# io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ # # Copyright (C) 2008 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. # # }}} import mex.hub import utils.forked import simu.model.round_obstacle as obstacle_model import simu.view.round_obstacle as obstacle_view from simu.inter.inter_node import InterNode from Tkinter import * class ObstacleWithBeacon (obstacle_view.RoundObstacle): def __init__ (self, onto, model, beacon_model): obstacle_view.RoundObstacle.__init__ (self, onto, model) self.beacon_model = beacon_model def __notified (self): self.pos = self.model.pos self.update () def draw (self): obstacle_view.RoundObstacle.draw (self) if self.pos: self.draw_circle ((0, 0), self.beacon_model.radius, fill = '#505050') class TestSimu (InterNode): """Interface, with simulated programs.""" def __init__ (self, robot_class, robot_nb = 1, color_switch = True): # Hub. self.hub = mex.hub.Hub (min_clients = 1 + robot_class.client_nb * robot_nb) self.forked_hub = utils.forked.Forked (self.hub.wait) # InterNode. InterNode.__init__ (self) def proto_time (): return self.node.date / self.node.tick # Robot instances. self.robots = [ robot_class (proto_time, 'robot%d' % i) for i in xrange (robot_nb) ] for r in self.robots: for prog in r.protos: prog.async = True def prog_read (f, mask, prog = prog): prog.proto.read () prog.proto.sync () self.tk.createfilehandler (prog, READABLE, prog_read) # Add table. self.table_model = robot_class.table_model.Table () self.table = robot_class.table_view.Table (self.table_view, self.table_model) self.obstacle = obstacle_model.RoundObstacle (150) self.table_model.obstacles.append (self.obstacle) self.obstacle_beacon = obstacle_model.RoundObstacle (40, 2) self.table_model.obstacles.append (self.obstacle_beacon) self.obstacle_view = ObstacleWithBeacon (self.table, self.obstacle, self.obstacle_beacon) self.table_view.bind ('<2>', self.place_obstacle) # Add robots. for r in self.robots: r.link = r.robot_link.Bag (self.node, r.instance) r.model = r.robot_model.Bag (self.node, self.table_model, r.link) r.view = r.robot_view.Bag (self.table, self.actuator_view, self.sensor_frame, r.model) # Color switch. if color_switch: def change_color (r = r): i = r.model.color_switch.state r.asserv.set_simu_pos (*r.robot_start_pos[i]) r.model.color_switch.register (change_color) def close (self): self.forked_hub.kill () import time time.sleep (1) def step (self): """Overide step to handle retransmissions, could be made cleaner using simulated time.""" InterNode.step (self) for r in self.robots: for prog in r.protos: prog.proto.sync () def place_obstacle (self, ev): pos = self.table_view.screen_coord ((ev.x, ev.y)) self.obstacle.pos = pos self.obstacle_beacon.pos = pos self.obstacle.notify () self.obstacle_beacon.notify () def run (default_robot, test_class = TestSimu): import optparse parser = optparse.OptionParser () parser.add_option ('-r', '--robot', help = "use specified robot", metavar = 'NAME', default = default_robot) parser.add_option ('-n', '--robot-nb', help = "number of robots", type = 'int', metavar = 'NB', default = 1) (options, args) = parser.parse_args () if args: parser.error ("too many arguments") if options.robot == 'marcel': import marcel robot = marcel.Robot 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) try: app.mainloop () finally: app.close () if __name__ == '__main__': run ('marcel')