ROS1 死鸡数据储存到txt 和sqlite

#!/usr/bin/env python3
#coding = 'utf-8'

from distutils.command.config import config
from email import message
import rospy
import paho.mqtt.client as mqtt
import time
import rospy
import json
from std_msgs.msg import String
from service.msg import data,pose

num = 0
def robotInfoCallback(msg): 
    rospy.loginfo("Subcribe roobot Info: [%s] ", msg)
    conf = msg.conf
    tim = msg.time
    print("wait high")
    try :
        hight_msg = rospy.wait_for_message("new_pose_hight",pose,timeout=1)
        hight = hight_msg.pos_h
    except:    
        hight = 0
    print("get height",hight)
    
    distance_msg = rospy.wait_for_message("pose_rfid",pose,timeout=1)
    dis = distance_msg.pos_r
    dis = 1
    print("get distance",dis)
    rfid  =1
    
    rfid_msg = rospy.wait_for_message("pose_rfid",pose,timeout=1)
    rfid = rfid_msg.pos_r
    print("get rfid",rfid)
    global num
    num += 1
    pub_tim = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime())
    txt_name = pub_tim
    
    Message = {"method":0,"conf":conf,"time":tim,"distance":dis,"rfid":rfid,"heigh":hight,"p_time":pub_tim}
    s = str(Message)
    num_s = str(num)
    with open('/home/r/rosWorkSpace/xiaoche_ws/src/main/src/save/'+ "num :" + num_s +" "+ txt_name +'.txt', 'w', encoding='utf-8') as f:
        # 将dic dumps json 格式进行写入
        f.write(json.dumps(s))
    print(s)
    print("---------------------------------------")

def robot_subscriber():
    # ROS节点初始化
    rospy.init_node('save', anonymous=True)

    # 创建一个Subscriber，订阅名为/data_info的topic，注册回调函数robotInfoCallback
    rospy.Subscriber("data_info", data, robotInfoCallback)
    print("waiting data")
    # 循环等待回调函数
    rospy.spin()

if __name__ == '__main__':
    robot_subscriber()

sqlite 储存

建立database 在默认home文件夹下

#!/usr/bin/python3

import sqlite3

conn = sqlite3.connect('deadBroiler.db')
print("数据库打开成功")
c = conn.cursor()
c.execute('''CREATE TABLE DEADBROILER
            (
            TIME   TEXT PRIMARY KEY   ,    
            METHOD         INT     ,
            CONF           DOUBLE  ,
            DISTANCE       INT     ,
            RFID           INT     ,
            HIGH           INT     ,
            SPEED          REAL    ,
            AHEAD          INT     ,
            PTIME          TEXT    );''')
print("数据表创建成功")
conn.commit()
conn.close()

储存节点

#!/usr/bin/env python3
#coding = 'utf-8'

from crypt import methods
from operator import methodcaller
from turtle import speed
import rospy
import time
import rospy
import json
from std_msgs.msg import String
import sqlite3
from service.msg import data,pose

num = 0
def robotInfoCallback(msg): 
    rospy.loginfo("Subcribe roobot Info: [%s] ", msg)
    conf = msg.conf
    tim = msg.time
    print("wait high")
    try :
        hight_msg = rospy.wait_for_message("new_pose_hight",pose,timeout=1)
        hight = hight_msg.pos_h
    except:    
        hight = 0
    print("get height",hight)
    
    distance_msg = rospy.wait_for_message("pose_rfid",pose,timeout=1)
    dis = distance_msg.pos_r
    dis = 1
    print("get distance",dis)
    rfid  =1
    
    rfid_msg = rospy.wait_for_message("pose_rfid",pose,timeout=1)
    rfid = rfid_msg.pos_r
    print("get rfid",rfid)
    global num
    num += 1
    pub_tim = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime())
    txt_name = pub_tim
    
