summaryrefslogtreecommitdiff
path: root/host
diff options
context:
space:
mode:
Diffstat (limited to 'host')
-rw-r--r--host/simu/robots/robospierre/__init__.py0
-rw-r--r--host/simu/robots/robospierre/link/__init__.py0
-rw-r--r--host/simu/robots/robospierre/link/bag.py35
-rw-r--r--host/simu/robots/robospierre/model/__init__.py0
-rw-r--r--host/simu/robots/robospierre/model/bag.py57
-rw-r--r--host/simu/robots/robospierre/model/clamp.py172
-rw-r--r--host/simu/robots/robospierre/view/__init__.py0
-rw-r--r--host/simu/robots/robospierre/view/bag.py48
-rw-r--r--host/simu/robots/robospierre/view/clamp.py172
-rw-r--r--host/simu/robots/robospierre/view/robot.py111
10 files changed, 595 insertions, 0 deletions
diff --git a/host/simu/robots/robospierre/__init__.py b/host/simu/robots/robospierre/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/robospierre/__init__.py
diff --git a/host/simu/robots/robospierre/link/__init__.py b/host/simu/robots/robospierre/link/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/robospierre/link/__init__.py
diff --git a/host/simu/robots/robospierre/link/bag.py b/host/simu/robots/robospierre/link/bag.py
new file mode 100644
index 00000000..2760aec0
--- /dev/null
+++ b/host/simu/robots/robospierre/link/bag.py
@@ -0,0 +1,35 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2011 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.
+#
+# }}}
+"""Robospierre bag of links."""
+import io.mex
+import asserv.mex
+import mimot.mex
+
+class Bag:
+
+ def __init__ (self, node):
+ self.asserv = asserv.mex.Mex (node)
+ self.io = io.mex.Mex (node)
+ self.mimot = mimot.mex.Mex (node)
+
diff --git a/host/simu/robots/robospierre/model/__init__.py b/host/simu/robots/robospierre/model/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/robospierre/model/__init__.py
diff --git a/host/simu/robots/robospierre/model/bag.py b/host/simu/robots/robospierre/model/bag.py
new file mode 100644
index 00000000..e6810e18
--- /dev/null
+++ b/host/simu/robots/robospierre/model/bag.py
@@ -0,0 +1,57 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2011 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.
+#
+# }}}
+"""Robospierre bag of models."""
+from simu.model.switch import Switch
+from simu.model.position import Position
+from simu.model.motor_basic import MotorBasic
+from simu.model.distance_sensor_sensopart import DistanceSensorSensopart
+from simu.robots.robospierre.model.clamp import Clamp
+from math import pi
+
+class Bag:
+
+ def __init__ (self, scheduler, table, link_bag):
+ self.jack = Switch (link_bag.io.jack)
+ self.color_switch = Switch (link_bag.io.color_switch)
+ self.contact = [ Switch (contact) for contact in link_bag.io.contact ]
+ self.position = Position (link_bag.asserv.position)
+ self.clamping_motor = MotorBasic (link_bag.io.pwm[0], scheduler,
+ 2 * pi, 0, pi)
+ self.clamp = Clamp (table, self.position, link_bag.mimot.aux[0],
+ link_bag.mimot.aux[1], self.clamping_motor)
+ self.distance_sensor = [
+ DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table,
+ (20, -20), -pi * 10 / 180, (self.position, ), 2),
+ DistanceSensorSensopart (link_bag.io.adc[1], scheduler, table,
+ (20, 20), pi * 10 / 180, (self.position, ), 2),
+ DistanceSensorSensopart (link_bag.io.adc[2], scheduler, table,
+ (-20, 20), pi - pi * 10 / 180, (self.position, ), 2),
+ DistanceSensorSensopart (link_bag.io.adc[3], scheduler, table,
+ (-20, -20), pi + pi * 10 / 180, (self.position, ), 2),
+ ]
+ link_bag.io.adc[4].value = 0
+ link_bag.io.adc[5].value = 0
+ self.path = link_bag.io.path
+ self.pos_report = link_bag.io.pos_report
+
diff --git a/host/simu/robots/robospierre/model/clamp.py b/host/simu/robots/robospierre/model/clamp.py
new file mode 100644
index 00000000..ff27a7ea
--- /dev/null
+++ b/host/simu/robots/robospierre/model/clamp.py
@@ -0,0 +1,172 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2011 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.
+#
+# }}}
+"""Robospierre clamp."""
+from utils.observable import Observable
+from simu.utils.trans_matrix import TransMatrix
+from math import pi, cos, sin
+
+class Slot:
+ """Slot which can contain a pawn."""
