def main():
class FrameCollector(object):
def __init__(self):
self.frame = None
def __call__(self, x):
self.frame = x
collector = FrameCollector()
loop = echolib.IOLoop()
client = echolib.Client()
loop.add_handler(client)
sub = FrameSubscriber(client, "camera", collector)
try:
while loop.wait(10):
if collector.frame is not None:
display(collector.frame)
collector.frame = None
except KeyboardInterrupt:
pass
sys.exit(1)
def __init__(self, bounds=None):
self.loop = echolib.IOLoop()
self.client = echolib.Client(
name=os.environ.get("APPLICATION_NAME", ""))
self.loop.add_handler(self.client)
self.bounds = bounds
self.camera = Camera(self, "camera0")
self.manipulator = Manipulator(self, "manipulator0")
self.markers_pub = MarkersPublisher(self.client, "markers")
while not (self.camera.is_ready() and self.manipulator.is_ready()):
self.wait(100)
def start_app(app):
from manus.apps import AppCommandType, AppCommandPublisher, AppCommand
loop = echolib.IOLoop()
client = echolib.Client(name="appstart")
loop.add_handler(client)
control = AppCommandPublisher(client, "apps.control")
loop.wait(100)
message = AppCommand()
message.type = AppCommandType.EXECUTE
message.arguments.append(app)
control.send(message)
loop.wait(100)
def __init__(self, stdscreen):
self.screen = stdscreen
curses.curs_set(0)
self.screen.clear()
loop = echolib.IOLoop()
client = echolib.Client(loop, "/tmp/echo.sock")
state = ManipulatorStateSubscriber(client, "manipulator0.state",
self.on_state)
commands = TrajectorySubscriber(client, "manipulator0.trajectory",
self.on_trajectory)
while loop.wait(30):
pass
def __init__(self):
self.active_application = None
self.applications = {}
self.loop = echolib.IOLoop()
self.client = echolib.Client(name="apps")
self.loop.add_handler(self.client)
self.control = AppCommandSubscriber(self.client, "apps.control",
lambda x: self.control_callback(x))
self.announce = AppEventPublisher(self.client, "apps.announce")
self.listing = AppListingPublisher(self.client, "apps.list")
self.output = AppStreamDataPublisher(self.client, "apps.output")
self.input = AppStreamDataSubscriber(self.client, "apps.input",
lambda x: self.input_callback(x))
def main():
def message(message):
reader = echolib.MessageReader(message)
name = reader.readString()
message = reader.readString()
print(name + ": " + message)
def write(client, pub, name):
while client.isConnected():
try:
message = input()
writer = echolib.MessageWriter()
writer.writeString(name)
writer.writeString(message)
pub.send(writer)
except EOFError:
break
loop = echolib.IOLoop()
client = echolib.Client()
loop.add_handler(client)
name = input("Please enter your name:")
sub = echolib.Subscriber(client, "chat", "string pair", message)
pub = echolib.Publisher(client, "chat", "string pair")
thread = threading.Thread(target=write, args=(
client,
pub,
name,
))
thread.start()
try:
while loop.wait(10) and thread.is_alive():
# We have to give the write thread some space
time.sleep(0.001)
except KeyboardInterrupt:
pass
sys.exit(1)
def main():
loop = echolib.IOLoop()
client = echolib.Client()
loop.add_handler(client)
output = FramePublisher(client, "camera")
#count = echolib.SubscriptionWatcher(client, "camera")
camera = cv2.VideoCapture(0)
if not camera.isOpened():
print("Camera not available")
camera = DummyCamera()
try:
while loop.wait(100):
_, image = camera.read()
output.send(Frame(image=image))
except Exception as e:
traceback.print_exception(e)
return
batch = ConfigBatch()
for key, value in self.store.items():
batch.entries.append(ConfigEntry(key, value))
self._notify.send(batch)
if __name__ == '__main__':
if len(sys.argv) > 1:
storefile = sys.argv[1]
else:
storefile = None
loop = echolib.IOLoop()
client = echolib.Client(name="config")
loop.add_handler(client)
manager = ConfigManager(client)
if storefile is not None and os.path.isfile(storefile):
manager.read_config(storefile)
def shutdown_handler(signum, frame):
if storefile is not None:
manager.write_config(storefile)
sys.exit(0)
signal.signal(signal.SIGTERM, shutdown_handler)
