Command Line

Command-line utility code for interacting with robot services.

class bosdyn.client.command_line.Command(subparsers, command_dict)

Bases: object

Command-line command.

Parameters:

• subparsers – List of argument parsers.

• command_dict – Dictionary of command names which take parsed options.

NAME = None

NEED_AUTHENTICATION = True

run(robot, options)

Invoke the command.

Parameters:

• robot – Robot object on which to run the command.

• options – Parsed command-line arguments.

class bosdyn.client.command_line.Subcommands(subparsers, command_dict, subcommands)

Bases: Command

Run subcommands.

Parameters:

• subparsers – List of argument parsers.

• command_dict – Dictionary of command names which take parsed options.

• subcommands – List of subcommands to run.

class bosdyn.client.command_line.DirectoryCommands(subparsers, command_dict)

Bases: Subcommands

Commands related to the directory service.

NAME = 'dir'

class bosdyn.client.command_line.DirectoryListCommand(subparsers, command_dict)

Bases: Command

List all services in the directory.

NAME = 'list'

class bosdyn.client.command_line.DirectoryGetCommand(subparsers, command_dict)

Bases: Command

Get entry for a given service in the directory.

NAME = 'get'

class bosdyn.client.command_line.DirectoryRegisterCommand(subparsers, command_dict)

Bases: Command

Register entry for a service in the directory.

NAME = 'register'

class bosdyn.client.command_line.DirectoryUnregisterCommand(subparsers, command_dict)

Bases: Command

Unregister entry for a service in the directory.

NAME = 'unregister'

class bosdyn.client.command_line.PayloadCommands(subparsers, command_dict)

Bases: Subcommands

Commands related to the payload and payload registration services.

NAME = 'payload'

class bosdyn.client.command_line.PayloadListCommand(subparsers, command_dict)

Bases: Command

List all payloads registered with the robot.

NAME = 'list'

class bosdyn.client.command_line.PayloadRegisterCommand(subparsers, command_dict)

Bases: Command

Register a payload with the robot.

NAME = 'register'

class bosdyn.client.command_line.FaultCommands(subparsers, command_dict)

Bases: Subcommands

Commands related to the fault service and robot state service (for fault reading).

NAME = 'fault'

class bosdyn.client.command_line.FaultShowCommand(subparsers, command_dict)

Bases: Command

Show all faults currently active in robot state.

NAME = 'show'

class bosdyn.client.command_line.FaultWatchCommand(subparsers, command_dict)

Bases: Command

Watch all faults in robot state and print them out.

NAME = 'watch'

class bosdyn.client.command_line.LogStatusCommands(subparsers, command_dict)

Bases: Subcommands

Start, update and terminate experiment logs, start and terminate retro logs and check status of active logs for robot.

NAME = 'log-status'

NEED_AUTHENTICATION = True

class bosdyn.client.command_line.GetLogCommand(subparsers, command_dict)

Bases: Command

Get log status but log id.

NAME = 'get'

class bosdyn.client.command_line.GetActiveLogStatusesCommand(subparsers, command_dict)

Bases: Command

Get active log bundles for robot.

NAME = 'active'

class bosdyn.client.command_line.ExperimentLogCommand(subparsers, command_dict)

Bases: Subcommands

Give experiment log commands to robot.

NAME = 'experiment'

class bosdyn.client.command_line.StartTimedExperimentLogCommand(subparsers, command_dict)

Bases: Command

Start a timed experiment log.

NAME = 'timed'

class bosdyn.client.command_line.StartContinuousExperimentLogCommand(subparsers, command_dict)

Bases: Command

Start a continuous experiment log.

NAME = 'continuous'

static handle_keyboard_interruption(client, log_id)

class bosdyn.client.command_line.StartRetroLogCommand(subparsers, command_dict)

Bases: Command

Start a retro log.

