From 69305ae1ed6da084b6ee65dba3ce44f0d6cbe2d1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 30 Apr 2009 09:53:44 +0200 Subject: * host/simu, digital/io/tools: - new simulation infrastructure. --- host/simu/robots/giboulee/view/__init__.py | 0 host/simu/robots/giboulee/view/arm.py | 60 ++++++++++++++++++++++++++++ host/simu/robots/giboulee/view/bag.py | 41 +++++++++++++++++++ host/simu/robots/giboulee/view/robot.py | 64 ++++++++++++++++++++++++++++++ host/simu/robots/giboulee/view/sorter.py | 61 ++++++++++++++++++++++++++++ 5 files changed, 226 insertions(+) create mode 100644 host/simu/robots/giboulee/view/__init__.py create mode 100644 host/simu/robots/giboulee/view/arm.py create mode 100644 host/simu/robots/giboulee/view/bag.py create mode 100644 host/simu/robots/giboulee/view/robot.py create mode 100644 host/simu/robots/giboulee/view/sorter.py (limited to 'host/simu/robots/giboulee/view') diff --git a/host/simu/robots/giboulee/view/__init__.py b/host/simu/robots/giboulee/view/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/giboulee/view/arm.py b/host/simu/robots/giboulee/view/arm.py new file mode 100644 index 00000000..205857a2 --- /dev/null +++ b/host/simu/robots/giboulee/view/arm.py @@ -0,0 +1,60 @@ +# 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. +# +# }}} +"""Giboulee arm.""" +from simu.inter.drawable import Drawable +from math import pi, cos, sin + +class Arm (Drawable): + """Giboulee arm.""" + + width = 1 + height = 1 + + def __init__ (self, onto, model): + Drawable.__init__ (self, onto) + self.model = model + self.model.register (self.__notified) + self.__notified () + + def __notified (self): + self.angle = self.model.angle + self.update () + + def draw (self): + self.reset () + self.draw_arc ((0, 0), 0.45, start = 7 * pi / 12, extent = 10 * pi / 12, + style = 'arc', outline = '#808080') + self.draw_arc ((0, 0), 0.45, start = -5 * pi / 12, extent = 10 * pi / 12, + style = 'arc', outline = '#808080') + self.draw_arc ((0, 0), 0.25, start = -7 * pi / 12, extent = 14 * pi / 12, + style = 'arc', outline = '#808080') + if self.angle is not None: + self.trans_scale (0.4) + self.trans_rotate (-self.angle) + self.draw_line ((0, 0), (0, 1)) + self.draw_line ((0, 1), (0.3, 1), arrow = 'last', fill = '#808080') + self.draw_line ((0, 0), (cos (pi / 6), -sin (pi / 6))) + self.draw_line ((0, 0), (-cos (pi / 6), -sin (pi / 6))) + Drawable.draw (self) + diff --git a/host/simu/robots/giboulee/view/bag.py b/host/simu/robots/giboulee/view/bag.py new file mode 100644 index 00000000..709d775f --- /dev/null +++ b/host/simu/robots/giboulee/view/bag.py @@ -0,0 +1,41 @@ +# 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. +# +# }}} +"""Giboulee bag of views.""" +from simu.view.switch import Switch +from simu.robots.giboulee.view.robot import Robot +from simu.robots.giboulee.view.arm import Arm +from simu.robots.giboulee.view.sorter import Sorter + +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) + self.arm = Arm (actuator_view.add_view (Arm.width, Arm.height), + model_bag.arm) + self.sorter = Sorter (actuator_view.add_view (Sorter.width, + Sorter.height), model_bag.sorter) + diff --git a/host/simu/robots/giboulee/view/robot.py b/host/simu/robots/giboulee/view/robot.py new file mode 100644 index 00000000..2ffcacb2 --- /dev/null +++ b/host/simu/robots/giboulee/view/robot.py @@ -0,0 +1,64 @@ +# 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) + diff --git a/host/simu/robots/giboulee/view/sorter.py b/host/simu/robots/giboulee/view/sorter.py new file mode 100644 index 00000000..a0e09197 --- /dev/null +++ b/host/simu/robots/giboulee/view/sorter.py @@ -0,0 +1,61 @@ +# 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. +# +# }}} +"""Giboulee balls sorter.""" +from simu.inter.drawable import Drawable +from simu.view.servo import Servo +from math import pi + +class Sorter (Drawable): + + width = 1 + height = 1 + + def __init__ (self, onto, sorter_model): + Drawable.__init__ (self, onto) + self.traps = [ + Servo (self, sorter_model.traps[0], + (-2.5, -1), 0.8, 0, pi/2), + Servo (self, sorter_model.traps[1], + (-1.5, -0.9), 0.8, 0, pi/2), + Servo (self, sorter_model.traps[2], + (-0.5, -0.8), 0.8, 0, pi/2), + Servo (self, sorter_model.traps[3], + (0.5, -0.8), 0.8, pi, -pi/2), + Servo (self, sorter_model.traps[4], + (1.5, -0.9), 0.8, pi, -pi/2), + ] + self.door = Servo (self, sorter_model.door, + (-2.5, 1.3), 0.8, -pi/6, pi/3), + + def draw (self): + self.reset () + self.trans_scale (0.9/5) + self.draw_line ((-0.5, 1.5), (-0.5, 0.5), (-2.5, 0.2), + fill = '#808080') + self.draw_line ((-2.5, -1.2), (-2.5, -2.3), (2.5, -2.3), (2.5, 0.2), + (0.5, 0.5), (0.5, 1.5), fill = '#808080') + for i in (-1.5, -0.5, 0.5, 1.5): + self.draw_line ((i, -2.3), (i, -2), fill = '#808080') + Drawable.draw (self) + -- cgit v1.2.3