def test_json(self):
"""
Vérifie le format json du robot
"""
print("Testing json format...")
r = RobotMotorise()
r.save("robotmotorise.json")
r2 = RobotMotorise.load("robotmotorise.json")
self.assertIsInstance(r2, RobotMotorise)
print("Done")
def setUp(self):
self.distance = 1
self.strat = DeplacementDroit(
robot=RobotMotorise(forme=Pave(1, 1, 1, Point(3, 3, 0))),
distance_max=self.distance)
self.arene = Arene()
self.arene.add(self.strat.robot)
def hook(dct):
res = RobotMotorise.hook(dct)
if res is not None:
return res
elif dct["__class__"] == RobotTarget.__name__:
return RobotTarget(dct["forme"], dct["rg"], dct["rd"],
dct["direction"], dct["tete"], dct["balise"])
def hook(dct):
res = RobotMotorise.hook(dct)
if res is not None:
return res
elif dct["__class__"] == RobotTarget.__name__:
return RobotTarget.hook(dct)
elif dct["__class__"] == Strategie.__name__:
return Strategie(dct["robot"])
def __init__(self,
forme=Pave(1, 1, 1),
rg=Roue(0.25),
rd=Roue(0.25),
direction=Vecteur(1, 1, 0).norm(),
tete: Tete = Tete(),
balise=None):
"""
:param balise: Contient les couleurs à afficher
"""
RobotMotorise.__init__(self,
forme=forme,
rg=rg,
rd=rd,
direction=direction,
tete=tete)
self.balise = balise
def setUp(self):
v = Vecteur(1, 1, 0).norm()
p0 = Point(1, 1, 1)
self.strat = StrategieVision(
RobotMotorise(pave=Pave(1, 1, 1, p0.clone()), direction=v.clone()),
AreneFermee(3, 3, 3))
self.target = RobotTarget(pave=Pave(1, 1, 1,
p0.clone() + v * 2),
direction=v.clone())
self.target.rotate_all_around(self.target.centre, -pi / 4)
self.strat.arene.add(self.target)
def setUp(self):
v = Vecteur(1, 1, 0).norm()
p0 = Point(1, 1, 1)
self.strat = TournerVersBalise(robot=RobotMotorise(
forme=Pave(1, 1, 1, p0.clone()), direction=v.clone()),
arene=AreneFermee(3, 3, 3))
self.target = RobotTarget(forme=Pave(1, 1, 1, (p0.clone() + v * 3)),
direction=v.clone())
self.strat.robot.rotate_all_around(self.strat.robot.centre,
30 * pi / 180)
self.strat.robot.update()
self.strat.arene.add(self.target)
def test_target_circle_trajectectory(self):
self.strat = DroitVersBaliseVision(RobotMotorise(forme=Pave(1,1,1,self.p0.clone()), direction=self.v2.clone()), AreneFermee(10,10,10))
self.strat2 = DeplacementCercle(robot=self.target,vitesse=30, diametre=3, angle_max=360)
td = Thread(target=self.strat.start_3D)
sim = Simulation(strategies=[self.strat2, self.strat], tmax=15, tic=1,tic_display=[self.strat], final_actions=[self.strat.stop_3D])
td.start()
while not self.strat.robot.tete.sensors["cam"].is_set:
pass
sim.start()
while not sim.stop:
pass
self.assertNotEqual(self.strat.last_detected, None)
def setUp(self):
c = Point(2, 2, 1)
v = Vecteur(1, 0, 0)
dist = 3.0
self.arene = Arene()
self.strat = DeplacementDroitAmeliore(robot=RobotMotorise(
forme=Pave(1, 1, 1, c.clone()), direction=v.clone()),
arene=self.arene)
self.v = self.strat.robot.direction * dist
self.p = Pave(0.5, 0.5, 0.5, self.strat.robot.centre + self.v)
self.arene.add(self.p)
self.arene.add(self.strat.robot)
def setUp(self):
self.v2 = Vecteur(1,0,0)
self.p0 = Point(1,1,0.5)
self.strat = DroitVersBaliseVision(RobotMotorise(forme=Pave(1,1,1,self.p0.clone()), direction=self.v2.clone()), AreneFermee(5,5,5))
self.target = RobotTarget(forme=Pave(1,1,1, self.p0.clone()+self.v2*3), direction=self.v2.clone())
self.strat.arene.add(self.target)
class TestRobotMotorise(unittest.TestCase):
def setUp(self):
self.r = RobotMotorise(pave=Pave(1, 1, 0, centre=Point(5, 5, 0)),
direction=Vecteur(1, 0, 0))
def test_mecanism(self):
"""
Vérifie que le robot avance correctement
"""
self.r.set_wheels_rotation(1, 30)
self.r.set_wheels_rotation(2, 30)
self.p0 = self.r.centre.clone()
self.n = int(1 / PAS_TEMPS) * 2
print("Testing distance travelled...")
