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How to feed the data obtained from rospy.Subscriber data into a variable?

I have written a sample Subscriber. I want to feed the data that I have obtained from the rospy.Subscriber into another variable, so that I can use it later in the program for processing. At the moment I could see that the Subscriber is functioning as I can see the subscribed values being printed when I use rospy.loginfo() function. Although I donot know how to store this data into another varible. I have tried assigning it directly to a variable by using assignment operator '=', but I get error.
I have tried writing a callback function with rospy.loginfo to print the position data from the subscribed object. I have subscribed JointState and it containes, header, position, velocity and effort arrays. using rospy.loginfo I can verify that the subscriber is subscribing. But when i tried to assign it directly to a variable, I get an error.
I am displaying loginfo from a call back function as follows
def callback(data):
rospy.loginfo(data.position)
global listen
listen = rospy.Subscriber("joint_states", JointState,
callback)
rospy.spin()
and this works fine. But when i slightly modify the code to assign the subscribed values, I get following error i.e.
listen1 = rospy.Subscriber("joint_states", JointState,
callback=None)
listen = listen1.position
#rospy.loginfo(listen)
print(listen)
rospy.spin()```
The error is as follows,
```listen = listen1.position
AttributeError: 'Subscriber' object has no attribute 'position'
EDIT:
Here is my node I have defined in my program,
#rospy.loginfo(msg.data)
global tactile_states
tactile_states = data.data
def joint_callback(data):
#rospy.loginfo(data.position)
global g_joint_states
global g_position
global g_pos1
g_joint_states = data
#for i in len(data.position):
#g_position[i] = data.position[i]
g_position = data.position
if len(data.position) > 0:
print("jointstate more than 0")
g_pos1 = data.position[0]
#print(g_position)
def joint_modifier(*args):
#choice describes what the node is supposed to do whether act as publisher or subscribe to joint states or tactile sensors
rospy.init_node('joint_listener_publisher', anonymous=True)
pub1 = rospy.Publisher('joint_states', JointState, queue_size = 10)
if(len(args)>1):
choice = args[0]
joint_name = args[1]
position = args[2]
else:
choice = args[0]
if (choice == 1):
rate = rospy.Rate(1)
robot_configuration = JointState()
robot_configuration.header = Header()
robot_configuration.name = [joint_name]
robot_configuration.position = [position]
robot_configuration.velocity = [10]
robot_configuration.effort = [100]
while not rospy.is_shutdown():
robot_configuration.header.stamp = rospy.Time.now()
rospy.loginfo(robot_configuration)
break
pub1.publish(robot_configuration)
rospy.sleep(2)
if (choice == 2):
#rospy.Timer(rospy.Duration(2), joint_modifier)
listen = rospy.Subscriber("joint_states", JointState, joint_callback)
rospy.spin()
if (choice == 3):
#rospy.Timer(rospy.Duration(2), joint_modifier)
tactile_sub = rospy.Subscriber("/sr_tactile/touch/ff", Float64, tactile_callback)
rospy.spin()
This is how I am calling the node inside the main body of the program,
joint_modifier(2)
print("printing g_position")
print(g_position)#to check the format of g_position
print("printed g _position")
leg_1 = Leg_attribute(g_position[0], g_position[1], g_position[2], velocity1 = 10, velocity2 = 10, velocity3 = 10, effort1 = 100, effort2 = 100, effort3 = 100, acceleration=1)
When calling this way, the program is stuck at joint_modifier(2) as that function has rospy.spin().

The style which you're using is not very standard. I assume you've seen the example on ROS wiki, I've modified it to demonstrate standard usage below.
Chiefly, addressing the code you posted, you needed to make listen have global scope outside of the callback. This is to store the data you want, not the Subscriber object. The rospy.spin() never goes in a callback, only the main node function/section. The subscriber object, listen1, which is used infrequently, doesn't return anything, and doesn't store the data it acquires. That is, you need Subscriber() to have a non-None callback.