+
+ def __init__ (self, x, y, z, side):
+ self.x = x
+ self.y = y
+ self.z = z
+ self.side = side
+ self.pawn = None
+
+class Clamp (Observable):
+
+ ELEVATION_STROKE = 120.0
+ ELEVATION_MOTOR_STROKE = 120.0 * 5.0 / 6.0
+
+ ROTATION_STROKE = pi
+ ROTATION_MOTOR_STROKE = pi * 115.0 / 12.0
+
+ CLAMPING_STROKE = 10
+ CLAMPING_MOTOR_STROKE = pi
+
+ BAY_OFFSET = 150
+ BAY_ZOFFSET = 60
+
+ SLOT_FRONT_BOTTOM = 0
+ SLOT_FRONT_MIDDLE = 1
+ SLOT_FRONT_TOP = 2
+ SLOT_BACK_BOTTOM = 3
+ SLOT_BACK_MIDDLE = 4
+ SLOT_BACK_TOP = 5
+ SLOT_SIDE = 6
+
+ def __init__ (self, table, robot_position, elevation_motor,
+ rotation_motor, clamping_motor):
+ Observable.__init__ (self)
+ self.table = table
+ self.robot_position = robot_position
+ self.elevation_motor = elevation_motor
+ self.rotation_motor = rotation_motor
+ self.clamping_motor = clamping_motor
+ self.slots = (
+ Slot (self.BAY_OFFSET, 0, 0 * self.BAY_ZOFFSET, 0),
+ Slot (self.BAY_OFFSET, 0, 1 * self.BAY_ZOFFSET, 0),
+ Slot (self.BAY_OFFSET, 0, 2 * self.BAY_ZOFFSET, 0),
+ Slot (-self.BAY_OFFSET, 0, 0 * self.BAY_ZOFFSET, 1),
+ Slot (-self.BAY_OFFSET, 0, 1 * self.BAY_ZOFFSET, 1),
+ Slot (-self.BAY_OFFSET, 0, 2 * self.BAY_ZOFFSET, 1),
+ Slot (0, self.BAY_OFFSET, 2 * self.BAY_ZOFFSET, None))
+ self.load = None
+ self.robot_position.register (self.__robot_position_notified)
+ self.elevation_motor.register (self.__elevation_notified)
+ self.rotation_motor.register (self.__rotation_notified)
+ self.clamping_motor.register (self.__clamping_notified)
+
+ def __robot_position_notified (self):
+ # Update bottom slots.
+ changed = False
+ for sloti in (self.SLOT_FRONT_BOTTOM, self.SLOT_BACK_BOTTOM):
+ slot = self.slots[sloti]
+ if slot.pawn is None:
+ p = self.__get_floor_elements (slot.side)
+ if p is not None:
+ slot.pawn = p
+ p.pos = None
+ p.notify ()
+ changed = True
+ if changed:
+ self.notify ()
+
+ def __elevation_notified (self):
+ if self.elevation_motor.angle is None:
+ self.elevation = None
+ else:
+ # Update elevation.
+ self.elevation = (self.elevation_motor.angle
+ * self.ELEVATION_STROKE / self.ELEVATION_MOTOR_STROKE)
+ self.notify ()
+
+ def __rotation_notified (self):
+ if self.rotation_motor.angle is None:
+ self.rotation = None
+ else:
+ # Update rotation.
+ self.rotation = (self.rotation_motor.angle * self.ROTATION_STROKE
+ / self.ROTATION_MOTOR_STROKE)
+ self.notify ()
+
+ def __clamping_notified (self):
+ if self.clamping_motor.angle is None:
+ self.clamping = None
+ else:
+ # Update clamping.
+ self.clamping = (self.clamping_motor.angle * self.CLAMPING_STROKE
+ / self.CLAMPING_MOTOR_STROKE)
+ if self.clamping == 0 and self.load is None:
+ # Load an element.
+ slot = self.__get_clamp_slot ()
+ if slot:
+ self.load, slot.pawn = slot.pawn, self.load
+ elif self.clamping == self.CLAMPING_STROKE \
+ and self.load is not None:
+ # Unload an element.
+ slot = self.__get_clamp_slot ()
+ if slot and slot.pawn is None:
+ self.load, slot.pawn = slot.pawn, self.load
+ self.notify ()
+
+ def __get_floor_elements (self, side):
+ """Return an elements in front (side = 0) or in back (side = 1) of the
+ robot, on the floor."""
+ if self.robot_position.pos is None:
+ return None
+ # Matrix to transform an obstacle position into robot coordinates.