    Message = [tim,mthd,conf,dis,rfid,hight,spd,pub_tim]
    
    conn = sqlite3.connect('deadBroiler.db')
    c = conn.cursor()
    print ("数据库打开成功")
    c.execute("INSERT INTO DEADBROILER (TIME,METHOD,CONF,DISTANCE,RFID,HIGH,SPEED,AHEAD,PTIME) \
        VALUES(?,?,?,?,?,?,?,?,?)",( Message[0],Message[1],Message[2],Message[3],Message[4],Message[5],Message[6],Message[7],Message[8]))

    conn.commit()
    print ("数据插入成功")
    
    conn.close()
    
    conn = sqlite3.connect('test.db')
    c = conn.cursor()
    print ("数据库打开成功")
    for data in Message :
        c.execute("INSERT INTO COMPANY (METHOD,CONF,TIME,DISTANCE,RFID,HIGH,SPEED,PTIME) \
            VALUES(?,?,?,?,?,?,?,?)",data["method"],data["conf"],data["time"],data["distance"],(data["rfid"],data["heigh"],data["p_time"]))
    conn.commit()
    print ("数据插入成功")
    conn.close()
def robot_subscriber():
    # ROS节点初始化
    rospy.init_node('save', anonymous=True)

    # 创建一个Subscriber，订阅名为/data_info的topic，注册回调函数robotInfoCallback
    rospy.Subscriber("data_info", data, robotInfoCallback)
    print("waiting data")
    # 循环等待回调函数
    rospy.spin()

if __name__ == '__main__':
    robot_subscriber()

当日死鸡数据储存

#!/usr/bin/env python
#coding = 'utf-8'

from distutils.command.config import config
from email import message
import rospy
import paho.mqtt.client as mqtt
import time
import rospy
import json
from std_msgs.msg import String
from service.msg import data,pose
import sqlite3
import datetime
num = 0    
date_tim = "db"+time.strftime('%Y%m%d', time.localtime())

def robot_subscriber():
    global date_tim

    # 创建一个Subscriber，订阅名为/data_info的topic，注册回调函数robotInfoCallback
    date_object = datetime.date.today()
    conn = sqlite3.connect('/home/yong/RosWorkSpace2/two_ws/src/main/src/deadBroiler.db')
    print("数据库打开成功")
    c = conn.cursor()
    c.execute('''CREATE TABLE IF NOT EXISTS [%s]
                (
                NUMBER INT,
                TIME   TEXT    ,    
                METHOD         INT     ,
                CONF           DOUBLE  ,
                DISTANCE       INT     ,
                RFID           INT     ,
                HIGH           INT     ,
                SPEED          REAL    ,
                AHEAD          INT     ,
                PTIME          TEXT    );'''  % date_tim )
    print("数据表创建成功")
    conn.commit()
    conn.close()
    global num
    ##########
    num += 1
    conf = 0
    tim = datetime.date.today()

    hight = 0

    dis = 0

    ahd = 2

    spd = 0

    rfid = 0   

    method = 0
    pub_tim = tim
##########
#Message = {"method":0,"conf":conf,"time":tim,"distance":dis,"rfid":rfid,"hight":hight,"ahead":ahd,"speed":spd,"p_time":pub_tim}
    Message = [num,tim,method,conf,dis,rfid,hight,spd,ahd,pub_tim]
    
    conn = sqlite3.connect('/home/yong/RosWorkSpace2/two_ws/src/main/src/deadBroiler.db')
    c = conn.cursor()
    print ("数据库打开成功")
    #try:
    table_name =date_tim
    print(table_name)
    c.execute('INSERT  INTO '+table_name+' (NUMBER,TIME,METHOD,CONF,DISTANCE,RFID,HIGH,SPEED,AHEAD,PTIME) \
VALUES(?,?,?,?,?,?,?,?,?,?)', (  Message[0],Message[1],Message[2],Message[3],Message[4],Message[5],Message[6],Message[7],Message[8],Message[9]))
    conn.commit()
    conn.close()
    print ("数据插入成功")
 

if __name__ == '__main__':
    robot_subscriber()

当日死鸡数据获取