Source code for state_space_setup_assistant.cli

"""Entry point: run the setup assistant web server and open the browser.

    ros2 run state_space_setup_assistant ss_setup_assistant \\
        --urdf package://rws_description/urdf/rws.urdf

Serves on 127.0.0.1 by default (single local user; see README: one browser
tab at a time).
"""

import argparse
import sys
import threading
import webbrowser

from .app import create_app
from .session import WizardSession




def main(argv=None) -> int:
    parser = argparse.ArgumentParser(
        prog='ss_setup_assistant',
        description='Web setup wizard: URDF -> validation -> operating point '
                    '-> linearization -> controller design/benchmark -> '
                    'exported configs.')
    parser.add_argument('--host', default='127.0.0.1')
    parser.add_argument('--port', type=int, default=8060)
    parser.add_argument('--urdf', default=None,
                        help='URDF path or package:// URI to preload in step 1')
    parser.add_argument('--output-dir', default=None,
                        help='default export directory for the last step')
    parser.add_argument('--no-browser', action='store_true',
                        help='do not open a web browser automatically')
    args = parser.parse_args(argv)

    session = WizardSession()
    session.output_dir = args.output_dir
    app = create_app(session, prefill_urdf=args.urdf)

    url = f'http://{args.host}:{args.port}/'
    print(f'state_space_setup_assistant serving on {url}')
    if not args.no_browser:
        threading.Timer(0.8, webbrowser.open, args=(url,)).start()
    app.run(host=args.host, port=args.port, threaded=True)
    return 0



if __name__ == '__main__':
    sys.exit(main())