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How to use get_logger method in lisa

Best Python code snippet using lisa_python

strategy.py

Source:strategy.py

...63        self.x = msg.xmin64        self.y = msg.ymin65        self.w = msg.width66        self.h = msg.height67        #self.get_logger().info(('tolerance achieved'))68        #centerx = (2*x+w)/269        #centery = (2*y+h)/270        pass71    72    def hsv_center_check(self):73        ratio = float(self.h*1.0 / self.w)74        contours, hierarchy = cv.findContours(closing, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)75        for cntt in contours:76            cv.drawContours(res, cntt, -1, (0,255,255), 3)   #yellow for all contours77            #area = cv.contourArea(cnt)78            #op = 079        if len(contours)!=0 :80            cnt = max(contours, key = cv.contourArea)81            area = cv.contourArea(cnt) 82        83        if area > 5000:84            self.get_logger().info(('currently ratio'+str(np.round(ratio,decimals=4))))85            if abs(ratio - self.pd_ratio) < 0.005:86                return True87            else:88                return False89        else :90            return False91    def check_z_distance(self):92        centery = (2*self.y+self.h)/293        if abs(centery-self.frame_height/2.0) <  1/10.0*self.frame_height:94            self.get_logger().info(('tolerance achieved'+str(int(abs(centery-self.frame_height/2.0)))))95            return True96        else:97            return False98    def z_adjust(self):99        centery = (2*self.y+self.h)/2100        self.z_adjust_vel =  -(centery-self.frame_height/2.0)/self.frame_height *2101        mymsg = Twist()102        mymsg.linear.z = float(self.z_adjust_vel)103        self.gate_rotate_pub.publish(mymsg)104    105    def hover(self):106        msg = Twist()107        msg.angular.x = 0.0108        msg.linear.x = 0.0109        msg.angular.y = 0.0110        msg.linear.y = 0.0111        msg.angular.z = 0.0112        msg.linear.z = 0.0113        self.gate_rotate_pub.publish(msg)114    115    def check_az_distance(self):116        centerx = (2*self.x+self.w)/2117        if abs(centerx-self.frame_width/2.0) <  1/40.0*self.frame_width:118            self.get_logger().info(('tolerance achieved'+str(int(abs(centerx-self.frame_width/2.0)))))119            return True120        else:121            return False122    def az_adjust(self):123        centerx = (2*self.x+self.w)/2124        self.az_adjust_vel =  -(centerx-self.frame_width/2.0)/self.frame_width/3.0125        mymsg = Twist()126        mymsg.angular.z = float(self.az_adjust_vel)127        self.gate_rotate_pub.publish(mymsg)128    def gate_rotate(self):129        self.ratio = float(self.h*1.0 / self.w)130        mymsg = Twist()131        mymsg.linear.x = 0.0132        mymsg.linear.z = 0.0133        # minimize134        diff = self.ratio - self.ratio_previous # first time diff>0135        if diff>0:136            self.rotate_dir = -self.rotate_dir # first time  rotate_dir = -rotate_dir = 1.0137        mymsg.linear.y = self.gate_rotate_vel_y *self.rotate_dir138        mymsg.angular.z = self.gate_rotate_vel_az *self.rotate_dir139        self.gate_rotate_pub.publish(mymsg)140        self.ratio_previous = self.ratio141        pass142    def approach_complete_callback(self,req,res):143        self.get_logger().info(('tolerance achieved'))144        self.approach_flag = True145        return res146    def check_for_approach_two(self):147        148        149        pass150    def check_for_approach_flag(self):151        if self.approach_flag:152            #self.get_logger().info(('True'))153            self.approach_flag = False154            return True155        else:156            #self.get_logger().info(('False'))157            return False158    def flag_clean(self):159        self.approach_flag = False160    def send_takeoff_request(self): 161        start_request = TelloAction.Request()162        start_request.cmd = "takeoff"163        self.start_future = self.start_client.call_async(start_request)164    def send_rotate_request(self,flag):165        req = SetBool.Request()166        req.data = flag167        self.rotate_future = self.rotate_client.call_async(req)168    def send_forward_request(self,flag):169        req = SetBool.Request()170        req.data = flag171        self.forward_future = self.forward_client.call_async(req)172    def send_approach_request(self,flag):173        req = SetBool.Request()174        req.data = flag175        self.approach_future = self.approach_client.call_async(req)176    177    def send_flythrough_request(self):178        req = Empty.Request()179        self.flythrough_future = self.flythrough_client.call_async(req)180    def send_markerid_request(self,marker):181        req = MarkerId.Request()182        req.id = marker183        self.markerid_future = self.markerid_client.call_async(req)184    #def send_teleop_request(self,flag):185    #    req = SetBool.Request()186    #    req.data = flag187    #    self.teleop_future = self.teleop_client.call_async(req)188    def hsv_check_center_horizontal(self):189        # rotate until x>1/10*frame.width, x+w<9/10*frame.width, abs(((x+w)+x)/2-frame.width)<1/10*frame.width 190        centerx = (2*self.x+self.w)/2191        centery = (2*self.y+self.h)/2192        if (self.x>1.0/10.0*self.frame_width)and((self.x+self.w)<9.0/10.0*self.frame_width)and((centerx-self.frame_width)<(1.0/10.0*self.frame_width)):193            self.get_logger().info('center testing approved')194            return True195    def hsv_check_center_height(self):196        # abs(h-desired_h)<1/20*frame.height197        if  self.h>= 3.0/5.0/self.approach_ratio*self.frame_height:198            self.get_logger().info('distance testing approved')199            return True200def wait_for_takeoff_response(st):201    while rclpy.ok():202        rclpy.spin_once(st)203        if st.start_future.done():204            try:205                response = st.start_future.result()206            except Exception as e:207                st.get_logger().info((208                    'Service call failed %r' % (e,)))209    210            break211    212def wait_rotate_response(st):213    while rclpy.ok():214        rclpy.spin_once(st)215        if st.rotate_future.done():216            try:217                response = st.rotate_future.result()218            except Exception as e:219                st.get_logger().info((220                    'Service call failed %r' % (e,)))221            break222def wait_forward_response(st):223    while rclpy.ok():224        rclpy.spin_once(st)225        if st.forward_future.done():226            try:227                response = st.forward_future.result()228            except Exception as e:229                st.get_logger().info((230                    'Service call failed %r' % (e,)))231            break232def wait_for_approach_response(st):233    while rclpy.ok():234        rclpy.spin_once(st)235        if st.approach_future.done():236            try:237                response = st.approach_future.result()238            except Exception as e:239                st.get_logger().info((240                    'Service call failed %r' % (e,)))241    242            break243def wait_for_flythrough_response(st):244    while rclpy.ok():245        rclpy.spin_once(st)246        if st.flythrough_future.done():247            try:248                response = st.flythrough_future.result()249            except Exception as e:250                st.get_logger().info((251                    'Service call failed %r' % (e,)))252            break253def wait_for_markerid_response(st):254    while rclpy.ok():255        rclpy.spin_once(st)256        if st.markerid_future.done():257            try:258                response = st.markerid_future.result()259            except Exception as e:260                st.get_logger().info((261                    'Service call failed %r' % (e,)))262            break263#def wait_for_teleop_response(st):264#    while rclpy.ok():265#        rclpy.spin_once(st)266#        if st.teleop_future.done():267#            try:268#                response = st.teleop_future.result()269#            except Exception as e:270#                st.get_logger().info((271#                   'Service call failed %r' % (e,)))272#            break273def search_for_AR_Tag(st,marker):274    find_artag1 = False275    while not find_artag1:276        try:277            now = rclpy.time.Time()278            st.trans = st.tf_buffer.lookup_transform(279                'tello_base',280                marker,281                now)282            find_artag1 = True283        except TransformException as ex:284            #st.get_logger().info(('not yet'))285            pass286        rclpy.spin_once(st)287def check_for_AR_Tag(st,marker):288    check_artag = False289    while not check_artag:290        try:291            now = rclpy.time.Time()292            st.trans = st.tf_buffer.lookup_transform(293                'tello_base',294                marker,295                now)296            check_for_artag = True297        except TransformException as ex:298            #st.get_logger().info(('not yet'))299            pass300        rclpy.spin_once(st)301def gate_artag_strategy(st,marker):302    # set marker_id for current_gate303    while not st.markerid_client.wait_for_service(timeout_sec=1.0):304        st.get_logger().info(('marker idservice not available, waiting again...'))305    st.send_markerid_request(marker)306    wait_for_markerid_response(st)307    st.get_logger().info(('currently finding Gate ..'