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authorNicolas Schodet2010-04-29 23:04:20 +0200
committerNicolas Schodet2010-04-29 23:04:20 +0200
commit5532fb5e50d071be08e3c37404d1755748762d7c (patch)
tree0f8e79b10cb026750f8e75a1982457548bdaa565
parent2f3a63f620339d4952bbe9e60df178d869c7d580 (diff)
host/simu/robots/marcel: add actuator simulation, refs #131
-rw-r--r--host/simu/robots/marcel/link/bag.py2
-rw-r--r--host/simu/robots/marcel/model/bag.py3
-rw-r--r--host/simu/robots/marcel/model/loader.py135
-rw-r--r--host/simu/robots/marcel/view/bag.py5
-rw-r--r--host/simu/robots/marcel/view/loader.py76
-rw-r--r--host/simu/robots/marcel/view/robot.py36
6 files changed, 255 insertions, 2 deletions
diff --git a/host/simu/robots/marcel/link/bag.py b/host/simu/robots/marcel/link/bag.py
index e702078b..7cb34c28 100644
--- a/host/simu/robots/marcel/link/bag.py
+++ b/host/simu/robots/marcel/link/bag.py
@@ -24,10 +24,12 @@
"""Marcel bag of links."""
import io.mex
import asserv.mex
+import mimot.mex
class Bag:
def __init__ (self, node):
self.asserv = asserv.mex.Mex (node)
self.io = io.mex.Mex (node)
+ self.mimot = mimot.mex.Mex (node)
diff --git a/host/simu/robots/marcel/model/bag.py b/host/simu/robots/marcel/model/bag.py
index 5cf276de..ce8eaab4 100644
--- a/host/simu/robots/marcel/model/bag.py
+++ b/host/simu/robots/marcel/model/bag.py
@@ -24,6 +24,7 @@
"""Marcel bag of models."""
from simu.model.switch import Switch
from simu.model.position import Position
+from simu.robots.marcel.model.loader import Loader
from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
from math import pi
@@ -34,6 +35,8 @@ class Bag:
self.color_switch = Switch (link_bag.io.color_switch)
self.contact = [ Switch (contact) for contact in link_bag.io.contact ]
self.position = Position (link_bag.asserv.position)
+ self.loader = Loader (table, self.position, link_bag.mimot.aux[0],
+ link_bag.mimot.aux[1], link_bag.asserv.aux[0])
self.distance_sensor = [
DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table,
(30 - 20, 0), 0, (self.position, ), 2),
diff --git a/host/simu/robots/marcel/model/loader.py b/host/simu/robots/marcel/model/loader.py
new file mode 100644
index 00000000..00741808
--- /dev/null
+++ b/host/simu/robots/marcel/model/loader.py
@@ -0,0 +1,135 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2010 Nicolas Schodet
+#
+# APBTeam:
+# Web: http://apbteam.org/
+# Email: team AT apbteam DOT org
+#
+# 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 2 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, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+#
+# }}}
+"""Marcel food loader."""
+from utils.observable import Observable
+from simu.utils.trans_matrix import TransMatrix
+from math import pi
+
+class Loader (Observable):
+
+ CLAMP_PULLEY_RADIUS = 5.5
+ CLAMP_WIDTH = 250
+ CLAMP_LENGTH = 100
+
+ ELEVATOR_PULLEY_RADIUS = 10
+ ELEVATOR_LINEAR_STROKE = 50
+ ELEVATOR_ROTATING_STROKE = 100
+
+ FRONT_ZONE_X_MIN = 120 + 15
+ FRONT_ZONE_X_MAX = 120 + CLAMP_LENGTH - 15
+
+ def __init__ (self, table, robot_position, left_clamp_link, right_clamp_link,
+ elevator_link):
+ Observable.__init__ (self)
+ self.table = table
+ self.robot_position = robot_position
+ self.clamp_link = (left_clamp_link, right_clamp_link)
+ self.elevator_link = elevator_link
+ self.clamp_load = [ ]
+ self.load = [ ]
+ self.clamp_pos = [ None, None ]
+ self.clamp_link[0].register (self.__left_clamp_notified)
+ self.clamp_link[1].register (self.__right_clamp_notified)
+ self.elevator_link.register (self.__elevator_notified)
+
+ def __elevator_notified (self):
+ if self.elevator_link.angle is None:
+ self.elevator_height = None
+ self.elevator_angle = None
+ else:
+ # Update elevator position.
