From 69305ae1ed6da084b6ee65dba3ce44f0d6cbe2d1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 30 Apr 2009 09:53:44 +0200 Subject: * host/simu, digital/io/tools: - new simulation infrastructure. --- host/simu/inter/inter_node.py | 110 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 110 insertions(+) create mode 100644 host/simu/inter/inter_node.py (limited to 'host/simu/inter/inter_node.py') diff --git a/host/simu/inter/inter_node.py b/host/simu/inter/inter_node.py new file mode 100644 index 00000000..ab1b5acf --- /dev/null +++ b/host/simu/inter/inter_node.py @@ -0,0 +1,110 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2009 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. +# +# }}} +"""Simulation interface coupled with a mex node.""" +from simu.inter.inter import Inter +from mex.node import Node +from Tkinter import * +import time + +class InterNode (Inter): + + def __init__ (self): + Inter.__init__ (self) + # Create node and bind to Tk. + self.node = Node () + self.node.tick = 900 # tick/s + self.tk.createfilehandler (self.node, READABLE, self.read) + # Animation attributes. + self.date = 0 + self.synced = True + self.step_after = None + self.step_time = None + + def create_widgets (self): + Inter.create_widgets (self) + self.now_label = Label (self.right_frame, text = 'Now: 0 s') + self.now_label.pack () + self.step_button = Button (self.right_frame, text = 'Step', + command = self.step) + self.step_button.pack () + self.step_size_scale = Scale (self.right_frame, orient = HORIZONTAL, + from_ = 0.05, to = 1.0, resolution = 0.05) + self.step_size_scale.pack () + self.play_var = IntVar () + self.play_button = Checkbutton (self.right_frame, + variable = self.play_var, text = 'Play', command = self.play) + self.play_button.pack () + + def step (self): + """Do a step. Signal to the Hub we are ready to wait to the next step + date.""" + self.node.wait_async (self.date + + int (self.step_size_scale.get () * self.node.tick)) + self.synced = False + self.step_after = None + self.step_time = time.time () + + def play (self): + """Activate auto-steping.""" + if self.play_var.get (): + if self.step_after is None and self.synced: + self.step () + self.step_button.configure (state = DISABLED) + else: + if self.step_after is not None: + self.after_cancel (self.step_after) + self.step_after = None + self.step_button.configure (state = NORMAL) + + def read (self, file, mask): + """Handle event on the Node.""" + self.node.read () + if not self.synced and self.node.sync (): + self.synced = True + self.date = self.node.date + self.now_label.configure (text = 'Now: %.2f s' + % (float (self.date) / self.node.tick)) + self.update () + if self.play_var.get (): + assert self.step_after is None + next = self.step_time + self.step_size_scale.get () + delay = next - time.time () + if delay > 0: + self.step_after = self.after (int (delay * 1000), + self.step) + else: + self.step () + +if __name__ == '__main__': + import mex.hub + import utils.forked + h = mex.hub.Hub (min_clients = 1) + fh = utils.forked.Forked (h.wait) + try: + app = InterNode () + app.mainloop() + finally: + fh.kill () + import time + time.sleep (1) -- cgit v1.2.3