def __init__(self, topic_prefix, config_file, robot_config_file,
write_lock, bag_file):
self.topic = topic_prefix + "obstacle_distance"
self.test_config = config_file
self.robot_config_file = robot_config_file
resources_timer_frequency = 100.0 # Hz
self.timer_interval = 1 / resources_timer_frequency
self.testblock_pipeline = []
self.BfW = BagfileWriter(bag_file, write_lock)
# Wait for obstacle_distance node
rospy.loginfo(rospy.get_name() +
": Waiting for obstacle distance node...")
rospy.wait_for_service(
self.robot_config_file["obstacle_distance"]["services"][0])
rospy.loginfo(rospy.get_name() + ": Obstacle distance node found!")
self.obstacle_distance_server = rospy.ServiceProxy(
self.robot_config_file["obstacle_distance"]["services"][0],
GetObstacleDistance)
rospy.Timer(rospy.Duration.from_sec(self.timer_interval),
self.collect_obstacle_distances)
def __init__(self):
self.bag_name = rosparam.get_param("/test_name")
self.number_of_tests = rosparam.get_param("/number_of_tests")
self.robot_config_file = self.load_data(rosparam.get_param("/robot_config"))
if not os.path.exists(rosparam.get_param(rospy.get_name() + "/bagfile_output")):
os.makedirs(rosparam.get_param(rospy.get_name() + "/bagfile_output"))
self.topic = "/atf/"
self.lock_write = Lock()
self.bag = rosbag.Bag(rosparam.get_param(rospy.get_name() + "/bagfile_output") + self.bag_name + ".bag", 'w')
self.test_config = self.load_data(rosparam.get_param(rospy.get_name() + "/test_config_file")
)[rosparam.get_param("/test_config")]
recorder_config = self.load_data(rospkg.RosPack().get_path("atf_recorder_plugins") +
"/config/recorder_plugins.yaml")
self.BfW = BagfileWriter(self.bag, self.lock_write)
# Init metric recorder
self.recorder_plugin_list = []
for (key, value) in recorder_config.iteritems():
self.recorder_plugin_list.append(getattr(atf_recorder_plugins, value)(self.topic,
self.test_config,
self.robot_config_file,
self.lock_write,
self.bag))
self.topic_pipeline = []
self.active_sections = []
self.requested_topics = []
self.testblock_list = self.create_testblock_list()
for topic in self.get_topics():
msg_type = rostopic.get_topic_class(topic, blocking=True)[0]
rospy.Subscriber(topic, msg_type, self.global_topic_callback, queue_size=5, callback_args=topic)
self.test_status_publisher = rospy.Publisher(self.topic + "test_status", TestStatus, queue_size=10)
rospy.Service(self.topic + "recorder_command", RecorderCommand, self.command_callback)
# Wait for subscriber
num_subscriber = self.test_status_publisher.get_num_connections()
while num_subscriber == 0:
num_subscriber = self.test_status_publisher.get_num_connections()
test_status = TestStatus()
test_status.test_name = self.bag_name
test_status.status_recording = 1
test_status.status_analysing = 0
test_status.total = self.number_of_tests
self.test_status_publisher.publish(test_status)
rospy.loginfo(rospy.get_name() + ": Node started!")
def __init__(self, topic_prefix, config_file, robot_config_file,
write_lock, bag_file):
self.topic = topic_prefix + "interface"
self.test_config = config_file
self.robot_config_file = robot_config_file
resources_timer_frequency = 100.0 # Hz
self.timer_interval = 1 / resources_timer_frequency
self.default_timeout = 20 # s
self.testblock_pipeline = []
self.BfW = BagfileWriter(bag_file, write_lock)
rospy.Timer(rospy.Duration.from_sec(self.timer_interval),
self.check_interfaces)
def __init__(self, topic_prefix, config_file, robot_config_file,
write_lock, bag_file):
self.topic_prefix = topic_prefix
self.test_config = config_file
self.resources_timer_frequency = 4.0 # Hz
self.timer_interval = 1 / self.resources_timer_frequency
self.testblock_list = self.create_testblock_list()
self.pid_list = self.create_pid_list()
self.requested_nodes = {}
self.res_pipeline = {}
self.BfW = BagfileWriter(bag_file, write_lock)
rospy.Timer(rospy.Duration.from_sec(self.timer_interval),
self.collect_resource_data)
def __init__(self, topic_prefix, config_file, robot_config_file,
write_lock, bag_file):
self.topic_prefix = topic_prefix
self.test_config = config_file
self.BfW = BagfileWriter(bag_file, write_lock)