class SensorListener(Thread):
def __init__(self, sensors, timestep=0.1, threshold=300):
Thread.__init__(self)
self.daemon = True
self.signal = Signal()
self.getter = sensors.obstacle
self.timestep = timestep
self.stop = Event()
self.threshold = threshold
self.error = 0
self.start()
self.run_event = Event()
self.run_event.set()
def enable(self):
self.run_event.set()
def disable(self):
self.run_event.clear()
def get_dist(self):
return self.getter(self.threshold)
def run(self):
while not self.stop.is_set():
time.sleep(self.timestep)
if not self.run_event.is_set():
self.run_event.wait()
try:
obstacle = self.getter(self.threshold)
except TimeoutError:
continue
if obstacle:
self.signal.ping()
def __init__(self,
front_getter,
left_getter,
right_getter,
timestep=0.1,
threshold=220):
Thread.__init__(self)
self.daemon = True
# Sensors list
self.sensors_list = [self.LEFT, self.FRONT, self.RIGHT]
# Signals for each sensors
self.__setattr__("signal" + str(self.FRONT), Signal())
self.__setattr__("signal" + str(self.LEFT), Signal())
self.__setattr__("signal" + str(self.RIGHT), Signal())
# Sensors getter
self.__setattr__("getter" + str(self.FRONT), front_getter)
self.__setattr__("getter" + str(self.LEFT), left_getter)
self.__setattr__("getter" + str(self.RIGHT), left_getter)
# Timestep
self.timestep = timestep
# Stopping event
self.stop = Event()
# Position threshold
self.threshold = threshold
# Atomatically start
self.start()
def __init__(self, getter, timestep=0.1, threshold=220):
Thread.__init__(self)
self.daemon = True
self.signal = Signal()
self.getter = getter
self.timestep = timestep
self.stop = Event()
self.threshold = threshold
self.error = 0
self.start()
def __init__(self, getter, timestep=0.1, threshold=10):
Thread.__init__(self)
self.signal = Signal()
self.getter = getter
self.timestep = timestep
self.stop = Event()
self.threshold = threshold
self.error = 0
self.position = (-1000, -1000) # self.getter()
self.start()
def __init__(self, sensors, timestep=0.1, threshold=300):
Thread.__init__(self)
self.daemon = True
self.signal = Signal()
self.getter = sensors.obstacle
self.timestep = timestep
self.stop = Event()
self.threshold = threshold
self.error = 0
self.start()
self.run_event = Event()
self.run_event.set()
class SensorListener(Thread):
def __init__(self, getter, timestep=0.1, threshold=220):
Thread.__init__(self)
self.daemon = True
self.signal = Signal()
self.getter = getter
self.timestep = timestep
self.stop = Event()
self.threshold = threshold
self.error = 0
self.start()
def run(self):
while not self.stop.is_set():
sleep(self.timestep)
try:
left, right = self.getter()
except TimeoutError:
continue
if left < self.threshold or right < self.threshold:
self.signal.ping()
def __init__(self, brother_getter, opponents_getter, timestep=0.5, threshold=10):
Thread.__init__(self)
self.daemon = True
# Robots list
self.robots_list = [self.BROTHER, self.OPPONENTA, self.OPPONENTB]
# Signals for each robots
self.__setattr__("signal"+str(self.BROTHER), Signal())
self.__setattr__("signal"+str(self.OPPONENTA), Signal())
self.__setattr__("signal"+str(self.OPPONENTB), Signal())
# Brother and opponents getter
self.__setattr__("getter"+str(self.BROTHER), brother_getter)
self.__setattr__("getter"+str(self.OPPONENTA),
lambda: opponents_getter()[0])
self.__setattr__("getter"+str(self.OPPONENTB),
lambda: opponents_getter()[1])
self.__setattr__("position"+str(self.BROTHER), (-1000, -1000))
self.__setattr__("position"+str(self.OPPONENTA), (-1000, -1000))
self.__setattr__("position"+str(self.OPPONENTB), (-1000, -1000))
# Timestep
self.timestep = timestep
# Stopping event
self.stop = Event()
# Position threshold
self.threshold = threshold
# Position error
self.error = 0
self.pos = (-1000, -1000)
# Atomatically start
self.start()
class PositionListener(Thread):
def __init__(self, getter, timestep=0.1, threshold=10):
Thread.__init__(self)
self.signal = Signal()
self.getter = getter
self.timestep = timestep
self.stop = Event()
self.threshold = threshold
self.error = 0
self.position = (-1000, -1000) # self.getter()
self.start()
def run(self):
while not self.stop.is_set():
sleep(self.timestep)
x, y = self.getter()
if (hypot(y - self.position[1], x - self.position[0]) + self.error) > self.threshold:
self.signal.ping()
self.error = 0
else:
self.error += hypot(y - self.position[1], x - self.position[0])
self.position = (x, y)
def __init__(self, match_time=100, timestep=0.1):
Thread.__init__(self)
self.daemon = True
# End Game action list
self.end_game_action_list = [
self.END_GAME_ACTION, self.FUNNY_ACTION, self.HARBOUR_ACTION
]
for action in self.end_game_action_list:
self.__setattr__("signal" + str(action), Signal())
self.__setattr__("timeout" + str(action), match_time)
self.__setattr__("event" + str(action), Event())
# Timestep
self.timestep = timestep
# Stopping eventc
self.stop = Event()