def main():
parser = ArgumentParser(description='Configuration tool for Poppy robots ',
formatter_class=ArgumentDefaultsHelpFormatter)
parser.add_argument('robot',
type=str,
choices=installed_poppy_creatures,
help='Robot used.')
parser.add_argument('motor',
type=str,
help='Name of the motor to configure.')
args = parser.parse_args()
RobotCls = installed_poppy_creatures[args.robot]
c = RobotCls.default_config
if args.motor not in c['motors']:
print('"{}" is not a motor of "{}"! '
'possibilities={}'.format(args.motor, args.robot,
sorted(c['motors'].keys())))
print('Exiting now...')
sys.exit(1)
motor_config = c['motors'][args.motor]
args = [
'--id', motor_config['id'], '--type', motor_config['type'], '--port',
find_port_for_motor(c, args.motor), '--return-delay-time', 0,
'--angle-limit', motor_config['angle_limit'][0],
motor_config['angle_limit'][1], '--goto-zero'
]
call(['dxl-config'] + map(str, args))
def main():
robots = [c.replace('poppy-', '') for c in installed_poppy_creatures]
parser = ArgumentParser(description='Configuration tool for Poppy robots ',
formatter_class=ArgumentDefaultsHelpFormatter)
parser.add_argument('robot', type=str, choices=robots,
help='Robot used.')
parser.add_argument('motor', type=str,
help='Name of the motor to configure.')
args = parser.parse_args()
RobotCls = installed_poppy_creatures['poppy-{}'.format(args.robot)]
c = RobotCls.default_config
if args.motor not in c['motors']:
print('"{}" is not a motor of "{}"! '
'possibilities={}'.format(args.motor, args.robot,
sorted(c['motors'].keys())))
print('Exiting now...')
sys.exit(1)
motor_config = c['motors'][args.motor]
args = [
'--id', motor_config['id'],
'--type', motor_config['type'],
'--port', find_port_for_motor(c, args.motor),
'--return-delay-time', 0
]
if 'wheel_mode' in motor_config.keys():
args.extend(('--wheel-mode', motor_config['wheel_mode']))
else:
args.extend(('--angle-limit',motor_config['angle_limit'][0],motor_config['angle_limit'][1],
'--goto-zero'))
call(['dxl-config'] + map(str, args))
def start_poppy_with_services(args):
params = poppy_params_from_args(args)
for i in range(5):
try:
print('Attempt {} to start the robot...'.format(i + 1))
return installed_poppy_creatures[args.creature](**params)
except Exception as e:
# In case of failure,
# Give the robot some time to statup, reboot...
time.sleep(random.random())
print(e)
else:
print('Could not start up the robot...')
sys.exit(1)
def start_poppy_with_services(args):
params = poppy_params_from_args(args)
for i in range(5):
try:
print('Attempt {} to start the robot...'.format(i + 1))
return installed_poppy_creatures[args.creature](**params)
except Exception as e:
# In case of failure,
# Give the robot some time to statup, reboot...
time.sleep(random.random())
print(e)
else:
print('Could not start up the robot...')
sys.exit(1)
def main():
parser = argparse.ArgumentParser(description=(
'Poppy services launcher. Use it to quickly instantiate a ' +
'poppy creature with Snap!, an http server, or a remote robot.'),
epilog="""
Examples:
* poppy-services --snap poppy-torso
* poppy-services --snap --vrep poppy-humanoid""",
formatter_class=RawTextHelpFormatter)
parser.add_argument('creature',
type=str,
help='poppy creature name',
action='store',
nargs='?',
choices=installed_poppy_creatures.keys())
parser.add_argument('--dummy',
help='use a simulated dummy robot',
action='store_true')
parser.add_argument('--vrep',
help='use a V-REP simulated Poppy Creature',
action='store_true')
parser.add_argument(
'--poppy-simu',
help=
'start a simulated dummy robot and the HTTP API to connect to the viewer on simu.poppy-project.org',
action='store_true')
parser.add_argument('--snap',
help='start a Snap! robot server',
action='store_true')
parser.add_argument('--snap-port',
help='port used by the Snap! server',
default=6969,
type=int)
parser.add_argument('-nb',
'--no-browser',
help='avoid automatic start of Snap! in web browser',
action='store_true')
parser.add_argument('--http',
help='start a http robot server',
action='store_true')
parser.add_argument('--http-port',
help='port of HttpRobotServer, used for poppy-simu',
default=8080,
type=int)
parser.add_argument('--remote',
help='start a remote robot server',
action='store_true')
parser.add_argument(
'--zmq',
help='start a remote robot server (but with faster ZMQ)',
action='store_true')
parser.add_argument('--ws',
help='start the websocket server',
action='store_true')
parser.add_argument('--ws-port',
help='port of Websocket Server',
default=9009,
type=int)
parser.add_argument('--disable-camera',
help='Start the robot without the camera.',
action='store_true')
parser.add_argument(
'-v',
'--verbose',
help=
'start services with verbose mode. There is 3 debug levels, add as "v" as debug level you want',
action='count')
parser.add_argument('-kl',
'--with-keylogger',
help='start a background key logger for hit detection',
action='store_true')
parser.add_argument('-f',
'--log-file',
help='Log filename',
action='store')
nb_creatures = len(installed_poppy_creatures.keys())
if nb_creatures == 0:
print('No installed poppy creature were found!')