for i in range(1, self.n):
self.r.update()
t_tot = self.n * PAS_TEMPS
print("Time passed: ", t_tot, " s")
d_th = (self.p0 - self.r.centre).to_vect().get_mag()
d_calc = self.r.get_wheels_angles(1) * self.r.rd.diametre * (pi / 180)
print("Error distance: ", abs(d_th - d_calc), " m")
print("Done")
self.assertAlmostEqual(d_th, d_calc)
def test_json(self):
"""
Vérifie le format json du robot
"""
print("Testing json format...")
r = RobotMotorise()
r.save("robotmotorise.json")
r2 = RobotMotorise.load("robotmotorise.json")
self.assertIsInstance(r2, RobotMotorise)
print("Done")
def test_tete(self):
"""
Vérifie la liaison entre la tête et le robot
"""
print("Testing movement dependencies...")
d = (random.random() * 0.5 + 0.5) * random.randint(5, 10)
angle = random.random() * 2 * pi
self.assertEqual(self.r.centre, self.r.tete.centre)
self.r.move(Vecteur(1, 0, 0) * d)
self.r.rotate_all_around(self.r.centre, pi / 4)
self.r.tete.dir_rel = Vecteur(1, 0, 0)
self.r.update()
self.assertEqual(self.r.centre, self.r.tete.centre)
self.assertEqual(self.r.direction, self.r.tete.direction)
print("Done")
def setUp(self):
self.angle = rm.random() * rm.choice([-1, 1]) * pi
self.strat = Tourner(robot=RobotMotorise(Pave(1,1,1,Point(2,2,0))), angle_max=(self.angle * 180 / pi))
self.arene = Arene()
self.arene.add(self.strat.robot)
return DroitVersBalise(**dct)
@staticmethod
def load(filename):
"""
Permet de charger un objet DroitVersbalise depuis un fichier au format json adapté
:param filename: Nom du fichier
"""
with open(filename, 'r', encoding='utf-8') as f:
return json.load(f, object_hook=DroitVersBalise.hook)
class DroitVersBaliseVision(DroitVersBalise, StrategieVision):
def __init__(self, robot, arene):
DroitVersBalise.__init__(self, robot=robot, arene=arene)
StrategieVision.__init__(self, robot=robot, arene=arene)
def update(self):
DroitVersBalise.update(self)
if __name__=='__main__':
st = DroitVersBalise(robot=RobotMotorise(), arene=Arene())
st.save("droitVersBalise.json")
st2 = DroitVersBalise.load("droitVersBalise.json")
print(st2.clone())
pass
@staticmethod
def hook(dct):
res = StrategieVision.hook(dct)
if res is not None:
return res
elif dct["__class__"] == TournerVersBalise.__name__:
return TournerVersBalise(**dct)
@staticmethod
def load(filename):
"""
Permet de charger un objet TournerVersBalise depuis un fichier au format json adapté
:param filename: Nom du fichier
"""
with open(filename, 'r', encoding='utf-8') as f:
return json.load(f, object_hook=TournerVersBalise.hook)
if __name__ == '__main__':
from gl_lib.sim.robot import RobotMotorise
from gl_lib.sim.geometry import Arene, signe
st = TournerVersBalise(robot=RobotMotorise(), arene=Arene())
st.save("TournerVersBalise.json")
st2 = TournerVersBalise.load("TournerVersBalise.json")
print(st2.clone())
def setUp(self):
self.robot = RobotMotorise()
:param filename: Nom du fichier
"""
with open(filename, 'r', encoding='utf-8') as f:
return json.load(f, object_hook=DeplacementCercle.hook)
if __name__ == '__main__':
from gl_lib.sim import Simulation
from gl_lib.sim.display.d2.gui import AppAreneThread
from gl_lib.sim.robot import *
from gl_lib.sim.robot.sensor import Accelerometre
from gl_lib.sim.geometry import *
a = AreneRobot()
r = RobotMotorise(
forme=Pave(centre=Point(3.7, 6.7, 0), width=1, height=1, length=1))
r.tete.sensors["cam"].arene = AreneFermee(3, 3, 3)
td = Thread(target=r.tete.sensors["cam"].run)
sim = Simulation(
