Hello I want to know how to load a Dialog Topic file using python.
I made sure that the file path is right, but it keeps saying that it isn't. I have also used the tutorials in NAO 2.1's documentation ALDialog and ALModule
Please send me a code that works or tell me the error. I tried using the following code:
NAO_IP = "nao.local"
dialog_p = None
ModuleInstance = None
class NaoFalanteModule(ALModule):
def __init__(self, name):
ALModule.__init__(self, name)
self.tts = ALProxy("ALTextToSpeech")
self.tts.setLanguage("Brazilian")
global dialog_p
try:
dialog_p = ALProxy("ALDialog")
except Exception, e:
print "Error dialog"
print str(e)
exit(1)
dialog_p.setLanguage("Brazilian")
self.naoAlc()
def naoAlc(self):
topf_path = "/simpleTestes/diaSimples/testeSimples_ptb.top"
topf_path = topf_path.decode("utf-8")
topic = dialog_p.loadTopic(topf_path.encode("utf-8"))
# Start dialog
dialog_p.subscribe("NaoFalanteModule")
dialog_p.activateTopic(topic)
raw_input(u"Press 'Enter' to exit.")
dialog_p.unload(topic)
dialog_p.unsubscribe
def main():
parser = OptionParser()
parser.add_option("--pip",
help="Parent broker port. The IP address or your robot",
dest="pip")
parser.add_option("--pport",
help="Parent broker port. The port NAOqi is listening to",
dest="pport",
type="int")
parser.set_defaults(
pip=NAO_IP,
pport=9559)
(opts, args_) = parser.parse_args()
pip = opts.pip
pport = opts.pport
myBroker = ALBroker("myBroker",
"0.0.0.0",
0,
pip,
pport)
global ModuleInstance
ModuleInstance = NaoFalanteModule("ModuleInstance")
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
printI tried using the following code:
print "Interrupted by user, shutting down"
myBroker.shutdown()
sys.exit(0)
if __name__ == "__main__":
main()
The path to the topic needs to be the absolute path to that file, whereas you're passing a relative path compared to your current execution directory. The reason is that ALDialog is a separate service running in it's own process and knows nothing about the execution context of whoever is calling it.
And the program .top file must be uploaded to the robot using Choregraphe.
So, your absolute path in this case might be something like
topf_path = "/home/nao/simpleTestes/diaSimples/testeSimples_ptb.top"
... or if you want to be a bit cleaner, if you know your script is being executed at the root of your application package, use os.path:
topf_path = os.path.abspath("diaSimples/testeSimples_ptb.top")
Related
I am running a rosnode with a kalman filter running. The kalman filter is an object with states that get updated as time plays out. Conventionally, a ros node has a run(self) method that runs at a specified frequency using the while condition
while not rospy.is_shutdown():
do this
Going through each loop my kalman filter object updates. I just want to be able to save the kalman filter object when the node is shutdown either some external condition or when the user presses ctrl+C. I am not able to do this. In the run(self) method, I tried
while not rospy.is_shutdown():
do this
# save in file
output = pathlib.Path('path/to/location')
results_path = output.with_suffix('.npz')
with open(results_path, 'xb') as results_file:
np.savez(results_file,kfObj=kf_list)
But it has not worked. Is it not executing the save command? If ctrl+C is pressed does it stop short of executing it? Whats the way to do it?
Check out the atexit module:
http://docs.python.org/library/atexit.html
import atexit
def exit_handler():
output = pathlib.Path('path/to/location')
results_path = output.with_suffix('.npz')
with open(results_path, 'xb') as results_file:
np.savez(results_file,kfObj=kf_list
atexit.register(exit_handler)
Just be aware that this works great for normal termination of the script, but it won't get called in all cases (e.g. fatal internal errors).
Why not try the following python example class structure engaging shutdown hooks :
import rospy
class Hardware_Interface:
def __init__(self, selectedBoard):
...
