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authorNicolas Schodet2011-05-06 23:51:45 +0200
committerNicolas Schodet2011-05-07 00:43:56 +0200
commitc3f8b56ef5a44d0569566497b2a24550842c7512 (patch)
tree1e0cdc457dde8cfa040f48cb8b766b9796c7d9f6 /digital/io
parent554c4baf249f68bb8f716af97cbf23daad73ef5c (diff)
digital/{ai,io}: move simu test script
Diffstat (limited to 'digital/io')
-rw-r--r--digital/io/tools/marcel.py39
-rw-r--r--digital/io/tools/robospierre.py39
-rw-r--r--digital/io/tools/test_simu.py151
-rw-r--r--digital/io/tools/test_simu_control_marcel.py108
-rw-r--r--digital/io/tools/test_simu_control_robospierre.py101
5 files changed, 0 insertions, 438 deletions
diff --git a/digital/io/tools/marcel.py b/digital/io/tools/marcel.py
deleted file mode 100644
index 8453dc75..00000000
--- a/digital/io/tools/marcel.py
+++ /dev/null
@@ -1,39 +0,0 @@
-import simu.model.table_eurobot2010
-import simu.view.table_eurobot2010
-
-import simu.robots.marcel.link.bag
-import simu.robots.marcel.model.bag
-import simu.robots.marcel.view.bag
-
-import asserv
-import asserv.init
-import mimot
-import mimot.init
-import io
-import io.init
-
-from proto.popen_io import PopenIO
-import math
-
-class Robot:
-
- def __init__ (self, proto_time):
- self.table_model = simu.model.table_eurobot2010
- self.table_view = simu.view.table_eurobot2010
- self.robot_link = simu.robots.marcel.link.bag
- self.robot_model = simu.robots.marcel.model.bag
- self.robot_view = simu.robots.marcel.view.bag
- asserv_cmd = ('../../asserv/src/asserv/asserv.host', '-m9', 'marcel')
- mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel')
- io_cmd = ('../src/io.host')
- self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time,
- **asserv.init.host)
- self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time,
- **mimot.init.host)
- self.io = io.Proto (PopenIO (io_cmd), proto_time,
- **io.init.host)
- self.robot_start_pos = {
- False: (300, 2100 - 305, math.radians (-270)),
- True: (3000 - 300, 2100 - 305, math.radians (-270))
- }
-
diff --git a/digital/io/tools/robospierre.py b/digital/io/tools/robospierre.py
deleted file mode 100644
index 948faa8c..00000000
--- a/digital/io/tools/robospierre.py
+++ /dev/null
@@ -1,39 +0,0 @@
-import simu.model.table_eurobot2011
-import simu.view.table_eurobot2011
-
-import simu.robots.robospierre.link.bag
-import simu.robots.robospierre.model.bag
-import simu.robots.robospierre.view.bag
-
-import asserv
-import asserv.init
-import mimot
-import mimot.init
-import io
-import io.init
-
-from proto.popen_io import PopenIO
-import math
-
-class Robot:
-
- def __init__ (self, proto_time):
- self.table_model = simu.model.table_eurobot2011
- self.table_view = simu.view.table_eurobot2011
- self.robot_link = simu.robots.robospierre.link.bag
- self.robot_model = simu.robots.robospierre.model.bag
- self.robot_view = simu.robots.robospierre.view.bag
- asserv_cmd = ('../../asserv/src/asserv/asserv.host', '-m9', 'marcel')
- mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel')
- io_cmd = ('../src/io.host')
- self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time,
- **asserv.init.host)
- self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time,
- **mimot.init.host)
- self.io = io.Proto (PopenIO (io_cmd), proto_time,
- **io.init.host)
- self.robot_start_pos = {
- False: (700, 2100 - 250, math.radians (-270)),
- True: (3000 - 700, 2100 - 250, math.radians (-270))
- }
-
diff --git a/digital/io/tools/test_simu.py b/digital/io/tools/test_simu.py
deleted file mode 100644
index 80008bb9..00000000
--- a/digital/io/tools/test_simu.py
+++ /dev/null
@@ -1,151 +0,0 @@
-# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
-#
-# Copyright (C) 2008 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.
-#
-# }}}
-import mex.hub
-import utils.forked
-
-import simu.model.round_obstacle as obstacle_model
-import simu.view.round_obstacle as obstacle_view
-
-from simu.inter.inter_node import InterNode
-from Tkinter import *
-
-class ObstacleWithBeacon (obstacle_view.RoundObstacle):
-
- def __init__ (self, onto, model, beacon_model):
- obstacle_view.RoundObstacle.__init__ (self, onto, model)
- self.beacon_model = beacon_model
-
- def __notified (self):
- self.pos = self.model.pos
- self.update ()
-
- def draw (self):
- obstacle_view.RoundObstacle.draw (self)
- if self.pos:
- self.draw_circle ((0, 0), self.beacon_model.radius,
- fill = '#505050')
-
-class TestSimu (InterNode):
- """Interface, with simulated programs."""
-
- def __init__ (self, robot_class):
- # Hub.
