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-rw-r--r--host/inter/inter.py2
-rw-r--r--host/simu/inter/drawable.py2
-rw-r--r--host/simu/inter/inter.py2
-rw-r--r--host/simu/inter/test/test_drawable.py4
-rw-r--r--host/simu/model/distance_sensor.py2
-rw-r--r--host/simu/model/table_eurobot2011.py83
-rw-r--r--host/simu/robots/aquajim/model/sorter.py2
-rw-r--r--host/simu/robots/aquajim/view/robot.py2
-rw-r--r--host/simu/robots/giboulee/view/robot.py2
-rw-r--r--host/simu/robots/marcel/model/loader.py4
-rw-r--r--host/simu/robots/marcel/view/loader.py2
-rw-r--r--host/simu/robots/marcel/view/robot.py2
-rw-r--r--host/simu/robots/robospierre/__init__.py0
-rw-r--r--host/simu/robots/robospierre/link/__init__.py0
-rw-r--r--host/simu/robots/robospierre/link/bag.py35
-rw-r--r--host/simu/robots/robospierre/model/__init__.py0
-rw-r--r--host/simu/robots/robospierre/model/bag.py56
-rw-r--r--host/simu/robots/robospierre/model/clamp.py172
-rw-r--r--host/simu/robots/robospierre/view/__init__.py0
-rw-r--r--host/simu/robots/robospierre/view/bag.py46
-rw-r--r--host/simu/robots/robospierre/view/clamp.py172
-rw-r--r--host/simu/robots/robospierre/view/robot.py111
-rw-r--r--host/simu/utils/trans_matrix.py49
-rw-r--r--host/simu/view/table_eurobot2009.py2
-rw-r--r--host/simu/view/table_eurobot2010.py1
-rw-r--r--host/simu/view/table_eurobot2011.py121
-rw-r--r--host/utils/init_proto.py36
27 files changed, 884 insertions, 26 deletions
diff --git a/host/inter/inter.py b/host/inter/inter.py
index 3f1effd4..f097f955 100644
--- a/host/inter/inter.py
+++ b/host/inter/inter.py
@@ -33,8 +33,8 @@ class Robot (Drawable):
def draw (self):
self.reset ()
if self.angle is not None:
- self.trans_rotate (self.angle)
self.trans_translate (self.pos)
+ self.trans_rotate (self.angle)
self.draw_polygon ((115, 30), (170, 85), (150, 127), (130, 145),
(-25, 200), (-70, 200), (-70, -200), (-25, -200),
(130, -145), (150, -127), (170, -85), (115, -30))
diff --git a/host/simu/inter/drawable.py b/host/simu/inter/drawable.py
index bcf1823f..af7c62a2 100644
--- a/host/simu/inter/drawable.py
+++ b/host/simu/inter/drawable.py
@@ -43,6 +43,8 @@ class Drawable:
self.trans_translate = self.__trans_matrix.translate
self.trans_scale = self.__trans_matrix.scale
self.trans_identity = self.__trans_matrix.identity
+ self.trans_push = self.__trans_matrix.push
+ self.trans_pop = self.__trans_matrix.pop
self.__children = [ ]
self.children = self.__children
self.__onto.__children.append (self)
diff --git a/host/simu/inter/inter.py b/host/simu/inter/inter.py
index b8a889e5..8623885f 100644
--- a/host/simu/inter/inter.py
+++ b/host/simu/inter/inter.py
@@ -58,8 +58,8 @@ class ActuatorView (DrawableCanvas):
self.resize (1, self.size, 0, self.size / 2)
self.configure (width = self.UNIT, height = self.UNIT * self.size)
d = Drawable (self)
- d.trans_scale (1.0 / width)
d.trans_translate ((0, - self.size + ratio / 2))
+ d.trans_scale (1.0 / width)
return d
class Inter (Frame):
diff --git a/host/simu/inter/test/test_drawable.py b/host/simu/inter/test/test_drawable.py
index b977d36e..a9c1bfef 100644
--- a/host/simu/inter/test/test_drawable.py
+++ b/host/simu/inter/test/test_drawable.py
@@ -49,9 +49,9 @@ class App (DrawableCanvas):
# Real user should reset at each redraw.
self.after (500, self.animate)
self.test.draw ()
- self.test.trans_rotate (-pi/12)
- self.test.trans_translate ((10, 10))
self.test.trans_scale (1.05)
+ self.test.trans_translate ((10, 10))
+ self.test.trans_rotate (-pi/12)
self.i += 1
if self.i == 10:
self.test.reset ()
diff --git a/host/simu/model/distance_sensor.py b/host/simu/model/distance_sensor.py
index 3dc83f45..bdc8531d 100644
--- a/host/simu/model/distance_sensor.py
+++ b/host/simu/model/distance_sensor.py
@@ -46,8 +46,8 @@ class DistanceSensor:
if i.pos is None:
self.distance = None
return
- m.rotate (i.angle)
m.translate (i.pos)
+ m.rotate (i.angle)
pos, target = m.apply (pos, target)
# Find intersection.
i = self.table.intersect (pos, target, level = self.level,
diff --git a/host/simu/model/table_eurobot2011.py b/host/simu/model/table_eurobot2011.py
new file mode 100644
index 00000000..c9c1d193
--- /dev/null
+++ b/host/simu/model/table_eurobot2011.py
@@ -0,0 +1,83 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2009 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.
