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authorNicolas Schodet2008-04-04 17:12:53 +0200
committerNicolas Schodet2008-04-04 17:12:53 +0200
commit717fe69af7efc907ab8adad105504176262a1ed5 (patch)
tree08b6532612799fe67e6753beba447e00f63a4331 /host/inter
parent4ae21ec6c41dbe0154c6f9d7c3679a46bc3dec24 (diff)
* host/inter:
- added InterNode, with no communications for the moment.
Diffstat (limited to 'host/inter')
-rw-r--r--host/inter/inter_node.py103
1 files changed, 103 insertions, 0 deletions
diff --git a/host/inter/inter_node.py b/host/inter/inter_node.py
new file mode 100644
index 00000000..44823eb7
--- /dev/null
+++ b/host/inter/inter_node.py
@@ -0,0 +1,103 @@
+# inter - Robot simulation interface. {{{
+#
+# 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.
+#
+# }}}
+"""Inter, coupled with a mex Node."""
+if __name__ == '__main__':
+ import sys
+ sys.path.append (sys.path[0] + '/../mex')
+
+from inter import Inter
+from Tkinter import *
+from mex.node import Node
+
+class InterNode (Inter):
+ """Inter, coupled with a mex Node."""
+
+ # There is 900 tick per seconds, to permit AVR to have a 4.44444 ms
+ # period.
+ TICK = 900.0
+
+ def __init__ (self):
+ Inter.__init__ (self)
+ self.node = Node ()
+ self.tk.createfilehandler (self.node, READABLE, self.read)
+ self.step_after = None
+
+ def createWidgets (self):
+ Inter.createWidgets (self)
+ self.nowLabel = Label (self.rightFrame, text = 'Now: 0 s')
+ self.nowLabel.pack ()
+ self.stepButton = Button (self.rightFrame, text = 'Step',
+ command = self.step)
+ self.stepButton.pack ()
+ self.stepSizeScale = Scale (self.rightFrame, orient = HORIZONTAL,
+ from_ = 0.1, to = 1.0, resolution = 0.1)
+ self.stepSizeScale.pack ()
+ self.playVar = IntVar ()
+ self.playButton = Checkbutton (self.rightFrame, variable =
+ self.playVar, text = 'Play', command = self.play)
+ self.playButton.pack ()
+
+ def step (self):
+ """Do a step. Signal to the Hub we are ready to wait to the next step
+ date."""
+ self.node.wait_async (self.node.date
+ + int (self.stepSizeScale.get () * self.TICK))
+ self.step_after = None
+
+ def play (self):
+ """Activate auto-steping."""
+ if self.playVar.get ():
+ if self.step_after is None:
+ self.step ()
+ self.stepButton.configure (state = DISABLED)
+ else:
+ if self.step_after is not None:
+ self.after_cancel (self.step_after)
+ self.step_after = None
+ self.stepButton.configure (state = NORMAL)
+
+ def read (self, file, mask):
+ """Handle event on the Node."""
+ self.node.read ()
+ if self.node.sync ():
+ self.synced = True
+ self.nowLabel.configure (text = 'Now: %.1f s' % (self.node.date /
+ self.TICK))
+ self.update ()
+ if self.playVar.get ():
+ self.step_after = self.after (int (self.stepSizeScale.get ()
+ * self.TICK), self.step)
+
+if __name__ == '__main__':
+ import mex.hub
+ import mex.forked
+ h = mex.hub.Hub (min_clients = 1)
+ fh = mex.forked.Forked (h.wait)
+ try:
+ app = InterNode ()
+ app.mainloop()
+ finally:
+ fh.kill ()
+ import time
+ time.sleep (1)