Changes between Version 10 and Version 11 of en/ProgrammingRobotsCourse/GettingWwwInfo2


Ignore:
Timestamp:
Mar 16, 2020, 6:54:47 PM (3 years ago)
Author:
Ales Horak
Comment:

Reverted to version 9.

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  • en/ProgrammingRobotsCourse/GettingWwwInfo2

    v10 v11  
    33A service can be tested in the virtual robot settings.
    44
    5 * prepare an app with the service to test - you may start with the examples below or use the ''templater'' tool [https://github.com/pepperhacking/robot-jumpstarter#template-python-service robot-jumpstarter] (use a ''new name'' for your service):
    6   {{{
    7 ssh aurora
    8 cd /nlp/projekty/pepper/web/robot-jumpstarter
    9 python jumpstart.py python-service tweety-service TweetyService
    10 cp -a output/tweety-service ~/pepper/
    11 }}}
    12   Here `tweety-service` is the directory name of the application (and the app name), `TweetyService` is the API name of your service as it will be called from Python.[[br]]
    13 * copy the directory with the service app (e.g. `~/pepper/tweety-service`) to your computer, where you run Choregraphe. All the following steps are done on this computer, ''not remotely'' via SSH.
    14 * start Choregraphe and [../Introduction#virtualrobot run the virtual robot]
    15 * find out the ''port number'' of your virtual robot: click
    16   Here the virtual robot's address is `localhost:34121`
    17 * run your service in the virtual robot (Choregraphe must still be running, of course):
    18   {{{
    19 cd ~/pepper/tweety-service/app
    20 python scripts/tweetyservice.py --qi-url localhost:34121
    21 }}}
    22   The output should look like:
    23   {{{
    24 [I] 1584373059.579170 4749 qimessaging.session: Session listener created on tcp://0.0.0.0:0
    25 [I] 1584373059.579385 4749 qimessaging.transportserver: TransportServer will listen on: tcp://192.168.1.2:36873
    26 [I] 1584373059.579394 4749 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:36873
    27 }}}
    28 * now you can ''communicate'' with your running service in the same way as with all other API services on the real robot:
    29   * use `^call(TweetyService.get())` in a dialog
    30   * direct call in a Python Box code:
    31     {{{#!python
    32 def __init__(self):
    33    self.tweety = ALProxy('TweetyService')
    34 
    35 def onInput_onStart(self):
    36     self.tts.say("číslo {}".format(self.tweety.get()))
    37     self.onStopped() #activate the output of the box
    38 }}}
    39   * use the [http://doc.aldebaran.com/2-5/dev/libqi/guide/qicli.html qicli] command line tool:
    40     {{{
    41 alias qicli='"/opt/Softbank Robotics/Choregraphe Suite 2.5/bin/qicli" --qi-url localhost:34121'
    42 qicli info TweetyService
    43 call TweetyService.get
    44 call TweetyService.set 2
    45 call TweetyService.get
    46 }}}
    47     with the output
    48     {{{
    49 099 [TweetyService]
    50   * Info:
    51    machine   f883b92e-3a87-44e5-aa70-4a3b78f4d937
    52    process   4749
    53    endpoints tcp://192.168.1.2:36873
    54              tcp://127.0.0.1:36873
    55   * Methods:
    56    100 get   Int8 ()
    57    101 reset Void ()
    58    102 set   Void (Int8)
    59    103 stop  Void ()
    60 -------------------------------------------------------
    61 0
    62 null
    63 2
    64 }}}