+marker))308    # try to test ask 2 seconds, whether or not ARtag is found,  if not, rotate again to find artag 309    # until  st.check_for_approach_flag() True, break310    # y has steady error311    312    # rotate until find ARtag313    while not st.rotate_client.wait_for_service(timeout_sec=1.0):314        st.get_logger().info(('rotate service not available, waiting again...'))315    st.send_rotate_request(True)316    wait_rotate_response(st)317    st.get_logger().info(('start rotating, searching for artag now..'))318    search_for_AR_Tag(st,marker)319    st.get_logger().info(('ARtag1found, stop rotating..'))320    st.send_rotate_request(False)321    wait_rotate_response(st)322    st.get_logger().info(('successfully stopped'))323    st.get_logger().info("sofarsogood!")324    325    sleep(2)326    # approach ARtag327    st.get_logger().info("approaching ARtag!")328    while not st.approach_client.wait_for_service(timeout_sec=1.0):329        st.get_logger().info(('pid teleop service not available, waiting again...'))330    st.send_approach_request(True)331    wait_for_approach_response(st)332    while not st.check_for_approach_flag():333        rclpy.spin_once(st)334        sleep(0.5)335        #st.get_logger().info(('adjusting now...'))336    337    st.flag_clean()338    st.send_approach_request(False)339    wait_for_approach_response(st)340    st.get_logger().info("estimated approached,flythrough")341    342    sleep(5)343    #st.check_for_approach_two()344    #blind_fly_through345    346    st.get_logger().info("blind fly through ARtag!")347    while not st.flythrough_client.wait_for_service(timeout_sec=1.0):348        st.get_logger().info(('blind fly service not available, waiting again...'))349    st.send_flythrough_request()350    wait_for_flythrough_response(st)351    sleep(6)352    st.get_logger().info("already through ARtag!")353    pass354def hsv_gate_strategy(st):355    # stage 1: find the gate356    # rotate until x>1/10*frame.width, y+h<9/10*frame.width, abs(((x+w)+x)/2-frame.width)<1/10*frame.width 357    # call rotate service(SetBool), check for cv_pub in strategy358    359    st.get_logger().info(('try to find gate with hsv filter...'))360    while not st.rotate_client.wait_for_service(timeout_sec=1.0):361        st.get_logger().info(('rotate service not available, waiting again...'))362    st.send_rotate_request(True)363    wait_rotate_response(st)364    st.get_logger().info(('start rotating, searching for gate using hsv filter now..'))365    flag = False366    rclpy.spin_once(st)367    flag = st.hsv_check_center_horizontal()368    if st.hsv_check_center_horizontal():369        flag = True370        pass371    while not flag:372        rclpy.spin_once(st)373        flag = st.hsv_check_center_horizontal()374        pass375    376    st.get_logger().info(('Gate found, stop rotating..'))377    st.status_reset()378    st.send_rotate_request(False)379    wait_rotate_response(st)380    st.get_logger().info(('successfully stopped'))381    382    sleep(3)383    384    while not st.check_z_distance():385        rclpy.spin_once(st)386        st.z_adjust()387        st.get_logger().info(('z axis_adjusting..'))388        sleep(0.1)389    390    sleep(3)391 392    # keep height by making abs(((y+h)+y)/2 - frame.height)<1/10*frame.height393    # pid control, service disable tf_pub, enable pid_teleop394    # stage 2: approach the gate395    st.get_logger().info("approaching ARtag!")396    while not st.approach_client.wait_for_service(timeout_sec=1.0):397        st.get_logger().info(('pid teleop service not available, waiting again...'))398    st.send_approach_request(True)399    wait_for_approach_response(st)400    while(st.status==False):401        rclpy.spin_once(st)402    st.get_logger().info(('successfully through gate'))403    sleep(10)404    st.send_approach_request(False)405    # stage 2: approach the gate406    # slowly approch the gate until abs(h-desired_h)<1/20*frame.height407    #while not st.forward_client.wait_for_service(timeout_sec=1.0):408    #    st.get_logger().info(('forward service