It's more of a bind, giving the data to the callback instead of returning it from Subscriber. That's why listen1 (Subscriber) has no attribute position (JointState).
import rospy
from sensor_msgs.msg import JointState
# Subscribers
# joint_sub (sensor_msgs/JointState): "joint_states"
# This is where you store all your data you recieve
g_joint_states = None
g_positions = None
g_pos1 = None
def timer_callback(event): # Type rospy.TimerEvent
print('timer_cb (' + str(event.current_real) + '): g_positions is')
print(str(None) if g_positions is None else str(g_positions))
def joint_callback(data): # data of type JointState
# Each subscriber gets 1 callback, and the callback either
# stores information and/or computes something and/or publishes
# It _does not!_ return anything
global g_joint_states, g_positions, g_pos1
rospy.loginfo(data.position)
g_joint_states = data
g_positions = data.position
if len(data.position) > 0:
g_pos1 = data.position[0]
print(g_positions)
# In your main function, only! here do you subscribe to topics
def joint_logger_node():
# Init ROS
rospy.init_node('joint_logger_node', anonymous=True)
# Subscribers
# Each subscriber has the topic, topic type, AND the callback!
rospy.Subscriber('joint_states', JointState, joint_callback)
# Rarely need to hold onto the object with a variable:
# joint_sub = rospy.Subscriber(...)
rospy.Timer(rospy.Duration(2), timer_callback)
# spin() simply keeps python from exiting until this node is stopped
# This is an infinite loop, the only code that gets ran are callbacks
rospy.spin()
# NO CODE GOES AFTER THIS, NONE! USE TIMER CALLBACKS!
# unless you need to clean up resource allocation, close(), etc when program dies
if __name__ == '__main__':
joint_logger_node()
Edit 1:
There seems to be some confusion on what Subscriber(), spin(), and _callback(s) do.
It's a bit obscured in the Python, but there is a master program that manages all nodes, and sending nodes between them. In each node, we register with that master program that the node exists, and what publishers and subscribers it has. By register, it means we tell the master program, "Hey, I want that topic!"; in your case, for your (undeclared) joint_sub Subscriber, "Hey, I want all the JointState msgs from the joint_states topic!" The master program will, every time it gets (from some publisher somewhere) a new joint_states JointState msg, send it to that subscriber.
The subscriber handles, deals with, and processes the msg (data) with a callback: when(!) I receive a message, run the callback.
So the master program receives a new joint_states JointState msg from some publisher. Then it, because we registered a subscriber to it, sends it to this node. rospy.spin() is an infinite loop waiting for that data. This is what it does (kinda-mostly):
def rospy.spin():
while rospy.ok():
for new_msg in get_new_messages from master():
if I have a subscriber to new_msg:
my_subscriber.callback(new_msg)
rospy.spin() is where your callback, joint_callback (and/or timer_callback, etc) actually get called, and executed. It only runs when there is data for it.
More fundamentally, I think because of this confusion, your program structure is flawed; your functions don't do what you think they do. This is how you should make your node.
Make your math-portion (all the real non-ros code), the one doing the NN, into a separate module, and make a function to run it.
If you only want to run it when you receive data, run it in the callback. If you want to publish the result, publish in the callback.
Don't call the main function! The if __name__ == '__main__': my_main_function() should be the only place it gets called, and this will call your code. I repeat: the main function, declaring subscribers/publishers/init/timers/parameters, is only run in if __name__ ..., and this function runs your code. To have it run your code, place your code in a callback. Timer callbacks are handy for this.
I hope this code sample clarifies:
import rospy
from std_msgs.msg import Header
from sensor_msgs.msg import JointState
import my_nn as nn # nn.run(data)
# Subscribers
# joint_sub (sensor_msgs/JointState): "joint_states"
# Publishers
# joint_pub (sensor_msgs/JointState): "target_joint_states"
joint_pub = None
def joint_callback(data): # data of type JointState
pub_msg = JointState() # Make a new msg to publish results
pub_msg.header = Header()
pub_msg.name = data.name
pub_msg.velocity = [10] * len(data.name)
pub_msg.effort = [100] * len(data.name)
# This next line might not be quite right for what you want to do,
# But basically, run the "real code" on the data, and get the
# result to publish back out
pub_msg.position = nn.run(data.position) # Run NN on data, store results
joint_pub.publish(pub_msg) # Send it when ready!
if __name__ == '__main__':
# Init ROS
rospy.init_node('joint_logger_node', anonymous=True)
# Subscribers
rospy.Subscriber('joint_states', JointState, joint_callback)
# Publishers
joint_pub = rospy.Publisher('target_joint_states', JointState, queue_size = 10)
# Spin
rospy.spin()
# No more code! This is not a function to call, but its
# own program! This is an executable! Run your code in
# a callback!
Notice that a python module we design to be a ros node, has no functions to be called. It has a defined structure of callbacks and global data shared between them, all initialized and registered in the main function / if __name__ == '__main__'.

