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+# 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.
+#
+# }}}
+"""AquaJim bridge."""
+from simu.inter.drawable import Drawable
+from math import pi, cos, sin
+
+from simu.view.table_eurobot2009 import puck_attr
+
+class Bridge (Drawable):
+
+ width = 220
+ height = 100
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.update)
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ self.trans_rotate (0.95 * pi / 2)
+ self.draw_line ((-40, -80), (-40, 80), fill = '#808080')
+ self.draw_line ((40, -80), (40, 80), fill = '#808080')
+ for i in range (2):
+ puck = self.model.bridge_slot[i]
+ if puck is not None:
+ self.draw_circle ((0, 40 - 80 * i), 35,
+ **puck_attr[puck.color])
+ if self.model.bridge_door_servo_value is not None:
+ self.draw_arc ((0, -40), 37.5, start = -3 * pi / 4
+ + self.model.bridge_door_servo_value * pi, extent = pi / 2)
+ if self.model.bridge_finger_servo_value is not None:
+ self.draw_arc ((-40, -50), 50, start = pi / 2, extent = -3 * pi / 4,
+ style = 'arc', outline = '#c0c0c0')
+ a = pi / 2 - self.model.bridge_finger_servo_value * 3 * pi / 4
+ self.draw_line ((-40, -50), (-40 + 50 * cos (a), -50 + 50 * sin (a)))
+