def main():
class FrameCollector(object):
def __init__(self):
self.frame = None
def __call__(self, x):
self.frame = x
collector = FrameCollector()
loop = echolib.IOLoop()
client = echolib.Client()
loop.add_handler(client)
sub = FrameSubscriber(client, "camera", collector)
try:
while loop.wait(10):
if collector.frame is not None:
display(collector.frame)
collector.frame = None
except KeyboardInterrupt:
pass
sys.exit(1)
def __init__(self, bounds=None):
self.loop = echolib.IOLoop()
self.client = echolib.Client(
name=os.environ.get("APPLICATION_NAME", ""))
self.loop.add_handler(self.client)
self.bounds = bounds
self.camera = Camera(self, "camera0")
self.manipulator = Manipulator(self, "manipulator0")
self.markers_pub = MarkersPublisher(self.client, "markers")
while not (self.camera.is_ready() and self.manipulator.is_ready()):
self.wait(100)
def start_app(app):
from manus.apps import AppCommandType, AppCommandPublisher, AppCommand
loop = echolib.IOLoop()
client = echolib.Client(name="appstart")
loop.add_handler(client)
control = AppCommandPublisher(client, "apps.control")
loop.wait(100)
message = AppCommand()
message.type = AppCommandType.EXECUTE
message.arguments.append(app)
control.send(message)
loop.wait(100)
def __init__(self, stdscreen):
self.screen = stdscreen
curses.curs_set(0)
self.screen.clear()
loop = echolib.IOLoop()
client = echolib.Client(loop, "/tmp/echo.sock")
state = ManipulatorStateSubscriber(client, "manipulator0.state",
self.on_state)
commands = TrajectorySubscriber(client, "manipulator0.trajectory",
self.on_trajectory)
while loop.wait(30):
pass
def __init__(self):
self.active_application = None
self.applications = {}
self.loop = echolib.IOLoop()
self.client = echolib.Client(name="apps")
self.loop.add_handler(self.client)
self.control = AppCommandSubscriber(self.client, "apps.control",
lambda x: self.control_callback(x))
self.announce = AppEventPublisher(self.client, "apps.announce")
self.listing = AppListingPublisher(self.client, "apps.list")
self.output = AppStreamDataPublisher(self.client, "apps.output")
self.input = AppStreamDataSubscriber(self.client, "apps.input",
lambda x: self.input_callback(x))
def main():
def message(message):
reader = echolib.MessageReader(message)
name = reader.readString()
message = reader.readString()
print(name + ": " + message)
def write(client, pub, name):
while client.isConnected():
try:
message = input()
writer = echolib.MessageWriter()
writer.writeString(name)
writer.writeString(message)
pub.send(writer)
except EOFError:
break
loop = echolib.IOLoop()
client = echolib.Client()
loop.add_handler(client)
name = input("Please enter your name:")
sub = echolib.Subscriber(client, "chat", "string pair", message)
pub = echolib.Publisher(client, "chat", "string pair")
thread = threading.Thread(target=write, args=(
client,
pub,
name,
))
thread.start()
try:
while loop.wait(10) and thread.is_alive():
# We have to give the write thread some space
time.sleep(0.001)
except KeyboardInterrupt:
pass
sys.exit(1)
def main():
loop = echolib.IOLoop()
client = echolib.Client()
loop.add_handler(client)
output = FramePublisher(client, "camera")
#count = echolib.SubscriptionWatcher(client, "camera")
camera = cv2.VideoCapture(0)
if not camera.isOpened():
print("Camera not available")
camera = DummyCamera()
try:
while loop.wait(100):
_, image = camera.read()
output.send(Frame(image=image))
except Exception as e:
traceback.print_exception(e)
batch = ConfigBatch()
for key, value in self.store.items():
batch.entries.append(ConfigEntry(key, value))
self._notify.send(batch)
if __name__ == '__main__':
if len(sys.argv) > 1:
storefile = sys.argv[1]
else:
storefile = None
loop = echolib.IOLoop()
client = echolib.Client(name="config")
