wrist_diff_analysis.py

Go to the documentation of this file.

#!/usr/bin/env python
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the Willow Garage, Inc. nor the names of its
#       contributors may be used to endorse or promote products derived from
#       this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

##\author Kevin Watts

PKG = "qualification"

import roslib; roslib.load_manifest(PKG)

import rospy

from pr2_self_test_msgs.srv import TestResult, TestResultRequest
from qualification.analysis.hysteresis_analysis import *

from joint_qualification_controllers.msg import WristDiffData

import traceback

class WristDiffAnalysis:
    def __init__(self):
        self._msg = None
        self.data_sent = False
        rospy.init_node('wrist_diff_analysis')
        self.data_srv = rospy.Subscriber('/test_data', WristDiffData, self.on_wrist_data)
        self.result_service = rospy.ServiceProxy('test_result', TestResult)
        
    def has_data(self):
        return self._msg is not None

    def test_failed_service_call(self, except_str = ''):
        rospy.logerr(except_str)
        r = TestResultRequest()
        r.html_result = except_str
        r.text_summary = 'Caught exception, automated test failure.'
        r.plots = []
        r.result = TestResultRequest.RESULT_FAIL
        self.send_results(r)

    def send_results(self, test_result):
        if not self.data_sent:
            rospy.wait_for_service('test_result', 5)
            self.result_service.call(test_result)
            self.data_sent = True

    def on_wrist_data(self, msg):
        self._msg = msg

    def analyze_wrist_data(self):
        r = TestResultRequest()
        r.html_result = ''
        r.text_summary = 'No data.'
        r.plots = []
        r.result = TestResultRequest.RESULT_FAIL

        params = WristRollHysteresisParams(self._msg)
        r.params = params.get_test_params()

        if self._msg.timeout:
            r.text_summary = 'Wrist difference controller timed out'
            r.result = TestResultRequest.RESULT_FAIL
            self.send_results(r)
            return 

        data = WristRollHysteresisTestData(self._msg)

        if not wrist_hysteresis_data_present(data):
            r.text_summary = 'Wrist difference controller didn\'t generate enough data.'
            r.result = TestResultRequest.RESULT_FAIL
            self.send_results(r)
            return 

        # Normal hysteresis analysis on roll
        roll_result = effort_analysis(params, data)
        # Check flex efforts 
        flex_result = wrist_flex_analysis(params, data)

        roll_plot = plot_effort(params, data)
        flex_plot = plot_flex_effort(params, data)
        r.plots.append(roll_plot)
        r.plots.append(flex_plot)
        
        r.text_summary = make_wrist_test_summary(roll_result.result, flex_result.result)

        if roll_result.result and flex_result.result:
            r.result = TestResultRequest.RESULT_PASS
        elif flex_result.result: ##\todo Remove this after first 5 units
            r.result = TestResultRequest.RESULT_HUMAN_REQUIRED
        else:
            r.result = TestResultRequest.RESULT_FAIL

        result_html = ['<H4 align=center>Flex Effort</H4>']
        result_html.append('<p>Flex effort should be close to zero during roll hysteresis.</p>')
        result_html.append('<img src=\"IMG_PATH/%s.png\", width = 640, height = 480/>' % flex_plot.title)
        result_html.append(flex_result.html)
        result_html.append('<hr size="2">')
        result_html.append('<H4 align=center>Roll Hysteresis</H4>')
        result_html.append('<p>Wrist roll hysteresis. The efforts should be close to the expected values.</p>')
        result_html.append('<img src=\"IMG_PATH/%s.png\", width = 640, height = 480/>' % roll_plot.title)
        result_html.append(roll_result.html)
        result_html.append('<hr size="2">')

        r.html_result = '\n'.join(result_html)

        r.values = roll_result.values + flex_result.values

        self.send_results(r)
         
if __name__ == '__main__':
    wda = WristDiffAnalysis()
    my_rate = rospy.Rate(5)
    try:
        while not rospy.is_shutdown() and not wda.has_data():
            my_rate.sleep()

        if not rospy.is_shutdown():
            wda.analyze_wrist_data()
    except KeyboardInterrupt, e:
        pass
    except:
        rospy.logerr("Exception in analysis: %s", traceback.format_exc())
        wda.test_failed_service_call(traceback.format_exc())