def __init__(self, mainLogger):
self.__mainLogger = mainLogger
self.__psValue = [0,0,0,0,0,0,0]
self.__psGroundAmbiantSensors = [0,0]
self.__psGroundReflectedSensors = [0,0]
self.__psGroundDeltaSensors = [0,0]
self.__motorspeed = [0,0]
self.__color = [0,0,0]
self.__performActionReq = threading.Condition()
self.__rSensorsReq = False
self.__rGroundSensorsReq = False
self.__wMotorspeedReq = False
self.__wColorReq = False
self.__stopThymioReq = False
self.__killReq = False
self.__commandsListener = None
self.__simulationStarted = threading.Event()
self.__simulation = None
self.__simLogger = None
# Init the main loop
dbus.mainloop.glib.DBusGMainLoop(set_as_default=True)
# Get stub of the Aseba network
bus = dbus.SessionBus()
# Create Aseba network
asebaNetworkObject = bus.get_object('ch.epfl.mobots.Aseba', '/')
self.__asebaNetwork = dbus.Interface(asebaNetworkObject, dbus_interface='ch.epfl.mobots.AsebaNetwork')
# self.__mainLogger.debug('Aseba nodes: ' + str(self.__asebaNetwork.GetNodesList()))
# Load the aesl file
self.__asebaNetwork.LoadScripts(AESL_PATH, reply_handler=self.__dbusEventReply, error_handler=self.__dbusError)
# Schedules first run of the controller
glib.idle_add(self.__execute)
def __init__(self, mainLogger):
self.__mainLogger = mainLogger
self.__psValue = [0, 0, 0, 0, 0, 0, 0]
self.__psGroundAmbiantSensors = [0, 0]
self.__psGroundReflectedSensors = [0, 0]
self.__psGroundDeltaSensors = [0, 0]
self.__motorspeed = [0, 0]
self.__realMotorSpeed = [0, 0]
self.__color = [0, 0, 0, 0]
self.__temperature = [0]
self.__sound = [0]
self.__performActionReq = threading.Condition()
self.__rSensorsReq = False
self.__temperatureReq = False
self.__rGroundSensorsReq = False
self.__wMotorspeedReq = False
self.__rMotorspeedReq = False
self.__wColorReq = False
self.__stopThymioReq = False
self.__killReq = False
self.__soundReq = False
self.__commandsListener = None
self.__simulationStarted = threading.Event()
self.__simulation = None
self.__simLogger = None
# Init the main loop
dbus.mainloop.glib.DBusGMainLoop(set_as_default=True)
# Get stub of the Aseba network
bus = dbus.SessionBus()
# Create Aseba network
asebaNetworkObject = bus.get_object('ch.epfl.mobots.Aseba', '/')
self.__asebaNetwork = dbus.Interface(
asebaNetworkObject, dbus_interface='ch.epfl.mobots.AsebaNetwork')
# self.__mainLogger.debug('Aseba nodes: ' + str(self.__asebaNetwork.GetNodesList()))
# Load the aesl file
self.__asebaNetwork.LoadScripts(cl.AESL_PATH,
reply_handler=self.__dbusEventReply,
error_handler=self.__dbusError)
# Schedules first run of the controller
glib.idle_add(self.__execute)
def on_ready_cb(self, app):
self.app_ready = True
import glib
if self.splash is not None:
glib.idle_add(self.splash.destroy)
self.post_start()
def on_ready_cb(self, app):
self.app_ready = True
import glib
if self.splash is not None:
glib.idle_add(self.splash.destroy)
self.post_start()
