# 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. # # }}} """Guybrush clamps.""" from simu.inter.drawable import Drawable from math import pi, cos, sin, radians from simu.view.table_eurobot2012 import WHITE, BLACK, YELLOW COIN_BLACK = BLACK GREY = '#808080' BLACK = '#000000' class ClampsSide (Drawable): width = 440 height = 350 def __init__ (self, onto, model): Drawable.__init__ (self, onto) self.model = model self.model.register (self.update) def draw (self): self.reset () # Draw base from side. self.trans_translate ((50, -150)) self.draw_line ((-93, 0), (130, 0), fill = GREY) # Draw load. self.trans_push () self.trans_translate ((60, 0)) for i, e in enumerate (self.model.load): if e.value == 3: self.draw_polygon ((-75, 0), (-75 + 13, 48.5), (75 - 13, 48.5), (75, 0), fill = YELLOW, outline = BLACK) else: color = WHITE if e.value else COIN_BLACK self.draw_oval ((0, 15), 60, 15, fill = color) self.trans_translate ((0, 15)) self.trans_pop () # Draw doors. if self.model.door is not None: a = self.model.door * 200 b = 100 + self.model.door * 100 self.draw_line ((130, a), (130, a + 100)) self.draw_line ((125, b), (125, b + 100)) # Draw lower clamp. if self.model.lower_clamp_rotation is not None: self.trans_push () self.trans_translate ((-117, 84)) self.trans_rotate (-self.model.lower_clamp_rotation) self.draw_polygon ((6, -45), (28, 45), (-6, 45), (-28, -45), outline = BLACK, fill = GREY) for i in (0, 1): c = self.model.lower_clamp_clamping[i] if c is not None: self.draw_line ((7, -45), (7, -46 - c * 33), (-28, -46 - c * 33)) if self.model.lower_clamp_content[i]: e, y = self.model.lower_clamp_content[i][0] self.draw_rectangle ((7, -45 - c * 15), (7 - e.radius * 2, -49 - c * 15), fill = GREY) if not i: self.trans_rotate (pi) self.trans_pop () # Draw upper clamp. ud = self.model.upper_clamp_up_down c = self.model.upper_clamp_clamping io = self.model.upper_clamp_in_out if (ud is not None and c is not None and io is not None): self.trans_push () # Approximation: map cylinder extension to angle. a = radians (ud * 75 + 87) x = 40 + 188 * cos (a) y = 75 + 188 * sin (a) self.trans_translate ((x, y)) self.trans_rotate ((1 - ud) * 0.5 * pi) self.draw_line ((0, 56), (0, -25), fill = GREY) # Draw level 2 clamp. for e, y, in self.model.upper_clamp_content: if e.level == 2: self.draw_polygon ((-15, -15), (-15 - 70, -15), (-15 - 13 - 44, -15 + 48.5), (-15 - 13, -15 + 48.8), fill = YELLOW, outline = BLACK) break self.draw_line ((-15, -10 + c * 5), (-15 - 70, -10 + c * 5)) # Draw level 3 clamp. for e, y in self.model.upper_clamp_content: if e.level == 3: self.draw_rectangle ((-12 * io - e.radius * 2, 54), (-12 * io, 50), fill = GREY) self.draw_line ((-12 * io - 35, 55), (-12 * io, 55), (-12 * io, 55 - c * 33), (-12 * io - 35, 55 - c * 33)) self.trans_pop ()