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

Learn to execute automation testing from scratch with LambdaTest Learning Hub. Right from setting up the prerequisites to run your first automation test, to following best practices and diving deeper into advanced test scenarios. LambdaTest Learning Hubs compile a list of step-by-step guides to help you be proficient with different test automation frameworks i.e. Selenium, Cypress, TestNG etc.