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# mimot - Mini motor control, with motor driver. {{{
#
# 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.
#
# }}}
"""Mex interface to mimot."""

from utils.observable import Observable
import simu.mex.msg

class Mex:
    """Handle communications with simulated mimot."""

    class Position (Observable):
        """Robot position.

        - pos: (x, y) millimeters.
        - angle: radian.

        """

        def __init__ (self, node, instance):
            Observable.__init__ (self)
            self.pos = None
            self.angle = None
            node.register (instance + ':position', self.__handle)

        def __handle (self, msg):
            x, y, a = msg.pop ('hhl')
            self.pos = (x, y)
            self.angle = float (a) / 1024
            self.notify ()

    class PWM (Observable):
        """Motor PWM.

        - pwm: current PWM values (hardware unit).

        """

        def __init__ (self, node, instance):
            Observable.__init__ (self)
            self.pwm = None
            node.register (instance + ':pwm', self.__handle)

        def __handle (self, msg):
            self.pwm = msg.pop ('hh')
            self.notify ()

    def __init__ (self, node, instance = 'mimot0'):
        self.position = self.Position (node, instance)
        self.pwm = self.PWM (node, instance)