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+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2011 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.
+#
+# }}}
+"""Robospierre robot view."""
+import simu.inter.drawable
+from math import pi
+
+from simu.view.table_eurobot2011 import draw_pawn
+
+COLOR_ROBOT = '#000000'
+COLOR_CLAMP = '#606060'
+COLOR_AXES = '#202040'
+
+class Robot (simu.inter.drawable.Drawable):
+
+ def __init__ (self, onto, position_model, clamp_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.clamp_model = clamp_model
+ self.clamp_model.register (self.__clamp_notified)
+
+ def __position_notified (self):
+ """Called on position modifications."""
+ self.pos = self.position_model.pos
+ self.angle = self.position_model.angle
+ self.update ()
+
+ def __clamp_notified (self):
+ """Called on clamp modifications."""
+ self.update ()
+
+ def draw (self):
+ """Draw the robot."""
+ self.reset ()
+ if self.pos is not None:
+ self.trans_translate (self.pos)
+ self.trans_rotate (self.angle)
+ # Draw slots.
+ for slot in self.clamp_model.slots:
+ if slot.pawn is not None:
+ self.trans_push ()
+ self.trans_scale (1 - slot.z / 1000.0)
+ self.trans_translate ((slot.x, slot.y))
+ draw_pawn (self, slot.pawn.radius, slot.pawn.kind)
+ self.trans_pop ()
+ # Draw clamp.
+ if self.clamp_model.rotation is not None:
+ self.trans_push ()
+ # Fixed side.
+ self.trans_rotate (self.clamp_model.rotation)
+ self.draw_arc ((150, 0), 103, start = pi / 2, extent = pi / 2,
+ style = 'arc', outline = COLOR_CLAMP)
+ # Draw load.
+ load = self.clamp_model.load
+ if load:
+ self.trans_push ()
+ self.trans_translate ((150, 0))
+ draw_pawn (self, load.radius, load.kind)
+ self.trans_pop ()
+ # Mobile side.
+ self.trans_rotate (- self.clamp_model.clamping / 47)
+ self.draw_arc ((150, 0), 103, start = pi, extent = pi / 2,
+ style = 'arc', outline = COLOR_CLAMP)
+ # Done.
+ self.trans_pop ()
+ # Draw robot body.
+ self.draw_polygon ((0, 190), (150, 110), (95, 95), (55, 55),
+ (40, -0), (55, -55), (95, -95), (150, -110), (0, -190),
+ (-150, -110), (-95, -95), (-55, -55), (-40, -0),
+ (-55, 55), (-95, 95), (-150, 110), (0, 190),
+ fill = COLOR_ROBOT)
+ self.draw_arc ((0, 0), 190, start = pi * 35 / 180,
+ extent = pi * 110 / 180, style = 'chord',
+ outline = COLOR_ROBOT, fill = COLOR_ROBOT)
+ self.draw_arc ((0, 0), 190, start = pi + pi * 35 / 180,
+ extent = pi * 110 / 180, style = 'chord',
+ outline = COLOR_ROBOT, fill = COLOR_ROBOT)
+ # Draw Robot axis.
+ self.draw_line ((-50, 0), (50, 0), fill = COLOR_AXES,
+ arrow = 'last')
+ # Draw Robot wheels.
+ f = 221 # Wheel spacing
+ wr = 60 / 2 # Wheel radius
+ self.draw_line ((0, +f / 2), (0, -f / 2), fill = COLOR_AXES)
+ self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = COLOR_AXES)
+ self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = COLOR_AXES)
+ # Extends.
+ simu.inter.drawable.Drawable.draw (self)
+