def update(self, dt):
System.update(self, dt)
for event in tdl.event.get(): # Iterate over recent events.
if event.type == 'KEYDOWN':
if event.keychar not in IGNORED_INPUTS:
EventManager.Instance().fireEvent("EVENT_KeyPressed", {"char" : event.keychar.upper()})
if (event.keychar.upper() == "Q"): EventManager.Instance().fireEvent("EVENT_QuitGame", {})
if event.type == 'KEYUP':
if event.keychar not in IGNORED_INPUTS:
EventManager.Instance().fireEvent("EVENT_KeyReleased", {"char" : event.keychar.upper()})
def __init__(self, width, height, font='assets/terminal_8x12.png'):
System.__init__(self)
# Define screen sizes
self.screen_width = width
self.screen_height = height
# Set rendered font
tdl.set_font(font)
# Create console window
self.window = tdl.init(self.screen_width, self.screen_height, "gripe engine")
# Initial screen properties
self.console_mid = Vector2D(int(self.screen_width / 2), int(self.screen_height / 2))
self.offset_transform = Transform2D(self.console_mid)
# Add initial game panel (panel[0] is main game always)
self.game_panel = GamePanel(self.window, 0, 0, self.screen_width, self.screen_height, None, None, self)
self.panels = []
def __init__(self, namespace, name):
self.name = name
self.namespace = namespace
# Mi prendo il system associato e se questo non esiste ne creo uno nuovo
self.system = sm.getSystemForNamespace(namespace)
if self.system is None:
self.system = System(system_root=None, namespace=namespace)
sm.addSystem(self.system)
self.parameters = []
self.dependencies = []
def generateSystemCode(system_root, system_parent):
# Generando il system si generano anche i file CMakeLists e PackageXML
# Viene generata tutto l'albero delle cartelle e viene resettato se necessario
namespace = tfs.getNamespace(system_root)
system = sm.getSystemForNamespace(namespace)
if system is None:
system = System(system_root)
sm.addSystem(system)
# Se il system non ha un launch file associato e serve crearlo, allora lo creo
# Il launch file a questo punto è vuoto
if system.launch_file is None:
system.createLaunchFile()
# Se ho un genitore, ovvero un system che mi ha incluso,
# lo avviso che dovrà includermi
if system_parent:
if system_parent.launch_file:
system_parent.launch_file.addSubSystem(system.launch_file)
# Ricerco tutti i processi all'interno del system
processes = system_root.findall("./" + XMLTags.tags['TAG_SUBCOMPONENTS'] +
"/" + XMLTags.tags['TAG_SUBCOMPONENT'] +
"/" + "[" + XMLTags.tags['TAG_CATEGORY'] +
"='process']" + "[" +
XMLTags.tags['TAG_NAMESPACE'] + "='" +
system.namespace + "']")
# Scorro ogni processo. Per ogni processo controllo i subcomponent: in base alle varie tipologie
# di subcomponent avvio la generazione di diversi nodi ROS
for process in processes:
threads = process.findall("./" + XMLTags.tags['TAG_SUBCOMPONENTS'] +
"/" + XMLTags.tags['TAG_SUBCOMPONENT'] +
"/" + "[" + XMLTags.tags['TAG_CATEGORY'] +
"='thread']")
# Cerco il main thread, che formerà la base per tutti gli altri thread.
main_thread = process.find("./" + XMLTags.tags['TAG_SUBCOMPONENTS'] +
"/" + XMLTags.tags['TAG_SUBCOMPONENT'] +
"/" + "[" + XMLTags.tags['TAG_CATEGORY'] +
"='thread']" + "/" + "[" +
XMLTags.tags['TAG_NAME'] +
"='main_thread']" + "/" + "[" +
XMLTags.tags['TAG_NAMESPACE'] + "='ros']")
if main_thread:
thread_type = (tfs.getType(main_thread)).lower()
p = AADLProcess(process, system_root, system)
renameExistingNodeClass(p, system.system_folder)
gen_main_thread = createNewThread(
system_root, process, main_thread,
getPythonClassFromAADLThreadType(thread_type), p)
p.threads.append(gen_main_thread)
for thread in threads:
# name = (tfs.getName(thread)).lower()
thread_type = (tfs.getType(thread)).lower()
namespace = (tfs.getNamespace(thread)).lower()
if (namespace == "ros" or namespace == "global_state_machine"
) and not isMainThread(thread_type):
new_thread = createNewThread(
system_root, process, thread,
getPythonClassFromAADLThreadType(thread_type), p)
if new_thread:
p.threads.append(new_thread)
p.addTransformationFrameComponent()
system.addNode(p)
def __init__(self):
System.__init__(self)