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