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+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2013 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.
+#
+# }}}
+"""APBirthday cake arm model."""
+from utils.observable import Observable
+from simu.utils.trans_matrix import TransMatrix
+
+class CakeArm (Observable):
+
+ far_x = 51
+ far_y = 350
+ near_x = 2
+ near_y = 247
+
+ def __init__ (self, table, robot_position, arm_cyl, far_cyl, near_cyl):
+ Observable.__init__ (self)
+ self.table = table
+ self.robot_position = robot_position
+ self.arm_cyl = arm_cyl
+ self.far_cyl = far_cyl
+ self.near_cyl = near_cyl
+ self.far_pushed = False
+ self.near_pushed = False
+ self.arm_cyl.register (self.notify)
+ self.far_cyl.register (self.__push_notified)
+ self.near_cyl.register (self.__push_notified)
+ self.robot_position.register (self.__robot_position_notified)
+
+ def __push_notified (self):
+ if self.arm_cyl.pos > .9:
+ if not self.far_pushed and self.far_cyl.pos > .5:
+ self.far_pushed = True
+ self.__push (self.far_x, self.far_y, 3)
+ elif self.far_pushed and self.far_cyl.pos < .9:
+ self.far_pushed = False
+ if not self.near_pushed and self.near_cyl.pos > .5:
+ self.near_pushed = True
+ self.__push (self.near_x, self.near_y, 2)
+ elif self.near_pushed and self.near_cyl.pos < .9:
+ self.near_pushed = False
+ self.notify ()
+
+ def __push (self, x, y, level):
+ """Push a candle under coordinates x, y."""
+ margin = 60
+ # Matrix to transform an obstacle position into robot coordinates.
+ m = self.__get_robot_matrix ()
+ # Look up elements.
+ for o in self.table.obstacles:
+ if (o.level == level and hasattr (o, 'state') and o.state == False
+ and o.pos is not None):
+ pos = m.apply (o.pos)
+ if (pos[0] > x - margin
+ and pos[0] < x + margin
+ and pos[1] > y - margin
+ and pos[1] < y + margin):
+ o.state = True
+ o.notify ()
+
+ def __robot_position_notified (self):
+ # TODO: update color sensors.
+ pass
+
+ def __get_robot_matrix (self):
+ """Return robot transformation matrix."""
+ m = TransMatrix ()
+ m.rotate (-self.robot_position.angle)
+ m.translate ((-self.robot_position.pos[0],
+ -self.robot_position.pos[1]))
+ return m
+