beremiz

The must-have test : using wiimote sensors !

2009-01-04, etisserant
5b3083695c8c
Parents a2a8a52b0d4f
Children 7ee96191c476
The must-have test : using wiimote sensors !
3 files changed, 667 insertions(+), 0 deletions(-)
  • +6 -0
    tests/linux/python_cwiid/beremiz.xml
  • +571 -0
    tests/linux/python_cwiid/plc.xml
  • +90 -0
    tests/linux/python_cwiid/runtime.py
    • --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/tests/linux/python_cwiid/beremiz.xml Sun Jan 04 17:30:34 2009 +0100
    @@ -0,0 +1,6 @@
    +<?xml version="1.0" encoding="UTF-8"?>
    +<BeremizRoot URI_location="PYRO://127.0.0.1:3000">
    + <TargetType>
    + <Linux CFLAGS="-g" LDFLAGS="-g"/>
    + </TargetType>
    +</BeremizRoot>
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/tests/linux/python_cwiid/plc.xml Sun Jan 04 17:30:34 2009 +0100
    @@ -0,0 +1,571 @@
    +<?xml version="1.0" encoding="UTF-8"?>
    +<project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    + xmlns="http://www.plcopen.org/xml/tc6.xsd"
    + xmlns:xhtml="http://www.w3.org/1999/xhtml"
    + xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd">
    + <fileHeader companyName="LOLITECH"
    + productName="Beremiz"
    + productVersion="0.0"
    + creationDateTime="2008-12-14T16:21:19"/>
    + <contentHeader name="Beremiz Python Support Tests"
    + modificationDateTime="2009-01-04T11:25:39">
    + <coordinateInfo>
    + <pageSize x="1024" y="1024"/>
    + <fbd>
    + <scaling x="5" y="5"/>
    + </fbd>
    + <ld>
    + <scaling x="5" y="5"/>
    + </ld>
    + <sfc>
    + <scaling x="5" y="5"/>
    + </sfc>
    + </coordinateInfo>
    + </contentHeader>
    + <types>
    + <dataTypes/>
    + <pous>
    + <pou name="main_pytest" pouType="program">
    + <interface>
    + <localVars>
    + <variable name="pytest_var1">
    + <type>
    + <string/>
    + </type>
    + </variable>
    + <variable name="pytest_var2">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="py2">
    + <type>
    + <derived name="python_eval"/>
    + </type>
    + </variable>
    + <variable name="py3">
    + <type>
    + <derived name="python_eval"/>
    + </type>
    + </variable>
    + <variable name="py1">
    + <type>
    + <derived name="python_eval"/>
    + </type>
    + </variable>
    + <variable name="pytest_var3">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="Block1">
    + <type>
    + <derived name="python_eval"/>
    + </type>
    + </variable>
    + <variable name="ltch">
    + <type>
    + <derived name="RS"/>
    + </type>
    + </variable>
    + </localVars>
    + </interface>
    + <body>
    + <FBD>
    + <inVariable localId="4" height="30" width="160">
    + <position x="70" y="600"/>
    + <connectionPointOut>
    + <relPosition x="160" y="15"/>
    + </connectionPointOut>
    + <expression>'last_point[0]'</expression>
    + </inVariable>
    + <block localId="5" width="125" height="80" typeName="python_eval" instanceName="py2">
    + <position x="260" y="550"/>
    + <inputVariables>
    + <variable formalParameter="TRIG">
    + <connectionPointIn>
    + <relPosition x="0" y="35"/>
    + <connection refLocalId="25" formalParameter="OUT">
    + <position x="260" y="585"/>
    + <position x="245" y="585"/>
    + <position x="245" y="520"/>
    + <position x="920" y="520"/>
    + <position x="920" y="470"/>
    + <position x="870" y="470"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="CODE">
    + <connectionPointIn>
    + <relPosition x="0" y="65"/>
    + <connection refLocalId="4">
    + <position x="260" y="615"/>
    + <position x="230" y="615"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="ACK">
    + <connectionPointOut>
    + <relPosition x="125" y="35"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="RESULT">
    + <connectionPointOut>
    + <relPosition x="125" y="65"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <block localId="8" width="125" height="80" typeName="python_eval" instanceName="py3">
    + <position x="260" y="660"/>
    + <inputVariables>
    + <variable formalParameter="TRIG">
    + <connectionPointIn>
    + <relPosition x="0" y="35"/>
    + <connection refLocalId="25" formalParameter="OUT">
    + <position x="260" y="695"/>
    + <position x="245" y="695"/>
    + <position x="245" y="520"/>
    + <position x="920" y="520"/>
    + <position x="920" y="470"/>
    + <position x="870" y="470"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="CODE">
    + <connectionPointIn>
    + <relPosition x="0" y="65"/>
    + <connection refLocalId="9">
    + <position x="260" y="725"/>
    + <position x="230" y="725"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="ACK">
