def serve(cls,robot,ip):
try:
server = HTTPRobotServer(robot, host=ip, port=8000)
except:
print "Unable to create server object"
else:
print "Server configuration done"
try:
threading.Thread(target=lambda: server.run()).start()
except:
print "Unable to start server"
else:
print "server started successfully"
def serve(cls):
json_data = open('./config/conf.json')
data = json.load(json_data)
json_data.close()
ip = data['robot']['addr']
port = data['robot']['port']
try:
server = HTTPRobotServer(cls.robot, host=str(ip), port=str(port))
except:
print "Unable to create server object"
else:
print "Server configuration done"
try:
threading.Thread(target=lambda: server.run()).start()
except:
print "Unable to start server"
else:
print "server started successfully"
def __new__(cls,
base_path=None,
config=None,
simulator=None,
scene=None,
host='localhost',
port=19997,
id=0,
use_snap=False,
snap_host='0.0.0.0',
snap_port=6969,
snap_quiet=True,
use_http=False,
http_host='0.0.0.0',
http_port=8080,
http_quiet=True,
use_remote=False,
remote_host='0.0.0.0',
remote_port=4242,
start_background_services=True,
sync=True,
**extra):
""" Poppy Creature Factory.
Creates a Robot (real or simulated) and specifies it to make it a specific Poppy Creature.
:param str config: path to a specific json config (if None uses the default config of the poppy creature - e.g. poppy_humanoid.json)
:param str simulator: name of the simulator used : 'vrep' or 'poppy-simu'
:param str scene: specify a particular simulation scene (if None uses the default scene of the poppy creature - e.g. poppy_humanoid.ttt)
:param str host: host of the simulator
:param int port: port of the simulator
:param bool use_snap: start or not the Snap! API
:param str snap_host: host of Snap! API
:param int snap_port: port of the Snap!
:param bool use_http: start or not the HTTP API
:param str http_host: host of HTTP API
:param int http_port: port of the HTTP API
:param int id: id of robot in the v-rep scene (not used yet!)
:param bool sync: choose if automatically starts the synchronization loops
You can also add extra keyword arguments to disable sensor. For instance, to use a DummyCamera, you can add the argument: camera='dummy'.
.. warning:: You can not specify a particular config when using a simulated robot!
"""
if config and simulator:
raise ValueError('Cannot set a specific config '
'when using a simulated version!')
creature = camelcase_to_underscore(cls.__name__)
base_path = (os.path.dirname(__import__(creature).__file__)
if base_path is None else base_path)
default_config = os.path.join(os.path.join(base_path, 'configuration'),
'{}.json'.format(creature))
if config is None:
config = default_config
if simulator is not None:
if simulator == 'vrep':
from pypot.vrep import from_vrep, VrepConnectionError
scene_path = os.path.join(base_path, 'vrep-scene')
if scene is None:
scene = '{}.ttt'.format(creature)
if not os.path.exists(scene):
if ((os.path.basename(scene) != scene) or
(not os.path.exists(os.path.join(scene_path, scene)))):
raise ValueError(
'Could not find the scene "{}"!'.format(scene))
scene = os.path.join(scene_path, scene)
# TODO: use the id so we can have multiple poppy creatures
# inside a single vrep scene
try:
poppy_creature = from_vrep(config, host, port, scene)
except VrepConnectionError:
raise IOError('Connection to V-REP failed!')
elif simulator == 'poppy-simu':
use_http = True
poppy_creature = use_dummy_robot(config)
else:
raise ValueError(
'Unknown simulation mode: "{}"'.format(simulator))
poppy_creature.simulated = True
else:
try:
poppy_creature = from_json(config, sync, **extra)
except IndexError as e:
raise IOError('Connection to the robot failed! {}'.format(
str(e)))
poppy_creature.simulated = False
with open(config) as f:
poppy_creature.config = json.load(f)
urdf_file = os.path.join(
os.path.join(base_path, '{}.urdf'.format(creature)))
poppy_creature.urdf_file = urdf_file
if use_snap:
poppy_creature.snap = SnapRobotServer(poppy_creature,
snap_host,
snap_port,
quiet=snap_quiet)
snap_url = 'http://snap.berkeley.edu/snapsource/snap.html'
block_url = 'http://{}:{}/snap-blocks.xml'.format(
find_local_ip(), snap_port)
url = '{}#open:{}'.format(snap_url, block_url)
print('SnapRobotServer is now running on: http://{}:{}\n'.format(
snap_host, snap_port))
print('You can open Snap! interface with loaded blocks at "{}"\n'.
