.. _tools:

Tools
=====

There is a collection of command line tools to communicate with a running
program instance.

Common command line parameters are:

``-n <node>``
	supply a way to connect to the process. It can be a UNIX socket or
	a network address in the form ``host:port``.

``-u <user>``
	authenticate with the given user name. You will be asked to enter
	the password before the connection is made.

On Linux the tools are found in ``/opt/neobotix/pilot-core/bin/`` or ``/opt/neobotix/pilot-gtkgui/bin/``.
On Windows the tools are found in the ``bin`` folder.


pilot_execute
-------------

To execute a custom `Lua Script` on the platform:

.. code-block:: sh
	
	pilot_execute -n localhost:5555 -u neo-admin -f my_script.lua

Above command will run until the script exits. To return immediately add the ``-a`` option.

Requires permission ``UPLOAD_SCRIPT``.


vnxpasswd
---------

To change / set a password:

.. code-block:: sh
	
	vnxpasswd -c config/local/ -u neo-admin


vnxservice
----------

To call a method on a module:

.. code-block:: sh
	
	vnxservice -n localhost:5555 -u neo-user -x HybridPlanner move_to_station Station1 {"max_velocity": 0.5}

To get an overview of available methods:

.. code-block:: sh
	
	vnxservice -n localhost:5555 -i HybridPlanner


vnxread
-------

To convert a ``*.dat``, ``*.grid`` or ``*.road`` file to JSON:

.. code-block:: sh
	
	vnxread -f my_road_map.road


vnxgraph
--------

If you have `graphviz` installed, you can visualize the running modules and their topics.

To create a graph of a running VNX process:

.. code-block:: sh
	
	vnxgraph -n localhost:5555 > graph.dot
	dot -Tsvg graph.dot > graph.svg