+#
+# }}}
+"""Table model for Eurobot 2011."""
+import simu.model.table
+from random import randrange
+from simu.model.round_obstacle import RoundObstacle
+
+class Table (simu.model.table.Table):
+
+ def __init__ (self, cards = None):
+ simu.model.table.Table.__init__ (self)
+ # Draw cards.
+ if cards is None:
+ cards = [ randrange (20) for i in xrange (3) ]
+ self.cards = cards
+ def pos (card):
+ king_pos = card // 4
+ queen_pos = card % 4
+ if queen_pos >= king_pos:
+ queen_pos += 1
+ return (king_pos, queen_pos)
+ # Well, this is a boring write only code which create every elements.
+ self.pawns = [ ]
+ # Put pawns in green zones.
+ green_pos = pos (cards[0])
+ for i in xrange (5):
+ if i == green_pos[0]:
+ kind = 'king'
+ elif i == green_pos[1]:
+ kind = 'queen'
+ else:
+ kind = 'pawn'
+ pawn = RoundObstacle (100, 1)
+ pawn.pos = (200, 10 + 280 * (5 - i))
+ pawn.kind = kind
+ self.pawns.append (pawn)
+ pawn = RoundObstacle (100, 1)
+ pawn.pos = (3000 - 200, 10 + 280 * (5 - i))
+ pawn.kind = kind
+ self.pawns.append (pawn)
+ # Put pawns in playing zone.
+ kind = 'pawn'
+ for j in xrange (2):
+ play_pos = pos (cards[2 - j])
+ for i in xrange (5):
+ if i in play_pos:
+ pawn = RoundObstacle (100, 1)
+ pawn.pos = (1500 - 350 * (1 + j), 350 * (5 - i))
+ pawn.kind = kind
+ self.pawns.append (pawn)
+ pawn = RoundObstacle (100, 1)
+ pawn.pos = (1500 + 350 * (1 + j), 350 * (5 - i))
+ pawn.kind = kind
+ self.pawns.append (pawn)
+ # Put center pawn.
+ kind = 'pawn'
+ pawn = RoundObstacle (100, 1)
+ pawn.pos = (1500, 350 * 3)
+ pawn.kind = kind
+ self.pawns.append (pawn)
+ # Add everything to obstacles.
+ self.obstacles += self.pawns
diff --git a/host/simu/robots/aquajim/model/sorter.py b/host/simu/robots/aquajim/model/sorter.py
index e7b69761..93ff5e2a 100644
--- a/host/simu/robots/aquajim/model/sorter.py
+++ b/host/simu/robots/aquajim/model/sorter.py
@@ -58,8 +58,8 @@ class Sorter (Observable):
for i in self.into:
if i.pos is None:
return None
- m.rotate (i.angle)
m.translate (i.pos)
+ m.rotate (i.angle)
return m.apply (pos)
def __arm_motor_notified (self):
diff --git a/host/simu/robots/aquajim/view/robot.py b/host/simu/robots/aquajim/view/robot.py
index ad613bba..aefe2170 100644
--- a/host/simu/robots/aquajim/view/robot.py
+++ b/host/simu/robots/aquajim/view/robot.py
@@ -42,8 +42,8 @@ class Robot (simu.inter.drawable.Drawable):
"""Draw the robot."""
self.reset ()
if self.pos is not None:
- self.trans_rotate (self.angle)
self.trans_translate (self.pos)
+ self.trans_rotate (self.angle)
# Draw robot body.
self.draw_polygon ((150, 155), (-90, 155), (-150, 70),
(-150, -70), (-90, -155), (150, -155))
diff --git a/host/simu/robots/giboulee/view/robot.py b/host/simu/robots/giboulee/view/robot.py
index ab1ffc6d..42ebe6fb 100644
--- a/host/simu/robots/giboulee/view/robot.py
+++ b/host/simu/robots/giboulee/view/robot.py
@@ -42,8 +42,8 @@ class Robot (simu.inter.drawable.Drawable):
"""Draw the robot."""
self.reset ()
if self.pos is not None:
- self.trans_rotate (self.angle)
self.trans_translate (self.pos)
+ self.trans_rotate (self.angle)
# Draw robot body.
self.draw_polygon ((115, 30), (170, 85), (150, 127), (130, 145),
(-25, 200), (-70, 200), (-70, -200), (-25, -200),
diff --git a/host/simu/robots/marcel/model/loader.py b/host/simu/robots/marcel/model/loader.py
index 0270ce79..ae1caa7d 100644
--- a/host/simu/robots/marcel/model/loader.py
+++ b/host/simu/robots/marcel/model/loader.py
@@ -159,8 +159,8 @@ class Loader (Observable):
