From 5039808c1c648f3aedf81e9e5fc2762d38c4d171 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 30 Apr 2009 23:59:34 +0200 Subject: * digital/io/tools, host/simu: - added distance sensors and obstacles. --- digital/io/tools/test_simu.py | 23 +++++++++++++++++++---- 1 file changed, 19 insertions(+), 4 deletions(-) (limited to 'digital/io/tools') diff --git a/digital/io/tools/test_simu.py b/digital/io/tools/test_simu.py index 158b006e..16114c5b 100644 --- a/digital/io/tools/test_simu.py +++ b/digital/io/tools/test_simu.py @@ -32,7 +32,12 @@ import io import io.init from proto.popen_io import PopenIO +import simu.model.table as table_model import simu.view.table_eurobot2008 as table + +import simu.model.round_obstacle as obstacle_model +import simu.view.round_obstacle as obstacle_view + import simu.robots.giboulee.link.bag as robot_link import simu.robots.giboulee.model.bag as robot_model import simu.robots.giboulee.view.bag as robot_view @@ -66,14 +71,19 @@ class TestSimu (InterNode): self.io.async = True self.tk.createfilehandler (self.io, READABLE, self.io_read) # Add table. - self.table = table.Table (self.table_view) + self.table_model = table_model.Table () + self.table = table.Table (self.table_view, self.table_model) + self.obstacle = obstacle_model.RoundObstacle (150) + self.table_model.obstacles.append (self.obstacle) + self.obstacle_view = obstacle_view.RoundObstacle (self.table, + self.obstacle) + self.table_view.bind ('<2>', self.place_obstacle) # Add robot. self.robot_link = robot_link.Bag (self.node) - self.robot_model = robot_model.Bag (self.robot_link) + self.robot_model = robot_model.Bag (self.node, self.table_model, + self.robot_link) self.robot_view = robot_view.Bag (self.table, self.actuator_view, self.sensor_frame, self.robot_model) - for adc in self.robot_link.io.adc: - adc.value = 0 # Color switch. self.robot_model.color_switch.register (self.change_color) self.change_color () @@ -104,6 +114,11 @@ class TestSimu (InterNode): i = self.robot_model.color_switch.state self.asserv.set_simu_pos (*self.robot_start_pos[i]); + def place_obstacle (self, ev): + pos = self.table_view.screen_coord ((ev.x, ev.y)) + self.obstacle.pos = pos + self.obstacle.notify () + if __name__ == '__main__': app = TestSimu (('../../asserv/src/asserv/asserv.host', '-m', 'giboulee'), ('../src/io.host')) -- cgit v1.2.3