From ef661915c1e89a5eea7a8c83748eb835c9d8f6f9 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 30 Apr 2012 16:11:37 +0200 Subject: digital/ai/tools, host/simu/robots: factorize output definitions --- digital/ai/tools/test_simu_control_guybrush.py | 38 ++++++++++++++------------ 1 file changed, 20 insertions(+), 18 deletions(-) (limited to 'digital/ai/tools') diff --git a/digital/ai/tools/test_simu_control_guybrush.py b/digital/ai/tools/test_simu_control_guybrush.py index 003c91f7..adf27a85 100644 --- a/digital/ai/tools/test_simu_control_guybrush.py +++ b/digital/ai/tools/test_simu_control_guybrush.py @@ -25,18 +25,13 @@ from test_simu import TestSimu, run from Tkinter import * import math +import simu.robots.guybrush.model.bag + +defs = simu.robots.guybrush.model.bag.Bag + class TestSimuControl (TestSimu): """Interface with extra control.""" - UPPER_CLAMP_OPEN = 1 << 1 - UPPER_CLAMP_OUT = 1 << 2 - UPPER_CLAMP_IN = 1 << 3 - UPPER_CLAMP_DOWN = 1 << 4 - UPPER_CLAMP_UP = 1 << 5 - DOOR_OPEN = 1 << 6 - DOOR_CLOSE = 1 << 7 - LOWER_CLAMP_1_CLOSE = 1 << 8 - LOWER_CLAMP_2_CLOSE = 1 << 9 LOWER_CLAMP_ROTATION_STROKE = int (16 * 250) def __init__ (self, robot_class, *args): @@ -46,9 +41,9 @@ class TestSimuControl (TestSimu): self.asserv = self.robots[0].asserv self.mimot = self.robots[0].mimot self.robot_model = self.robots[0].model - self.io.output (self.UPPER_CLAMP_UP, 'toggle') - self.io.output (self.UPPER_CLAMP_IN, 'toggle') - self.io.output (self.DOOR_CLOSE, 'toggle') + self.io.output (1 << defs.OUTPUT_UPPER_CLAMP_UP, 'toggle') + self.io.output (1 << defs.OUTPUT_UPPER_CLAMP_IN, 'toggle') + self.io.output (1 << defs.OUTPUT_DOOR_CLOSE, 'toggle') def create_widgets (self): TestSimu.create_widgets (self) @@ -61,18 +56,25 @@ class TestSimuControl (TestSimu): button = Button (self.control_frame, text = name, padx = 0, pady = 0, command = command) button.pack () - out_button ('LClamp 1 open', self.LOWER_CLAMP_1_CLOSE) - out_button ('LClamp 2 open', self.LOWER_CLAMP_2_CLOSE) + out_button ('LClamp 1 open', + 1 << defs.OUTPUT_LOWER_CLAMP_1_CLOSE) + out_button ('LClamp 2 open', + 1 << defs.OUTPUT_LOWER_CLAMP_2_CLOSE) self.lower_clamp_rotate_button = Button (self.control_frame, text = 'LClamp rotate', padx = 0, pady = 0, command = self.lower_clamp_rotate_command) self.lower_clamp_rotate_button.pack () out_button ('UClamp up/down', - self.UPPER_CLAMP_UP | self.UPPER_CLAMP_DOWN) + 1 << defs.OUTPUT_UPPER_CLAMP_UP + | 1 << defs.OUTPUT_UPPER_CLAMP_DOWN) out_button ('UClamp in/out', - self.UPPER_CLAMP_IN | self.UPPER_CLAMP_OUT) - out_button ('UClamp open', self.UPPER_CLAMP_OPEN) - out_button ('Door open', self.DOOR_OPEN | self.DOOR_CLOSE) + 1 << defs.OUTPUT_UPPER_CLAMP_IN + | 1 << defs.OUTPUT_UPPER_CLAMP_OUT) + out_button ('UClamp open', + 1 << defs.OUTPUT_UPPER_CLAMP_OPEN) + out_button ('Door open', + 1 << defs.OUTPUT_DOOR_OPEN + | 1 << defs.OUTPUT_DOOR_CLOSE) self.backward_var = IntVar () self.backward_button = Checkbutton (self.control_frame, text = 'Backward', variable = self.backward_var) -- cgit v1.2.3