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-rw-r--r--digital/ai/tools/test_simu.py14
-rw-r--r--digital/ai/tools/test_simu_control_guybrush.py6
-rw-r--r--digital/ai/tools/test_simu_control_marcel.py6
-rw-r--r--digital/ai/tools/test_simu_control_robospierre.py6
4 files changed, 14 insertions, 18 deletions
diff --git a/digital/ai/tools/test_simu.py b/digital/ai/tools/test_simu.py
index d55417a5..11ea1b17 100644
--- a/digital/ai/tools/test_simu.py
+++ b/digital/ai/tools/test_simu.py
@@ -49,7 +49,8 @@ class ObstacleWithBeacon (obstacle_view.RoundObstacle):
class TestSimu (InterNode):
"""Interface, with simulated programs."""
- def __init__ (self, robot_class, robot_nb = 1, color_switch = True):
+ def __init__ (self, robot_class, robot_nb = 1,
+ color_switch_set_pos = False):
# Hub.
self.hub = mex.hub.Hub (min_clients = 1 + robot_class.client_nb
* robot_nb)
@@ -86,11 +87,12 @@ class TestSimu (InterNode):
r.view = r.robot_view.Bag (self.table, self.actuator_view,
self.sensor_frame, r.model)
# Color switch.
- if color_switch:
- def change_color (r = r):
- i = r.model.color_switch.state
- r.asserv.set_simu_pos (*r.robot_start_pos[i])
- r.model.color_switch.register (change_color)
+ def change_color (r = r):
+ i = r.model.color_switch.state
+ r.asserv.set_simu_pos (*r.robot_start_pos[i])
+ if color_switch_set_pos:
+ r.asserv.set_pos (*r.robot_start_pos[i])
+ r.model.color_switch.register (change_color)
def close (self):
self.forked_hub.kill ()
diff --git a/digital/ai/tools/test_simu_control_guybrush.py b/digital/ai/tools/test_simu_control_guybrush.py
index 321b0d86..6d742e90 100644
--- a/digital/ai/tools/test_simu_control_guybrush.py
+++ b/digital/ai/tools/test_simu_control_guybrush.py
@@ -33,7 +33,8 @@ class TestSimuControl (TestSimu):
LOWER_CLAMP_ROTATION_STROKE = int (16 * 250)
def __init__ (self, robot_class, *args):
- TestSimu.__init__ (self, robot_class, *args, color_switch = False)
+ TestSimu.__init__ (self, robot_class, *args,
+ color_switch_set_pos = True)
self.io = self.robots[0].io
self.asserv = self.robots[0].asserv
self.mimot = self.robots[0].mimot
@@ -90,8 +91,5 @@ class TestSimuControl (TestSimu):
def lower_clamp_rotate_command (self):
self.mimot.speed_pos ('a0', self.LOWER_CLAMP_ROTATION_STROKE / 2)
- def change_color (self, *dummy):
- pass
-
if __name__ == '__main__':
run ('guybrush', TestSimuControl)
diff --git a/digital/ai/tools/test_simu_control_marcel.py b/digital/ai/tools/test_simu_control_marcel.py
index 3d25592c..b2832479 100644
--- a/digital/ai/tools/test_simu_control_marcel.py
+++ b/digital/ai/tools/test_simu_control_marcel.py
@@ -29,7 +29,8 @@ class TestSimuControl (TestSimu):
"""Interface with extra control."""
def __init__ (self, robot_class, *args):
- TestSimu.__init__ (self, robot_class, *args, color_switch = False)
+ TestSimu.__init__ (self, robot_class, *args,
+ color_switch_set_pos = True)
self.io = self.robots[0].io
self.asserv = self.robots[0].asserv
self.mimot = self.robots[0].mimot
@@ -105,8 +106,5 @@ class TestSimuControl (TestSimu):
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/ai/tools/test_simu_control_robospierre.py b/digital/ai/tools/test_simu_control_robospierre.py
index afe60f74..a75ba9c7 100644
--- a/digital/ai/tools/test_simu_control_robospierre.py
+++ b/digital/ai/tools/test_simu_control_robospierre.py
@@ -33,7 +33,8 @@ class TestSimuControl (TestSimu):
ROTATION_STROKE = 0x233e
def __init__ (self, robot_class, *args):
- TestSimu.__init__ (self, robot_class, *args, color_switch = False)
+ TestSimu.__init__ (self, robot_class, *args,
+ color_switch_set_pos = True)
self.io = self.robots[0].io
self.asserv = self.robots[0].asserv
self.mimot = self.robots[0].mimot
@@ -152,8 +153,5 @@ class TestSimuControl (TestSimu):
order = 'drop_clear'
self.io.drop (order)
- def change_color (self, *dummy):
- pass
-
if __name__ == '__main__':
run ('robospierre', TestSimuControl)