def main():
parser = argparse.ArgumentParser(description=(
'Poppy services launcher. Use it to quickly instantiate a ' +
'poppy creature with Snap!, an http server, or a remote robot.'),
epilog="""
Examples:
* poppy-services --snap poppy-torso
* poppy-services --snap --vrep poppy-humanoid""",
formatter_class=RawTextHelpFormatter)
parser.add_argument('creature',
type=str,
help='poppy creature name',
action='store',
nargs='?',
choices=installed_poppy_creatures.keys())
parser.add_argument('--dummy',
help='use a simulated dummy robot',
action='store_true')
parser.add_argument('--vrep',
help='use a V-REP simulated Poppy Creature',
action='store_true')
parser.add_argument(
'--poppy-simu',
help=
'start a simulated dummy robot and the HTTP API to connect to the viewer on simu.poppy-project.org',
action='store_true')
parser.add_argument('--snap',
help='start a Snap! robot server',
action='store_true')
parser.add_argument('--snap-port',
help='port used by the Snap! server',
default=6969,
type=int)
parser.add_argument('-nb',
'--no-browser',
help='avoid automatic start of Snap! in web browser',
action='store_true')
parser.add_argument('--http',
help='start a http robot server',
action='store_true')
parser.add_argument('--http-port',
help='port of HttpRobotServer, used for poppy-simu',
default=8080,
type=int)
parser.add_argument('--remote',
help='start a remote robot server',
action='store_true')
parser.add_argument(
'--zmq',
help='start a remote robot server (but with faster ZMQ)',
action='store_true')
parser.add_argument('--ws',
help='start the websocket server',
action='store_true')
parser.add_argument('--ws-port',
help='port of Websocket Server',
default=9009,
type=int)
parser.add_argument('--disable-camera',
help='Start the robot without the camera.',
action='store_true')
parser.add_argument(
'-v',
'--verbose',
help=
'start services with verbose mode. There is 3 debug levels, add as "v" as debug level you want',
action='count')
parser.add_argument('-kl',
'--with-keylogger',
help='start a background key logger for hit detection',
action='store_true')
parser.add_argument('-f',
'--log-file',
help='Log filename',
action='store')
nb_creatures = len(installed_poppy_creatures.keys())
if nb_creatures == 0:
print('No installed poppy creature were found!')
print('You should first install the python package '
'corresponding to your robot or check your python environment.')
sys.exit(1)
args = parser.parse_args()
# If no creature are specified and only one is installed
# We use it as default.
if args.creature is None:
if nb_creatures > 1:
parser.print_help()
sys.exit(1)
args.creature = installed_poppy_creatures.keys()[0]
print('No creature specified, use {}'.format(args.creature))
if args.log_file:
fh = logging.FileHandler(args.log_file)
fh.setLevel(logging.DEBUG)
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s')
fh.setFormatter(formatter)
logging.getLogger('').addHandler(fh)
if args.verbose:
args.snap_quiet = False
args.http_quiet = False
args.ws_quiet = False
if args.verbose == 1:
lvl = logging.WARNING
elif args.verbose == 2:
lvl = logging.INFO
elif args.verbose > 2:
lvl = logging.DEBUG
if args.log_file is not None:
ch = logging.FileHandler(args.log_file)
else:
ch = logging.StreamHandler()
logging.basicConfig(
level=lvl) #FIXME: this is still not working properly.
# I.e. logging level isn't set properly across all files, because they are all initiated with
# the wrong logger name (non-dependent, just filename).
formatter = logging.Formatter(
'%(name)-12s: %(levelname)-8s %(message)s')
ch.setFormatter(formatter)
logging.getLogger('').addHandler(ch)
if not any([
args.snap, args.http, args.remote, args.zmq, args.poppy_simu,
args.ws, args.dummy
]):
print('No service specified! See --help for details.')
