Testing a service with virtual robot

A service can be tested in the virtual robot settings.

• prepare an app with the service to test - you may start with the examples below or use the templater tool ​robot-jumpstarter (use a new name for your service):

  ssh aurora
  cd /nlp/projekty/pepper/web/robot-jumpstarter
  python jumpstart.py python-service tweety-service TweetyService
  cp -a output/tweety-service ~/pepper/
  

  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.
  
• 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.
• start Choregraphe and run the virtual robot
• find out the port number of your virtual robot: click
  and remember the IP and port from the table:
  
  Here the virtual robot's address is localhost:34121
• run your service in the virtual robot (Choregraphe must still be running, of course):

  cd ~/pepper/tweety-service/app
  python scripts/tweetyservice.py --qi-url localhost:34121
  

  The output should look like:

  [I] 1584373059.579170 4749 qimessaging.session: Session listener created on tcp://0.0.0.0:0
  [I] 1584373059.579385 4749 qimessaging.transportserver: TransportServer will listen on: tcp://192.168.1.2:36873
  [I] 1584373059.579394 4749 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:36873
  

• now you can communicate with your running service in the same way as with all other API services on the real robot:
  • use ^call(TweetyService.get()) in a dialog
  • direct call in a Python Box code:

    def __init__(self):
       self.tweety = ALProxy('TweetyService')
    
    def onInput_onStart(self):
        self.tts.say("číslo {}".format(self.tweety.get()))
        self.onStopped() #activate the output of the box
    

  • use the ​qicli command line tool:

    alias qicli='"/opt/Softbank Robotics/Choregraphe Suite 2.5/bin/qicli" --qi-url localhost:34121'
    qicli info TweetyService
    call TweetyService.get
    call TweetyService.set 2
    call TweetyService.get
    

    with the output

    099 [TweetyService]
      * Info:
       machine   f883b92e-3a87-44e5-aa70-4a3b78f4d937
       process   4749
       endpoints tcp://192.168.1.2:36873
                 tcp://127.0.0.1:36873
      * Methods:
       100 get   Int8 ()
       101 reset Void ()
       102 set   Void (Int8)
       103 stop  Void ()
    -------------------------------------------------------
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