def setUp(self):
params = configparse.ParameterDict()
params.add_option('speech_controller', 'modules', '')
self.SC = speechcontroller.SpeechController(params)
self.test_socket = util.testsocket.TestSocket()
self.SC.receive_sockets = [self.test_socket]
def parse_args(sysargs):
"""
Parse command line arguments
"""
optlist, args = getopt.getopt(sysargs[1:], 'hb:',
['nao_ip=','no_nao','pioneer_ip=','no_pioneer','nao_port=','pioneer_port=',
'kinect_ip=','communicator_port=','speech_port=','starting_behavior=','brain_speed=',
'log=','log-level=','log-file=','log-format=','help','profile'])
print optlist, args
option_dict = configparse.ParameterDict()
logger = None
logger_format = None
logger_filename = None
logger_level = None
for opt, value in optlist:
if opt in ("-h", "--help"):
print_usage()
sys.exit()
elif opt in ("--nao_ip"):
option_dict.add_option('body', 'number_of_naos', 1)
option_dict.add_option('body', 'nao_ip_0', value)
elif opt in ("--no_nao"):
option_dict.add_option('body', 'number_of_naos', 0)
elif opt in ("--pioneer_ip"):
option_dict.add_option('body', 'number_of_pioneers', 1)
option_dict.add_option('body', 'pioneer_ip_0', value)
elif opt in ("--no_pioneer"):
option_dict.add_option('body', 'number_of_pioneers', 0)
elif opt in ("--nao_port"):
option_dict.add_option('body', 'nao_port_0', value)
elif opt in ("--pioneer_port"):
option_dict.add_option('body', 'pioneer_port_0', value)
elif opt in ("--kinect_ip"):
option_dict.add_option('body', 'kinect_ip', value)
elif opt in ("--communicator_port"):
option_dict.add_option('vision_controller', 'communicator_port', value)
elif opt in ("--speech_port"):
option_dict.add_option('speech_controller', 'speech_port', value)
elif opt in ("-b", "--starting_behavior"):
option_dict.add_option('general', 'starting_behavior', value)
elif opt in ("--brain_speed"):
option_dict.add_option('general', 'brain_speed', value)
elif opt in ("--log"):
logger = logging.getLogger(value)
elif opt in ("--log-level"):
logger_level = value
elif opt in ("--log-file"):
logger_filename = value
elif opt in ("--log-format"):
logger_format = value
elif opt in ("--profile"):
global profile
profile = True
else:
print_usage("unhandled option: " + opt + " " + value)
setup_logging(logger, logger_format, logger_filename, logger_level)
return option_dict, args
def testSingleton(self):
param_dict = configparse.ParameterDict()
param_dict.add_option('body','number_of_naos', '1')
param_dict.add_option('body','number_of_pioneers', '1')
param_dict.add_option('body','nao_ip_0', '000.000.000')
param_dict.add_option('body','nao_port_0', '0')
param_dict.add_option('body','pioneer_ip_0', '000.000.000')
param_dict.add_option('body','pioneer_port_0', '0')
def setUp(self):
params = configparse.ParameterDict()
params.add_option('general', 'robot_ip', '129.125.178.227')
params.add_option('general', 'starting_behavior', 'followMe')
params.add_option('vision_controller', 'video_source_name', 'test')
params.add_option('body', 'number_of_naos', '0')
params.add_option('body', 'number_of_pioneers', '0')
self.brain = brain.Brain(params)
def setUp(self):
if not hasattr(self, "random_seed"):
random.seed()
self.random_seed = True
self.testport = random.randint(49152, 65535)
self.communicator = communicator.Communicator(port=self.testport)
self.params = configparse.ParameterDict()
self.params.add_option('vision_controller', 'video_source_name',
'webcam')
self.TestCommand = 'this is a command to start xterm'
def test_speech_recog_update(self):
params = configparse.ParameterDict()
self.test_socket = util.testsocket.TestSocket()
self.si.speechcontroller.receive_sockets = [self.test_socket]
message = 'I want a tequila from the kitchen'
self.test_socket.set_data(message)
self.si.add_to_memory(self.si.speechcontroller.update())
obs = self.mem.get_last_observation('voice_command')
self.assertEqual(obs[1]['message'], message)
def setUp(self):
if not hasattr(self, "random_seed"):
random.seed()
self.random_seed = True
