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-rw-r--r--host/simu/model/test/test_table.py168
1 files changed, 168 insertions, 0 deletions
diff --git a/host/simu/model/test/test_table.py b/host/simu/model/test/test_table.py
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+++ b/host/simu/model/test/test_table.py
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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.
+#
+# }}}
+"""Test table model and obstacles."""
+from simu.model.table import Table
+from simu.model.round_obstacle import RoundObstacle
+from simu.inter.drawable import Drawable, DrawableCanvas
+from simu.utils.vector import vector
+from Tkinter import *
+
+class Area (Drawable):
+
+ def __init__ (self, onto):
+ Drawable.__init__ (self, onto)
+ self.table = Table ()
+ self.a = (0, 0)
+ self.b = (10, 10)
+ self.result = None
+
+ def draw (self):
+ self.reset ()
+ for o in self.table.obstacles:
+ if o.pos is None:
+ continue
+ if isinstance (o, RoundObstacle):
+ self.draw_circle (o.pos, o.radius)
+ else:
+ raise TypeError ("unknown obstacle")
+ if self.a is not None:
+ self.draw_circle (self.a, 0.2, fill = 'green')
+ if self.b is not None:
+ self.draw_circle (self.b, 0.2, fill = 'red')
+ if self.a is not None and self.b is not None:
+ self.draw_line (self.a, self.b, arrow = 'last')
+ if self.result is not None:
+ self.draw_circle (self.result, 0.2, fill = 'yellow')
+
+ def update (self, test, **kwargs):
+ self.result = None
+ if self.a is not None and self.b is not None:
+ if test == 'intersect':
+ def nearer (a, b): return a < b
+ i = self.table.intersect (self.a, self.b, comp = nearer,
+ **kwargs)
+ if i is not None:
+ a, b = vector (self.a), vector (self.b)
+ self.result = (b - a).unit () * i.distance
+ elif test == 'nearest':
+ n = self.table.nearest (self.b, **kwargs)
+ if n is not None:
+ self.result = n.pos
+
+class AreaView (DrawableCanvas):
+
+ def __init__ (self, master = None):
+ DrawableCanvas.__init__ (self, 22, 22, 0, 0, master, borderwidth = 1,
+ relief = 'sunken', background = 'white')
+ self.area = Area (self)
+
+ def draw (self):
+ self.area.draw ()
+
+class TestTable (Frame):
+
+ def __init__ (self, master = None):
+ Frame.__init__ (self, master)
+ self.pack (expand = True, fill = 'both')
+ self.create_widgets ()
+ self.move = None
+
+ def create_widgets (self):
+ self.right_frame = Frame (self)
+ self.right_frame.pack (side = 'right', fill = 'y')
+ self.quit_button = Button (self.right_frame, text = 'Quit', command =
+ self.quit)
+ self.quit_button.pack (side = 'top', fill = 'x')
+ self.test_var = StringVar ()
+ self.test_var.set ('intersect')
+ self.test_intersect = Radiobutton (self.right_frame,
+ variable = self.test_var, command = self.update,
+ text = 'Intersect', value = 'intersect')
+ self.test_intersect.pack (side = 'top')
+ self.test_nearest = Radiobutton (self.right_frame,
+ variable = self.test_var, command = self.update,
+ text = 'Nearest', value = 'nearest')
+ self.test_nearest.pack (side = 'top')
+ self.new_obstacle_round_frame = LabelFrame (self.right_frame)
+ self.new_obstacle_round_frame.pack (side = 'top')
+ self.new_obstacle_radius = Scale (self.new_obstacle_round_frame,
+ label = 'Radius', orient = 'horizontal', from_ = 0.5, to = 10,
+ resolution = 0.5)
+ self.new_obstacle_radius.pack (side = 'top')
+ self.new_obstacle_round = Button (self.new_obstacle_round_frame,
+ text = 'New round obstacle',
+ command = self.new_round_obstacle)
+ self.new_obstacle_round_frame.configure (
+ labelwidget = self.new_obstacle_round)
+ self.area_view = AreaView (self)
+ self.area_view.pack (expand = True, fill = 'both')
+ self.area_view.bind ('<1>', self.click)
+
+ def update (self, draw = True):
+ self.area_view.area.update (self.test_var.get ())
+ if draw:
+ self.area_view.draw ()
+
+ def click (self, ev):
+ def move (o, pos):
+ if callable (o):
+ o (pos)
+ else:
+ o.pos = pos
+ pos = vector (self.area_view.screen_coord ((ev.x, ev.y)))
+ if self.move is None:
+ def move_a (pos):
+ self.area_view.area.a = pos
+ def move_b (pos):
+ self.area_view.area.b = pos
+ objs = [ [ self.area_view.area.a, 0.2, move_a ],
+ [ self.area_view.area.b, 0.2, move_b ] ]
+ for o in self.area_view.area.table.obstacles:
+ objs.append ([ o.pos, o.radius, o ])
+ for obj in objs:
+ opos = vector (obj[0])
+ radius = obj[1]
+ if abs (opos - pos) < radius:
+ self.move = obj[2]
+ break
+ if self.move is not None:
+ move (self.move, None)
+ else:
+ move (self.move, pos)
+ self.move = None
+ self.update ()
+
+ def new_round_obstacle (self):
+ o = RoundObstacle (self.new_obstacle_radius.get ())
+ o.pos = (5, -5)
+ self.area_view.area.table.obstacles.append (o)
+ self.update ()
+
+if __name__ == '__main__':
+ app = TestTable ()
+ o = RoundObstacle (2)
+ o.pos = (5, 5)
+ app.area_view.area.table.obstacles.append (o)
+ app.update (False)
+ app.mainloop ()