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-rw-r--r--digital/io-hub/tools/io_hub/apbirthday.py51
-rw-r--r--host/simu/robots/apbirthday/link/bag.py14
2 files changed, 53 insertions, 12 deletions
diff --git a/digital/io-hub/tools/io_hub/apbirthday.py b/digital/io-hub/tools/io_hub/apbirthday.py
new file mode 100644
index 00000000..4e604c21
--- /dev/null
+++ b/digital/io-hub/tools/io_hub/apbirthday.py
@@ -0,0 +1,51 @@
+# io-hub - Modular Input/Output. {{{
+#
+# 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.
+#
+# }}}
+"""Definitions for APBirthday."""
+
+inputs = [
+ 'raw_jack', 'ihm_color', 'ihm_strat', 'ihm_robot_nb',
+ 'ihm_lol', 'ihm_emerg_stop', 'glass_contact',
+ 'cherry_plate_left_contact', 'cherry_plate_right_contact',
+ ]
+outputs = [
+ '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',
+ ]
+gpios = inputs + outputs
+
+outputs_dict = { }
+for i, output in enumerate (outputs):
+ outputs_dict[output] = i
+
+def output_mask (*l):
+ m = 0
+ for output in l:
+ m = m | (1 << outputs_dict[output])
+ return m
diff --git a/host/simu/robots/apbirthday/link/bag.py b/host/simu/robots/apbirthday/link/bag.py
index f2401a21..49f6fe82 100644
--- a/host/simu/robots/apbirthday/link/bag.py
+++ b/host/simu/robots/apbirthday/link/bag.py
@@ -23,6 +23,7 @@
# }}}
"""APBirthday bag of links."""
import io_hub.mex
+import io_hub.apbirthday
import asserv.mex
from simu.link.mex_gpio import MexGpio
from simu.link.mex_adc_channel import MexAdcChannel
@@ -34,18 +35,7 @@ class Bag:
aux_nb = 0)
self.io_hub = io_hub.mex.Mex (node, '%s:io0' % instance, gpios = True,
adc_channels = True)
- gpios = ('raw_jack', 'ihm_color', 'ihm_strat', 'ihm_robot_nb',
- 'ihm_lol', 'ihm_emerg_stop', 'glass_contact',
- 'cherry_plate_left_contact', 'cherry_plate_right_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:
+ for gpio in io_hub.apbirthday.gpios:
setattr (self, gpio, MexGpio (self.io_hub.gpios, gpio))
self.adc_dist = [
MexAdcChannel (self.io_hub.adc_channels, 'dist0'),