run twice when dynamic import module in python

I need to build a Menu using curses in python.
When user select choice, it run a function within a sub-module.
I have first a json file which contains the menu structure:
[
{
"name": "Action A",
"function": "main.foo.actionA"
},
"name": "Action B",
"function": "main.bar.actionB"
}
]
I have a main script which call the the menu.load method below:
import curses
import json
class menu:
def __init__(self):
self.curses = curses
self.screen = self.curses.initscr()
self.menuItems = json.loads(<my json menu file>)
def load(self):
x = 0
while x != ord('q'):
self.screen.addstr(2, 2, "Make your choice")
i=1
for item in self.menuItems:
self.screen.addstr(i, 4, item['name'])
i+=1
self.screen.refresh()
x = self.screen.getch()
if x == <my id item id matching the menu>:
//for example
self.run("main.bar.actionB")
def run(self, action):
function = action.split('.')
// Clear the screen, remove curse stuff so I can see intercative things in the terminal
_temp = __import__("lib.functions.%s" % function[0], globals(), locals(), [function[1]], -1)
mod = getattr(_temp, function[1])()
result = getattr(mod, function[2])()
// Once run is done, get back to menu
self.load()
This is working fine (I didn't paste all the code because there is submenu).
BUT, when user run first action first time, it works.
Then, once user is back to the menu, he can run again the same action, and then, I can see the action running twice.
If I run the same action third times, it runs three times...etc etc
I first though the importer was importing menu each times and then some kind of reference was found ... so I've tried to add control with:
try:
<run the function>
except AtributeError:
//function is not loaded, load it
But it didn't work..

Variable within a Variable in Python (3)

My head is probably in the wrong place with this, but I want to put a variable within a variable.
My goal for this script is to compare current versions of clients software with current software versions that are available from the vendor. At this stage I just want to print out what's available.
I have some def's setup with:
def v80(program_1 = '80.24', program_2 = '80.5', program_3 = '80.16'):
pass
def v81(program_1 = '81.16', program_2 = '81.7', program_3 = '81.14'):
pass
def v82(program_1 = '82.15', program_2 = '82.4', program_3 = '82.9'):
pass
def v83(program_1 = '83.01', program_2 = '83.0', program_3 = '83.1'):
pass
I'm then reading all of the clients versions from a text file and doing comparisons.
One of the vars I'm generating is "program_main", currently I'm doing something like:
If program_main == "83":
if program_1:
if v83['program_1'] > float(program_1):
print ("Update available", program_1, "-->", v83[program_1])
if program_2:
if v83['program_2'] > float(program_2):
print ("Update available", program_2, "-->", v83[program_2])
if program_main == "82"
if program_1:
if v82['program_1'] > float(program_1):
print ("Update available", program_1, "-->", v82[program_1])
etc etc
My train of though would be something like
if program_1:
if v[program_main] > float(program_1):
print('Update available", program_1, "-->", v[program_main])
etc etc
I'm sure there's a much better way to do this entire setup, but this is one of my first proper python scripts so I'm happy to chalk it up to noobish-ness, just wanted to know what the right way of doing what I'm trying to achieve is.

You can put your functions into a dictionary:
per_version = {
'83': v83,
'82': v82,
}
and simply use that to map string to function:
per_version[program_main]('program_1')
However, you may want to instead parameterise your version functions; make one function that takes the version as a parameter:
def program_check(version, program_1=None, program_2=None, program_3=None):
# ...
which then looks up default values per program_x parameter based no the version, again from a dictionary perhaps.

Sublime Text 3 plugin: ValueError with Edit objects?

I'm building a Sublime Text 3 plugin to shorten URLs using the goo.gl API. Bear in mind that the following code is hacked together from other plugins and tutorial code. I have no previous experience with Python.