# If gate is high, drop elements.
if self.load and self.gate_angle > self.GATE_STROKE / 2:
m = TransMatrix ()
- m.rotate (self.robot_position.angle)
m.translate (self.robot_position.pos)
+ m.rotate (self.robot_position.angle)
pos = m.apply ((-250, 0))
for e in self.load:
e.pos = pos
@@ -177,9 +177,9 @@ class Loader (Observable):
return elements
# Matrix to transform an obstacle position into robot coordinates.
m = TransMatrix ()
+ m.rotate (-self.robot_position.angle)
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:
diff --git a/host/simu/robots/marcel/view/loader.py b/host/simu/robots/marcel/view/loader.py
index 5bda5d5b..d4ed336e 100644
--- a/host/simu/robots/marcel/view/loader.py
+++ b/host/simu/robots/marcel/view/loader.py
@@ -67,8 +67,8 @@ class Loader (Drawable):
(300, 25 + 25 * i + (150 - 20 * i) * ratio))
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))
+ self.trans_rotate (-self.model.elevator_angle)
# Draw clamp load.
if self.model.clamp_load:
elements = self.model.clamp_load
diff --git a/host/simu/robots/marcel/view/robot.py b/host/simu/robots/marcel/view/robot.py
index 4e2135f2..67d505a2 100644
--- a/host/simu/robots/marcel/view/robot.py
+++ b/host/simu/robots/marcel/view/robot.py
@@ -52,8 +52,8 @@ class Robot (simu.inter.drawable.Drawable):
"""Draw the robot."""
self.reset ()
if self.pos is not None:
- self.trans_rotate (self.angle)
self.trans_translate (self.pos)
+ self.trans_rotate (self.angle)
# Draw robot body.
self.draw_polygon ((120, 155), (-95, 155), (-160, 90),
(-160, -90), (-95, -155), (120, -155))
diff --git a/host/simu/robots/robospierre/__init__.py b/host/simu/robots/robospierre/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/robospierre/__init__.py
diff --git a/host/simu/robots/robospierre/link/__init__.py b/host/simu/robots/robospierre/link/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/robospierre/link/__init__.py
diff --git a/host/simu/robots/robospierre/link/bag.py b/host/simu/robots/robospierre/link/bag.py
new file mode 100644
index 00000000..ac68889a
--- /dev/null
+++ b/host/simu/robots/robospierre/link/bag.py
@@ -0,0 +1,35 @@
+# 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 bag of links."""
+import io_hub.mex
+import asserv.mex
+import mimot.mex
+
+class Bag:
+
+ def __init__ (self, node):
+ self.asserv = asserv.mex.Mex (node)
+ self.io_hub = io_hub.mex.Mex (node)
+ self.mimot = mimot.mex.Mex (node)
+
diff --git a/host/simu/robots/robospierre/model/__init__.py b/host/simu/robots/robospierre/model/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/robospierre/model/__init__.py
diff --git a/host/simu/robots/robospierre/model/bag.py b/host/simu/robots/robospierre/model/bag.py
new file mode 100644
index 00000000..ce55f997
--- /dev/null
+++ b/host/simu/robots/robospierre/model/bag.py
@@ -0,0 +1,56 @@
+# 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 bag of models."""
+from simu.model.switch import Switch
+from simu.model.position import Position
+from simu.model.motor_basic import MotorBasic
+from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
+from simu.robots.robospierre.model.clamp import Clamp
+from math import pi
+
+class Bag:
+
+ def __init__ (self, scheduler, table, link_bag):
+ self.color_switch = Switch (link_bag.io_hub.contact[0])
+ self.jack = Switch (link_bag.io_hub.contact[1])
+ self.contact = [ Switch (contact)
+ for contact in link_bag.io_hub.contact[2:] ]
+ self.position = Position (link_bag.asserv.position)
+ self.clamping_motor = MotorBasic (link_bag.io_hub.pwm[0], scheduler,
+ 2 * pi, 0, pi)
+ self.clamp = Clamp (table, self.position, link_bag.mimot.aux[0],
+ link_bag.mimot.aux[1], self.clamping_motor)
+ self.distance_sensor = [
+ DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table,
+ (20, -20), -pi * 10 / 180, (self.position, ), 2),
+ DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table,
+ (20, 20), pi * 10 / 180, (self.position, ), 2),
+ DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table,
+ (-20, 20), pi - pi * 10 / 180, (self.position, ), 2),
+ DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table,
+ (-20, -20), pi + pi * 10 / 180, (self.position, ), 2),
+ ]
+ for adc in link_bag.io_hub.adc[4:]:
+ adc.value = 0
+
diff --git a/host/simu/robots/robospierre/model/clamp.py b/host/simu/robots/robospierre/model/clamp.py
new file mode 100644
index 00000000..ff27a7ea
--- /dev/null
+++ b/host/simu/robots/robospierre/model/clamp.py
@@ -0,0 +1,172 @@
+# 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 clamp."""
+from utils.observable import Observable
+from simu.utils.trans_matrix import TransMatrix
+from math import pi, cos, sin
+
+class Slot:
+ """Slot which can contain a pawn."""
