refactored pibot driver

src/drivers/PiBot/JdeRobotKids.yml → src/drivers/PiBot/Kibotics.yml

@@ -1,9 +1,11 @@
-JdeRobotKids:
+Kibotics:
     Robot: pibot  #pibot, mbot or gazebo
 
     Real:
         Port: /dev/ttyUSB0
         Camera: PiCam
+        Dist_ruedas: 1
+        Radio_ruedas: 1
 
     Sim:
         Motors:

src/drivers/PiBot/PiBot.py

@@ -0,0 +1,28 @@
+from jderobot_config import config
+
+
+def dameRobot():
+    cfg_file = "Kibotics.yml"
+    cfg = config.load(cfg_file)
+    bot = cfg.getProperty('Kibotics.Robot')
+    bot = bot.lower()
+
+    if bot == "pibot":
+        # Import real Pibot wrapper
+        from real import PiBot as pireal
+
+        robot = pireal(cfg)
+
+    if bot == "mbot":
+        #port = cfg.getProperty('Kibotics.Real.Port')
+        #robot = MBot()
+        None
+
+    elif bot == "gazebo":
+        # Import simulated Pibot wrapper
+        from gazebo import PiBot as pisim
+
+        robot = pisim(cfg)
+
+    return robot
+

src/drivers/PiBot/__init__.py

@@ -1 +1 @@
-from .PiBotHAL import dameRobot
+from .PiBot import dameRobot

src/drivers/PiBot/gazebo/piBot.py

@@ -1,5 +1,5 @@
 # -*- coding: utf-8 -*-
-from JdeRobotKids import JdeRobotKids
+from jderobot_interfaces import Kibotics
 import numpy
 import threading
 import sys
@@ -21,23 +21,24 @@
 ORANGE_MAX = numpy.array([179, 255, 255],numpy.uint8)#numpy.array([67, 177, 192],numpy.uint8)
 
 
-class PiBot:
+class PiBot(Kibotics):
 
     '''
     Controlador para el Robot PiBot de JdeRobot-Kids
     '''
     def __init__(self, cfg):
 
         print("En constructor")
-        cfg = config.load(cfg)
+        Kibotics.__init__(self)
+        #cfg = config.load(cfg)
 
         #starting comm
-        jdrc= comm.init(cfg, 'JdeRobotKids.Sim')
-        self.camera = jdrc.getCameraClient("JdeRobotKids.Sim.Camera")
-        self.motors = jdrc.getMotorsClient("JdeRobotKids.Sim.Motors")    
-        self.irLeft = jdrc.getIRClient("JdeRobotKids.Sim.IRLeft")    
-        self.irRight = jdrc.getIRClient("JdeRobotKids.Sim.IRRight") 
-        self.us = jdrc.getSonarClient("JdeRobotKids.Sim.Sonar")    
+        jdrc= comm.init(cfg, 'Kibotics.Sim')
+        self.camera = jdrc.getCameraClient("Kibotics.Sim.Camera")
+        self.motors = jdrc.getMotorsClient("Kibotics.Sim.Motors")    
+        self.irLeft = jdrc.getIRClient("Kibotics.Sim.IRLeft")    
+        self.irRight = jdrc.getIRClient("Kibotics.Sim.IRRight") 
+        self.us = jdrc.getSonarClient("Kibotics.Sim.Sonar")    
 
 
     def moverServo(self, *args):
@@ -188,6 +189,12 @@ def dameObjeto(self, lower=ORANGE_MIN, upper=ORANGE_MAX, showImageFiltered=False
 
         return center, area
 
+    def mostrarImagen(self):
+        None
+
+    def dameSonarVisual(self):
+        None
+
     def quienSoy(self):
         print ("Yo soy un robot simulado PiBot")