The plugin does actually work as it is. The URL is shortened and replaced inline. Here is the plugin code:
import sublime
import sublime_plugin
import urllib.request
import urllib.error
import json
import threading
class ShortenUrlCommand(sublime_plugin.TextCommand):
def run(self, edit):
sels = self.view.sel()
threads = []
for sel in sels:
url = self.view.substr(sel)
thread = GooglApiCall(sel, url, 5) # Send the selection, the URL and timeout to the class
threads.append(thread)
thread.start()
# Wait for threads
for thread in threads:
thread.join()
self.view.sel().clear()
self.handle_threads(edit, threads, sels)
def handle_threads(self, edit, threads, sels, offset=0, i=0, dir=1):
next_threads = []
for thread in threads:
sel = thread.sel
result = thread.result
if thread.is_alive():
next_threads.append(thread)
continue
if thread.result == False:
continue
offset = self.replace(edit, thread, sels, offset)
thread = next_threads
if len(threads):
before = i % 8
after = (7) - before
if not after:
dir = -1
if not before:
dir = 1
i += dir
self.view.set_status("shorten_url", "[%s=%s]" % (" " * before, " " * after))
sublime.set_timeout(lambda: self.handle_threads(edit, threads, sels, offset, i, dir), 100)
return
self.view.erase_status("shorten_url")
selections = len(self.view.sel())
sublime.status_message("URL shortener successfully ran on %s URL%s" %
(selections, "" if selections == 1 else "s"))
def replace(self, edit, thread, sels, offset):
sel = thread.sel
result = thread.result
if offset:
sel = sublime.Region(edit, thread.sel.begin() + offset, thread.sel.end() + offset)
self.view.replace(edit, sel, result)
return
class GooglApiCall(threading.Thread):
def __init__(self, sel, url, timeout):
self.sel = sel
self.url = url
self.timeout = timeout
self.result = None
threading.Thread.__init__(self)
def run(self):
try:
apiKey = "xxxxxxxxxxxxxxxxxxxxxxxx"
requestUrl = "https://www.googleapis.com/urlshortener/v1/url"
data = json.dumps({"longUrl": self.url})
binary_data = data.encode("utf-8")
headers = {
"User-Agent": "Sublime URL Shortener",
"Content-Type": "application/json"
}
request = urllib.request.Request(requestUrl, binary_data, headers)
response = urllib.request.urlopen(request, timeout=self.timeout)
self.result = json.loads(response.read().decode())
self.result = self.result["id"]
return
except (urllib.error.HTTPError) as e:
err = "%s: HTTP error %s contacting API. %s." % (__name__, str(e.code), str(e.reason))
except (urllib.error.URLError) as e:
err = "%s: URL error %s contacting API" % (__name__, str(e.reason))
sublime.error_message(err)
self.result = False
The problem is that I get the following error in the console every time the plugin runs:
Traceback (most recent call last):
File "/Users/joejoinerr/Library/Application Support/Sublime Text 3/Packages/URL Shortener/url_shortener.py", line 51, in <lambda>
sublime.set_timeout(lambda: self.handle_threads(edit, threads, sels, offset, i, dir), 100)
File "/Users/joejoinerr/Library/Application Support/Sublime Text 3/Packages/URL Shortener/url_shortener.py", line 39, in handle_threads
offset = self.replace(edit, thread, sels, offset)
File "/Users/joejoinerr/Library/Application Support/Sublime Text 3/Packages/URL Shortener/url_shortener.py", line 64, in replace
self.view.replace(edit, sel, result)
File "/Applications/Sublime Text.app/Contents/MacOS/sublime.py", line 657, in replace
raise ValueError("Edit objects may not be used after the TextCommand's run method has returned")
ValueError: Edit objects may not be used after the TextCommand's run method has returned
I'm not sure what the problem is from that error. I have done some research and I understand that the solution may be held in the answer to this question, but due to my lack of Python knowledge I can't figure out how to adapt it to my use case.

I was searching for a Python autocompletion plugin for Sublime and found this question. I like your plugin idea. Did you ever get it working? The ValueError is telling you that you are trying to use the edit argument to ShortenUrlCommand.run after ShortenUrlCommand.run has returned. I think you could do this in Sublime Text 2 using begin_edit and end_edit, but in 3 your plugin has to finish all of its edits before run returns (https://www.sublimetext.com/docs/3/porting_guide.html).
