quickstart.py

#!/usr/bin/env python
from optparse import OptionParser
from subprocess import check_output, Popen
import time
import sys
from enum import Enum


class Action(Enum):
    KEYBOARD_CONTROL = 0
    RUN_TESTS = 1
    WEB_SERVER = 2
    API_SERVER = 3
    I2C_CHECK = 4
    ULTRASONICS_READ = 5
    STYLE_CHECKER = 6
    EMERGENCY_STOP = 7
    KEYBOARD_CONTROL_COLLISION = 8
    FULL_CONTROL = 9

parser = OptionParser()

parser.add_option(
    "-k",
    "--keyboard-control",
    action="store_const",
    const=Action.KEYBOARD_CONTROL,
    dest="action",
    help="Start the keyboard control test script.")
parser.add_option(
    "-f",
    "--full-control",
    action="store_const",
    const=Action.FULL_CONTROL,
    dest="action",
    help="Start the keyboard control test script and arm control.")
parser.add_option(
    "-c",
    "--keyboard-control-collision",
    action="store_const",
    const=Action.KEYBOARD_CONTROL_COLLISION,
    dest="action",
    help="Start the keyboard control test script with ultrasonic sensors.")
parser.add_option(
    "-t",
    "--run-tests",
    action="store_const",
    const=Action.RUN_TESTS,
    dest="action",
    help="Run the unit test suite.")
parser.add_option(
    "-w",
    "--web-server",
    action="store_const",
    const=Action.WEB_SERVER,
    dest="action",
    help="Start the web interface on a web server.")
parser.add_option(
    "-a",
    "--api-server",
    action="store_const",
    const=Action.API_SERVER,
    dest="action",
    help="Start the control API.")
parser.add_option(
    "-i",
    "--i2c-check",
    action="store_const",
    const=Action.I2C_CHECK,
    dest="action",
    help="Check attached I2C devices.")
parser.add_option(
    "-u",
    "--ultrasonics",
    action="store_const",
    const=Action.ULTRASONICS_READ,
    dest="action",
    help="Poll all known ultrasonic sensors.")
parser.add_option(
    "-s",
    "--style",
    action="store_const",
    const=Action.STYLE_CHECKER,
    dest="action",
    help="Run the PEP8 style checker on all directories.")

parser.add_option(
    "-e",
    "--emergency-stop",
    action="store_const",
    const=Action.EMERGENCY_STOP,
    dest="action",
    help="Send a stop command to all motors. Does not prevent further commands from other processes.")

(options, args) = parser.parse_args()

action = options.action

if action == Action.KEYBOARD_CONTROL:
    print "Starting keyboard control script."
    check_output(
        "python tiberius/testing/scripts/keyboard_control.py",
        shell=True)

elif action == Action.KEYBOARD_CONTROL_COLLISION:
    print "Starting keyboard collision control."
    check_output("python tiberius/testing/scripts/ultras_control.py", shell=True)

elif action == Action.FULL_CONTROL:
    print "Starting keyboard control with arm control."
    check_output("python tiberius/testing/scripts/full_control.py", shell=True)


elif action == Action.RUN_TESTS:
    print "Starting unit test suite."
    check_output("python tiberius/testing/run_tests.py", shell=True)

elif action == Action.WEB_SERVER:
    print "Starting the web server"
    server = Popen(
        "python tiberius/web-interface/manage.py runserver",
        shell=True)
    while True:
        try:
            time.sleep(0.1)
        except KeyboardInterrupt:
            Popen.kill(server)
            sys.exit()

elif action == Action.API_SERVER:
    print "Starting the control API."
    server = Popen("python tiberius/control_api/api.py", shell=True)
    while True:
        try:
            time.sleep(0.1)
        except KeyboardInterrupt:
            Popen.kill(server)
            sys.exit()

elif action == Action.I2C_CHECK:
    print "Checking I2C bus for devices"
    result = check_output("i2cdetect -y 1", shell=True)
    print result

elif action == Action.ULTRASONICS_READ:
    print "Polling ultrasonic sensor distance values."
    server = Popen(
        "python tiberius/testing/scripts/manual_sensor_read.py",
        shell=True)
    while True:
        try:
            time.sleep(0.1)
        except KeyboardInterrupt:
            Popen.kill(server)
            sys.exit()

elif action == Action.STYLE_CHECKER:
    print "Style Checking"
    server = Popen(
        "pep8 ./tiberius/",
        shell=True)
    while True:
        try:
            time.sleep(0.1)
        except KeyboardInterrupt:
            Popen.kill(server)
            sys.exit()

elif action == Action.EMERGENCY_STOP:
    from tiberius.control.control import Control
    print "Sending STOP to all motors."
    c = Control()
    c.motors.stop()