def test_cancelling(capabilities, data_acq_client, group_name, verbose):
"""Checks that each capability can be cancelled successfully after the acquisition begins.
Args:
capabilities (list): All the data source capabilities listed for the plugin service (using the
GetServiceInfo RPC).
data_acq_client (DataAcquisitionClient): The client for the data acquisition service running on robot.
group_name (string): Group name for saving in the CaptureActionId of every acquisition tested.
verbose (boolean): Print additional logging information on failure.
Returns:
A boolean indicating that every capability responds to the CancelAcquisition RPC and recieved a "cancellation
complete" status for the GetStatus RPC.
"""
all_cancels_succeed = True
for capability in capabilities:
acquisition_request = data_acquisition_pb2.AcquisitionRequestList()
acquisition_request.data_captures.extend(
[data_acquisition_pb2.DataCapture(name=capability.name)])
# Make a request for this data capability and then attempt to cancel the request immediately after.
action_name = "cancel acquisition check: " + capability.name
request_id = data_acq_client.acquire_data(acquisition_request,
action_name, group_name)
success = cancel_request_and_monitor_status(request_id,
data_acq_client,
capability.name,
action_name, verbose)
if not success:
all_cancels_succeed = False
return all_cancels_succeed
def test_capabilities_acquires_and_saves(capabilities, data_acq_client,
data_store_client, group_name,
verbose):
"""Checks that each capability can individually be acquired, saved to the data store, and respond with
a status "complete". Also checks the same sequence of events for an acquisition requesting all data
source at once.
Args:
capabilities (list): All the data source capabilities listed for the plugin service (using the
GetServiceInfo RPC).
data_acq_client (DataAcquisitionClient): The client for the data acquisition service running on robot.
data_store_client (DataAcquisitionStoreClient): The client for the data acquisition store service running on robot.
group_name (string): Group name for saving in the CaptureActionId of every acquisition tested.
verbose (boolean): Print additional logging information on failure.
Returns:
A boolean indicating that every capability recieved a "complete" status for the GetStatus RPC and an action id for
the acquisition can be found in the data store.
"""
success = True
# Test each capability individually.
for capability in capabilities:
action_name = "acquire and status check: " + capability.name
acquisition_request = data_acquisition_pb2.AcquisitionRequestList()
acquisition_request.data_captures.extend(
[data_acquisition_pb2.DataCapture(name=capability.name)])
capability_success = acquire_get_status_and_save(
acquisition_request, capability.name, action_name, group_name,
data_acq_client, data_store_client, verbose)
success = capability_success and success
# Test requesting all the capabilities at once (if there are more than one data capabilities available).
if len(capabilities) > 1:
action_name = "acquire and status check: all data at once"
acquisition_request = data_acquisition_pb2.AcquisitionRequestList()
acquisition_request.data_captures.extend([
data_acquisition_pb2.DataCapture(name=capability.name)
for capability in capabilities
])
all_capabilities_success = acquire_get_status_and_save(
acquisition_request, "all data", action_name, group_name,
data_acq_client, data_store_client, verbose)
success = all_capabilities_success and success
return success
def data_acquisition(config):
"""A simple example of using the data acquisition client to request data and check status."""
bosdyn.client.util.setup_logging(config.verbose)
sdk = bosdyn.client.create_standard_sdk('DataAcquisitionClientExample')
robot = sdk.create_robot(config.hostname)
robot.authenticate(config.username, config.password)
robot.time_sync.wait_for_sync()
# Create data acquisition clients
data_acq_client = robot.ensure_client(
DataAcquisitionClient.default_service_name)
now = robot.time_sync.robot_timestamp_from_local_secs(time.time())
capture_name = "DataAcquisitionExample_{}".format(
now.ToJsonString().replace(':', '-'))
service_info = data_acq_client.get_service_info()
print("Available capabilities are:\n" + str(service_info))
# Request 1 contains only internal metadata capture requests and an image request.
acquisition_requests = data_acquisition_pb2.AcquisitionRequestList()
acquisition_requests.image_captures.extend([
data_acquisition_pb2.ImageSourceCapture(
image_service="image", image_source="back_fisheye_image")
])
acquisition_requests.data_captures.extend([
data_acquisition_pb2.DataCapture(name="robot-state"),
data_acquisition_pb2.DataCapture(name="detailed-position-data"),
data_acquisition_pb2.DataCapture(name="detected-objects")
])
process_request(data_acq_client, config.hostname, robot,
acquisition_requests, capture_name, "InternalAcquisitions")
# Request 2 contains capture requests for all the capabilities and a user-generated metadata
# struct.
json_struct = Struct()
json_struct.update({"user_comment": "it is raining"})
metadata = data_acquisition_pb2.Metadata(data=json_struct)
acquisition_requests = data_acquisition_pb2.AcquisitionRequestList()
acquisition_requests.image_captures.extend([
data_acquisition_pb2.ImageSourceCapture(
image_service="image", image_source="left_fisheye_image"),
data_acquisition_pb2.ImageSourceCapture(
image_service="image", image_source="right_fisheye_image")
])
acquisition_requests.data_captures.extend([
data_acquisition_pb2.DataCapture(name="robot-state"),
data_acquisition_pb2.DataCapture(name="detailed-position-data"),
data_acquisition_pb2.DataCapture(name="basic-position-data"),
data_acquisition_pb2.DataCapture(name="detected-objects"),
data_acquisition_pb2.DataCapture(name="GPS"),
data_acquisition_pb2.DataCapture(name="velodyne-point-cloud")
])
process_request(data_acq_client, config.hostname, robot,
acquisition_requests, capture_name, "AllAcquisitions",
metadata)
# Request 3 contains capture requests for only one capability from main DAQ and one capability
# from DAQ plugin.
acquisition_requests = data_acquisition_pb2.AcquisitionRequestList()
acquisition_requests.data_captures.extend([
data_acquisition_pb2.DataCapture(name="robot-state"),
data_acquisition_pb2.DataCapture(name="GPS"),
data_acquisition_pb2.DataCapture(name="velodyne-point-cloud"),
])
process_request(data_acq_client, config.hostname, robot,
acquisition_requests, capture_name, "PartialAcquisitions")
# Request #4 shows how to issue and then cancel different data acquistion requests (one on-robot
# data source and one off-robot plugin data source).
print("\n-----------------------------------")
acquisition_requests = data_acquisition_pb2.AcquisitionRequestList()
acquisition_requests.data_captures.extend([
data_acquisition_pb2.DataCapture(name="robot-state"),
data_acquisition_pb2.DataCapture(name="slow-gps"),
])
request_id, action_id = issue_acquire_data_request(data_acq_client,
acquisition_requests,
capture_name,
"AcquisitionsToCancel")
time.sleep(2)
cancel_acquisition_request(data_acq_client, request_id)
# Request 5 contains a SpotCAM capture request.
acquisition_requests = data_acquisition_pb2.AcquisitionRequestList()
acquisition_requests.data_captures.extend([
data_acquisition_pb2.DataCapture(name="spot-cam-pano"),
data_acquisition_pb2.DataCapture(name="spot-cam-ptz"),
data_acquisition_pb2.DataCapture(name="spot-cam-ir"),
data_acquisition_pb2.DataCapture(name="robot-state")
])
process_request(data_acq_client, config.hostname, robot,
acquisition_requests, capture_name, "SpotCAMAcquisitions")