def resume(self):
"""
Attempt to resume any previous recipe that was started but
not completed.
"""
# Get the recipe that has been started most recently
start_view = self.env_data_db.view(
"openag/by_variable",
startkey=[self.environment, "desired", RECIPE_START.name],
endkey=[self.environment, "desired", RECIPE_START.name, {}],
group_level=3)
if len(start_view) == 0:
return
start_doc = start_view.rows[0].value
# If a recipe has been ended more recently than the most recent time a
# recipe was started, don't run the recipe
end_view = self.env_data_db.view(
"openag/by_variable",
startkey=[self.environment, "desired", RECIPE_END.name],
endkey=[self.environment, "desired", RECIPE_END.name, {}],
group_level=3)
if len(end_view):
end_doc = end_view.rows[0].value
if (end_doc["timestamp"] > start_doc["timestamp"]):
return
# Run the recipe
self.start_recipe_service(
StartRecipe._request_class(start_doc["value"]),
start_doc["timestamp"])
def __init__(self, server):
self.env_data_db = server[ENVIRONMENTAL_DATA_POINT]
self.recipe_db = server[RECIPE]
# Indicates whether or not a recipe is running
self.recipe_flag = Event()
self.namespace = rospy.get_namespace()
self.environment = self.namespace.split('/')[-2]
rospy.init_node('recipe_handler')
self.publishers = PublisherDict()
rospy.Service(services.START_RECIPE, StartRecipe, self.start_recipe)
rospy.Service(services.STOP_RECIPE, Empty, self.stop_recipe)
rospy.set_param(params.SUPPORTED_RECIPE_FORMATS,
','.join(self.recipe_class_map.keys()))
self.current_recipe = None
self.current_set_points = {}
self.valid_variables = list(EnvVar.items.keys())
rospy.set_param(params.CURRENT_RECIPE, "")
rospy.set_param(params.CURRENT_RECIPE_START, 0)
# Start publishing set points
self.publish_set_points()
# Get the recipe that has been started most recently
start_view = self.env_data_db.view(
"openag/by_variable",
startkey=[self.environment, "desired", RECIPE_START.name],
endkey=[self.environment, "desired", RECIPE_START.name, {}],
group_level=3)
if len(start_view) == 0:
return
start_doc = start_view.rows[0].value
# If a recipe has been ended more recently than the most recent time a
# recipe was started, don't run the recipe
end_view = self.env_data_db.view(
"openag/by_variable",
startkey=[
self.environment,
"desired",
RECIPE_END.name,
],
endkey=[self.environment, "desired", RECIPE_END.name, {}],
group_level=3)
if len(end_view):
end_doc = end_view.rows[0].value
if (end_doc["timestamp"] > start_doc["timestamp"]):
return
# Run the recipe
self.start_recipe(StartRecipe._request_class(start_doc["value"]),
start_doc["timestamp"])
def __init__(self, server):
self.env_data_db = server[DbName.ENVIRONMENTAL_DATA_POINT]
self.recipe_db = server[DbName.RECIPE]
# Indicates whether or not a recipe is running
self.recipe_flag = Event()
self.namespace = rospy.get_namespace()
self.environment = self.namespace.split('/')[-2]
rospy.init_node('recipe_handler')
self.publishers = PublisherDict()
rospy.Service(services.START_RECIPE, StartRecipe, self.start_recipe)
rospy.Service(services.STOP_RECIPE, Empty, self.stop_recipe)
rospy.set_param(
params.SUPPORTED_RECIPE_FORMATS,
','.join(self.recipe_class_map.keys())
)
self.current_recipe = None
self.current_set_points = {}
rospy.set_param(params.CURRENT_RECIPE, "")
rospy.set_param(params.CURRENT_RECIPE_START, 0)
# Start publishing set points
self.publish_set_points()
# Get the recipe that has been started most recently
start_view = self.env_data_db.view("openag/by_variable", startkey=[
self.environment, EnvironmentalVariable.RECIPE_START, "desired"
], endkey=[
self.environment, EnvironmentalVariable.RECIPE_START, "desired", {}
], group_level=3)
if len(start_view) == 0:
return
start_doc = start_view.rows[0].value
# If a recipe has been ended more recently than the most recent time a
# recipe was started, don't run the recipe
end_view = self.env_data_db.view("openag/by_variable", startkey=[
self.environment, EnvironmentalVariable.RECIPE_END, "desired"
], endkey=[
self.environment, EnvironmentalVariable.RECIPE_END, "desired", {}
], group_level=3)
if len(end_view):
end_doc = end_view.rows[0].value
if (end_doc["timestamp"] > start_doc["timestamp"]):
return
# Run the recipe
self.start_recipe(
StartRecipe._request_class(start_doc["value"]),
start_doc["timestamp"]
)
def recover_any_previous_recipe(self):
"""
Attempt to resume any previous recipe that was started but
not completed.