loop.add_handler(client)
manager = ConfigManager(client)
if storefile is not None and os.path.isfile(storefile):
manager.read_config(storefile)
def shutdown_handler(signum, frame):
if storefile is not None:
manager.write_config(storefile)
sys.exit(0)
signal.signal(signal.SIGTERM, shutdown_handler)
try:
import echolib, random from manipulator_msgs import ManipulatorDescriptionSubscriber, ManipulatorStateSubscriber, PlanSegment, JointCommand, Plan, PlanPublisher description = None def description_callback(obj): global description description = obj def description_state(obj): pass loop = echolib.IOLoop() client = echolib.Client(loop, "/tmp/echo.sock") a = ManipulatorDescriptionSubscriber(client, "manipulator0.description", description_callback) b = ManipulatorStateSubscriber(client, "manipulator0.state", description_state) move = PlanPublisher(client, "manipulator0.plan") while loop.wait(1000): plan = Plan() plan.segments.append(PlanSegment()) for j in description.joints: c = JointCommand() c.speed = 4.0 c.goal = random.uniform(j.dh_min, j.dh_max) print c.goal plan.segments[0].joints.append(c)
channel_in = sys.argv[1]
channel_out = sys.argv[2]
counter = 0
def __callback(message):
global counter
counter += 1
print("Msg %d: %s " % (counter, echolib.MessageReader(message).readString()))
loop = echolib.IOLoop()
client = echolib.Client()
loop.add_handler(client)
subscriber = echolib.Subscriber(client, channel_in, u"string", __callback)
publisher = echolib.Publisher(client, channel_out, u"string")
t = time()
while loop.wait(100):
writer = echolib.MessageWriter()
writer.writeString("Hello there")
print("Send")
from .network import NetworkHandler
from .hardware import HardwareHandler
if __name__ == '__main__':
if len(sys.argv) > 1:
h = hashlib.new('sha1')
h.update(sys.argv[1])
print(h.hexdigest())
sys.exit(0)
testing = bool(os.getenv('MANUS_TESTING', False))
secret = os.getenv('MANUS_SECRET', None)
loop = echolib.IOLoop()
client = echolib.Client(name="privileged")
loop.add_handler(client)
handlers = {
PrivilegedCommandType.SYSTEM: SystemHandler(client),
PrivilegedCommandType.NETWORK: NetworkHandler(client),
PrivilegedCommandType.HARDWARE: HardwareHandler(client),
}
def control_callback(command):
h = hashlib.new('sha1')
h.update(command.secret)
if secret and h.hexdigest() != secret:
print("Unauthorized command")
return
print("Running privileged command: %s" %
def main():
logging_level = logging.DEBUG
logger = logging.getLogger("manus")
logger.propagate = False
log_storage = logging.StreamHandler()
log_storage.setFormatter(
logging.Formatter(fmt='%(asctime)s - %(levelname)s\t%(message)s',
datefmt='%Y-%m-%d %H:%M:%S'))
logger.addHandler(log_storage)
logger.setLevel(logging_level)
scriptdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
client = echolib.Client(name="webshell")
storage = db.DB()
try:
storagefile = os.getenv('MANUS_STORAGE', "/tmp/manus_storage.db")
if os.path.exists(storagefile):
logger.info("Opening storage database from %s" % storagefile)
storage.open(storagefile, None, db.DB_HASH)
else:
logger.info("Creating storage database in %s" % storagefile)
storage.open(storagefile, None, db.DB_HASH, db.DB_CREATE)
defaults_storage = os.getenv('MANUS_STORAGE_DEFAULTS', None)
if defaults_storage and os.path.exists(defaults_storage):
for root, dirs, files in os.walk(defaults_storage):
for file in files:
if file.endswith(".json"):
key = os.path.splitext(file)[0]
with open(os.path.join(defaults_storage, file),
'r') as fd:
data = "%s;%s" % ("text/json", fd.read())
storage.put(key, data)
logger.info("Restoring initial data from: %s" %
file)
handlers = []
cameras = []
manipulators = []
try:
camera = echocv.tornado.Camera(client, "camera0")
