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 start_processes() -> Iterator[None]:
my_env = os.environ.copy()
scene_port = find_free_port()
scene_url = f"http://0.0.0.0:{scene_port}"
my_env["ARCOR2_SCENE_SERVICE_URL"] = scene_url
my_env["ARCOR2_SCENE_SERVICE_MOCK_PORT"] = str(scene_port)
scene_service.URL = scene_url
processes = []
for cmd in ("./src.python.arcor2_mocks.scripts/mock_scene.pex",):
processes.append(subprocess.Popen(cmd, env=my_env, stdout=subprocess.PIPE))
scene_service.wait_for(20)
yield None
finish_processes(processes)
def start_processes() -> Iterator[None]:
global _arserver_port
_arserver_port = find_free_port()
with tempfile.TemporaryDirectory() as tmp_dir:
my_env = os.environ.copy()
project_port = find_free_port()
project_url = f"http://0.0.0.0:{project_port}"
my_env["ARCOR2_PROJECT_SERVICE_URL"] = project_url
my_env["ARCOR2_PROJECT_SERVICE_MOCK_PORT"] = str(project_port)
project_service.URL = project_url
scene_port = find_free_port()
scene_url = f"http://0.0.0.0:{scene_port}"
my_env["ARCOR2_SCENE_SERVICE_URL"] = scene_url
my_env["ARCOR2_SCENE_SERVICE_MOCK_PORT"] = str(scene_port)
scene_service.URL = scene_url
my_env["ARCOR2_EXECUTION_URL"] = f"ws://0.0.0.0:{find_free_port()}"
my_env["ARCOR2_PROJECT_PATH"] = os.path.join(tmp_dir, "packages")
my_env["ARCOR2_SERVER_PORT"] = str(_arserver_port)
my_env["ARCOR2_DATA_PATH"] = os.path.join(tmp_dir, "data")
processes = []
for cmd in (
"./src.python.arcor2_mocks.scripts/mock_project.pex",
"./src.python.arcor2_mocks.scripts/mock_scene.pex",
"./src.python.arcor2_execution.scripts/execution.pex",
):
processes.append(
sp.Popen(cmd, env=my_env, stdout=sp.PIPE, stderr=sp.STDOUT))
scene_service.wait_for(60)
# it may take some time for project service to come up so give it some time
for _ in range(3):
upload_proc = sp.Popen(
"./src.python.arcor2_yumi.scripts/upload_objects.pex",
env=my_env,
stdout=sp.PIPE,
stderr=sp.STDOUT)
ret = upload_proc.communicate()
if upload_proc.returncode == 0:
log_proc_output(ret)
break
else:
raise Exception("Failed to upload objects.")
LOGGER.info(f"Starting ARServer listening on port {_arserver_port}.")
arserver_proc = sp.Popen(
"./src.python.arcor2_arserver.scripts/arserver.pex",
env=my_env,
stdout=sp.PIPE,
stderr=sp.STDOUT)
processes.append(arserver_proc)
assert arserver_proc.stdout is not None
while True:
line = arserver_proc.stdout.readline().decode().strip()
if not line or "Server initialized." in line: # TODO this is not ideal
break
if arserver_proc.poll():
finish_processes(processes)
raise Exception("ARServer died.")
yield None
finish_processes(processes)