if (len(sys.argv) >= 3):
print sys.argv
parser = argparse.ArgumentParser(description='Kinect state listener')
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:
print node
sub = parameter_utils.getSubscriberInfo(node,"KinectBodies")
if sub != None:
SUB_IP = sub.host.encode('utf-8')
SUB_PORT = sub.port
SUB_TOPIC = sub.topic.encode('utf-8')
print "Subscriber info retrieved"
else:
print "Start locally"
context = zmq.Context()
sock = context.socket(zmq.SUB)
sock.connect("%s:%s" % (SUB_IP,SUB_PORT))
sock.setsockopt(zmq.SUBSCRIBE, SUB_TOPIC)
while True:
topic = sock.recv()
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)
# do nothing
while 1:
pass
except:
print "Exception occurred : ", sys.exc_info()
raw_input("Press enter to continue ... ")
