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()
def test_get_data_collection_names(self):
collection_names = DBUtils.get_data_collection_names(db_name=self.test_db_name)
self.assertSetEqual(set(collection_names), {'ros_sw_ethercat_parser_data',
'ros_ropod_cmd_vel'})
def check_logs(config_params, test_duration, print_output=False):
"""Check the logs in mongodb and print the status.
:config_params: black_box.config.ConfigParams
:test_duration: float
:print_output: bool
:returns: None
"""
db_name = config_params.default.db_name
collection_names = DBUtils.get_data_collection_names(db_name)
# check if all topics are present in db
fail = False
size_status = []
if config_params.ros:
for topic_params in config_params.ros.topic:
topic_name = ConfigUtils.get_full_variable_name(
"ros", topic_params.name)
if topic_name not in collection_names:
fail = True
print(colored(topic_name + " not present in mongoDB", "red"))
size_status.append({
'collection':
topic_name,
'expected_size':
topic_params.max_frequency * test_duration,
'collection_size':
0
})
continue
collection_size = len(DBUtils.get_all_docs(db_name, topic_name))
size_status.append({
'collection': topic_name,
'expected_size': topic_params.max_frequency * test_duration,
'collection_size': collection_size
})
if config_params.zyre:
expected_size = test_duration * config_params.default.max_frequency
for message_type in config_params.zyre.message_types:
topic_name = ConfigUtils.get_full_variable_name(
"zyre", message_type)
if topic_name not in collection_names:
fail = True
print(colored(topic_name + " not present in mongoDB", "red"))
size_status.append({
'collection': topic_name,
'expected_size': expected_size,
'collection_size': 0
})
continue
collection_size = len(DBUtils.get_all_docs(db_name, topic_name))
size_status.append({
'collection': topic_name,
'expected_size': expected_size,
'collection_size': collection_size
})
if not fail and print_output:
print(
colored("All topics have their respective collection in mongoDB",
"green"))
for comparison in size_status:
color = "green" if comparison['expected_size'] == comparison[
'collection_size'] else "red"
string = comparison['collection'] + ': ' + str(comparison['collection_size']) \
+ '/' + str(comparison['expected_size'])
if print_output:
print(colored(string, color))
return size_status
time.sleep(config_param['sleep_duration'])
stdscr.refresh()
if __name__ == '__main__':
# rospy.init_node('rosbag_play')
config_param = get_config_param()
run_events = False
parser = argparse.ArgumentParser(description="Play rosbag from mongo db")
parser.add_argument('-db', help='name of the mongo db', default=config_param['db_name'])
parser.add_argument('-e', '--events', action='store_true', help='Enable events playback')
args = parser.parse_args()
db_name = args.db
if args.events and 'ros_ropod_event' in DBUtils.get_data_collection_names(db_name) \
and len(DBUtils.get_all_docs(db_name, 'ros_ropod_event')) > 0:
events = DBUtils.get_all_docs(db_name, 'ros_ropod_event')
chosen_event_index = choose_event(events, 1)
while chosen_event_index != 0 :
chosen_event = events[chosen_event_index-1]
event_time = chosen_event['timestamp']
play_rosbag(event_time-config_param['event_playback_duration'],
event_time+config_param['event_playback_duration'])
chosen_event_index = choose_event(events, chosen_event_index)
else :
start_time = DBUtils.get_db_oldest_timestamp(db_name)
stop_time = DBUtils.get_db_newest_timestamp(db_name)
start_time, stop_time = get_desired_duration(start_time, stop_time)
play_rosbag(start_time, stop_time)