+ self.elevator_height = (self.elevator_link.angle
+ * self.ELEVATOR_PULLEY_RADIUS)
+ if self.elevator_height < self.ELEVATOR_LINEAR_STROKE:
+ self.elevator_angle = 0
+ else:
+ self.elevator_angle = ((self.elevator_height -
+ self.ELEVATOR_LINEAR_STROKE)
+ / self.ELEVATOR_ROTATING_STROKE * pi)
+ self.notify ()
+
+ def __clamp_notified (self, clamp):
+ if self.clamp_link[clamp].angle is None:
+ self.clamp_pos[clamp] = None
+ else:
+ # Update clamp position.
+ self.clamp_pos[clamp] = (self.clamp_link[clamp].angle
+ * self.CLAMP_PULLEY_RADIUS)
+ # If elevator is low, pick elements.
+ if (not self.clamp_load
+ and self.elevator_height < self.ELEVATOR_LINEAR_STROKE):
+ elements = self.__get_front_elements ()
+ if elements:
+ black = sum (hasattr (e, 'black') and e.black for e in
+ elements)
+ tickness = sum (e.radius * 2 for e in elements)
+ if (not black and self.CLAMP_WIDTH - sum (self.clamp_pos)
+ <= tickness):
+ for e in elements:
+ e.pos = None
+ e.notify ()
+ self.clamp_load = elements
+ # If elevator is high, drop elements.
+ if (self.clamp_load
+ and self.elevator_height > self.ELEVATOR_LINEAR_STROKE +
+ self.ELEVATOR_ROTATING_STROKE * 2 / 3):
+ tickness = sum (e.radius * 2 for e in self.clamp_load)
+ if self.CLAMP_WIDTH - sum (self.clamp_pos) > tickness:
+ self.load += self.clamp_load
+ self.clamp_load = [ ]
+ self.notify ()
+
+ def __left_clamp_notified (self):
+ self.__clamp_notified (0)
+
+ def __right_clamp_notified (self):
+ self.__clamp_notified (1)
+
+ def __get_front_elements (self):
+ """Return a list of elements in front of the robot, between clamp."""
+ elements = [ ]
+ if (self.robot_position is None
+ or self.clamp_pos[0] is None
+ or self.clamp_pos[1] is None):
+ return None
+ # Matrix to transform an obstacle position into robot coordinates.
+ m = TransMatrix ()
+ m.translate ((-self.robot_position.pos[0],
+ -self.robot_position.pos[1]))
+ m.rotate (-self.robot_position.angle)
+ # Look up elements.
+ # This could be used if clamp blocking is handled or elements are
+ # pushed:
+ #ymin = -self.CLAMP_WIDTH / 2 + self.clamp_pos[1]
+ #ymax = self.CLAMP_WIDTH / 2 - self.clamp_pos[0]
+ ymin = -self.CLAMP_WIDTH + 40
+ ymax = self.CLAMP_WIDTH - 40
+ for o in self.table.obstacles:
+ if o.level == 1 and o.pos is not None:
+ pos = m.apply (o.pos)
+ if (pos[0] > self.FRONT_ZONE_X_MIN
+ and pos[0] < self.FRONT_ZONE_X_MAX
+ and pos[1] > ymin and pos[1] < ymax):
+ elements.append (o)
+ return elements
diff --git a/host/simu/robots/marcel/view/bag.py b/host/simu/robots/marcel/view/bag.py
index 75f7ff50..fb2182a8 100644
--- a/host/simu/robots/marcel/view/bag.py
+++ b/host/simu/robots/marcel/view/bag.py
@@ -27,6 +27,7 @@ from simu.view.distance_sensor_us import DistanceSensorUS
from simu.view.path import Path
from simu.view.pos_report import PosReport
from simu.robots.marcel.view.robot import Robot
+from simu.robots.marcel.view.loader import Loader
class Bag:
@@ -34,7 +35,9 @@ class Bag:
self.jack = Switch (sensor_frame, model_bag.jack, 'Jack')
self.color_switch = Switch (sensor_frame, model_bag.color_switch,
'Color')
- self.robot = Robot (table, model_bag.position)
+ self.robot = Robot (table, model_bag.position, model_bag.loader)
+ self.loader = Loader (actuator_view.add_view (Loader.width,
+ Loader.height), model_bag.loader)
self.distance_sensor = [DistanceSensorUS (self.robot, ds)
for ds in model_bag.distance_sensor]
self.path = Path (table, model_bag.path)
diff --git a/host/simu/robots/marcel/view/loader.py b/host/simu/robots/marcel/view/loader.py
new file mode 100644
index 00000000..e640157b
--- /dev/null
+++ b/host/simu/robots/marcel/view/loader.py
@@ -0,0 +1,76 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2010 Nicolas Schodet
+#
+# APBTeam:
+# Web: http://apbteam.org/
+# Email: team AT apbteam DOT org
+#
+# 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 2 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, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+#
+# }}}
+"""Marcel loader."""
