def remove(self, description):
if not isinstance(description, task_recorder2_msgs.msg.Description):
rospy.logerr("Invalid description. Cannot remove it.")
return False
counter_filenames = self.getCounterFileNames(description)
if len(counter_filenames) < 1:
rospy.logerr(
"Something is fishy. Is there a counter file in >%s<?",
du.getN(description))
return False
counter = self.readCounter(counter_filenames[0])
if description.trial >= counter:
rospy.logerr(
"Trial >%i< does not exist. There are only >%i<. Cannot remove it.",
description.trial, counter)
return False
# if trial is -1 then we copy the last one
if description.trial < 0:
description.trial = counter - 1
rospy.loginfo("Removing trial >%i< in description >%s<.",
description.trial, du.getN(description))
# if it is not the last one
if description.trial != counter - 1:
source_description = deepcopy(description)
source_description.trial = counter - 1
if not self.copy(source_description, description):
rospy.logerr("Problem while copying... not removing anything.")
return False
self.decrementCounters(description)
self.decrementCounters(description, extra_directory='/resampled')
description.trial = counter - 1
rm_fname_extension = self.connector + self.trial_base + self.connector + str(
description.trial) + '.bag'
dir = self.directory + du.getN(description) + '/'
os.system('rm ' + dir + self.getCLMCFilename(description.trial))
for filename in self.getTopicNames(description):
# print "Removing " + dir + filename + rm_fname_extension
os.system('rm ' + dir + filename + rm_fname_extension)
for filename in self.getResampledTopicNames(description):
# print "Removing " + dir + 'raw/' + filename + rm_fname_extension
os.system('rm ' + dir + 'raw/' + filename + rm_fname_extension)
# print "Removing " + dir + 'resampled/' + filename + rm_fname_extension
os.system('rm ' + dir + 'resampled/' + filename +
rm_fname_extension)
self.decrementCounters(description)
self.decrementCounters(description, extra_directory='/resampled')
return True
def getAllFiles(self, description, extra_directory = ""):
dir = self.directory;
if isinstance(description, str):
dir = dir + description + extra_directory
else:
dir = dir + du.getN(description) + extra_directory
return self.readAllFileNames(directory = dir)
def decrementCounters(self, description, extra_directory = ""):
filenames = self.getCounterFileNames(description, extra_directory)
for i, filename in enumerate(filenames):
counter = self.readCounter(filename)
if counter <= 1:
rospy.logwarn("Directory >%s< is now empty.", du.getN(description))
self.writeCounter(filename, counter - 1)
def getAllFiles(self, description, extra_directory=""):
dir = self.directory
if isinstance(description, str):
dir = dir + description + extra_directory
else:
dir = dir + du.getN(description) + extra_directory
return self.readAllFileNames(directory=dir)
def remove(self, description):
if not isinstance(description, task_recorder2_msgs.msg.Description):
rospy.logerr("Invalid description. Cannot remove it.")
return False
counter_filenames = self.getCounterFileNames(description)
if len(counter_filenames) < 1:
rospy.logerr("Something is fishy. Is there a counter file in >%s<?", du.getN(description))
return False
counter = self.readCounter(counter_filenames[0])
if description.trial >= counter:
rospy.logerr("Trial >%i< does not exist. There are only >%i<. Cannot remove it.", description.trial, counter)
return False
# if trial is -1 then we copy the last one
if description.trial < 0:
description.trial = counter - 1;
rospy.loginfo("Removing trial >%i< in description >%s<.", description.trial, du.getN(description))
# if it is not the last one
if description.trial != counter - 1:
source_description = deepcopy(description)
source_description.trial = counter - 1
if not self.copy(source_description, description):
rospy.logerr("Problem while copying... not removing anything.")