In your code, the handle_threads function is checking the GoogleApiCall threads every 100 ms and executing the replacement for any thread that has finished. But handle_threads has a typo that causes it to run forever: thread = next_threads where it should be threads = next_threads. This means that finished threads are never removed from the list of active threads and all threads get processed in each invocation of handle_threads (eventually throwing the exception that you see).
You actually don't need to worry about whether the GoogleApiCall treads are finished in handle_threads, though, because you call join on each one before calling handle_threads (see the python threading docs for more detail on join: https://docs.python.org/2/library/threading.html). You know the threads are finished, so you can just do something like:
def handle_threads(self, edit, threads, sels):
offset = 0
for thread in threads:
if thread.result:
offset = self.replace(edit, thread, sels, offset)
selections = len(threads)
sublime.status_message("URL shortener successfully ran on %s URL%s" %
(selections, "" if selections == 1 else "s"))
This still has problems: it does not properly handle multiple selections and it blocks the UI thread in Sublime.
Multiple Selections
When you replace multiple selections you have to consider that the replacement text might not be the same length as the text it replaces. This shifts the text after it and you have to adjust the indexes for subsequent selected regions. For example, suppose the URLs are selected in the following text and that you are replacing them with shortened URLs:
1 2 3 4 5 6 7
01234567890123456789012345678901234567890123456789012345678901234567890123
blah blah http://example.com/long blah blah http://example.com/longer blah
The second URL occupies indexes 44 to 68. After replacing the first URL we have:
1 2 3 4 5 6 7
01234567890123456789012345678901234567890123456789012345678901234567890123
blah blah http://goo.gl/abc blah blah http://example.com/longer blah
Now the second URL occupies indexes 38 to 62. It is shifted by -6: the difference between the length of the string we just replaced and the length of the string we replaced it with. You need keep track of that difference and update it after each replacement as you go along. It looks like you had this in mind with your offset argument, but never got around to implementing it.
def handle_threads(self, edit, threads, sels):
offset = 0
for thread in threads:
if thread.result:
offset = self.replace(edit, thread.sel, thread.result, offset)
selections = len(threads)
sublime.status_message("URL shortener successfully ran on %s URL%s" %
(selections, "" if selections == 1 else "s"))
def replace(self, edit, selection, replacement_text, offset):
# Adjust the selection region to account for previous replacements
adjusted_selection = sublime.Region(selection.begin() + offset,
selection.end() + offset)
self.view.replace(edit, adjusted_selection, replacement_text)
# Update the offset for the next replacement
old_len = selection.size()
new_len = len(replacement_text)
delta = new_len - old_len
new_offset = offset + delta
return new_offset
Blocking the UI Thread
I'm not familiar with Sublime plugins, so I looked at how this is handled in the Gist plugin (https://github.com/condemil/Gist). They block the UI thread for the duration of the HTTP requests. This seems undesirable, but I think there might be a problem if you don't block: the user could change the text buffer and invalidate the selection indexes before your plugin finishes its updates. If you want to go down this road, you might try moving the URL shortening calls into a WindowCommand. Then once you have the replacement text you could execute a replacement command on the current view for each one. This example gets the current view and executes ShortenUrlCommand on it. You will have to move the code that collects the shortened URLs out into ShortenUrlWrapperCommand.run:
class ShortenUrlWrapperCommand(sublime_plugin.WindowCommand):
def run(self):
view = self.window.active_view()
view.run_command("shorten_url")

How do I gather performance metrics for GDI and user Objects using python

Think this is my first question I have asked on here normally find all the answers I need (so thanks in advance)
ok my problem I have written a python program that will in threads monitor a process and output the results to a csv file for later. This code is working great I am using win32pdhutil for the counters and WMI, Win32_PerfRawData_PerfProc_Process for the CPU %time. I have now been asked to monitor a WPF application and specifically monitor User objects and GDI objects.
This is where I have a problem, it is that i can't seem to find any python support for gathering metrics on these two counters. these two counters are easily available in the task manager I find it odd that there is very little information on these two counters. I am specifically looking at gathering these to see if we have a memory leak, I don't want to install anything else on the system other than python that is already installed. Please can you peeps help with finding a solution.
