def __init__(self,ini_file='none.ini'):
'''
Constructor
'''
self.terrain = None
try:
CRSService.__init__(self,'ENV',49581,49580)
except:
print 'CEnvironment - XML-RPC server fail'
else:
print 'CEnvironment - running'
def __init__(self,local_port,remote_port=49580,ini_file='none.ini'):
'''
Constructor
'''
if local_port >= 49582 and local_port <= 49600:
try:
CRSService.__init__(self,'ROBOT',local_port,remote_port) #local_port from 49582 to 49600
except:
print '[CRSRobot.__init__] - XML-RPC server fail'
else:
print '[CRSRobot.__init__] - running'
else:
print '[CRSRobot.__init__] - running out of ports'
self.data = {}
self.data['local'] = {}
self.data['local']['VR'] = 0.2
self.data['local']['VL'] = 0.42
def __init__(self, local_port, remote_port=49580):
"""
Constructor
"""
if local_port >= 49601 and local_port <= 49700:
try:
CRSService.__init__(self, "DSS", local_port, remote_port) # local_port from 49601 to 49700
except:
print "CRSDSS - XML-RPC server fail"
else:
print "CRSDSS - running"
else:
print "CRSDSS - running out of ports"
"""
Properties
"""
self.data = {}
self.data["X0"] = 0
self.data["Y0"] = 0
self.data["O0"] = 0
self.data["VR0"] = 0
self.data["VL0"] = 0
self.data["SR0"] = 0
self.data["SL0"] = 0
self.data["S0"] = 0
self.data["X"] = []
self.data["Y"] = []
self.data["O"] = []
# load initial condition
self.data["step_count"] = 1 # first step keep the initial values
self.data["X"].append(self.data["X0"])
self.data["Y"].append(self.data["Y0"])
self.data["O"].append(self.data["O0"])
self.data["wheel_radius"] = 0.03 # radios of the wheel in meters
self.data["whell_axi_size"] = 0.20 # distance between whells in meters
self.data["delta_time"] = 0.01 # delta time in sec.
self.data["simulation_time"] = 0 # total simulated time in sec.