+from simu.inter.drawable import Drawable
+
+from simu.view.table_eurobot2010 import RED, corn_attr
+
+class Loader (Drawable):
+
+ width = 420
+ height = 370
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+
+ def __notified (self):
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ self.trans_translate ((-100, -125))
+ self.draw_line ((25, 100), (25, 50), (300, 0), fill = '#808080')
+ if self.model.load:
+ # Draw load.
+ y = 0
+ x = 0
+ for e in self.model.load:
+ if hasattr (e, 'black'):
+ attr = corn_attr[e.black]
+ else:
+ attr = dict (fill = RED)
+ cx = x + e.radius
+ cy = y + cx * 50 / 300 + e.radius
+ self.draw_circle ((300 - cx, cy), e.radius, **attr)
+ x += e.radius
+ if x > 200:
+ x = 0
+ y += 40
+ if self.model.elevator_height is not None:
+ self.trans_identity ()
+ self.trans_rotate (-self.model.elevator_angle)
+ self.trans_translate ((-100, -100 + self.model.elevator_height))
+ # Draw clamp load.
+ if self.model.clamp_load:
+ elements = self.model.clamp_load
+ for e in elements:
+ if hasattr (e, 'black'):
+ self.draw_rectangle ((-25, -25), (-75, 125),
+ **corn_attr[e.black])
+ else:
+ self.draw_circle ((-50, 0), e.radius, fill = RED)
+ # Draw clamp.
+ self.draw_line ((-100, -25), (0, -25), (0, 25), (-100, 25))
diff --git a/host/simu/robots/marcel/view/robot.py b/host/simu/robots/marcel/view/robot.py
index 181d348b..4e2135f2 100644
--- a/host/simu/robots/marcel/view/robot.py
+++ b/host/simu/robots/marcel/view/robot.py
@@ -23,14 +23,19 @@
# }}}
"""Marcel robot view."""
import simu.inter.drawable
+from math import cos
+
+from simu.view.table_eurobot2010 import RED, corn_attr
class Robot (simu.inter.drawable.Drawable):
- def __init__ (self, onto, position_model):
+ def __init__ (self, onto, position_model, loader_model):
"""Construct and make connections."""
simu.inter.drawable.Drawable.__init__ (self, onto)
self.position_model = position_model
self.position_model.register (self.__position_notified)
+ self.loader_model = loader_model
+ self.loader_model.register (self.__loader_notified)
def __position_notified (self):
"""Called on position modifications."""
@@ -38,6 +43,11 @@ class Robot (simu.inter.drawable.Drawable):
self.angle = self.position_model.angle
self.update ()
+ def __loader_notified (self):
+ """Called on loader modifications."""
+ self.clamp_pos = self.loader_model.clamp_pos
+ self.update ()
+
def draw (self):
"""Draw the robot."""
self.reset ()
@@ -57,6 +67,30 @@ class Robot (simu.inter.drawable.Drawable):
self.draw_line ((0, +f / 2), (0, -f / 2), fill = axes_fill)
self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = axes_fill)
self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = axes_fill)
+ # Draw robot clamp.
+ if (self.clamp_pos[0] is not None
+ and self.clamp_pos[1] is not None):
+ l = self.loader_model.CLAMP_LENGTH * cos (
+ self.loader_model.elevator_angle)
+ y = self.loader_model.CLAMP_WIDTH / 2 - self.clamp_pos[0]
+ self.draw_line ((120, y - 10), (120 + 0.15 * l, y),
+ (120 + 0.85 * l, y), (120 + l, y - 10))
+ y = -self.loader_model.CLAMP_WIDTH / 2 + self.clamp_pos[1]
+ self.draw_line ((120, y + 10), (120 + 0.15 * l, y),
+ (120 + 0.85 * l, y), (120 + l, y + 10))
+ # Draw clamp load.
+ if self.loader_model.clamp_load:
+ elements = self.loader_model.clamp_load
+ tickness = sum (e.radius * 2 for e in elements)
+ y = tickness / 2
+ for e in elements:
+ if hasattr (e, 'black'):
+ attr = corn_attr[e.black]
+ else:
+ attr = dict (fill = RED)
+ self.draw_circle ((120 + l / 2, y - e.radius),
+ e.radius, **attr)
+ y -= e.radius * 2
# Extends.
simu.inter.drawable.Drawable.draw (self)