sys.exit(1)
if args.snap and not args.no_browser:
snap_url = 'http://snap.berkeley.edu/snapsource/snap.html'
block_url = 'http://{}:{}/snap-blocks.xml'.format(
find_local_ip(), args.snap_port)
url = '{}#open:{}'.format(snap_url, block_url)
# Wait for the Snap server to be started before openning the Snap URL
time.sleep(3)
for browser_name in [
'chromium-browser', 'chromium', 'google-chrome', 'chrome',
'safari', 'midori', None
]:
try:
browser = webbrowser.get(browser_name)
browser.open(url, new=0, autoraise=True)
break
except Exception:
pass
with closing(start_poppy_with_services(args)):
print('Robot created and running!')
sys.stdout.flush()
# Just run4ever (until Ctrl-c...)
try:
while (True):
time.sleep(1000)
except KeyboardInterrupt:
print("Bye bye!")
raise SystemExit
def main():
parser = argparse.ArgumentParser(description=(
'Poppy services launcher. Use it to quickly instantiate a ' +
'poppy creature with Snap!, an http server, or a remote robot.'),
epilog="""
Examples:
* poppy-services --snap poppy-torso
* poppy-services --snap --vrep poppy-humanoid""",
formatter_class=RawTextHelpFormatter)
parser.add_argument('creature',
type=str,
help='poppy creature name',
action='store',
nargs='?',
choices=list(installed_poppy_creatures.keys()))
parser.add_argument('--dummy',
help='use a simulated dummy robot',
action='store_true')
parser.add_argument('--vrep',
help='use a V-REP simulated Poppy Creature',
action='store_true')
parser.add_argument(
'--poppy-simu',
help=
'start a simulated dummy robot and the HTTP API to connect to the viewer on simu.poppy-project.org',
action='store_true')
parser.add_argument('--snap',
help='start a Snap! robot server',
action='store_true')
parser.add_argument('--snap-port',
help='port used by the Snap! server',
default=6969,
type=int)
parser.add_argument('-nb',
'--no-browser',
help='avoid automatic start of Snap! in web browser',
action='store_true')
parser.add_argument('--http',
help='start a http robot server',
action='store_true')
parser.add_argument('--http-port',
help='port of HttpRobotServer, used for poppy-simu',
default=8080,
type=int)
parser.add_argument('--remote',
help='start a remote robot server',
action='store_true')
parser.add_argument('--ws',
help='start the websocket server',
action='store_true')
parser.add_argument('--ws-port',
help='port of Websocket Server',
default=9009,
type=int)
parser.add_argument('--disable-camera',
help='Start the robot without the camera.',
action='store_true')
parser.add_argument(
'-v',
'--verbose',
help=
'start services with verbose mode. There is 3 debug levels, add as "v" as debug level you want',
action='count')
parser.add_argument('-f',
'--log-file',
help='Log filename',
action='store')
nb_creatures = len(installed_poppy_creatures.keys())
if nb_creatures == 0:
print('No installed poppy creature were found!')
print('You should first install the python package '
'corresponding to your robot or check your python environment.')
sys.exit(1)
args = parser.parse_args()
# If no creature are specified and only one is installed
# We use it as default.
if args.creature is None:
if nb_creatures > 1:
parser.print_help()
sys.exit(1)
args.creature = list(installed_poppy_creatures.keys())[0]
print('No creature specified, use {}'.format(args.creature))
if args.log_file:
fh = logging.FileHandler(args.log_file)
fh.setLevel(logging.DEBUG)
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s')
fh.setFormatter(formatter)
logging.getLogger('').addHandler(fh)
if args.verbose:
args.snap_quiet = False
args.http_quiet = False
args.ws_quiet = False
if args.verbose == 1:
lvl = logging.WARNING
elif args.verbose == 2:
lvl = logging.INFO
elif args.verbose > 2:
lvl = logging.DEBUG
if args.log_file is not None:
ch = logging.FileHandler(args.log_file)
else:
ch = logging.StreamHandler()
ch.setLevel(lvl)
formatter = logging.Formatter(
'%(name)-12s: %(levelname)-8s %(message)s')
ch.setFormatter(formatter)
logging.getLogger('').addHandler(ch)
if not any([
args.snap, args.http, args.remote, args.poppy_simu, args.ws,
args.dummy
]):
print('No service specified! See --help for details.')