strategies=[DeplacementCercle(robot=r, angle_max=360, diametre=1)])
a.add(r)
app = AppAreneThread(a)
app.start()
min_x, min_y = sim.strategie.robot.centre.x, sim.strategie.robot.centre.y
max_x, max_y = sim.strategie.robot.centre.x, sim.strategie.robot.centre.y
dps_wheels = sim.strategie.robot.get_wheels_rotations(3)
# td.start()
sim.start()
# print(sim.stop, sim.strategie.stop())
while not sim.stop:
sleep(1)
def setUp(self):
self.r = RobotMotorise(pave=Pave(1, 1, 0, centre=Point(5, 5, 0)),
direction=Vecteur(1, 0, 0))
self.robot.tete.sensors["cam"].picture()
self.robot.tete.sensors["cam"].print_picture(filename)
@staticmethod
def hook(dct):
res = AreneRobot.hook(dct)
if res is not None:
return res
elif dct["__class__"] == StrategieVision.__name__:
return StrategieVision(dct["robot"], dct["arene"])
@staticmethod
def load(filename):
"""
Permet de charger un objet StrategieVision depuis un fichier au format json adapté
:param filename: Nom du fichier
"""
with open(filename, 'r', encoding='utf-8') as f:
return json.load(f, object_hook=StrategieVision.hook)
if __name__ == '__main__':
st = StrategieVision(RobotMotorise(), AreneRobot())
st.save("strategie_vision.json")
print(st)
st2 = StrategieVision.load("strategie_vision.json")
def __dict__(self):
dct = OrderedDict()
dct["__class__"] = Strategie.__name__
dct["robot"] = self.robot.__dict__()
return dct
@staticmethod
def hook(dct):
res = RobotMotorise.hook(dct)
if res is not None:
return res
elif dct["__class__"] == RobotTarget.__name__:
return RobotTarget.hook(dct)
elif dct["__class__"] == Strategie.__name__:
return Strategie(dct["robot"])
@staticmethod
def load(filename):
"""
Permet de charger une Strategie à partir d'un fichier json
"""
with open(filename, 'r', encoding='utf-8') as f:
return json.load(f, object_hook=Strategie.hook)
if __name__ == '__main__':
s = Strategie(RobotMotorise())
s.save("strategie.json")
s2 = Strategie.load("strategie.json")
print(s2)
def __init__(self, arene):
Thread.__init__(self)
self.arene = arene
self.window = None
def run(self):
self.window = AppArene(self.arene)
self.window.mainloop()
def stop(self):
self.window.quit()
if __name__ == '__main__':
from gl_lib.sim.robot.strategy.deplacement import DeplacementDroitAmeliore
from gl_lib.sim.robot import RobotMotorise
from gl_lib.sim import Simulation
from gl_lib.sim.geometry import Vecteur
a = Arene()
strat = DeplacementDroitAmeliore(
robot=RobotMotorise(direction=Vecteur(1, 1, 0).norm()),
distance_max=1,
arene=a)
a.add(strat.robot)
sim = Simulation(strategies=[strat])
app = AppAreneThread(strat.arene)
app.start()
sim.start()
def test_json(self):
dda = DeplacementDroit(robot=RobotMotorise())
d = dda.__dict__()
dda.save("deplacement_droit.json")
dda2 = DeplacementDroit.load("deplacement_droit.json")
print(s)
self.cpt += 1
self.stop = b
if self.tmax is not None:
if self.cpt > self.tmax:
self.stop = True
break
sleep(dt)
# On sort de la simulation
self.time_end = self.cpt * PAS_TEMPS
print("End simalution ({} s)".format(self.time_end))
if self.final_actions is not None and len(self.final_actions) > 0:
print("Closing...")
# Exécute les actions de fin
for f in self.final_actions:
f()
if __name__ == '__main__':
from gl_lib.sim.robot import RobotMotorise
strat = DeplacementCercle(robot=RobotMotorise())
sim = Simulation(strategies=[strat], final_actions=[strat.update])
sim.save("simulation.json")
sim2 = Simulation.load("simulation.json")
print(repr(sim2.clone()))
