# simu - Robot simulation. {{{ # # Copyright (C) 2010 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. # # }}} """Marcel robot view.""" import simu.inter.drawable from math import cos from simu.view.table_eurobot2010 import RED, corn_attr class Robot (simu.inter.drawable.Drawable): def __init__ (self, onto, position_model, loader_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.loader_model = loader_model self.loader_model.register (self.__loader_notified) def __position_notified (self): """Called on position modifications.""" self.pos = self.position_model.pos self.angle = self.position_model.angle self.update () def __loader_notified (self): """Called on loader modifications.""" self.clamp_pos = self.loader_model.clamp_pos 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 ((120, 155), (-95, 155), (-160, 90), (-160, -90), (-95, -155), (120, -155)) # Draw Robot axis. axes_fill = '#404040' self.draw_line ((-150, 0), (150, 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) # Draw robot clamp. if (self.clamp_pos[0] is not None and self.clamp_pos[1] is not None): l = self.loader_model.CLAMP_LENGTH * cos ( self.loader_model.elevator_angle) y = self.loader_model.CLAMP_WIDTH / 2 - self.clamp_pos[0] self.draw_line ((120, y - 10), (120 + 0.15 * l, y), (120 + 0.85 * l, y), (120 + l, y - 10)) y = -self.loader_model.CLAMP_WIDTH / 2 + self.clamp_pos[1] self.draw_line ((120, y + 10), (120 + 0.15 * l, y), (120 + 0.85 * l, y), (120 + l, y + 10)) # Draw clamp load. if self.loader_model.clamp_load: elements = self.loader_model.clamp_load tickness = sum (e.radius * 2 for e in elements) y = tickness / 2 for e in elements: if hasattr (e, 'black'): attr = corn_attr[e.black] else: attr = dict (fill = RED) self.draw_circle ((120 + l / 2, y - e.radius), e.radius, **attr) y -= e.radius * 2 # Extends. simu.inter.drawable.Drawable.draw (self)