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-rw-r--r--digital/io-hub/tools/io_hub/mex.py43
1 files changed, 43 insertions, 0 deletions
diff --git a/digital/io-hub/tools/io_hub/mex.py b/digital/io-hub/tools/io_hub/mex.py
index 8d758382..9b72ccde 100644
--- a/digital/io-hub/tools/io_hub/mex.py
+++ b/digital/io-hub/tools/io_hub/mex.py
@@ -121,6 +121,46 @@ class Mex:
m.push ('L', self.contacts)
self.node.send (m)
+ class Codebar (Observable):
+ """Codebar stub.
+
+ - element_type: 'queen', 'king', or anything else.
+
+ """
+
+ def __init__ (self, pack, index):
+ Observable.__init__ (self)
+ self.pack = pack
+ self.index = index
+ self.element_type = None
+ self.register (self.__notified)
+
+ def __notified (self):
+ self.pack.set (self.index, self.element_type)
+
+ class Pack:
+ """Handle emission of several codebar for one message."""
+
+ def __init__ (self, node, instance):
+ self.node = node
+ self.codebars = [0, 0]
+ self.mtype = node.reserve (instance + ':codebar')
+
+ def set (self, index, element_type):
+ if element_type == 'queen':
+ self.codebars[index] = 4
+ elif element_type == 'king':
+ self.codebars[index] = 8
+ else:
+ self.codebars[index] = 0
+ self.__send ()
+
+ def __send (self):
+ m = simu.mex.msg.Msg (self.mtype)
+ for c in self.codebars:
+ m.push ('b', c)
+ self.node.send (m)
+
class Path (Observable):
"""Path finding algorithm report.
@@ -167,6 +207,9 @@ class Mex:
self.__contact_pack = self.Contact.Pack (node, instance)
self.contact = tuple (self.Contact (self.__contact_pack, i)
for i in range (CONTACT_NB))
+ self.__codebar_pack = self.Codebar.Pack (node, instance)
+ self.codebar = tuple (self.Codebar (self.__codebar_pack, i)
+ for i in (0, 1))
self.path = self.Path (node, instance)
self.pos_report = self.PosReport (node, instance)