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-rw-r--r--digital/ai/tools/guybrush.py9
-rw-r--r--digital/ai/tools/test_simu.py3
2 files changed, 11 insertions, 1 deletions
diff --git a/digital/ai/tools/guybrush.py b/digital/ai/tools/guybrush.py
index 0600a494..340d7ef7 100644
--- a/digital/ai/tools/guybrush.py
+++ b/digital/ai/tools/guybrush.py
@@ -7,6 +7,7 @@ import io_hub.init
from proto.popen_io import PopenIO
import math
+import subprocess
class Robot:
"""Guybrush robot instance."""
@@ -23,24 +24,30 @@ class Robot:
True: (3000 - 250, 2000 - 250, math.radians (180))
}
- client_nb = 3
+ client_nb = 4
def __init__ (self, proto_time, instance = 'robot0'):
self.instance = instance
def proto (proto_class, cmd, init):
cmd = [ s.format (instance = instance) for s in cmd ]
return proto_class (PopenIO (cmd), proto_time, **init)
+ def prog (cmd):
+ cmd = [ s.format (instance = instance) for s in cmd ]
+ subprocess.Popen (cmd)
asserv_cmd = ('../../mimot/src/asserv/asserv.host',
'-i{instance}:asserv0', '-m9', 'guybrush')
mimot_cmd = ('../../mimot/src/dirty/dirty.host',
'-i{instance}:mimot0', '-m9', 'guybrush')
io_hub_cmd = ('../../io-hub/src/guybrush/io_hub.host',
'-i{instance}:io0')
+ beacon_stub_cmd = ('../../beacon/src/stub/simu_stub.host',
+ '-i{instance}:beacon0')
self.asserv = proto (asserv.Proto, asserv_cmd,
asserv.init.host['guybrush'])
self.mimot = proto (mimot.Proto, mimot_cmd,
mimot.init.host['guybrush'])
self.io = proto (io_hub.ProtoGuybrush, io_hub_cmd,
io_hub.init.host['guybrush'])
+ self.beacon_stub = prog (beacon_stub_cmd)
self.protos = (self.asserv, self.mimot, self.io)
diff --git a/digital/ai/tools/test_simu.py b/digital/ai/tools/test_simu.py
index fad3ac62..dc8b9481 100644
--- a/digital/ai/tools/test_simu.py
+++ b/digital/ai/tools/test_simu.py
@@ -93,6 +93,9 @@ class TestSimu (InterNode):
if color_switch_set_pos:
r.asserv.set_pos (*r.robot_start_pos[i])
r.model.color_switch.register (change_color)
+ # Beacon system.
+ if hasattr (r.link, 'beacon'):
+ r.link.beacon.position[0].register_to (self.obstacle)
def close (self):
self.forked_hub.kill ()