From 49f4a007eebbf5bc1ac3a9c2c86d742963547875 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 15 Mar 2013 20:03:51 +0100 Subject: digital/ai, digital/io-hub, host/simu/robots: add basic APBirthday simulation --- host/simu/robots/apbirthday/__init__.py | 0 host/simu/robots/apbirthday/link/__init__.py | 0 host/simu/robots/apbirthday/link/bag.py | 46 +++++++++++++++++++ host/simu/robots/apbirthday/model/__init__.py | 0 host/simu/robots/apbirthday/model/bag.py | 40 +++++++++++++++++ host/simu/robots/apbirthday/view/__init__.py | 0 host/simu/robots/apbirthday/view/bag.py | 35 +++++++++++++++ host/simu/robots/apbirthday/view/robot.py | 64 +++++++++++++++++++++++++++ 8 files changed, 185 insertions(+) create mode 100644 host/simu/robots/apbirthday/__init__.py create mode 100644 host/simu/robots/apbirthday/link/__init__.py create mode 100644 host/simu/robots/apbirthday/link/bag.py create mode 100644 host/simu/robots/apbirthday/model/__init__.py create mode 100644 host/simu/robots/apbirthday/model/bag.py create mode 100644 host/simu/robots/apbirthday/view/__init__.py create mode 100644 host/simu/robots/apbirthday/view/bag.py create mode 100644 host/simu/robots/apbirthday/view/robot.py (limited to 'host/simu') diff --git a/host/simu/robots/apbirthday/__init__.py b/host/simu/robots/apbirthday/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/apbirthday/link/__init__.py b/host/simu/robots/apbirthday/link/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/apbirthday/link/bag.py b/host/simu/robots/apbirthday/link/bag.py new file mode 100644 index 00000000..8d3971d5 --- /dev/null +++ b/host/simu/robots/apbirthday/link/bag.py @@ -0,0 +1,46 @@ +# 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 bag of links.""" +import io_hub.mex +import asserv.mex +from simu.link.mex_gpio import MexGpio + +class Bag: + + def __init__ (self, node, instance = 'robot0'): + self.asserv = asserv.mex.Mex (node, '%s:asserv0' % instance, + aux_nb = 0) + self.io_hub = io_hub.mex.Mex (node, '%s:io0' % instance, gpios = True) + gpios = ('raw_jack', 'ihm_color', 'ihm_strat', 'ihm_robot_nb', + 'ihm_lol', 'ihm_emerg_stop', 'glass_contact', + 'cherry_bad_out', 'cherry_bad_in', 'cherry_plate_up', + 'cherry_plate_down', 'cherry_plate_clamp', 'cake_arm_out', + 'cake_arm_in', 'cake_push_far_out', 'cake_push_far_in', + 'cake_push_near_out', 'cake_push_near_in', + 'glass_lower_clamp_close', 'glass_lower_clamp_open', + 'glass_upper_clamp_close', 'glass_upper_clamp_open', + 'glass_upper_clamp_up', 'glass_upper_clamp_down', 'gift_out', + 'gift_in', 'ballon_funny_action', 'pneum_open') + for gpio in gpios: + setattr (self, gpio, MexGpio (self.io_hub.gpios, gpio)) diff --git a/host/simu/robots/apbirthday/model/__init__.py b/host/simu/robots/apbirthday/model/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py new file mode 100644 index 00000000..aa79f9d4 --- /dev/null +++ b/host/simu/robots/apbirthday/model/bag.py @@ -0,0 +1,40 @@ +# 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 bag of models.""" +from simu.model.switch import Switch +from simu.model.position import Position +from simu.model.round_obstacle import RoundObstacle +import random + +class Bag: + + def __init__ (self, scheduler, table, link_bag): + self.color_switch = Switch (link_bag.ihm_color, invert = True) + self.color_switch.state = random.choice ((False, True)) + self.color_switch.notify () + self.jack = Switch (link_bag.raw_jack, invert = True) + self.beacon = RoundObstacle (40, 5) + table.obstacles.append (self.beacon) + self.position = Position (link_bag.asserv.position, [ self.beacon ]) + diff --git a/host/simu/robots/apbirthday/view/__init__.py b/host/simu/robots/apbirthday/view/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/host/simu/robots/apbirthday/view/bag.py b/host/simu/robots/apbirthday/view/bag.py new file mode 100644 index 00000000..8ced9b43 --- /dev/null +++ b/host/simu/robots/apbirthday/view/bag.py @@ -0,0 +1,35 @@ +# 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 bag of views.""" +from simu.view.switch import Switch +from simu.robots.apbirthday.view.robot import Robot + +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) + diff --git a/host/simu/robots/apbirthday/view/robot.py b/host/simu/robots/apbirthday/view/robot.py new file mode 100644 index 00000000..398d34c8 --- /dev/null +++ b/host/simu/robots/apbirthday/view/robot.py @@ -0,0 +1,64 @@ +# 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 robot view.""" +import simu.inter.drawable + +COLOR_ROBOT = '#000000' +COLOR_AXES = '#202040' + +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) + + 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_translate (self.pos) + self.trans_rotate (self.angle) + # Draw robot body. + self.draw_polygon ((102, 140), (102, -140), (-108, -140), + (-108, 70), (-58, 140), fill = COLOR_ROBOT) + # Draw Robot axis. + self.draw_line ((-50, 0), (50, 0), fill = COLOR_AXES, + arrow = 'last') + # Draw Robot wheels. + f = 190 # Wheel spacing + wr = 65 / 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