+
+ def __init__ (self, x, y, z, side):
+ self.x = x
+ self.y = y
+ self.z = z
+ self.side = side
+ self.pawn = None
+
+class Clamp (Observable):
+
+ ELEVATION_STROKE = 120.0
+ ELEVATION_MOTOR_STROKE = 120.0 * 5.0 / 6.0
+
+ ROTATION_STROKE = pi
+ ROTATION_MOTOR_STROKE = pi * 115.0 / 12.0
+
+ CLAMPING_STROKE = 10
+ CLAMPING_MOTOR_STROKE = pi
+
+ BAY_OFFSET = 150
+ BAY_ZOFFSET = 60
+
+ SLOT_FRONT_BOTTOM = 0
+ SLOT_FRONT_MIDDLE = 1
+ SLOT_FRONT_TOP = 2
+ SLOT_BACK_BOTTOM = 3
+ SLOT_BACK_MIDDLE = 4
+ SLOT_BACK_TOP = 5
+ SLOT_SIDE = 6
+
+ def __init__ (self, table, robot_position, elevation_motor,
+ rotation_motor, clamping_motor):
+ Observable.__init__ (self)
+ self.table = table
+ self.robot_position = robot_position
+ self.elevation_motor = elevation_motor
+ self.rotation_motor = rotation_motor
+ self.clamping_motor = clamping_motor
+ self.slots = (
+ Slot (self.BAY_OFFSET, 0, 0 * self.BAY_ZOFFSET, 0),
+ Slot (self.BAY_OFFSET, 0, 1 * self.BAY_ZOFFSET, 0),
+ Slot (self.BAY_OFFSET, 0, 2 * self.BAY_ZOFFSET, 0),
+ Slot (-self.BAY_OFFSET, 0, 0 * self.BAY_ZOFFSET, 1),
+ Slot (-self.BAY_OFFSET, 0, 1 * self.BAY_ZOFFSET, 1),
+ Slot (-self.BAY_OFFSET, 0, 2 * self.BAY_ZOFFSET, 1),
+ Slot (0, self.BAY_OFFSET, 2 * self.BAY_ZOFFSET, None))
+ self.load = None
+ self.robot_position.register (self.__robot_position_notified)
+ self.elevation_motor.register (self.__elevation_notified)
+ self.rotation_motor.register (self.__rotation_notified)
+ self.clamping_motor.register (self.__clamping_notified)
+
+ def __robot_position_notified (self):
+ # Update bottom slots.
+ changed = False
+ for sloti in (self.SLOT_FRONT_BOTTOM, self.SLOT_BACK_BOTTOM):
+ slot = self.slots[sloti]
+ if slot.pawn is None:
+ p = self.__get_floor_elements (slot.side)
+ if p is not None:
+ slot.pawn = p
+ p.pos = None
+ p.notify ()
+ changed = True
+ if changed:
+ self.notify ()
+
+ def __elevation_notified (self):
+ if self.elevation_motor.angle is None:
+ self.elevation = None
+ else:
+ # Update elevation.
+ self.elevation = (self.elevation_motor.angle
+ * self.ELEVATION_STROKE / self.ELEVATION_MOTOR_STROKE)
+ self.notify ()
+
+ def __rotation_notified (self):
+ if self.rotation_motor.angle is None:
+ self.rotation = None
+ else:
+ # Update rotation.
+ self.rotation = (self.rotation_motor.angle * self.ROTATION_STROKE
+ / self.ROTATION_MOTOR_STROKE)
+ self.notify ()
+
+ def __clamping_notified (self):
+ if self.clamping_motor.angle is None:
+ self.clamping = None
+ else:
+ # Update clamping.
+ self.clamping = (self.clamping_motor.angle * self.CLAMPING_STROKE
+ / self.CLAMPING_MOTOR_STROKE)
+ if self.clamping == 0 and self.load is None:
+ # Load an element.
+ slot = self.__get_clamp_slot ()
+ if slot:
+ self.load, slot.pawn = slot.pawn, self.load
+ elif self.clamping == self.CLAMPING_STROKE \
+ and self.load is not None:
+ # Unload an element.
+ slot = self.__get_clamp_slot ()
+ if slot and slot.pawn is None:
+ self.load, slot.pawn = slot.pawn, self.load
+ self.notify ()
+
+ def __get_floor_elements (self, side):
+ """Return an elements in front (side = 0) or in back (side = 1) of the
+ robot, on the floor."""
+ if self.robot_position.pos is None:
+ return None
+ # Matrix to transform an obstacle position into robot coordinates.
+ m = TransMatrix ()
+ m.rotate (-self.robot_position.angle)
+ m.translate ((-self.robot_position.pos[0],
+ -self.robot_position.pos[1]))
+ # Look up elements.
+ xoffset = (self.BAY_OFFSET, -self.BAY_OFFSET)[side]
+ xmargin = 20
+ ymargin = 50
+ for o in self.table.obstacles:
+ if o.level == 1 and o.pos is not None:
+ pos = m.apply (o.pos)
+ if (pos[0] > xoffset - xmargin
+ and pos[0] < xoffset + xmargin
+ and pos[1] > -ymargin and pos[1] < ymargin):
+ return o
+ return None
+
+ def __get_clamp_slot (self):
+ """Return the slot in which the clamp is."""