return False
self.decrementCounters(description)
self.decrementCounters(description, extra_directory = '/resampled')
description.trial = counter - 1;
rm_fname_extension = self.connector + self.trial_base + self.connector + str(description.trial) + '.bag'
dir = self.directory + du.getN(description) + '/'
os.system('rm ' + dir + self.getCLMCFilename(description.trial))
for filename in self.getTopicNames(description):
# print "Removing " + dir + filename + rm_fname_extension
os.system('rm ' + dir + filename + rm_fname_extension)
for filename in self.getResampledTopicNames(description):
# print "Removing " + dir + 'raw/' + filename + rm_fname_extension
os.system('rm ' + dir + 'raw/' + filename + rm_fname_extension)
# print "Removing " + dir + 'resampled/' + filename + rm_fname_extension
os.system('rm ' + dir + 'resampled/' + filename + rm_fname_extension)
self.decrementCounters(description)
self.decrementCounters(description, extra_directory = '/resampled')
return True
def decrementCounters(self, description, extra_directory=""):
filenames = self.getCounterFileNames(description, extra_directory)
for i, filename in enumerate(filenames):
counter = self.readCounter(filename)
if counter <= 1:
rospy.logwarn("Directory >%s< is now empty.",
du.getN(description))
self.writeCounter(filename, counter - 1)
def getDirectory(self, description, extra_directory = ""):
dir = self.directory;
if isinstance(description, str):
dir = dir + description
else:
dir = dir + du.getN(description)
dir = dir + extra_directory
if not os.path.exists(dir):
rospy.logerr("Directory >%s< does not exist. Cannot read counter. Probably wrong input." % dir )
return None
return dir
def getDirectory(self, description, extra_directory=""):
dir = self.directory
if isinstance(description, str):
dir = dir + description
else:
dir = dir + du.getN(description)
dir = dir + extra_directory
if not os.path.exists(dir):
rospy.logerr(
"Directory >%s< does not exist. Cannot read counter. Probably wrong input."
% dir)
return None
return dir
def parse(self):
parser = OptionParser()
parser.add_option("-d", "--description", dest="description",
help="description string", default = "")
parser.add_option("-i", "--id", type="int", dest="id",
help="description id", default = -1)
parser.add_option("-t", "--trial", type="int", dest="trial",
help="trial index", default = -1)
parser.add_option("-r", "--remove", action="store_true", dest="remove",
help="remove the recording matching the description, id, and trial", default = "")
parser.add_option("-c", "--copy", dest="copy",
help="copy the recording matching the description to <description#id>", default = "")
parser.add_option("-m", "--move", dest="move",
help="move the recording matching the description to <description#id>", default = "")
(options, args) = parser.parse_args()
if not self.requireDescriptionAndId(options):
parser.print_help()
return False
self.parameters['source_description'] = du.getO(options.description, options.id, options.trial)
if options.copy != "" and options.remove != "" or options.copy != "" and options.move != "" or options.remove != "" and options.move != "":
rospy.logerr("Can't copy/remove/move at the same time...")
return False
elif options.copy != "":
if not self.parseDestinationDescription(options.copy):
return False
return self.copy(self.parameters['source_description'], self.parameters['destination_description'])
elif options.remove != "":
return self.remove(self.parameters['source_description'])
elif options.move != "":
if not self.parseDestinationDescription(options.move):
return False
if not self.copy(self.parameters['source_description'], self.parameters['destination_description']):
rospy.logerr("Problems when copying... not moving >%s< to >%s<.", du.getN(self.parameters['source_description']), du.getN(self.parameters['destination_description']))
return False
return self.remove(self.parameters['source_description'])
return True
def copy(self, source_description, destination_description):
if not isinstance(source_description, task_recorder2_msgs.msg.Description):
rospy.logerr("Invalid source description. Cannot copy it.")
return False
if not isinstance(destination_description, task_recorder2_msgs.msg.Description):
rospy.logerr("Invalid destination description. Cannot copy it.")
return False
source_counter_filenames = self.getCounterFileNames(source_description)
source_counter = self.readCounter(source_counter_filenames[0])
# if trial is -1 then we copy the last one
if source_description.trial < 0:
source_description.trial = source_counter - 1;
if source_description.trial >= source_counter:
rospy.logerr("Trial >%i< does not exist. There are only >%i<. Cannot copy (source) it.", source_description.trial, source_counter)
return False
destination_counter_filenames = self.getCounterFileNames(destination_description)
destination_counter = self.readCounter(destination_counter_filenames[0])
# if trial is -1 then we copy the last one
if destination_description.trial < 0:
destination_description.trial = destination_counter;
if destination_description.trial > destination_counter:
rospy.logerr("Trial >%i< does not exist. There are only >%i<. Cannot copy (destionation) it.", destination_description.trial, destination_counter)
return False
rospy.loginfo("Copying trial >%i< of >%s< into trial >%i< of >%s<", source_description.trial, du.getN(source_description), destination_description.trial, du.getN(destination_description))
if source_description.description == destination_description.description and source_description.id == destination_description.id and source_description.trial == destination_description.trial:
rospy.logerr("Source and destionation description are the same. Skipping copying.")