NAME = 'retro'

class bosdyn.client.command_line.TerminateLogCommand(subparsers, command_dict)

Bases: Command

Terminate log gathering process.

NAME = 'terminate'

class bosdyn.client.command_line.RobotIdCommand(subparsers, command_dict)

Bases: Command

Show robot-id.

NAME = 'id'

NEED_AUTHENTICATION = False

class bosdyn.client.command_line.DataBufferCommands(subparsers, command_dict)

Bases: Subcommands

Commands related to the data-buffer service.

NAME = 'log'

class bosdyn.client.command_line.TextMsgCommand(subparsers, command_dict)

Bases: Command

Send a text-message to the data buffer to be logged.

NAME = 'textmsg'

class bosdyn.client.command_line.OperatorCommentCommand(subparsers, command_dict)

Bases: Command

Send an operator comment to the robot to be logged.

NAME = 'comment'

class bosdyn.client.command_line.DataServiceCommands(subparsers, command_dict)

Bases: Subcommands

Commands for querying the data-service.

NAME = 'data'

class bosdyn.client.command_line.GetDataBufferEventsCommentsCommand(subparsers, command_dict)

Bases: Command

Parent class for commands grabbing operator comment and events.

abstract pretty_print(values)

Print output of request in a human-friendly way.

class bosdyn.client.command_line.GetDataBufferCommentsCommand(subparsers, command_dict)

Bases: GetDataBufferEventsCommentsCommand

Get operator comments from the robot.

NAME = 'comments'

pretty_print(values)

Print output of request in a human-friendly way.

class bosdyn.client.command_line.GetDataBufferEventsCommand(subparsers, command_dict)

Bases: GetDataBufferEventsCommentsCommand

Get events from the robot.

NAME = 'events'

pretty_print(values)

Print output of request in a human-friendly way.

class bosdyn.client.command_line.GetDataBufferStatusCommand(subparsers, command_dict)

Bases: Command

Get status of data-buffer on robot.

NAME = 'status'

class bosdyn.client.command_line.RobotStateCommands(subparsers, command_dict)

Bases: Subcommands

Commands for querying robot state.

NAME = 'state'

class bosdyn.client.command_line.FullStateCommand(subparsers, command_dict)

Bases: Command

Show robot state.

NAME = 'full'

class bosdyn.client.command_line.HardwareConfigurationCommand(subparsers, command_dict)

Bases: Command

Show robot hardware configuration.

NAME = 'hardware'

class bosdyn.client.command_line.RobotModel(subparsers, command_dict)

Bases: Command

Write robot URDF and mesh to local files.

NAME = 'model'

NEED_AUTHENTICATION = False

class bosdyn.client.command_line.MetricsCommand(subparsers, command_dict)

Bases: Command

Show metrics (runtime, etc…).

NAME = 'metrics'

class bosdyn.client.command_line.TimeSyncCommand(subparsers, command_dict)

Bases: Command

Find clock difference between this and the robot clock.

NAME = 'time-sync'

class bosdyn.client.command_line.LicenseCommand(subparsers, command_dict)

Bases: Command

Show installed license.

NAME = 'license'

class bosdyn.client.command_line.LeaseCommands(subparsers, command_dict)

Bases: Subcommands

Commands related to the lease service.

NAME = 'lease'

class bosdyn.client.command_line.LeaseListCommand(subparsers, command_dict)

Bases: Command

List all leases.

NAME = 'list'

class bosdyn.client.command_line.EstopCommands(subparsers, command_dict)

Bases: Subcommands

Commands for interacting with robot estop service.

NAME = 'estop'

class bosdyn.client.command_line.GetEstopConfigCommand(subparsers, command_dict)

Bases: Command

Get estop config of estop service.

NAME = 'config'

class bosdyn.client.command_line.GetEstopStatusCommand(subparsers, command_dict)

Bases: Command

Get estop status of estop service.

NAME = 'status'

class bosdyn.client.command_line.BecomeEstopCommand(subparsers, command_dict)

Bases: Command

Grab and hold estop until Ctl-C.

