def main() -> None:
parser = argparse.ArgumentParser(description=SERVICE_NAME)
parser.add_argument("-s", "--swagger", action="store_true", default=False)
parser.add_argument(
"-d",
"--debug",
help="Set logging level to debug.",
action="store_const",
const=logging.DEBUG,
default=logging.DEBUG
if env.get_bool("ARCOR2_BUILD_DEBUG") else logging.INFO,
)
args = parser.parse_args()
logger.setLevel(args.debug)
run_app(
app,
SERVICE_NAME,
arcor2_build.version(),
port_from_url(URL),
[ImportResult],
print_spec=args.swagger,
)
def main() -> None:
parser = argparse.ArgumentParser(description=SERVICE_NAME)
parser.add_argument("-s", "--swagger", action="store_true", default=False)
args = parser.parse_args()
global ws
while not args.swagger:
try:
ws = websocket.create_connection(EXE_URL, enable_multithread=True)
thread = Thread(target=ws_thread, daemon=True)
thread.start()
break
except ConnectionRefusedError:
print("Connecting to the Execution service...")
time.sleep(1.0)
run_app(
app,
SERVICE_NAME,
arcor2_execution_rest_proxy.version(),
PORT,
[SummaryPackage, ExecutionInfo, Token],
args.swagger,
)
def main() -> None:
parser = argparse.ArgumentParser(description=SERVICE_NAME)
parser.add_argument("-s", "--swagger", action="store_true", default=False)
parser.add_argument("-m",
"--mock",
action="store_true",
default=env.get_bool("ARCOR2_DOBOT_MOCK"))
parser.add_argument(
"-d",
"--debug",
help="Set logging level to debug.",
action="store_const",
const=logging.DEBUG,
default=logging.DEBUG
if env.get_bool("ARCOR2_DOBOT_DEBUG") else logging.INFO,
)
args = parser.parse_args()
logger.setLevel(args.debug)
global _mock
_mock = args.mock
if _mock:
logger.info("Starting as a mock!")
if not args.swagger:
scene_service.wait_for()
run_app(app, SERVICE_NAME, version(), port_from_url(URL), [Pose, Joint],
args.swagger)
if _dobot:
_dobot.cleanup()
def main() -> None:
parser = argparse.ArgumentParser(description=PROJECT_SERVICE_NAME)
parser.add_argument("-s", "--swagger", action="store_true", default=False)
args = parser.parse_args()
run_app(
app,
PROJECT_SERVICE_NAME,
version(),
PROJECT_PORT,
[
common.Project,
common.Scene,
common.IdDesc,
object_type.ObjectType,
object_type.Box,
object_type.Cylinder,
object_type.Sphere,
object_type.Mesh,
common.WebApiError,
],
args.swagger,
api_version="0.16.0",
)
def main() -> None:
global inflation
parser = argparse.ArgumentParser(description=SCENE_SERVICE_NAME)
parser.add_argument("-s", "--swagger", action="store_true", default=False)
parser.add_argument(
"-d",
"--debug",
help="Set logging level to debug.",
action="store_const",
const=logging.DEBUG,
default=logging.DEBUG
if env.get_bool("ARCOR2_SCENE_DEBUG") else logging.INFO,
)
parser.add_argument(
"-i",
"--inflation",
help="How much to inflate collision objects (meters).",
nargs="?",
default=env.get_float("ARCOR2_SCENE_INFLATION", 0.01),
type=float,
)
args = parser.parse_args()
logger.setLevel(args.debug)
inflation = args.inflation
run_app(
app,
SCENE_SERVICE_NAME,
version(),
SCENE_PORT,
[
common.Pose,
object_type.Box,
object_type.Cylinder,
object_type.Sphere,
object_type.Mesh,
scene.MeshFocusAction,
scene.LineCheck,
scene.LineCheckResult,
],
args.swagger,
api_version="0.5.0",
)
def main() -> None:
parser = argparse.ArgumentParser(description=SERVICE_NAME)
parser.add_argument("-s", "--swagger", action="store_true", default=False)
parser.add_argument("-m", "--mock", action="store_true", default=False)
args = parser.parse_args()
global _mock
_mock = args.mock
if _mock:
logger.info("Starting as a mock!")
