# 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. # # }}} """Eurobot 2009 table.""" from simu.inter.drawable import Drawable from simu.utils.trans_matrix import TransMatrix from math import pi GREEN = '#62b656' RED = '#ff1f1f' BLUE = '#0f84c9' BLACK = '#404040' BROWN = '#c96a16' PLEXI = '#99bbbb' puck_attr = { False: dict (fill = GREEN), True: dict (fill = RED) } class Puck (Drawable): def __init__ (self, onto, attr, model): Drawable.__init__ (self, onto) self.attr = attr self.model = model self.model.register (self.__notified) def __notified (self): self.pos = self.model.pos self.update () def draw (self): self.reset () if self.pos: self.trans_translate (self.pos) self.draw_circle ((0, 0), self.model.radius, **self.attr) Drawable.draw (self) class Table (Drawable): """The table and its elements.""" def __init__ (self, onto, model): Drawable.__init__ (self, onto) self.model = model for p in model.pucks: Puck (self, puck_attr[p.color], p) def draw (self): # Redraw. self.reset () # Table. self.draw_rectangle ((-22, 0), (3000 + 22, 2100 + 22), fill = 'white') self.draw_rectangle ((-22, -10), (3000 + 22, 0), fill = PLEXI) self.draw_rectangle ((0, 0), (3000, 2100), fill = BLUE) self.draw_rectangle ((0, 2100 - 500), (500, 2100), fill = GREEN) self.draw_rectangle ((3000 - 500, 2100 - 500), (3000, 2100), fill = RED) # Axes. self.draw_line ((0, 200), (0, 0), (200, 0), arrow = 'both') # Beacons. self.draw_rectangle ((-22, 2100 + 22), (-22 - 80, 2100 + 22 + 80), fill = BLACK) self.draw_rectangle ((-22, 1050 - 40), (-22 - 80, 1050 + 40), fill = BLACK) self.draw_rectangle ((-22, -80 - 10), (-22 - 80, -10), fill = BLACK) self.draw_rectangle ((3000 + 22, 2100 + 22), (3000 + 22 + 80, 2100 + 22 + 80), fill = BLACK) self.draw_rectangle ((3000 + 22, 1050 - 40), (3000 + 22 + 80, 1050 + 40), fill = BLACK) self.draw_rectangle ((3000 + 22, -80 - 10), (3000 + 22 + 80, -10), fill = BLACK) # Building areas. self.draw_circle ((1500, 1050), 150, fill = BROWN) self.draw_rectangle ((1500 - 900, 0), (1500 + 900, 100), fill = BROWN) self.draw_rectangle ((1500 - 300, 0), (1500 + 300, 100), fill = BROWN) self.draw_rectangle ((1500 - 900 - 22, 0), (1500 - 900, 100), fill = 'white') self.draw_rectangle ((1500 + 900 + 22, 0), (1500 + 900, 100), fill = 'white') for bx in (-600, 0, +600): for dx in (-130 - 65, -65, +65, +130 + 65): x = 1500 + bx + dx self.draw_rectangle ((x - 7.5, 100), (x + 7.5, 100 + 250), fill = BLACK) # Lintel dispensers. for x in (1500 - 600, 1500 - 200, 1500 + 200, 1500 + 600): self.draw_rectangle ((x - 100, 2100), (x + 100, 2100 + 70 + 22), fill = BLACK) if x < 1500: color = GREEN else: color = RED self.draw_rectangle ((x - 100, 2100), (x + 100, 2100 + 70), fill = color) self.draw_rectangle ((x - 7.5, 2100), (x + 7.5, 2100 - 250), fill = BLACK) # Vertical dispensers. if self.model.dispensers_card == 1: ds = -250 else: ds = +250 for dpos, dangle, dcolor in ( ((289, 40), pi / 2, RED), ((3000 - 289, 40), pi / 2, GREEN), ((40, 1050 + ds), 0, RED), ((3000 - 40, 1050 + ds), pi, GREEN), ): dtm = TransMatrix () dtm.translate (dpos) dtm.rotate (dangle) if dpos[1] == 40: a = 55 else: a = 67 self.draw_rectangle (dtm.apply ((-a, -25)), dtm.apply ((0, 25)), fill = PLEXI) self.draw_rectangle (dtm.apply ((-40, -40)), dtm.apply ((40, 40)), fill = PLEXI) self.draw_circle (dtm.apply ((0, 0)), 35, fill = PLEXI, outline = dcolor) self.draw_rectangle (dtm.apply ((-40, -40)), dtm.apply ((40, 40)), fill = '') # Pucks. for m, color in ((-1, GREEN), (1, RED)): for x in (400, 650, 900): for y in (-125, 75, 275, 475): self.draw_circle ((1500 + m * x, 1050 + y), 35, outline = color) # Children. Drawable.draw (self) if __name__ == '__main__': from simu.inter.inter import Inter import simu.model.table_eurobot2009 as model app = Inter () m = model.Table () Table (app.table_view, m) app.mainloop ()