From ce54d55afe583b92ffb57d46916ccba4eba51f5b Mon Sep 17 00:00:00 2001 From: Julien Balleyguier Date: Fri, 18 May 2012 09:30:16 +0200 Subject: digital/ai/tools: add unblock button on simulator --- digital/ai/tools/test_simu_control_guybrush.py | 7 +++++++ digital/io-hub/src/guybrush/main.c | 4 ++++ digital/io-hub/tools/io_hub/io_hub.py | 2 ++ 3 files changed, 13 insertions(+) (limited to 'digital') diff --git a/digital/ai/tools/test_simu_control_guybrush.py b/digital/ai/tools/test_simu_control_guybrush.py index e895bf39..661e2140 100644 --- a/digital/ai/tools/test_simu_control_guybrush.py +++ b/digital/ai/tools/test_simu_control_guybrush.py @@ -97,6 +97,10 @@ class TestSimuControl (TestSimu): text = 'Robot is back', padx = 0, pady = 0, command = self.robot_is_back) self.robot_is_back_button.pack() + self.unblock_button = Button (self.control_frame, + text = 'unblock bottom clamp', padx = 0, pady = 0, + command = self.unblock_bottom_clamp) + self.unblock_button.pack() self.backward_var = IntVar () self.backward_button = Checkbutton (self.control_frame, text = 'Backward', variable = self.backward_var) @@ -146,5 +150,8 @@ class TestSimuControl (TestSimu): def robot_is_back(self): self.io.robot_is_back() + def unblock_bottom_clamp(self): + self.io.unblock_bottom_clamp() + if __name__ == '__main__': run ('guybrush', TestSimuControl) diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c index 85b53d2e..ef411a35 100644 --- a/digital/io-hub/src/guybrush/main.c +++ b/digital/io-hub/src/guybrush/main.c @@ -395,6 +395,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) /* Simulate the robot_is_back command. */ fsm_queue_post_event (FSM_EVENT (AI, robot_is_back)); break; + case c ('u',0): + /* Simulate the unblock command. */ + fsm_queue_post_event (FSM_EVENT (AI, clamp_unblock)); + break; case c ('c', 1): /* Simulate clean_start (00), clean_catch (01), clean_load (02). */ if (args[0] == 0) diff --git a/digital/io-hub/tools/io_hub/io_hub.py b/digital/io-hub/tools/io_hub/io_hub.py index 4aa388b0..7c4d2bb5 100644 --- a/digital/io-hub/tools/io_hub/io_hub.py +++ b/digital/io-hub/tools/io_hub/io_hub.py @@ -100,3 +100,5 @@ class ProtoGuybrush (Proto): self.proto.send('e') def robot_is_back(self): self.proto.send('r') + def unblock_bottom_clamp(self): + self.proto.send('u') -- cgit v1.2.3