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 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 46 insertions(+) create mode 100644 digital/ai/tools/guybrush.py (limited to 'digital/ai/tools/guybrush.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) + -- cgit v1.2.3