def parse_parameter(self, testblock_name, metric_name, params):
"""
Method that returns the metric method with the given parameter.
:param params: Parameter
"""
metric_type = "user_result"
split_name = metric_name.split("::")
if len(split_name) != 2:
raise ATFConfigurationError(
"no valid metric name for metric '%s' in testblock '%s'" %
(metric_name, testblock_name))
if split_name[0] != metric_type:
raise ATFConfigurationError(
"called invalid metric handle for metric '%s' in testblock '%s'."
% (metric_name, testblock_name))
if type(params) is not dict:
rospy.logerr("metric config not a dictionary")
raise ATFConfigurationError(
"no valid metric configuration for metric '%s' in testblock '%s': %s"
% (metric_name, testblock_name, str(params)))
# check for optional parameters
groundtruth = Groundtruth()
try:
groundtruth.data = params["groundtruth"]
groundtruth.epsilon = params["groundtruth_epsilon"]
groundtruth.available = True
except (TypeError, KeyError):
groundtruth.data = 0
groundtruth.epsilon = 0
groundtruth.available = False
return CalculateUserResult(metric_name, testblock_name, groundtruth)
def parse_parameter(self, testblock_name, metric_name, params):
"""
Method that returns the metric method with the given parameter.
:param params: Parameter
"""
metric_type = "topic_data"
split_name = metric_name.split("::")
if len(split_name) != 2:
raise ATFConfigurationError(
"no valid metric name for metric '%s' in testblock '%s'" %
(metric_name, testblock_name))
if split_name[0] != metric_type:
raise ATFConfigurationError(
"called invalid metric handle for metric '%s' in testblock '%s'."
% (metric_name, testblock_name))
if type(params) is not dict:
rospy.logerr("metric config not a dictionary")
raise ATFConfigurationError(
"no valid metric configuration for metric '%s' in testblock '%s': %s"
% (metric_name, testblock_name, str(params)))
try:
message_field = params["message_field"]
except (TypeError, KeyError):
message_field = ""
# check for optional parameters
try:
unit = params["unit"]
except (TypeError, KeyError):
unit = ""
groundtruth = Groundtruth()
try:
groundtruth.data = params["groundtruth"]["data"]
groundtruth.epsilon = params["groundtruth"]["epsilon"]
groundtruth.available = True
except (TypeError, KeyError):
groundtruth.data = 0
groundtruth.epsilon = 0
groundtruth.available = False
try:
mode = params["mode"]
except (TypeError, KeyError):
mode = MetricResult.SPAN_MEAN
try:
series_mode = params["series_mode"]
except (TypeError, KeyError):
series_mode = None
return CalculateTopicData(metric_name, testblock_name, params["topic"],
message_field, groundtruth, mode,
series_mode, unit)
def parse_parameter(self, testblock_name, metric_name, params):
"""
Method that returns the metric method with the given parameter.
:param params: Parameter
"""
metric_type = "tf_acceleration_translation"
unit = "m/s^2"
split_name = metric_name.split("::")
if len(split_name) != 2:
raise ATFConfigurationError(
"no valid metric name for metric '%s' in testblock '%s'" %
(metric_name, testblock_name))
if split_name[0] != metric_type:
raise ATFConfigurationError(
"called invalid metric handle for metric '%s' in testblock '%s'."
% (metric_name, testblock_name))
if type(params) is not dict:
rospy.logerr("metric config not a dictionary")
raise ATFConfigurationError(
"no valid metric configuration for metric '%s' in testblock '%s': %s"
% (metric_name, testblock_name, str(params)))
# check for optional parameters
groundtruth = Groundtruth()
try:
groundtruth.data = params["groundtruth"]["data"]
groundtruth.epsilon = params["groundtruth"]["epsilon"]
groundtruth.available = True
except (TypeError, KeyError):
groundtruth.data = 0
groundtruth.epsilon = 0
groundtruth.available = False
try:
mode = params["mode"]
except (TypeError, KeyError):
mode = MetricResult.SPAN_ABSMAX
try:
series_mode = params["series_mode"]
except (TypeError, KeyError):
series_mode = None
return CalculateTfAccelerationTranslation(metric_name, testblock_name,
params["topics"],
params["root_frame"],
params["measured_frame"],
groundtruth, mode,
series_mode, unit)
def __init__(self, name, testblock_name, params, mode, series_mode, unit):
"""
Class for calculating the interface type.