- self.hub = mex.hub.Hub (min_clients = 4)
- self.forked_hub = utils.forked.Forked (self.hub.wait)
- # InterNode.
- InterNode.__init__ (self)
- def proto_time ():
- return self.node.date / self.node.tick
- # Robot parameters.
- robot = robot_class (proto_time)
- self.robot = robot
- # Asserv.
- self.asserv = robot.asserv
- self.asserv.async = True
- self.tk.createfilehandler (self.asserv, READABLE, self.asserv_read)
- # Mimot.
- self.mimot = robot.mimot
- self.mimot.async = True
- self.tk.createfilehandler (self.mimot, READABLE, self.mimot_read)
- # Io.
- self.io = robot.io
- self.io.async = True
- self.tk.createfilehandler (self.io, READABLE, self.io_read)
- # Add table.
- self.table_model = robot.table_model.Table ()
- self.table = robot.table_view.Table (self.table_view, self.table_model)
- self.obstacle = obstacle_model.RoundObstacle (150)
- self.table_model.obstacles.append (self.obstacle)
- self.obstacle_beacon = obstacle_model.RoundObstacle (40, 2)
- self.table_model.obstacles.append (self.obstacle_beacon)
- self.obstacle_view = ObstacleWithBeacon (self.table, self.obstacle,
- self.obstacle_beacon)
- self.table_view.bind ('<2>', self.place_obstacle)
- # Add robot.
- self.robot_link = robot.robot_link.Bag (self.node)
- self.robot_model = robot.robot_model.Bag (self.node, self.table_model,
- self.robot_link)
- self.robot_view = robot.robot_view.Bag (self.table,
- self.actuator_view, self.sensor_frame, self.robot_model)
- # Color switch.
- self.robot_model.color_switch.register (self.change_color)
-
- def close (self):
- self.forked_hub.kill ()
- import time
- time.sleep (1)
-
- def asserv_read (self, file, mask):
- self.asserv.proto.read ()
- self.asserv.proto.sync ()
-
- def mimot_read (self, file, mask):
- self.mimot.proto.read ()
- self.mimot.proto.sync ()
-
- def io_read (self, file, mask):
- self.io.proto.read ()
- self.io.proto.sync ()
-
- def step (self):
- """Overide step to handle retransmissions, could be made cleaner using
- simulated time."""
- InterNode.step (self)
- self.asserv.proto.sync ()
- self.mimot.proto.sync ()
- self.io.proto.sync ()
-
- def change_color (self, *dummy):
- i = self.robot_model.color_switch.state
- self.asserv.set_simu_pos (*self.robot.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_beacon.pos = pos
- self.obstacle.notify ()
- self.obstacle_beacon.notify ()
-
-def run (default_robot, test_class = TestSimu):
- import optparse
- parser = optparse.OptionParser ()
- parser.add_option ('-r', '--robot', help = "use specified robot",
- metavar = 'NAME', default = default_robot)
- (options, args) = parser.parse_args ()
- if args:
- parser.error ("too many arguments")
- if options.robot == 'marcel':
- import marcel
- robot = marcel.Robot
- elif options.robot == 'robospierre':
- import robospierre
- robot = robospierre.Robot
- else:
- parser.error ("unknown robot")
- app = test_class (robot)
- app.mainloop ()
- app.close ()
-
-if __name__ == '__main__':
- run ('marcel')
diff --git a/digital/io/tools/test_simu_control_marcel.py b/digital/io/tools/test_simu_control_marcel.py
deleted file mode 100644
index 2a43b7bb..00000000
--- a/digital/io/tools/test_simu_control_marcel.py
+++ /dev/null
@@ -1,108 +0,0 @@
-# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
-#
-# Copyright (C) 2009 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.
-#
-# }}}
-from test_simu import TestSimu, run
-from Tkinter import *
-import math
-
-class TestSimuControl (TestSimu):
- """Interface with extra control."""
