def get_robot_data(robot_id):
robot_smart_wheel_count = config.get_robot_smart_wheel_count(robot_id)
while True:
data_msg = zyre_communicator.get_query_data(
robot_data_query_msgs[robot_id])
variables, data = DataUtils.parse_bb_latest_data_msg(data_msg)
short_vel_vars = [
cmd_vel_var_name_mapping[x] for x in cmd_vel_vars
]
wheel_data = []
for i in range(robot_smart_wheel_count):
wheel_data.append({})
for var in wheel_vars:
expanded_var_name = var.replace('*', str(i))
wheel_data[i][expanded_var_name] = None
vel_data = list()
if variables:
try:
for i in range(robot_smart_wheel_count):
for var in wheel_vars:
expanded_var_name = var.replace('*', str(i))
wheel_data[i][expanded_var_name] = data[
variables.index(expanded_var_name)]
socketio.emit('wheel_data',
json.dumps({
'variables':
robot_wheel_var_name_mapping[robot_id],
'data':
wheel_data
}),
namespace='/real_time_monitoring')
except ValueError as exc:
print('[real_time_monitoring] Smart wheel data error')
print(str(exc))
try:
vel_data = [data[variables.index(x)] for x in cmd_vel_vars]
socketio.emit('cmd_vel_data',
json.dumps({
'variables': short_vel_vars,
'data': vel_data
}),
namespace='/real_time_monitoring')
except ValueError as exc:
print('[real_time_monitoring] Velocity data error')
print(str(exc))
socketio.sleep(1)