# Housekeeping, cleanup at the end
rospy.on_shutdown(self.shutdown)
# Get the connection settings from the parameter server
self.port = rospy.get_param("~"+self.board+"-port", "/dev/ttyACM0")
# Get the prefix
self.prefix = rospy.get_param("~"+self.board+"-prefix", "travel")
# Overall loop rate
self.rate = int(rospy.get_param("~rate", 5))
self.period = rospy.Duration(1/float(self.rate))
...
def shutdown(self):
rospy.loginfo("Shutting down Hardware Interface Node...")
try:
rospy.loginfo("Stopping the robot...")
self.controller.send(0, 0, 0, 0)
#self.cmd_vel_pub.publish(Twist())
rospy.sleep(2)
except:
rospy.loginfo("Cannot stop!")
try:
self.controller.close()
except:
pass
finally:
rospy.loginfo("Serial port closed.")
os._exit(0)
This just an extract from a personal script, please modify it to your needs. I imagine that the on_shutdown will do the trick. Another similar approach comes from my friends in the Robot Ignite Academy in The Construct and seems like that
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
class my_class():
def __init__(self):
...
self.cmd = Twist()
self.ctrl_c = False
self.rate = rospy.Rate(10) # 10hz
rospy.on_shutdown(self.shutdownhook)
def publish_once_in_cmd_vel(self):
while not self.ctrl_c:
...
def shutdownhook(self):
# works better than the rospy.is_shutdown()
self.ctrl_c = True
def move_something(self, linear_speed=0.2, angular_speed=0.2):
self.cmd.linear.x = linear_speed
self.cmd.angular.z = angular_speed
self.publish_once_in_cmd_vel()
if __name__ == '__main__':
rospy.init_node('class_test', anonymous=True)
...
This is obviously a sample of their code (for more please join the academy)
I have a problem when using the ALDialog module on Python IDE and to load on Nao. I tried in different ways to load a dialogue but I always fall back on the same error.Runtimeerror LoadTopic::ALDialogIncorrect file myDialog.topIn the first case I write directly the text that I save in a. top file but at the time of LoadTopic () I have an error.In the second case I want to load the. top file by giving it the path. I come back to the same mistake again.Do you have a solution to my problem?Thank you very much.
import qi
import argparse
import os
import sys
from naoqi import ALProxy
def main(robot_ip, robot_port):
dialog = """
topic: ~myTopic() \n
language: enu \n
u:(test) hello \n """
file = open("myDialog.top","w")
file.write(dialog)
file.close()
# load topic
proxy = ALProxy("ALDialog",robot_ip,robot_port)
proxy.setLanguage("English")
self.topic = proxy.loadTopic("myDialog.top")
# start dialog
proxy.subscribe("myModule")
# activate dialog
proxy.activateTopic(self.topic)
if name == "main":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str,
default="169.254.245.164",help="Robot's IP address : '169.254.245.164'")
parser.add_argument("--port", type=int, default=9559,help="port number, the default value is OK in most cases")
args = parser.parse_args()
main(args.ip, args.port)
ALDialog.loadTopic expects an absolute filepath on the robot - it doesn't know anything about the context from which you're calling it (it could be from another computer, in which case of course it can't open that file). You need to be sure that your .top is indeed on the robot, and pass it's absolute path to ALDialog.
Once installed on the robot this path will be something like /home/nao/.local/share/PackageManager/apps/your-package-id/your-dialog-name/your-dialog-name_enu.top
My requirement is to capture logs for a particular http request sent to server from project server log file. So have written two function and trying to execute them parallel using multiprocessing module. But only one is getting executed. not sure what is going wrong.
My two functions - run_remote_command - using paramiko module for executing the tail command on remote server(linux box) and redirecting the output to a file. And send_request - using request module to make POST request from local system (windows laptop) to the server.
