phm_recorder.py

#!/usr/bin/env python

""" 
    @name phm_recorder.py   
    @info the main entry to the application (runnable execution)
    @organization: Laval University
    @professor  Professor Xavier Maldague
    @author     Parham Nooralishahi
    @email      parham.nooralishahi.1@ulaval.ca
    @equipment  FLIR A700, Intel RealSense D435i, DJI M600, DJI Manifold 2
"""

import logging

import sys
import rospy
import numpy as np
import message_filters

from std_msgs.msg import String
from sensor_msgs.msg import Image
from phm import LeManchotDC
from multiprocessing import cpu_count

def callback_sync(*arg):
    dcobj = arg[-1]
    data = arg[:-1]
    packet = dict()
    for index in range(len(data)) :
        name = dcobj.collectors_name[index]
        packet[name] = data[index]
    dcobj.record(packet)
    

def shutdown():
    logging.info('Node is shutting down ...')
    

def main_func(argv):
    try:
        logging.info('System is started!')
        logging.info(f'starting computations on {cpu_count()} cores')
        rospy.init_node('lemanchot-dc', argv=argv, anonymous=True)
        rospy.on_shutdown(shutdown)

        # dcobj = LeManchotDC.get_instance(config_file='./config.json')
        dcobj = LeManchotDC.get_instance(config_file='./config_combo.json')

        ts = message_filters.ApproximateTimeSynchronizer(dcobj.subscribers, dcobj.buffer_size, 10)
        ts.registerCallback(callback_sync, dcobj)

        rospy.spin()

        dcobj.stop()
        logging.info('System is terminated!')
    except rospy.ROSInitException as exp:
        logging.error('lemachot-dc system is failed!')
        logging.exception(exp)

if __name__ == '__main__':
    logging.info('=============================================================')
    logging.info('== LeManchot-DC System : Multi-Modal Data Acquisition      ==')
    logging.info('== Laval University                                        ==')
    logging.info('== @Supervisor : Professor Xavier Maldague                 ==')
    logging.info('== @Researcher : Parham Nooralishahi                       ==')
    logging.info('== @year @ 2021                                            ==')
    logging.info('=============================================================')

    main_func (sys.argv)