Skip to content

Updated bru set robot command to automatically find IP of robot #1

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Aringan0323 wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Updated bru set robot command to automatically find IP of robot #1

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
27 changes: 13 additions & 14 deletions bru.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -113,17 +113,16 @@ def append_env_value(self, dict, key, default):

def set_mode(self, name):
self.cfg["BRU_MODE"] = name
self.calc_ip()
self.export_env()

def export_env(self):
{click.echo("export {0}={1}".format(k, v)) for (k, v) in self.cfg.items()}

def set_robot(self, name, master_ip):
def set_robot(self, name, master_ip=None):
self.cfg["BRU_NAME"] = name
self.cfg["BRU_TYPE"] = TYPE_MAP[name]
self.cfg["BRU_MASTER_IP"] = master_ip
self.calc_ip()
self.set_master_ip(master_ip)
self.cfg["BRU_MASTER_IP"] = self.cfg["ROS_IP"]
self.export_env()

def echo_status(self):
Expand All @@ -136,23 +135,23 @@ def echo_status(self):
click.echo("ros-master-uri: {0}".format(self.cfg["ROS_MASTER_URI"]))
click.echo("ros-ip: {0}".format(self.cfg["ROS_IP"]))

def calc_ip(self):
def set_master_ip(self, master_ip):
if self.cfg["BRU_MODE"] == "sim":
self.cfg["ROS_IP"] = self.my_ip
self.cfg["ROS_MASTER_URI"] = "http://{0}:11311".format(self.my_ip)
elif self.cfg["BRU_MODE"] == "real":
self.cfg["ROS_IP"] = self.my_vpn_ip
self.cfg["ROS_MASTER_URI"] = "http://{0}:11311".format(
self.cfg["BRU_MASTER_IP"]
)
master_ip = subprocess.run([f"tailscale status | grep {self.cfg['BRU_NAME']}"], stdout=subprocess.PIPE, shell=True)
master_ip = str(master_ip.stdout).split()[2]
self.cfg["ROS_IP"] = master_ip
self.cfg["ROS_MASTER_URI"] = "http://{0}:11311".format(master_ip)
elif self.cfg["BRU_MODE"] == "onboard":
self.cfg["ROS_IP"] = self.my_vpn_ip
self.cfg["ROS_MASTER_URI"] = "http://{0}:11311".format(self.my_vpn_ip)
elif self.cfg["BRU_MODE"] == "labonboard":
self.cfg["ROS_IP"] = self.my_ip
self.cfg["ROS_MASTER_URI"] = "http://{0}:11311".format(self.my_ip)
elif self.cfg["BRU_MODE"] == "labonboard" and master_ip:
self.cfg["ROS_IP"] = master_ip
self.cfg["ROS_MASTER_URI"] = "http://{0}:11311".format(master_ip)
else:
click.echo("*** bug in bru.py calc_ip")
click.echo("*** bug in bru.py set_master_ip")

def echo_env(self):
click.echo("# Relevant global environment variables\n")
Expand Down Expand Up @@ -269,7 +268,7 @@ def mode(bru, list, name):

@cli.command(help="Set name of Robot")
@click.option("--list", "-l", help="list available options", is_flag=True)
@click.option("--master_ip", "-m", prompt=True, help="vpn ip address of robot")
@click.option("--master_ip", "-m", default=None, help="ip address of robot")
@click.argument("name", type=click.Choice(ROBOTS))
@click.pass_obj
def name(bru, list, name, master_ip):
Expand Down