From 61ba108e86157c6ad0b1fa1d8aee0a47c0bf0650 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 30 Apr 2009 23:59:42 +0200 Subject: * host/simu: - added computed path display. --- host/simu/robots/giboulee/model/bag.py | 1 + host/simu/robots/giboulee/view/bag.py | 2 ++ host/simu/view/path.py | 44 ++++++++++++++++++++++++++++++++++ 3 files changed, 47 insertions(+) create mode 100644 host/simu/view/path.py (limited to 'host') diff --git a/host/simu/robots/giboulee/model/bag.py b/host/simu/robots/giboulee/model/bag.py index 03f85d4e..7b13c36c 100644 --- a/host/simu/robots/giboulee/model/bag.py +++ b/host/simu/robots/giboulee/model/bag.py @@ -49,4 +49,5 @@ class Bag: DistanceSensorSharps (link_bag.io.adc[4], scheduler, table, (-70, -100), pi, (self.position, )), ] + self.path = link_bag.io.path diff --git a/host/simu/robots/giboulee/view/bag.py b/host/simu/robots/giboulee/view/bag.py index bb48a6a5..a9ada4f7 100644 --- a/host/simu/robots/giboulee/view/bag.py +++ b/host/simu/robots/giboulee/view/bag.py @@ -24,6 +24,7 @@ """Giboulee bag of views.""" from simu.view.switch import Switch from simu.view.distance_sensor import DistanceSensor +from simu.view.path import Path from simu.robots.giboulee.view.robot import Robot from simu.robots.giboulee.view.arm import Arm from simu.robots.giboulee.view.sorter import Sorter @@ -41,4 +42,5 @@ class Bag: Sorter.height), model_bag.sorter) self.distance_sensor = [DistanceSensor (self.robot, ds) for ds in model_bag.distance_sensor] + self.path = Path (table, model_bag.path) diff --git a/host/simu/view/path.py b/host/simu/view/path.py new file mode 100644 index 00000000..aba39d93 --- /dev/null +++ b/host/simu/view/path.py @@ -0,0 +1,44 @@ +# 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. +# +# }}} +"""Display computed path.""" +from simu.inter.drawable import Drawable + +class Path (Drawable): + + def __init__ (self, onto, model): + Drawable.__init__ (self, onto) + self.model = model + self.model.register (self.__notified) + self.__notified () + + def __notified (self): + self.path = self.model.path + self.update () + + def draw (self): + self.reset () + if len (self.path) > 2: + fmt = dict (fill = 'green', arrow = 'last') + self.draw_line (*self.path, **fmt) + -- cgit v1.2.3