Components and systems needed for functionality

Components and systems needed for functionality

For each functionality, it is necessary to configure systems and components so that it works properly. Components can be added directly by drawio using Edit Data or they can also be added via script using: simulation.world.add_component(object_id, component). Systems are added via script using: simulation.add_system(System) or simulation.add_des_system(DESSystem).

The tables below contain the components and systems required for each functionality:

• Navigation
  • Using Path
  • Using GotoPos
• Collision

Navigation

Navigation using Path

In this type of navigation, a path is created using an arrow on the drawio, and the robot will follow this arrow to its destination.

Components
type: robot (set for the robot)
speed: float_number (set for the robot)
movable: true (set for the robot)
type: path (set for the path)
Systems
PathProcessor
MovementProcessor

Setting systems for path navigation

from systems.PathProcessor import PathProcessor
from systems.MovementProcessor import MovementProcessor

simulation = Simulator(config)

width, height = simulation.window_dimensions
simulation.add_system(PathProcessor())
simulation.add_system(MovementProcessor(minx=0, miny=0, maxx=width, maxy=height))
simulation.run()

Navigation using GotoPos event

In this type of navigation the robot will move to a point that was defined by GotoPosPayload.

Components
type: robot (set for the robot)
speed: float_number (set for the robot)
movable: true (set for the robot)
type: path (set for the path)
Systems
PathProcessor
MovementProcessor
DES Systems
(gotoProcessor.process,)

Setting systems for GotoPos navigation

from systems.PathProcessor import PathProcessor
from systems.MovementProcessor import MovementProcessor

simulation = Simulator(config)

store_goto_position_event(simulation, entity_id, pos) # auxiliar method to store goto event

width, height = simulation.window_dimensions
simulation.add_des_system((gotoProcessor.process,))
simulation.add_system(PathProcessor())
simulation.add_system(MovementProcessor(minx=0, miny=0, maxx=width, maxy=height))
simulation.run()

def store_goto_position_event(simulation, entity_id, pos):  # pos -> [x, y]
    id = get_entity_id(simulation, entity_id)
    payload = GotoPosPayload(id, pos)
    new_event = EVENT(GotoPosEventTag, payload)
    event_store = simulation.KWARGS['EVENT_STORE']
    event_store.put(new_event)

Collision