-
- def __init__ (self, robot_class):
- TestSimu.__init__ (self, robot_class)
-
- def create_widgets (self):
- TestSimu.create_widgets (self)
- self.control_frame = Frame (self)
- self.control_frame.pack (side = 'left', before = self.table_view,
- fill = 'y')
- self.clamp_var = IntVar ()
- self.clamp_button = Checkbutton (self.control_frame, text = 'Clamp',
- indicatoron = False,
- variable = self.clamp_var, command = self.clamp_command)
- self.clamp_button.pack ()
- self.elevator_var = IntVar ()
- self.elevator_button = Checkbutton (self.control_frame,
- text = 'Elevator', indicatoron = False,
- variable = self.elevator_var, command = self.elevator_command)
- self.elevator_button.pack ()
- self.gate_var = IntVar ()
- self.gate_button = Checkbutton (self.control_frame,
- text = 'Gate', indicatoron = False,
- variable = self.gate_var, command = self.gate_command)
- self.gate_button.pack ()
- self.loader_up_button = Button (self.control_frame,
- text = 'Loader up', padx = 0, pady = 0,
- command = self.loader_up_command)
- self.loader_up_button.pack ()
- self.loader_down_button = Button (self.control_frame,
- text = 'Loader down', padx = 0, pady = 0,
- command = self.loader_down_command)
- self.loader_down_button.pack ()
- self.table_view.bind ('<1>', self.move)
- self.table_view.bind ('<3>', self.orient)
-
- def move (self, ev):
- pos = self.table_view.screen_coord ((ev.x, ev.y))
- self.asserv.goto (pos[0], pos[1])
-
- def orient (self, ev):
- x, y = self.table_view.screen_coord ((ev.x, ev.y))
- robot_pos = self.robot_model.position.pos
- if robot_pos is not None:
- a = math.atan2 (y - robot_pos[1], x - robot_pos[0])
- self.asserv.goto_angle (a)
-
- def clamp_command (self):
- if self.clamp_var.get ():
- self.mimot.clamp ('a0', 0x60, 0x100)
- self.mimot.clamp ('a1', 0x60, 0x100)
- else:
- self.mimot.goto_pos ('a0', 0)
- self.mimot.goto_pos ('a1', 0)
-
- def elevator_command (self):
- if self.elevator_var.get ():
- pos = 7089
- else:
- pos = 0
- self.asserv.goto_pos ('a0', pos)
-
- def gate_command (self):
- if self.gate_var.get ():
- pos = -0x1d6b
- else:
- pos = 0
- self.asserv.goto_pos ('a1', pos)
-
- def loader_up_command (self):
- self.io.loader ('u')
-
- def loader_down_command (self):
- self.io.loader ('d')
-
- def change_color (self, *dummy):
- pass
-
-if __name__ == '__main__':
- run ('marcel', TestSimuControl)
diff --git a/digital/io/tools/test_simu_control_robospierre.py b/digital/io/tools/test_simu_control_robospierre.py
deleted file mode 100644
index 9da57196..00000000
--- a/digital/io/tools/test_simu_control_robospierre.py
+++ /dev/null
@@ -1,101 +0,0 @@
-# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
-#
-# Copyright (C) 2011 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.
-#
-# }}}
-from test_simu import TestSimu, run
-from Tkinter import *
-import math
-
-class TestSimuControl (TestSimu):
- """Interface with extra control."""
-
- ELEVATION_STROKE = 0x3b0b
-
- ROTATION_STROKE = 0x11c6
-
- def __init__ (self, robot_class):
- TestSimu.__init__ (self, robot_class)
-
- def create_widgets (self):
- TestSimu.create_widgets (self)
- self.control_frame = Frame (self)
- self.control_frame.pack (side = 'left', before = self.table_view,
- fill = 'y')
- self.clamp_var = IntVar ()
- self.clamp_var.set (1)
- self.clamp_button = Checkbutton (self.control_frame, text = 'Clamp',
- indicatoron = False,
- variable = self.clamp_var, command = self.clamp_command)
- self.clamp_button.pack ()
- self.elevation_up_button = Button (self.control_frame,
- text = 'Elevation up', padx = 0, pady = 0,
- command = self.elevation_up_command)
- self.elevation_up_button.pack ()
- self.elevation_down_button = Button (self.control_frame,
- text = 'Elevation down', padx = 0, pady = 0,
- command = self.elevation_down_command)
- self.elevation_down_button.pack ()
- self.rotation_cw_button = Button (self.control_frame,
- text = 'Rotation cw', padx = 0, pady = 0,
- command = self.rotation_cw_command)
- self.rotation_cw_button.pack ()
- self.rotation_ccw_button = Button (self.control_frame,
- text = 'Rotation ccw', padx = 0, pady = 0,
- command = self.rotation_ccw_command)
- self.rotation_ccw_button.pack ()
- self.table_view.bind ('<1>', self.move)
- self.table_view.bind ('<3>', self.orient)
-
- def move (self, ev):
- pos = self.table_view.screen_coord ((ev.x, ev.y))
- self.asserv.goto (pos[0], pos[1])
-
- def orient (self, ev):
- x, y = self.table_view.screen_coord ((ev.x, ev.y))
- robot_pos = self.robot_model.position.pos
- if robot_pos is not None:
- a = math.atan2 (y - robot_pos[1], x - robot_pos[0])
- self.asserv.goto_angle (a)
-
- def clamp_command (self):
- if self.clamp_var.get ():
- self.io.pwm_set (-0x7fff, 255)
- else:
- self.io.pwm_set (0x7fff, 255)
-
- def elevation_up_command (self):
- self.mimot.speed_pos ('a0', self.ELEVATION_STROKE / 2)
-
- def elevation_down_command (self):
- self.mimot.speed_pos ('a0', -self.ELEVATION_STROKE / 2)
-
- def rotation_cw_command (self):
- self.mimot.speed_pos ('a1', self.ROTATION_STROKE / 2)
-
- def rotation_ccw_command (self):
- self.mimot.speed_pos ('a1', -self.ROTATION_STROKE / 2)
-
- def change_color (self, *dummy):
- pass
-
-if __name__ == '__main__':
- run ('robospierre', TestSimuControl)