print('You should first install the python package '
'corresponding to your robot or check your python environment.')
sys.exit(1)
args = parser.parse_args()
# If no creature are specified and only one is installed
# We use it as default.
if args.creature is None:
if nb_creatures > 1:
parser.print_help()
sys.exit(1)
args.creature = installed_poppy_creatures.keys()[0]
print('No creature specified, use {}'.format(args.creature))
if args.log_file:
fh = logging.FileHandler(args.log_file)
fh.setLevel(logging.DEBUG)
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s')
fh.setFormatter(formatter)
logging.getLogger('').addHandler(fh)
if args.verbose:
args.snap_quiet = False
args.http_quiet = False
args.ws_quiet = False
if args.verbose == 1:
lvl = logging.WARNING
elif args.verbose == 2:
lvl = logging.INFO
elif args.verbose > 2:
lvl = logging.DEBUG
if args.log_file is not None:
ch = logging.FileHandler(args.log_file)
else:
ch = logging.StreamHandler()
logging.basicConfig(
level=lvl) #FIXME: this is still not working properly.
# I.e. logging level isn't set properly across all files, because they are all initiated with
# the wrong logger name (non-dependent, just filename).
formatter = logging.Formatter(
'%(name)-12s: %(levelname)-8s %(message)s')
ch.setFormatter(formatter)
logging.getLogger('').addHandler(ch)
if not any([
args.snap, args.http, args.remote, args.zmq, args.poppy_simu,
args.ws, args.dummy
]):
print('No service specified! See --help for details.')
sys.exit(1)
if args.snap and not args.no_browser:
snap_url = 'http://snap.berkeley.edu/snapsource/snap.html'
block_url = 'http://{}:{}/snap-blocks.xml'.format(
find_local_ip(), args.snap_port)
url = '{}#open:{}'.format(snap_url, block_url)
# Wait for the Snap server to be started before openning the Snap URL
time.sleep(3)
for browser_name in [
'chromium-browser', 'chromium', 'google-chrome', 'chrome',
'safari', 'midori', None
]:
try:
browser = webbrowser.get(browser_name)
browser.open(url, new=0, autoraise=True)
break
except Exception:
pass
with closing(start_poppy_with_services(args)):
print('Robot created and running!')
sys.stdout.flush()
# Just run4ever (until Ctrl-c...)
try:
while (True):
time.sleep(1000)
except KeyboardInterrupt:
print("Bye bye!")