Code:
import multiprocessing as mp
import paramiko
import datetime
import requests
def run_remote_command():
basename = "sampletrace"
suffixname = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
filename = "_".join([basename, suffixname])
print filename
ssh = paramiko.SSHClient()
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
try:
ssh.connect(hostname='x.x.x.x',username='xxxx',password='xxxx')
except Exception as e:
print "SSH Connecting to Host failed"
print e
ssh.close()
print ssh
tail = "tail -1cf /var/opt/logs/myprojectlogFile.txt >"
cmdStr = tail + " " + filename
result = ''
try:
stdin, stdout, stderr = ssh.exec_command(cmdStr)
print "error:" +str( stderr.readlines())
print stdout
#logger.info("return output : response=%s" %(self.resp_result))
except Exception as e:
print 'Run remote command failed cmd'
print e
ssh.close()
def send_request():
request_session = requests.Session()
headers = {"Content-Type": "application/x-www-form-urlencoded"}
data = "some data "
URL = "http://X.X.X.X:xxxx/request"
request_session.headers.update(headers)
resp = request_session.post(URL, data=data)
print resp.status_code
print resp.request.headers
print resp.text
def runInParallel(*fns):
proc = []
for fn in fns:
p = mp.Process(target=fn)
p.start()
proc.append(p)
for p in proc:
p.join()
if __name__ == '__main__':
runInParallel(run_remote_command, send_request)
Output: only the function send_request is getting executed. Even I check the process list of the server there is no tail process is getting created
200
Edited the code per the #Ilja comment
I am following an example to read a config file from the following: https://wiki.python.org/moin/ConfigParserExamples
But I get a KeyError and can't figure out why. It is reading the files and I can even print the sections. I think I am doing something really stupid. Any help greatly appreciated.
Here is the code:
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import ConfigParser
import logging
config_default=ConfigParser.ConfigParser()
class Setting(object):
def get_setting(self, section, my_setting):
default_setting = self.default_section_map(section)[my_setting]
return default_setting
def default_section_map(self,section):
dict_default = {}
config_default.read('setting.cfg')
sec=config_default.sections()
options_default = config_default.options(section)
logging.info('options_default: {0}'.format(options_default))
for option in options_default:
try:
dict_default[option] = config_default.get(section, option)
if dict_default[option] == -1:
print("skip: %s" % option)
except:
print("exception on %s!" % option)
dict_default[option] = None
return dict_default
return complete_path
if __name__ == '__main__':
conf=Setting()
host=conf.get_setting('mainstuff','name')
#host=conf.setting
print 'host setting is :' + host
My config file is named setting.cfg and looks like this:
[mainstuff]
name = test1
domain = test2
[othersection]
database_ismaster = no
database_master = test3
database_default = test4
[mysql]
port = 311111
user = someuser
passwd = somecrazylongpassword
[api]
port = 1111
And the Error is this...
exception on domain! Traceback (most recent call last): File
"./t.py", line 51, in
host=conf.get_setting('mainstuff','name') File "./t.py", line 14, in get_setting
default_setting = self.default_section_map(section)[my_setting] KeyError: 'name'
Be sure that your complete file path is setting.cfg. If you put your file in another folder or if it is named different, Python is going to report the same KeyError.
you have no general section. in order to get the hostname you need something like
[general]
hostname = 'hostname.net'
in your setting.cfg. now your config file matches the program -- maybe you prefer to adapt your porgram to match the config file? ...this should get you started at least.
UPDATE:
as my answer is useless now, here is something you could try to build on (assuming it works for you...)
import ConfigParser
class Setting(object):
def __init__(self, cfg_path):
self.cfg = ConfigParser.ConfigParser()
self.cfg.read(cfg_path)
def get_setting(self, section, my_setting):
try:
ret = self.cfg.get(section, my_setting)
except ConfigParser.NoOptionError:
ret = None
return ret
if __name__ == '__main__':
conf=Setting('setting.cfg')
host = conf.get_setting('mainstuff', 'name')
print 'host setting is :', host
This error occurs mainly due to 2 reasons:
Issue in reading the config file due to not getting the proper path. Absolute path may be used. Try reading the config file first whether any issue.
f = open("config.ini", "r")
print(f.read())
Not been able to find mentioned section in config file.
I have a tool, where i am implementing upnp discovery of devices connected in network.
For that i have written a script and used datagram class in it.
Implementation:
whenever scan button is pressed on tool, it will run that upnp script and will list the devices in the box created in tool.
This was working fine.
But when i again press the scan button, it gives me following error:
Traceback (most recent call last):
File "tool\ui\main.py", line 508, in updateDevices
upnp_script.main("server", localHostAddress)
File "tool\ui\upnp_script.py", line 90, in main
reactor.run()
File "C:\Python27\lib\site-packages\twisted\internet\base.py", line 1191, in run
self.startRunning(installSignalHandlers=installSignalHandlers)
File "C:\Python27\lib\site-packages\twisted\internet\base.py", line 1171, in startRunning
ReactorBase.startRunning(self)
File "C:\Python27\lib\site-packages\twisted\internet\base.py", line 683, in startRunning
raise error.ReactorNotRestartable()
twisted.internet.error.ReactorNotRestartable
Main function of upnp script:
def main(mode, iface):
klass = Server if mode == 'server' else Client
obj = klass
obj(iface)
reactor.run()
There is server class which is sending M-search command(upnp) for discovering devices.
