How to use the pypot.server.httpserver.PoppyRequestHandler function in pypot

class StartPrimitiveHandler(PoppyRequestHandler):
    def get(self, primitive_name):
        self.restful_robot.start_primitive(primitive_name)


class StopPrimitiveHandler(PoppyRequestHandler):
    def get(self, primitive_name):
        self.restful_robot.stop_primitive(primitive_name)


class PausePrimitiveHandler(PoppyRequestHandler):
    def get(self, primitive_name):
        self.restful_robot.pause_primitive(primitive_name)


class ResumePrimitiveHandler(PoppyRequestHandler):
    def get(self, primitive_name):
        self.restful_robot.resume_primitive(primitive_name)


class PrimitivePropertiesListHandler(PoppyRequestHandler):
    def get(self, primitive_name):
        self.write_json({
            'property': self.restful_robot.get_primitive_properties_list(primitive_name)
        })


class PrimitivePropertyHandler(PoppyRequestHandler):
    def get(self, primitive_name, prop):
        response = self.restful_robot.get_primitive_property(primitive_name, prop)
        self.write_json({
            '{}.{}'.format(primitive_name, prop): response

class SensorsListHandler(PoppyRequestHandler):
    def get(self):
        self.write_json({
            'sensors': self.restful_robot.get_sensors_list()
        })


class MotorsAliasesListHandler(PoppyRequestHandler):
    def get(self):
        self.write_json({
            'alias': self.restful_robot.get_motors_alias()
        })


class MotorRegistersListHandler(PoppyRequestHandler):
    def get(self, motor_name):
        self.write_json({
            'registers': self.restful_robot.get_motor_registers_list(motor_name)
        })


class MotorRegisterHandler(PoppyRequestHandler):
    def get(self, motor_name, register_name):
        self.write_json({
            register_name: self.restful_robot.get_motor_register_value(motor_name, register_name)
        })


class UpdateMotorRegisterHandler(PoppyRequestHandler):
    def post(self, motor_name, register_name):
        data = json.loads(self.request.body.decode())

class MotorRegisterHandler(PoppyRequestHandler):
    def get(self, motor_name, register_name):
        self.write_json({
            register_name: self.restful_robot.get_motor_register_value(motor_name, register_name)
        })


class UpdateMotorRegisterHandler(PoppyRequestHandler):
    def post(self, motor_name, register_name):
        data = json.loads(self.request.body.decode())
        self.restful_robot.set_motor_register_value(motor_name, register_name, data)
        self.write_json({})


class PrimitivesListHandler(PoppyRequestHandler):
    def get(self):
        self.write_json({
            'primitives': self.restful_robot.get_primitives_list()
        })


class RunningPrimitivesListHandler(PoppyRequestHandler):
    def get(self):
        self.write_json({
            'running_primitives': self.restful_robot.get_running_primitives_list()
        })


class StartPrimitiveHandler(PoppyRequestHandler):
    def get(self, primitive_name):
        self.restful_robot.start_primitive(primitive_name)

every OPTIONS request."""

    def set_default_headers(self):
        self.set_header('Cache-control', 'no-store')
        self.set_header('Access-Control-Allow-Origin', '*')
        self.set_header('Access-Control-Allow-Headers', 'Origin, Accept, Content-Type, X-Requested-With, X-CSRF-Token')
        self.set_header('Access-Control-Allow-Methods', 'GET, POST, PUT, DELETE, OPTIONS')

    def options(self, *args, **kwargs):
        self.set_status(204)

    def write_json(self, obj):
        self.write(json.dumps(obj, cls=MyJSONEncoder))


class IndexHandler(PoppyRequestHandler):
    def get(self, *args):
        out = {
            'motors': [],
            'primitives': []
        }
        for m in self.restful_robot.get_motors_list('motors'):
            motor = {}
            for r in self.restful_robot.get_motor_registers_list(m):
                try:
                    motor[r] = self.restful_robot.get_motor_register_value(m, r)
                except AttributeError:
                    pass
            out['motors'].append(motor)

        running_primitives = self.restful_robot.get_running_primitives_list()
        for prim in self.restful_robot.get_primitives_list():

self.restful_robot.pause_primitive(primitive_name)


class ResumePrimitiveHandler(PoppyRequestHandler):
    def get(self, primitive_name):
        self.restful_robot.resume_primitive(primitive_name)


class PrimitivePropertiesListHandler(PoppyRequestHandler):
    def get(self, primitive_name):
        self.write_json({
            'property': self.restful_robot.get_primitive_properties_list(primitive_name)
        })


class PrimitivePropertyHandler(PoppyRequestHandler):
    def get(self, primitive_name, prop):
        response = self.restful_robot.get_primitive_property(primitive_name, prop)
        self.write_json({
            '{}.{}'.format(primitive_name, prop): response
        })


class SetPrimitivePropertyHandler(PoppyRequestHandler):
    def post(self, primitive_name, prop):
        data = json.loads(self.request.body.decode())
        self.restful_robot.set_primitive_property(primitive_name, prop, data)
        self.set_status(204)


class ListPrimitiveMethodsHandler(PoppyRequestHandler):
    def get(self, primitive_name):

