def hms_topic_print():
topicname = None
if len(sys.argv) > 1:
arg = sys.argv[1]
if arg in ("-a", "--all"):
topicname = None
elif arg in ("-h", "--help"):
hms_topic_usage()
else:
topicname = arg
else:
hms_topic_usage()
s = Client(topicname)
icehms.run_holon(s)
from time import sleep
import sys
from test1 import TestHolon
from icehms import run_holon
if __name__ == "__main__":
holon = TestHolon("Holon2")
holon.other = ("Holon1")
run_holon(holon)
import time
import sys
from struct import pack, unpack
import logging
from icehms import Holon, run_holon, hms, Message
class Server(Holon):
def __init__(self, name, logLevel=logging.INFO):
Holon.__init__(self, name, logLevel=logLevel )
def run(self):
pub = self._get_publisher("MyTopic")
counter = 0
while not self._stopev:
counter +=1
#pub.put_message(Message(header="myHeader", arguments=dict(counter=counter, data=pack("=i", counter) )))
msg = Message(header="myHeader", body="myBody", arguments=dict(counter=counter, myArgVal="Something", myName=self.name ))
pub.put_message(msg)
time.sleep(0.5)
def getState(self, current):
return ["Running and publishing", str(counter)]
if __name__ == "__main__":
s = Server("MyPublisher")
run_holon(s)
from time import sleep
import sys
from icehms import run_holon, Holon, hms, Holon_
class Client(Holon):
def __init__(self, *args, **kwargs):
Holon.__init__(self, *args, **kwargs)
def run(self):
self.logger.info("Starting waiting for messages")
while not self._stopev:
if len(self.mailbox) > 0:
msg = self.mailbox.pop()
self.logger.info( "got message %s:", msg.body)
else:
sleep(0.1)
#def put_message(self, m, c):
#print "PPPP"
if __name__ == "__main__":
import logging
holon = Client("Holon2", logLevel=logging.DEBUG)
run_holon(holon, logLevel=logging.WARNING)
from icehms import Holon, run_holon
class TestHolon(Holon):
def __init__(self, name, logLevel=logging.INFO):
Holon.__init__(self, name, logLevel=logLevel)
def run(self):
self.logger.info("I am "+ self.name)
while not self._stopev:
listprx = self._icemgr.find_holons("::mymodule::KHolon")
tmp = self._icemgr.find_holons("::hms::myproject::CustomHolon")
listprx += tmp
if listprx:
for prx in listprx:
try:
self.logger.info( "Calling %s of type %s custom method which returns: %s", prx.get_name(), prx.ice_id(), prx.customMethod() )
self.logger.info(prx)
except Ice.Exception as why:
self.logger.info("Exception while querying proxy: %s", why)
else:
self.logger.info("No KHolon found")
sleep(1)
if __name__ == "__main__":
holon = TestHolon("MyServerHolon")
run_holon(holon)
conv.put_message(stopmsg)
pose = msg.arguments["WorldPositionMatrix"]
print("We have a part at", pose)
print("We are at: ", ur.getl())
pose = [float(i) for i in pose.split(",")]
pose = pose[:3]
pose[2] += 0.2
print("Moving to: ", pose)
ur.translate(pose, 0.8, 0.8)
ur.grasp()
pose[2] += 0.2
pose[1] -= 1.0
conv.put_message(startmsg)
print("start placing at: ", pose)
ur.translate(pose, 0.8, 0.8)
pose[2] -= 0.2
ur.translate(pose, 0.8, 0.8)
print("release")
ur.release()
print("Moving to init pose")
ur.movej(init, 0.01, 1)
if __name__ == "__main__":
import logging
s = CellCtrl()
run_holon(s, logLevel=logging.DEBUG)
from time import sleep
import sys
import Ice
from icehms import Holon, run_holon
class TestHolon(Holon):
def run(self):
self.logger.info("I am "+ self.name)
sleep(2)
self.logger.info("Life is boring, shutting myself down")
self.shutdown()
if __name__ == "__main__":
import logging
#logging.basicConfig(level=logging.INFO)
holon = TestHolon("HolonAlone", logLevel=logging.INFO)
run_holon(holon, auto_shutdown=True)