run_app(app, SERVICE_NAME, version(), version(), port_from_url(URL), [CameraParameters], args.swagger)
if _kinect:
_kinect.cleanup()
def main() -> None:
parser = argparse.ArgumentParser(description=SCENE_SERVICE_NAME)
parser.add_argument("-s", "--swagger", action="store_true", default=False)
args = parser.parse_args()
run_app(
app,
SCENE_SERVICE_NAME,
version(),
"0.4.0",
SCENE_PORT,
[
common.Pose,
object_type.Box,
object_type.Cylinder,
object_type.Sphere,
object_type.Mesh,
scene.MeshFocusAction,
],
args.swagger,
)
def main() -> None:
parser = argparse.ArgumentParser(description=SERVICE_NAME)
parser.add_argument(
"-d",
"--debug",
help="Set logging level to debug.",
action="store_const",
const=logging.DEBUG,
default=logging.DEBUG
if env.get_bool("ARCOR2_CALIBRATION_DEBUG") else logging.INFO,
)
run_as_mock = env.get_bool("ARCOR2_CALIBRATION_MOCK")
# argparse has not support for env vars so this is kind of workaround
# TODO maybe it could be solved using a custom action like https://gist.github.com/orls/51525c86ee77a56ad396
if not run_as_mock:
group = parser.add_mutually_exclusive_group(required=True)
group.add_argument(
"--config-file",
"-c",
type=argparse.FileType("r"),
help="Config file name containing a valid YAML configuration.",
)
sub_group = group.add_mutually_exclusive_group()
sub_group.add_argument("-s",
"--swagger",
action="store_true",
default=False)
sub_group.add_argument(
"-m",
"--mock",
action="store_true",
default=False,
help=
"Run the service in a mock mode. The same can be done by setting ARCOR2_CALIBRATION_MOCK.",
)
args = parser.parse_args()
logger.setLevel(args.debug)
if not (run_as_mock or args.swagger or args.mock):
data = args.config_file.read()
global MARKER_SIZE
global MIN_DIST
global MAX_DIST
try:
config = yaml.safe_load(data)
MARKER_SIZE = float(config.get("marker_size", MARKER_SIZE))
MIN_DIST = float(config.get("min_dist", MIN_DIST))
MAX_DIST = float(config.get("max_dist", MAX_DIST))
calibration.BLUR_THRESHOLD = float(
config.get("blur_threshold", calibration.BLUR_THRESHOLD))
for marker_id, marker in config["markers"].items():
MARKERS[int(marker_id)] = Pose.from_dict(marker["pose"])
logger.info(
f"Loaded configuration id '{config['id']}' with {len(MARKERS)} marker(s) of size {MARKER_SIZE}."
)
except (KeyError, ValueError, TypeError, ValidationError):
logger.exception("Failed to load the configuration file.")
sys.exit(1)
if not (MAX_DIST > MIN_DIST):
logger.error("'max_dist' have to be bigger than 'min_dist'.")
sys.exit(1)
global _mock
_mock = run_as_mock or args.mock
if _mock:
logger.info("Starting as a mock!")
run_app(
app,
SERVICE_NAME,
arcor2_calibration.version(),
port_from_url(CALIBRATION_URL),
[Pose, CalibrateRobotArgs, MarkerCorners, EstimatedPose],
getattr(args, "swagger", False),
)
def main() -> None:
parser = argparse.ArgumentParser(description=SERVICE_NAME)
parser.add_argument("-s", "--swagger", action="store_true", default=False)
parser.add_argument("-m", "--mock", action="store_true", default=False)
parser.add_argument(
"-d",
"--debug",
help="Set logging level to debug.",
action="store_const",
const=logging.DEBUG,
default=logging.INFO,
)
group = parser.add_mutually_exclusive_group()
group.add_argument(
"--config-file",
"-c",
type=argparse.FileType("r"),
default=sys.stdin,
help="Config file name containing a valid YAML configuration.",
)
group.add_argument(
"yaml-config",
nargs="?",
type=str,
help="Input string containing a valid YAML configuration.")
args = parser.parse_args()
logger.setLevel(args.debug)
if not (args.swagger or args.mock):
try:
data = args.config_file.read()
except AttributeError:
data = args.yaml_config
global MARKER_SIZE
try:
config = yaml.safe_load(data)
MARKER_SIZE = float(config["marker_size"])
for marker_id, marker in config["markers"].items():
MARKERS[int(marker_id)] = Pose.from_dict(marker["pose"])
logger.info(
f"Loaded configuration id '{config['id']}' with {len(MARKERS)} marker(s) of size {MARKER_SIZE}."
)
except (KeyError, ValueError, TypeError, ValidationError):
logger.exception("Failed to load the configuration file.")
sys.exit(1)
global _mock
_mock = args.mock
if _mock:
logger.info("Starting as a mock!")
run_app(
app,
SERVICE_NAME,
arcor2_calibration.version(),
arcor2_calibration.version(),
port_from_url(CALIBRATION_URL),
[Pose, CalibrateRobotArgs, MarkerCorners],
args.swagger,
)