def __cleanup_timer(self):
last_cleanup = rospy.Time.now()
sleeptime = rospy.Duration(0.5)
while not rospy.is_shutdown():
if rospy.get_param('~storage/auto_cleanup', True) and \
older_than(last_cleanup, rospy.Duration(rospy.get_param('~storage/cleanup_timer', 30))):
# not rospy.Duration(
# rospy.get_param('/arni/storage/cleanup_timer', 30)) > rospy.Time.now() - last_cleanup:
last_cleanup = rospy.Time.now()
self.__clean_up()
rospy.sleep(sleeptime)
def __clean_up(self):
"""
Automatically removes all objects in the storage older than *duration*.
"""
counter = 0
for ident in self.storage.keys():
for stamp in self.storage[ident].keys():
if older_than(stamp, rospy.Duration(self.duration)):
# if rospy.Time.now() - stamp > rospy.Duration(self.duration):
del self.storage[ident][stamp]
counter += 1
rospy.logdebug("[MetadataStorage] Cleared storage, removed %s packages." % counter)