    + <connectionPointOut>
    + <relPosition x="125" y="35"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="RESULT">
    + <connectionPointOut>
    + <relPosition x="125" y="65"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <inVariable localId="9" height="30" width="160">
    + <position x="70" y="710"/>
    + <connectionPointOut>
    + <relPosition x="160" y="15"/>
    + </connectionPointOut>
    + <expression>'last_point[1]'</expression>
    + </inVariable>
    + <inVariable localId="11" height="30" width="100">
    + <position x="125" y="455"/>
    + <connectionPointOut>
    + <relPosition x="100" y="15"/>
    + </connectionPointOut>
    + <expression>'btA'</expression>
    + </inVariable>
    + <block localId="12" width="125" height="80" typeName="python_eval" instanceName="py1">
    + <position x="260" y="405"/>
    + <inputVariables>
    + <variable formalParameter="TRIG">
    + <connectionPointIn>
    + <relPosition x="0" y="35"/>
    + <connection refLocalId="37" formalParameter="OUT">
    + <position x="260" y="440"/>
    + <position x="250" y="440"/>
    + <position x="250" y="370"/>
    + <position x="470" y="370"/>
    + <position x="470" y="300"/>
    + <position x="460" y="300"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="CODE">
    + <connectionPointIn>
    + <relPosition x="0" y="65"/>
    + <connection refLocalId="11">
    + <position x="260" y="470"/>
    + <position x="225" y="470"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="ACK">
    + <connectionPointOut>
    + <relPosition x="125" y="35"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="RESULT">
    + <connectionPointOut>
    + <relPosition x="125" y="65"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <comment localId="16" height="90" width="680">
    + <position x="50" y="25"/>
    + <content>
    +<![CDATA[This example test that, despite of 2T period clock stimulating TRIG pin of pyth_eval blocks, blocks keep executing one after the other, in respect of execution order.]]>
    + </content>
    + </comment>
    + <block localId="24" width="155" height="80" typeName="STRING_TO_UINT">
    + <position x="505" y="405"/>
    + <inputVariables>
    + <variable formalParameter="EN">
    + <connectionPointIn>
    + <relPosition x="0" y="35"/>
    + <connection refLocalId="12" formalParameter="ACK">
    + <position x="505" y="440"/>
    + <position x="385" y="440"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN">
    + <connectionPointIn>
    + <relPosition x="0" y="65"/>
    + <connection refLocalId="12" formalParameter="RESULT">
    + <position x="505" y="470"/>
    + <position x="385" y="470"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="ENO">
    + <connectionPointOut>
    + <relPosition x="155" y="35"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="155" y="65"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <block localId="25" width="135" height="45" typeName="UINT_TO_BOOL">
    + <position x="735" y="440"/>
    + <inputVariables>
    + <variable formalParameter="IN">
    + <connectionPointIn>
    + <relPosition x="0" y="30"/>
    + <connection refLocalId="24" formalParameter="OUT">
    + <position x="735" y="470"/>
    + <position x="660" y="470"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="135" y="30"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <block localId="27" width="70" height="45" typeName="NOT">
    + <position x="170" y="295"/>
    + <inputVariables>
    + <variable formalParameter="IN">
    + <connectionPointIn>
    + <relPosition x="0" y="30"/>
    + <connection refLocalId="26">
    + <position x="170" y="325"/>
    + <position x="140" y="325"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="70" y="30"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <inVariable localId="31" height="30" width="160">
    + <position x="570" y="740"/>
    + <connectionPointOut>
    + <relPosition x="160" y="15"/>
    + </connectionPointOut>
    + <expression>'\n")'</expression>
    + </inVariable>
    + <block localId="32" width="125" height="85" typeName="python_eval" instanceName="Block1">
    + <position x="960" y="550"/>
    + <inputVariables>
    + <variable formalParameter="TRIG">
    + <connectionPointIn>
    + <relPosition x="0" y="35"/>
    + <connection refLocalId="34" formalParameter="ENO">
    + <position x="960" y="585"/>
    + <position x="920" y="585"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="CODE">
    + <connectionPointIn>
    + <relPosition x="0" y="70"/>
    + <connection refLocalId="34" formalParameter="OUT">
    + <position x="960" y="620"/>
    + <position x="920" y="620"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="ACK">
