def start_recipe_service(self, data, start_time=None):
recipe_id = data.recipe_id
if not recipe_id:
return False, "No recipe id was specified"
try:
# Get the recipe document
recipe = self.recipe_db[recipe_id]
except Exception as e:
return False, "\"{}\" does not reference a valid "\
"recipe".format(recipe_id)
trace("recipe_handler: PUBLISHERS=%s", PUBLISHERS)
trace("recipe_handler: recipe=%s", recipe)
try:
# Set the recipe document
self.set_recipe(recipe, start_time)
except RecipeRunningError:
return (False, "There is already a recipe running. Please stop it "
"before attempting to start a new one")
return True, "Success"
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, {}],
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, {}],
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 interpret_simple_recipe(recipe, start_time, now_time):
"""
Produces a tuple of ``(variable, value)`` pairs by building up
a recipe state from walking through the recipe keyframes
"""
_id = recipe["_id"]
operations = recipe["operations"]
rospy.loginfo(operations)
end_time_relative = operations[-1][0]
trace("recipe_handler: interpret_simple_recipe end_time_relative=%s",
end_time_relative)
end_time = start_time + end_time_relative
# If start time is at some point in the future beyond the threshold
if start_time - now_time > THRESHOLD:
raise ValueError("Recipes cannot be scheduled for the future")
# If there are no recipe operations, immediately start and stop
# The recipe.
if not len(operations):
return (
(RECIPE_START.name, _id),
(RECIPE_END.name, _id),
)
if now_time >= (end_time + THRESHOLD):
return ((RECIPE_END.name, _id), )
if abs(now_time - start_time) < THRESHOLD:
return ((RECIPE_START.name, _id), )
now_relative = (now_time - start_time)
# Create a state object to accrue recipe setpoint values.
state = {}
# Build up state up until now_time (inclusive).
trace("recipe_handler: interpret_simple_recipe now=%s", now_relative)
for timestamp, variable, value in operations:
if timestamp > now_relative:
break
state[variable] = value
trace("recipe_handler: interpret_simple_recipe: %s %s %s", timestamp,
variable, value)
rospy.loginfo(state)
return tuple((variable, value) for variable, value in state.iteritems())
def callback(data):
recipe_handler.clear_recipe()
trace("recipe_handler.Subscriber: clearing current recipe.")
rospy.logwarn("Invalid recipe format: '%s'",
recipe_doc.get("format"))
continue
# Get recipe state and publish it
setpoints = interpret_recipe(recipe_doc, start_time, now_time)
for variable, value in setpoints:
try:
pub = PUBLISHERS[variable]
except KeyError:
msg = 'Recipe references invalid variable "{}"'
rospy.logwarn(msg.format(variable))
continue
# Publish any setpoints that we can
trace("recipe_handler publish: %s, %s", variable, value)
if variable == RECIPE_END.name:
trace("recipe_handler publish: END!")
# Write an env. data pt. for when we stopped this recipe.
recipe_handler.save_recipe_dp(variable)
elif variable == RECIPE_START.name:
# Write an env. data pt. for when we started this recipe.
recipe_handler.save_recipe_dp(variable)
try:
pub.publish(value)
except ValueError:
pass
rate.sleep()
# end of while loop in main