robotsim first test

[aversive.git] / projects / microb2010 / tests / hostsim / display.py

diff --git a/projects/microb2010/tests/hostsim/display.py b/projects/microb2010/tests/hostsim/display.py
new file mode 100644 (file)
index 0000000..412f936
--- /dev/null
+++ b/projects/microb2010/tests/hostsim/display.py
@@ -0,0 +1,50 @@
+import math, sys, time, os
+from visual import *
+
+AREA_X = 3000.
+AREA_Y = 2100.
+
+area = [ (0.0, 0.0, -0.2), (3000.0, 2100.0, 0.2) ]
+areasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , area)
+area_box = box(size=areasize, color=(0.0, 1.0, 0.0))
+
+scene.autoscale=0
+
+robot = box(pos = (0, 0, 150),
+            size = (300,300,300),
+            color = (1, 0, 0) )
+
+def set_robot(x, y, a):
+    global robot
+    robot.pos = (x - AREA_X/2, y - AREA_Y/2, 150)
+    robot.axis = (math.cos(a*math.pi/180) * 300,
+                  math.sin(a*math.pi/180) * 300,
+                  0)
+
+while True:
+    try:
+        os.mkfifo("/tmp/.robot")
+    except:
+        pass
+    while True:
+        f = open("/tmp/.robot")
+        while True:
+            l = f.readline()
+            if l == "":
+                break
+            x,y,a = map(lambda x:int(x), l[:-1].split(" "))
+            set_robot(x,y,a)
+        f.close()
+
+    """
+    k = scene.kb.getkey()
+    x,y,z = scene.center
+    if k == "left":
+        scene.center = x-10,y,z
+    elif k == "right":
+        scene.center = x+10,y,z
+    elif k == "up":
+        scene.center = x,y+10,z
+    elif k == "down":
+        scene.center = x,y-10,z
+    """