def test_PingAndLogin(url, username, password):
with requests_mock.Mocker() as mock:
mock.head('%s/u/%s' % (url, username))
controllerclient = ControllerClient(url, username, password)
controllerclient.Ping()
controllerclient.Login()
assert controllerclient.IsLoggedIn()
def _Main():
options = _ParseArguments()
_ConfigureLogging(options.loglevel)
self = ControllerClient(options.url, options.username, options.password)
from IPython.terminal import embed
ipshell = embed.InteractiveShellEmbed(config=embed.load_default_config())(local_ns=locals())
def test_GetScenes():
with requests_mock.Mocker() as mock:
mock.get(
'http://controller/api/v1/scene/?format=json&limit=0&offset=0',
json={
'objects': [],
'meta': {
'total_count': 101,
'limit': 20,
'offset': 0,
},
})
scenes = ControllerClient('http://controller', 'mujin',
'mujin').GetScenes()
assert len(scenes) == 0
assert scenes.offset == 0
assert scenes.limit == 20
assert scenes.totalCount == 101
def test_GetScenes():
with requests_mock.Mocker() as mock:
mock.get('http://controller/api/v1/scene/?format=json&limit=0&offset=0', json={'objects': []})
ControllerClient('http://controller', 'mujin', 'mujin').GetScenes() == []
def test_RestartController():
with requests_mock.Mocker() as mock:
mock.post('http://controller/restartserver/')
ControllerClient('http://controller', 'mujin', 'mujin').RestartController()
def _RunMain():
parser = argparse.ArgumentParser(description='Apply configuration on controller from template')
parser.add_argument('--loglevel', action='store', type=str, dest='loglevel', default=None, help='the python log level, e.g. DEBUG, VERBOSE, ERROR, INFO, WARNING, CRITICAL [default=%(default)s]')
parser.add_argument('--template', action='store', type=str, dest='template', required=True, help='path to template config file [default=%(default)s]')
parser.add_argument('--preserve', action='store', type=str, dest='preserve', default=None, help='path to a file containing the list of additional keys to preserve while merging template [default=%(default)s]')
parser.add_argument('--controller', action='store', type=str, dest='controller', default=None, help='controller ip or hostname, e.g controller123 [default=%(default)s]')
parser.add_argument('--username', action='store', type=str, dest='username', default='mujin', help='controller username [default=%(default)s]')
parser.add_argument('--password', action='store', type=str, dest='password', default='mujin', help='controller password [default=%(default)s]')
parser.add_argument('--config', action='store', type=str, dest='config', default=None, help='path to input config file. If specified, the config file is loaded as input instead of obtaining from controller [default=%(default)s]')
parser.add_argument('--force', action='store_true', dest='force', default=False, help='apply without confirmation [default=%(default)s]')
parser.add_argument('--dryrun', action='store_true', dest='dryrun', default=False, help='shows differences and quit [default=%(default)s]')
parser.add_argument('--oneline', action='store_true', dest='oneline', default=False, help='shows each difference in one line [default=%(default)s]')
options = parser.parse_args()
# configure logging
try:
from mujincommon import ConfigureRootLogger
ConfigureRootLogger(level=options.loglevel)
except ImportError:
logging.basicConfig(format='%(asctime)s %(name)s [%(levelname)s] [%(filename)s:%(lineno)s %(funcName)s] %(message)s', level=options.loglevel)
# load template
with open(options.template, 'r') as f:
template = json.load(f)
# load preservelist
preservedpaths = None
if options.preserve:
preservedpaths = []
with open(options.preserve, 'r') as f:
for line in f.read().strip().split('\n'):
line = line.split('#')[0].strip()
if line:
preservedpaths.append(line)
# construct client
if options.controller:
client = ControllerClient('http://%s' % options.controller, options.username, options.password)
client.Ping()
config = client.GetConfig()
target = client.controllerIp
elif options.config:
with open(options.config, 'r') as f:
config = json.load(f)
target = options.config
else:
log.error('need to supply either --controller or --config to continue')
return
# apply template
newconfig = _ApplyTemplate(config, template, preservedpaths=preservedpaths)
# if the config is different, prompt the user
if not _DiffConfig(config, newconfig, showInOneLine=options.oneline):
log.debug('configuration already up-to-date on %s', target)
return
try:
if options.dryrun:
return
log.warn('configuration will be changed on %s', target)
if not options.force:
six.moves.input('Are you sure about applying the above changes to %s? Press ENTER to continue ...' % target)
except KeyboardInterrupt:
print('')
log.warn('canceled by user')
return
# apply the configuration changes
log.debug('applying configuration on %s', target)
if options.controller:
client.SetConfig(newconfig)
elif options.config:
with open(options.config, 'w') as f:
f.write(_PrettifyConfig(newconfig))
log.debug('done')
def _RunMain():
parser = argparse.ArgumentParser(
description='Run registration task on remote controller')
parser.add_argument(
'--logLevel',
action='store',
type=str,
dest='logLevel',
default='INFO',
help=
'the python log level, e.g. DEBUG, VERBOSE, ERROR, INFO, WARNING, CRITICAL [default=%(default)s]'
)
parser.add_argument(
'--controllerUrl',
action='store',
type=str,
dest='controllerUrl',