sys.exit(1)
static_server_started = False
if args.snap and not args.no_browser:
snap_static_port = 8888
snap_static_server = HTTPServer(("0.0.0.0", snap_static_port),
SimpleHTTPRequestHandler)
from pypot.vpl.snap import download_snap_interactively
static_app = download_snap_interactively()
if static_app is None:
print(
"The static server was not started because the VPL app has not been downloaded"
)
else:
os.chdir(static_app)
snap_static_server_process = Process(
target=snap_static_server.serve_forever, args=())
static_server_started = True
snap_static_server_process.start()
snap_url = 'http://127.0.0.1:{}/snap.html'.format(snap_static_port)
block_url = 'http://{}:{}/snap-blocks.xml'.format(
find_local_ip(), args.snap_port)
url = '{}#open:{}'.format(snap_url, block_url)
with closing(start_poppy_with_services(args)):
msg = ''
if args.dummy or args.poppy_simu:
msg += 'Simulated robot created! He is running on: ip={}'.format(
find_local_ip())
else:
msg += 'Robot instantiated! He is running on: ip={},'.format(
find_local_ip())
if args.disable_camera: msg += ' without camera access.'
else: msg += ' with camera access.'
if args.vrep: msg += ' With V-REP link.'
if args.snap or args.ws or args.http or args.poppy_simu:
msg += '\nServer started on:'
if args.http or args.poppy_simu:
msg += ' http_port={},'.format(args.http_port)
if args.snap: msg += ' Snap_port={},'.format(args.snap_port)
if args.ws: msg += ' ws_port={},'.format(args.ws_port)
msg = msg[0:-1] + '.'
print(msg)
sys.stdout.flush()
if static_server_started:
for browser_name in [
'chromium-browser', 'chromium', 'google-chrome', 'chrome',
'safari', 'midori', None
]:
try:
browser = webbrowser.get(browser_name)
browser.open(url, new=0, autoraise=True)
break
except Exception:
pass
# Just run4ever (until Ctrl-c...)
try:
while (True):
time.sleep(1000)
except KeyboardInterrupt:
print("Bye bye!")
if static_server_started:
snap_static_server_process.terminate()
snap_static_server_process.join()
def main():
parser = argparse.ArgumentParser(
description=('Poppy services launcher. Use it to quickly instantiate a ' +
'poppy creature with Snap!, an http server, or a remote robot.'),
epilog="""
Examples:
* poppy-services --snap poppy-torso
* poppy-services --snap --vrep poppy-humanoid""",
formatter_class=RawTextHelpFormatter)
parser.add_argument('creature', type=str,
help='poppy creature name',
action='store', nargs='?',
choices=installed_poppy_creatures.keys())
parser.add_argument('--vrep',
help='use a V-REP simulated Poppy Creature',
action='store_true')
parser.add_argument('--poppy-simu',
help='use a Three.js visualization',
action='store_true')
parser.add_argument('--snap',
help='start a Snap! robot server',
action='store_true')
parser.add_argument('--snap-port',
help='port used by the Snap! server',
default=6969, type=int)
parser.add_argument('-nb', '--no-browser',
help='avoid automatic start of Snap! in web browser',
action='store_true')
parser.add_argument('--http',
help='start a http robot server',
action='store_true')
parser.add_argument('--http-port',
help='port of HttpRobotServer, used for poppy-simu',
default=8080, type=int)
parser.add_argument('--remote',
help='start a remote robot server',
action='store_true')
parser.add_argument('--ws',
help='start the websocket server',
action='store_true')
parser.add_argument('--ws-port',
help='port of Websocket Server',
default=9009, type=int)
parser.add_argument('--disable-camera',
help='Start the robot without the camera.',
action='store_true')
parser.add_argument('-v', '--verbose',
help='start services with verbose mode. There is 3 debug levels, add as "v" as debug level you want',
action='count')
parser.add_argument('-f', '--log-file',
help='Log filename',
action='store')
nb_creatures = len(installed_poppy_creatures.keys())
if nb_creatures == 0:
print('No installed poppy creature were found!')
