def stop(self, p_keyword=''):
if self.is_running():
print("Terminating process...")
if self.force_kill:
# edge case due to current implementation of video streamer
if "start_ros_stream" in self.script:
if p_keyword:
real_pid = get_pid(p_keyword)
else:
real_pid = get_pid("cv_camera_node")
if real_pid != -1:
output, error = run_shell("kill -9", str(real_pid))
print("kill -9", str(real_pid))
else:
return False
else:
self.p1.kill()
print("Process terminated")
self.p1_pid = -1
return True
print("Failed to terminate process")
return False
def stream_capture(stream_url):
""" Given a stream, captures an image.
stream_url : The URL of the stream to capture the image.
"""
image_directory = IMAGES_FOLDER + "/" + get_stream_shortname(
stream_url) + "/"
print("Capturing image of " + stream_url)
if not os.path.exists(image_directory):
os.makedirs(image_directory)
formatted_date = datetime.datetime.now().strftime("%Y_%m_%d_%I_%M_%S")
filename = get_stream_shortname(stream_url) + "_" + formatted_date + ".jpg"
filename = image_directory + filename
error, output = run_shell("ffmpeg -i " + stream_url +
" -ss 00:00:01.500 -f image2 -vframes 1 " +
filename)
message = "Successfully captured image " + os.path.abspath(filename)
if error:
message = "Failed to capture image of " + stream_url
print(message)
return not error, message
def odroid_rx():
script_dir = os.path.dirname(os.path.realpath(__file__))
log_file = script_dir + "/../rospackages/src/odroid_rx/scripts/odroid_rx.txt"
print("odroid_rx")
# query the topic exactly once
output, error = run_shell("cat", log_file)
output = str(output, "utf-8")
print("output: " + output)
return jsonify(success=True, odroid_rx=output)
def ping_rover():
"""Pings ROS_MASTER_URI and return response object with resulting outputs.
Pings rover first directly with Unix ping command,
then using ros ping_acknowledgment service.
Returns JSON object with the following fields:
success -- whether requests was successful
ping_msg -- output of Unix ping command
ros_msg -- output of the ROS ping_acknowledgment service
"""
ping_output, error = run_shell("ping -c 1 " + fetch_ros_master_ip())
ping_output = ping_output.decode()
print("Output: " + ping_output)
if "Destination Net Unreachable" in ping_output:
error_msg = "Basestation has no connection to network, aborting ROS ping."
return jsonify(success=False, ping_msg=ping_output, ros_msg=error_msg)
if "Destination Host Unreachable" in ping_output:
error_msg = "Rover has no connection to network, aborting ROS ping."
return jsonify(success=False, ping_msg=ping_output, ros_msg=error_msg)
if error:
print("Error: " + error.decode())
ros_output, error = run_shell(
"rosrun ping_acknowledgment ping_response_client.py hello")
ros_output = ros_output.decode()
print("Pinging rover")
print("Output: " + ros_output)
if error:
print("Error: " + error.decode())
return jsonify(success=True, ping_msg=ping_output, ros_msg=ros_output)
def stream_capture(stream_url, camera_rotation):
""" Given a stream, captures an image and rotates it as shown in GUI
stream_url : The URL of the stream to capture the image.
camera_rotation : The rotation value (0,1,2,3) of the stream as shown
in the GUI.
0 = no rotation.
1 = clockwise 90 degrees
2 = 180 degrees.
3 = counterclockwise 90 degrees
"""
image_directory = IMAGES_FOLDER + "/" + get_stream_shortname(
stream_url) + "/"
print("Capturing image of " + stream_url)
if not os.path.exists(image_directory):
os.makedirs(image_directory)
formatted_date = datetime.datetime.now().strftime("%Y_%m_%d_%I_%M_%S")
image_filename = get_stream_shortname(
stream_url) + "_" + formatted_date + ".jpg"
image_filename = image_directory + image_filename
error, output = run_shell("ffmpeg -i " + stream_url +
" -ss 00:00:01.500 -f image2 -vframes 1 " +
image_filename)
rotate_stream(image_filename, camera_rotation)
message = "Successfully captured image " + os.path.abspath(image_filename)
if error:
message = "Failed to capture image of " + stream_url
print(message)
return not error, message
def get_branch_name():
output, error = run_shell('git', 'symbolic-ref --short HEAD', False)
return output.decode('utf8')[:-1]
#!/usr/bin/env python3
import robot.basestation.app as app
from robot.util.utils import run_shell
import re
excluded_branches = {'master', 'develop', 'staging', 'test'}
output, error = run_shell('git', 'symbolic-ref --short HEAD', False)
branch_name = output.decode('utf8')[:-1]
def is_excluded_branch(branch_name, excluded_branches):
"""
returns true if branch name is in list of excluded branches
"""
return branch_name in excluded_branches
def get_issue_num(branch_name):
"""
Gets issue number from branch name
returns None if there is no issue number
"""
issue_num = re.search(r'\d+$', branch_name)
if issue_num is not None:
issue_num = issue_num.group(0)
return issue_num
def has_issue_num(branch_name):
"""
