def test_get_collection_metadata(self):
doc = DBUtils.get_collection_metadata(db_name=self.test_db_name,
collection_name='ros_ropod_cmd_vel')
del doc['_id']
self.assertDictEqual(
doc,
{
'collection_name': 'ros_ropod_cmd_vel',
'ros': {
'msg_type': 'geometry_msgs/Twist',
'direct_msg_mapping': True,
'topic_name': '/ropod/cmd_vel'}
})
def __init__(self, **kwargs):
self.black_box_db_name = kwargs.get('db_name', 'logs')
self.sync_time = kwargs.get('sync_time', True)
self.time_step = kwargs.get('time_step', 1.0)
self.sleep_duration = kwargs.get('sleep_duration', 0.5)
actual_start_time = DBUtils.get_db_oldest_timestamp(
self.black_box_db_name)
actual_stop_time = DBUtils.get_db_newest_timestamp(
self.black_box_db_name)
self.start_timestamp = kwargs.get('start_time', actual_start_time)
self.stop_timestamp = kwargs.get('stop_time', actual_stop_time)
if actual_start_time > self.start_timestamp or \
actual_stop_time < self.stop_timestamp or \
self.start_timestamp > self.stop_timestamp :
print(
"WARNING: Incorrect start or stop time. Using default duration"
)
self.start_timestamp = actual_start_time
self.stop_timestamp = actual_stop_time
self.current_time = self.start_timestamp
self.status = "PAUSED"
self.topic_managers = []
self.topic_manager_threads = []
data_collections = DBUtils.get_data_collection_names(
self.black_box_db_name)
# create list of locks for syncing (each for one topic)
self.locks = [
multiprocessing.Lock() for collection in data_collections
]
# create list of queues to access global current time (maintained by syncronizer)
self.queues = [
multiprocessing.Queue() for collection in data_collections
]
self.queues.append(
multiprocessing.Queue()) # for current(parent) process
sync_pause_conn, self.rosbag_pause_conn = multiprocessing.Pipe(
duplex=True)
# create syncronizer object and assign it to a thread
self.sync = Syncronizer(self.start_timestamp,
self.locks,
self.queues,
sync_pause_conn,
time_step=self.time_step,
sleep_duration=self.sleep_duration)
self.sync_thread = multiprocessing.Process(
target=self.sync.increment_time, daemon=True)
# create topic_utils object and assign it to a thread for each topic
for i, collection in enumerate(data_collections):
collection_metadata = DBUtils.get_collection_metadata(
self.black_box_db_name, collection)
topic_manager = TopicUtils(
collection_metadata['ros']['topic_name'],
collection_metadata['ros']['msg_type'],
collection_metadata['ros']['direct_msg_mapping'])
self.topic_managers.append(topic_manager)
data_cursor = DBUtils.get_doc_cursor(self.black_box_db_name,
collection,
self.start_timestamp,
self.stop_timestamp)
data_thread = multiprocessing.Process(
target=topic_manager.publish_data,
kwargs={
'dict_msgs': data_cursor,
'sync_time': self.sync_time,
'global_clock_start': self.start_timestamp,
'lock': self.locks[i],
'queue': self.queues[i]
},
daemon=True)
# data_thread.daemon = True
self.topic_manager_threads.append(data_thread)
for data_thread in self.topic_manager_threads:
data_thread.start()
self.sync_thread.start()
