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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 gifts arm model."""
+from utils.observable import Observable
+from simu.utils.vector import vector
+
+class GiftsArm (Observable):
+
+ def __init__ (self, table, robot_position, arm_cyl):
+ Observable.__init__ (self)
+ self.table = table
+ self.robot_position = robot_position
+ self.arm_cyl = arm_cyl
+ self.arm_cyl.register (self.__arm_notified)
+
+ def __arm_notified (self):
+ if self.arm_cyl.pos > .9:
+ push_point = (vector (self.robot_position.pos)
+ + vector.polar (self.robot_position.angle - 90, 140 + 70))
+ gift = self.table.nearest (push_point, level = 0, max = 150)
+ if gift is not None and hasattr (gift, 'state'):
+ gift.state = True
+ gift.notify ()
+ self.notify ()