format(url))
if use_http:
from pypot.server.httpserver import HTTPRobotServer
poppy_creature.http = HTTPRobotServer(poppy_creature,
http_host,
http_port,
cross_domain_origin="*",
quiet=http_quiet)
print('HTTPRobotServer is now running on: http://{}:{}\n'.format(
http_host, http_port))
if use_remote:
from pypot.server import RemoteRobotServer
poppy_creature.remote = RemoteRobotServer(poppy_creature,
remote_host, remote_port)
print('RemoteRobotServer is now running on: http://{}:{}\n'.format(
remote_host, remote_port))
cls.setup(poppy_creature)
if start_background_services:
cls.start_background_services(poppy_creature)
return poppy_creature
PORT = 3030 # Arbitrary non-privileged port
if option == '1':
poppy = PoppyRightArm() # Connection to Poppy_Right_Arm
print('Connection reussi avec POPPY HUMANOID')
#power up of all the motors
poppy.compliant = False
poppy.power_up()
# Change PID of Dynamixel motors
for m in filter(lambda m: hasattr(m, 'pid'), poppy.motors):
m.pid = (1.9, 5, 0)
# Change PID of XL-320 motors
for m in poppy.r_gripper:
m.pid = (4, 2, 0)
# Change PID of Gripper (r_m5)
poppy.r_m5.pid = (8, 0, 0)
# Reduce max torque to keep motor temperature low
for m in poppy.motors:
m.torque_limit = 70
time.sleep(0.5)
# Initialize the angles of the motors
poppy.r_shoulder_x.goal_position = -20
poppy.r_m1.goal_position = 0
poppy.r_m4.goal_position = 90
# Configuration of HTTP server
server = HTTPRobotServer(poppy, host=HOST, port=PORT)
Thread(target=lambda: server.run(quiet=True, server='wsgiref')).start()
print 'HTTP Robot server initialized ...'
def __new__(cls,
base_path=None,
config=None,
simulator=None,
scene=None,
host='localhost',
port=19997,
id=None,
shared_vrep_io=None,
use_snap=False,
snap_host='0.0.0.0',
snap_port=6969,
snap_quiet=True,
use_http=False,
http_host='0.0.0.0',
http_port=8080,
http_quiet=True,
use_remote=False,
remote_host='0.0.0.0',
remote_port=4242,
use_ws=False,
ws_host='0.0.0.0',
ws_port=9009,
start_background_services=True,
sync=True,
**extra):
""" Poppy Creature Factory.
Creates a Robot (real or simulated) and specifies it to make it a specific Poppy Creature.
:param str config: path to a specific json config (if None uses the default config of the poppy creature - e.g. poppy_humanoid.json)
:param str simulator: name of the simulator used : 'vrep', 'poppy-simu', or 'dummy-robot'
:param str scene: specify a particular simulation scene (if None uses the default scene of the poppy creature, use "keep-existing" to keep the current VRep scene - e.g. poppy_humanoid.ttt)
:param str host: host of the simulator
:param int port: port of the simulator
:param int id: robot id in simulator (useful when using a scene with multiple robots)
:param vrep_io: use an already connected VrepIO (useful when using a scene with multiple robots)
:type vrep_io: :class:`~pypot.vrep.io.VrepIO`
:param bool use_snap: start or not the Snap! API
:param str snap_host: host of Snap! API
:param int snap_port: port of the Snap!
:param bool use_http: start or not the HTTP API
:param str http_host: host of HTTP API
:param int http_port: port of the HTTP API
:param int id: id of robot in the v-rep scene (not used yet!)
:param bool sync: choose if automatically starts the synchronization loops
You can also add extra keyword arguments to disable sensor. For instance, to use a DummyCamera, you can add the argument: camera='dummy'.
.. warning:: You can not specify a particular config when using a simulated robot!
