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+# simu - Robot simulation. {{{
+#
+# 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.
+#
+# }}}
+"""APBirthday bag of links."""
+import io_hub.mex
+import asserv.mex
+from simu.link.mex_gpio import MexGpio
+
+class Bag:
+
+ def __init__ (self, node, instance = 'robot0'):
+ self.asserv = asserv.mex.Mex (node, '%s:asserv0' % instance,
+ aux_nb = 0)
+ self.io_hub = io_hub.mex.Mex (node, '%s:io0' % instance, gpios = True)
+ gpios = ('raw_jack', 'ihm_color', 'ihm_strat', 'ihm_robot_nb',
+ 'ihm_lol', 'ihm_emerg_stop', 'glass_contact',
+ 'cherry_bad_out', 'cherry_bad_in', 'cherry_plate_up',
+ 'cherry_plate_down', 'cherry_plate_clamp', 'cake_arm_out',
+ 'cake_arm_in', 'cake_push_far_out', 'cake_push_far_in',
+ 'cake_push_near_out', 'cake_push_near_in',
+ 'glass_lower_clamp_close', 'glass_lower_clamp_open',
+ 'glass_upper_clamp_close', 'glass_upper_clamp_open',
+ 'glass_upper_clamp_up', 'glass_upper_clamp_down', 'gift_out',
+ 'gift_in', 'ballon_funny_action', 'pneum_open')
+ for gpio in gpios:
+ setattr (self, gpio, MexGpio (self.io_hub.gpios, gpio))