Implementación config.ini

python-engine/src/communications/radio.py

@@ -1,7 +1,8 @@
 import threading
 import time
 import serial
-import constants
+import configparser
+from pathlib import Path
 import numpy as np
 
 class Radio:
@@ -28,7 +29,15 @@ def __init__(self):
                     "r": rotational speed in rad/s}
         '''
         # se enlaza al puerto serial de la base station
-        self.serial_port = serial.Serial(port= constants.SERIAL_PORT, baudrate=constants.BAUDRATE, timeout=constants.TIMEOUT)
+        config = configparser.ConfigParser()
+        config_path = Path(__file__).parent.parent / 'config.ini'
+        config.read(config_path)
+
+        Serial_Port = config.get('Network', 'Serial_Port')
+        BaudRate = config.getint('Network', 'BaudRate')
+        Timeout = config.getint('Network', 'Timeout')
+
+        self.serial_port = serial.Serial(port= Serial_Port, baudrate=BaudRate, timeout=Timeout)
         if not self.serial_port.is_open:
             raise ValueError("No se pudo abrir el puerto serial")
 

python-engine/src/communications/robot_comunication.py

@@ -1,7 +1,8 @@
 
 import pickle
 import numpy as np
-import constants
+import configparser
+from pathlib import Path
 import serial
 import serial.tools.list_ports
 
@@ -13,7 +14,15 @@ def list_serial_ports():
 
 class USBSerial:
     def __init__(self):
-        self.serial_port = serial.Serial(port= constants.SERIAL_PORT, baudrate=constants.BAUDRATE, timeout=constants.TIMEOUT)
+        config = configparser.ConfigParser()
+        config_path = Path(__file__).parent.parent / 'config.ini'
+        config.read(config_path)
+
+        Serial_Port = config.get('Network', 'Serial_Port')
+        BaudRate = config.getint('Network', 'BaudRate')
+        Timeout = config.getint('Network', 'Timeout')
+
+        self.serial_port = serial.Serial(port= Serial_Port, baudrate=BaudRate, timeout=Timeout)
         if not self.serial_port.is_open:
             raise ValueError("No se pudo abrir el puerto serial")
         else:

python-engine/src/communications/wrapper.py

@@ -1,21 +1,32 @@
 # Interfaz de la radio para comunicarse con sim y cancha . 
 #Esto es para evitar la divergencia entre codigo simulador y cancha
 from communications.grsim import Grsim
-from constants import *
+import configparser
+from pathlib import Path
 import math
 
 class CommandSender:
     def __init__(self) -> None:
-        if COMMUNICATION_MODE == 1:
+        config = configparser.ConfigParser()
+        config_path = Path(__file__).parent.parent / 'config.ini'
+        config.read(config_path)
+
+        Communication_Mode = config.getint('Network', 'Communication_Mode')
+        if Communication_Mode == 1:
             self.grsim = Grsim()
 
     def send_robot_data(self, id = 0, is_blue = 0, 
                           velangular = 0, kickspeedx = 0, kickspeedz = 0,
                           veltangent = 0, velnormal = 0, spinner = 0,
                           wheelsspeed = False) -> None:
-        if COMMUNICATION_MODE == 1:
+        config = configparser.ConfigParser()
+        config_path = Path(__file__).parent.parent / 'config.ini'
+        config.read(config_path)
+
+        Communication_Mode = config.getint('Network', 'Communication_Mode')
+        if Communication_Mode == 1:
             isteamyellow = 1 - is_blue
             self.grsim.communicate_grsim(id, isteamyellow, velangular, 
                                          kickspeedx, kickspeedz, veltangent, velnormal, spinner,
                                          wheelsspeed)     
-
+

python-engine/src/config.ini

@@ -0,0 +1,21 @@
+[Geometry]
+field_width = 9
+field_height = 6
+
+[Network]
+
+Communication_Mode = 1
+# 0: Cancha, 1: Grsim 
+
+Serial_Port = /dev/ttyUSB0
+BaudRate = 115200
+Timeout = 1
+
+# Grsim
+GrSim_Vision_Port = 10020
+GrSim_Command_Listen_Port = 20011 
+GrSim_Multicast_Address = 224.5.23.2
+
+[Physics]
+
+Update_Frequency = 1