def __check_alive(self, event):
"""
Iterates over all registered specifications and sends an error if no package is received but was expected.
"""
for seuid in self.__specification_handler.loaded_specifications():
if seuid not in self.__alive_timers.keys():
spec = self.__specification_handler.get(seuid)
alive_timer = spec.get("alive_timer")
if not alive_timer:
alive_timer = rospy.get_param("~alive_timer", 10)
else:
alive_timer = alive_timer[1]
self.__alive_timers[seuid] = rospy.Duration(alive_timer)
if seuid not in self.__alive_countdown.keys():
self.__alive_countdown[seuid] = rospy.Time.now()
if rospy.Time.now(
) >= self.__alive_countdown[seuid] + self.__alive_timers[seuid]:
r = RatedStatisticsContainer(seuid)
r.add_value("alive", ["False"], ["True"], [1])
r.add_value("window_start", self.__alive_countdown[seuid],
None, None)
r.add_value("window_stop", rospy.Time.now(), None, None)
msg = r.to_msg_type()
self.__publish_data(msg)
def __check_alive(self, event):
"""
Iterates over all registered specifications and sends an error if no package is received but was expected.
"""
for seuid in self.__specification_handler.loaded_specifications():
if seuid not in self.__alive_timers.keys():
spec = self.__specification_handler.get(seuid)
alive_timer = spec.get("alive_timer")
if not alive_timer:
alive_timer = rospy.get_param("~alive_timer", 10)
else:
alive_timer = alive_timer[1]
self.__alive_timers[seuid] = rospy.Duration(alive_timer)
if seuid not in self.__alive_countdown.keys():
self.__alive_countdown[seuid] = rospy.Time.now()
if rospy.Time.now() >= self.__alive_countdown[seuid] + self.__alive_timers[seuid]:
r = RatedStatisticsContainer(seuid)
r.add_value("alive", ["False"], ["True"], [1])
r.add_value("window_start", self.__alive_countdown[seuid], None, None)
r.add_value("window_stop", rospy.Time.now(), None, None)
msg = r.to_msg_type()
self.__publish_data(msg)
def compare(self, data, identifier, specification=None):
"""
Compares a Message object with a Specification object regarding all available matching fields.
:param data: The actual data.
:type data: object.
:param identifier: The identifier of the metadata package.
:type identifier: str
:param specification: The Specification object, alternatively a string identifying it.
:type specification: Specification or str.
:returns: A RatedStatisticsContainer object representing the result.
"""
if identifier is None:
rospy.logdebug("[SpecificationHandler][compare] No identifier given.")
return None
if not SEUID().is_valid(identifier):
rospy.logdebug("[SpecificationHandler][compare] Given identifier is invalid.")
return None
if data is None:
rospy.logdebug("[SpecificationHandler][compare] No data given.")
return None
result = RatedStatisticsContainer(identifier)
if identifier[0] == "n":
result.host = data.host
if specification is None:
specification = self.get(identifier)
window_len = data.window_stop - data.window_start
if window_len.to_sec() == 0:
window_len = rospy.Duration(1)
fields = dir(data)
exclude = ("delivered_msgs", "traffic")
for x in exclude:
if x in fields:
fields.remove(x)
if identifier[0] == "c":
fields.append("bandwidth")
fields.append("frequency")
for field in fields:
value = None
if field[0] == "_" or "serialize" in field:
continue
current_obj = {}
if field == "bandwidth":
value = data.traffic / window_len.to_sec()
elif field == "frequency":
value = data.delivered_msgs / window_len.to_sec()
else:
value = getattr(data, field)
if value is not None:
limits = self.__get_limits(specification, field)
if isinstance(value, (list, tuple)):
current_obj["state"] = []
current_obj["actual"] = []
current_obj["expected"] = []
for i, v in enumerate(value):
limits = self.__get_limits(specification, field, i)
current_obj["actual"].append(v)
current_obj["state"].append(self.__compare(v, limits))
current_obj["expected"].append(limits)
else:
status = self.__compare(value, limits)
current_obj["state"] = status
current_obj["actual"] = value
current_obj["expected"] = limits
result.add_value(field, current_obj["actual"], current_obj["expected"], current_obj["state"])
result.add_value("alive", ["True"], ["True"], [2])
return result
def compare(self, data, identifier, specification=None):
"""
Compares a Message object with a Specification object regarding all available matching fields.
:param data: The actual data.
:type data: object.
:param identifier: The identifier of the metadata package.
:type identifier: str
:param specification: The Specification object, alternatively a string identifying it.
:type specification: Specification or str.
:returns: A RatedStatisticsContainer object representing the result.
"""
if identifier is None:
rospy.logdebug("[SpecificationHandler][compare] No identifier given.")
return None
if not SEUID().is_valid(identifier):
rospy.logdebug("[SpecificationHandler][compare] Given identifier is invalid.")
return None
if data is None:
rospy.logdebug("[SpecificationHandler][compare] No data given.")
return None
result = RatedStatisticsContainer(identifier)
if identifier[0] == "n":
result.host = data.host
if specification is None:
specification = self.get(identifier)
window_len = data.window_stop - data.window_start
if window_len.to_sec() == 0:
window_len = rospy.Duration(1)
fields = dir(data)
exclude = ("delivered_msgs", "traffic")
for x in exclude:
if x in fields:
fields.remove(x)
if identifier[0] == "c":
fields.append("bandwidth")
fields.append("frequency")
for field in fields:
value = None
if field[0] == "_" or "serialize" in field:
continue
current_obj = {}
if field == "bandwidth":
value = data.traffic / window_len.to_sec()
elif field == "frequency":
value = data.delivered_msgs / window_len.to_sec()
else:
value = getattr(data, field)
if value is not None:
limits = self.__get_limits(specification, field)
if isinstance(value, (list, tuple)):
current_obj["state"] = []
current_obj["actual"] = []
current_obj["expected"] = []
for i, v in enumerate(value):
limits = self.__get_limits(specification, field, i)
current_obj["actual"].append(v)
current_obj["state"].append(self.__compare(v, limits))
current_obj["expected"].append(limits)
else:
status = self.__compare(value, limits)
current_obj["state"] = status
current_obj["actual"] = value
current_obj["expected"] = limits
result.add_value(field, current_obj["actual"], current_obj["expected"], current_obj["state"])
result.add_value("alive", ["True"], ["True"], [2])
return result