+ if self.rotation is None or self.elevation is None:
+ return None
+ margin = 10
+ x = cos (self.rotation) * self.BAY_OFFSET
+ y = sin (self.rotation) * self.BAY_OFFSET
+ for slot in self.slots:
+ if abs (slot.z - self.elevation) < margin \
+ and abs (slot.x - x) < margin \
+ and abs (slot.y - y) < margin:
+ return slot
+ return None
+
diff --git a/host/simu/robots/robospierre/view/__init__.py b/host/simu/robots/robospierre/view/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/robospierre/view/__init__.py
diff --git a/host/simu/robots/robospierre/view/bag.py b/host/simu/robots/robospierre/view/bag.py
new file mode 100644
index 00000000..0b5a85ad
--- /dev/null
+++ b/host/simu/robots/robospierre/view/bag.py
@@ -0,0 +1,46 @@
+# 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 bag of views."""
+from simu.view.switch import Switch
+from simu.view.distance_sensor_us import DistanceSensorUS
+from simu.view.path import Path
+from simu.view.pos_report import PosReport
+from simu.robots.robospierre.view.robot import Robot
+from simu.robots.robospierre.view.clamp import ClampTop, ClampSide
+
+class Bag:
+
+ def __init__ (self, table, actuator_view, sensor_frame, model_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, model_bag.clamp)
+ self.clamp = (
+ ClampTop (actuator_view.add_view (ClampTop.width,
+ ClampTop.height), model_bag.clamp),
+ ClampSide (actuator_view.add_view (ClampSide.width,
+ ClampSide.height), model_bag.clamp))
+ self.distance_sensor = [DistanceSensorUS (self.robot, ds)
+ for ds in model_bag.distance_sensor]
+
diff --git a/host/simu/robots/robospierre/view/clamp.py b/host/simu/robots/robospierre/view/clamp.py
new file mode 100644
index 00000000..bd5f6dab
--- /dev/null
+++ b/host/simu/robots/robospierre/view/clamp.py
@@ -0,0 +1,172 @@
+# 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 clamp."""
+from simu.inter.drawable import Drawable
+from simu.utils.trans_matrix import TransMatrix
+from math import pi, sin, cos
+
+from simu.view.table_eurobot2011 import YELLOW, draw_pawn
+
+DGREY = '#404040'
+GREY = '#808080'
+BLACK = '#000000'
+
+class ClampTop (Drawable):
+
+ width = 420
+ height = 420
+
+ 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 ()
+ # Draw base from top.
+ self.trans_rotate (pi)
+ self.draw_arc ((0, 0), 190, start = pi * 35 / 180,
+ extent = pi * 110 / 180, style = 'arc',
+ outline = GREY)
+ self.draw_arc ((0, 0), 190, start = pi + pi * 35 / 180,
+ extent = pi * 110 / 180, style = 'arc',
+ outline = GREY)
+ self.draw_arc ((150, 0), 110, start = pi / 2,
+ extent = pi, style = 'arc', outline = GREY)
+ self.draw_arc ((-150, 0), 110, start = 3 * pi / 2,
+ extent = pi, style = 'arc', outline = GREY)
+ self.draw_arc ((0, 150), 100, start = pi,
+ extent = pi, style = 'arc', outline = GREY, dash = (2, 3))
+ self.draw_line ((-40, 0), (40, 0), fill = GREY, arrow = 'last')
+ # Draw slots.
+ for slot in self.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.model.rotation is not None:
+ self.trans_rotate (self.model.rotation)
+ # Fixed side.
+ self.draw_line ((0, 3), (47, 3))
+ self.draw_arc ((150, 0), 103, start = pi / 2, extent = pi / 2,
+ style = 'arc')
+ # Pawn.
+ load = self.model.load
+ if load is not None:
+ self.trans_push ()
+ self.trans_translate ((150, 0))
+ draw_pawn (self, load.radius, load.kind)
+ self.trans_pop ()
+ # Mobile side.
+ self.trans_rotate (-self.model.clamping / 43)
+ self.draw_line ((0, -3), (47, -3))
+ self.draw_arc ((150, 0), 103, start = pi, extent = pi / 2,
+ style = 'arc')
+
+class ClampSide (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_pawn (self, pos, pawn):
+ if pawn is not None:
+ self.trans_push ()
+ self.trans_translate (pos)
+ self.draw_rectangle ((-100, 0), (100, 50), fill = YELLOW)
+ if pawn.kind == 'king':
+ self.draw_polygon ((-50, 50), (-10, 170), (-50, 170), (-50, 190),
+ (-10, 190), (-10, 230), (10, 230), (10, 190), (50, 190),
+ (50, 170), (5, 170), (50, 50), fill = YELLOW,
+ outline = BLACK)
+ elif pawn.kind == 'queen':
+ self.draw_polygon ((-50, 50), (-10, 180), (10, 180), (50, 50),
+ fill = YELLOW, outline = BLACK)
+ self.draw_circle ((0, 180), 50, fill = YELLOW)
+ self.trans_pop ()
+
+ def draw (self):
+ self.reset ()
+ # Draw base from side.
