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-rw-r--r--digital/ai/tools/apbirthday.py49
-rw-r--r--digital/ai/tools/test_simu.py3
-rw-r--r--digital/io-hub/tools/io_hub/init.py2
-rw-r--r--digital/io-hub/tools/io_hub/mex.py5
-rw-r--r--host/simu/robots/apbirthday/__init__.py0
-rw-r--r--host/simu/robots/apbirthday/link/__init__.py0
-rw-r--r--host/simu/robots/apbirthday/link/bag.py46
-rw-r--r--host/simu/robots/apbirthday/model/__init__.py0
-rw-r--r--host/simu/robots/apbirthday/model/bag.py40
-rw-r--r--host/simu/robots/apbirthday/view/__init__.py0
-rw-r--r--host/simu/robots/apbirthday/view/bag.py35
-rw-r--r--host/simu/robots/apbirthday/view/robot.py64
12 files changed, 243 insertions, 1 deletions
diff --git a/digital/ai/tools/apbirthday.py b/digital/ai/tools/apbirthday.py
new file mode 100644
index 00000000..13f06959
--- /dev/null
+++ b/digital/ai/tools/apbirthday.py
@@ -0,0 +1,49 @@
+import asserv
+import asserv.init
+import io_hub
+import io_hub.init
+
+from proto.popen_io import PopenIO
+import math
+import subprocess
+
+class Robot:
+ """APBirthday robot instance."""
+
+ import simu.model.table_eurobot2013 as table_model
+ import simu.view.table_eurobot2013 as table_view
+
+ import simu.robots.apbirthday.link.bag as robot_link
+ import simu.robots.apbirthday.model.bag as robot_model
+ import simu.robots.apbirthday.view.bag as robot_view
+
+ # TODO: use right position.
+ robot_start_pos = {
+ False: (250, 2000 - 250, math.radians (0)),
+ True: (3000 - 250, 2000 - 250, math.radians (180))
+ }
+
+ client_nb = 3
+
+ def __init__ (self, proto_time, instance = 'robot0'):
+ self.instance = instance
+ def proto (proto_class, cmd, init):
+ cmd = [ s.format (instance = instance) for s in cmd ]
+ return proto_class (PopenIO (cmd), proto_time, **init)
+ def prog (cmd):
+ cmd = [ s.format (instance = instance) for s in cmd ]
+ subprocess.Popen (cmd)
+ # TODO: use apbirthday model for asserv.
+ asserv_cmd = ('../../mimot/src/asserv/asserv.host',
+ '-i{instance}:asserv0', '-m9', 'guybrush')
+ io_hub_cmd = ('../../io-hub/src/apbirthday/apbirthday.host',
+ '-i{instance}:io0')
+ beacon_stub_cmd = ('../../beacon/src/stub/simu_stub.host',
+ '-i{instance}:beacon0')
+ self.asserv = proto (asserv.Proto, asserv_cmd,
+ asserv.init.host['guybrush'])
+ self.io = proto (io_hub.ProtoGuybrush, io_hub_cmd,
+ io_hub.init.host['apbirthday'])
+ self.beacon_stub = prog (beacon_stub_cmd)
+ self.protos = (self.asserv, self.io)
+
diff --git a/digital/ai/tools/test_simu.py b/digital/ai/tools/test_simu.py
index 330541e2..acb89c5d 100644
--- a/digital/ai/tools/test_simu.py
+++ b/digital/ai/tools/test_simu.py
@@ -142,6 +142,9 @@ def run (default_robot, test_class = TestSimu):
elif options.robot == 'guybrush':
import guybrush
robot = guybrush.Robot
+ elif options.robot == 'apbirthday':
+ import apbirthday
+ robot = apbirthday.Robot
else:
parser.error ("unknown robot")
app = test_class (robot, options.robot_nb)
diff --git a/digital/io-hub/tools/io_hub/init.py b/digital/io-hub/tools/io_hub/init.py
index c9aae2c9..59be1523 100644
--- a/digital/io-hub/tools/io_hub/init.py
+++ b/digital/io-hub/tools/io_hub/init.py
@@ -4,5 +4,7 @@ host = {
),
'guybrush': dict (
),
+ 'apbirthday': dict (
+ ),
}
target = host
diff --git a/digital/io-hub/tools/io_hub/mex.py b/digital/io-hub/tools/io_hub/mex.py
