From eb810f7c61e9c61aae1e06668701a69f4e07e5f6 Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Thu, 13 May 2021 15:07:35 +0200
Subject: [PATCH] more log formatting
---
main.py | 34 ++++++++++++++--------------------
utils.py | 29 ++++++++++++++++++++++++++---
2 files changed, 40 insertions(+), 23 deletions(-)
diff --git a/main.py b/main.py
index 0a4b69a..67414d6 100644
--- a/main.py
+++ b/main.py
@@ -59,26 +59,15 @@ complex_commands = {
('place-b/reachability/arm2', 'place-b-reachability-2-json', cgv_connector_pb2.Reachability()),
}
-
-def format_scene(scene: cgv_connector_pb2.Scene):
- result = ""
- for obj in scene.objects:
- if obj.type == cgv_connector_pb2.Object.Type.BOX:
- pos = obj.pos
- result += f"\n<obj {obj.id:15} at ({pos.x:6.2} {pos.y:6.2} {pos.z:6.2})>"
- return result
-
conversion_topics = {
- 'place-a/scene/update': (cgv_connector_pb2.Scene(), format_scene),
- 'place-b/scene/update': (cgv_connector_pb2.Scene(), format_scene),
+ 'place-a/scene/update': (cgv_connector_pb2.Scene(), utils.format_scene),
+ 'place-b/scene/update': (cgv_connector_pb2.Scene(), utils.format_scene),
+ 'place-b/command': (cgv_connector_pb2.MergedSelection(), utils.format_command),
+ 'place-b/reachability/arm1': (cgv_connector_pb2.Reachability(), utils.format_reachability),
+ 'place-b/reachability/arm2': (cgv_connector_pb2.Reachability(), utils.format_reachability),
}
bytes_topics = [
- 'place-a/scene/update',
- 'place-b/scene/update',
- 'place-b/reachability/arm1',
- 'place-b/reachability/arm2',
- 'place-b/command',
]
button_style_normal = {"marginRight": "15px"}
@@ -292,10 +281,15 @@ def append_to_mqtt_log(_n_intervals, clear_n_clicks, value, should_scroll):
:param should_scroll: checkbox value whether to scroll to the end after update
:return: new content of mqtt log
"""
- global last_clear_n_clicks
- if clear_n_clicks and clear_n_clicks > last_clear_n_clicks:
- value = ""
- last_clear_n_clicks = clear_n_clicks
+ ctx = dash.callback_context
+ if not ctx.triggered:
+ return dash.no_update
+
+ trigger_id = ctx.triggered[0]['prop_id'].split('.')[0]
+ if trigger_id == 'clear-mqtt-log':
+ return "", ""
+
+ # assume trigger_id == 'every-1-second'
local_messages = []
while not message_queue.empty():
local_messages.append(message_queue.get_nowait())
diff --git a/utils.py b/utils.py
index a01c4f5..49b4fe1 100644
--- a/utils.py
+++ b/utils.py
@@ -1,5 +1,7 @@
import threading
from datetime import datetime
+from google.protobuf import json_format
+import cgv_connector_pb2
class MaxTopicLength:
@@ -10,7 +12,7 @@ class MaxTopicLength:
def process_topic(self, topic):
if len(topic) > self.max_mqtt_topic_length:
self.max_mqtt_topic_length = len(topic)
- print(f'new long topic length: {self.max_mqtt_topic_length}')
+ print(f"new long topic length: {self.max_mqtt_topic_length}")
self.mqtt_log_reformat_event.set()
return self.max_mqtt_topic_length
@@ -30,5 +32,26 @@ def format_log_msg(topic: str, max_mqtt_topic_length: int, message: str, timesta
def parse_log_msg(entry: str):
print("Parsing >", entry, "<")
at_index = entry.index('@')
- closing_bracket_index = entry.index(']')
- return entry[1:at_index].strip(), entry[at_index + 1:closing_bracket_index].strip(), entry[closing_bracket_index+2:]
+ bracket_index = entry.index(']')
+ return entry[1:at_index].strip(), entry[at_index + 1:bracket_index].strip(), entry[bracket_index + 2:]
+
+
+def format_scene(scene: cgv_connector_pb2.Scene):
+ result = ""
+ for obj in scene.objects:
+ if obj.type == cgv_connector_pb2.Object.Type.BOX:
+ pos = obj.pos
+ result += f"\n<obj {obj.id:15} at ({pos.x:6.2} {pos.y:6.2} {pos.z:6.2})>"
+ return result
+
+
+def format_command(command: cgv_connector_pb2.MergedSelection):
+ return f"<cmd by {command.idRobot} of {command.idPick} to {command.idPlace}"
+
+
+def _get_reach_objects(r):
+ return [objReach.idObject + ' ' + ('✔' if objReach.reachable else '✖') for objReach in r.objects]
+
+
+def format_reachability(r: cgv_connector_pb2.Reachability):
+ return f"<reach of {r.idRobot}: [{', '.join(_get_reach_objects(r))}]>"
--
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