MS = 'M-SEARCH * HTTP/1.1\r\nHOST: %s:%d\r\nMAN: "ssdp:discover"\r\nMX: 2\r\nST: ssdp:all\r\n\r\n' % (SSDP_ADDR, SSDP_PORT)
In server class constructor, after sending m-search i am stooping reactor
reactor.callLater(10, reactor.stop)
From google i found that, we cannot restart a reactor beacause it is its limitation.
http://twistedmatrix.com/trac/wiki/FrequentlyAskedQuestions#WhycanttheTwistedsreactorberestarted
Please guide me how can i modify my code so that i am able to scan devices more than 1 time and don't get this "reactor not restartable error"
In response to "Please guide me how can i modify my code...", you haven't provided enough code that I would know how to specifically guide you, I would need to understand the (twisted part) of the logic around your scan/search.
If I were to offer a generic design/pattern/mental-model for the "twisted reactor" though, I would say think of it as your programs main loop. (thinking about the reactor that way is what makes the problem obvious to me anyway...)
I.E. most long running programs have a form something like
def main():
while(True):
check_and_update_some_stuff()
sleep 10
That same code in twisted is more like:
def main():
# the LoopingCall adds the given function to the reactor loop
l = task.LoopingCall(check_and_update_some_stuff)
l.start(10.0)
reactor.run() # <--- this is the endless while loop
If you think of the reactor as "the endless loop that makes up the main() of my program" then you'll understand why no-one is bothering to add support for "restarting" the reactor. Why would you want to restart an endless loop? Instead of stopping the core of your program, you should instead only surgically stop the task inside that is complete, leaving the main loop untouched.
You seem to be implying that the current code will keep "sending m-search"s endlessly when the reactor is running. So change your sending code so it stops repeating the "send" (... I can't tell you how to do this because you didn't provide code, but for instance, a LoopingCall can be turned off by calling its .stop method.
Runnable example as follows:
#!/usr/bin/python
from twisted.internet import task
from twisted.internet import reactor
from twisted.internet.protocol import Protocol, ServerFactory
class PollingIOThingy(object):
def __init__(self):
self.sendingcallback = None # Note I'm pushing sendToAll into here in main()
self.l = None # Also being pushed in from main()
self.iotries = 0
def pollingtry(self):
self.iotries += 1
if self.iotries > 5:
print "stoping this task"
self.l.stop()
return()
print "Polling runs: " + str(self.iotries)
if self.sendingcallback:
self.sendingcallback("Polling runs: " + str(self.iotries) + "\n")
class MyClientConnections(Protocol):
def connectionMade(self):
print "Got new client!"
self.factory.clients.append(self)
def connectionLost(self, reason):
print "Lost a client!"
self.factory.clients.remove(self)
class MyServerFactory(ServerFactory):
protocol = MyClientConnections
def __init__(self):
self.clients = []
def sendToAll(self, message):
for c in self.clients:
c.transport.write(message)
# Normally I would define a class of ServerFactory here but I'm going to
# hack it into main() as they do in the twisted chat, to make things shorter
def main():
client_connection_factory = MyServerFactory()
polling_stuff = PollingIOThingy()
# the following line is what this example is all about:
polling_stuff.sendingcallback = client_connection_factory.sendToAll
# push the client connections send def into my polling class
# if you want to run something ever second (instead of 1 second after
# the end of your last code run, which could vary) do:
l = task.LoopingCall(polling_stuff.pollingtry)
polling_stuff.l = l
l.start(1.0)
# from: https://twistedmatrix.com/documents/12.3.0/core/howto/time.html
reactor.listenTCP(5000, client_connection_factory)
reactor.run()
if __name__ == '__main__':
main()
This script has extra cruft in it that you might not care about, so just focus on the self.l.stop() in PollingIOThingys polling try method and the l related stuff in main() to illustrates the point.
(this code comes from SO: Persistent connection in twisted check that question if you want to know what the extra bits are about)