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 __init__ (self, robot_class, robot_nb = 1,
color_switch_set_pos = False):
# 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, robot_class.tick)
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):
try:
prog.proto.read ()
prog.proto.sync ()
except EOFError:
print "Connection closed"
self.tk.deletefilehandler (prog)
self.play_var.set (0)
self.play ()
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, 4)
self.table_model.obstacles.append (self.obstacle)
self.obstacle_beacon = obstacle_model.RoundObstacle (40, 5)
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.
def change_color (r = r):
i = r.model.color_switch.state
r.asserv.set_simu_pos (*r.robot_start_pos[i])
if color_switch_set_pos:
r.asserv.set_pos (*r.robot_start_pos[i])
r.model.color_switch.register (change_color)
# Jack.
if hasattr (r, 'jack'):
r.model.jack.register (r.jack)
# Beacon system.
if hasattr (r.link, 'beacon'):
r.link.beacon.position[0].register_to (self.obstacle)