required=True,
help='controller url e.g http://controller123 [default=%(default)s]')
parser.add_argument('--controllerUsername',
action='store',
type=str,
dest='controllerUsername',
default='mujin',
help='controller username [default=%(default)s]')
parser.add_argument('--controllerPassword',
action='store',
type=str,
dest='controllerPassword',
default='mujin',
help='controller password [default=%(default)s]')
parser.add_argument(
'--scenepk',
action='store',
type=str,
dest='scenepk',
default=None,
help=
'scene primary key, if not specified, will determine from remote system [default=%(default)s]'
)
parser.add_argument(
'--ftpHost',
action='store',
type=str,
dest='ftpHost',
required=True,
help='ftp server hostname or ip address [default=%(default)s]')
parser.add_argument('--ftpPort',
action='store',
type=int,
dest='ftpPort',
default=21,
help='ftp server port [default=%(default)r]')
parser.add_argument('--ftpUsername',
action='store',
type=str,
dest='ftpUsername',
default='anonymous',
help='ftp username [default=%(default)s]')
parser.add_argument('--ftpPassword',
action='store',
type=str,
dest='ftpPassword',
default='',
help='ftp password [default=%(default)s]')
parser.add_argument(
'--ftpPath',
action='store',
type=str,
dest='ftpPath',
default='',
help=
'path on ftp server, if not supplied, will use home directory of the user [default=%(default)s]'
)
parser.add_argument(
'--syncMasterFile',
action='store',
type=str,
dest='syncMasterFile',
default=None,
help=
'if supplied, will sync this master file on FTP, e.g. /somewhere/masterfile.txt [default=%(default)s]'
)
parser.add_argument(
'--backup',
action='store_true',
dest='backup',
default=False,
help='backup registration objects to ftp [default=%(default)s]')
parser.add_argument(
'--outputFilename',
action='store',
type=str,
dest='outputFilename',
default=None,
help=
'If supplied, will output to file specified, otherwise file will be named after task name [default=%(default)s]'
)
options = parser.parse_args()
# configure logging
try:
from mujincommon import ConfigureRootLogger
ConfigureRootLogger(level=options.logLevel)
except ImportError:
logging.basicConfig(
format=
'%(asctime)s %(name)s [%(levelname)s] [%(filename)s:%(lineno)s %(funcName)s] %(message)s',
level=options.logLevel)
taskType = 'registration'
command = None
if options.syncMasterFile:
command = 'SyncMasterFile'
elif options.backup:
command = 'Backup'
else:
raise Exception('Have to sepecify either --syncMasterFile or --backup')
taskName = 'registration-%s-%s' % (
command.lower(), datetime.datetime.now().strftime('%Y%m%d-%H%M%S'))
controllerclient = ControllerClient(options.controllerUrl,
options.controllerUsername,
options.controllerPassword)
controllerclient.Ping()
# cancel previous jobs
for job in controllerclient.GetJobs():
if '/registration-' in job['description']:
controllerclient.DeleteJob(job['pk'])
# determine scenepk
if options.scenepk is None:
options.scenepk = uriutils.GetPrimaryKeyFromURI(
controllerclient.GetConfig()['sceneuri'])
# delete previous task
for task in controllerclient.GetSceneTasks(options.scenepk):
if task['tasktype'] == taskType:
controllerclient.DeleteSceneTask(options.scenepk, task['pk'])
# create task
task = controllerclient.CreateSceneTask(
options.scenepk, {
'tasktype': taskType,
'name': taskName,
'taskparameters': {
'command': command,
'fileStorageInfo': {
'type': 'ftp',
'username': options.ftpUsername,
'password': options.ftpPassword,
'host': options.ftpHost,
'port': options.ftpPort,
'remotePath': options.ftpPath,
},
'remoteMasterFilePath': options.syncMasterFile,
}
})
taskpk = task['pk']
log.info('task created: %s: %s', taskpk, task['name'])
# run task async
jobpk = controllerclient._webclient.APICall(
'POST',
'job/',
data={
'scenepk': options.scenepk,
'target_pk': taskpk,
'resource_type': 'task',
},
expectedStatusCode=200)['jobpk']
log.info('job started: %s', jobpk)
# wait for job
startTime = time.time()
jobProgress = None
while True:
job = ([j for j in controllerclient.GetJobs() if j['pk'] == jobpk]
or [None])[0]
if job is None:
if jobProgress is not None:
# job has been seen before, so must be done now
break
if time.time() - startTime > 2.0:
# perhaps job finished too quickly
break
# wait a little bit and check for job again
time.sleep(0.05)
continue
newProgress = (min(
1.0,
max(jobProgress[0] if jobProgress else 0.0,
float(job['progress']))), job['status'], job['status_text'])
if newProgress != jobProgress:
jobProgress = newProgress
log.info('progress %.02f%%: %s: %s', jobProgress[0] * 100.0,
jobProgress[1], jobProgress[2])
if job['status'] in ('succeeded', 'aborted'):
break
if job['status'] in ('lost', 'preempted'):
raise Exception('Job has stopped unexpectedly: %s' % job['status'])
time.sleep(0.5)
# wait for result
result = None
startTime = time.time()
while True:
task = controllerclient.GetSceneTask(options.scenepk, taskpk)
if len(task['binpickingresults']) > 0:
result = controllerclient.GetBinpickingResult(
task['binpickingresults'][0]['pk'])
break
if time.time() - startTime > 5.0:
raise Exception('Timed out waiting for task result')
# write result
if not options.outputFilename:
options.outputFilename = '%s.json' % taskName
with open(options.outputFilename, 'w') as f:
json.dump(result,
f,
ensure_ascii=False,
indent=2,
separators=(',', ': '),
sort_keys=True)
f.write('\n')
log.info('result written to: %s', options.outputFilename)