# 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 from simu.view.table_eurobot2013 import PINK, colors COLOR_ROBOT = '#000000' COLOR_AXES = '#202040' class Robot (simu.inter.drawable.Drawable): def __init__ (self, onto, position_model, cake_arm_model, cannon_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.cake_arm_model = cake_arm_model self.cake_arm_model.register (self.update) self.cannon_model = cannon_model self.cannon_model.register (self.update) 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 plate. plate = self.cannon_model.plate f = self.cannon_model.arm_cyl.pos if plate is not None: self.draw_rectangle ((-108 - f * 170, 85), (-108, -85), fill = PINK) self.draw_rectangle ((-108 - f * 148, 85 - 22), (-108 - f * 22, -85 + 22), fill = PINK) for c in plate.cherries: if c.pos: self.draw_circle ((-108 - f * (c.pos[0] + 85), c.pos[1]), c.radius, fill = colors[c.color]) self.draw_rectangle ((-108 - f * 170, 85), (-108 - f * 170 - (1 - f) * 22, -85), fill = PINK) # 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) # Draw arm. m = self.cake_arm_model f = m.arm_cyl.pos for x, y, pos in ((m.far_x, m.far_y, m.far_cyl.pos), (m.near_x, m.near_y, m.near_cyl.pos)): e = (y - 140) * f + 140 gray = pos * 0x40 fill = '#%02x%02x%02x' % (gray, gray, gray) self.draw_polygon ((x - 20, 140), (x - 20, e), (x + 20, e), (x + 20, 140), fill = fill) # Extends. simu.inter.drawable.Drawable.draw (self)