NAME = 'become-estop'

class bosdyn.client.command_line.OldBecomeEstopCommand(subparsers, command_dict)

Bases: BecomeEstopCommand

Old version of BecomeEstopCommand.

run(robot, options)

Invoke the command.

Parameters:

• robot – Robot object on which to run the command.

• options – Parsed command-line arguments.

class bosdyn.client.command_line.ImageCommands(subparsers, command_dict)

Bases: Subcommands

Commands for querying images.

NAME = 'image'

class bosdyn.client.command_line.ListImageSourcesCommand(subparsers, command_dict)

Bases: Command

List image sources.

NAME = 'list-sources'

class bosdyn.client.command_line.GetImageCommand(subparsers, command_dict)

Bases: Command

Get an image from the robot and write it to an image file.

NAME = 'get-image'

class bosdyn.client.command_line.LocalGridCommands(subparsers, command_dict)

Bases: Subcommands

Commands for querying local grid maps.

NAME = 'local_grid'

class bosdyn.client.command_line.ListLocalGridTypesCommand(subparsers, command_dict)

Bases: Command

List local grid sources.

NAME = 'types'

class bosdyn.client.command_line.GetLocalGridsCommand(subparsers, command_dict)

Bases: Command

Get local grids from the robot.

NAME = 'get'

class bosdyn.client.command_line.DataAcquisitionCommand(subparsers, command_dict)

Bases: Subcommands

Acquire data from the robot and add it in the data buffer with the metadata, or request status.

NAME = 'acquire'

class bosdyn.client.command_line.DataAcquisitionRequestCommand(subparsers, command_dict)

Bases: Command

Capture and save images or metadata specified in the command line arguments.

NAME = 'request'

class bosdyn.client.command_line.DataAcquisitionServiceCommand(subparsers, command_dict)

Bases: Command

Get list of different data acquisition capabilities.

NAME = 'info'

class bosdyn.client.command_line.DataAcquisitionStatusCommand(subparsers, command_dict)

Bases: Command

Get status of an acquisition request based on the request id.

NAME = 'status'

class bosdyn.client.command_line.DataAcquisitionGetLiveDataCommand(subparsers, command_dict)

Bases: Command

Call GetLiveData based on service name.

NAME = 'live'

class bosdyn.client.command_line.HostComputerIPCommand(subparsers, command_dict)

Bases: Command

Determine a computer’s IP address.

NAME = 'self-ip'

NEED_AUTHENTICATION = False

class bosdyn.client.command_line.PowerCommand(subparsers, command_dict)

Bases: Subcommands

Send power commands to the robot.

NAME = 'power'

class bosdyn.client.command_line.KeepaliveCommand(subparsers, command_dict)

Bases: Subcommands

Send keepalive commands to the robot.

NAME = 'keepalive'

bosdyn.client.command_line.lease_details(leases)

Returns list of <resource_name>:<sequence>, …N.

class bosdyn.client.command_line.KeepaliveGetStatusCommand(subparsers, command_dict)

Bases: Command

Get status of keepalive service.

NAME = 'status'

class bosdyn.client.command_line.KeepaliveRemovePoliciesCommand(subparsers, command_dict)

Bases: Command

Remove keepalive policies.

NAME = 'remove'

class bosdyn.client.command_line.PowerRobotCommand(subparsers, command_dict)

Bases: Command

Control the power of the entire robot.

NAME = 'robot'

class bosdyn.client.command_line.PowerPayloadsCommand(subparsers, command_dict)

Bases: Command

Control the power of robot payloads.

NAME = 'payload'

class bosdyn.client.command_line.PowerWifiRadioCommand(subparsers, command_dict)

Bases: Command

Control the power of robot wifi radio.

NAME = 'wifi'

bosdyn.client.command_line.main(args=None)

Command-line interface for interacting with robot services.