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-rw-r--r--digital/ai/tools/marcel.py39
-rw-r--r--digital/ai/tools/robospierre.py39
-rw-r--r--digital/ai/tools/test_simu.py151
-rw-r--r--digital/ai/tools/test_simu_control_marcel.py108
-rw-r--r--digital/ai/tools/test_simu_control_robospierre.py101
5 files changed, 438 insertions, 0 deletions
diff --git a/digital/ai/tools/marcel.py b/digital/ai/tools/marcel.py
new file mode 100644
index 00000000..32995326
--- /dev/null
+++ b/digital/ai/tools/marcel.py
@@ -0,0 +1,39 @@
+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 = ('../../io/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/ai/tools/robospierre.py b/digital/ai/tools/robospierre.py
new file mode 100644
index 00000000..23fb19a3
--- /dev/null
+++ b/digital/ai/tools/robospierre.py
@@ -0,0 +1,39 @@
+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 = ('../../io/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/ai/tools/test_simu.py b/digital/ai/tools/test_simu.py
new file mode 100644
index 00000000..80008bb9
--- /dev/null
+++ b/digital/ai/tools/test_simu.py
@@ -0,0 +1,151 @@
+# 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/ai/tools/test_simu_control_marcel.py b/digital/ai/tools/test_simu_control_marcel.py
new file mode 100644
index 00000000..2a43b7bb
--- /dev/null
+++ b/digital/ai/tools/test_simu_control_marcel.py
@@ -0,0 +1,108 @@
+# 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/ai/tools/test_simu_control_robospierre.py b/digital/ai/tools/test_simu_control_robospierre.py
new file mode 100644
index 00000000..9da57196
--- /dev/null
+++ b/digital/ai/tools/test_simu_control_robospierre.py
@@ -0,0 +1,101 @@
+# 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)