def run(which, expect):
v = False
cur_dir = os.getcwd()
dest = os.path.join(cur_dir, f"out/regression-output/{which}")
cwd = dtu.get_output_dir_for_test()
if not os.path.exists(cwd):
dtu.mkdirs_thread_safe(cwd)
try:
cmd = [
"rosrun",
"easy_regression",
"run",
"--expect",
expect,
"--test",
which,
"-o",
dest,
"-c",
"rmake",
]
dtu.system_cmd_result(cwd,
cmd,
display_stdout=v,
display_stderr=v,
raise_on_error=True)
finally:
if False:
shutil.rmtree(cwd)
def run_one(cmd):
v = False
cwd = dtu.get_output_dir_for_test()
if not os.path.exists(cwd):
dtu.mkdirs_thread_safe(cwd)
dtu.write_str_to_file("config echo 1", os.path.join(cwd, ".compmake.rc"))
try:
dtu.system_cmd_result(cwd,
cmd,
display_stdout=v,
display_stderr=v,
raise_on_error=True)
finally:
pass
def go(self):
extra = self.options.get_extra()
if not extra:
query = "*"
else:
if len(extra) > 1:
msg = "Expected only one extra argument."
raise dtu.DTUserError(msg)
query = extra[0]
db = self.get_easy_logs_db()
logs = db.query(query)
self.info(f"Found {len(logs)} logs.")
outdir = self.options["outdir"]
if outdir is None:
outdir = "."
msg = 'Option "--outdir" not passed. Will copy to current directory.'
self.warn(msg)
if not os.path.exists(outdir):
dtu.mkdirs_thread_safe(outdir)
for id_log, log in list(logs.items()):
log = download_if_necessary(log)
out = os.path.join(outdir, id_log + ".bag")
if os.path.exists(out):
print(out)
continue
try:
filename = get_local_bag_file(log)
shutil.copy(filename, out)
print(out)
except NotAvailableLocally:
dtu.logger.error(f"No local file for {id_log}")
def d8n_make_video_from_bag(
bag_filename: str,
topic: str,
out: str,
t0: Optional[float] = None,
t1: Optional[float] = None,
):
"""
Creates a video out of the topic in the bag.
topic: the topic name (any image-like topic)
out: an .mp4 file.
Returns the name of the created file.
raises NotEnoughFramesInSlice if there are less than 3 frames in slice
Note that needs a bunch more dependencies to be installed.
Until we fix the dependencies:
sudo pip install SystemCmd==1.2 ros_node_utils==1.0 ConfTools==1.8 QuickApp==1.2.2
sudo apt-get install -y mplayer mencoder
sudo add-apt-repository ppa:mc3man/trusty-media
sudo apt-get update
sudo apt-get install -y ffmpeg
"""
try:
import procgraph_ros
from procgraph import pg
except ImportError:
raise
# pg -m procgraph_ros bag2mp4 --bag $bag --topic $topic --out $out
stop_at = 10
min_messages = 5
actual_count, count, stopped_early = count_messages_in_slice(
bag_filename, topic, t0, t1, stop_at=stop_at)
msg = "Creating video for topic %r, which has %d messages " "in the entire log." % (
topic,
count,
)
logger.info(msg)
if not stopped_early and (actual_count != count):
msg = "However, the actual count in [%s, %s] is %s" % (t0, t1,
actual_count)
logger.info(msg)
if actual_count < min_messages:
msg = ("Topic %r has only %d messages in slice (%d total), too few"
" to make a video (min: %s).\nFile: %s" %
(topic, actual_count, count, min_messages, bag_filename))
msg += "\nt0: %s" % t0
msg += "\nt1: %s" % t1
bag = rosbag.Bag(bag_filename)
msg += "\nstart: %s" % bag.get_start_time()
msg += "\nend: %s" % bag.get_end_time()
if actual_count == count:
msg += "\n" + dtu.indent(get_summary_of_bag_messages(bag),
" info: ")
bag.close()
raise NotEnoughFramesInSlice(msg)
model = "bag2mp4_fixfps_limit"
tmpdir = dtu.create_tmpdir()
out_tmp = os.path.join(tmpdir, os.path.basename(out))
try:
logger.debug("Writing temp file to %s" % out_tmp)
logger.debug("(You can use mplayer to follow along.)")
pg(model,
config=dict(bag=bag_filename,
topic=topic,
out=out_tmp,
t0=t0,
t1=t1))
md = out_tmp + ".metadata.yaml"
if os.path.exists(md):
os.unlink(md)
dn = os.path.dirname(out)
if not os.path.exists(dn):
dtu.mkdirs_thread_safe(dn)
shutil.copyfile(out_tmp, out)
logger.info("Created: %s" % out)
info = out_tmp + ".info.yaml"
if os.path.exists(info):
os.unlink(info)
return out
finally:
if os.path.exists(out_tmp):
os.unlink(out_tmp)
if os.path.exists(tmpdir):
shutil.rmtree(tmpdir)
def _cwd():
cwd = dtu.get_output_dir_for_test()
if not os.path.exists(cwd):
dtu.mkdirs_thread_safe(cwd)
return cwd