def send_start(self):
# 初始化节点空闲率列表
global dimension
global myLockIdleness
global lastVisitList
global instantIdlenessList
global visitCountList
global maxIdlenessList
global meanIdlenessList
global M2IdlenessList
global stdDevIdlenessList
seconds = rospy.get_time() # Get the current time in float seconds
myLockIdleness.acquire()
lastVisitList = [seconds] * dimension
instantIdlenessList = [0.0] * dimension
visitCountList = [-1] * dimension # 前几次的节点访问不记入统计，达到稳定巡逻状态时再开始统计
maxIdlenessList = [0.0] * dimension
meanIdlenessList = [0.0] * dimension
M2IdlenessList = [0.0] * dimension
stdDevIdlenessList = [0.0] * dimension
for i in range(0, dimension):
idlenessRecordDic[i] = []
myLockIdleness.release()
# 打开记录图中各节点的瞬时空闲率随时间变化的文件
global timeidleness_filename
self.timeidleness_file = open(timeidleness_filename, "w")
global patrol_is_start
patrol_is_start = True
# 向巡逻机器人发布开始命令
msg = command_t()
msg.is_start = True
msg.is_stop = False
self.lc.publish("ROBOTCOMMAND", msg.encode())
tkMessageBox.showinfo("Message", "Send Start Command")
def send_start(self):
# 初始化节点空闲率列表
global dimension
global myLockIdleness
global lastVisitList
global instantIdlenessList
global visitCountList
global maxIdlenessList
global meanIdlenessList
global M2IdlenessList
global stdDevIdlenessList
seconds = rospy.get_time() # Get the current time in float seconds
myLockIdleness.acquire()
lastVisitList = [seconds] * dimension
instantIdlenessList = [0.0] * dimension
visitCountList = [-1] * dimension # 前几次的节点访问不记入统计，达到稳定巡逻状态时再开始统计
maxIdlenessList = [0.0] * dimension
meanIdlenessList = [0.0] * dimension
M2IdlenessList = [0.0] * dimension
stdDevIdlenessList = [0.0] * dimension
for i in range(0, dimension):
idlenessRecordDic[i] = []
myLockIdleness.release()
# 打开记录图中各节点的瞬时空闲率随时间变化的文件
global timeidleness_filename
self.timeidleness_file = open(timeidleness_filename, 'w')
global patrol_is_start
patrol_is_start = True
# 向巡逻机器人发布开始命令
msg = command_t()
msg.is_start = True
msg.is_stop = False
self.lc.publish("ROBOTCOMMAND", msg.encode())
tkMessageBox.showinfo('Message', 'Send Start Command')
def send_stop(self):
# 向巡逻机器人发布停止命令
msg = command_t()
msg.is_start = False
msg.is_stop = True
self.lc.publish("ROBOTCOMMAND", msg.encode())
global patrol_is_start
patrol_is_start = False
tkMessageBox.showinfo("Message", "Send Stop Command")
# 将巡逻统计结果保存到文件
if os.path.exists(results_filename):
outputfile = open(results_filename, "a")
else:
outputfile = open(results_filename, "w")
# outputfile.write(time.ctime())
outputfile.write(time.strftime("%Y-%m-%d %X", time.localtime()))
outputfile.write("\n")
global dimension
global myLockIdleness
global lastVisitList
global instantIdlenessList
global visitCountList
global maxIdlenessList
global meanIdlenessList
global M2IdlenessList
global stdDevIdlenessList
myLockIdleness.acquire()
outputfile.write("VertexID ")
for i in range(0, dimension):
outputfile.write("%d " % (i))
outputfile.write("\n")
outputfile.write("VisitCount ")
for i in range(0, dimension):
outputfile.write("%d " % (visitCountList[i]))
outputfile.write("\n")
outputfile.write("MaxIdleness ")
for i in range(0, dimension):
outputfile.write("%.3f " % (maxIdlenessList[i]))
outputfile.write("\n")
outputfile.write("MeanIdleness ")
for i in range(0, dimension):
outputfile.write("%.3f " % (meanIdlenessList[i]))
outputfile.write("\n")
for i in range(0, dimension):
if visitCountList[i] > 1:
stdDevIdlenessList[i] = math.sqrt(M2IdlenessList[i] / visitCountList[i])
outputfile.write("StdDevIdleness ")
for i in range(0, dimension):
outputfile.write("%.3f " % (stdDevIdlenessList[i]))
outputfile.write("\n")
outputfile.write("IdlenessRecord\n")
for i in range(0, dimension):
outputfile.write("(VertexID%d) " % (i))
for listelement in idlenessRecordDic[i]:
outputfile.write("%.3f " % (listelement))
outputfile.write("\n")
myLockIdleness.release()
outputfile.write("\n")
outputfile.close()
# 关闭记录图中各节点的瞬时空闲率随时间变化的文件
self.timeidleness_file.close()
tkMessageBox.showinfo("Message", "Results File Saved")
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import lcm
from exlcm import command_t
lc = lcm.LCM()
msg = command_t()
msg.is_start = True
msg.is_stop = False
lc.publish("ROBOTCOMMAND", msg.encode())
def send_stop(self):
# 向巡逻机器人发布停止命令
msg = command_t()
msg.is_start = False
msg.is_stop = True
self.lc.publish("ROBOTCOMMAND", msg.encode())
global patrol_is_start
patrol_is_start = False
tkMessageBox.showinfo('Message', 'Send Stop Command')
# 将巡逻统计结果保存到文件
if os.path.exists(results_filename):
outputfile = open(results_filename, 'a')
else:
outputfile = open(results_filename, 'w')
# outputfile.write(time.ctime())
outputfile.write(time.strftime("%Y-%m-%d %X", time.localtime()))
outputfile.write('\n')
global dimension
global myLockIdleness
global lastVisitList
global instantIdlenessList
global visitCountList
global maxIdlenessList
global meanIdlenessList
global M2IdlenessList
global stdDevIdlenessList
myLockIdleness.acquire()
outputfile.write('VertexID ')
for i in range(0, dimension):
outputfile.write('%d ' % (i))
outputfile.write('\n')
outputfile.write('VisitCount ')
for i in range(0, dimension):
outputfile.write('%d ' % (visitCountList[i]))
outputfile.write('\n')
outputfile.write('MaxIdleness ')
for i in range(0, dimension):
outputfile.write('%.3f ' % (maxIdlenessList[i]))
outputfile.write('\n')
outputfile.write('MeanIdleness ')
for i in range(0, dimension):
outputfile.write('%.3f ' % (meanIdlenessList[i]))
outputfile.write('\n')
for i in range(0, dimension):
if visitCountList[i] > 1:
stdDevIdlenessList[i] = math.sqrt(M2IdlenessList[i] /
visitCountList[i])
outputfile.write('StdDevIdleness ')
for i in range(0, dimension):
outputfile.write('%.3f ' % (stdDevIdlenessList[i]))
outputfile.write('\n')
outputfile.write('IdlenessRecord\n')
for i in range(0, dimension):
outputfile.write('(VertexID%d) ' % (i))
for listelement in idlenessRecordDic[i]:
outputfile.write('%.3f ' % (listelement))
outputfile.write('\n')
myLockIdleness.release()
outputfile.write('\n')
outputfile.close()
# 关闭记录图中各节点的瞬时空闲率随时间变化的文件
self.timeidleness_file.close()
tkMessageBox.showinfo('Message', 'Results File Saved')
