class Robot():
'''
classe qui rassemble l'ensemble des modules du robot
les differente fonction principale du robot:
exploration, decouverte du terrain
patrouille de point en point
deplacement d'un point a un autre ,a partir de la carte decouverte
affchage de la carte complete du terrain
'''
def __init__( self ):
self.config = ConfigParser.RawConfigParser()
self.config.read( 'RobotConf.cfg' )
self.board = pyfirmata.ArduinoMega( self.config.get( 'Arduino', 'device' ) )
self.prop = propulsion.Propulsion( self.config, self.board )
self.tourel = propulsion.Tourelle( self.config, self.board )
self.vue = Vision( self.config, self.board )
self.land = landmap.LandMap()
self.accel = propulsion.Accel( self.config )
self.pile_vision = core.Core()
#self.pilevar = collections.deque()
self.pile_move = core.Core()
self.running = False
self.orientation = 0.0
self.x = 0.0
self.y = 0.0
self.stream = stream.HTTPServer( ( "", 8080 ), self.vue )
def start( self ):
self.running = True
thread.start_new_thread( self.__cerveau__, () )
thread.start_new_thread( self.__mouvement__, () )
thread.start_new_thread( self.stream.serve_forever, () )
def stop( self ):
self.running = False
def __mouvement__( self ):
while self.running:
if self.pile_move.pile.__len__() <= 0:
time.sleep( 0.1 )
else:
self.pile_move.exec_next()
def __cerveau__( self ):
'''
cerveau se compose de differente pile avec different priorite
'''
while self.running:
if self.pile_vision.pile.__len__() <= 0:
time.sleep( 0.1 )
else:
self.pile_vision.exec_next()
def balayage( self, depart , arrive , pas=1 ):
if depart <= arrive :
lis = numpy.arange( depart, arrive, pas )
else:
lis = numpy.arange( arrive, depart, pas )
lis = lis[::-1]
listd = []
self.tourel.depl_tour( depart )
for i in lis:
self.tourel.depl_tour( i )
listd.append( ( i, self.vue.get_range() ) )
return listd
