From 382b99e11c033f1952cbe2b9e082cd35812a13e3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 12 May 2012 02:02:03 +0200 Subject: digital/ui-hub: add debug draw module to debug path finding --- host/simu/robots/guybrush/model/bag.py | 1 + host/simu/robots/guybrush/view/bag.py | 2 ++ host/simu/view/debug_draw.py | 56 ++++++++++++++++++++++++++++++++++ 3 files changed, 59 insertions(+) create mode 100644 host/simu/view/debug_draw.py (limited to 'host/simu') diff --git a/host/simu/robots/guybrush/model/bag.py b/host/simu/robots/guybrush/model/bag.py index ec83cb29..caeba351 100644 --- a/host/simu/robots/guybrush/model/bag.py +++ b/host/simu/robots/guybrush/model/bag.py @@ -84,4 +84,5 @@ class Bag: ] self.path = link_bag.io_hub.path self.pos_report = link_bag.io_hub.pos_report + self.debug_draw = link_bag.io_hub.debug_draw diff --git a/host/simu/robots/guybrush/view/bag.py b/host/simu/robots/guybrush/view/bag.py index 3d5fb621..a2eadf7f 100644 --- a/host/simu/robots/guybrush/view/bag.py +++ b/host/simu/robots/guybrush/view/bag.py @@ -26,6 +26,7 @@ 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.view.debug_draw import DebugDraw from simu.robots.guybrush.view.robot import Robot from simu.robots.guybrush.view.clamps import ClampsSide @@ -44,4 +45,5 @@ class Bag: for ds in model_bag.distance_sensor] self.path = Path (table, model_bag.path) self.pos_report = PosReport (table, model_bag.pos_report) + self.debug_draw = DebugDraw (table, model_bag.debug_draw) diff --git a/host/simu/view/debug_draw.py b/host/simu/view/debug_draw.py new file mode 100644 index 00000000..9c1ea66c --- /dev/null +++ b/host/simu/view/debug_draw.py @@ -0,0 +1,56 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 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. +# +# }}} +"""Display general purpose debug drawing.""" +from simu.inter.drawable import Drawable + +class DebugDraw (Drawable): + + def __init__ (self, onto, model): + Drawable.__init__ (self, onto) + self.model = model + self.model.register (self.__notified) + self.__colors = ('red', 'blue', 'green', 'yellow') + + def __notified (self): + self.update () + + def draw (self): + self.reset () + for d in self.model.drawing: + if d[0] == 'circle': + self.draw_circle ((d[1], d[2]), d[3], + outline = self.__colors[d[4]]) + elif d[0] == 'segment': + self.draw_line ((d[1], d[2]), (d[3], d[4]), + fill = self.__colors[d[5]]) + elif d[0] == 'point': + s = 15 + x, y = d[1], d[2] + self.draw_line ( + (x - s, y - s), (x + s, y + s), + (x - s, y + s), (x + s, y - s), + (x - s, y - s), fill = self.__colors[d[3]]) + else: + raise ValueError + -- cgit v1.2.3