def get_data(self):
"""
Request for the most recent value for data/sensor readings.
Returns entire sample report (all available data) in sample.
"""
request = DataRequest()
request.id = self._get_next_seq_id()
request.arm = TRIAL_ARM
request.stamp = rospy.get_rostime()
result_msg = self._data_service.publish_and_wait(request)
# TODO - Make IDs match, assert that they match elsewhere here.
sample = msg_to_sample(result_msg, self)
return sample
def get_data(self, arm=TRIAL_ARM):
"""
Request for the most recent value for data/sensor readings.
Returns entire sample report (all available data) in sample.
Args:
arm: TRIAL_ARM or AUXILIARY_ARM.
"""
request = DataRequest()
request.id = self._get_next_seq_id()
request.arm = arm
request.stamp = rospy.get_rostime()
result_msg = self._data_service.publish_and_wait(request)
# TODO - Make IDs match, assert that they match elsewhere here.
sample = msg_to_sample(result_msg, self)
return sample