+ self.trans_translate ((0, -165))
+ self.draw_line ((-150, 0), (150, 0), fill = GREY)
+ self.draw_line ((-20, 60), (20, 60), fill = GREY)
+ self.draw_line ((-20, 120), (20, 120), fill = GREY)
+ self.draw_line ((0, 0), (0, 330), fill = GREY)
+ # Draw slots.
+ for slot in self.model.slots:
+ if slot.pawn is not None:
+ self.draw_pawn ((-slot.x, slot.z), slot.pawn)
+ # Draw clamp.
+ if self.model.rotation is not None:
+ self.trans_translate ((0, self.model.elevation))
+ m = TransMatrix ()
+ m.rotate (pi + self.model.rotation)
+ # 2D projection of a 3D circular clamp.
+ ltip = m.apply ((150, 103))[0]
+ lbase = m.apply ((47, 0))[0]
+ lcenter = m.apply ((150, 0))[0]
+ m.rotate (- self.model.clamping / 43)
+ rtip = m.apply ((150, -103))[0]
+ rbase = m.apply ((47, 0))[0]
+ rcenter = m.apply ((150, 0))[0]
+ s, c = sin (self.model.rotation), cos (self.model.rotation)
+ dattr = dict (outline = BLACK, fill = DGREY)
+ attr = dict (outline = BLACK, fill = GREY)
+ if c >= 0:
+ if s >= 0:
+ self.draw_rectangle ((lbase, 10), (lcenter + 103, 40), **dattr)
+ self.draw_rectangle ((rtip, 10), (rbase, 40), **dattr)
+ self.draw_pawn ((lcenter, 0), self.model.load)
+ self.draw_rectangle ((ltip, 10), (lcenter + 103, 40), **attr)
+ else:
+ self.draw_rectangle ((rtip, 10), (rcenter + 103, 40), **dattr)
+ self.draw_pawn ((lcenter, 0), self.model.load)
+ self.draw_rectangle ((ltip, 10), (lbase, 40), **attr)
+ self.draw_rectangle ((rbase, 10), (rcenter + 103, 40), **attr)
+ else:
+ if s >= 0:
+ self.draw_rectangle ((lbase, 10), (ltip, 40), **dattr)
+ self.draw_rectangle ((rbase, 10), (rcenter - 103, 40), **dattr)
+ self.draw_pawn ((lcenter, 0), self.model.load)
+ self.draw_rectangle ((rtip, 10), (rcenter - 103, 40), **attr)
+ else:
+ self.draw_rectangle ((ltip, 10), (lcenter - 103, 40), **dattr)
+ self.draw_pawn ((lcenter, 0), self.model.load)
+ self.draw_rectangle ((lbase, 10), (lcenter - 103, 40), **attr)
+ self.draw_rectangle ((rbase, 10), (rtip, 40), **attr)
+
diff --git a/host/simu/robots/robospierre/view/robot.py b/host/simu/robots/robospierre/view/robot.py
new file mode 100644
index 00000000..c0f6624c
--- /dev/null
+++ b/host/simu/robots/robospierre/view/robot.py
@@ -0,0 +1,111 @@
+# 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)
+
diff --git a/host/simu/utils/trans_matrix.py b/host/simu/utils/trans_matrix.py
index 99ffe707..1b582e1b 100644
--- a/host/simu/utils/trans_matrix.py
+++ b/host/simu/utils/trans_matrix.py
@@ -27,8 +27,13 @@ from math import sin, cos, sqrt, atan2
class TransMatrix:
"""Define a matrix to be used for transformations on the plane.
- This is a "special" kind of matrix, because the last column is omitted as
- it is always (0, 0, 1)."""
+ This is a "special" kind of matrix, because the last line is omitted as
+ it is always (0, 0, 1).
+
+ First index is column, last index is line.
+
+ Transformations are done from the last added to the first added, so that
+ it can be incrementally constructed for objects contained in others."""
IDENTITY = ((1, 0), (0, 1), (0, 0))
@@ -47,6 +52,7 @@ class TransMatrix:
self.matrix = m
else:
self.matrix = self.IDENTITY
+ self.stack = [ ]
def identity (self):
"""Set to identity.