index ba141b99..9ad38a69 100644
--- a/digital/io-hub/tools/io_hub/mex.py
+++ b/digital/io-hub/tools/io_hub/mex.py
@@ -25,6 +25,7 @@
from utils.observable import Observable
import simu.mex.msg
+import simu.link.mex_gpio
ADC_NB = 8
@@ -253,7 +254,7 @@ class Mex:
self.notify ()
def __init__ (self, node, instance = 'io-hub0',
- pwm_nb = 0, contact_nb = 0, output_nb = 0, codebar = False):
+ pwm_nb = 0, contact_nb = 0, output_nb = 0, gpios = False, codebar = False):
self.adc = tuple (self.ADC (node, instance, i) for i in range (0, ADC_NB))
if pwm_nb:
self.pwm = tuple (self.PWM () for i in range (0, pwm_nb))
@@ -266,6 +267,8 @@ class Mex:
self.output = tuple (self.Output () for i in range (0, output_nb))
self.__output_pack = self.Output.Pack (node, instance,
self.output)
+ if gpios:
+ self.gpios = simu.link.mex_gpio.MexGpio.Pack (node, instance)
if codebar:
self.__codebar_pack = self.Codebar.Pack (node, instance)
self.codebar = tuple (self.Codebar (self.__codebar_pack, i)
diff --git a/host/simu/robots/apbirthday/__init__.py b/host/simu/robots/apbirthday/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/apbirthday/__init__.py
diff --git a/host/simu/robots/apbirthday/link/__init__.py b/host/simu/robots/apbirthday/link/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/apbirthday/link/__init__.py
diff --git a/host/simu/robots/apbirthday/link/bag.py b/host/simu/robots/apbirthday/link/bag.py
new file mode 100644
index 00000000..8d3971d5
--- /dev/null
+++ b/host/simu/robots/apbirthday/link/bag.py
@@ -0,0 +1,46 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2013 Nicolas Schodet
+#
+# APBTeam:
+# Web: http://apbteam.org/
+# Email: team AT apbteam DOT org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+#
+# }}}
+"""APBirthday bag of links."""
+import io_hub.mex
+import asserv.mex
+from simu.link.mex_gpio import MexGpio
+
+class Bag:
+
+ def __init__ (self, node, instance = 'robot0'):
+ self.asserv = asserv.mex.Mex (node, '%s:asserv0' % instance,
+ aux_nb = 0)
+ self.io_hub = io_hub.mex.Mex (node, '%s:io0' % instance, gpios = True)
+ gpios = ('raw_jack', 'ihm_color', 'ihm_strat', 'ihm_robot_nb',
+ 'ihm_lol', 'ihm_emerg_stop', 'glass_contact',
+ 'cherry_bad_out', 'cherry_bad_in', 'cherry_plate_up',
+ 'cherry_plate_down', 'cherry_plate_clamp', 'cake_arm_out',
+ 'cake_arm_in', 'cake_push_far_out', 'cake_push_far_in',
+ 'cake_push_near_out', 'cake_push_near_in',
+ 'glass_lower_clamp_close', 'glass_lower_clamp_open',
+ 'glass_upper_clamp_close', 'glass_upper_clamp_open',
+ 'glass_upper_clamp_up', 'glass_upper_clamp_down', 'gift_out',
+ 'gift_in', 'ballon_funny_action', 'pneum_open')
+ for gpio in gpios:
+ setattr (self, gpio, MexGpio (self.io_hub.gpios, gpio))
diff --git a/host/simu/robots/apbirthday/model/__init__.py b/host/simu/robots/apbirthday/model/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/apbirthday/model/__init__.py
diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py
new file mode 100644
index 00000000..aa79f9d4
--- /dev/null
+++ b/host/simu/robots/apbirthday/model/bag.py
@@ -0,0 +1,40 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2013 Nicolas Schodet
+#
+# APBTeam:
+# Web: http://apbteam.org/
+# Email: team AT apbteam DOT org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+#
+# }}}
+"""APBirthday bag of models."""
