From 69305ae1ed6da084b6ee65dba3ce44f0d6cbe2d1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 30 Apr 2009 09:53:44 +0200 Subject: * host/simu, digital/io/tools: - new simulation infrastructure. --- host/simu/model/__init__.py | 0 host/simu/model/position.py | 39 +++++++++++++++++++++++++++++++++++++++ host/simu/model/servo.py | 38 ++++++++++++++++++++++++++++++++++++++ host/simu/model/switch.py | 39 +++++++++++++++++++++++++++++++++++++++ 4 files changed, 116 insertions(+) create mode 100644 host/simu/model/__init__.py create mode 100644 host/simu/model/position.py create mode 100644 host/simu/model/servo.py create mode 100644 host/simu/model/switch.py (limited to 'host/simu/model') diff --git a/host/simu/model/__init__.py b/host/simu/model/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/model/position.py b/host/simu/model/position.py new file mode 100644 index 00000000..eec395e7 --- /dev/null +++ b/host/simu/model/position.py @@ -0,0 +1,39 @@ +# 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. +# +# }}} +"""Robot position model.""" +from utils.observable import Observable + +class Position (Observable): + + def __init__ (self, link): + Observable.__init__ (self) + self.link = link + self.link.register (self.__notified) + self.__notified () + + def __notified (self): + self.pos = self.link.pos + self.angle = self.link.angle + self.notify () + diff --git a/host/simu/model/servo.py b/host/simu/model/servo.py new file mode 100644 index 00000000..7c83d4b3 --- /dev/null +++ b/host/simu/model/servo.py @@ -0,0 +1,38 @@ +# 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. +# +# }}} +"""Servo motor model.""" +from utils.observable import Observable + +class Servo (Observable): + + def __init__ (self, link): + Observable.__init__ (self) + self.link = link + self.link.register (self.__notified) + self.__notified () + + def __notified (self): + self.value = self.link.value + self.notify () + diff --git a/host/simu/model/switch.py b/host/simu/model/switch.py new file mode 100644 index 00000000..617a22ff --- /dev/null +++ b/host/simu/model/switch.py @@ -0,0 +1,39 @@ +# 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. +# +# }}} +"""Switch model.""" +from utils.observable import Observable + +class Switch (Observable): + + def __init__ (self, link): + Observable.__init__ (self) + self.link = link + self.state = None + self.register (self.__update) + self.__update () + + def __update (self): + self.link.state = self.state + self.link.notify () + -- cgit v1.2.3