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authorNicolas Schodet2009-05-03 00:19:46 +0200
committerNicolas Schodet2009-05-03 00:19:46 +0200
commit346abb99346ae7b94d0b2a49cc32f0363aed6018 (patch)
treedf2bffec6c1dce856f800550eabf46c1fa3db8b3 /digital/io/tools
parentc00406af97d8009f89b4b542132cf2620d3f93f1 (diff)
* host/simu:
- added AquaJim.
Diffstat (limited to 'digital/io/tools')
-rw-r--r--digital/io/tools/test_simu_aquajim.py125
-rw-r--r--digital/io/tools/test_simu_giboulee.py (renamed from digital/io/tools/test_simu.py)0
2 files changed, 125 insertions, 0 deletions
diff --git a/digital/io/tools/test_simu_aquajim.py b/digital/io/tools/test_simu_aquajim.py
new file mode 100644
index 00000000..5011c125
--- /dev/null
+++ b/digital/io/tools/test_simu_aquajim.py
@@ -0,0 +1,125 @@
+# 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: (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)
+ 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', 'aquajim'),
+ ('../src/io.host'))
+ app.mainloop ()
diff --git a/digital/io/tools/test_simu.py b/digital/io/tools/test_simu_giboulee.py
index 16114c5b..16114c5b 100644
--- a/digital/io/tools/test_simu.py
+++ b/digital/io/tools/test_simu_giboulee.py