try:
if (len(sys.argv) >= 3):
print sys.argv
parser = argparse.ArgumentParser(description='Nao Robot Behavior')
parser.add_argument('-p','--param', help='Parameter server address', required=True)
parser.add_argument('-n','--name', help='Name of the node', required=True)
args = vars(parser.parse_args())
name = args["name"]
paramServer = args["param"]
# Utils
import parameter_utils
node = parameter_utils.getNodeParameters(name,paramServer,1000)
if node != None:
ROBOT_IP = parameter_utils.getParam(node,"ROBOTIP", "127.0.0.1")
ROBOT_PORT = int(parameter_utils.getParam(node,"ROBOTPORT", "9559"))
pub = parameter_utils.getPublisherInfo(node,"JointValueVector")
if pub != None:
PUB_IP = pub.host.encode('utf-8')
PUB_PORT = pub.port
PUB_TOPIC = pub.topic.encode('utf-8')
pub2 = parameter_utils.getPublisherInfo(node,"AbsolutePosition")
if pub2 != None:
PUB2_IP = pub2.host.encode('utf-8')
PUB2_PORT = pub2.port
PUB2_TOPIC = pub2.topic.encode('utf-8')
else:
print "Start locally"
if ROBOT_IP == '127.0.0.1':
PORT = 55241
if (len(sys.argv) >= 3):
print sys.argv
parser = argparse.ArgumentParser(description='Nao Robot Behavior')
parser.add_argument('-p','--param', help='Parameter server address', required=True)
parser.add_argument('-n','--name', help='Name of the node', required=True)
args = vars(parser.parse_args())
name = args["name"]
paramServer = args["param"]
# Utils
import parameter_utils
node = parameter_utils.getNodeParameters(name,paramServer,1000)
if node != None:
ROBOTIP = parameter_utils.getParam(node,"ROBOTIP", "127.0.0.1")
PORT = int(parameter_utils.getParam(node,"ROBOTPORT", "9559"))
CTX_IP = parameter_utils.getParam(node,"ContextClientHost", "tcp://localhost")
CTX_PORT = int(parameter_utils.getParam(node,"ContextServerPort", "5800"))
module = NaoBehaviorModule.NaoBehaviorModule(ROBOTIP,PORT)
behaviors = module.getCapabilities()
#parameter_utils.register_behaviors(node,paramServer,["crouch","stand","hand_wave","greet","wish","introduction"])
parameter_utils.register_behaviors(node,paramServer,behaviors)
#thread.start_new_thread(imitate_client,(module,CTX_IP,CTX_PORT))
subscriber = parameter_utils.getSubscriberInfo(node,'ParamList')
thread.start_new_thread(imitate_subscriber,(module,str(subscriber.host),int(subscriber.port),str(subscriber.topic)))
else:
print "Start locally"
time.sleep(1)
PORT = 55241
if (len(sys.argv) >= 3):
print sys.argv
parser = argparse.ArgumentParser(description='Nao Robot Behavior')
parser.add_argument('-p','--param', help='Parameter server address', required=True)
parser.add_argument('-n','--name', help='Name of the node', required=True)
args = vars(parser.parse_args())
name = args["name"]
paramServer = args["param"]
# Utils
import parameter_utils
node = parameter_utils.getNodeParameters(name,paramServer,1000)
if node != None:
ROBOTIP = parameter_utils.getParam(node,"ROBOTIP", "127.0.0.1")
PORT = int(parameter_utils.getParam(node,"ROBOTPORT", "9559"))
BEHAVIOR_PORT = int(parameter_utils.getParam(node,"RequestServerPort", "5590"))
BEHAVIOR_IP = parameter_utils.getParam(node,"RequestServerIP", "*")
ROBOTNAME = parameter_utils.getParam(node,"ROBOTNAME", "ROBOTX")
module = NaoBehaviorModule.NaoBehaviorModule(ROBOTIP,PORT)
behaviors = module.getCapabilities()
#parameter_utils.register_behaviors(node,paramServer,["crouch","stand","hand_wave","greet","wish","introduction"])
parameter_utils.register_behaviors(node,ROBOTNAME,paramServer,behaviors)
thread.start_new_thread(behavior_server2,(module,BEHAVIOR_IP,BEHAVIOR_PORT))
else:
print "Start locally"
time.sleep(1)
# do nothing
try:
if (len(sys.argv) >= 3):
print sys.argv
parser = argparse.ArgumentParser(description='Main program')
parser.add_argument('-p','--param', help='Parameter server address', required=True)
parser.add_argument('-n','--name', help='Name of the node', required=True)
args = vars(parser.parse_args())
name = args["name"]
paramServer = args["param"]
# Utils
import parameter_utils
node = parameter_utils.getNodeParameters(name,paramServer,1000)
if node != None:
context_server = parameter_utils.getParam(node,"ContextClientHost","tcp://localhost")
context_port = parameter_utils.getParam(node,"ContextServerPort","5800")
else:
print "Start locally"
# create a lock object for synchronization
lock = thread.allocate_lock()
# client listener
thread.start_new_thread(context_client,(lock,context_server,context_port));
# starting a test server to test the communication. need to be commented when working with real server
# thread.start_new_thread(localization_server,(ip,port));
except:
# printing on exception
