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-rw-r--r--host/simu/robots/apbirthday/__init__.py0
-rw-r--r--host/simu/robots/apbirthday/link/__init__.py0
-rw-r--r--host/simu/robots/apbirthday/link/bag.py46
-rw-r--r--host/simu/robots/apbirthday/model/__init__.py0
-rw-r--r--host/simu/robots/apbirthday/model/bag.py40
-rw-r--r--host/simu/robots/apbirthday/view/__init__.py0
-rw-r--r--host/simu/robots/apbirthday/view/bag.py35
-rw-r--r--host/simu/robots/apbirthday/view/robot.py64
8 files changed, 185 insertions, 0 deletions
diff --git a/host/simu/robots/apbirthday/__init__.py b/host/simu/robots/apbirthday/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/apbirthday/__init__.py
diff --git a/host/simu/robots/apbirthday/link/__init__.py b/host/simu/robots/apbirthday/link/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/apbirthday/link/__init__.py
diff --git a/host/simu/robots/apbirthday/link/bag.py b/host/simu/robots/apbirthday/link/bag.py
new file mode 100644
index 00000000..8d3971d5
--- /dev/null
+++ b/host/simu/robots/apbirthday/link/bag.py
@@ -0,0 +1,46 @@
+# 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 bag of links."""
+import io_hub.mex
+import asserv.mex
+from simu.link.mex_gpio import MexGpio
+
+class Bag:
+
+ def __init__ (self, node, instance = 'robot0'):
+ self.asserv = asserv.mex.Mex (node, '%s:asserv0' % instance,
+ aux_nb = 0)
+ self.io_hub = io_hub.mex.Mex (node, '%s:io0' % instance, gpios = True)
+ gpios = ('raw_jack', 'ihm_color', 'ihm_strat', 'ihm_robot_nb',
+ 'ihm_lol', 'ihm_emerg_stop', 'glass_contact',
+ 'cherry_bad_out', 'cherry_bad_in', 'cherry_plate_up',
+ 'cherry_plate_down', 'cherry_plate_clamp', 'cake_arm_out',
+ 'cake_arm_in', 'cake_push_far_out', 'cake_push_far_in',
+ 'cake_push_near_out', 'cake_push_near_in',
+ 'glass_lower_clamp_close', 'glass_lower_clamp_open',
+ 'glass_upper_clamp_close', 'glass_upper_clamp_open',
+ 'glass_upper_clamp_up', 'glass_upper_clamp_down', 'gift_out',
+ 'gift_in', 'ballon_funny_action', 'pneum_open')
+ for gpio in gpios:
+ setattr (self, gpio, MexGpio (self.io_hub.gpios, gpio))
diff --git a/host/simu/robots/apbirthday/model/__init__.py b/host/simu/robots/apbirthday/model/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/apbirthday/model/__init__.py
diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py
new file mode 100644
index 00000000..aa79f9d4
--- /dev/null
+++ b/host/simu/robots/apbirthday/model/bag.py
@@ -0,0 +1,40 @@
+# 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 bag of models."""
+from simu.model.switch import Switch
+from simu.model.position import Position
+from simu.model.round_obstacle import RoundObstacle
+import random
+
+class Bag:
+
+ def __init__ (self, scheduler, table, link_bag):
+ self.color_switch = Switch (link_bag.ihm_color, invert = True)
+ self.color_switch.state = random.choice ((False, True))
+ self.color_switch.notify ()
+ self.jack = Switch (link_bag.raw_jack, invert = True)
+ self.beacon = RoundObstacle (40, 5)
+ table.obstacles.append (self.beacon)
+ self.position = Position (link_bag.asserv.position, [ self.beacon ])
+
diff --git a/host/simu/robots/apbirthday/view/__init__.py b/host/simu/robots/apbirthday/view/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/apbirthday/view/__init__.py
diff --git a/host/simu/robots/apbirthday/view/bag.py b/host/simu/robots/apbirthday/view/bag.py
new file mode 100644
index 00000000..8ced9b43
--- /dev/null
+++ b/host/simu/robots/apbirthday/view/bag.py
@@ -0,0 +1,35 @@
+# 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 bag of views."""
+from simu.view.switch import Switch
+from simu.robots.apbirthday.view.robot import Robot
+
+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)
+
diff --git a/host/simu/robots/apbirthday/view/robot.py b/host/simu/robots/apbirthday/view/robot.py
new file mode 100644
index 00000000..398d34c8
--- /dev/null
+++ b/host/simu/robots/apbirthday/view/robot.py
@@ -0,0 +1,64 @@
+# 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 robot view."""
+import simu.inter.drawable
+
+COLOR_ROBOT = '#000000'
+COLOR_AXES = '#202040'
+
+class Robot (simu.inter.drawable.Drawable):
+
+ def __init__ (self, onto, position_model):
+ """Construct and make connections."""
+ simu.inter.drawable.Drawable.__init__ (self, onto)
+ self.position_model = position_model
+ self.position_model.register (self.__position_notified)
+
+ def __position_notified (self):
+ """Called on position modifications."""
+ self.pos = self.position_model.pos
+ self.angle = self.position_model.angle
+ 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 robot body.
+ self.draw_polygon ((102, 140), (102, -140), (-108, -140),
+ (-108, 70), (-58, 140), fill = COLOR_ROBOT)
+ # Draw Robot axis.
+ self.draw_line ((-50, 0), (50, 0), fill = COLOR_AXES,
+ arrow = 'last')
+ # Draw Robot wheels.
+ f = 190 # Wheel spacing
+ wr = 65 / 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)
+