def test_cancelling(capabilities, data_acq_client, group_name, verbose):
"""Checks that each capability can be cancelled successfully after the acquisition begins.
Args:
capabilities (list): All the data source capabilities listed for the plugin service (using the
GetServiceInfo RPC).
data_acq_client (DataAcquisitionClient): The client for the data acquisition service running on robot.
group_name (string): Group name for saving in the CaptureActionId of every acquisition tested.
verbose (boolean): Print additional logging information on failure.
Returns:
A boolean indicating that every capability responds to the CancelAcquisition RPC and recieved a "cancellation
complete" status for the GetStatus RPC.
"""
all_cancels_succeed = True
for capability in capabilities:
acquisition_request = data_acquisition_pb2.AcquisitionRequestList()
acquisition_request.data_captures.extend(
[data_acquisition_pb2.DataCapture(name=capability.name)])
# Make a request for this data capability and then attempt to cancel the request immediately after.
action_name = "cancel acquisition check: " + capability.name
request_id = data_acq_client.acquire_data(acquisition_request,
action_name, group_name)
success = cancel_request_and_monitor_status(request_id,
data_acq_client,
capability.name,
action_name, verbose)
if not success:
all_cancels_succeed = False
return all_cancels_succeed
def test_capabilities_acquires_and_saves(capabilities, data_acq_client,
data_store_client, group_name,
verbose):
"""Checks that each capability can individually be acquired, saved to the data store, and respond with
a status "complete". Also checks the same sequence of events for an acquisition requesting all data
source at once.
Args:
capabilities (list): All the data source capabilities listed for the plugin service (using the
GetServiceInfo RPC).
data_acq_client (DataAcquisitionClient): The client for the data acquisition service running on robot.
data_store_client (DataAcquisitionStoreClient): The client for the data acquisition store service running on robot.
group_name (string): Group name for saving in the CaptureActionId of every acquisition tested.
verbose (boolean): Print additional logging information on failure.
Returns:
A boolean indicating that every capability recieved a "complete" status for the GetStatus RPC and an action id for
the acquisition can be found in the data store.
"""
success = True
# Test each capability individually.
for capability in capabilities:
action_name = "acquire and status check: " + capability.name
acquisition_request = data_acquisition_pb2.AcquisitionRequestList()
acquisition_request.data_captures.extend(
[data_acquisition_pb2.DataCapture(name=capability.name)])
capability_success = acquire_get_status_and_save(
acquisition_request, capability.name, action_name, group_name,
data_acq_client, data_store_client, verbose)
success = capability_success and success
# Test requesting all the capabilities at once (if there are more than one data capabilities available).
if len(capabilities) > 1:
action_name = "acquire and status check: all data at once"
acquisition_request = data_acquisition_pb2.AcquisitionRequestList()
acquisition_request.data_captures.extend([
data_acquisition_pb2.DataCapture(name=capability.name)
for capability in capabilities
])
all_capabilities_success = acquire_get_status_and_save(
acquisition_request, "all data", action_name, group_name,
data_acq_client, data_store_client, verbose)
success = all_capabilities_success and success
return success
def data_acquisition(config):
"""A simple example of using the data acquisition client to request data and check status."""
bosdyn.client.util.setup_logging(config.verbose)
sdk = bosdyn.client.create_standard_sdk('DataAcquisitionClientExample')
robot = sdk.create_robot(config.hostname)
robot.authenticate(config.username, config.password)
robot.time_sync.wait_for_sync()
# Create data acquisition clients
data_acq_client = robot.ensure_client(
DataAcquisitionClient.default_service_name)
now = robot.time_sync.robot_timestamp_from_local_secs(time.time())
capture_name = "DataAcquisitionExample_{}".format(
now.ToJsonString().replace(':', '-'))
service_info = data_acq_client.get_service_info()
print("Available capabilities are:\n" + str(service_info))
# Request 1 contains only internal metadata capture requests and an image request.
acquisition_requests = data_acquisition_pb2.AcquisitionRequestList()
acquisition_requests.image_captures.extend([
data_acquisition_pb2.ImageSourceCapture(
image_service="image", image_source="back_fisheye_image")
])
acquisition_requests.data_captures.extend([
data_acquisition_pb2.DataCapture(name="robot-state"),
data_acquisition_pb2.DataCapture(name="detailed-position-data"),
data_acquisition_pb2.DataCapture(name="detected-objects")
])
process_request(data_acq_client, config.hostname, robot,
acquisition_requests, capture_name, "InternalAcquisitions")
