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-rw-r--r--digital/io/tools/test_simu_aquajim.py125
-rw-r--r--digital/io/tools/test_simu_giboulee.py (renamed from digital/io/tools/test_simu.py)0
-rw-r--r--host/simu/robots/aquajim/__init__.py0
-rw-r--r--host/simu/robots/aquajim/link/__init__.py0
-rw-r--r--host/simu/robots/aquajim/link/bag.py33
-rw-r--r--host/simu/robots/aquajim/model/__init__.py0
-rw-r--r--host/simu/robots/aquajim/model/bag.py52
-rw-r--r--host/simu/robots/aquajim/model/sorter.py51
-rw-r--r--host/simu/robots/aquajim/view/__init__.py0
-rw-r--r--host/simu/robots/aquajim/view/arm.py59
-rw-r--r--host/simu/robots/aquajim/view/bag.py46
-rw-r--r--host/simu/robots/aquajim/view/elevator.py49
-rw-r--r--host/simu/robots/aquajim/view/robot.py64
13 files changed, 479 insertions, 0 deletions
diff --git a/digital/io/tools/test_simu_aquajim.py b/digital/io/tools/test_simu_aquajim.py
new file mode 100644
index 00000000..5011c125
--- /dev/null
+++ b/digital/io/tools/test_simu_aquajim.py
@@ -0,0 +1,125 @@
+# 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 math
+
+import mex.hub
+import utils.forked
+
+import asserv
+import asserv.init
+import io
+import io.init
+from proto.popen_io import PopenIO
+
+import simu.model.table_eurobot2009 as table_model
+import simu.view.table_eurobot2009 as table
+
+import simu.model.round_obstacle as obstacle_model
+import simu.view.round_obstacle as obstacle_view
+
+import simu.robots.aquajim.link.bag as robot_link
+import simu.robots.aquajim.model.bag as robot_model
+import simu.robots.aquajim.view.bag as robot_view
+
+from simu.inter.inter_node import InterNode
+from Tkinter import *
+
+class TestSimu (InterNode):
+ """Interface, with simulated programs."""
+
+ robot_start_pos = {
+ False: (200, 2100 - 70, math.radians (-90)),
+ True: (3000 - 200, 2100 - 70, math.radians (-90))
+ }
+
+ def __init__ (self, asserv_cmd, io_cmd):
+ # Hub.
+ self.hub = mex.hub.Hub (min_clients = 2)
+ self.forked_hub = utils.forked.Forked (self.hub.wait)
+ # InterNode.
+ InterNode.__init__ (self)
+ def time ():
+ return self.node.date / self.node.tick
+ # Asserv.
+ self.asserv = asserv.Proto (PopenIO (asserv_cmd), time,
+ **asserv.init.host)
+ self.asserv.async = True
+ self.tk.createfilehandler (self.asserv, READABLE, self.asserv_read)
+ # Io.
+ self.io = io.Proto (PopenIO (io_cmd), time, **io.init.host)
+ self.io.async = True
+ self.tk.createfilehandler (self.io, READABLE, self.io_read)
+ # Add table.
+ 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.node, self.table_model,
+ self.robot_link)
+ self.robot_view = 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)
+ self.change_color ()
+
+ def close (self):
+ self.forked_hub.kill ()
+ import time
+ time.sleep (1)
+ self.asserv.close ()
+ self.io.close ()
+
+ def asserv_read (self, file, mask):
+ self.asserv.proto.read ()
+ self.asserv.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.io.proto.sync ()
+
+ def change_color (self, *dummy):
+ 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', 'aquajim'),
+ ('../src/io.host'))
+ app.mainloop ()
diff --git a/digital/io/tools/test_simu.py b/digital/io/tools/test_simu_giboulee.py
index 16114c5b..16114c5b 100644
--- a/digital/io/tools/test_simu.py
+++ b/digital/io/tools/test_simu_giboulee.py
diff --git a/host/simu/robots/aquajim/__init__.py b/host/simu/robots/aquajim/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/aquajim/__init__.py
diff --git a/host/simu/robots/aquajim/link/__init__.py b/host/simu/robots/aquajim/link/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/aquajim/link/__init__.py
diff --git a/host/simu/robots/aquajim/link/bag.py b/host/simu/robots/aquajim/link/bag.py
new file mode 100644
index 00000000..3cb9e1b2
--- /dev/null
+++ b/host/simu/robots/aquajim/link/bag.py
@@ -0,0 +1,33 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""AquaJim bag of links."""
