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authorNicolas Schodet2009-04-30 23:59:34 +0200
committerNicolas Schodet2009-04-30 23:59:34 +0200
commit5039808c1c648f3aedf81e9e5fc2762d38c4d171 (patch)
treee97c208423af0d0293c042560d1408e364cb2566 /host/simu/view
parent44d514491bcfaf34d207dc5e172349bea0f4d7b7 (diff)
* digital/io/tools, host/simu:
- added distance sensors and obstacles.
Diffstat (limited to 'host/simu/view')
-rw-r--r--host/simu/view/distance_sensor.py52
-rw-r--r--host/simu/view/round_obstacle.py49
-rw-r--r--host/simu/view/table_eurobot2008.py3
3 files changed, 104 insertions, 0 deletions
diff --git a/host/simu/view/distance_sensor.py b/host/simu/view/distance_sensor.py
new file mode 100644
index 00000000..3fa7dbac
--- /dev/null
+++ b/host/simu/view/distance_sensor.py
@@ -0,0 +1,52 @@
+# 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.
+#
+# }}}
+"""Generic distance sensor model."""
+from simu.inter.drawable import Drawable
+from math import sin, cos
+
+class DistanceSensor (Drawable):
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+ self.__notified ()
+
+ def __notified (self):
+ self.distance = self.model.distance
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ if self.distance is None:
+ self.draw_line (self.model.pos, self.model.target, fill = 'blue',
+ arrow = 'last')
+ else:
+ inter = (self.model.pos[0] + cos (self.model.angle) * self.distance,
+ self.model.pos[1] + sin (self.model.angle) * self.distance)
+ self.draw_line (self.model.pos, inter, fill = 'red',
+ arrow = 'last')
+ self.draw_line (inter, self.model.target, fill = 'blue',
+ arrow = 'last')
+ Drawable.draw (self)
diff --git a/host/simu/view/round_obstacle.py b/host/simu/view/round_obstacle.py
new file mode 100644
index 00000000..3e218029
--- /dev/null
+++ b/host/simu/view/round_obstacle.py
@@ -0,0 +1,49 @@
+# 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.
+#
+# }}}
+"""Obstacle with a round shape."""
+from simu.inter.drawable import Drawable
+
+class RoundObstacle (Drawable):
+
+ MARGIN = 250
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+ 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, fill = '#31aa23')
+ self.draw_circle ((0, 0), self.model.radius + self.MARGIN,
+ outlinestipple = 'gray25')
+ Drawable.draw (self)
+
diff --git a/host/simu/view/table_eurobot2008.py b/host/simu/view/table_eurobot2008.py
index b956101a..afe8bc99 100644
--- a/host/simu/view/table_eurobot2008.py
+++ b/host/simu/view/table_eurobot2008.py
@@ -27,6 +27,9 @@ from simu.inter.drawable import Drawable
class Table (Drawable):
"""The table and its elements."""
+ def __init__ (self, onto, table_model):
+ Drawable.__init__ (self, onto)
+
def draw (self):
# Redraw.
self.reset ()