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use tkmtnt7000#5 to publish image string, not file, set image resolut…
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…ion to 640, use DESCRIPTION of START node as mail subject, warn if we received status without START node
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@k-okada @iory
k-okada authored and iory committed Aug 29, 2022
1 parent 2fe8f21 commit d4f0597
Showing 1 changed file with 47 additions and 38 deletions.
85 changes: 47 additions & 38 deletions jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ def __init__(self):
rospy.Subscriber(
"~smach/container_status", SmachContainerStatus, self._status_cb)
self.bridge = CvBridge()
self.smach_state_list = [] # for status list
self.smach_state_list = None # for status list
self.sender_address = "[email protected]"
self.receiver_address = "[email protected]"

Expand All @@ -46,46 +46,51 @@ def _status_cb(self, msg):
rospy.logerr("please check your program execute smach with (exec-state-machine (sm) '((description . "")(image . "")))")

rospy.loginfo("- status -> {}".format(status_str))
rospy.loginfo("- info_str -> {}".format(info_str))
if local_data_str.has_key('DESCRIPTION'):
rospy.loginfo("- description_str -> {}".format(local_data_str['DESCRIPTION']))
else:
rospy.logwarn("smach does not have DESCRIPTION, see https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_robot_common/jsk_robot_startup#smach_to_mailpy for more info")
if local_data_str.has_key('IMAGE') and local_data_str['IMAGE']:
rospy.loginfo("- image_str -> {}".format(local_data_str['IMAGE'][:64]))

if status_str == "START" or "INIT":
if status_str in ["START", "INIT"]:
self.smach_state_list = []
if local_data_str.has_key('IMAGE') and local_data_str['IMAGE']:
imgmsg = CompressedImage()
imgmsg.deserialize(base64.b64decode(local_data_str['IMAGE']))
cv_image = self.bridge.compressed_imgmsg_to_cv2(imgmsg, "bgr8")
rospy.logerr(
"cv image type:{}".format(imghdr.what(None, cv_image))) # for debugging
dt_now = datetime.datetime.now() # header should be used??

file_path = "/tmp/{}_{}.jpg".format(
status_str.lower(), dt_now.strftime('%y%m%d%H%M%S'))
rospy.loginfo("- filepath:{}".format(file_path))
# if (next((x for x in self.smach_state_list if x["IMAGE"] == file_path), None)):
# rospy.loginfo("same file name!!!!")
# else:
# rospy.loginfo("not same file name!!!")
cv2.imwrite(file_path, cv_image)
# cv2.imshow("Image", input_image)
cv2.waitKey(2)
else:
file_path = ""
# DESCRIPTION of START is MAIL SUBJECT
if local_data_str.has_key('DESCRIPTION'):
self.smach_state_subject = local_data_str['DESCRIPTION']
del local_data_str['DESCRIPTION']
else:
self.smach_state_subject = None

status_dict = {}
if local_data_str.has_key('DESCRIPTION'):
status_dict.update({'DESCRIPTION': local_data_str['DESCRIPTION']})
if file_path != "":
status_dict.update({'IMAGE': file_path}) # dict is complicated?

self.smach_state_list.append(status_dict)
rospy.loginfo("- info_str -> {}".format(info_str))
if local_data_str.has_key('IMAGE') and local_data_str['IMAGE']:
imgmsg = CompressedImage()
imgmsg.deserialize(base64.b64decode(local_data_str['IMAGE']))
cv_image = self.bridge.compressed_imgmsg_to_cv2(imgmsg, "bgr8")
scale_percent = 640.0 / cv_image.shape[1] * 100.0
width = int(cv_image.shape[1] * scale_percent / 100)
height = int(cv_image.shape[0] * scale_percent / 100)
dim = (width, height)
cv_image = cv2.resize(cv_image, dim, interpolation = cv2.INTER_AREA)
status_dict.update({'IMAGE': base64.b64encode(cv2.imencode('.jpg', cv_image)[1].tostring())}) # dict is complicated?

if self.smach_state_list == None:
rospy.logwarn("received {}, but we did not find START node".format(status_dict))
else:
self.smach_state_list.append(status_dict)

if status_str in ["END", "FINISH"]:
rospy.loginfo("END!!")
self._send_mail()
if self.smach_state_list == None:
rospy.logwarn("received END node, but we did not find START node")
rospy.logwarn("failed to send {}".format(status_dict))
else:
rospy.loginfo("END!!")
self._send_mail()
self.smach_state_list = None

def _send_mail(self):
email_msg = Email()
Expand All @@ -94,27 +99,31 @@ def _send_mail(self):
changeline.type = 'html'
changeline.message = "<br>"
for x in self.smach_state_list:
description = EmailBody()
image = EmailBody()
description.type = 'text'
if x.has_key('DESCRIPTION'):
description = EmailBody()
description.type = 'text'
description.message = x['DESCRIPTION']
email_msg.body.append(description)
email_msg.body.append(changeline)
email_msg.body.append(description)
email_msg.body.append(changeline)
if x.has_key('IMAGE') and x['IMAGE']:
image = EmailBody()
image.type = 'img'
image.img_size = 50
image.file_path = x['IMAGE']
image.img_size = 100
image.img_data = x['IMAGE']
email_msg.body.append(image)
email_msg.body.append(changeline)
rospy.loginfo("body:{}".format(email_msg.body))
# rospy.loginfo("body:{}".format(email_msg.body))

email_msg.subject = 'Smach mail test'
if self.smach_state_subject:
email_msg.subject = self.smach_state_subject
else:
email_msg.subject = 'Message from {}'.format(rospy.get_param('/robot/name', 'robot'))

email_msg.sender_address = self.sender_address
email_msg.receiver_address = self.receiver_address

time.sleep(1)
rospy.loginfo("send '{}' email to {}".format(email_msg.subject, email_msg.receiver_address))

self.pub.publish(email_msg)


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