+from simu.model.switch import Switch
+from simu.model.position import Position
+from simu.model.round_obstacle import RoundObstacle
+import random
+
+class Bag:
+
+ def __init__ (self, scheduler, table, link_bag):
+ self.color_switch = Switch (link_bag.ihm_color, invert = True)
+ self.color_switch.state = random.choice ((False, True))
+ self.color_switch.notify ()
+ self.jack = Switch (link_bag.raw_jack, invert = True)
+ self.beacon = RoundObstacle (40, 5)
+ table.obstacles.append (self.beacon)
+ self.position = Position (link_bag.asserv.position, [ self.beacon ])
+
diff --git a/host/simu/robots/apbirthday/view/__init__.py b/host/simu/robots/apbirthday/view/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/apbirthday/view/__init__.py
diff --git a/host/simu/robots/apbirthday/view/bag.py b/host/simu/robots/apbirthday/view/bag.py
new file mode 100644
index 00000000..8ced9b43
--- /dev/null
+++ b/host/simu/robots/apbirthday/view/bag.py
@@ -0,0 +1,35 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2013 Nicolas Schodet
+#
+# APBTeam:
+# Web: http://apbteam.org/
+# Email: team AT apbteam DOT org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+#
+# }}}
+"""APBirthday bag of views."""
+from simu.view.switch import Switch
+from simu.robots.apbirthday.view.robot import Robot
+
+class Bag:
+
+ def __init__ (self, table, actuator_view, sensor_frame, model_bag):
+ self.jack = Switch (sensor_frame, model_bag.jack, 'Jack')
+ self.color_switch = Switch (sensor_frame, model_bag.color_switch,
+ 'Color')
+ self.robot = Robot (table, model_bag.position)
+
diff --git a/host/simu/robots/apbirthday/view/robot.py b/host/simu/robots/apbirthday/view/robot.py
new file mode 100644
index 00000000..398d34c8
--- /dev/null
+++ b/host/simu/robots/apbirthday/view/robot.py
@@ -0,0 +1,64 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2013 Nicolas Schodet
+#
+# APBTeam:
+# Web: http://apbteam.org/
+# Email: team AT apbteam DOT org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+#
+# }}}
+"""APBirthday robot view."""
+import simu.inter.drawable
+
+COLOR_ROBOT = '#000000'
+COLOR_AXES = '#202040'
+
+class Robot (simu.inter.drawable.Drawable):
+
+ def __init__ (self, onto, position_model):
+ """Construct and make connections."""
+ simu.inter.drawable.Drawable.__init__ (self, onto)
+ self.position_model = position_model
+ self.position_model.register (self.__position_notified)
+
+ def __position_notified (self):
+ """Called on position modifications."""
+ self.pos = self.position_model.pos
+ self.angle = self.position_model.angle
+ self.update ()
+
+ def draw (self):
+ """Draw the robot."""
+ self.reset ()
+ if self.pos is not None:
+ self.trans_translate (self.pos)
+ self.trans_rotate (self.angle)
+ # Draw robot body.
+ self.draw_polygon ((102, 140), (102, -140), (-108, -140),
+ (-108, 70), (-58, 140), fill = COLOR_ROBOT)
+ # Draw Robot axis.
+ self.draw_line ((-50, 0), (50, 0), fill = COLOR_AXES,
+ arrow = 'last')
+ # Draw Robot wheels.
+ f = 190 # Wheel spacing
+ wr = 65 / 2 # Wheel radius
+ self.draw_line ((0, +f / 2), (0, -f / 2), fill = COLOR_AXES)
+ self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = COLOR_AXES)
+ self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = COLOR_AXES)
+ # Extends.
+ simu.inter.drawable.Drawable.draw (self)
+