# Request 2 contains capture requests for all the capabilities and a user-generated metadata
# struct.
json_struct = Struct()
json_struct.update({"user_comment": "it is raining"})
metadata = data_acquisition_pb2.Metadata(data=json_struct)
acquisition_requests = data_acquisition_pb2.AcquisitionRequestList()
acquisition_requests.image_captures.extend([
data_acquisition_pb2.ImageSourceCapture(
image_service="image", image_source="left_fisheye_image"),
data_acquisition_pb2.ImageSourceCapture(
image_service="image", image_source="right_fisheye_image")
])
acquisition_requests.data_captures.extend([
data_acquisition_pb2.DataCapture(name="robot-state"),
data_acquisition_pb2.DataCapture(name="detailed-position-data"),
data_acquisition_pb2.DataCapture(name="basic-position-data"),
data_acquisition_pb2.DataCapture(name="detected-objects"),
data_acquisition_pb2.DataCapture(name="GPS"),
data_acquisition_pb2.DataCapture(name="velodyne-point-cloud")
])
process_request(data_acq_client, config.hostname, robot,
acquisition_requests, capture_name, "AllAcquisitions",
metadata)
# Request 3 contains capture requests for only one capability from main DAQ and one capability
# from DAQ plugin.
acquisition_requests = data_acquisition_pb2.AcquisitionRequestList()
acquisition_requests.data_captures.extend([
data_acquisition_pb2.DataCapture(name="robot-state"),
data_acquisition_pb2.DataCapture(name="GPS"),
data_acquisition_pb2.DataCapture(name="velodyne-point-cloud"),
])
process_request(data_acq_client, config.hostname, robot,
acquisition_requests, capture_name, "PartialAcquisitions")
# Request #4 shows how to issue and then cancel different data acquistion requests (one on-robot
# data source and one off-robot plugin data source).
print("\n-----------------------------------")
acquisition_requests = data_acquisition_pb2.AcquisitionRequestList()
acquisition_requests.data_captures.extend([
data_acquisition_pb2.DataCapture(name="robot-state"),
data_acquisition_pb2.DataCapture(name="slow-gps"),
])
request_id, action_id = issue_acquire_data_request(data_acq_client,
acquisition_requests,
capture_name,
"AcquisitionsToCancel")
time.sleep(2)
cancel_acquisition_request(data_acq_client, request_id)
# Request 5 contains a SpotCAM capture request.
acquisition_requests = data_acquisition_pb2.AcquisitionRequestList()
acquisition_requests.data_captures.extend([
data_acquisition_pb2.DataCapture(name="spot-cam-pano"),
data_acquisition_pb2.DataCapture(name="spot-cam-ptz"),
data_acquisition_pb2.DataCapture(name="spot-cam-ir"),
data_acquisition_pb2.DataCapture(name="robot-state")
])
process_request(data_acq_client, config.hostname, robot,
acquisition_requests, capture_name, "SpotCAMAcquisitions")
def test_full_data_acquisition_integration(robot, image_sources, service_name, verbose):
"""Check that the image service is properly integrated with the data-acquisition service.
Ensures that all image sources are listed as data acquisition image capabilities, and that each
image capability for the service can be acquired and saved successfully.
Args:
robot (Robot): The robot to make client connections to.
image_sources (List[string]): The image source names from the image service.
service_name (string): The unique service name of the image service.
verbose (boolean): Print additional logging information on failure.
Returns:
Boolean indicating that all of the service's image sources are listed in the on-robot
data acquisition service and can be acquired successfully.
"""
data_acquisition_client = robot.ensure_client(DataAcquisitionClient.default_service_name)
data_store_client = robot.ensure_client(DataAcquisitionStoreClient.default_service_name)
# Check that all the image sources from the image service are listed in the image capabilities of
# the on-robot data acquisition service.
capabilities = data_acquisition_client.get_service_info()
found_service_name = False
for capability in capabilities.image_sources:
if capability.service_name == service_name:
found_service_name = True
# Check that each source is present.
sources_not_found = []
for src in image_sources:
if src not in capability.image_source_names:
sources_not_found.append(src)
if len(sources_not_found) > 0:
_LOGGER.error(
"Image sources listed by the image service are not present in the data "
"acquisition service's set of image capabilities: %s", sources_not_found)
if verbose:
_LOGGER.info("GetServiceInfo response: %s", capabilities)
return False
if not found_service_name:
_LOGGER.error(
"The image service %s is not listed as an image source in the data acquisition "
"service's set of image capabilities.", service_name)
if verbose:
_LOGGER.info("GetServiceInfo response: %s", capabilities)
return False
# Check that each image source can be acquired and saved successfully.
success = True
group_name = "Image Service [%s] Test %s" % (
service_name, datetime.datetime.today().strftime("%b %d %Y %H:%M:%S"))
for src in image_sources:
action_name = "acquire and status check: " + src
acquisition_request = data_acquisition_pb2.AcquisitionRequestList()
acquisition_request.image_captures.extend(
[data_acquisition_pb2.ImageSourceCapture(image_service=service_name, image_source=src)])
capability_success = acquire_get_status_and_save(acquisition_request, src, action_name,
group_name, data_acquisition_client,
data_store_client, verbose)
success = capability_success and success
return success