From 4909f63bea2598489a5895f9bbe1e2622093caa1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 30 Apr 2011 20:45:16 +0200 Subject: digital/io/tools, host/simu: add robospierre --- host/simu/robots/robospierre/view/robot.py | 111 +++++++++++++++++++++++++++++ 1 file changed, 111 insertions(+) create mode 100644 host/simu/robots/robospierre/view/robot.py (limited to 'host/simu/robots/robospierre/view/robot.py') 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) + -- cgit v1.2.3