def __init__(self, clientID, suffix=""):
# vrep.simxFinish(-1) # just in case, close all opened connections
# self._clientID = vrep.simxStart('127.0.0.1',19997, True, True, 5000, 5) # Connect to V-REP
self._clientID = clientID
self.suffix = suffix
_, self._left_joint = vrep.simxGetObjectHandle(self._clientID, 'ePuck_leftJoint' + suffix, vrep.simx_opmode_oneshot_wait)
_, self._right_joint = vrep.simxGetObjectHandle(self._clientID, 'ePuck_rightJoint' + suffix, vrep.simx_opmode_oneshot_wait)
_, self._light_sensor = vrep.simxGetObjectHandle(self._clientID, 'ePuck_lightSensor' + suffix, vrep.simx_opmode_oneshot_wait)
_, self._camera = vrep.simxGetObjectHandle(self._clientID, 'ePuck_camera' + suffix, vrep.simx_opmode_oneshot_wait)
self._prox_handles = []
for i in range(1,9):
_, p = vrep.simxGetObjectHandle(self._clientID, 'ePuck_proxSensor' + str(i) + suffix, vrep.simx_opmode_oneshot_wait)
self._prox_handles.append(p)
# First calls with simx_opmode_streaming
for i in range(8):
vrep.simxReadProximitySensor(self._clientID, self._prox_handles[i], vrep.simx_opmode_streaming)
_, self.camera_resolution, _ = vrep.simxGetVisionSensorImage(self._clientID, self._camera, options=0, operationMode=vrep.simx_opmode_streaming)
_, self.light_sensor_resolution, _ = vrep.simxGetVisionSensorImage(self._clientID, self._light_sensor, options=0, operationMode=vrep.simx_opmode_streaming)
self._body = vrep.simxGetObjectHandle(self._clientID, "ePuck_bodyElements" + suffix, vrep.simx_opmode_oneshot_wait)
self.wheel_diameter = 4.25 * 10 ** -2
self.base_lenght = 7 * 10 ** -2
self._prox_aliases = {"all" : range(8),
"all-but-rear" : range(6),
"front" : [2, 3],
"rear" : [6, 7],
"front-left" : [0, 1, 2],
"front-right": [3, 4, 5]}
self.no_detection_value = 2000.
self._fwd_spd, self._rot_spd = 0., 0.
self._left_spd, self._right_spd = 0., 0.
self.fwd_spd, self.rot_spd = 0., 0.
vrep.simxGetFloatSignal(self._clientID, "CurrentTime", vrep.simx_opmode_streaming)
self.freq = 100
self._behaviors = {}
self._runnings = {}
self._to_detach = {}
self._sensations = {}
self._conditions = {}
self._registered_objects = {}
_, _, _ , _, _ = vrep.simxGetObjectGroupData(self._clientID, vrep.sim_object_shape_type, 0, vrep.simx_opmode_streaming)
sleep(0.5)
self.register_all_scene_objects()
def get_float_signal(self, signal, first_call=False):
opmode = vrep.simx_opmode_streaming if first_call else vrep.simx_opmode_buffer
status, value = vrep.simxGetFloatSignal(self.id, signal, opmode)
self.check_return_code(status, tolerance=vrep.simx_return_novalue_flag)
return value
def simulation_time(self):
_, sim_time = vrep.simxGetFloatSignal(self._clientID, "CurrentTime", vrep.simx_opmode_buffer)
return sim_time
