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-rw-r--r--digital/io/tools/test_simu.py (renamed from digital/io/tools/test_simu_aquajim.py)14
-rw-r--r--digital/io/tools/test_simu_control.py38
-rw-r--r--digital/io/tools/test_simu_giboulee.py124
3 files changed, 8 insertions, 168 deletions
diff --git a/digital/io/tools/test_simu_aquajim.py b/digital/io/tools/test_simu.py
index 44953a42..081d8ec7 100644
--- a/digital/io/tools/test_simu_aquajim.py
+++ b/digital/io/tools/test_simu.py
@@ -32,15 +32,15 @@ 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.table_eurobot2010 as table_model
+import simu.view.table_eurobot2010 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
+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
from simu.inter.inter_node import InterNode
from Tkinter import *
@@ -84,8 +84,6 @@ class TestSimu (InterNode):
self.robot_link)
self.robot_view = robot_view.Bag (self.table, self.actuator_view,
self.sensor_frame, self.robot_model)
- # Unused ADC.
- self.robot_link.io.adc[5].value = 0
# Color switch.
self.robot_model.color_switch.register (self.change_color)
@@ -121,6 +119,6 @@ class TestSimu (InterNode):
self.obstacle.notify ()
if __name__ == '__main__':
- app = TestSimu (('../../asserv/src/asserv/asserv.host', '-m9', 'aquajim'),
+ app = TestSimu (('../../asserv/src/asserv/asserv.host', '-m9', 'marcel'),
('../src/io.host'))
app.mainloop ()
diff --git a/digital/io/tools/test_simu_control.py b/digital/io/tools/test_simu_control.py
index a3c5fd49..b3123492 100644
--- a/digital/io/tools/test_simu_control.py
+++ b/digital/io/tools/test_simu_control.py
@@ -21,7 +21,7 @@
# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#
# }}}
-from test_simu_aquajim import TestSimu
+from test_simu import TestSimu
from Tkinter import *
import math
@@ -36,25 +36,6 @@ class TestSimuControl (TestSimu):
self.control_frame = Frame (self)
self.control_frame.pack (side = 'left', before = self.table_view,
fill = 'y')
- self.cylinder_button = Button (self.control_frame, text = 'Cylinder',
- command = self.cylinder_command)
- self.cylinder_button.pack ()
- self.door_var = IntVar ()
- self.door_button = Checkbutton (self.control_frame, text = 'Door',
- indicatoron = False,
- variable = self.door_var, command = self.door_command)
- self.door_button.pack ()
- self.finger_var = IntVar ()
- self.finger_button = Checkbutton (self.control_frame, text = 'Finger',
- indicatoron = False,
- variable = self.finger_var, command = self.finger_command)
- self.finger_button.pack ()
- self.elevator_door_var = IntVar ()
- self.elevator_door_button = Checkbutton (self.control_frame,
- text = 'Elevator Door', indicatoron = False,
- variable = self.elevator_door_var,
- command = self.elevator_door_command)
- self.elevator_door_button.pack ()
self.table_view.bind ('<1>', self.move)
self.table_view.bind ('<3>', self.orient)
@@ -69,25 +50,10 @@ class TestSimuControl (TestSimu):
a = math.atan2 (y - robot_pos[1], x - robot_pos[0])
self.asserv.goto_angle (a)
- def cylinder_command (self):
- self.asserv.speed_pos ('a0', 5333 / 3)
-
- def door_command (self):
- door_pos = self.door_var.get ()
- self.io.servo_pos (0, door_pos)
-
- def finger_command (self):
- finger_pos = self.finger_var.get ()
- self.io.servo_pos (1, finger_pos)
-
- def elevator_door_command (self):
- elevator_door_pos = self.elevator_door_var.get ()
- self.io.pwm_set (elevator_door_pos == 1 and 512 or -512, 225)
-
def change_color (self, *dummy):
pass
if __name__ == '__main__':
app = TestSimuControl (('../../asserv/src/asserv/asserv.host', '-m9',
- 'aquajim'), ('../src/io.host'))
+ 'marcel'), ('../src/io.host'))
app.mainloop ()
diff --git a/digital/io/tools/test_simu_giboulee.py b/digital/io/tools/test_simu_giboulee.py
deleted file mode 100644
index eacaccf8..00000000
--- a/digital/io/tools/test_simu_giboulee.py
+++ /dev/null
@@ -1,124 +0,0 @@
-# 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 as table_model
-import simu.view.table_eurobot2008 as table
-
-import simu.model.round_obstacle as obstacle_model
-import simu.view.round_obstacle as obstacle_view
-
-import simu.robots.giboulee.link.bag as robot_link
-import simu.robots.giboulee.model.bag as robot_model
-import simu.robots.giboulee.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)
-
- 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', 'giboulee'),
- ('../src/io.host'))
- app.mainloop ()