+import io.mex
+import asserv.mex
+
+class Bag:
+
+ def __init__ (self, node):
+ self.asserv = asserv.mex.Mex (node)
+ self.io = io.mex.Mex (node)
+
diff --git a/host/simu/robots/aquajim/model/__init__.py b/host/simu/robots/aquajim/model/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/aquajim/model/__init__.py
diff --git a/host/simu/robots/aquajim/model/bag.py b/host/simu/robots/aquajim/model/bag.py
new file mode 100644
index 00000000..d8231e6b
--- /dev/null
+++ b/host/simu/robots/aquajim/model/bag.py
@@ -0,0 +1,52 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""AquaJim bag of models."""
+from simu.model.switch import Switch
+from simu.model.position import Position
+from simu.model.distance_sensor_sharps import DistanceSensorSharps
+from simu.robots.aquajim.model.sorter import Sorter
+from math import pi
+
+class Bag:
+
+ def __init__ (self, scheduler, table, link_bag):
+ self.jack = Switch (link_bag.io.jack)
+ self.color_switch = Switch (link_bag.io.color_switch)
+ self.position = Position (link_bag.asserv.position)
+ self.sorter = Sorter (table, link_bag.asserv.aux[0],
+ link_bag.asserv.aux[1], link_bag.io.servo[0:2])
+ self.distance_sensor = [
+ DistanceSensorSharps (link_bag.io.adc[0], scheduler, table,
+ (150, 150), 0, (self.position, )),
+ DistanceSensorSharps (link_bag.io.adc[1], scheduler, table,
+ (150, 0), 0, (self.position, )),
+ DistanceSensorSharps (link_bag.io.adc[2], scheduler, table,
+ (150, -150), 0, (self.position, )),
+ DistanceSensorSharps (link_bag.io.adc[3], scheduler, table,
+ (-150, 100), pi, (self.position, )),
+ DistanceSensorSharps (link_bag.io.adc[4], scheduler, table,
+ (-150, -100), pi, (self.position, )),
+ ]
+ self.path = link_bag.io.path
+
diff --git a/host/simu/robots/aquajim/model/sorter.py b/host/simu/robots/aquajim/model/sorter.py
new file mode 100644
index 00000000..56f1fc3e
--- /dev/null
+++ b/host/simu/robots/aquajim/model/sorter.py
@@ -0,0 +1,51 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""AquaJim pucks sorter."""
+from utils.observable import Observable
+from math import pi
+
+class Sorter (Observable):
+
+ def __init__ (self, table, arm_motor_link, elevator_motor_link, servo_links):
+ Observable.__init__ (self)
+ self.table = table
+ self.arm_motor_link = arm_motor_link
+ self.arm_motor_link.register (self.__arm_motor_notified)
+ self.__arm_motor_notified ()
+ self.elevator_motor_link = elevator_motor_link
+ self.elevator_motor_link.register (self.__elevator_motor_notified)
+ self.__elevator_motor_notified ()
+ self.servo_links = servo_links
+
+ def __arm_motor_notified (self):
+ self.arm_angle = self.arm_motor_link.angle
+ self.notify ()
+
+ def __elevator_motor_notified (self):
+ if self.elevator_motor_link.angle is None:
+ self.elevator_height = None
+ else:
+ self.elevator_height = 150 - self.elevator_motor_link.angle * 5.5
+ self.notify ()
+
diff --git a/host/simu/robots/aquajim/view/__init__.py b/host/simu/robots/aquajim/view/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/aquajim/view/__init__.py
diff --git a/host/simu/robots/aquajim/view/arm.py b/host/simu/robots/aquajim/view/arm.py
new file mode 100644
index 00000000..ee8aaa95
--- /dev/null
+++ b/host/simu/robots/aquajim/view/arm.py
@@ -0,0 +1,59 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""AquaJim arm."""