@@ -64,7 +70,7 @@ class TransMatrix:
>>> from math import pi
>>> a = TransMatrix ()
>>> a.rotate (pi / 3); a # doctest: +ELLIPSIS
- ((0.5..., 0.866...), (-0.866..., 0.5...), (0.0, 0.0))
+ ((0.5..., 0.866...), (-0.866..., 0.5...), (0, 0))
"""
s = sin (angle)
c = cos (angle)
@@ -97,17 +103,17 @@ class TransMatrix:
>>> a = TransMatrix ((1, 0), (0, 1), (1, 0))
>>> b = TransMatrix ((0, 1), (1, 0), (0, 1))
>>> a *= b; a
- ((0, 1), (1, 0), (0, 2))
+ ((0, 1), (1, 0), (1, 1))
"""
s = self.matrix
o = other.matrix
self.matrix = (
- (s[0][0] * o[0][0] + s[0][1] * o[1][0],
- s[0][0] * o[0][1] + s[0][1] * o[1][1]),
- (s[1][0] * o[0][0] + s[1][1] * o[1][0],
- s[1][0] * o[0][1] + s[1][1] * o[1][1]),
- (s[2][0] * o[0][0] + s[2][1] * o[1][0] + o[2][0],
- s[2][0] * o[0][1] + s[2][1] * o[1][1] + o[2][1]))
+ (s[0][0] * o[0][0] + s[1][0] * o[0][1],
+ s[0][1] * o[0][0] + s[1][1] * o[0][1]),
+ (s[0][0] * o[1][0] + s[1][0] * o[1][1],
+ s[0][1] * o[1][0] + s[1][1] * o[1][1]),
+ (s[0][0] * o[2][0] + s[1][0] * o[2][1] + s[2][0],
+ s[0][1] * o[2][0] + s[1][1] * o[2][1] + s[2][1]))
return self
def apply (self, *args):
@@ -120,9 +126,9 @@ class TransMatrix:
((20, 40), (21, 42))
"""
r = tuple (
- (i[0] * self.matrix[0][0] + i[1] * self.matrix[1][0]
+ (self.matrix[0][0] * i[0] + self.matrix[1][0] * i[1]
+ self.matrix[2][0],
- i[0] * self.matrix[0][1] + i[1] * self.matrix[1][1]
+ self.matrix[0][1] * i[0] + self.matrix[1][1] * i[1]
+ self.matrix[2][1])
for i in args)
if len (args) == 1:
@@ -163,6 +169,25 @@ class TransMatrix:
vl = sqrt (v[0] ** 2 + v[1] ** 2)
return vl
+ def push (self):
+ """Save the current value to be poped later.
+
+ >>> a = TransMatrix ()
+ >>> a.translate ((2, 3)); a
+ ((1, 0), (0, 1), (2, 3))
+ >>> a.push ()
+ >>> a.scale (2); a
+ ((2, 0), (0, 2), (2, 3))
+ >>> a.pop ()
+ >>> a
+ ((1, 0), (0, 1), (2, 3))
+ """
+ self.stack.append (self.matrix)
+
+ def pop (self):
+ """Restore saved value, see push."""
+ self.matrix = self.stack.pop ()
+
def __repr__ (self):
return self.matrix.__repr__ ()
diff --git a/host/simu/view/table_eurobot2009.py b/host/simu/view/table_eurobot2009.py
index 5e2d6db5..282b25a5 100644
--- a/host/simu/view/table_eurobot2009.py
+++ b/host/simu/view/table_eurobot2009.py
@@ -113,8 +113,8 @@ class Table (Drawable):
((3000 - 40, 1050 + ds), pi, GREEN),
):
dtm = TransMatrix ()
- dtm.rotate (dangle)
dtm.translate (dpos)
+ dtm.rotate (dangle)
if dpos[1] == 40:
a = 55
else:
diff --git a/host/simu/view/table_eurobot2010.py b/host/simu/view/table_eurobot2010.py
index 2ef8de1f..4beb8be8 100644
--- a/host/simu/view/table_eurobot2010.py
+++ b/host/simu/view/table_eurobot2010.py
@@ -23,7 +23,6 @@
# }}}
"""Eurobot 2010 table."""
from simu.inter.drawable import Drawable
-from simu.utils.trans_matrix import TransMatrix
from math import pi
GREEN = '#00ad00'
diff --git a/host/simu/view/table_eurobot2011.py b/host/simu/view/table_eurobot2011.py
new file mode 100644
index 00000000..f0a65ce1
--- /dev/null
+++ b/host/simu/view/table_eurobot2011.py
@@ -0,0 +1,121 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2009 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.
+#
+# }}}
+"""Eurobot 2011 table."""
+from simu.inter.drawable import Drawable
+from math import pi
+
+RED = '#d42626'
+BLUE = '#2626d4'
+GREEN = '#268126'
+BLACK = '#181818'
+YELLOW = '#cccc00'
+
+def draw_pawn (d, radius, kind):
+ d.draw_circle ((0, 0), radius, fill = YELLOW)
+ if kind == 'king':
+ a = 0.1 * radius
+ b = 0.5 * radius
+ d.draw_line ((a, b), (a, a), (b, a), (b, -a), (a, -a), (a, -b),
+ (-a, -b), (-a, -a), (-b, -a), (-b, a), (-a, a), (-a, b),
+ (a, b))
+ elif kind == 'queen':
+ d.draw_circle ((0, 0), 0.5 * radius)
+ d.draw_circle ((0, 0), 0.4 * radius)
+
+class Pawn (Drawable):
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+ self.__notified ()
+
+ def __notified (self):
+ self.pos = self.model.pos
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ if self.pos:
+ self.trans_translate (self.pos)
+ draw_pawn (self, self.model.radius, self.model.kind)
+ Drawable.draw (self)
+
+class Table (Drawable):
+ """The table and its elements."""
