From b205ee5bcb6adacf9b23448bf17ee0ff8bd16ae3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 26 Mar 2012 01:01:02 +0200 Subject: digital/{ai, io-hub}, host/simu/robots: add guybrush Still use robospierre parameters for asserv and mimot --- digital/ai/tools/guybrush.py | 46 ++++++++++++++++ digital/ai/tools/test_simu.py | 3 ++ digital/ai/tools/test_simu_control_guybrush.py | 72 +++++++++++++++++++++++++ digital/io-hub/tools/io_hub/init.py | 2 + digital/io-hub/tools/io_hub/io_hub.py | 4 +- host/simu/robots/guybrush/__init__.py | 0 host/simu/robots/guybrush/link/__init__.py | 0 host/simu/robots/guybrush/link/bag.py | 36 +++++++++++++ host/simu/robots/guybrush/model/__init__.py | 0 host/simu/robots/guybrush/model/bag.py | 52 ++++++++++++++++++ host/simu/robots/guybrush/view/__init__.py | 0 host/simu/robots/guybrush/view/bag.py | 44 +++++++++++++++ host/simu/robots/guybrush/view/robot.py | 74 ++++++++++++++++++++++++++ 13 files changed, 332 insertions(+), 1 deletion(-) create mode 100644 digital/ai/tools/guybrush.py create mode 100644 digital/ai/tools/test_simu_control_guybrush.py create mode 100644 host/simu/robots/guybrush/__init__.py create mode 100644 host/simu/robots/guybrush/link/__init__.py create mode 100644 host/simu/robots/guybrush/link/bag.py create mode 100644 host/simu/robots/guybrush/model/__init__.py create mode 100644 host/simu/robots/guybrush/model/bag.py create mode 100644 host/simu/robots/guybrush/view/__init__.py create mode 100644 host/simu/robots/guybrush/view/bag.py create mode 100644 host/simu/robots/guybrush/view/robot.py diff --git a/digital/ai/tools/guybrush.py b/digital/ai/tools/guybrush.py new file mode 100644 index 00000000..d5124e9b --- /dev/null +++ b/digital/ai/tools/guybrush.py @@ -0,0 +1,46 @@ +import asserv +import asserv.init +import mimot +import mimot.init +import io_hub +import io_hub.init + +from proto.popen_io import PopenIO +import math + +class Robot: + """Guybrush robot instance.""" + + import simu.model.table_eurobot2012 as table_model + import simu.view.table_eurobot2012 as table_view + + import simu.robots.guybrush.link.bag as robot_link + import simu.robots.guybrush.model.bag as robot_model + import simu.robots.guybrush.view.bag as robot_view + + robot_start_pos = { + False: (300, 2000 - 200, math.radians (180)), + True: (3000 - 300, 2000 - 200, math.radians (0)) + } + + client_nb = 3 + + 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', 'robospierre') + mimot_cmd = ('../../mimot/src/dirty/dirty.host', + '-i{instance}:mimot0', '-m9', 'robospierre') + io_hub_cmd = ('../../io-hub/src/guybrush/io_hub.host', + '-i{instance}:io0') + self.asserv = proto (asserv.Proto, asserv_cmd, + asserv.init.host['robospierre']) + self.mimot = proto (mimot.Proto, mimot_cmd, + mimot.init.host['robospierre']) + self.io = proto (io_hub.ProtoGuybrush, io_hub_cmd, + io_hub.init.host['guybrush']) + self.protos = (self.asserv, self.mimot, self.io) + diff --git a/digital/ai/tools/test_simu.py b/digital/ai/tools/test_simu.py index 1b804e22..c5655f87 100644 --- a/digital/ai/tools/test_simu.py +++ b/digital/ai/tools/test_simu.py @@ -128,6 +128,9 @@ def run (default_robot, test_class = TestSimu): elif options.robot == 'robospierre': import robospierre robot = robospierre.Robot + elif options.robot == 'guybrush': + import guybrush + robot = guybrush.Robot else: parser.error ("unknown robot") app = test_class (robot, options.robot_nb) diff --git a/digital/ai/tools/test_simu_control_guybrush.py b/digital/ai/tools/test_simu_control_guybrush.py new file mode 100644 index 00000000..9170b838 --- /dev/null +++ b/digital/ai/tools/test_simu_control_guybrush.py @@ -0,0 +1,72 @@ +# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ +# +# Copyright (C) 2012 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. +# +# }}} +from test_simu import TestSimu, run +from Tkinter import * +import math + +class TestSimuControl (TestSimu): + """Interface with extra control.""" + + def __init__ (self, robot_class, *args): + TestSimu.