def parseLog(self):
log = lcm.EventLog(self.logFile, 'r')
print 'Log size: ' + sizeof_fmt(log.size())
log.seek(0)
while True:
event = log.read_next_event()
if not event:
break
timestamp = event.timestamp
if event.channel == 'EST_ROBOT_STATE':
msg = spy.decodeMessage(event.data)
self.jointVelocityTimes.append(timestamp)
self.jointVelocityNorms.append(np.linalg.norm(msg.joint_velocity))
elif event.channel == 'ATLAS_BATTERY_DATA':
msg = spy.decodeMessage(event.data)
self.batteryTimes.append(timestamp)
self.batteryPercentage.append(msg.remaining_charge_percentage)
elif event.channel == 'ATLAS_STATUS':
msg = spy.decodeMessage(event.data)
self.pressureTimes.append(timestamp)
self.pressureReadings.append(msg.pump_supply_pressure)
print 'parsed ' + str(len(self.jointVelocityNorms)) + ' robot states'
print 'parsed ' + str(len(self.batteryPercentage)) + ' battery states'
print 'parsed ' + str(len(self.pressureReadings)) + ' pump readings'
def parseLog(self):
log = lcm.EventLog(self.logFile, 'r')
print 'Log size: ' + sizeof_fmt(log.size())
log.seek(0)
while True:
event = log.read_next_event()
if not event:
break
timestamp = event.timestamp
if event.channel == 'EST_ROBOT_STATE':
msg = spy.decodeMessage(event.data)
self.jointVelocityTimes.append(timestamp)
self.jointVelocityNorms.append(
np.linalg.norm(msg.joint_velocity))
elif event.channel == 'ATLAS_BATTERY_DATA':
msg = spy.decodeMessage(event.data)
self.batteryTimes.append(timestamp)
self.batteryPercentage.append(msg.remaining_charge_percentage)
elif event.channel == 'ATLAS_STATUS':
msg = spy.decodeMessage(event.data)
self.pressureTimes.append(timestamp)
self.pressureReadings.append(msg.pump_supply_pressure)
print 'parsed ' + str(len(self.jointVelocityNorms)) + ' robot states'
print 'parsed ' + str(len(self.batteryPercentage)) + ' battery states'
print 'parsed ' + str(len(self.pressureReadings)) + ' pump readings'
def getImage(self, utime):
filename, filepos = self.utimeMap[utime]
log = self.logs.get(filename)
if log is None:
log = lcm.EventLog(filename, 'r')
self.logs[filename] = log
log.seek(filepos)
event = log.read_next_event()
msg = spy.decodeMessage(event.data)
if hasattr(msg, 'images'):
msg = msg.images[0]
return msg, filename
def getImage(self, utime):
filename, filepos = self.utimeMap[utime]
log = self.logs.get(filename)
if log is None:
log = lcm.EventLog(filename, 'r')
self.logs[filename] = log
log.seek(filepos)
event = log.read_next_event()
msg = spy.decodeMessage(event.data)
if hasattr(msg, 'images'):
msg = msg.images[0]
return msg, filename
def onControlMessage(self, channel, msgBytes):
if self.getLastPublishElapsedTime() > self.publishFrequency:
msg = spy.decodeMessage(msgBytes)
self.onFrameRequest(msg.utime)
def unwrapCommand(self, msgBytes):
msg = spy.decodeMessage(msgBytes)
argDict = json.loads(msg.command)
return FieldData(**argDict)
def onControlMessage(self, channel, msgBytes):
if self.getLastPublishElapsedTime() > self.publishFrequency:
msg = spy.decodeMessage(msgBytes)
self.onFrameRequest(msg.utime)
def unwrapCommand(self, msgBytes):
msg = spy.decodeMessage(msgBytes)
argDict = json.loads(msg.command)
return FieldData(**argDict)