From 75cc934b072310f22c5fe349168e5e4cdc231c4c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 28 Mar 2013 23:28:13 +0100 Subject: host/simu/robots/apbirthday: add cake arm simulation Still need color sensors simulation. --- host/simu/robots/apbirthday/model/cake_arm.py | 91 +++++++++++++++++++++++++++ 1 file changed, 91 insertions(+) create mode 100644 host/simu/robots/apbirthday/model/cake_arm.py (limited to 'host/simu/robots/apbirthday/model/cake_arm.py') diff --git a/host/simu/robots/apbirthday/model/cake_arm.py b/host/simu/robots/apbirthday/model/cake_arm.py new file mode 100644 index 00000000..0d91b7af --- /dev/null +++ b/host/simu/robots/apbirthday/model/cake_arm.py @@ -0,0 +1,91 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2013 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. +# +# }}} +"""APBirthday cake arm model.""" +from utils.observable import Observable +from simu.utils.trans_matrix import TransMatrix + +class CakeArm (Observable): + + far_x = 51 + far_y = 350 + near_x = 2 + near_y = 247 + + def __init__ (self, table, robot_position, arm_cyl, far_cyl, near_cyl): + Observable.__init__ (self) + self.table = table + self.robot_position = robot_position + self.arm_cyl = arm_cyl + self.far_cyl = far_cyl + self.near_cyl = near_cyl + self.far_pushed = False + self.near_pushed = False + self.arm_cyl.register (self.notify) + self.far_cyl.register (self.__push_notified) + self.near_cyl.register (self.__push_notified) + self.robot_position.register (self.__robot_position_notified) + + def __push_notified (self): + if self.arm_cyl.pos > .9: + if not self.far_pushed and self.far_cyl.pos > .5: + self.far_pushed = True + self.__push (self.far_x, self.far_y, 3) + elif self.far_pushed and self.far_cyl.pos < .9: + self.far_pushed = False + if not self.near_pushed and self.near_cyl.pos > .5: + self.near_pushed = True + self.__push (self.near_x, self.near_y, 2) + elif self.near_pushed and self.near_cyl.pos < .9: + self.near_pushed = False + self.notify () + + def __push (self, x, y, level): + """Push a candle under coordinates x, y.""" + margin = 60 + # Matrix to transform an obstacle position into robot coordinates. + m = self.__get_robot_matrix () + # Look up elements. + for o in self.table.obstacles: + if (o.level == level and hasattr (o, 'state') and o.state == False + and o.pos is not None): + pos = m.apply (o.pos) + if (pos[0] > x - margin + and pos[0] < x + margin + and pos[1] > y - margin + and pos[1] < y + margin): + o.state = True + o.notify () + + def __robot_position_notified (self): + # TODO: update color sensors. + pass + + def __get_robot_matrix (self): + """Return robot transformation matrix.""" + m = TransMatrix () + m.rotate (-self.robot_position.angle) + m.translate ((-self.robot_position.pos[0], + -self.robot_position.pos[1])) + return m + -- cgit v1.2.3