# 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 mimot import mimot.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 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.""" robot_start_pos = { False: (300, 2100 - 305, math.radians (-270)), True: (3000 - 300, 2100 - 305, math.radians (-270)) } def __init__ (self, asserv_cmd, mimot_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) # Mimot. self.mimot = mimot.Proto (PopenIO (mimot_cmd), time, **mimot.init.host) self.mimot.async = True self.tk.createfilehandler (self.mimot, READABLE, self.mimot_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_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_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) 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_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 () if __name__ == '__main__': app = TestSimu (('../../asserv/src/asserv/asserv.host', '-m9', 'marcel'), ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel'), ('../src/io.host')) app.mainloop () app.close ()