summaryrefslogtreecommitdiff
path: root/digital/ai/tools/test_simu.py
diff options
context:
space:
mode:
authorNicolas Schodet2011-05-06 23:51:45 +0200
committerNicolas Schodet2011-05-07 00:43:56 +0200
commitc3f8b56ef5a44d0569566497b2a24550842c7512 (patch)
tree1e0cdc457dde8cfa040f48cb8b766b9796c7d9f6 /digital/ai/tools/test_simu.py
parent554c4baf249f68bb8f716af97cbf23daad73ef5c (diff)
digital/{ai,io}: move simu test script
Diffstat (limited to 'digital/ai/tools/test_simu.py')
-rw-r--r--digital/ai/tools/test_simu.py151
1 files changed, 151 insertions, 0 deletions
diff --git a/digital/ai/tools/test_simu.py b/digital/ai/tools/test_simu.py
new file mode 100644
index 00000000..80008bb9
--- /dev/null
+++ b/digital/ai/tools/test_simu.py
@@ -0,0 +1,151 @@
+# 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 mex.hub
+import utils.forked
+
+import simu.model.round_obstacle as obstacle_model
+import simu.view.round_obstacle as obstacle_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."""
+
+ def __init__ (self, robot_class):
+ # Hub.
+ self.hub = mex.hub.Hub (min_clients = 4)
+ self.forked_hub = utils.forked.Forked (self.hub.wait)
+ # InterNode.
+ InterNode.__init__ (self)
+ def proto_time ():
+ return self.node.date / self.node.tick
+ # Robot parameters.
+ robot = robot_class (proto_time)
+ self.robot = robot
+ # Asserv.
+ self.asserv = robot.asserv
+ self.asserv.async = True
+ self.tk.createfilehandler (self.asserv, READABLE, self.asserv_read)
+ # Mimot.
+ self.mimot = robot.mimot
+ self.mimot.async = True
+ self.tk.createfilehandler (self.mimot, READABLE, self.mimot_read)
+ # Io.
+ self.io = robot.io
+ self.io.async = True
+ self.tk.createfilehandler (self.io, READABLE, self.io_read)
+ # Add table.
+ 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)
+ 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.robot_link.Bag (self.node)
+ self.robot_model = robot.robot_model.Bag (self.node, self.table_model,
+ self.robot_link)
+ 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)
+
+ 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.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 ()
+
+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
+ elif options.robot == 'robospierre':
+ import robospierre
+ robot = robospierre.Robot
+ else:
+ parser.error ("unknown robot")
+ app = test_class (robot)
+ app.mainloop ()
+ app.close ()
+
+if __name__ == '__main__':
+ run ('marcel')