def cb_generic(name, data):
global now, interference
original = data.data
edited = data
edited.data = (original if not interference else interference.edit(
name, original))
tester_update_var(name, original)
if (name == 'light'): # Integrate light levels
global last_light_reading, insolation
now = rospy.get_time()
if (last_light_reading > 0):
light_level = (original[0] + original[1]) / 2.0
dt = now - last_light_reading
insolation += dt * light_level / 3600.0
#print("INSOLATION: %.2f %d %.2f" %(insolation, light_level, dt))
tester_update_var('insolation', insolation)
if (time_since_midnight(now) <
time_since_midnight(last_light_reading)):
#print("INSOLATION TODAY: %.1f" %insolation)
insolation = 0 # Reset daily
last_light_reading = now
publishers[name].publish(edited)
if (log):
log_file = log_files[name]
log_file.write(
clock_time(now) + ", internal: " + str(original) + ", edited: " +
str(edited.data) + "\n")
log_file.flush()
if (verbose):
log_print("Logging %s data" % name)
def notify_user():
global args, password, num_restarts
if (args.email != None):
print("Sending email regarding restarts to " + args.email)
send_email.send(
"*****@*****.**", password, args.email,
"Problem with your TerraBot agent",
("Your autonomous agent has had to be restarted %d times. The current Terrabot time is %s.\r\n\r\nYou should probably contact the instructors to upload a new version.\r\n\r\nSincerely,\r\nTerraBot\r\n"
% (num_restarts, clock_time(rospy.get_time()))))
def camera_cb(data):
global simulate, images
print("Taking an image at %s, storing it in %s" %
(clock_time(now), data.data))
if simulate:
publishers['cam'].publish(data.data)
else:
# sp.call("raspistill -n -md 2 -awb off -awbg 1,1 -ss 30000 -o %s"
sp.call("raspistill -n -md 4 -awb auto -ss 30000 -rot 180 -o %s" %
data.data,
shell=True)
tester_update_var('camera', data.data)
def cb_generic(name, data):
global now, grader, interference
original = data.data
edited = data
edited.data = (original if not interference else interf_mod.edit(
name, original))
#edited.data = data.data # Why is this here?
if grade: grader.update(name, edited.data)
publishers[name].publish(edited)
if (log):
log_file = log_files[name]
log_file.write(
clock_time(now) + ", internal: " + str(original) + ", edited: " +
str(edited.data) + "\n")
log_file.flush()
if (verbose):
log_print("Logging %s data" % name)
def ping_cb(data):
global last_ping
last_ping = rospy.get_time()
print(" PING! %s" % clock_time(last_ping))