| 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 | | }}} |