raise SystemExit
def main():
parser = argparse.ArgumentParser(description=(
'Poppy services launcher. Use it to quickly instantiate a ' +
'poppy creature with Snap!, an http server, or a remote robot.'),
epilog="""
Examples:
* poppy-services --snap poppy-torso
* poppy-services --snap --vrep poppy-humanoid""",
formatter_class=RawTextHelpFormatter)
parser.add_argument('creature',
type=str,
help='poppy creature name',
action='store',
nargs='?',
choices=list(installed_poppy_creatures.keys()))
parser.add_argument('--dummy',
help='use a simulated dummy robot',
action='store_true')
parser.add_argument('--vrep',
help='use a V-REP simulated Poppy Creature',
action='store_true')
parser.add_argument(
'--poppy-simu',
help=
'start a simulated dummy robot and the HTTP API to connect to the viewer on simu.poppy-project.org',
action='store_true')
parser.add_argument('--snap',
help='start a Snap! robot server',
action='store_true')
parser.add_argument('--snap-port',
help='port used by the Snap! server',
default=6969,
type=int)
parser.add_argument('-nb',
'--no-browser',
help='avoid automatic start of Snap! in web browser',
action='store_true')
parser.add_argument('--http',
help='start a http robot server',
action='store_true')
parser.add_argument('--http-port',
help='port of HttpRobotServer, used for poppy-simu',
default=8080,
type=int)
parser.add_argument('--remote',
help='start a remote robot server',
action='store_true')
parser.add_argument('--ws',
help='start the websocket server',
action='store_true')
parser.add_argument('--ws-port',
help='port of Websocket Server',
default=9009,
type=int)
parser.add_argument('--disable-camera',
help='Start the robot without the camera.',
action='store_true')
parser.add_argument(
'-v',
'--verbose',
help=
'start services with verbose mode. There is 3 debug levels, add as "v" as debug level you want',
action='count')
parser.add_argument('-f',
'--log-file',
help='Log filename',
action='store')
nb_creatures = len(installed_poppy_creatures.keys())
if nb_creatures == 0:
print('No installed poppy creature were found!')
print('You should first install the python package '
'corresponding to your robot or check your python environment.')
sys.exit(1)
args = parser.parse_args()
# If no creature are specified and only one is installed
# We use it as default.
if args.creature is None:
if nb_creatures > 1:
parser.print_help()
sys.exit(1)
args.creature = list(installed_poppy_creatures.keys())[0]
print('No creature specified, use {}'.format(args.creature))
if args.log_file:
fh = logging.FileHandler(args.log_file)
fh.setLevel(logging.DEBUG)
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s')
fh.setFormatter(formatter)
logging.getLogger('').addHandler(fh)
if args.verbose:
args.snap_quiet = False
args.http_quiet = False
args.ws_quiet = False
if args.verbose == 1:
lvl = logging.WARNING
elif args.verbose == 2:
lvl = logging.INFO
elif args.verbose > 2:
lvl = logging.DEBUG
if args.log_file is not None:
ch = logging.FileHandler(args.log_file)
else:
ch = logging.StreamHandler()
ch.setLevel(lvl)
formatter = logging.Formatter(
'%(name)-12s: %(levelname)-8s %(message)s')
ch.setFormatter(formatter)
logging.getLogger('').addHandler(ch)
if not any([
args.snap, args.http, args.remote, args.poppy_simu, args.ws,
args.dummy
]):
print('No service specified! See --help for details.')
sys.exit(1)
static_server_started = False
if args.snap and not args.no_browser:
snap_static_port = 8888
snap_static_server = HTTPServer(("0.0.0.0", snap_static_port),
SimpleHTTPRequestHandler)
from pypot.vpl.snap import download_snap_interactively
static_app = download_snap_interactively()
if static_app is None:
print(
"The static server was not started because the VPL app has not been downloaded"
)
else:
os.chdir(static_app)
snap_static_server_process = Process(
target=snap_static_server.serve_forever, args=())
static_server_started = True
snap_static_server_process.start()
snap_url = 'http://127.0.0.1:{}/snap.html'.format(snap_static_port)
block_url = 'http://{}:{}/snap-blocks.xml'.format(
find_local_ip(), args.snap_port)
url = '{}#open:{}'.format(snap_url, block_url)
with closing(start_poppy_with_services(args)):
msg = ''
if args.dummy or args.poppy_simu:
msg += 'Simulated robot created! He is running on: ip={}'.format(
find_local_ip())
else:
msg += 'Robot instantiated! He is running on: ip={},'.format(
find_local_ip())
if args.disable_camera: msg += ' without camera access.'
else: msg += ' with camera access.'
if args.vrep: msg += ' With V-REP link.'
if args.snap or args.ws or args.http or args.poppy_simu:
msg += '\nServer started on:'
if args.http or args.poppy_simu:
msg += ' http_port={},'.format(args.http_port)
if args.snap: msg += ' Snap_port={},'.format(args.snap_port)
if args.ws: msg += ' ws_port={},'.format(args.ws_port)
msg = msg[0:-1] + '.'
print(msg)
sys.stdout.flush()
if static_server_started:
for browser_name in [
'chromium-browser', 'chromium', 'google-chrome', 'chrome',
'safari', 'midori', None
]:
try:
browser = webbrowser.get(browser_name)
browser.open(url, new=0, autoraise=True)
break
except Exception:
pass
# Just run4ever (until Ctrl-c...)
try:
while (True):
time.sleep(1000)
except KeyboardInterrupt:
print("Bye bye!")