+ m = TransMatrix ()
+ m.rotate (-self.robot_position.angle)
+ m.translate ((-self.robot_position.pos[0],
+ -self.robot_position.pos[1]))
+ # Look up elements.
+ xoffset = (self.BAY_OFFSET, -self.BAY_OFFSET)[side]
+ xmargin = 20
+ ymargin = 50
+ for o in self.table.obstacles:
+ if o.level == 1 and o.pos is not None:
+ pos = m.apply (o.pos)
+ if (pos[0] > xoffset - xmargin
+ and pos[0] < xoffset + xmargin
+ and pos[1] > -ymargin and pos[1] < ymargin):
+ return o
+ return None
+
+ def __get_clamp_slot (self):
+ """Return the slot in which the clamp is."""
+ if self.rotation is None or self.elevation is None:
+ return None
+ margin = 10
+ x = cos (self.rotation) * self.BAY_OFFSET
+ y = sin (self.rotation) * self.BAY_OFFSET
+ for slot in self.slots:
+ if abs (slot.z - self.elevation) < margin \
+ and abs (slot.x - x) < margin \
+ and abs (slot.y - y) < margin:
+ return slot
+ return None
+
diff --git a/host/simu/robots/robospierre/view/__init__.py b/host/simu/robots/robospierre/view/__init__.py
new file mode 100644
index 00000000..e69de29b
--- /dev/null
+++ b/host/simu/robots/robospierre/view/__init__.py
diff --git a/host/simu/robots/robospierre/view/bag.py b/host/simu/robots/robospierre/view/bag.py
new file mode 100644
index 00000000..361c79d3
--- /dev/null
+++ b/host/simu/robots/robospierre/view/bag.py
@@ -0,0 +1,48 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2011 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.
+#
+# }}}
+"""Robospierre bag of views."""
+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.robots.robospierre.view.robot import Robot
+from simu.robots.robospierre.view.clamp import ClampTop, ClampSide
+
+class Bag:
+
+ def __init__ (self, table, actuator_view, sensor_frame, model_bag):
+ self.jack = Switch (sensor_frame, model_bag.jack, 'Jack')
+ self.color_switch = Switch (sensor_frame, model_bag.color_switch,
+ 'Color')
+ self.robot = Robot (table, model_bag.position, model_bag.clamp)
+ self.clamp = (
+ ClampTop (actuator_view.add_view (ClampTop.width,
+ ClampTop.height), model_bag.clamp),
+ ClampSide (actuator_view.add_view (ClampSide.width,
+ ClampSide.height), model_bag.clamp))
+ self.distance_sensor = [DistanceSensorUS (self.robot, ds)
+ for ds in model_bag.distance_sensor]
+ self.path = Path (table, model_bag.path)
+ self.pos_report = PosReport (table, model_bag.pos_report)
+
diff --git a/host/simu/robots/robospierre/view/clamp.py b/host/simu/robots/robospierre/view/clamp.py
new file mode 100644
index 00000000..bd5f6dab
--- /dev/null
+++ b/host/simu/robots/robospierre/view/clamp.py
@@ -0,0 +1,172 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2011 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.
+#
+# }}}
+"""Robospierre clamp."""
+from simu.inter.drawable import Drawable
+from simu.utils.trans_matrix import TransMatrix
+from math import pi, sin, cos
+
+from simu.view.table_eurobot2011 import YELLOW, draw_pawn
+
+DGREY = '#404040'
+GREY = '#808080'
+BLACK = '#000000'
+
+class ClampTop (Drawable):
+
+ width = 420
+ height = 420
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+
+ def __notified (self):
+ self.update ()
+
+ def draw (self):
+ self.reset ()
+ # Draw base from top.
+ self.trans_rotate (pi)
+ self.draw_arc ((0, 0), 190, start = pi * 35 / 180,
+ extent = pi * 110 / 180, style = 'arc',
+ outline = GREY)
+ self.draw_arc ((0, 0), 190, start = pi + pi * 35 / 180,
+ extent = pi * 110 / 180, style = 'arc',
+ outline = GREY)
+ self.draw_arc ((150, 0), 110, start = pi / 2,
+ extent = pi, style = 'arc', outline = GREY)
+ self.draw_arc ((-150, 0), 110, start = 3 * pi / 2,
+ extent = pi, style = 'arc', outline = GREY)
+ self.draw_arc ((0, 150), 100, start = pi,
+ extent = pi, style = 'arc', outline = GREY, dash = (2, 3))
+ self.draw_line ((-40, 0), (40, 0), fill = GREY, arrow = 'last')
+ # Draw slots.
