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, )