analyzer_node.py

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#!/usr/bin/env python
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import roslib
roslib.load_manifest('qualification')

import sys
import rospy
from std_srvs.srv import Empty
from pr2_self_test_msgs.srv import TestResult, TestResultRequest
from pr2_self_test_msgs.msg import Plot, TestParam, TestValue
import time
import random
import rospy

import matplotlib.pyplot as plt
from StringIO import StringIO

if (len(sys.argv) <= 1):
  rospy.logerr('Must specify one of pass/fail/human/random')
  sys.exit(0)

rospy.init_node("test_analyzer")

test_service = rospy.ServiceProxy('self_test', Empty)
result_service = rospy.ServiceProxy('test_result', TestResult)

rospy.wait_for_service('self_test')
test_service()

r = TestResultRequest()
r.plots = []
r.params = []
r.params.append(TestParam('P Gain', '5.0'))
r.params.append(TestParam('I Gain', '1.0'))
r.params.append(TestParam('D Gain', '0.0'))
r.params.append(TestParam('I Clamp', '0.0'))

r.values = []
r.values.append(TestValue('Effort', '4.0', '2.0', '5.0'))
r.values.append(TestValue('Low Range', '-2.0', '', '-1.5'))
r.values.append(TestValue('High Range', '2.0', '1.5', ''))

my_arg = sys.argv[1]

# Randomly generate result if given random keyword
if my_arg == "random":
  val = random.randint(0, 2)
  if val == 0:
    my_arg = "pass"
  elif val == 1:
    my_arg = "fail"
  else:
    my_arg = "human"

if (my_arg == "pass"):
  r.html_result = "<p>Test succeeded.</p>"
  r.text_summary = "Test passed."
  r.result = TestResultRequest.RESULT_PASS
  r.values.append(TestValue('Velocity', '2.0', '1.5', '2.5'))
elif (my_arg == "fail"):
  r.html_result = "<p>Test failed.</p>"
  r.result = TestResultRequest.RESULT_FAIL
  r.text_summary = "Test Failed."
  r.values.append(TestValue('Velocity', '1.0', '1.5', '2.5'))
else:
  r.text_summary = "Human input required."
  r.result = TestResultRequest.RESULT_HUMAN_REQUIRED
  r.values.append(TestValue('Velocity', '1.5', '1.5', '2.5'))  

  plt.plot([1,2,3,4],[16, 9, 4, 1], 'ro')
  plt.xlabel("Pirates")
  plt.ylabel("Ninjas")
  stream = StringIO()
  plt.savefig(stream, format="png")
  image = stream.getvalue()
  
  r.html_result = "<p>Does the correlation between pirates and ninjas make sense?</p>\n<br><img src=\"IMG_PATH/pirates_and_ninjas.png\", width = 640, height = 480 />"
  
  p = Plot()
  r.plots.append(p)
  p.image = image
  p.image_format = "png"
  p.title = "pirates_and_ninjas"
    
# block until the test_result service is available
rospy.wait_for_service('test_result')
result_service.call(r)
rospy.spin()