def __init__(self, port):
self.zoom = 1
self.disp = Display(self.zoom)
#robot displays by default at 100 pixels square.
#read robot is approx 26cm square
#multiply default scaled distances by scale to get cm
#internally the model works in default scaled pixels. But it returns
#cm on the UI and TCP interfaces.
self.scale = 26.0 / 100
timenow = time.time()
self.robot = RobotModel(self.disp, 100, self.scale, timenow)
self.world = WorldModel(self.disp, self.robot, timenow)
self.world.add_default_walls()
if (port != 0):
self.controller = Controller(port, self.robot, 1)
else:
self.controller = Controller(55443, self.robot, 0)
self.robot.set_controller(self.controller)
self.robot.init_robot_posn(500, 350, 0)
self.robot.set_ir_angles(0, 0)
self.robot.stop()
self.active = True
class Simulator():
def __init__(self, port):
self.zoom = 1
self.disp = Display(self.zoom)
#robot displays by default at 100 pixels square.
#read robot is approx 26cm square
#multiply default scaled distances by scale to get cm
#internally the model works in default scaled pixels. But it returns
#cm on the UI and TCP interfaces.
self.scale = 26.0 / 100
timenow = time.time()
self.robot = RobotModel(self.disp, 100, self.scale, timenow)
self.world = WorldModel(self.disp, self.robot, timenow)
self.world.add_default_walls()
if (port != 0):
self.controller = Controller(port, self.robot, 1)
else:
self.controller = Controller(55443, self.robot, 0)
self.robot.set_controller(self.controller)
self.robot.init_robot_posn(500, 350, 0)
self.robot.set_ir_angles(0, 0)
self.robot.stop()
self.active = True
def poll_controller(self):
cont_active = self.controller.poll()
if cont_active:
self.disp.set_active()
def process_gui(self):
self.active = self.disp.process_gui_events()
def run(self):
#local variables are fastest and this is the inner loop
world = self.world
robot = self.robot
realtime = time.time()
starttime = realtime
cur_time = 0
iter_time = 0
sleep_time = 0.005
try:
while True:
#five phases in this loop to allow more accurate position
#updates than display updates
#phase 1
#first update after pygame's sleep
realtime = time.time()
if self.active:
self.robot.update_position()
self.world.check_wheel_drag()
self.poll_controller()
#phase 2
#process the gui
self.process_gui()
cur_time = cur_time + 1
world.set_time(realtime)
x_offset, y_offset = robot.self_update(cur_time, realtime)
if self.active:
self.world.check_wheel_drag()
zoom = self.disp.zoom
x_offset = x_offset - (500 / zoom)
y_offset = y_offset - (350 / zoom)
self.poll_controller()
#phase 3
#update sensors, update display
if self.active:
world.sample_all_sensors()
self.disp.update(x_offset, y_offset)
if self.active:
self.robot.update_position()
self.world.check_wheel_drag()
self.poll_controller()
#phase 4
#check collisions
world.check_collision()
if self.active:
self.robot.update_position()
self.world.check_wheel_drag()
self.poll_controller()
#phase 5
#draw the screen
world.redraw()
if self.active:
self.robot.update_position()
self.world.check_wheel_drag()
self.poll_controller()
#may sleep in flip
self.disp.flip()
except KeyboardInterrupt:
sys.exit()
