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-rw-r--r--digital/ai/tools/test_simu_control_apbirthday.py79
1 files changed, 79 insertions, 0 deletions
diff --git a/digital/ai/tools/test_simu_control_apbirthday.py b/digital/ai/tools/test_simu_control_apbirthday.py
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+++ b/digital/ai/tools/test_simu_control_apbirthday.py
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+# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+#
+# Copyright (C) 2013 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.
+#
+# }}}
+from test_simu import TestSimu, run
+from Tkinter import *
+import math
+
+class TestSimuControl (TestSimu):
+ """Interface with extra control."""
+
+ def __init__ (self, robot_class, *args):
+ TestSimu.__init__ (self, robot_class, *args,
+ color_switch_set_pos = True)
+ self.io = self.robots[0].io
+ self.asserv = self.robots[0].asserv
+ self.robot_model = self.robots[0].model
+
+ def create_widgets (self):
+ TestSimu.create_widgets (self)
+ self.control_frame = Frame (self)
+ self.control_frame.pack (side = 'left', before = self.table_view,
+ fill = 'y')
+ Button (self.control_frame, text = 'FSM step', padx = 0, pady = 0,
+ command = self.fsm_debug).pack ()
+ Button (self.control_frame, text = 'Asserv block', padx = 0, pady = 0,
+ command = self.asserv_block).pack ()
+ self.backward_var = IntVar ()
+ self.backward_button = Checkbutton (self.control_frame,
+ text = 'Backward', variable = self.backward_var)
+ self.backward_button.pack ()
+ self.goto_var = IntVar ()
+ self.goto_button = Checkbutton (self.control_frame,
+ text = 'Goto FSM', variable = self.goto_var)
+ self.goto_button.pack ()
+ self.table_view.bind ('<1>', self.move)
+ self.table_view.bind ('<3>', self.orient)
+
+ def fsm_debug (self):
+ self.io.fsm_debug ()
+
+ def asserv_block (self):
+ self.asserv.block ()
+
+ def move (self, ev):
+ pos = self.table_view.screen_coord ((ev.x, ev.y))
+ if self.goto_var.get ():
+ self.io.goto (pos[0], pos[1], self.backward_var.get ())
+ else:
+ self.asserv.goto (pos[0], pos[1], self.backward_var.get ())
+
+ def orient (self, ev):
+ x, y = self.table_view.screen_coord ((ev.x, ev.y))
+ robot_pos = self.robot_model.position.pos
+ if robot_pos is not None:
+ a = math.atan2 (y - robot_pos[1], x - robot_pos[0])
+ self.asserv.goto_angle (a)
+
+if __name__ == '__main__':
+ run ('apbirthday', TestSimuControl)