I am using python 3.3.1, this will be running on a windows platform (mainly win7 and win8)
This is the code i am using to gather the data
def gatherIt(self,whoIt,whatIt,type,wiggle,process_info2):
#this is the data gathering function thing
data=0.0
data1="wobble"
if type=="counter":
#gather data according to the attibutes
try:
data = win32pdhutil.FindPerformanceAttributesByName(whoIt, counter=whatIt)
except:
#a problem occoured with process not being there not being there....
data1="N/A"
elif type=="cpu":
try:
process_info={}#used in the gather CPU bassed on service
for x in range(2):
for procP in wiggle.Win32_PerfRawData_PerfProc_Process(name=whoIt):
n1 = int(procP.PercentProcessorTime)
d1 = int(procP.Timestamp_Sys100NS)
#need to get the process id to change per cpu look...
n0, d0 = process_info.get (whoIt, (0, 0))
try:
percent_processor_time = (float (n1 - n0) / float (d1 - d0)) *100.0
#print whoIt, percent_processor_time
except ZeroDivisionError:
percent_processor_time = 0.0
# pass back the n0 and d0
process_info[whoIt] = (n1, d1)
#end for loop (this should take into account multiple cpu's)
# end for range to allow for a current cpu time rather that cpu percent over sampleint
if percent_processor_time==0.0:
data=0.0
else:
data=percent_processor_time
except:
data1="N/A"
else:
#we have done something wrong so data =0
data1="N/A"
#endif
if data == "[]":
data=0.0
data1="N/A"
if data == "" :
data=0.0
data1="N/A"
if data == " ":
data=0.0
data1="N/A"
if data1!="wobble" and data==0.0:
#we have not got the result we were expecting so add a n/a
data=data1
return data
cheers
edited for correct cpu timings issue if anyone tried to run it :D

so after a long search i was able to mash something together that gets me the info needed.
import time
from ctypes import *
from ctypes.wintypes import *
import win32pdh
# with help from here http://coding.derkeiler.com/Archive/Python/comp.lang.python/2007-10/msg00717.html
# the following has been mashed together to get the info needed
def GetProcessID(name):
object = "Process"
items, instances = win32pdh.EnumObjectItems(None, None, object, win32pdh.PERF_DETAIL_WIZARD)
val = None
if name in instances :
tenQuery = win32pdh.OpenQuery()
tenarray = [ ]
item = "ID Process"
path = win32pdh.MakeCounterPath( ( None, object, name, None, 0, item ) )
tenarray.append( win32pdh.AddCounter( tenQuery, path ) )
win32pdh.CollectQueryData( tenQuery )
time.sleep( 0.01 )
win32pdh.CollectQueryData( tenQuery )
for tencounter in tenarray:
type, val = win32pdh.GetFormattedCounterValue( tencounter, win32pdh.PDH_FMT_LONG )
win32pdh.RemoveCounter( tencounter )
win32pdh.CloseQuery( tenQuery )
return val
processIDs = GetProcessID('OUTLOOK') # Remember this is case sensitive
PQI = 0x400
#open a handle on to the process so that we can query it
OpenProcessHandle = windll.kernel32.OpenProcess(PQI, 0, processIDs)
# OK so now we have opened the process now we want to query it
GR_GDIOBJECTS, GR_USEROBJECTS = 0, 1
print(windll.user32.GetGuiResources(OpenProcessHandle, GR_GDIOBJECTS))
print(windll.user32.GetGuiResources(OpenProcessHandle, GR_USEROBJECTS))
#so we have what we want we now close the process handle
windll.kernel32.CloseHandle(OpenProcessHandle)
hope that helps

For GDI count, I think a simpler, cleaner monitoring script is as follows:
import time, psutil
from ctypes import *
def getPID(processName):
for proc in psutil.process_iter():
try:
if processName.lower() in proc.name().lower():
return proc.pid
except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess):
pass
return None;
def getGDIcount(PID):
PH = windll.kernel32.OpenProcess(0x400, 0, PID)
GDIcount = windll.user32.GetGuiResources(PH, 0)
windll.kernel32.CloseHandle(PH)
return GDIcount
PID = getPID('Outlook')
while True:
GDIcount = getGDIcount(PID)
print(f"{time.ctime()}, {GDIcount}")
time.sleep(1)