    + <connectionPointOut>
    + <relPosition x="125" y="35"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="RESULT">
    + <connectionPointOut>
    + <relPosition x="125" y="70"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <block localId="33" width="80" height="65" typeName="AND">
    + <position x="455" y="555"/>
    + <inputVariables>
    + <variable formalParameter="IN1">
    + <connectionPointIn>
    + <relPosition x="0" y="30"/>
    + <connection refLocalId="5" formalParameter="ACK">
    + <position x="455" y="585"/>
    + <position x="385" y="585"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN2">
    + <connectionPointIn>
    + <relPosition x="0" y="55"/>
    + <connection refLocalId="8" formalParameter="ACK">
    + <position x="455" y="610"/>
    + <position x="435" y="610"/>
    + <position x="435" y="695"/>
    + <position x="385" y="695"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="80" y="30"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <block localId="34" width="80" height="225" typeName="CONCAT">
    + <position x="840" y="550"/>
    + <inputVariables>
    + <variable formalParameter="EN">
    + <connectionPointIn>
    + <relPosition x="0" y="35"/>
    + <connection refLocalId="33" formalParameter="OUT">
    + <position x="840" y="585"/>
    + <position x="535" y="585"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN1">
    + <connectionPointIn>
    + <relPosition x="0" y="70"/>
    + <connection refLocalId="35">
    + <position x="840" y="620"/>
    + <position x="800" y="620"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN2">
    + <connectionPointIn>
    + <relPosition x="0" y="105"/>
    + <connection refLocalId="5" formalParameter="RESULT">
    + <position x="840" y="655"/>
    + <position x="415" y="655"/>
    + <position x="415" y="615"/>
    + <position x="385" y="615"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN3">
    + <connectionPointIn>
    + <relPosition x="0" y="140"/>
    + <connection refLocalId="36">
    + <position x="840" y="690"/>
    + <position x="640" y="690"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN4">
    + <connectionPointIn>
    + <relPosition x="0" y="175"/>
    + <connection refLocalId="8" formalParameter="RESULT">
    + <position x="840" y="725"/>
    + <position x="385" y="725"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN5">
    + <connectionPointIn>
    + <relPosition x="0" y="205"/>
    + <connection refLocalId="31">
    + <position x="840" y="755"/>
    + <position x="730" y="755"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="ENO">
    + <connectionPointOut>
    + <relPosition x="80" y="35"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="80" y="70"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <inVariable localId="35" height="30" width="230">
    + <position x="570" y="605"/>
    + <connectionPointOut>
    + <relPosition x="230" y="15"/>
    + </connectionPointOut>
    + <expression>'sys.stdout.write("x:'</expression>
    + </inVariable>
    + <inVariable localId="36" height="30" width="70">
    + <position x="570" y="675"/>
    + <connectionPointOut>
    + <relPosition x="70" y="15"/>
    + </connectionPointOut>
    + <expression>', y:'</expression>
    + </inVariable>
    + <block localId="37" width="80" height="65" typeName="AND">
    + <position x="380" y="270"/>
    + <inputVariables>
    + <variable formalParameter="IN1">
    + <connectionPointIn>
    + <relPosition x="0" y="30"/>
    + <connection refLocalId="40" formalParameter="Q1">
    + <position x="380" y="300"/>
    + <position x="365" y="300"/>
    + <position x="365" y="245"/>
    + <position x="355" y="245"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN2">
    + <connectionPointIn>
    + <relPosition x="0" y="55"/>
    + <connection refLocalId="27" formalParameter="OUT">
    + <position x="380" y="325"/>
    + <position x="240" y="325"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="80" y="30"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <inVariable localId="26" height="35" width="125">
    + <position x="15" y="310"/>
    + <connectionPointOut>
    + <relPosition x="125" y="15"/>
    + </connectionPointOut>
    + <expression>pytest_var2</expression>
    + </inVariable>
    + <outVariable localId="39" height="35" width="125">
    + <position x="515" y="285"/>
    + <connectionPointIn>
    + <relPosition x="0" y="15"/>
    + <connection refLocalId="37" formalParameter="OUT">
    + <position x="515" y="300"/>
    + <position x="460" y="300"/>
    + </connection>
    + </connectionPointIn>
    + <expression>pytest_var2</expression>
    + </outVariable>