return False
source_filenames = self.getTopicNames(source_description)
source_resampeld_filenames = self.getResampledTopicNames(source_description)
source_raw_filenames = deepcopy(source_resampeld_filenames)
destination_filenames = self.getTopicNames(destination_description)
destination_resampeld_filenames = self.getResampledTopicNames(destination_description)
destination_raw_filenames = deepcopy(destination_resampeld_filenames)
if len(source_filenames) != len(destination_filenames) or len(source_raw_filenames) != len(destination_raw_filenames) or len(source_resampeld_filenames) != len(destination_resampeld_filenames):
rospy.logerr("Problems when copying...")
return False
source_dir = self.directory + du.getN(source_description) + '/'
dest_dir = self.directory + du.getN(destination_description) + '/'
cp_source_fname_extension = self.connector + self.trial_base + self.connector + str(source_description.trial) + '.bag'
cp_destination_fname_extension = self.connector + self.trial_base + self.connector + str(destination_description.trial) + '.bag'
os.system('cp ' + source_dir + self.getCLMCFilename(source_description.trial) + ' ' + dest_dir + self.getCLMCFilename(destination_description.trial))
for i, source_filename in enumerate(source_filenames):
#print 'cp ' + source_dir + source_filename + cp_source_fname_extension + ' ' + dest_dir + destination_filenames[i] + cp_destination_fname_extension
os.system('cp ' + source_dir + source_filename + cp_source_fname_extension + ' ' + dest_dir + destination_filenames[i] + cp_destination_fname_extension)
for i, source_filename in enumerate(source_raw_filenames):
#print 'cp ' + source_dir + 'raw/' + source_filename + cp_source_fname_extension + ' ' + dest_dir + 'raw/' + destination_raw_filenames[i] + cp_destination_fname_extension
os.system('cp ' + source_dir + 'raw/' + source_filename + cp_source_fname_extension + ' ' + dest_dir + 'raw/' + destination_raw_filenames[i] + cp_destination_fname_extension)
#print 'cp ' + source_dir + 'resampled/' + source_filename + cp_source_fname_extension + ' ' + dest_dir + 'resampled/' + destination_resampeld_filenames[i] + cp_destination_fname_extension
os.system('cp ' + source_dir + 'resampled/' + source_filename + cp_source_fname_extension + ' ' + dest_dir + 'resampled/' + destination_resampeld_filenames[i] + cp_destination_fname_extension)
self.incrementCounters(destination_description)
self.incrementCounters(destination_description, extra_directory = '/resampled')
return True
def parse(self):
parser = OptionParser()
parser.add_option("-d",
"--description",
dest="description",
help="description string",
default="")
parser.add_option("-i",
"--id",
type="int",
dest="id",
help="description id",
default=-1)
parser.add_option("-t",
"--trial",
type="int",
dest="trial",
help="trial index",
default=-1)
parser.add_option(
"-r",
"--remove",
action="store_true",
dest="remove",
help="remove the recording matching the description, id, and trial",
default="")
parser.add_option(
"-c",
"--copy",
dest="copy",
help=
"copy the recording matching the description to <description#id>",
default="")
parser.add_option(
"-m",
"--move",
dest="move",
help=
"move the recording matching the description to <description#id>",
default="")
(options, args) = parser.parse_args()
if not self.requireDescriptionAndId(options):
parser.print_help()
return False
self.parameters['source_description'] = du.getO(
options.description, options.id, options.trial)
if options.copy != "" and options.remove != "" or options.copy != "" and options.move != "" or options.remove != "" and options.move != "":
rospy.logerr("Can't copy/remove/move at the same time...")
return False
elif options.copy != "":
if not self.parseDestinationDescription(options.copy):
return False
return self.copy(self.parameters['source_description'],
self.parameters['destination_description'])
elif options.remove != "":
return self.remove(self.parameters['source_description'])
elif options.move != "":
if not self.parseDestinationDescription(options.move):
return False
if not self.copy(self.parameters['source_description'],
self.parameters['destination_description']):
rospy.logerr(
"Problems when copying... not moving >%s< to >%s<.",
du.getN(self.parameters['source_description']),
du.getN(self.parameters['destination_description']))
return False
return self.remove(self.parameters['source_description'])
return True
def copy(self, source_description, destination_description):
if not isinstance(source_description,
task_recorder2_msgs.msg.Description):
rospy.logerr("Invalid source description. Cannot copy it.")
