def exportdata(options):
"""
Function used to export data.
"""
print '\n-------------------------------\nExporting information' + \
'\n-------------------------------\n'
if(options.runname == None):
exportpath = '/'
else:
exportpath = options.runname
if(options.infile == None):
print "Specify the in file (--infile filename)"
exit()
if(options.outdir == None):
print "Specify the out file (--exportdir directoryname)"
exit()
extension = os.path.splitext(options.infile)
extension = extension[1]
if extension != '.h5':
print "Can only export .h5 files: " + options.infile
exit()
else:
theReader = SofiePyTableAccess(options.infile, runName='/')
theRuns = theReader.getRuns(exportpath)
for run in theRuns:
exportFile = os.sep.join([options.outdir] + run.split('/')) + '.csv'
if not os.path.isdir(os.path.dirname(exportFile)):
os.makedirs(os.path.dirname(exportFile))
if os.path.isfile(exportFile):
os.unlink(exportFile)
print '\n-------------------------------\n' + \
'Exporting: ' + run + ' to ' + str(exportFile)
theReader.setTable(run, '')
fieldNames = theReader.getTableStructure(asList=True)
csvWriter = SofieCsvAccess(exportFile, fieldNames)
for row in theReader:
logging.debug("Read New Row")
parsed = csv_sample_interpret(row)
csvWriter.write(parsed)
#aparsedwritercsv = SofieCsvAccess(csvOutParsed)
csvWriter.close()
theReader.close()
def test_sofiecsvfile_promove(self):
csvFile = scf.open('test-data/test-promove.csv')
csvWriter = SofieCsvAccess('output.csv')
for row in csvFile:
csvWriter.write(row)
csvFile.close()
csvWriter.close()
csvFile = scf.open('test-data/test-promove.csv')
csvFileNew = scf.open('output.csv')
logging.debug(csvFileNew.reader)
for row, newRow in zip(csvFile, csvFileNew):
for key in row.keys():
if row[key] == None:
self.assertEqual(newRow[key], '')
else:
self.assertEqual(row[key], newRow[key])
def test_sofiecsvfile_adams(self):
logging.debug('Creating CSV FILE');
csvFile = adam.open('test-data/test-adams.tab')
logging.debug('CSVFILE CREATED.');
csvWriter = SofieCsvAccess('output.csv')
for row in csvFile:
csvWriter.write(row)
csvFile.close()
csvWriter.close()
csvFile = adam.open('test-data/test-adams.tab')
csvFileNew = scf.open('output.csv')
logging.debug(csvFileNew.reader)
for row, newRow in zip(csvFile, csvFileNew):
for key in row.keys():
#logging.debug('"'+key+'"')
self.assertTrue(key == 'Time ' or key == 'Roll angle'\
or key == 'Steering angle')
if row[key] == None:
self.assertEqual(newRow[key], '')
else:
self.assertEqual(row[key], newRow[key])
data.pose.pose.orientation.w,
data.pose.pose.orientation.x,
data.pose.pose.orientation.y,
data.pose.pose.orientation.z,
data.header.stamp.to_time()))
def sofieArduinoWriterCallback(data):
'''
Implements a simple writer to CSV file for angle data.
'''
timestamp = time.time()
rospy.logdebug(rospy.get_name() + ": Received Angle")
rospy.logdebug(data)
data = data.data
csvWriterArduino.write((data,timestamp))
if __name__ == '__main__':
csvfilename = getFileInfo()
rospy.loginfo('Logging to file: {0}'.format(csvfilename))
csvWriter = SofieCsvAccess(csvfilename, defaultQuaternionTableStructure)
csvWriterArduino = SofieCsvAccess(getFileInfo(waitParam='/sofie/arduinocsvfilename'),
defaultAngleTableStructure)
try:
rospy.init_node('sofiehdfformatwriter', anonymous=True)
rospy.Subscriber("/ar_pose_marker", AlvarMarkers, sofieWriterCallback)
rospy.Subscriber("/angle", Int16, sofieArduinoWriterCallback)
rospy.spin()
except:
csvWriter.close()
csvWriterArduino.close()