"""
self.name = name
self.testblock_name = testblock_name
self.status = TestblockStatus()
self.groundtruth = Groundtruth()
self.groundtruth.available = True
self.groundtruth.data = 100 # this is the max score
self.groundtruth.epsilon = 0 # no deviation from max score allowed
self.mode = mode
self.series_mode = series_mode
self.series = []
self.unit = unit
self.interface_details = {}
self.params = params
def __init__(self, name, testblock_name, params, mode, series_mode):
"""
Class for calculating the interface type.
"""
self.name = name
self.started = False
self.finished = False
self.active = False
self.groundtruth = Groundtruth()
self.groundtruth.available = True
self.groundtruth.data = 100 # this is the max score
self.groundtruth.epsilon = 0 # no deviation from max score allowed
self.mode = mode
self.series_mode = series_mode
self.series = []
self.data = DataStamped()
self.interface_details = {}
self.api_dict = {}
self.testblock_name = testblock_name
self.params = params
def calculate_data_and_details(self):
# As interface metric is not numeric, we'll use the following numeric representation:
# max score = 100.0
# node in api: score = 33.3
# all interfaces available: score = 66.6
# all types correct: score = 100.0
data = None
groundtruth = Groundtruth()
details = None
node_name = self.params['node']
if node_name not in self.api_dict:
details = "node " + node_name + " is not in api"
groundtruth.result = False
data = 0.0
else:
details = "node " + node_name + " is in api"
groundtruth.result = True
data = 100.0
for interface, interface_data in self.params.items():
if interface == "publishers" or interface == "subscribers" or interface == "services":
for topic_name, topic_type in interface_data:
#print "node_name=", node_name
#print "topic_name=", topic_name
#print "topic_type=", topic_type
#print "self.api_dict[node_name][interface]=", self.api_dict[node_name][interface]
name_check, type_check = self.check_interface(
topic_name, topic_type,
self.api_dict[node_name][interface])
if not name_check:
details += ", but " + topic_name + " is not an interface of node " + node_name + ". Interfaces are: " + str(
self.api_dict[node_name][interface])
groundtruth.result = False
data = 33.3
else:
if not type_check:
details += ", but " + topic_name + " (with type " + topic_type + ") is not an interface of node " + node_name + ". Interfaces are: " + str(
self.api_dict[node_name][interface])
groundtruth.result = False
data = 66.0
else: # all Ok
details += ", all interfaces of node " + node_name + ": OK"
groundtruth.result = True
data = 100.0
return data, details
def calculate_data_and_details(self, api_dict):
# As interface metric is not numeric, we'll use the following numeric representation:
# max score = 100.0
# node in api: score = 33.3
# all interfaces available: score = 66.6
# all types correct: score = 100.0
data = None
groundtruth = Groundtruth()
details = None
node_name = self.params['node']
if node_name not in api_dict:
details = "node " + node_name + " is not in api"
groundtruth.result = Groundtruth.FAILED
data = 0.0
return data, details
details = "node " + node_name + " is in api"
groundtruth.result = Groundtruth.SUCCEEDED
data = 100.0
for interface, interface_data in list(self.params.items()):
if interface == "publishers" or interface == "subscribers" or interface == "services":
for topic_name, topic_type in interface_data:
#print "node_name=", node_name
#print "topic_name=", topic_name
#print "topic_type=", topic_type
#print "api_dict[node_name][interface]=", api_dict[node_name][interface]
name_check, type_check = self.check_interface(
topic_name, topic_type, api_dict[node_name][interface])
if not name_check:
details += ", but " + topic_name + " is not in the list of " + interface + " of node " + node_name + ". " + interface + " are: " + str(
api_dict[node_name][interface])
groundtruth.result = Groundtruth.FAILED
data = min(data, 33.3)
else:
if not type_check:
details += ", but " + topic_name + " (of type " + topic_type + ") is not in the list of " + interface + " of node " + node_name + ". " + interface + " are: " + str(
api_dict[node_name][interface])
groundtruth.result = Groundtruth.FAILED
data = min(data, 66.6)
return data, details
