summaryrefslogtreecommitdiff
path: root/host/simu/model
diff options
context:
space:
mode:
authorNicolas Schodet2009-04-30 09:53:44 +0200
committerNicolas Schodet2009-04-30 09:53:44 +0200
commit69305ae1ed6da084b6ee65dba3ce44f0d6cbe2d1 (patch)
treebb898529fc7e986429094dd9b5d28ce4397dbba7 /host/simu/model
parentfb3cfa5a0ac1acb58c2067cd1aad0339b534f982 (diff)
* host/simu, digital/io/tools:
- new simulation infrastructure.
Diffstat (limited to 'host/simu/model')
-rw-r--r--host/simu/model/__init__.py0
-rw-r--r--host/simu/model/position.py39
-rw-r--r--host/simu/model/servo.py38
-rw-r--r--host/simu/model/switch.py39
4 files changed, 116 insertions, 0 deletions
diff --git a/host/simu/model/__init__.py b/host/simu/model/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/model/__init__.py
diff --git a/host/simu/model/position.py b/host/simu/model/position.py
new file mode 100644
index 00000000..eec395e7
--- /dev/null
+++ b/host/simu/model/position.py
@@ -0,0 +1,39 @@
+# 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.
+#
+# }}}
+"""Robot position model."""
+from utils.observable import Observable
+
+class Position (Observable):
+
+ def __init__ (self, link):
+ Observable.__init__ (self)
+ self.link = link
+ self.link.register (self.__notified)
+ self.__notified ()
+
+ def __notified (self):
+ self.pos = self.link.pos
+ self.angle = self.link.angle
+ self.notify ()
+
diff --git a/host/simu/model/servo.py b/host/simu/model/servo.py
new file mode 100644
index 00000000..7c83d4b3
--- /dev/null
+++ b/host/simu/model/servo.py
@@ -0,0 +1,38 @@
+# 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.
+#
+# }}}
+"""Servo motor model."""
+from utils.observable import Observable
+
+class Servo (Observable):
+
+ def __init__ (self, link):
+ Observable.__init__ (self)
+ self.link = link
+ self.link.register (self.__notified)
+ self.__notified ()
+
+ def __notified (self):
+ self.value = self.link.value
+ self.notify ()
+
diff --git a/host/simu/model/switch.py b/host/simu/model/switch.py
new file mode 100644
index 00000000..617a22ff
--- /dev/null
+++ b/host/simu/model/switch.py
@@ -0,0 +1,39 @@
+# 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.
+#
+# }}}
+"""Switch model."""
+from utils.observable import Observable
+
+class Switch (Observable):
+
+ def __init__ (self, link):
+ Observable.__init__ (self)
+ self.link = link
+ self.state = None
+ self.register (self.__update)
+ self.__update ()
+
+ def __update (self):
+ self.link.state = self.state
+ self.link.notify ()
+