def __init__(self, color_and_robot_list):
self.__color = color_and_robot_list[0]
if color_and_robot_list[1] is not None:
self.__bigrobot = color_and_robot_list[1]
if color_and_robot_list[2] is not None:
self.__minirobot = color_and_robot_list[2]
else:
self.__minirobot = None
else:
self.__bigrobot = None
if color_and_robot_list[2] is not None:
self.__minirobot = color_and_robot_list[2]
else:
self.__minirobot = None
self.__robots = color_and_robot_list
self.__hokuyo = Hokuyo(self.__robots[1:])
self.__communication = Communication(self.__bigrobot, self.__minirobot,
self.__hokuyo, self)
#communication de data entre l'IA et le simu
self.__parent_conn, self.__child_conn = Pipe()
#lancement de l'ia
if TEST_MODE == False:
self.__process = Process(target=main.startIa,
args=(self.__child_conn, self.__color))
elif TEST_MODE == True:
self.__process = Process(target=test.testIa,
args=(self.__child_conn,
self.__color)) #pour les tests
self.__process.start()
time.sleep(0.1)
#on démarre le thread de lecture des données IA renvoyées à travers le pipe
self.__read_thread = threading.Thread(target=self.__readPipe)
self.__read_thread.start()
class ProcessIA(): """ Classe qui va lancer une IA en subprocess. Gère aussi la communication avec les IA lancées via un pipe. """ def __init__(self, color_and_robot_list): self.__color = color_and_robot_list[0] if color_and_robot_list[1] is not None: self.__bigrobot = color_and_robot_list[1] if color_and_robot_list[2] is not None: self.__minirobot = color_and_robot_list[2] else: self.__minirobot = None else: self.__bigrobot =None if color_and_robot_list[2] is not None: self.__minirobot = color_and_robot_list[2] else: self.__minirobot = None self.__robots = color_and_robot_list self.__hokuyo = Hokuyo(self.__robots[1:]) self.__communication = Communication(self.__bigrobot, self.__minirobot, self.__hokuyo, self) #communication de data entre l'IA et le simu self.__parent_conn, self.__child_conn = Pipe() #lancement de l'ia if TEST_MODE == False: self.__process = Process(target=main.startIa, args=(self.__child_conn,self.__color)) elif TEST_MODE == True : self.__process = Process(target=test.testIa, args=(self.__child_conn,self.__color)) #pour les tests self.__process.start() time.sleep(0.1) #on démarre le thread de lecture des données IA renvoyées à travers le pipe self.__read_thread = threading.Thread(target=self.__readPipe) self.__read_thread.start() def writePipe(self, addresse, ordre, args): """ Envoie des données à l'IA à travers le Pipe """ self.__parent_conn.send((addresse, ordre, args)) def __readPipe(self): """ Méthode de lecture des données envoyées par l'IA via le pipe. recv est bloquant, donc lancé dans un thread """ while True: if self.__parent_conn.poll(): message = self.__parent_conn.recv() self.__parseDataIa(message) def __parseDataIa(self, data): """ Formate les données IA reçues pour les adapter à la méthode sendOrderAPI de Communication """ self.__communication.orderBalancing(data[0],data[1],data[2])
def __init__(self, color_and_robot_list): self.__color = color_and_robot_list[0] if color_and_robot_list[1] is not None: self.__bigrobot = color_and_robot_list[1] if color_and_robot_list[2] is not None: self.__minirobot = color_and_robot_list[2] else: self.__minirobot = None else: self.__bigrobot =None if color_and_robot_list[2] is not None: self.__minirobot = color_and_robot_list[2] else: self.__minirobot = None self.__robots = color_and_robot_list self.__hokuyo = Hokuyo(self.__robots[1:]) self.__communication = Communication(self.__bigrobot, self.__minirobot, self.__hokuyo, self) #communication de data entre l'IA et le simu self.__parent_conn, self.__child_conn = Pipe() #lancement de l'ia if TEST_MODE == False: self.__process = Process(target=main.startIa, args=(self.__child_conn,self.__color)) elif TEST_MODE == True : self.__process = Process(target=test.testIa, args=(self.__child_conn,self.__color)) #pour les tests self.__process.start() time.sleep(0.1) #on démarre le thread de lecture des données IA renvoyées à travers le pipe self.__read_thread = threading.Thread(target=self.__readPipe) self.__read_thread.start()
class ProcessIA():
"""
Classe qui va lancer une IA en subprocess.
Gère aussi la communication avec les IA lancées via un pipe.
"""
def __init__(self, color_and_robot_list):
self.__color = color_and_robot_list[0]
if color_and_robot_list[1] is not None:
self.__bigrobot = color_and_robot_list[1]
if color_and_robot_list[2] is not None:
self.__minirobot = color_and_robot_list[2]
else:
self.__minirobot = None
else:
self.__bigrobot = None
if color_and_robot_list[2] is not None:
self.__minirobot = color_and_robot_list[2]
else:
self.__minirobot = None
self.__robots = color_and_robot_list
self.__hokuyo = Hokuyo(self.__robots[1:])
self.__communication = Communication(self.__bigrobot, self.__minirobot,
self.__hokuyo, self)
#communication de data entre l'IA et le simu
self.__parent_conn, self.__child_conn = Pipe()
#lancement de l'ia
if TEST_MODE == False:
self.__process = Process(target=main.startIa,
args=(self.__child_conn, self.__color))
elif TEST_MODE == True:
self.__process = Process(target=test.testIa,
args=(self.__child_conn,
self.__color)) #pour les tests
self.__process.start()
time.sleep(0.1)
#on démarre le thread de lecture des données IA renvoyées à travers le pipe
self.__read_thread = threading.Thread(target=self.__readPipe)
self.__read_thread.start()
def writePipe(self, addresse, ordre, args):
"""
Envoie des données à l'IA à travers le Pipe
"""
self.__parent_conn.send((addresse, ordre, args))
def __readPipe(self):
"""
Méthode de lecture des données envoyées par l'IA via le pipe.
recv est bloquant, donc lancé dans un thread
"""
while True:
if self.__parent_conn.poll():
message = self.__parent_conn.recv()
self.__parseDataIa(message)
def __parseDataIa(self, data):
"""
Formate les données IA reçues pour les adapter à la méthode
sendOrderAPI de Communication
"""
self.__communication.orderBalancing(data[0], data[1], data[2])