summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
authorNicolas Schodet2011-04-30 15:19:57 +0200
committerNicolas Schodet2011-04-30 15:19:57 +0200
commitecdce887d87139db2e869e72918b4b5be8da5e67 (patch)
treeac33a9129f82e0ddc930b99498968f0a2fe6966f
parent9c9f35753489cba5a61816104ac294857be20941 (diff)
digital/io/tools: move robot specific code to separated file
-rw-r--r--digital/io/tools/marcel.py39
-rw-r--r--digital/io/tools/test_simu.py74
-rw-r--r--digital/io/tools/test_simu_control.py13
3 files changed, 76 insertions, 50 deletions
diff --git a/digital/io/tools/marcel.py b/digital/io/tools/marcel.py
new file mode 100644
index 00000000..8453dc75
--- /dev/null
+++ b/digital/io/tools/marcel.py
@@ -0,0 +1,39 @@
+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
+import mimot.init
+import io
+import io.init
+
+from proto.popen_io import PopenIO
+import math
+
+class Robot:
+
+ 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 = ('../src/io.host')
+ self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time,
+ **asserv.init.host)
+ self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time,
+ **mimot.init.host)
+ self.io = io.Proto (PopenIO (io_cmd), proto_time,
+ **io.init.host)
+ self.robot_start_pos = {
+ False: (300, 2100 - 305, math.radians (-270)),
+ True: (3000 - 300, 2100 - 305, math.radians (-270))
+ }
+
diff --git a/digital/io/tools/test_simu.py b/digital/io/tools/test_simu.py
index c6fc24f3..36a5cb1b 100644
--- a/digital/io/tools/test_simu.py
+++ b/digital/io/tools/test_simu.py
@@ -21,29 +21,12 @@
# 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 *
@@ -66,36 +49,32 @@ class ObstacleWithBeacon (obstacle_view.RoundObstacle):
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):
+ def __init__ (self, robot_class):
# Hub.
- self.hub = mex.hub.Hub (min_clients = 2)
+ self.hub = mex.hub.Hub (min_clients = 4)
self.forked_hub = utils.forked.Forked (self.hub.wait)
# InterNode.
InterNode.__init__ (self)
- def time ():
+ def proto_time ():
return self.node.date / self.node.tick
+ # Robot parameters.
+ robot = robot_class (proto_time)
+ self.robot = robot
# Asserv.
- self.asserv = asserv.Proto (PopenIO (asserv_cmd), time,
- **asserv.init.host)
+ self.asserv = robot.asserv
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 = robot.mimot
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 = robot.io
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.table_model = robot.table_model.Table ()
+ self.table = robot.table_view.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)
@@ -104,11 +83,11 @@ class TestSimu (InterNode):
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 = robot.robot_link.Bag (self.node)
+ self.robot_model = robot.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)
+ self.robot_view = robot.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)
@@ -139,7 +118,7 @@ class TestSimu (InterNode):
def change_color (self, *dummy):
i = self.robot_model.color_switch.state
- self.asserv.set_simu_pos (*self.robot_start_pos[i]);
+ self.asserv.set_simu_pos (*self.robot.robot_start_pos[i]);
def place_obstacle (self, ev):
pos = self.table_view.screen_coord ((ev.x, ev.y))
@@ -148,9 +127,22 @@ class TestSimu (InterNode):
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'))
+def run (default_robot, test_class = TestSimu):
+ import optparse
+ parser = optparse.OptionParser ()
+ parser.add_option ('-r', '--robot', help = "use specified robot",
+ metavar = 'NAME', default = default_robot)
+ (options, args) = parser.parse_args ()
+ if args:
+ parser.error ("too many arguments")
+ if options.robot == 'marcel':
+ import marcel
+ robot = marcel.Robot
+ else:
+ parser.error ("unknown robot")
+ app = test_class (robot)
app.mainloop ()
app.close ()
+
+if __name__ == '__main__':
+ run ('marcel')
diff --git a/digital/io/tools/test_simu_control.py b/digital/io/tools/test_simu_control.py
index 9365ab2e..2a43b7bb 100644
--- a/digital/io/tools/test_simu_control.py
+++ b/digital/io/tools/test_simu_control.py
@@ -21,15 +21,15 @@
# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#
# }}}
-from test_simu import TestSimu
+from test_simu import TestSimu, run
from Tkinter import *
import math
class TestSimuControl (TestSimu):
"""Interface with extra control."""
- def __init__ (self, asserv_cmd, mimot_cmd, io_cmd):
- TestSimu.__init__ (self, asserv_cmd, mimot_cmd, io_cmd)
+ def __init__ (self, robot_class):
+ TestSimu.__init__ (self, robot_class)
def create_widgets (self):
TestSimu.create_widgets (self)
@@ -105,9 +105,4 @@ class TestSimuControl (TestSimu):
pass
if __name__ == '__main__':
- app = TestSimuControl (('../../asserv/src/asserv/asserv.host', '-m9',
- 'marcel'),
- ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel'),
- ('../src/io.host'))
- app.mainloop ()
- app.close ()
+ run ('marcel', TestSimuControl)