+ for slot in self.model.slots:
+ if slot.pawn is not None:
+ self.trans_push ()
+ self.trans_scale (1 - slot.z / 1000.0)
+ self.trans_translate ((slot.x, slot.y))
+ draw_pawn (self, slot.pawn.radius, slot.pawn.kind)
+ self.trans_pop ()
+ # Draw clamp.
+ if self.model.rotation is not None:
+ self.trans_rotate (self.model.rotation)
+ # Fixed side.
+ self.draw_line ((0, 3), (47, 3))
+ self.draw_arc ((150, 0), 103, start = pi / 2, extent = pi / 2,
+ style = 'arc')
+ # Pawn.
+ load = self.model.load
+ if load is not None:
+ self.trans_push ()
+ self.trans_translate ((150, 0))
+ draw_pawn (self, load.radius, load.kind)
+ self.trans_pop ()
+ # Mobile side.
+ self.trans_rotate (-self.model.clamping / 43)
+ self.draw_line ((0, -3), (47, -3))
+ self.draw_arc ((150, 0), 103, start = pi, extent = pi / 2,
+ style = 'arc')
+
+class ClampSide (Drawable):
+
+ width = 420
+ height = 370
+
+ def __init__ (self, onto, model):
+ Drawable.__init__ (self, onto)
+ self.model = model
+ self.model.register (self.__notified)
+
+ def __notified (self):
+ self.update ()
+
+ def draw_pawn (self, pos, pawn):
+ if pawn is not None:
+ self.trans_push ()
+ self.trans_translate (pos)
+ self.draw_rectangle ((-100, 0), (100, 50), fill = YELLOW)
+ if pawn.kind == 'king':
+ self.draw_polygon ((-50, 50), (-10, 170), (-50, 170), (-50, 190),
+ (-10, 190), (-10, 230), (10, 230), (10, 190), (50, 190),
+ (50, 170), (5, 170), (50, 50), fill = YELLOW,
+ outline = BLACK)
+ elif pawn.kind == 'queen':
+ self.draw_polygon ((-50, 50), (-10, 180), (10, 180), (50, 50),
+ fill = YELLOW, outline = BLACK)
+ self.draw_circle ((0, 180), 50, fill = YELLOW)
+ self.trans_pop ()
+
+ def draw (self):
+ self.reset ()
+ # Draw base from side.
+ self.trans_translate ((0, -165))
+ self.draw_line ((-150, 0), (150, 0), fill = GREY)
+ self.draw_line ((-20, 60), (20, 60), fill = GREY)
+ self.draw_line ((-20, 120), (20, 120), fill = GREY)
+ self.draw_line ((0, 0), (0, 330), fill = GREY)
+ # Draw slots.
+ for slot in self.model.slots:
+ if slot.pawn is not None:
+ self.draw_pawn ((-slot.x, slot.z), slot.pawn)
+ # Draw clamp.
+ if self.model.rotation is not None:
+ self.trans_translate ((0, self.model.elevation))
+ m = TransMatrix ()
+ m.rotate (pi + self.model.rotation)
+ # 2D projection of a 3D circular clamp.
+ ltip = m.apply ((150, 103))[0]
+ lbase = m.apply ((47, 0))[0]
+ lcenter = m.apply ((150, 0))[0]
+ m.rotate (- self.model.clamping / 43)
+ rtip = m.apply ((150, -103))[0]
+ rbase = m.apply ((47, 0))[0]
+ rcenter = m.apply ((150, 0))[0]
+ s, c = sin (self.model.rotation), cos (self.model.rotation)
+ dattr = dict (outline = BLACK, fill = DGREY)
+ attr = dict (outline = BLACK, fill = GREY)
+ if c >= 0:
+ if s >= 0:
+ self.draw_rectangle ((lbase, 10), (lcenter + 103, 40), **dattr)
+ self.draw_rectangle ((rtip, 10), (rbase, 40), **dattr)
+ self.draw_pawn ((lcenter, 0), self.model.load)
+ self.draw_rectangle ((ltip, 10), (lcenter + 103, 40), **attr)
+ else:
+ self.draw_rectangle ((rtip, 10), (rcenter + 103, 40), **dattr)
+ self.draw_pawn ((lcenter, 0), self.model.load)
+ self.draw_rectangle ((ltip, 10), (lbase, 40), **attr)
+ self.draw_rectangle ((rbase, 10), (rcenter + 103, 40), **attr)
+ else:
+ if s >= 0:
+ self.draw_rectangle ((lbase, 10), (ltip, 40), **dattr)
+ self.draw_rectangle ((rbase, 10), (rcenter - 103, 40), **dattr)
+ self.draw_pawn ((lcenter, 0), self.model.load)
+ self.draw_rectangle ((rtip, 10), (rcenter - 103, 40), **attr)
+ else:
+ self.draw_rectangle ((ltip, 10), (lcenter - 103, 40), **dattr)
+ self.draw_pawn ((lcenter, 0), self.model.load)
+ self.draw_rectangle ((lbase, 10), (lcenter - 103, 40), **attr)
+ self.draw_rectangle ((rbase, 10), (rtip, 40), **attr)
+
diff --git a/host/simu/robots/robospierre/view/robot.py b/host/simu/robots/robospierre/view/robot.py
new file mode 100644
index 00000000..c0f6624c
--- /dev/null
+++ b/host/simu/robots/robospierre/view/robot.py
@@ -0,0 +1,111 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2011 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.
