def play(fname, node, tstart, rt_rate, fixed_rate, filter_names=()):
p = CHIL.Player(fname)
try:
tstart_float = float(tstart)
p.setCursor(datetime.datetime(year=datetime.MINYEAR, month=1, day=1))
tzero = p.timeOfNextMessage()
p.setCursor(tzero + datetime.timedelta(seconds=tstart_float))
except:
p.setCursor(datetime.datetime.strptime(tstart, Strptime_Fmt))
if rt_rate is not None:
assert(fixed_rate is None)
tstart_playback = relativeTime()
try:
while True:
m, td = p.nextMessage()
if m is None:
break
if isinstance(m, str):
warning(m)
m = None
if len(filter_names) and m.__class__.__name__ not in filter_names:
continue
time_to_sleep_for = tdToFloatSeconds(td) - rt_rate * (relativeTime() - tstart_playback)
if time_to_sleep_for/rt_rate > 10:
warning('more than 10 seconds until next message will be sent (%gs)' %
(time_to_sleep_for/rt_rate))
while time_to_sleep_for > 0:
sleep_step = min((time_to_sleep_for/rt_rate, 0.2))
time_to_sleep_for -= sleep_step*rt_rate
time.sleep(sleep_step)
sys.stdout.write('.'); sys.stdout.flush()
if m is not None:
if Sonar_Timestamp_Munge and isinstance(m, msg.SonarImageMessage):
unix_time = time.mktime(p.cursor().timetuple()) + p.cursor().microsecond/1e6
# for some reason the message seems to be immutable...
m = msg.SonarImageMessage(
m.source,
msg.PolarImage(
m.image.data,
m.image.encoding,
m.image.bearing_bins,
m.image.rangeStart,
m.image.rangeEnd,
m.image.rangeConversion,
msg.TimeStamp(int(unix_time), int(1e6*(unix_time-int(unix_time))))
)
)
node.send(m)
except Exception, e:
error('error in playback: ' + str(e))
raise
debug('playback finished')
p_LocalNodeOutput.setParseAction(lambda x: messaging.LocalNodeOutput(*x[0]))
p_NodeInputArc << pp.Group(l \
+ p_str + c \
+ p_NodeOutput \
+ r)
p_NodeInputArc.setParseAction(lambda x: messaging.NodeInputArc(*x[0]))
p_NodeOutputArc << pp.Group(l \
+ p_NodeInput + c \
+ p_str \
+ r)
p_NodeOutputArc.setParseAction(lambda x: messaging.NodeOutputArc(*x[0]))
p_TimeStamp << pp.Group(l \
+ p_int + c \
+ p_int \
+ r)
p_TimeStamp.setParseAction(lambda x: messaging.TimeStamp(*x[0]))
p_SonarDataLine << pp.Group(l \
+ p_byteVec + c \
+ p_int + c \
+ p_int + c \
+ p_int + c \
+ p_int \
+ r)
p_SonarDataLine.setParseAction(lambda x: messaging.SonarDataLine(*x[0]))
p_PolarImage << pp.Group(l \
+ p_byteVec + c \
+ p_ImageEncodingType + c \
+ p_int32Vec + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
time.sleep(time_to_sleep_for)
sys.stdout.write('.'); sys.stdout.flush()
if m is not None:
if Sonar_Timestamp_Munge and isinstance(m, msg.SonarImageMessage):
unix_time = time.mktime(p.cursor().timetuple()) + p.cursor().microsecond/1e6
# !!! TODO: for some reason the message seems to be immutable...
m = msg.SonarImageMessage(
m.source,
msg.PolarImage(
m.image.data,
m.image.encoding,
m.image.bearing_bins,
m.image.rangeStart,
m.image.rangeEnd,
m.image.rangeConversion,
msg.TimeStamp(int(unix_time), int(1e6*(unix_time-int(unix_time))))
)
)
node.send(m)
tlast = relativeTime()
except Exception, e:
error('error in playback: ' + str(e))
raise
debug('playback finished')
if __name__ == '__main__':
p = argparse.ArgumentParser(description='play a CHIL log file')
p.add_argument('file', metavar='FILE', type=str)
p.add_argument('-s', '--start', dest='start_t', default="0",
help='start time: offset seconds or absolute %s' % Strptime_Fmt.replace('%','%%'))