    + <block localId="40" width="60" height="65" typeName="RS" instanceName="ltch">
    + <position x="295" y="215"/>
    + <inputVariables>
    + <variable formalParameter="S">
    + <connectionPointIn>
    + <relPosition x="0" y="30"/>
    + <connection refLocalId="25" formalParameter="OUT">
    + <position x="295" y="245"/>
    + <position x="270" y="245"/>
    + <position x="270" y="195"/>
    + <position x="880" y="195"/>
    + <position x="880" y="470"/>
    + <position x="870" y="470"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="R1">
    + <connectionPointIn>
    + <relPosition x="0" y="55"/>
    + <connection refLocalId="32" formalParameter="ACK">
    + <position x="295" y="270"/>
    + <position x="250" y="270"/>
    + <position x="250" y="180"/>
    + <position x="1095" y="180"/>
    + <position x="1095" y="585"/>
    + <position x="1085" y="585"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="Q1" negated="true">
    + <connectionPointOut>
    + <relPosition x="60" y="30"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + </FBD>
    + </body>
    + </pou>
    + </pous>
    + </types>
    + <instances>
    + <configurations>
    + <configuration name="conf_pytest">
    + <resource name="res_pytest">
    + <task name="pytest_task" interval="00:00:00.100000" priority="0"/>
    + <pouInstance name="pytest_instance" type="main_pytest"/>
    + </resource>
    + </configuration>
    + </configurations>
    + </instances>
    +</project>
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/tests/linux/python_cwiid/runtime.py Sun Jan 04 17:30:34 2009 +0100
    @@ -0,0 +1,90 @@
    +#!/usr/bin/env python
    +################################################################################
    +# #
    +# This program is free software: you can redistribute it and/or modify #
    +# it under the terms of the GNU General Public License as published by #
    +# the Free Software Foundation, either version 3 of the License, or #
    +# (at your option) any later version. #
    +# #
    +# This program is distributed in the hope that it will be useful, #
    +# but WITHOUT ANY WARRANTY; without even the implied warranty of #
    +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
    +# GNU General Public License for more details. #
    +# #
    +# You should have received a copy of the GNU General Public License #
    +# along with this program. If not, see <http://www.gnu.org/licenses/>. #
    +# #
    +################################################################################
    +
    +import cwiid
    +
    +## Configuration
    +wiimote_hwaddr = '' # Use your address to speed up the connection proccess
    +#wiimote_hwaddr = '00:19:1D:5D:5D:DC'
    +
    +last_point = (0,0)
    +btA = 0
    +btB = 0
    +
    +def cback(messages):
    + '''Wiimote callback managing method
    + Recieves a message list, each element is different, see the libcwiid docs'''
    + global btA, btB, last_point
    + #print "wiimote callback"
    + for msg in messages:
    + if msg[0] == cwiid.MESG_IR:
    + # msg is of the form (cwiid.MESG_IR, (((x, y), size) or None * 4))
    + for p in msg[1]:
    + if p:
    + pos = p['pos'][0], p['pos'][1] # point is mirrored
    + #s = max(p['size'], 1)
    +
    + last_point = tuple(pos)
    + #print "last_point",last_point
    + elif msg[0] == cwiid.MESG_BTN:
    + # msg is of the form (cwiid.MESG_BTN, cwiid.BTN_*)
    + if msg[1] & cwiid.BTN_A:
    + btA = 1
    + #print "btA = 1"
    + else:
    + btA = 0
    + #print "btA = 0"
    +
    + if msg[1] & cwiid.BTN_B:
    + btB = 1
    + #print "btB = 1"
    + else:
    + btB = 0
    + #print "btB = 0"
    + #elif msg[0] == cwiid.MESG_STATUS:
    + # # msg is of the form (cwiid.MESG_BTN, { 'status' : value, ... })
    + # print msg[1]
    +
    +try:
    +#if False:
    + wm = cwiid.Wiimote(wiimote_hwaddr)
    + if wm is not None:
    + # each message will contain info about ir and buttons
    + wm.rpt_mode = cwiid.RPT_IR | cwiid.RPT_BTN # | cwiid.RPT_STATUS
    + # tell cwiid to use the callback interface and allways send button events
    + wm.enable(cwiid.FLAG_MESG_IFC
    + #| cwiid.FLAG_NONBLOCK
    + | cwiid.FLAG_REPEAT_BTN)
    +
    + # specify wich function will manage messages AFTER the other settings
    + wm.mesg_callback = cback
    +
    + # quick check on the wiimote
    + print "Got Wiimote!"
    + st = wm.state
    + for e in st:
    + print str(e).ljust(8), ">", st[e]
    +except:
    +#else:
    + print "Error with wiimote " + str(wiimote_hwaddr)
    +
    +def _runtime_cleanup():
    + print "_runtime_cleanup() Called"
    + runing = 0
    + if wm is not None:
    + wm.close()