print('You should first install the python package '
'corresponding to your robot or check your python environment.')
sys.exit(1)
args = parser.parse_args()
# If no creature are specified and only one is installed
# We use it as default.
if args.creature is None:
if nb_creatures > 1:
parser.print_help()
sys.exit(1)
args.creature = installed_poppy_creatures.keys()[0]
print('No creature specified, use {}'.format(args.creature))
if args.log_file:
fh = logging.FileHandler(args.log_file)
fh.setLevel(logging.DEBUG)
formatter = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
fh.setFormatter(formatter)
logging.getLogger('').addHandler(fh)
if args.verbose:
args.snap_quiet = False
args.http_quiet = False
args.ws_quiet = False
if args.verbose == 1:
lvl = logging.WARNING
elif args.verbose == 2:
lvl = logging.INFO
elif args.verbose > 2:
lvl = logging.DEBUG
if args.log_file is not None:
ch = logging.FileHandler(args.log_file)
else:
ch = logging.StreamHandler()
ch.setLevel(lvl)
formatter = logging.Formatter('%(name)-12s: %(levelname)-8s %(message)s')
ch.setFormatter(formatter)
logging.getLogger('').addHandler(ch)
if not any([args.snap, args.http, args.remote, args.poppy_simu, args.ws]):
print('No service specified! See --help for details.')
sys.exit(1)
if args.snap and not args.no_browser:
snap_url = 'http://snap.berkeley.edu/snapsource/snap.html'
block_url = 'http://{}:{}/snap-blocks.xml'.format(find_local_ip(), args.snap_port)
url = '{}#open:{}'.format(snap_url, block_url)
for browser_name in ['chromium-browser', 'chromium', 'google-chrome',
'chrome', 'safari', 'midori', None]:
try:
browser = webbrowser.get(browser_name)
browser.open(url, new=0, autoraise=True)
break
except:
pass
with closing(start_poppy_with_services(args)):
print('Robot created and running!')
sys.stdout.flush()
# Just run4ever (until Ctrl-c...)
try:
while(True):
time.sleep(1000)
except KeyboardInterrupt:
print("Bye bye!")
if sys.version_info < (3, 3):
from urlparse import urlparse
else:
from urllib.parse import urlparse
parser = argparse.ArgumentParser(description='Serve the webinterface '
'for controlling Poppy robots')
parser.add_argument('--debug', action='store_true', help='use the debug mode')
parser.add_argument('--test',
action='store_true',
help='does not modify anything on your machine '
'(except from a config file in /tmp)')
parser.add_argument(
'--creature',
choices=installed_poppy_creatures.keys(),
help=
'Which creature to use (by default will use the one set in the yaml config).'
)
args = parser.parse_args()
if args.test:
from dummy_pm import PuppetMaster
else:
from puppet_master import PuppetMaster
app = Flask(__name__)
app.secret_key = os.urandom(24)
if args.debug:
app.debug = True
from poppyd import PoppyDaemon
if sys.version_info < (3, 3):
from urlparse import urlparse
else:
from urllib.parse import urlparse
parser = argparse.ArgumentParser(description='Serve the webinterface '
'for controlling Poppy robots')
parser.add_argument('--debug', action='store_true',
help='use the debug mode')
parser.add_argument('--test', action='store_true',
help='does not modify anything on your machine '
'(except from a config file in /tmp)')
parser.add_argument('--creature', choices=installed_poppy_creatures.keys(),
help='Which creature to use (by default will use the one set in the yaml config).')
args = parser.parse_args()
if args.test:
from dummy_pm import PuppetMaster
else:
from puppet_master import PuppetMaster
app = Flask(__name__)
app.secret_key = os.urandom(24)
if args.debug:
app.debug = True