"""
if config and simulator:
raise ValueError('Cannot set a specific config '
'when using a simulated version!')
creature = camelcase_to_underscore(cls.__name__)
base_path = (os.path.dirname(__import__(creature).__file__)
if base_path is None else base_path)
default_config = os.path.join(os.path.join(base_path, 'configuration'),
'{}.json'.format(creature))
if config is None:
config = default_config
if simulator is not None:
if simulator == 'vrep':
from pypot.vrep import from_vrep, VrepConnectionError
scene_path = os.path.join(base_path, 'vrep-scene')
if scene != "keep-existing":
if scene is None:
scene = '{}.ttt'.format(creature)
elif not os.path.exists(scene):
if ((os.path.basename(scene) != scene)
or (not os.path.exists(
os.path.join(scene_path, scene)))):
raise ValueError(
'Could not find the scene "{}"!'.format(scene))
scene = os.path.join(scene_path, scene)
# TODO: use the id so we can have multiple poppy creatures
# inside a single vrep scene
# vrep.simxStart no longer listen on localhost
if host == 'localhost':
host = '127.0.0.1'
try:
poppy_creature = from_vrep(
config,
host,
port,
scene if scene != "keep-existing" else None,
id=id,
shared_vrep_io=shared_vrep_io)
except VrepConnectionError:
raise IOError('Connection to V-REP failed!')
elif simulator == 'poppy-simu':
use_http = True
poppy_creature = use_dummy_robot(config)
elif simulator == 'dummy':
poppy_creature = use_dummy_robot(config)
else:
raise ValueError(
'Unknown simulation mode: "{}"'.format(simulator))
poppy_creature.simulated = True
else:
for _ in range(MAX_SETUP_TRIALS):
try:
poppy_creature = from_json(config, sync, **extra)
logger.info('Init successful')
break
except Exception as e:
logger.warning('Init fail: {}'.format(str(e)))
exc_type, exc_inst, tb = sys.exc_info()
else:
raise OSError(
'Could not initialize robot: {} '.format(exc_inst))
poppy_creature.simulated = False
with open(config) as f:
poppy_creature.config = json.load(f)
urdf_file = os.path.join(
os.path.join(base_path, '{}.urdf'.format(creature)))
poppy_creature.urdf_file = urdf_file
if use_snap:
poppy_creature.snap = SnapRobotServer(poppy_creature,
snap_host,
snap_port,
quiet=snap_quiet)
snap_url = 'http://snap.berkeley.edu/snapsource/snap.html'
block_url = 'http://{}:{}/snap-blocks.xml'.format(
find_local_ip(), snap_port)
url = '{}#open:{}'.format(snap_url, block_url)
logger.info(
'SnapRobotServer is now running on: http://{}:{}\n'.format(
snap_host, snap_port))
logger.info(
'You can open Snap! interface with loaded blocks at "{}"\n'.
format(url))
if use_http:
from pypot.server.httpserver import HTTPRobotServer
poppy_creature.http = HTTPRobotServer(poppy_creature,
http_host,
http_port,
cross_domain_origin="*",
quiet=http_quiet)
logger.info(
'HTTPRobotServer is now running on: http://{}:{}\n'.format(
http_host, http_port))
if use_remote:
from pypot.server import RemoteRobotServer
poppy_creature.remote = RemoteRobotServer(poppy_creature,
remote_host, remote_port)
logger.info(
'RemoteRobotServer is now running on: http://{}:{}\n'.format(
remote_host, remote_port))
if use_ws:
from pypot.server import WsRobotServer
poppy_creature.ws = WsRobotServer(poppy_creature, ws_host, ws_port)
logger.info('Ws server is now running on: ws://{}:{}\n'.format(
ws_host, ws_port))
cls.setup(poppy_creature)
if start_background_services:
cls.start_background_services(poppy_creature)
return poppy_creature
# Change PID of Dynamixel motors
for m in filter(lambda m: hasattr(m, 'pid'), poppy.motors):
m.pid = (1.9, 5, 0)
# Change PID of XL-320 motors
for m in poppy.r_gripper:
m.pid = (4, 2, 0)
# Change PID of Gripper (r_m5)
poppy.r_m5.pid=(8,0,0)
# Reduce max torque to keep motor temperature low
for m in poppy.motors:
m.torque_limit = 70
time.sleep(0.5)
# Initialize the angles of the motors
poppy.r_shoulder_x.goal_position =-20
poppy.r_m1.goal_position =0
poppy.r_m4.goal_position =90
# Configuration of HTTP server
server = HTTPRobotServer(poppy,host=HOST, port=PORT)
Thread(target=lambda: server.run(quiet=True, server='wsgiref')).start()
print 'HTTP Robot server initialized ...'
## Get the torso. from poppy.creatures import PoppyTorso from threading import Thread from pypot.server.httpserver import HTTPRobotServer torso = PoppyTorso() server = HTTPRobotServer(torso, host='193.50.110.242', port=8080) Thread(target=lambda: server.run(quiet=True, server='wsgiref')).start()