From 8ddd21a6f3c65cd94b794cb25e6fa74dc20da3cc Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 9 Feb 2012 21:23:47 +0100 Subject: digital/ai/tools, host/simu/robots: simulate several robots --- digital/ai/tools/test_simu.py | 80 ++++++++++++++++++------------------------- 1 file changed, 33 insertions(+), 47 deletions(-) (limited to 'digital/ai/tools/test_simu.py') diff --git a/digital/ai/tools/test_simu.py b/digital/ai/tools/test_simu.py index 80008bb9..50eaf265 100644 --- a/digital/ai/tools/test_simu.py +++ b/digital/ai/tools/test_simu.py @@ -49,32 +49,29 @@ class ObstacleWithBeacon (obstacle_view.RoundObstacle): class TestSimu (InterNode): """Interface, with simulated programs.""" - def __init__ (self, robot_class): + def __init__ (self, robot_class, robot_nb = 1): # Hub. - self.hub = mex.hub.Hub (min_clients = 4) + self.hub = mex.hub.Hub (min_clients = 1 + robot_class.client_nb + * robot_nb) self.forked_hub = utils.forked.Forked (self.hub.wait) # InterNode. InterNode.__init__ (self) def proto_time (): return self.node.date / self.node.tick - # Robot parameters. - robot = robot_class (proto_time) - self.robot = robot - # Asserv. - self.asserv = robot.asserv - self.asserv.async = True - self.tk.createfilehandler (self.asserv, READABLE, self.asserv_read) - # Mimot. - self.mimot = robot.mimot - self.mimot.async = True - self.tk.createfilehandler (self.mimot, READABLE, self.mimot_read) - # Io. - self.io = robot.io - self.io.async = True - self.tk.createfilehandler (self.io, READABLE, self.io_read) + # Robot instances. + self.robots = [ robot_class (proto_time, 'robot%d' % i) + for i in xrange (robot_nb) ] + for r in self.robots: + for prog in r.protos: + prog.async = True + def prog_read (f, mask, prog = prog): + prog.proto.read () + prog.proto.sync () + self.tk.createfilehandler (prog, READABLE, prog_read) # Add table. - self.table_model = robot.table_model.Table () - self.table = robot.table_view.Table (self.table_view, self.table_model) + self.table_model = robot_class.table_model.Table () + self.table = robot_class.table_view.Table (self.table_view, + self.table_model) self.obstacle = obstacle_model.RoundObstacle (150) self.table_model.obstacles.append (self.obstacle) self.obstacle_beacon = obstacle_model.RoundObstacle (40, 2) @@ -82,43 +79,30 @@ class TestSimu (InterNode): self.obstacle_view = ObstacleWithBeacon (self.table, self.obstacle, self.obstacle_beacon) self.table_view.bind ('<2>', self.place_obstacle) - # Add robot. - self.robot_link = robot.robot_link.Bag (self.node) - self.robot_model = robot.robot_model.Bag (self.node, self.table_model, - self.robot_link) - self.robot_view = robot.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) + # Add robots. + for r in self.robots: + r.link = r.robot_link.Bag (self.node, r.instance) + r.model = r.robot_model.Bag (self.node, self.table_model, r.link) + r.view = r.robot_view.Bag (self.table, self.actuator_view, + self.sensor_frame, r.model) + # Color switch. + def change_color (r = r): + i = r.model.color_switch.state + r.asserv.set_simu_pos (*r.robot_start_pos[i]); + r.model.color_switch.register (change_color) def close (self): self.forked_hub.kill () import time time.sleep (1) - def asserv_read (self, file, mask): - self.asserv.proto.read () - self.asserv.proto.sync () - - def mimot_read (self, file, mask): - self.mimot.proto.read () - self.mimot.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.mimot.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.robot_start_pos[i]); + for r in self.robots: + for prog in r.protos: + prog.proto.sync () def place_obstacle (self, ev): pos = self.table_view.screen_coord ((ev.x, ev.y)) @@ -132,6 +116,8 @@ def run (default_robot, test_class = TestSimu): parser = optparse.OptionParser () parser.add_option ('-r', '--robot', help = "use specified robot", metavar = 'NAME', default = default_robot) + parser.add_option ('-n', '--robot-nb', help = "number of robots", + type = 'int', metavar = 'NB', default = 1) (options, args) = parser.parse_args () if args: parser.error ("too many arguments") @@ -143,7 +129,7 @@ def run (default_robot, test_class = TestSimu): robot = robospierre.Robot else: parser.error ("unknown robot") - app = test_class (robot) + app = test_class (robot, options.robot_nb) app.mainloop () app.close () -- cgit v1.2.3