.names)
if l != len(self.interval_status.yeild_rates):
rospy.logerr("Invalid interval status message; names and yeild rates have different lengths")
l = min(l, len(self.interval_status.yeild_rates))
# analyze status message
for i in range(l):
if self.interval_status.yeild_rates[i] == 0.0:
bad_sensors.append(self.interval_status.names[i])
total += self.interval_status.yeild_rates[i]
# if we didn't get any samples from some sensors, complain
if len(bad_sensors) > 0:
print "Didn't get good data from %s"%(', '.join(bad_sensors))
else:
# if we got data from all of our sensors, complain about the
# ones that were below the mean (heuristic)
avg = total / l
for i in range(l):
if self.interval_status.yeild_rates[i] <= avg:
bad_sensors.append(self.interval_status.names[i])
print "%s may be performing poorly"%(", ".join(bad_sensors))
elif self.message is not None:
print self.message
self.lock.acquire()
self.active = False
self.lock.release()
return self.m_robot
def request_callback(self, msg):
# See if the interval is big enough to care
if (msg.end - msg.start) < rospy.Duration(1,0):
return
self.lock.acquire()
if self.active:
# Do some query into the cache, and possibly stop stuff from running
m = self.cache.request_robot_measurement(msg.start, msg.end)
if isinstance(m, basestring):
self.message = m
else:
self.m_robot = m
# We found a sample, so we can deactive (kind of a race condition, since 'active' triggers capture() to exit... I don't care)
if self.m_robot is not None:
self.active = False
self.lock.release()
def status_callback(self, msg):
self.lock.acquire()
if self.active:
self.interval_status = msg
self.lock.release()
def add_cam_measurement(self, cam_id, msg):
if len(msg.image_points) > 0:
self.lock.acquire()
self.cache.add_cam_measurement(cam_id, msg)
self.lock.release()
def add_chain_measurement(self, chain_id, msg):
self.lock.acquire()
self.cache.add_chain_measurement(chain_id, msg)
self.lock.release()
def add_laser_measurement(self, laser_id, msg, interval_start, interval_end):
self.lock.acquire()
self.cache.add_laser_measurement(laser_id, msg, interval_start, interval_end)
self.lock.release()