not available, waiting again...'))409    #st.send_forward_request(True)410    #wait_forward_response(st)411    #st.get_logger().info(('start forwarding, searching for gate using hsv filter now..'))412    #flag = False413    #rclpy.spin_once(st)414    #flag = st.hsv_check_center_height()415    #if st.hsv_check_center_height():416    #    flag = True417    #    pass418    #while not flag:419    #    rclpy.spin_once(st)420    #    flag = st.hsv_check_center_height()421    #    pass422    423    ##while not st.forward_client.wait_for_service(timeout_sec=1.0):424    #    st.get_logger().info(('forward service not available, waiting again...'))425    #st.get_logger().info(('Gate approached, stop forwarding..'))426    #st.send_forward_request(False)427    #wait_forward_response(st)428    #st.get_logger().info(('successfully stopped'))429    430    ### az adjust431    #while not st.check_az_distance():432    #    rclpy.spin_once(st)433    #    st.az_adjust()434    #    #st.get_logger().info(('z axis_adjusting..'))435    #    sleep(0.1)436    437    #st.get_logger().info(('az successfully adjusted'))438    ## z adjust439    440    441    #st.get_logger().info(('z successfully adjusted 2'))442    #hoveriing443    #count = 0 444    #while count<200:445    #    count=count+1446    #    st.hover()447    #    rclpy.spin_once(st)448    449    #st.get_logger().info(('sofarsogood3'))450     ### az adjust451    #while not st.check_az_distance():452    #    rclpy.spin_once(st)453    #    st.az_adjust()454    #    #st.get_logger().info(('z axis_adjusting..'))455    #    sleep(0.1)456    457    #st.get_logger().info(('az successfully adjusted'))458    #hoveriing459    #count = 0 460    #while count<200:461    ##    count=count+1462     #   st.hover()463     #   rclpy.spin_once(st)464    # stage 3: center to the gate465    # rotate around the gate until abs(ratio-desired_ratio)<1/20*frame.height466    # strategy give out vel?467    468    #while not st.hsv_center_check():469    #    st.gate_rotate()470    #    rclpy.spin_once(st)471    #    sleep(1/5)472    #    st.get_logger().info(('rotating around the gate now'))473    474    #hoveriing475   # count = 0 476   # while count<200:477    #    count=count+1478    #    st.hover()479    #    rclpy.spin_once(st)480    #st.get_logger().info(('center the gate successfully'))481    # stage 4: blindly fly through it482    #while not st.forward_client.wait_for_service(timeout_sec=1.0):483    #    st.get_logger().info(('forward service not available, waiting again...'))484    #st.send_forward_request(True)485    #wait_forward_response(st)486    #st.get_logger().info(('start forwarding, searching for gate using hsv filter now..'))487    # done!488    #pass489    #sleep(20)490    #while not st.forward_client.wait_for_service(timeout_sec=1.0):491    #    st.get_logger().info(('forward service not available, waiting again...'))492    #st.get_logger().info(('Gate approached, stop forwarding..'))493    #st.send_forward_request(False)494    #wait_forward_response(st)495    #st.get_logger().info(('successfully stopped'))496def main(args=None):497    rclpy.init(args=args)    498    st = strategy()499    st.get_logger().info(("preparing111"))500    sleep(5)501    #disable joy_stick_teleop502    #while not st.teleop_client.wait_for_service(timeout_sec=1.0):  503    #    st.get_logger().info(('teleop service not available, waiting again...'))504    #st.send_teleop_request(False)505    #wait_for_teleop_response(st)506    #st.get_logger().info(('teleop disabled'))507   508    # take off509    510    while not st.start_client.wait_for_service(timeout_sec=1.0):  511        st.get_logger().info(('take off service not available, waiting again...'))512    st.send_takeoff_request()513    wait_for_takeoff_response(st)514    st.get_logger().info(('successfully taken off'))515    516    sleep(5)517    #gate_artag_strategy(st,'marker1')518    #st.get_logger().info("sofarsogood1!")519  520    #gate_artag_strategy(st,'marker2')521    #gate_artag_strategy(st,'marker3')522    #st.get_logger().info("sofarsogood2!")523    while(True):524        hsv_gate_strategy(st)525    526    # logic + 527    # if I lost the view of ARtag, I have to rotate to find it again528    #disable joy_stick_teleop529    #while not st.teleop_client.wait_for_service(timeout_sec=1.0):  530    #    st.get_logger().info(('service not available, waiting again...'))531    #st.send_teleop_request(True)532    #wait_for_teleop_response(st)533    rclpy.spin(st)534    st.destroy_node()535    rclpy.shutdown()536if __name__ == '__main__':...