if static_server_started:
snap_static_server_process.terminate()
snap_static_server_process.join()
def main():
available_ports = get_available_ports()
default_port = available_ports[0] if available_ports else None
parser = ArgumentParser(description='Configuration tool for dynamixel motors '
'WARNING: ONLY ONE MOTOR SHOULD BE '
'CONNECTED TO THE BUS WHEN CONFIGURING!',
formatter_class=ArgumentDefaultsHelpFormatter)
parser.add_argument('--id', type=int, required=True,
help='Chosen motor id.')
parser.add_argument('--type', type=str, required=True,
choices=dynamixelModels.values(),
help='Type of the motor to configure.')
parser.add_argument('--port', type=str,
choices=available_ports, default=default_port,
help='Serial port connected to the motor.')
parser.add_argument('--return-delay-time', type=int,
help='Set new return delay time.')
parser.add_argument('--wheel-mode', type=bool, default=False,
help='Set wheel mode.')
parser.add_argument('--angle-limit', type=float, nargs=2,
help='Set new angle limit.')
parser.add_argument('--goto-zero', action='store_true',
help='Go to zero position after configuring the motor')
args = parser.parse_args()
check(1 <= args.id <= 253,
'Motor id must be in range [1:253]')
check(available_ports,
'Could not find an available serial port!')
protocol = 2 if args.type in 'XL-320' else 1
DxlIOPort = DxlIO if protocol == 1 else Dxl320IO
# Factory Reset
print('Factory reset...')
if protocol == 1:
for br in [57600, 1000000]:
with DxlIO(args.port, baudrate=br) as io:
io.factory_reset()
else:
with Dxl320IO(args.port, baudrate=1000000, timeout=0.01) as io:
io.factory_reset(ids=range(253))
print('Done!')
factory_baudrate = 57600 if args.type.startswith('MX') else 1000000
# Wait for the motor to "reboot..."
for _ in range(10):
with DxlIOPort(args.port, baudrate=factory_baudrate) as io:
if io.ping(1):
break
time.sleep(.5)
else:
print('Could not communicate with the motor...')
print('Make sure one (and only one) is connected and try again')
sys.exit(1)
# Switch to 1M bauds
if args.type.startswith('MX') or args.type.startswith('SR'):
print('Changing to 1M bauds...')
with DxlIO(args.port, baudrate=factory_baudrate) as io:
io.change_baudrate({1: 1000000})
time.sleep(.5)
print('Done!')
# Change id
print('Changing id to {}...'.format(args.id))
if args.id != 1:
with DxlIOPort(args.port) as io:
io.change_id({1: args.id})
time.sleep(.5)
check(io.ping(args.id),
'Could not change id to {}'.format(args.id))
print('Done!')
# Set return delay time
if args.return_delay_time is not None:
print('Changing return delay time to {}...'.format(args.return_delay_time))
with DxlIOPort(args.port) as io:
io.set_return_delay_time({args.id: args.return_delay_time})
time.sleep(.5)
check(io.get_return_delay_time([args.id])[0] == args.return_delay_time,
'Could not set return delay time to {}'.format(args.return_delay_time))
print('Done!')
# Set wheel Mode
if args.wheel_mode == True:
print('Set wheel mode')
with DxlIOPort(args.port) as io:
io.set_control_mode({args.id :'wheel'})
time.sleep(.5)
check(io.get_control_mode([args.id])[0] == 'wheel',
'Could not set wheel Mode')
print('Done!')
# Set Angle Limit
if args.angle_limit is not None:
print('Changing angle limit to {}...'.format(args.angle_limit))
with DxlIOPort(args.port) as io:
io.set_angle_limit({args.id: args.angle_limit})
time.sleep(.5)
check(all(map(lambda p1, p2: abs(p1 - p2) < 1.,
io.get_angle_limit([args.id])[0],
args.angle_limit)),
'Could not change angle limit to {}'.format(args.angle_limit))
print('Done!')
