rosplot.py

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#!/usr/bin/env python
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# Revision $Id$

# rosplot current exists as a support library for rxplot. rosplot is
# incomplete as a general library for getting plottable ROS Topic
# data. The rxplot module still contains much of the logic necessary
# for this.

import string
import sys
import threading
import time

import roslib.message
import roslib.names
import rosgraph
import rospy

class RosPlotException(Exception): pass

def _get_topic_type(topic):
    """
    subroutine for getting the topic type
    (nearly identical to rostopic._get_topic_type, except it returns rest of name instead of fn)
    
    :returns: topic type, real topic name, and rest of name referenced
      if the topic points to a field within a topic, e.g. /rosout/msg, ``str, str, str``
    """
    try:
        master = rosgraph.Master('/rosplot')
        val = master.getPublishedTopics('/')
    except:
        raise RosPlotException("unable to get list of topics from master")
    matches = [(t, t_type) for t, t_type in val if t == topic or topic.startswith(t+'/')]
    if matches:
        t, t_type = matches[0]
        if t_type == roslib.names.ANYTYPE:
            return None, None, None
        if t_type == topic:
            return t_type, None
        return t_type, t, topic[len(t):]
    else:
        return None, None, None

def get_topic_type(topic):
    """
    Get the topic type (nearly identical to rostopic.get_topic_type, except it doesn't return a fn)
    
    :returns: topic type, real topic name, and rest of name referenced
      if the \a topic points to a field within a topic, e.g. /rosout/msg, ``str, str, str``
    """
    topic_type, real_topic, rest = _get_topic_type(topic)
    if topic_type:
        return topic_type, real_topic, rest
    else:
        print >> sys.stderr, "WARNING: topic [%s] does not appear to be published yet"%topic
        while not rospy.is_shutdown():
            topic_type, real_topic, rest = _get_topic_type(topic)
            if topic_type:
                return topic_type, real_topic, rest
            else:
                time.sleep(0.1)
        return None, None, None


class ROSData(object):
    """
    Subscriber to ROS topic that buffers incoming data
    """
    
    def __init__(self, topic, start_time):
        self.name = topic
        self.start_time = start_time
        self.error = None
        
        self.lock = threading.Lock()
        self.buff_x = []
        self.buff_y = []
        
        topic_type, real_topic, fields = get_topic_type(topic)
        self.field_evals = generate_field_evals(fields)
        data_class = roslib.message.get_message_class(topic_type)
        self.sub = rospy.Subscriber(real_topic, data_class, self._ros_cb)

    def close(self):
      self.sub.unregister()

    def _ros_cb(self, msg):
        """
        ROS subscriber callback
        :param msg: ROS message data
        """
        try:
            self.lock.acquire()
            try:
                self.buff_y.append(self._get_data(msg))
                # #944: use message header time if present
                if msg.__class__._has_header:
                    self.buff_x.append(msg.header.stamp.to_sec() - self.start_time)
                else:
                    self.buff_x.append(rospy.get_time() - self.start_time)                    
                #self.axes[index].plot(datax, buff_y)
            except AttributeError, e:
                self.error = RosPlotException("Invalid topic spec [%s]: %s"%(self.name, str(e)))
        finally:
            self.lock.release()
        
    def next(self):
        """
        Get the next data in the series
        
        :returns: [xdata], [ydata]
        """
        if self.error:
            raise self.error
        try:
            self.lock.acquire()
            buff_x = self.buff_x
            buff_y = self.buff_y
            self.buff_x = []
            self.buff_y = []
        finally:
            self.lock.release()
        return buff_x, buff_y
        
    def _get_data(self, msg):
        val = msg
        try:
            if not self.field_evals:
                return float(val)
            for f in self.field_evals:
                val = f(val)
            return float(val)
        except TypeError:
            print "[%s] value was not numeric: %s"%(self.name, val)
            #TODO: really, really shouldn't be doing this here
            sys.exit(1)

_paused = False
def toggle_ros_pause():
    global _paused
    _paused = not _paused
    
# TODO: this should affect data collection, but it doesn't right now
_stopped = False
def set_ros_stop():
    global _stopped, _paused
    _stopped = True
    _paused = True

def is_ros_pause():
    return _paused
def is_ros_stop():
    return _stopped

def _array_eval(field_name, slot_num):
    """
    :param field_name: name of field to index into, ``str``
    :param slot_num: index of slot to return, ``str``
    :returns: fn(msg_field)->msg_field[slot_num]
    """
    def fn(f):
        return getattr(f, field_name).__getitem__(slot_num)
    return fn

def _field_eval(field_name):
    """
    :param field_name: name of field to return, ``str``
    :returns: fn(msg_field)->msg_field.field_name
    """
    def fn(f):
        return getattr(f, field_name)
    return fn

def generate_field_evals(fields):
    try:
        evals = []
        fields = [f for f in fields.split('/') if f]
        for f in fields:
            if '[' in f:
                field_name, rest = f.split('[')
                slot_num = string.atoi(rest[:rest.find(']')])
                evals.append(_array_eval(field_name, slot_num))
            else:
                evals.append(_field_eval(f))
        return evals
    except Exception, e:
        raise RosPlotException("cannot parse field reference [%s]: %s"%(fields, str(e)))