Changes between Version 22 and Version 23 of en/ProgrammingRobotsCourse/GettingWwwInfo

Timestamp:

Mar 16, 2020, 5:06:18 PM (4 years ago)

Author:

Ales Horak

Comment:

--

en/ProgrammingRobotsCourse/GettingWwwInfo

@@ -5 +5 @@
 Remember that Python usage in Pepper robots is limited to Python 2 and old version of packages. It is possible to install some (small) Python packages via `pip --user` to `/home/nao` but the space is limited.
 
-If you want to test without the real robot, you can run the Python code using the virtual robot - see [#Testservicewithvirtualrobot below].
+If you want to test without the real robot, you can run the Python code using the virtual robot - see [#Testingaservicewithvirtualrobot below].
 
 === Use API
@@ -119 +119 @@
 }}}
 
-=== Test service with virtual robot
-
+=== 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 [https://github.com/pepperhacking/robot-jumpstarter#template-python-service 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.[[br]]
+* 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 [../Introduction#virtualrobot run the virtual robot]
+* find out the ''port number'' of your virtual robot: click [[Image(pepper_connect.png, valign=top)]] [[br]]
+  and remember the `IP` and `port` from the table:[[br]]
+  [[Image(pepper_virtual_port.png)]][[br]]
+  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:
+    {{{#!python
+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 [http://doc.aldebaran.com/2-5/dev/libqi/guide/qicli.html 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 ()
+-------------------------------------------------------
+0
+null
+2
+}}}
 
 == Examples