From 8ddd21a6f3c65cd94b794cb25e6fa74dc20da3cc Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 9 Feb 2012 21:23:47 +0100 Subject: digital/ai/tools, host/simu/robots: simulate several robots --- digital/ai/tools/marcel.py | 58 +++++++++++++++++++++++++--------------------- 1 file changed, 32 insertions(+), 26 deletions(-) (limited to 'digital/ai/tools/marcel.py') diff --git a/digital/ai/tools/marcel.py b/digital/ai/tools/marcel.py index 08314ca3..001eca5e 100644 --- a/digital/ai/tools/marcel.py +++ b/digital/ai/tools/marcel.py @@ -1,10 +1,3 @@ -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 @@ -16,24 +9,37 @@ from proto.popen_io import PopenIO import math class Robot: + """Marcel robot instance.""" + + import simu.model.table_eurobot2010 as table_model + import simu.view.table_eurobot2010 as table_view + + import simu.robots.marcel.link.bag as robot_link + import simu.robots.marcel.model.bag as robot_model + import simu.robots.marcel.view.bag as robot_view + + robot_start_pos = { + False: (300, 2100 - 305, math.radians (-270)), + True: (3000 - 300, 2100 - 305, math.radians (-270)) + } + + client_nb = 3 - 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['marcel']) - self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time, - **mimot.init.host['marcel']) - self.io = io.Proto (PopenIO (io_cmd), proto_time, - **io.init.host['marcel']) - self.robot_start_pos = { - False: (300, 2100 - 305, math.radians (-270)), - True: (3000 - 300, 2100 - 305, math.radians (-270)) - } + 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) + asserv_cmd = ('../../asserv/src/asserv/asserv.host', + '-i{instance}:asserv0', '-m9', 'marcel') + mimot_cmd = ('../../mimot/src/dirty/dirty.host', + '-i{instance}:mimot0', '-m9', 'marcel') + io_cmd = ('../../io/src/io.host', '-i{instance}:io0') + self.asserv = proto (asserv.Proto, asserv_cmd, + asserv.init.host['marcel']) + self.mimot = proto (mimot.Proto, mimot_cmd, + mimot.init.host['marcel']) + self.io = proto (io.Proto, io_cmd, + io.init.host['marcel']) + self.protos = (self.asserv, self.mimot, self.io) -- cgit v1.2.3