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-rw-r--r--digital/ai/tools/marcel.py58
1 files changed, 32 insertions, 26 deletions
diff --git a/digital/ai/tools/marcel.py b/digital/ai/tools/marcel.py
index 08314ca3..001eca5e 100644
--- a/digital/ai/tools/marcel.py
+++ b/digital/ai/tools/marcel.py
@@ -1,10 +1,3 @@
-import simu.model.table_eurobot2010
-import simu.view.table_eurobot2010
-
-import simu.robots.marcel.link.bag
-import simu.robots.marcel.model.bag
-import simu.robots.marcel.view.bag
-
import asserv
import asserv.init
import mimot
@@ -16,24 +9,37 @@ from proto.popen_io import PopenIO
import math
class Robot:
+ """Marcel robot instance."""
+
+ import simu.model.table_eurobot2010 as table_model
+ import simu.view.table_eurobot2010 as table_view
+
+ import simu.robots.marcel.link.bag as robot_link
+ import simu.robots.marcel.model.bag as robot_model
+ import simu.robots.marcel.view.bag as robot_view
+
+ robot_start_pos = {
+ False: (300, 2100 - 305, math.radians (-270)),
+ True: (3000 - 300, 2100 - 305, math.radians (-270))
+ }
+
+ client_nb = 3
- def __init__ (self, proto_time):
- self.table_model = simu.model.table_eurobot2010
- self.table_view = simu.view.table_eurobot2010
- self.robot_link = simu.robots.marcel.link.bag
- self.robot_model = simu.robots.marcel.model.bag
- self.robot_view = simu.robots.marcel.view.bag
- asserv_cmd = ('../../asserv/src/asserv/asserv.host', '-m9', 'marcel')
- mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel')
- io_cmd = ('../../io/src/io.host')
- self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time,
- **asserv.init.host['marcel'])
- self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time,
- **mimot.init.host['marcel'])
- self.io = io.Proto (PopenIO (io_cmd), proto_time,
- **io.init.host['marcel'])
- self.robot_start_pos = {
- False: (300, 2100 - 305, math.radians (-270)),
- True: (3000 - 300, 2100 - 305, math.radians (-270))
- }
+ 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)
+ asserv_cmd = ('../../asserv/src/asserv/asserv.host',
+ '-i{instance}:asserv0', '-m9', 'marcel')
+ mimot_cmd = ('../../mimot/src/dirty/dirty.host',
+ '-i{instance}:mimot0', '-m9', 'marcel')
+ io_cmd = ('../../io/src/io.host', '-i{instance}:io0')
+ self.asserv = proto (asserv.Proto, asserv_cmd,
+ asserv.init.host['marcel'])
+ self.mimot = proto (mimot.Proto, mimot_cmd,
+ mimot.init.host['marcel'])
+ self.io = proto (io.Proto, io_cmd,
+ io.init.host['marcel'])
+ self.protos = (self.asserv, self.mimot, self.io)