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/robots/giboulee/view/robot.py | 64 +++++++++++++++++++++++++++++++++ 1 file changed, 64 insertions(+) create mode 100644 host/simu/robots/giboulee/view/robot.py (limited to 'host/simu/robots/giboulee/view/robot.py') diff --git a/host/simu/robots/giboulee/view/robot.py b/host/simu/robots/giboulee/view/robot.py new file mode 100644 index 00000000..2ffcacb2 --- /dev/null +++ b/host/simu/robots/giboulee/view/robot.py @@ -0,0 +1,64 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2008 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. +# +# }}} +"""Giboulee robot view.""" +import simu.inter.drawable + +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) + 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_rotate (self.angle) + self.trans_translate (self.pos) + # Draw robot body. + self.draw_polygon ((115, 30), (170, 85), (150, 127), (130, 145), + (-25, 200), (-70, 200), (-70, -200), (-25, -200), + (130, -145), (150, -127), (170, -85), (115, -30)) + # Draw Robot axis. + axes_fill = '#404040' + self.draw_line ((-70, 0), (170, 0), fill = axes_fill, + arrow = 'last') + # Draw Robot wheels. + f = 142 + 2 * 31.5 - 13.5 # Wheel spacing + wr = 63 / 2 # Wheel diameter + self.draw_line ((0, +f / 2), (0, -f / 2), fill = axes_fill) + self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = axes_fill) + self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = axes_fill) + # Extends. + simu.inter.drawable.Drawable.draw (self) + -- cgit v1.2.3