+from simu.inter.drawable import Drawable
+from math import pi, cos, sin
+
+class Arm (Drawable):
+
+ width = 1
+ height = 1
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+ self.__notified ()
+
+ def __notified (self):
+ self.angle = self.model.arm_angle
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ self.draw_arc ((0, 0), 0.45, start = 7 * pi / 12, extent = 10 * pi / 12,
+ style = 'arc', outline = '#808080')
+ self.draw_arc ((0, 0), 0.45, start = -5 * pi / 12, extent = 10 * pi / 12,
+ style = 'arc', outline = '#808080')
+ self.draw_arc ((0, 0), 0.25, start = -7 * pi / 12, extent = 14 * pi / 12,
+ style = 'arc', outline = '#808080')
+ if self.angle is not None:
+ self.trans_scale (0.4)
+ self.trans_rotate (-self.angle)
+ self.draw_line ((0, 0), (0, 1))
+ self.draw_line ((0, 1), (0.3, 1), arrow = 'last', fill = '#808080')
+ self.draw_line ((0, 0), (cos (pi / 6), -sin (pi / 6)))
+ self.draw_line ((0, 0), (-cos (pi / 6), -sin (pi / 6)))
+ Drawable.draw (self)
+
diff --git a/host/simu/robots/aquajim/view/bag.py b/host/simu/robots/aquajim/view/bag.py
new file mode 100644
index 00000000..c617f381
--- /dev/null
+++ b/host/simu/robots/aquajim/view/bag.py
@@ -0,0 +1,46 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""AquaJim bag of views."""
+from simu.view.switch import Switch
+from simu.view.distance_sensor import DistanceSensor
+from simu.view.path import Path
+from simu.robots.aquajim.view.robot import Robot
+from simu.robots.aquajim.view.arm import Arm
+from simu.robots.aquajim.view.elevator import Elevator
+
+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)
+ self.arm = Arm (actuator_view.add_view (Arm.width, Arm.height),
+ model_bag.sorter)
+ self.elevator = Elevator (actuator_view.add_view (Elevator.width,
+ Elevator.height), model_bag.sorter)
+ self.distance_sensor = [DistanceSensor (self.robot, ds)
+ for ds in model_bag.distance_sensor]
+ self.path = Path (table, model_bag.path)
+
diff --git a/host/simu/robots/aquajim/view/elevator.py b/host/simu/robots/aquajim/view/elevator.py
new file mode 100644
index 00000000..61c87e55
--- /dev/null
+++ b/host/simu/robots/aquajim/view/elevator.py
@@ -0,0 +1,49 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""AquaJim elevator."""
+from simu.inter.drawable import Drawable
+
+class Elevator (Drawable):
+
+ width = 320 / 1.5
+ height = 320
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+ self.__notified ()
+
+ def __notified (self):
+ self.height = self.model.elevator_height
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ self.trans_translate ((-35, -150))
+ self.draw_line ((-10, 300), (-10, 0), (70, 0), fill = '#808080')
+ if self.height is not None:
+ self.trans_translate ((0, self.height))
+ self.draw_line ((0, 150), (0, 0), (70, 0))
+
diff --git a/host/simu/robots/aquajim/view/robot.py b/host/simu/robots/aquajim/view/robot.py
new file mode 100644
index 00000000..8974b179
--- /dev/null
+++ b/host/simu/robots/aquajim/view/robot.py
@@ -0,0 +1,64 @@
+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""AquaJim robot view."""
+import simu.inter.drawable
+
+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)
+ 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_rotate (self.angle)
+ self.trans_translate (self.pos)
+ # Draw robot body.
+ # TODO
+ self.draw_polygon ((150, 150), (150, -150), (-150, -150),
+ (-150, 150), (150, 150))
+ # Draw Robot axis.
+ axes_fill = '#404040'
+ self.draw_line ((-150, 0), (150, 0), fill = axes_fill,
+ arrow = 'last')
+ # Draw Robot wheels.
+ f = 150 # Wheel spacing
+ wr = 63 / 2 # Wheel diameter
+ self.draw_line ((0, +f / 2), (0, -f / 2), fill = axes_fill)
+ self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = axes_fill)
+ self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = axes_fill)
+ # Extends.
+ simu.inter.drawable.Drawable.draw (self)
+