"""
# Get the recipe that has been started most recently
start_view = self.env_data_db.view(
"openag/by_variable",
startkey=[self.environment, "desired", RECIPE_START.name],
endkey=[self.environment, "desired", RECIPE_START.name, {}],
stale="update_after",
group_level=3
)
if len(start_view) == 0:
trace("recover_any_previous_recipe: No previous recipe to recover.")
return
start_doc = start_view.rows[0].value
#trace("recover_any_previous_recipe: start_doc=%s", start_doc)
# If a recipe has been ended more recently than the most recent time a
# recipe was started, don't run the recipe
end_view = self.env_data_db.view(
"openag/by_variable",
startkey=[self.environment, "desired", RECIPE_END.name],
endkey=[self.environment, "desired", RECIPE_END.name, {}],
stale="update_after",
group_level=3
)
if len(end_view):
end_doc = end_view.rows[0].value
#trace("recover_any_previous_recipe: end_doc=%s", end_doc)
if (end_doc["timestamp"] > start_doc["timestamp"]):
trace("recover_any_previous_recipe: RETURNING: '\
'end_time=%s > start_time=%s",
end_doc["timestamp"], start_doc["timestamp"])
return
# Run the recipe
trace("recover_any_previous_recipe: restarting recipe=%s at time=%s",
start_doc["value"], start_doc["timestamp"])
self.start_recipe_service(
StartRecipe._request_class(start_doc["value"]),
start_doc["timestamp"]
)
def recover_any_previous_recipe(self):
"""
Attempt to resume any previous recipe that was started but
not completed.
"""
# Get the recipe that has been started most recently
start_view = self.env_data_db.view(
"openag/by_variable",
startkey=[self.environment, "desired", RECIPE_START.name],
endkey=[self.environment, "desired", RECIPE_START.name, {}],
stale="update_after",
group_level=3
)
if len(start_view) == 0:
trace("recover_any_previous_recipe: No previous recipe to recover.")
return
start_doc = start_view.rows[0].value
#trace("recover_any_previous_recipe: start_doc=%s", start_doc)
# If a recipe has been ended more recently than the most recent time a
# recipe was started, don't run the recipe
end_view = self.env_data_db.view(
"openag/by_variable",
startkey=[self.environment, "desired", RECIPE_END.name],
endkey=[self.environment, "desired", RECIPE_END.name, {}],
stale="update_after",
group_level=3
)
if len(end_view):
end_doc = end_view.rows[0].value
#trace("recover_any_previous_recipe: end_doc=%s", end_doc)
if (end_doc["timestamp"] > start_doc["timestamp"]):
trace("recover_any_previous_recipe: RETURNING: '\
'end_time=%s > start_time=%s",
end_doc["timestamp"], start_doc["timestamp"])
return
# Run the recipe
trace("recover_any_previous_recipe: restarting recipe=%s at time=%s",
start_doc["value"], start_doc["timestamp"])
self.start_recipe_service(
StartRecipe._request_class(start_doc["value"]),
start_doc["timestamp"]
)