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authorNicolas Schodet2012-04-22 22:07:20 +0200
committerNicolas Schodet2012-04-22 22:07:20 +0200
commita750fc58646c6f1ab5319d9bcf786be7a525a77c (patch)
tree7a7b8d87481295f46611f44878a07265de8c546d /digital/ai/tools/guybrush.py
parentcf31e4384e7b0fe3130b380f7e5440931d4a9fa0 (diff)
digital/{ai,beacon,io-hub}: add beacon simulation stub
Diffstat (limited to 'digital/ai/tools/guybrush.py')
-rw-r--r--digital/ai/tools/guybrush.py9
1 files changed, 8 insertions, 1 deletions
diff --git a/digital/ai/tools/guybrush.py b/digital/ai/tools/guybrush.py
index 0600a494..340d7ef7 100644
--- a/digital/ai/tools/guybrush.py
+++ b/digital/ai/tools/guybrush.py
@@ -7,6 +7,7 @@ import io_hub.init
from proto.popen_io import PopenIO
import math
+import subprocess
class Robot:
"""Guybrush robot instance."""
@@ -23,24 +24,30 @@ class Robot:
True: (3000 - 250, 2000 - 250, math.radians (180))
}
- client_nb = 3
+ client_nb = 4
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)
+ def prog (cmd):
+ cmd = [ s.format (instance = instance) for s in cmd ]
+ subprocess.Popen (cmd)
asserv_cmd = ('../../mimot/src/asserv/asserv.host',
'-i{instance}:asserv0', '-m9', 'guybrush')
mimot_cmd = ('../../mimot/src/dirty/dirty.host',
'-i{instance}:mimot0', '-m9', 'guybrush')
io_hub_cmd = ('../../io-hub/src/guybrush/io_hub.host',
'-i{instance}:io0')
+ beacon_stub_cmd = ('../../beacon/src/stub/simu_stub.host',
+ '-i{instance}:beacon0')
self.asserv = proto (asserv.Proto, asserv_cmd,
asserv.init.host['guybrush'])
self.mimot = proto (mimot.Proto, mimot_cmd,
mimot.init.host['guybrush'])
self.io = proto (io_hub.ProtoGuybrush, io_hub_cmd,
io_hub.init.host['guybrush'])
+ self.beacon_stub = prog (beacon_stub_cmd)
self.protos = (self.asserv, self.mimot, self.io)