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-# 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 as table_model
-import simu.view.table_eurobot2008 as table
-
-import simu.model.round_obstacle as obstacle_model
-import simu.view.round_obstacle as obstacle_view
-
-import simu.robots.giboulee.link.bag as robot_link
-import simu.robots.giboulee.model.bag as robot_model
-import simu.robots.giboulee.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', 'giboulee'),
- ('../src/io.host'))
- app.mainloop ()