# simu - Robot simulation. {{{ # # Copyright (C) 2012 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. # # }}} """Guybrush robot view.""" import simu.inter.drawable from math import pi, cos from simu.view.table_eurobot2012 import WHITE, BLACK COLOR_ROBOT = '#000000' COLOR_AXES = '#202040' class Robot (simu.inter.drawable.Drawable): def __init__ (self, onto, position_model, clamps_model): """Construct and make connections.""" simu.inter.drawable.Drawable.__init__ (self, onto) self.position_model = position_model self.clamps_model = clamps_model self.position_model.register (self.__position_notified) self.clamps_model.register (self.update) 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 lower clamps content. r = self.clamps_model.lower_clamp_rotation if r is not None: sx = cos (r) for content in self.clamps_model.lower_clamp_content: for e, y in content: x = 117 + sx * 54 color = WHITE if e.value else BLACK self.draw_oval ((x, y), sx * e.radius, e.radius, fill = color) sx = - sx # Draw robot body. self.draw_polygon ((150, 171.5), (-80, 171.5), (-130, 121.5), (-130, -121.5), (-80, -171.5), (150, -171.5), fill = COLOR_ROBOT) # Draw Robot axis. self.draw_line ((-50, 0), (50, 0), fill = COLOR_AXES, arrow = 'last') # Draw Robot wheels. f = 221 # Wheel spacing wr = 60 / 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)