# GOTO ZERO
if args.goto_zero:
print('Going to position 0...')
with DxlIOPort(args.port) as io:
io.set_moving_speed({args.id: 100.0})
io.set_goal_position({args.id: 0.0})
time.sleep(2.0)
check(abs(io.get_present_position([args.id])[0]) < 5,
'Could not go to 0 position')
print('Done!')
def check(pred, msg):
if not pred:
print(msg)
print('Exiting now...')
sys.exit(1)
def main():
parser = argparse.ArgumentParser(
description=('Poppy services launcher. Use it to quickly instantiate a ' +
'poppy creature with Snap!, an http server, or a remote robot.'),
epilog="""
Examples:
* poppy-services --snap poppy-torso
* poppy-services --snap --vrep poppy-humanoid""",
formatter_class=RawTextHelpFormatter)
parser.add_argument('creature', type=str,
help='poppy creature name',
action='store', nargs='?',
choices=installed_poppy_creatures.keys())
parser.add_argument('--dummy',
help='use a simulated dummy robot',
action='store_true')
parser.add_argument('--vrep',
help='use a V-REP simulated Poppy Creature',
action='store_true')
parser.add_argument('--poppy-simu',
help='start a simulated dummy robot and the HTTP API to connect to the viewer on simu.poppy-project.org',
action='store_true')
parser.add_argument('--snap',
help='start a Snap! robot server',
action='store_true')
parser.add_argument('--snap-port',
help='port used by the Snap! server',
default=6969, type=int)
parser.add_argument('-nb', '--no-browser',
help='avoid automatic start of Snap! in web browser',
action='store_true')
parser.add_argument('--http',
help='start a http robot server',
action='store_true')
parser.add_argument('--http-port',
help='port of HttpRobotServer, used for poppy-simu',
default=8080, type=int)
parser.add_argument('--remote',
help='start a remote robot server',
action='store_true')
parser.add_argument('--ws',
help='start the websocket server',
action='store_true')
parser.add_argument('--ws-port',
help='port of Websocket Server',
default=9009, type=int)
parser.add_argument('--disable-camera',
help='Start the robot without the camera.',
action='store_true')
parser.add_argument('-v', '--verbose',
help='start services with verbose mode. There is 3 debug levels, add as "v" as debug level you want',
action='count')
parser.add_argument('-f', '--log-file',
help='Log filename',
action='store')
nb_creatures = len(installed_poppy_creatures.keys())
if nb_creatures == 0:
print('No installed poppy creature were found!')
print('You should first install the python package '
'corresponding to your robot or check your python environment.')
sys.exit(1)
args = parser.parse_args()
# If no creature are specified and only one is installed
# We use it as default.
if args.creature is None:
if nb_creatures > 1:
parser.print_help()
sys.exit(1)
args.creature = installed_poppy_creatures.keys()[0]
print('No creature specified, use {}'.format(args.creature))
if args.log_file:
fh = logging.FileHandler(args.log_file)
fh.setLevel(logging.DEBUG)
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s')
fh.setFormatter(formatter)
logging.getLogger('').addHandler(fh)
if args.verbose:
args.snap_quiet = False
args.http_quiet = False
args.ws_quiet = False
if args.verbose == 1:
lvl = logging.WARNING
elif args.verbose == 2:
lvl = logging.INFO
elif args.verbose > 2:
lvl = logging.DEBUG
if args.log_file is not None:
ch = logging.FileHandler(args.log_file)
else:
ch = logging.StreamHandler()
ch.setLevel(lvl)
formatter = logging.Formatter(
'%(name)-12s: %(levelname)-8s %(message)s')
ch.setFormatter(formatter)
logging.getLogger('').addHandler(ch)
if not any([args.snap, args.http, args.remote, args.poppy_simu, args.ws, args.dummy]):
print('No service specified! See --help for details.')
sys.exit(1)
if args.snap and not args.no_browser:
snap_url = 'http://snap.berkeley.edu/snapsource/snap.html'
block_url = 'http://{}:{}/snap-blocks.xml'.format(
find_local_ip(), args.snap_port)
url = '{}#open:{}'.format(snap_url, block_url)
# Wait for the Snap server to be started before openning the Snap URL
time.sleep(3)
for browser_name in ['chromium-browser', 'chromium', 'google-chrome',
'chrome', 'safari', 'midori', None]:
try:
browser = webbrowser.get(browser_name)
browser.open(url, new=0, autoraise=True)
break
except Exception:
pass
with closing(start_poppy_with_services(args)):
print('Robot created and running!')
sys.stdout.flush()
# Just run4ever (until Ctrl-c...)
try:
while(True):
time.sleep(1000)
except KeyboardInterrupt:
print("Bye bye!")
