def main(addr_port):
if not hasattr(G, "initialized"):
try:
import conf; missing = conf.load()
if missing:
fatal('missing configuration entries: %s' % missing)
if hasattr(conf, 'DEBUG_MODE') and conf.DEBUG_MODE:
# set system-wide logging level
import comm; comm.set_default_logging(debug=True)
cont = initialize(conf.lightHead_server)
G.server.set_listen_timeout(0.001)
G.server.start()
except conf.LoadException, e:
fatal('in file {0[0]}: {0[1]}'.format(e))
except Exception, e:
fatal(e)
# communication.py
import threading, time, socket
import comm, config
if hasattr(config, 'DEBUG') and config.DEBUG:
comm.set_default_logging(debug=config.DEBUG)
LOG = comm.LOG
class CommBase(comm.BaseClient):
def __init__(self, server_addrPort):
comm.BaseClient.__init__(self, server_addrPort)
self.set_timeout(5)
threading.Thread(target=self.connect_and_run).start()
# information blocks
self.last_ack = None
self.last_nack = None
self.lips_info = None
self.gaze_info = None
self.face_info = None
def handle_connect(self):
"""Callback for sucessful connection.
Inits communication and set robot on origin"""
if type(self.target_addr) == type(''):
LOG.info("Connected to server on {0}".format(self.target_addr))
return
LOG.info("Connected to server {0[0]}:{0[1]}".format(self.target_addr))
#
# The spine module controls orientation and position of the robot torso and neck
# It provides a high-level API and relies on the backend implemented in the
# module 'spine_backend'
#
# The API is limited to hardware implementation and indeed results are hardware-
# dependant. However as long as the hardware provides the required DOF and
# backend provides required functions, the end-result should be similar.
#
import comm, conf
import logging
if hasattr(conf,'DEBUG_MODE') and conf.DEBUG_MODE:
comm.set_default_logging(debug=True)
LOG = comm.LOG
else:
LOG = logging.getLogger(__package__)
class SpineProtocolError(comm.ProtocolError):
pass
class SpineError(comm.CmdError):
pass
class NotImplemented(SpineError):
pass
class SpineElementInfo(object):
"""Capabilities and Information about an element of the spine"""