From 80b3da91dac28a5895a8cb9f0477a7008365dd56 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 1 Apr 2010 23:57:20 +0200 Subject: digital/io: wipe-out old robot code, closes #112 --- digital/io/tools/test_simu.py | 124 ++++++++++++++++++++++++++++++++ digital/io/tools/test_simu_aquajim.py | 126 --------------------------------- digital/io/tools/test_simu_control.py | 38 +--------- digital/io/tools/test_simu_giboulee.py | 124 -------------------------------- 4 files changed, 126 insertions(+), 286 deletions(-) create mode 100644 digital/io/tools/test_simu.py delete mode 100644 digital/io/tools/test_simu_aquajim.py delete mode 100644 digital/io/tools/test_simu_giboulee.py (limited to 'digital/io/tools') diff --git a/digital/io/tools/test_simu.py b/digital/io/tools/test_simu.py new file mode 100644 index 00000000..081d8ec7 --- /dev/null +++ b/digital/io/tools/test_simu.py @@ -0,0 +1,124 @@ +# 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_eurobot2010 as table_model +import simu.view.table_eurobot2010 as table + +import simu.model.round_obstacle as obstacle_model +import simu.view.round_obstacle as obstacle_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 + +from simu.inter.inter_node import InterNode +from Tkinter import * + +class TestSimu (InterNode): + """Interface, with simulated programs.""" + + robot_start_pos = { + False: (300, 2100 - 305, math.radians (-270)), + True: (3000 - 300, 2100 - 305, math.radians (-270)) + } + + 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) + + 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', '-m9', 'marcel'), + ('../src/io.host')) + app.mainloop () diff --git a/digital/io/tools/test_simu_aquajim.py b/digital/io/tools/test_simu_aquajim.py deleted file mode 100644 index 44953a42..00000000 --- a/digital/io/tools/test_simu_aquajim.py +++ /dev/null @@ -1,126 +0,0 @@ -# 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_eurobot2009 as table_model -import simu.view.table_eurobot2009 as table - -import simu.model.round_obstacle as obstacle_model -import simu.view.round_obstacle as obstacle_view - -import simu.robots.aquajim.link.bag as robot_link -import simu.robots.aquajim.model.bag as robot_model -import simu.robots.aquajim.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: (300, 2100 - 305, math.radians (-270)), - True: (3000 - 300, 2100 - 305, math.radians (-270)) - } - - 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) - # Unused ADC. - self.robot_link.io.adc[5].value = 0 - # Color switch. - self.robot_model.color_switch.register (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', '-m9', 'aquajim'), - ('../src/io.host')) - app.mainloop () diff --git a/digital/io/tools/test_simu_control.py b/digital/io/tools/test_simu_control.py index a3c5fd49..b3123492 100644 --- a/digital/io/tools/test_simu_control.py +++ b/digital/io/tools/test_simu_control.py @@ -21,7 +21,7 @@ # Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. # # }}} -from test_simu_aquajim import TestSimu +from test_simu import TestSimu from Tkinter import * import math @@ -36,25 +36,6 @@ class TestSimuControl (TestSimu): self.control_frame = Frame (self) self.control_frame.pack (side = 'left', before = self.table_view, fill = 'y') - self.cylinder_button = Button (self.control_frame, text = 'Cylinder', - command = self.cylinder_command) - self.cylinder_button.pack () - self.door_var = IntVar () - self.door_button = Checkbutton (self.control_frame, text = 'Door', - indicatoron = False, - variable = self.door_var, command = self.door_command) - self.door_button.pack () - self.finger_var = IntVar () - self.finger_button = Checkbutton (self.control_frame, text = 'Finger', - indicatoron = False, - variable = self.finger_var, command = self.finger_command) - self.finger_button.pack () - self.elevator_door_var = IntVar () - self.elevator_door_button = Checkbutton (self.control_frame, - text = 'Elevator Door', indicatoron = False, - variable = self.elevator_door_var, - command = self.elevator_door_command) - self.elevator_door_button.pack () self.table_view.bind ('<1>', self.move) self.table_view.bind ('<3>', self.orient) @@ -69,25 +50,10 @@ class TestSimuControl (TestSimu): a = math.atan2 (y - robot_pos[1], x - robot_pos[0]) self.asserv.goto_angle (a) - def cylinder_command (self): - self.asserv.speed_pos ('a0', 5333 / 3) - - def door_command (self): - door_pos = self.door_var.get () - self.io.servo_pos (0, door_pos) - - def finger_command (self): - finger_pos = self.finger_var.get () - self.io.servo_pos (1, finger_pos) - - def elevator_door_command (self): - elevator_door_pos = self.elevator_door_var.get () - self.io.pwm_set (elevator_door_pos == 1 and 512 or -512, 225) - def change_color (self, *dummy): pass if __name__ == '__main__': app = TestSimuControl (('../../asserv/src/asserv/asserv.host', '-m9', - 'aquajim'), ('../src/io.host')) + 'marcel'), ('../src/io.host')) app.mainloop () diff --git a/digital/io/tools/test_simu_giboulee.py b/digital/io/tools/test_simu_giboulee.py deleted file mode 100644 index eacaccf8..00000000 --- a/digital/io/tools/test_simu_giboulee.py +++ /dev/null @@ -1,124 +0,0 @@ -# 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) - - 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