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+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2010 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.
+#
+# }}}
+"""Sensopart UT20 model."""
+from utils.observable import Observable
+from simu.model.distance_sensor import DistanceSensor
+from math import pi
+
+class DistanceSensorSensopart (Observable):
+
+ # Nominal range of the sensor.
+ RANGE = 700
+ # Reflection quality. If 1, the sensor will see at most exactly to the
+ # nominal distance, which is almost never the case, it is always more than
+ # that.
+ QUALITY = 1.6
+ # Secondary rays. The simulated sensor will use several lines to sense
+ # objects, this are for each secondary line, its angle and distance ratio
+ # (see sensor area diagram).
+ SECONDARY = ((0.07, 0.8), (0.28, 0.4))
+ # Calibrated values.
+ MIN = 100
+ MAX = 700
+ # Output levels for MIN/MAX.
+ OMIN = 250 * 0.004
+ OMAX = 250 * 0.020
+
+ def __init__ (self, link, scheduler, table, pos, angle, into = None,
+ level = 0):
+ Observable.__init__ (self)
+ self.rays = [ ]
+ range = self.RANGE * self.QUALITY
+ self.rays.append (DistanceSensorSensopartRay (table, pos, angle,
+ range, into, level))
+ for s in self.SECONDARY:
+ for i in (-1, 1):
+ self.rays.append (DistanceSensorSensopartRay (table, pos,
+ angle + s[0] * i, range * s[1], into, level))
+ self.link = link
+ self.scheduler = scheduler
+ self.value = None
+ self.register (self.__update)
+ self.evaluate ()
+
+ def evaluate (self):
+ # Compute real distance.
+ d = None
+ for r in self.rays:
+ r.evaluate ()
+ if d is None or r.distance < d:
+ d = r.distance
+ # Convert to voltage.
+ if d is None or d > self.MAX:
+ self.value = self.OMAX
+ elif d < self.MIN:
+ self.value = self.OMIN
+ else:
+ self.value = (d - self.MIN) / (self.MAX - self.MIN) * (self.OMAX -
+ self.OMIN)
+ # Update observers.
+ self.notify ()
+ # Prepare next update.
+ self.scheduler.schedule (self.scheduler.date
+ + int (self.scheduler.tick * 0.030), self.evaluate)
+
+ def __update (self):
+ self.link.value = self.value
+ self.link.notify ()
+
+class DistanceSensorSensopartRay (Observable, DistanceSensor):
+
+ def __init__ (self, *args):
+ Observable.__init__ (self)
+ DistanceSensor.__init__ (self, *args)
+
+ def evaluate (self):
+ # Compute real distance.
+ DistanceSensor.evaluate (self)
+ # Update observers.
+ self.notify ()
+