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authorNicolas Schodet2012-05-12 02:02:03 +0200
committerNicolas Schodet2012-05-12 11:15:57 +0200
commit382b99e11c033f1952cbe2b9e082cd35812a13e3 (patch)
tree008571474836ee5913085089a0835911239c13cb /host/simu
parentfb73dbae0dc7d6b9f117c74bb8de2a073ab4253b (diff)
digital/ui-hub: add debug draw module to debug path finding
Diffstat (limited to 'host/simu')
-rw-r--r--host/simu/robots/guybrush/model/bag.py1
-rw-r--r--host/simu/robots/guybrush/view/bag.py2
-rw-r--r--host/simu/view/debug_draw.py56
3 files changed, 59 insertions, 0 deletions
diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py
index ec83cb29..caeba351 100644
--- a/host/simu/robots/guybrush/model/bag.py
+++ b/host/simu/robots/guybrush/model/bag.py
@@ -84,4 +84,5 @@ class Bag:
]
self.path = link_bag.io_hub.path
self.pos_report = link_bag.io_hub.pos_report
+ self.debug_draw = link_bag.io_hub.debug_draw
diff --git a/host/simu/robots/guybrush/view/bag.py b/host/simu/robots/guybrush/view/bag.py
index 3d5fb621..a2eadf7f 100644
--- a/host/simu/robots/guybrush/view/bag.py
+++ b/host/simu/robots/guybrush/view/bag.py
@@ -26,6 +26,7 @@ from simu.view.switch import Switch
from simu.view.distance_sensor_us import DistanceSensorUS
from simu.view.path import Path
from simu.view.pos_report import PosReport
+from simu.view.debug_draw import DebugDraw
from simu.robots.guybrush.view.robot import Robot
from simu.robots.guybrush.view.clamps import ClampsSide
@@ -44,4 +45,5 @@ class Bag:
for ds in model_bag.distance_sensor]
self.path = Path (table, model_bag.path)
self.pos_report = PosReport (table, model_bag.pos_report)
+ self.debug_draw = DebugDraw (table, model_bag.debug_draw)
diff --git a/host/simu/view/debug_draw.py b/host/simu/view/debug_draw.py
new file mode 100644
index 00000000..9c1ea66c
--- /dev/null
+++ b/host/simu/view/debug_draw.py
@@ -0,0 +1,56 @@
+# 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.
+#
+# }}}
+"""Display general purpose debug drawing."""
+from simu.inter.drawable import Drawable
+
+class DebugDraw (Drawable):
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+ self.__colors = ('red', 'blue', 'green', 'yellow')
+
+ def __notified (self):
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ for d in self.model.drawing:
+ if d[0] == 'circle':
+ self.draw_circle ((d[1], d[2]), d[3],
+ outline = self.__colors[d[4]])
+ elif d[0] == 'segment':
+ self.draw_line ((d[1], d[2]), (d[3], d[4]),
+ fill = self.__colors[d[5]])
+ elif d[0] == 'point':
+ s = 15
+ x, y = d[1], d[2]
+ self.draw_line (
+ (x - s, y - s), (x + s, y + s),
+ (x - s, y + s), (x + s, y - s),
+ (x - s, y - s), fill = self.__colors[d[3]])
+ else:
+ raise ValueError
+