class PrimitivePropertyHandler(PoppyRequestHandler):
    def get(self, primitive_name, prop):
        response = self.restful_robot.get_primitive_property(primitive_name, prop)
        self.write_json({
            '{}.{}'.format(primitive_name, prop): response
        })


class SetPrimitivePropertyHandler(PoppyRequestHandler):
    def post(self, primitive_name, prop):
        data = json.loads(self.request.body.decode())
        self.restful_robot.set_primitive_property(primitive_name, prop, data)
        self.set_status(204)


class ListPrimitiveMethodsHandler(PoppyRequestHandler):
    def get(self, primitive_name):
        self.write_json({
            'methods': self.restful_robot.get_primitive_methods_list(primitive_name)
        })


class CallPrimitiveMethodHandler(PoppyRequestHandler):
    def post(self, primitive_name, method_name):
        data = json.loads(self.request.body.decode())
        response = self.restful_robot.call_primitive_method(primitive_name, method_name, data)
        self.write_json({
            '{}:{}'.format(primitive_name, method_name): response
        })


class MotorsRegistersHandler(PoppyRequestHandler):

def get(self, primitive_name):
        self.write_json({
            'methods': self.restful_robot.get_primitive_methods_list(primitive_name)
        })


class CallPrimitiveMethodHandler(PoppyRequestHandler):
    def post(self, primitive_name, method_name):
        data = json.loads(self.request.body.decode())
        response = self.restful_robot.call_primitive_method(primitive_name, method_name, data)
        self.write_json({
            '{}:{}'.format(primitive_name, method_name): response
        })


class MotorsRegistersHandler(PoppyRequestHandler):
    def get(self, register_name):
        motors_list = self.restful_robot.get_motors_list('motors')
        registers_motors = {}

        for motor_name in motors_list:
            registers_motors[motor_name] = {
                register_name: self.restful_robot.get_motor_register_value(
                    motor_name, register_name)
            }

        self.write_json(registers_motors)


class HTTPRobotServer(AbstractServer):
    """Refer to the REST API for an exhaustive list of the possible routes."""

def make_app(self):
        PoppyRequestHandler.restful_robot = self.restful_robot
        return Application([
            (r'/(robot\.json)?', IndexHandler),
            (r'/motor/alias/list\.json', MotorsAliasesListHandler),
            (r'/motor/(?P[a-zA-Z0-9_]+)/?list\.json', MotorsListHandler),
            (r'/sensor/list\.json', SensorsListHandler),
            (r'/motor/(?P[a-zA-Z0-9_]+)/register/list\.json', MotorRegistersListHandler),
            (r'/sensor/(?P[a-zA-Z0-9_]+)/register/list\.json', MotorRegistersListHandler),

            (r'/motor/(?P[a-zA-Z0-9_]+)/register/(?P[a-zA-Z0-9_]+)/list\.json', MotorRegisterHandler),
            (r'/sensor/(?P[a-zA-Z0-9_]+)/register/(?P[a-zA-Z0-9_]+)/list\.json', MotorRegisterHandler),

            (r'/motor/(?P[a-zA-Z0-9_]+)/register/(?P[a-zA-Z0-9_]+)', MotorRegisterHandler),
            (r'/sensor/(?P[a-zA-Z0-9_]+)/register/(?P[a-zA-Z0-9_]+)', MotorRegisterHandler),

            (r'/motor/(?P[a-zA-Z0-9_]+)/register/(?P[a-zA-Z0-9_]+)/value\.json', UpdateMotorRegisterHandler),
            (r'/sensor/(?P[a-zA-Z0-9_]+)/register/(?P[a-zA-Z0-9_]+)/value\.json', UpdateMotorRegisterHandler),

class MotorRegistersListHandler(PoppyRequestHandler):
    def get(self, motor_name):
        self.write_json({
            'registers': self.restful_robot.get_motor_registers_list(motor_name)
        })


class MotorRegisterHandler(PoppyRequestHandler):
    def get(self, motor_name, register_name):
        self.write_json({
            register_name: self.restful_robot.get_motor_register_value(motor_name, register_name)
        })


class UpdateMotorRegisterHandler(PoppyRequestHandler):
    def post(self, motor_name, register_name):
        data = json.loads(self.request.body.decode())
        self.restful_robot.set_motor_register_value(motor_name, register_name, data)
        self.write_json({})


class PrimitivesListHandler(PoppyRequestHandler):
    def get(self):
        self.write_json({
            'primitives': self.restful_robot.get_primitives_list()
        })


class RunningPrimitivesListHandler(PoppyRequestHandler):
    def get(self):
        self.write_json({

class MotorsListHandler(PoppyRequestHandler):
    def get(self, alias='motors'):
        self.write_json({
            'alias': self.restful_robot.get_motors_list(alias)
        })


class SensorsListHandler(PoppyRequestHandler):
    def get(self):
        self.write_json({
            'sensors': self.restful_robot.get_sensors_list()
        })


class MotorsAliasesListHandler(PoppyRequestHandler):
    def get(self):
        self.write_json({
            'alias': self.restful_robot.get_motors_alias()
        })


class MotorRegistersListHandler(PoppyRequestHandler):
    def get(self, motor_name):
        self.write_json({
            'registers': self.restful_robot.get_motor_registers_list(motor_name)
        })


class MotorRegisterHandler(PoppyRequestHandler):
    def get(self, motor_name, register_name):
        self.write_json({