# 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