def publishBuffer(self):
rospy.loginfo("Publishing buffer dishes...")
loop_rate = rospy.Rate(self.loop_rate)
for current_dish in range(self.buffer_size):
# Initialize a new dish state
d = dish_state()
# For each channel in the dish state
for channel in range(60):
d.samples[channel] = 0.0
# print 'Channel', channel, ':'
# If there are no recorded neurons on this channel, then the voltage is 0.0
# Otherwise, get the weighted average of the volts of the neurons on this channel
if self.channels[channel] != None:
for neuron in self.channels[channel].neurons:
weight = neuron.weight / self.channels[channel].total_weight
weighted = self.M[neuron.data][current_dish] * weight
d.samples[channel] += weighted
# print ' Neuron: ', neuron.data, 'Weight:', weight, 'State:', M[neuron.data][current_dish]
# print ' Weighted State: ', weighted, 'Total:', d.samples[channel]
# If we are publishing to burst_calc, then publish the dish_state now
# Otherwise, do nothing with it
if self.do_burst_calc == True:
self.dish_pub_burst.publish(d)
loop_rate.sleep()
def publish(self):
rospy.loginfo("Publishing dishes...")
loop_rate = rospy.Rate(self.loop_rate)
current_dish = self.buffer_size
while current_dish < len(self.M[self.recorded_neurons[0]]) and not rospy.is_shutdown():
# Initialize a new dish state
d = dish_state()
# For each channel in the dish state
for channel in range(60):
d.samples[channel] = 0.0
# print 'Channel', channel, ':'
# If there are no recorded neurons on this channel, then the voltage is 0.0
# Otherwise, get the weighted average of the volts of the neurons on this channel
if self.channels[channel] != None:
for neuron in self.channels[channel].neurons:
weight = neuron.weight / self.channels[channel].total_weight
weighted = self.M[neuron.data][current_dish] * weight
d.samples[channel] += weighted
# print ' Neuron: ', neuron.data, 'Weight:', weight, 'State:', M[neuron.data][current_dish]
# print ' Weighted State: ', weighted, 'Total:', d.samples[channel]
# Add the time stamp
d.header.stamp = rospy.Time.now() - self.offset
# Publish the dish state
if self.do_volt_distr == True:
self.dish_pub_volt.publish(d)
if self.do_burst_calc == True:
self.dish_pub_burst.publish(d)
self.dish_pub_viz.publish(d)
# Sleep and move on to the next dish
current_dish += 1
loop_rate.sleep()
# Publish a final dish to let the nodes know to finish up
end = dish_state()
end.last_dish = True
if self.do_volt_distr == True:
self.dish_pub_volt.publish(end)
if self.do_burst_calc == True:
self.dish_pub_burst.publish(end)
rospy.loginfo("Publishing finished")