def __init__(self, mainLogger): self.__mainLogger = mainLogger self.__psValue = [0,0,0,0,0,0,0] self.__psGroundAmbiantSensors = [0,0] self.__psGroundReflectedSensors = [0,0] self.__psGroundDeltaSensors = [0,0] self.__motorspeed = [0,0] self.__color = [0,0,0] self.__performActionReq = threading.Condition() self.__rSensorsReq = False self.__rGroundSensorsReq = False self.__wMotorspeedReq = False self.__wColorReq = False self.__stopThymioReq = False self.__killReq = False self.__commandsListener = None self.__simulationStarted = threading.Event() self.__simulation = None self.__simLogger = None # Init the main loop dbus.mainloop.glib.DBusGMainLoop(set_as_default=True) # Get stub of the Aseba network bus = dbus.SessionBus() # Create Aseba network asebaNetworkObject = bus.get_object('ch.epfl.mobots.Aseba', '/') self.__asebaNetwork = dbus.Interface(asebaNetworkObject, dbus_interface='ch.epfl.mobots.AsebaNetwork') # self.__mainLogger.debug('Aseba nodes: ' + str(self.__asebaNetwork.GetNodesList())) # Load the aesl file self.__asebaNetwork.LoadScripts(AESL_PATH, reply_handler=self.__dbusEventReply, error_handler=self.__dbusError) # Schedules first run of the controller glib.idle_add(self.__execute)
def __init__(self, mainLogger): self.__mainLogger = mainLogger self.__psValue = [0, 0, 0, 0, 0, 0, 0] self.__psGroundAmbiantSensors = [0, 0] self.__psGroundReflectedSensors = [0, 0] self.__psGroundDeltaSensors = [0, 0] self.__motorspeed = [0, 0] self.__realMotorSpeed = [0, 0] self.__color = [0, 0, 0, 0] self.__temperature = [0] self.__sound = [0] self.__performActionReq = threading.Condition() self.__rSensorsReq = False self.__temperatureReq = False self.__rGroundSensorsReq = False self.__wMotorspeedReq = False self.__rMotorspeedReq = False self.__wColorReq = False self.__stopThymioReq = False self.__killReq = False self.__soundReq = False self.__commandsListener = None self.__simulationStarted = threading.Event() self.__simulation = None self.__simLogger = None # Init the main loop dbus.mainloop.glib.DBusGMainLoop(set_as_default=True) # Get stub of the Aseba network bus = dbus.SessionBus() # Create Aseba network asebaNetworkObject = bus.get_object('ch.epfl.mobots.Aseba', '/') self.__asebaNetwork = dbus.Interface( asebaNetworkObject, dbus_interface='ch.epfl.mobots.AsebaNetwork') # self.__mainLogger.debug('Aseba nodes: ' + str(self.__asebaNetwork.GetNodesList())) # Load the aesl file self.__asebaNetwork.LoadScripts(cl.AESL_PATH, reply_handler=self.__dbusEventReply, error_handler=self.__dbusError) # Schedules first run of the controller glib.idle_add(self.__execute)
def on_ready_cb(self, app): self.app_ready = True import glib if self.splash is not None: glib.idle_add(self.splash.destroy) self.post_start()