__init__ (self, robot_class, *args, color_switch = False) + self.io = self.robots[0].io + self.asserv = self.robots[0].asserv + self.mimot = self.robots[0].mimot + self.robot_model = self.robots[0].model + + def create_widgets (self): + TestSimu.create_widgets (self) + self.control_frame = Frame (self) + self.control_frame.pack (side = 'left', before = self.table_view, + fill = 'y') + self.backward_var = IntVar () + self.backward_button = Checkbutton (self.control_frame, + text = 'Backward', variable = self.backward_var) + self.backward_button.pack () + self.goto_var = IntVar () + self.goto_button = Checkbutton (self.control_frame, + text = 'Goto FSM', variable = self.goto_var) + self.goto_button.pack () + self.table_view.bind ('<1>', self.move) + self.table_view.bind ('<3>', self.orient) + + def move (self, ev): + pos = self.table_view.screen_coord ((ev.x, ev.y)) + if self.goto_var.get (): + self.io.goto (pos[0], pos[1], self.backward_var.get ()) + else: + self.asserv.goto (pos[0], pos[1], self.backward_var.get ()) + + def orient (self, ev): + x, y = self.table_view.screen_coord ((ev.x, ev.y)) + robot_pos = self.robot_model.position.pos + if robot_pos is not None: + a = math.atan2 (y - robot_pos[1], x - robot_pos[0]) + self.asserv.goto_angle (a) + + def change_color (self, *dummy): + pass + +if __name__ == '__main__': + run ('guybrush', TestSimuControl) diff --git a/digital/io-hub/tools/io_hub/init.py b/digital/io-hub/tools/io_hub/init.py index 2adaa85c..c9aae2c9 100644 --- a/digital/io-hub/tools/io_hub/init.py +++ b/digital/io-hub/tools/io_hub/init.py @@ -2,5 +2,7 @@ host = { 'robospierre': dict ( ), + 'guybrush': dict ( + ), } target = host diff --git a/digital/io-hub/tools/io_hub/io_hub.py b/digital/io-hub/tools/io_hub/io_hub.py index bf038cf2..d7407cb8 100644 --- a/digital/io-hub/tools/io_hub/io_hub.py +++ b/digital/io-hub/tools/io_hub/io_hub.py @@ -23,7 +23,7 @@ # }}} import proto, time -__all__ = [ 'Proto', 'ProtoRobospierre' ] +__all__ = [ 'Proto', 'ProtoRobospierre', 'ProtoGuybrush' ] class Proto: @@ -81,4 +81,6 @@ class ProtoRobospierre (Proto): def clamp_openclose (self, open_): self.proto.send ('d', 'BB', 0xff, (0, 1)[open_]) +class ProtoGuybrush (Proto): + pass diff --git a/host/simu/robots/guybrush/__init__.py b/host/simu/robots/guybrush/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/guybrush/link/__init__.py b/host/simu/robots/guybrush/link/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/guybrush/link/bag.py b/host/simu/robots/guybrush/link/bag.py new file mode 100644 index 00000000..a1ccd741 --- /dev/null +++ b/host/simu/robots/guybrush/link/bag.py @@ -0,0 +1,36 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 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. +# +# }}} +"""Guybrush bag of links.""" +import io_hub.mex +import asserv.mex +import mimot.mex + +class Bag: + + def __init__ (self, node, instance = 'robot0'): + self.asserv = asserv.mex.Mex (node, '%s:asserv0' % instance) + self.io_hub = io_hub.mex.Mex (node, '%s:io0' % instance, + contact_nb = 3) + self.mimot = mimot.mex.Mex (node, '%s:mimot0' % instance) + diff --git a/host/simu/robots/guybrush/model/__init__.py b/host/simu/robots/guybrush/model/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py new file mode 100644 index 00000000..fda35ce0 --- /dev/null +++ b/host/simu/robots/guybrush/model/bag.py @@ -0,0 +1,52 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 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. +# +# }}} +"""Guybrush bag of models.""" +from simu.model.switch import Switch +from simu.model.position import Position +from simu.model.distance_sensor_sensopart import DistanceSensorSensopart +from math import pi +import random + +class Bag: + + def __init__ (self, scheduler, table, link_bag): + self.color_switch = Switch (link_bag.io_hub.contact[0], invert = True) + self.color_switch.state = random.choice ((False, True)) + self.color_switch.notify () + self.jack = Switch (link_bag.io_hub.contact[1], invert = True) + self.strat_switch = Switch (link_bag.io_hub.contact[2], invert = True) + self.position = Position (link_bag.asserv.position) + self.distance_sensor = [ + DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table, + (20, 20), pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table, + (20, -20), -pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table, + (-20, -20), pi + pi * 10 / 180, (self.position, ), 2), + DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table, + (-20, 20), pi - pi * 10 / 180, (self.position, ), 2), + ] + self.path = link_bag.io_hub.path + self.pos_report = link_bag.io_hub.pos_report + diff --git a/host/simu/robots/guybrush/view/__init__.py b/host/simu/robots/guybrush/view/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/guybrush/view/bag.py b/host/simu/robots/guybrush/view/bag.py new file mode 100644 index 00000000..7af72be6 --- /dev/null +++ b/host/simu/robots/guybrush/view/bag.py @@ -0,0 +1,44 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 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. +# +# }}} +"""Guybrush bag of views.""" +from simu.view.switch import Switch +from simu.view.distance_sensor_us import DistanceSensorUS +from simu.view.path import Path +from simu.view.pos_report import PosReport +from simu.robots.guybrush.view.robot import Robot + +class Bag: + + def __init__ (self, table, actuator_view, sensor_frame, model_bag): + self.jack = Switch (sensor_frame, model_bag.jack, 'Jack') + self.color_switch = Switch (sensor_frame, model_bag.color_switch, + 'Color') + self.strat_switch = Switch (sensor_frame, model_bag.strat_switch, + 'Strat') + self.robot = Robot (table, model_bag.position) + self.distance_sensor = [DistanceSensorUS (self.robot, ds) + for ds in model_bag.distance_sensor] + self.path = Path (table, model_bag.path) + self.pos_report = PosReport (table, model_bag.pos_report) + diff --git a/host/simu/robots/guybrush/view/robot.py b/host/simu/robots/guybrush/view/robot.py new file mode 100644 index 00000000..52f4d509 --- /dev/null +++ b/host/simu/robots/guybrush/view/robot.py @@ -0,0 +1,74 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 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. +# +# }}} +"""Guybrush robot view.""" +import simu.inter.drawable +from math import pi + +COLOR_ROBOT = '#000000' +COLOR_AXES = '#202040' + +class Robot (simu.inter.drawable.Drawable): + + def __init__ (self, onto, position_model): + """Construct and make connections.""" + simu.inter.drawable.Drawable.__init__ (self, onto) + self.position_model = position_model + self.position_model.register (self.__position_notified) + + def __position_notified (self): + """Called on position modifications.""" + self.pos = self.position_model.pos + self.angle = self.position_model.angle + self.update () + + def draw (self): + """Draw the robot.""" + self.reset () + if self.pos is not None: + self.trans_translate (self.pos) + self.trans_rotate (self.angle) + # Draw robot body. + self.draw_polygon ((0, 190), (150, 110), (95, 95), (55, 55), + (40, -0), (55, -55), (95, -95), (150, -110), (0, -190), + (-150, -110), (-95, -95), (-55, -55), (-40, -0), + (-55, 55), (-95, 95), (-150, 110), (0, 190), + fill = COLOR_ROBOT) + self.draw_arc ((0, 0), 190, start = pi * 35 / 180, + extent = pi * 110 / 180, style = 'chord', + outline = COLOR_ROBOT, fill = COLOR_ROBOT) + self.draw_arc ((0, 0), 190, start = pi + pi * 35 / 180, + extent = pi * 110 / 180, style = 'chord', + outline = COLOR_ROBOT, fill = COLOR_ROBOT) + # Draw Robot axis. + self.draw_line ((-50, 0), (50, 0), fill = COLOR_AXES, + arrow = 'last') + # Draw Robot wheels. + f = 221 # Wheel spacing + wr = 60 / 2 # Wheel radius + self.draw_line ((0, +f / 2), (0, -f / 2), fill = COLOR_AXES) + self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = COLOR_AXES) + self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = COLOR_AXES) + # Extends. + simu.inter.drawable.Drawable.draw (self) + -- cgit v1.2.3