handlers.append(
(r'/api/camera/video', echocv.tornado.VideoHandler, {
"camera": camera
}))
handlers.append(
(r'/api/camera/image', echocv.tornado.ImageHandler, {
"camera": camera
}))
handlers.append(
(r'/api/camera/describe', CameraDescriptionHandler, {
"camera": camera
}))
handlers.append((r'/api/camera/position', CameraLocationHandler, {
"camera": camera
}))
cameras.append(camera)
except Exception as e:
print(traceback.format_exc())
try:
manipulator = manus.Manipulator(client, "manipulator0")
handlers.append(
(r'/api/manipulator/describe', ManipulatorDescriptionHandler, {
"manipulator": manipulator
}))
handlers.append(
(r'/api/manipulator/state', ManipulatorStateHandler, {
"manipulator": manipulator
}))
handlers.append(
(r'/api/manipulator/joint', ManipulatorMoveJointHandler, {
"manipulator": manipulator
}))
handlers.append(
(r'/api/manipulator/move', ManipulatorMoveHandler, {
"manipulator": manipulator
}))
handlers.append(
(r'/api/manipulator/safe', ManipulatorMoveSafeHandler, {
"manipulator": manipulator
}))
handlers.append((r'/api/manipulator/trajectory',
ManipulatorTrajectoryHandler, {
"manipulator": manipulator
}))
manipulators.append(manipulator)
except Exception as e:
print(traceback.format_exc())
#handlers.append((r'/api/markers', MarkersStorageHandler))
apps = AppsManager(client)
privileged = PrivilegedClient(client)
config = ConfigManager(client)
#handlers.append((r'/api/login', LoginHandler, {"users" : None}))
handlers.append((r'/api/apps', AppsHandler, {"apps": apps}))
handlers.append((r'/api/privileged', PrivilegedHandler, {
"privileged": privileged
}))
handlers.append((r'/api/storage', StorageHandler, {
"storage": storage
}))
handlers.append((r'/api/websocket', ApiWebSocket, {
"cameras": cameras,
"manipulators": manipulators,
"apps": apps,
"config": config
}))
handlers.append((r'/api/config', ConfigHandler, {"config": config}))
handlers.append((r'/api/info', ApplicationHandler))
handlers.append((r'/', RedirectHandler, {'url': '/index.html'}))
handlers.append((r'/(.*)', DevelopmentStaticFileHandler, {
'path':
os.path.dirname(manus_webshell.static.__file__)
}))
def markers_callback(markers):
data = {m.id : {"location": [m.location.x, m.location.y, m.location.z], \
"rotation": [m.rotation.x, m.rotation.y, m.rotation.z], \
"size": [m.size.x, m.size.y, m.size.z], \
"color": [m.color.red, m.color.green, m.color.blue]} for m in markers.markers}
ApiWebSocket.distribute_message({
"channel": "markers",
"action": "overwrite",
"markers": data,
"overlay": markers.owner
})
markers_subscriber = MarkersSubscriber(client, "markers",
markers_callback)
application = tornado.web.Application(
handlers,
cookie_secret=os.getenv('MANUS_COOKIE_SECRET', "manus"),
debug=bool(os.getenv('MANUS_DEBUG', "false")))
server = tornado.httpserver.HTTPServer(application)
server.listen(int(os.getenv('MANUS_PORT', "8080")))
tornado_loop = tornado.ioloop.IOLoop.instance()
signal.signal(
signal.SIGINT, lambda sig, frame: tornado_loop.
add_callback_from_signal(on_shutdown))
signal.signal(
signal.SIGTERM, lambda sig, frame: tornado_loop.
add_callback_from_signal(on_shutdown))
def on_disconnect(client):
tornado_loop.stop()
echocv.tornado.install_client(tornado_loop, client, on_disconnect)
logger.info("Starting %s webshell" % manus.NAME)
def flush_database():
# Flush every 5 seconds
storage.sync()
tornado_loop.add_timeout(time.time() + 5, flush_database)
flush_database()
try:
tornado_loop.start()
except KeyboardInterrupt:
pass
except Exception as err:
print(traceback.format_exc())
echocv.tornado.uninstall_client(tornado_loop, client)
flush_database()
except Exception as e:
print(traceback.format_exc())
logger.info("Stopping %s webshell" % manus.NAME)
storage.close()