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ for e in model.pawns:
+ Pawn (self, e)
+
+ def draw_both (self, primitive, *args, **kargs):
+ """Draw a primitive on both sides."""
+ primitive (*args, **kargs)
+ primitive (*((3000 - x, y) for x, y in args), **kargs)
+
+ def draw (self):
+ # Redraw.
+ self.reset ()
+ # Table.
+ self.draw_rectangle ((-22, -22), (3000 + 22, 2100 + 22), fill = BLACK)
+ self.draw_rectangle ((0, 0), (3000, 2100), fill = BLACK)
+ self.draw_both (self.draw_rectangle, (0, 0), (400, 2100 - 400 - 22), fill = GREEN)
+ self.draw_rectangle ((0, 2100 - 400), (400, 2100), fill = RED)
+ self.draw_rectangle ((0, 2100 - 400 - 22), (400, 2100 - 400), fill = RED)
+ self.draw_rectangle ((3000, 2100 - 400), (3000 - 400, 2100), fill = BLUE)
+ self.draw_rectangle ((3000, 2100 - 400 - 22), (3000 - 400, 2100 - 400), fill = BLUE)
+ self.draw_rectangle ((1500 - 3 * 350, 0), (1500 + 3 * 350, 2100), fill = BLUE)
+ for i in xrange (-3, 3):
+ for j in xrange (0, 6):
+ if (i + j) % 2:
+ self.draw_rectangle ((1500 + i * 350, j * 350),
+ (1850 + i * 350, 350 + j * 350), fill = RED)
+ # Bonus.
+ for i, j in ((0, 0), (1, 2), (1, 4)):
+ self.draw_circle ((1500 - 175 - i * 350, 175 + j * 350), 50, fill = BLACK)
+ self.draw_circle ((1500 + 175 + i * 350, 175 + j * 350), 50, fill = BLACK)
+ # Protected zones.
+ self.draw_both (self.draw_rectangle, (1500 - 3 * 350, 0), (1500 - 350, 120), fill = BLACK)
+ self.draw_both (self.draw_rectangle, (1500 - 3 * 350, 120), (1500 - 3 * 350 + 22, 120 + 130), fill = BLACK)
+ self.draw_both (self.draw_rectangle, (1500 - 350, 120), (1500 - 350 - 22, 120 + 130), fill = BLACK)
+ self.draw_both (self.draw_rectangle, (1500 - 350, 120 + 130), (1500 - 350 - 20, 350), fill = BLACK)
+ self.draw_both (self.draw_rectangle, (1500 - 3 * 350, 350 - 20), (1500 - 350, 350), fill = BLACK)
+ # Axes.
+ self.draw_line ((0, 200), (0, 0), (200, 0), arrow = 'both')
+ # Beacons.
+ self.draw_both (self.draw_rectangle, (-22, 2100 + 22), (-22 - 80, 2100 + 22 + 80), fill = BLACK)
+ self.draw_both (self.draw_rectangle, (-22, 1050 - 40), (-22 - 80, 1050 + 40), fill = BLACK)
+ self.draw_both (self.draw_rectangle, (-22, -80 - 22), (-22 - 80, -22), fill = BLACK)
+ # Children.
+ Drawable.draw (self)
+
+if __name__ == '__main__':
+ from simu.inter.inter import Inter
+ import simu.model.table_eurobot2011 as model
+ app = Inter ()
+ m = model.Table ()
+ Table (app.table_view, m)
+ app.mainloop ()
diff --git a/host/utils/init_proto.py b/host/utils/init_proto.py
new file mode 100644
index 00000000..f5c2bfa4
--- /dev/null
+++ b/host/utils/init_proto.py
@@ -0,0 +1,36 @@
+"""Helper to create a Proto instance."""
+import proto.popen_io
+import serial
+import optparse
+
+def init_proto (default_robot, proto_class, init_module = None, init = None):
+ """Helper to create a Proto instance from command line arguments."""
+ if init_module is None and init is None:
+ init = { }
+ # Parse arguments.
+ parser = optparse.OptionParser (
+ usage = "usage: %prog [options] TTY|! PROGRAM...",
+ description = "TTY is a device name (example: %prog "
+ "/dev/ttyUSB0), PROGRAM is a host program with its arguments "
+ "(example: %prog -- ! ../src/board.host board_arg).")
+ if init_module:
+ parser.add_option ('-r', '--robot', help = "use specified robot",
+ metavar = 'NAME', default = default_robot)
+ (options, args) = parser.parse_args ()
+ if init_module and options.robot is None:
+ parser.error ("no robot specified")
+ if not args:
+ parser.error ("not enough arguments")
+ # Create parameters.
+ if args[0] == '!':
+ io = proto.popen_io.PopenIO (args[1:])
+ if init_module:
+ init = init_module.host[options.robot]
+ else:
+ if len (args) != 1:
+ parser.error ("too many arguments after device")
+ io = serial.Serial (args[0])
+ if init_module:
+ init = init_module.target[options.robot]
+ return proto_class (io, **init)
+