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 ++++++++++++++++++++++++++ 3 files changed, 121 insertions(+) create mode 100644 digital/ai/tools/guybrush.py create mode 100644 digital/ai/tools/test_simu_control_guybrush.py (limited to 'digital/ai/tools') 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) -- cgit v1.2.3