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+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2008 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.
+#
+# }}}
+"""Giboulee robot view."""
+import simu.inter.drawable
+
+class Robot (simu.inter.drawable.Drawable):
+
+ def __init__ (self, onto, position_model):
+ """Construct and make connections."""
+ simu.inter.drawable.Drawable.__init__ (self, onto)
+ self.position_model = position_model
+ self.position_model.register (self.__position_notified)
+ self.__position_notified ()
+
+ def __position_notified (self):
+ """Called on position modifications."""
+ self.pos = self.position_model.pos
+ self.angle = self.position_model.angle
+ self.update ()
+
+ def draw (self):
+ """Draw the robot."""
+ self.reset ()
+ if self.pos is not None:
+ self.trans_rotate (self.angle)
+ self.trans_translate (self.pos)
+ # Draw robot body.
+ self.draw_polygon ((115, 30), (170, 85), (150, 127), (130, 145),
+ (-25, 200), (-70, 200), (-70, -200), (-25, -200),
+ (130, -145), (150, -127), (170, -85), (115, -30))
+ # Draw Robot axis.
+ axes_fill = '#404040'
+ self.draw_line ((-70, 0), (170, 0), fill = axes_fill,
+ arrow = 'last')
+ # Draw Robot wheels.
+ f = 142 + 2 * 31.5 - 13.5 # Wheel spacing
+ wr = 63 / 2 # Wheel diameter
+ self.draw_line ((0, +f / 2), (0, -f / 2), fill = axes_fill)
+ self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = axes_fill)
+ self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = axes_fill)
+ # Extends.
+ simu.inter.drawable.Drawable.draw (self)
+