From 346abb99346ae7b94d0b2a49cc32f0363aed6018 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 3 May 2009 00:19:46 +0200 Subject: * host/simu: - added AquaJim. --- digital/io/tools/test_simu_giboulee.py | 125 +++++++++++++++++++++++++++++++++ 1 file changed, 125 insertions(+) create mode 100644 digital/io/tools/test_simu_giboulee.py (limited to 'digital/io/tools/test_simu_giboulee.py') diff --git a/digital/io/tools/test_simu_giboulee.py b/digital/io/tools/test_simu_giboulee.py new file mode 100644 index 00000000..16114c5b --- /dev/null +++ b/digital/io/tools/test_simu_giboulee.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 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 () -- cgit v1.2.3