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+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2009 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.
+#
+# }}}
+"""Simulation interface coupled with a mex node."""
+from simu.inter.inter import Inter
+from mex.node import Node
+from Tkinter import *
+import time
+
+class InterNode (Inter):
+
+ def __init__ (self):
+ Inter.__init__ (self)
+ # Create node and bind to Tk.
+ self.node = Node ()
+ self.node.tick = 900 # tick/s
+ self.tk.createfilehandler (self.node, READABLE, self.read)
+ # Animation attributes.
+ self.date = 0
+ self.synced = True
+ self.step_after = None
+ self.step_time = None
+
+ def create_widgets (self):
+ Inter.create_widgets (self)
+ self.now_label = Label (self.right_frame, text = 'Now: 0 s')
+ self.now_label.pack ()
+ self.step_button = Button (self.right_frame, text = 'Step',
+ command = self.step)
+ self.step_button.pack ()
+ self.step_size_scale = Scale (self.right_frame, orient = HORIZONTAL,
+ from_ = 0.05, to = 1.0, resolution = 0.05)
+ self.step_size_scale.pack ()
+ self.play_var = IntVar ()
+ self.play_button = Checkbutton (self.right_frame,
+ variable = self.play_var, text = 'Play', command = self.play)
+ self.play_button.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.date
+ + int (self.step_size_scale.get () * self.node.tick))
+ self.synced = False
+ self.step_after = None
+ self.step_time = time.time ()
+
+ def play (self):
+ """Activate auto-steping."""
+ if self.play_var.get ():
+ if self.step_after is None and self.synced:
+ self.step ()
+ self.step_button.configure (state = DISABLED)
+ else:
+ if self.step_after is not None:
+ self.after_cancel (self.step_after)
+ self.step_after = None
+ self.step_button.configure (state = NORMAL)
+
+ def read (self, file, mask):
+ """Handle event on the Node."""
+ self.node.read ()
+ if not self.synced and self.node.sync ():
+ self.synced = True
+ self.date = self.node.date
+ self.now_label.configure (text = 'Now: %.2f s'
+ % (float (self.date) / self.node.tick))
+ self.update ()
+ if self.play_var.get ():
+ assert self.step_after is None
+ next = self.step_time + self.step_size_scale.get ()
+ delay = next - time.time ()
+ if delay > 0:
+ self.step_after = self.after (int (delay * 1000),
+ self.step)
+ else:
+ self.step ()
+
+if __name__ == '__main__':
+ import mex.hub
+ import utils.forked
+ h = mex.hub.Hub (min_clients = 1)
+ fh = utils.forked.Forked (h.wait)
+ try:
+ app = InterNode ()
+ app.mainloop()
+ finally:
+ fh.kill ()
+ import time
+ time.sleep (1)