snake_tf2_listener.py

Source:snake_tf2_listener.py

...16        super().__init__('snake_tf2_frame_listener')17        # For the background color change18        self.color_client = self.create_client(SetParameters, '/sim/set_parameters')19        while not self.color_client.wait_for_service(timeout_sec=1.0):20            self.get_logger().info('service not available, waiting again...')21        self.req = None22        23        try:24            # Declare and acquire `target_frame` parameter25            self.declare_parameter('target_frame', 'turtle1')26            27            # The parameter received should be the adequate tail (one tail per body)28            self.target_frame = self.get_parameter(29                'target_frame').get_parameter_value().string_value30        except:31            self.get_logger().info(32                'Listener was not launched from launch file'33            )34            self.target_frame = 'turtle1'35        self.tf_buffer = Buffer()36        self.tf_listener = TransformListener(self.tf_buffer, self)37        # Create a client to spawn a turtle38        self.spawner = self.create_client(Spawn, 'spawn')39        # Boolean values to store the information40        # if the service for spawning turtle is available41        self.turtle_spawning_service_ready = False42        # if the turtle was successfully spawned43        self.body_spawned = False44        self.body_name = 'body1'45        self.start_position = [start_x, start_y, start_theta]46        # Create turtle2 velocity publisher47        self.publisher = self.create_publisher(Twist, f'{self.body_name}/cmd_vel', 1)48        # Call on_timer function every second49        # Maybe increase the rate50        self.timer = self.create_timer(0.01, self.on_timer)51        52        # Variable controlling if the snake has eaten the body53        self.body_eaten = False # Must be set to False54    55    def on_timer(self):56        # Store frame names in variables that will be used to57        # compute transformations58        from_frame_rel = self.target_frame59        to_frame_rel = self.body_name60        if self.turtle_spawning_service_ready:61            if self.body_spawned and self.body_eaten:62                # Look up for the transformation between target_frame and turtle2 frames63                # and send velocity commands for turtle2 to reach target_frame64                try:65                    now = rclpy.time.Time()66                    trans = self.tf_buffer.lookup_transform(67                        to_frame_rel,68                        from_frame_rel,69                        now)70                except TransformException as ex:71                    self.get_logger().info(72                        f'EATEN: Could not transform {to_frame_rel} to {from_frame_rel}: {ex}')73                    return74                except (LookupException, ConnectivityException, ExtrapolationException):75                    self.get_logger().info('EATEN: transform not ready')76                    return77                msg = Twist()78                # Diference between both Theta values79                # theta_diff = abs(1 - abs(trans.transform.rotation.w))80                ang_diff = math.atan2(81                    trans.transform.translation.y,82                    trans.transform.translation.x)83                84                dist = math.sqrt(85                    abs(trans.transform.translation.x) ** 2 +86                    abs(trans.transform.translation.y) ** 2)87                88                if ang_diff*180/math.pi >= 15 and dist > 0.1:89                    90                    scale_rotation_rate = 691                    msg.angular.z = scale_rotation_rate * ang_diff92                93                    scale_forward_speed = 1.594                    msg.linear.x = scale_forward_speed * dist95                    self.get_logger().info(96                        f'Chasing target: ')97                    self.get_logger().info(98                        f'Linear Speed: {msg.linear.x}')99                    self.get_logger().info(100                        f'Angular Speed: {msg.angular.z}')101                    self.get_logger().info(102                        f'distance: {dist}')103                    self.get_logger().info(104                        f'Angle difference:{ang_diff*180/math.pi}')105                    106                elif ang_diff*180/math.pi < 15 and dist > 0.1:107                    108                    scale_rotation_rate = 3109                    msg.angular.z = scale_rotation_rate * ang_diff110                111                    scale_forward_speed = 3112                    msg.linear.x = scale_forward_speed * dist113                    self.get_logger().info(114                        f'Full Speed: ')115                    self.get_logger().info(116                        f'Linear Speed: {msg.linear.x}')117                    self.get_logger().info(118                        f'Angular Speed: {msg.angular.z}')119                    self.get_logger().info(120                        f'distance: {dist}')121                    self.get_logger().info(122                        f'Angle difference:{ang_diff*180/math.pi}')123                else:124                    self.get_logger().info(125                        f'STOP target is close: ')126                    self.get_logger().info(127                        f'Linear Speed: {msg.linear.x}')128                    self.get_logger().info(129                        f'Angular Speed: {msg.angular.z}')130                    self.get_logger().info(131                        f'distance: {dist}')132                    self.get_logger().info(133                        f'Angle difference:{ang_diff*180/math.pi}')134                135                self.publisher.publish(msg)136                137                138            elif not self.body_spawned:139                if self.result.done():140                    self.get_logger().info(141                        f'Successfully spawned {self.result.result().name}')142                    self.body_spawned = True143                