return False
if not isinstance(destination_description,
task_recorder2_msgs.msg.Description):
rospy.logerr("Invalid destination description. Cannot copy it.")
return False
source_counter_filenames = self.getCounterFileNames(source_description)
source_counter = self.readCounter(source_counter_filenames[0])
# if trial is -1 then we copy the last one
if source_description.trial < 0:
source_description.trial = source_counter - 1
if source_description.trial >= source_counter:
rospy.logerr(
"Trial >%i< does not exist. There are only >%i<. Cannot copy (source) it.",
source_description.trial, source_counter)
return False
destination_counter_filenames = self.getCounterFileNames(
destination_description)
destination_counter = self.readCounter(
destination_counter_filenames[0])
# if trial is -1 then we copy the last one
if destination_description.trial < 0:
destination_description.trial = destination_counter
if destination_description.trial > destination_counter:
rospy.logerr(
"Trial >%i< does not exist. There are only >%i<. Cannot copy (destionation) it.",
destination_description.trial, destination_counter)
return False
rospy.loginfo("Copying trial >%i< of >%s< into trial >%i< of >%s<",
source_description.trial, du.getN(source_description),
destination_description.trial,
du.getN(destination_description))
if source_description.description == destination_description.description and source_description.id == destination_description.id and source_description.trial == destination_description.trial:
rospy.logerr(
"Source and destionation description are the same. Skipping copying."
)
return False
source_filenames = self.getTopicNames(source_description)
source_resampeld_filenames = self.getResampledTopicNames(
source_description)
source_raw_filenames = deepcopy(source_resampeld_filenames)
destination_filenames = self.getTopicNames(destination_description)
destination_resampeld_filenames = self.getResampledTopicNames(
destination_description)
destination_raw_filenames = deepcopy(destination_resampeld_filenames)
if len(source_filenames) != len(destination_filenames) or len(
source_raw_filenames) != len(destination_raw_filenames) or len(
source_resampeld_filenames) != len(
destination_resampeld_filenames):
rospy.logerr("Problems when copying...")
return False
source_dir = self.directory + du.getN(source_description) + '/'
dest_dir = self.directory + du.getN(destination_description) + '/'
cp_source_fname_extension = self.connector + self.trial_base + self.connector + str(
source_description.trial) + '.bag'
cp_destination_fname_extension = self.connector + self.trial_base + self.connector + str(
destination_description.trial) + '.bag'
os.system('cp ' + source_dir +
self.getCLMCFilename(source_description.trial) + ' ' +
dest_dir +
self.getCLMCFilename(destination_description.trial))
for i, source_filename in enumerate(source_filenames):
#print 'cp ' + source_dir + source_filename + cp_source_fname_extension + ' ' + dest_dir + destination_filenames[i] + cp_destination_fname_extension
os.system('cp ' + source_dir + source_filename +
cp_source_fname_extension + ' ' + dest_dir +
destination_filenames[i] +
cp_destination_fname_extension)
for i, source_filename in enumerate(source_raw_filenames):
#print 'cp ' + source_dir + 'raw/' + source_filename + cp_source_fname_extension + ' ' + dest_dir + 'raw/' + destination_raw_filenames[i] + cp_destination_fname_extension
os.system('cp ' + source_dir + 'raw/' + source_filename +
cp_source_fname_extension + ' ' + dest_dir + 'raw/' +
destination_raw_filenames[i] +
cp_destination_fname_extension)
#print 'cp ' + source_dir + 'resampled/' + source_filename + cp_source_fname_extension + ' ' + dest_dir + 'resampled/' + destination_resampeld_filenames[i] + cp_destination_fname_extension
os.system('cp ' + source_dir + 'resampled/' + source_filename +
cp_source_fname_extension + ' ' + dest_dir +
'resampled/' + destination_resampeld_filenames[i] +
cp_destination_fname_extension)
self.incrementCounters(destination_description)
self.incrementCounters(destination_description,
extra_directory='/resampled')
return True