self.communicatorPort = random.randint(49152, 65535)
config_dict = configparse.ParameterDict()
config_dict.add_option("vision_controller", "start_port", "50000")
config_dict.add_option("vision_controller", "end_port", "52000")
config_dict.add_option("vision_controller", "communicator_port",
self.communicatorPort)
self.config = config_dict
self.controller = visioncontroller.VisionController()
self.controller.set_config(self.config)
def setUp(self):
params = configparse.ParameterDict()
self.IP = '192.168.0.1'
params.add_option('general', 'robot_ip', self.IP )
params.add_option('vision_controller', 'video_source_name', 'test')
params.add_option('general', 'starting_behavior', 'test1')
params.add_option('speech_controller', 'modules', '') #no speech modules, we'll add a test socket later on
params.add_option('speech_controller', 'start_speech', 'true') #no speech modules, we'll add a test socket later on
params.add_option('body','number_of_naos','0')
params.add_option('body','number_of_pioneers','0')
self.mem = memory.Memory()
self.mem.clear()
self.si = sensorintegrator.SensorIntegrator(params)
def parse_args(sysargs):
"""
Parse command line arguments
"""
optlist, args = getopt.getopt(sysargs[1:], 'hb:', [
'nao_ip=', 'no_nao', 'pioneer_ip=', 'no_pioneer', 'nao_port=',
'pioneer_port=', 'kinect_ip=', 'communicator_port=', 'speech_port=',
'starting_behavior=', 'brain_speed=', 'log=', 'log-level=',
'log-file=', 'log-format=', 'help', 'profile'
])
print optlist, args
option_dict = configparse.ParameterDict()
for opt, value in optlist:
if opt in ("-h", "--help"):
sys.exit()
elif opt in ("--feature"):
option_dict.add_option('feature', 'features', value)
elif opt in ("--communicator_port"):
option_dict.add_option('vision_controller', 'communicator_port',
value)
return option_dict, args
files = os.listdir(beh_path)
for filename in files:
if (behaviorname == filename[0:len(behaviorname)]):
if (filename[len(behaviorname)] == '_'):
if (filename[len(behaviorname) + 1] != 'x' and filename[-3:] == '.py'):
imports.append("import " + filename[:-3])
return imports
#start generating:
print "generating behavior classes..."
#read all information about the behaviors:
option_dict = configparse.ParameterDict()
names = []
postconditions = []
exceptions = []
descriptions = []
conf_location = os.path.abspath(os.environ['BORG'] + '/brain/src/config/behaviors_config')
configparse.parse_config(conf_location, option_dict)
for section in option_dict.option_dict.keys():
names.append(section)
exception_read = False
postcondition_read = False
description_read = False
for variable in option_dict.option_dict[section]:
if (variable == "postcondition"):
postconditions.append(option_dict.option_dict[section][variable])
print "Configuration file is a mandatory arguments, and should contain"
print "the right options:"
print ""
print "Usage: ", sys.argv[0], " config file"
print ""
print "Config file should contain: controller_ip, surfdetect (port nr), "
print "update_frequency, and video_source_name"
print "Where videosource = [nao] (other sources to be implemented...)"
if __name__ == "__main__":
print os.path.abspath(os.path.dirname(__file__)+'/../../data/training_img')
if len(sys.argv) < 2:
usage()
exit()
config_dict = configparse.ParameterDict()
configparse.parse_config(sys.argv[1], config_dict)
vsec = "vision_controller" #section in config_dict
gsec = "general"
module_name = "surfdetect"
modules = config_dict.get_option(vsec, "modules")
if module_name not in modules.split():
print "not using", module_name
exit()
update_frequency_s = config_dict.get_option(vsec, "update_frequency")
robot_ip = config_dict.get_option(gsec, "robot_ip")
controller_ip = config_dict.get_option(vsec, "controller_ip")
controller_port_s = config_dict.get_option(vsec, module_name)
video_source_name = config_dict.get_option(vsec, "video_source_name")
training_dir = os.path.join( os.path.abspath(os.environ['BORG']) , config_dict.get_option(vsec, "training_dir"))