else:144                    self.get_logger().info('Spawn is not finished')145            146            elif not self.body_eaten:   147                try:148                    now = rclpy.time.Time()149                    trans = self.tf_buffer.lookup_transform(150                        to_frame_rel,151                        from_frame_rel,152                        now)153                    154                    distance = math.sqrt(155                        abs(trans.transform.translation.x**2) + 156                        abs(trans.transform.translation.y**2))157                    # self.get_logger().info(158                    #     f'current distance to {self.body_name} is {distance} m')159                    160                    if distance < 1:161                        self.body_eaten = True162                        self.get_logger().info163                        (f'Piece {self.body_name} EATEN, ÃAM ÃAM')164                        self.change_background_color()165                        166                except TransformException as ex:167                    self.get_logger().info(168                        f'NOT EATEN: Could not transform {to_frame_rel} to {from_frame_rel}: {ex}')169                    return170                except (LookupException, ConnectivityException, ExtrapolationException):171                    self.get_logger().info('NOT EATEN: transform not ready')172                    return173        else:174            spawn_result = self.body_spawner()175            if spawn_result is not None:176                self.result = spawn_result177    def body_spawner(self):178        if self.spawner.service_is_ready():179            # Initialize request with turtle name and coordinates180            # Note that x, y and theta are defined as floats in turtlesim/srv/Spawn181            request = Spawn.Request()182            request.name = 'body1'183            if self.start_position[0]:184                request.x = self.start_position[0]185                self.start_position[0] = None # So this only happens for the first turtle186                self.get_logger().info(187                    f'Given starting point X: {request.x}'188                )189            else:190                request.x = random.uniform(1, 19)191                self.get_logger().info(192                    f'Random starting point X: {request.x}'193                )194                195            if self.start_position[1]:196                request.y = self.start_position[1]197                self.start_position[1] = None # So this only happens for the first turtle198                self.get_logger().info(199                    f'Given starting point Y: {request.y}'200                )201            else:202                request.y = random.uniform(1, 19)203                self.get_logger().info(204                    f'Random starting point Y: {request.y}'205                )206                207            if self.start_position[2]:208                request.theta = self.start_position[2]209                self.start_position[2] = None # So this only happens for the first turtle210                self.get_logger().info(211                    f'Given starting Angle: {request.theta*180/math.pi}'212                )213            else:214                request.theta = random.uniform(-2*3.14, 2*3.14)215                self.get_logger().info(216                    f'Random starting Angle: {request.theta*180/math.pi}'217                )218            219            # Call request and spawns turtle in result220            result = self.spawner.call_async(request)221            222            print(dir(result)) # debug223            224            self.turtle_spawning_service_ready = True225            return result226        else:227            # Check if the service is ready228            self.get_logger().info('Body spawner is not ready')229            return None230        231    def change_background_color(self, r=None, g=None, b=None):232        self.req = SetParameters.Request()233        param = Parameter()234        param.name = "background_r"235        param.value.type = ParameterType.PARAMETER_INTEGER236        if r:237            param.value.integer_value = r238        else:239            param.value.integer_value = random.randint(0,255)240        self.req.parameters.append(param)241        param = Parameter()242        param.name = "background_g"243        param.value.type = ParameterType.PARAMETER_INTEGER244        if g:245            param.value.integer_value = g246        else:247            param.value.integer_value = random.randint(0,255)248        self.req.parameters.append(param)249        250        param = Parameter()251        param.name = "background_b"252        param.value.type = ParameterType.PARAMETER_INTEGER253        if b:254            param.value.integer_value = b255        else:256            param.value.integer_value = random.randint(0,255)257        self.req.parameters.append(param)258        self.future = self.color_client.call_async(self.req)259        self.get_logger().info('client request sent')260        261        262def main():263    rclpy.init()264    node = FrameListener()265    try:266        rclpy.spin(node)267    except KeyboardInterrupt:268        pass...

task_11_1_once.py

Source:task_11_1_once.py

...12    wrapper.has_run = False13    print(f'id of function {id(wrapper())} name = {wrapper.__name__}')14    return wrapper15@once16def get_logger():17    return [1, 2, 3] * 218'''19### this== ###    get_logger = once(get_logger)20print(get_logger.result, get_logger.has_run)21print('*' * 80)22'''23assert id(get_logger()) == id(get_logger()), "Not equal"24print('SUCCESS')25print(f'get_logger: {id(get_logger())}  {id(get_logger())}')26print(f'get_logger: {id(get_logger())}  {id(get_logger())}')27get_logger.has_run = False28print(f'get_logger: {id(get_logger())}  {id(get_logger())}')29assert id(get_logger()) == id(get_logger()), "Not equal"30print('SUCCESS')31result = get_logger()32result.append(42)33print(result)...

Automation Testing Tutorials

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