def main():
"""
This is the main program that runs the simulator.
"""
# Assign signal handlers
signal.signal(signal.SIGINT, interrupt_handler)
global running
running = True
print "Starting simulator."
sim = FuriousSim()
# Process command line arguments
arguments = sys.argv[1:] # shallow copy
while len(arguments) > 0:
arg = arguments.pop(0).strip()
if arg == "-d":
# Enable debugging output
sim.set_debugger(sys.stdout)
else:
# Print usage and exit
print __doc__
exit(1)
# Run the simulator
sim.open_pty()
print "Listening on %s." % sim.slave_ttyname()
sim.connect()
logic_batt = 150
motor_batt = 150
try:
while running and sim.is_ready():
# make up some analog values
for x in range(6):
sim.set_analog(x, random.randint(0, 1023))
sim.set_odometer(random.randint(0, 3))
# deplete the batteries slowly
logic_batt -= random.randint(0, 101) // 100
motor_batt -= random.randint(0, 101) // 100
sim.set_logic_battery(logic_batt)
sim.set_motor_battery(motor_batt)
# Set the sonar value to 10 times the id, for debugging purposes
sim.set_sonar_value(sim.get_sonar_request() * 10)
# send/receive
sim.step()
except OSError, e:
print >> sys.stderr, "Lost connection to driver: %s" % e
def main():
"""
This is the main program that runs the simulator.
"""
rospy.init_node(NODE_NAME)
# Run the simulator
rospy.loginfo("Initializing simulator.")
sim = FuriousSim()
sim.set_debugger(sys.stdout)
sim.open_pty()
port = sim.slave_ttyname()
rospy.set_param(PARAM_NAME, port)
rospy.loginfo("Furious simulator listening on %s." % port)
sim.connect()
logic_batt = 150
motor_batt = 150
while not rospy.is_shutdown():
# make up some analog values
for x in range(6):
sim.set_analog(x, random.randint(0, 1023))
sim.set_odometer(random.randint(0, 3))
# deplete the batteries slowly
logic_batt -= random.randint(0, 101) // 100
motor_batt -= random.randint(0, 101) // 100
sim.set_logic_battery(logic_batt)
sim.set_motor_battery(motor_batt)
# Set the sonar value to 10 times the id, for debugging purposes
sim.set_sonar_value(sim.get_sonar_request() * 10)
# send/receive
sim.step()
rospy.loginfo("Disconnecting...")
sim.disconnect()
shutdown(0)
