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authorNicolas Schodet2009-04-30 23:59:42 +0200
committerNicolas Schodet2009-04-30 23:59:42 +0200
commit61ba108e86157c6ad0b1fa1d8aee0a47c0bf0650 (patch)
treecf2d2d48dda04d277c080adefda8bb818e5c4701 /host
parent5039808c1c648f3aedf81e9e5fc2762d38c4d171 (diff)
* host/simu:
- added computed path display.
Diffstat (limited to 'host')
-rw-r--r--host/simu/robots/giboulee/model/bag.py1
-rw-r--r--host/simu/robots/giboulee/view/bag.py2
-rw-r--r--host/simu/view/path.py44
3 files changed, 47 insertions, 0 deletions
diff --git a/host/simu/robots/giboulee/model/bag.py b/host/simu/robots/giboulee/model/bag.py
index 03f85d4e..7b13c36c 100644
--- a/host/simu/robots/giboulee/model/bag.py
+++ b/host/simu/robots/giboulee/model/bag.py
@@ -49,4 +49,5 @@ class Bag:
DistanceSensorSharps (link_bag.io.adc[4], scheduler, table,
(-70, -100), pi, (self.position, )),
]
+ self.path = link_bag.io.path
diff --git a/host/simu/robots/giboulee/view/bag.py b/host/simu/robots/giboulee/view/bag.py
index bb48a6a5..a9ada4f7 100644
--- a/host/simu/robots/giboulee/view/bag.py
+++ b/host/simu/robots/giboulee/view/bag.py
@@ -24,6 +24,7 @@
"""Giboulee bag of views."""
from simu.view.switch import Switch
from simu.view.distance_sensor import DistanceSensor
+from simu.view.path import Path
from simu.robots.giboulee.view.robot import Robot
from simu.robots.giboulee.view.arm import Arm
from simu.robots.giboulee.view.sorter import Sorter
@@ -41,4 +42,5 @@ class Bag:
Sorter.height), model_bag.sorter)
self.distance_sensor = [DistanceSensor (self.robot, ds)
for ds in model_bag.distance_sensor]
+ self.path = Path (table, model_bag.path)
diff --git a/host/simu/view/path.py b/host/simu/view/path.py
new file mode 100644
index 00000000..aba39d93
--- /dev/null
+++ b/host/simu/view/path.py
@@ -0,0 +1,44 @@
+# 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.
+#
+# }}}
+"""Display computed path."""
+from simu.inter.drawable import Drawable
+
+class Path (Drawable):
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+ self.__notified ()
+
+ def __notified (self):
+ self.path = self.model.path
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ if len (self.path) > 2:
+ fmt = dict (fill = 'green', arrow = 'last')
+ self.draw_line (*self.path, **fmt)
+