+#
+# }}}
+"""Robospierre robot view."""
+import simu.inter.drawable
+from math import pi
+
+from simu.view.table_eurobot2011 import draw_pawn
+
+COLOR_ROBOT = '#000000'
+COLOR_CLAMP = '#606060'
+COLOR_AXES = '#202040'
+
+class Robot (simu.inter.drawable.Drawable):
+
+ def __init__ (self, onto, position_model, clamp_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.clamp_model = clamp_model
+ self.clamp_model.register (self.__clamp_notified)
+
+ def __position_notified (self):
+ """Called on position modifications."""
+ self.pos = self.position_model.pos
+ self.angle = self.position_model.angle
+ self.update ()
+
+ def __clamp_notified (self):
+ """Called on clamp modifications."""
+ self.update ()
+
+ def draw (self):
+ """Draw the robot."""
+ self.reset ()
+ if self.pos is not None:
+ self.trans_translate (self.pos)
+ self.trans_rotate (self.angle)
+ # Draw slots.
+ for slot in self.clamp_model.slots:
+ if slot.pawn is not None:
+ self.trans_push ()
+ self.trans_scale (1 - slot.z / 1000.0)
+ self.trans_translate ((slot.x, slot.y))
+ draw_pawn (self, slot.pawn.radius, slot.pawn.kind)
+ self.trans_pop ()
+ # Draw clamp.
+ if self.clamp_model.rotation is not None:
+ self.trans_push ()
+ # Fixed side.
+ self.trans_rotate (self.clamp_model.rotation)
+ self.draw_arc ((150, 0), 103, start = pi / 2, extent = pi / 2,
+ style = 'arc', outline = COLOR_CLAMP)
+ # Draw load.
+ load = self.clamp_model.load
+ if load:
+ self.trans_push ()
+ self.trans_translate ((150, 0))
+ draw_pawn (self, load.radius, load.kind)
+ self.trans_pop ()
+ # Mobile side.
+ self.trans_rotate (- self.clamp_model.clamping / 47)
+ self.draw_arc ((150, 0), 103, start = pi, extent = pi / 2,
+ style = 'arc', outline = COLOR_CLAMP)
+ # Done.
+ self.trans_pop ()
+ # Draw robot body.
+ self.draw_polygon ((0, 190), (150, 110), (95, 95), (55, 55),
+ (40, -0), (55, -55), (95, -95), (150, -110), (0, -190),
+ (-150, -110), (-95, -95), (-55, -55), (-40, -0),
+ (-55, 55), (-95, 95), (-150, 110), (0, 190),
+ fill = COLOR_ROBOT)
+ self.draw_arc ((0, 0), 190, start = pi * 35 / 180,
+ extent = pi * 110 / 180, style = 'chord',
+ outline = COLOR_ROBOT, fill = COLOR_ROBOT)
+ self.draw_arc ((0, 0), 190, start = pi + pi * 35 / 180,
+ extent = pi * 110 / 180, style = 'chord',
+ outline = COLOR_ROBOT, fill = COLOR_ROBOT)
+ # Draw Robot axis.
+ self.draw_line ((-50, 0), (50, 0), fill = COLOR_AXES,
+ arrow = 'last')
+ # Draw Robot wheels.
+ f = 221 # Wheel spacing
+ wr = 60 / 2 # Wheel radius
+ self.draw_line ((0, +f / 2), (0, -f / 2), fill = COLOR_AXES)
+ self.draw_line ((-wr, f / 2), (+wr, f / 2), fill = COLOR_AXES)
+ self.draw_line ((-wr, -f / 2), (+wr, -f / 2), fill = COLOR_AXES)
+ # Extends.
+ simu.inter.drawable.Drawable.draw (self)
+