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: (250, 2000 - 250, math.radians (0)), True: (3000 - 250, 2000 - 250, math.radians (180)) } 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 = ('../../mimot/src/asserv/asserv.host', '-i{instance}:asserv0', '-m9', 'guybrush') mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-i{instance}:mimot0', '-m9', 'guybrush') io_hub_cmd = ('../../io-hub/src/guybrush/io_hub.host', '-i{instance}:io0') self.asserv = proto (asserv.Proto, asserv_cmd, asserv.init.host['guybrush']) self.mimot = proto (mimot.Proto, mimot_cmd, mimot.init.host['guybrush']) self.io = proto (io_hub.ProtoGuybrush, io_hub_cmd, io_hub.init.host['guybrush']) self.protos = (self.asserv, self.mimot, self.io)