hmi_logger.py

Go to the documentation of this file.

#!/usr/bin/python
# import pyaudio
# import wave
import json
import os
from datetime import datetime
 
import rospy
from hmi_msgs.msg import QueryActionGoal, QueryActionResult
 
# CHUNK = 1024
# FORMAT = pyaudio.paInt16
# CHANNELS = 2
# RATE = 44100
 
# P = pyaudio.PyAudio()
 
RECORDING = False
RESULT = None
# STREAM = P.open(format=FORMAT,
#                 channels=CHANNELS,
#                 rate=RATE,
#                 input=True,
#                 frames_per_buffer=CHUNK)
 
 
def start(msg):
    global RECORDING
 
    if RECORDING:
        return
 
    # frames = []
 
    rospy.loginfo("Starting HMI recording")
    RECORDING = True
 
    # last_print = rospy.Time.now()
    while RECORDING:
        rospy.sleep(0.1)
    #     data = STREAM.read(CHUNK)
    #     frames.append(data)
    #     if rospy.Time.now() - last_print > rospy.Duration(1):
    #         rospy.loginfo(".. recording")
    #         last_print = rospy.Time.now()
 
    now = datetime.now()
    # wav_filename = "%s/%s.wav" % (STORAGE_FOLDER, now.strftime("%Y-%m-%d-%H-%M-%d-%f"))
    # wf = wave.open(wav_filename, 'wb')
    # wf.setnchannels(CHANNELS)
    # wf.setsampwidth(P.get_sample_size(FORMAT))
    # wf.setframerate(RATE)
    # wf.writeframes(b''.join(frames))
    # wf.close()
 
    data = {
        # "wav_filename": wav_filename,
        "request": msg.__str__(),
        "result": RESULT.__str__()
    }
 
    if RESULT.status.status == 3:
        json_filename = "%s/%s.json" % (STORAGE_FOLDER, now.strftime("%Y-%m-%d-%H-%M-%d-%f"))
        with open(json_filename, 'w') as outfile:
            json.dump(data, outfile)
 
        rospy.loginfo("Writing HMI log to %s" % json_filename)
 
 
def end(msg):
    global RECORDING, RESULT
    RESULT = msg
    rospy.loginfo("End callback")
    RECORDING = False
 
 
if __name__ == '__main__':
    rospy.init_node("hmi_logger")
 
    start_sub = rospy.Subscriber("goal", QueryActionGoal, start)
    end_sub = rospy.Subscriber("result", QueryActionResult, end)
    rospy.loginfo("Start topic: %s", start_sub.name)
    rospy.loginfo("End   topic: %s", end_sub.name)
    STORAGE_FOLDER = rospy.get_param('~storage_folder', os.path.expanduser('/tmp/hmi'))
 
    if not os.path.exists(STORAGE_FOLDER):
        os.makedirs(STORAGE_FOLDER)
 
    rospy.spin()
 
    # STREAM.stop_stream()
    # STREAM.close()
    # P.terminate()