robokudo.annotators.collection_reader¶

Classes¶

CollectionReaderAnnotator

The CollectionReaderAnnotator s usually the first annotator in the pipeline.

Module Contents¶

class robokudo.annotators.collection_reader.CollectionReaderAnnotator(descriptor, name='CollectionReader')¶

Bases: robokudo.annotators.core.BaseAnnotator

The CollectionReaderAnnotator s usually the first annotator in the pipeline. Its main task is the reading of sensor data and setting it into the CAS. The collection reader itself doesn’t know how to read sensor data. For this, it uses a separate class ‘CollectionReader’ which is having camera interfaces that know how to deal with each sensor.

class Descriptor(camera_config, camera_interface)¶

Bases: robokudo.annotators.core.BaseAnnotator.Descriptor

parameters¶

collection_readers¶

start_timer = None¶

iterations_since_last_data = 0¶

iterations_since_last_data_warn_threshold = 40¶

setup(timeout)¶: Delayed initialisation. For example ROS pub/sub, drivers,

initialise()¶: Called when first tick is received and anytime status is not running after.

add_collection_reader(descriptor: Descriptor)¶: Add a descriptor to the collection reader to read sensor data from another camera interface.

update()¶: Called every time the behavior is ticked.

terminate(new_status)¶: Called whenever behavior switches to !RUNNING state. new_status can be SUCCESS, FAILURE or INVALID