# 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 robot view.""" import simu.inter.drawable from math import pi, cos, sin, radians from simu.view.table_eurobot2012 import WHITE, BLACK, YELLOW COLOR_ROBOT = '#000000' COLOR_AXES = '#202040' GREY = '#808080' class Robot (simu.inter.drawable.Drawable): def __init__ (self, onto, position_model, clamps_model): """Construct and make connections.""" simu.inter.drawable.Drawable.__init__ (self, onto) self.position_model = position_model self.clamps_model = clamps_model self.position_model.register (self.__position_notified) self.clamps_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 lower clamps content. r = self.clamps_model.lower_clamp_rotation if r is not None: sx = cos (r) for content in self.clamps_model.lower_clamp_content: for e, y in content: x = 117 + sx * 54 color = WHITE if e.value else BLACK self.draw_oval ((x, y), sx * e.radius, e.radius, fill = color) sx = - sx # Draw upper clamps. ud = self.clamps_model.upper_clamp_up_down c = self.clamps_model.upper_clamp_clamping io = self.clamps_model.upper_clamp_in_out if (ud is not None and c is not None and io is not None and ud > 0.1): self.trans_push () # Approximation: map cylinder extension to angle. cx = -cos (radians (ud * 75 + 87)) x = -40 + 188 * cx self.trans_translate ((x, 0)) # Draw level 2 clamp. for e, y, in self.clamps_model.upper_clamp_content: if e.level == 2: self.draw_rectangle ((15 * cx, 75), (85 * cx, -75), fill = YELLOW) self.draw_rectangle ((28 * cx, 62), (72 * cx, -62), fill = YELLOW) break self.draw_line ((15 * cx, 80 - c * 10), (85 * cx, 80 - c * 10)) self.draw_line ((15 * cx, -80 + c * 10), (85 * cx, -80 + c * 10)) # Draw level 3 clamp. for side in (1, -1): a = side * -0.61 * (1 - io) rx, ry = cos (a), sin (a) for e, y in self.clamps_model.upper_clamp_content: if e.level == 3 and y * side > 0: color = WHITE if e.value else BLACK y = 80 - y * side self.draw_oval ((rx * 72 + ry * y, ry * 72 + rx * y + side * 80), e.radius * cx, e.radius, fill = color) self.trans_push () self.trans_translate ((0, side * 80)) self.trans_rotate (a) self.draw_rectangle ((12, -4 * side), (12 + 35, 43 * side), fill = GREY) self.trans_pop () self.trans_pop () # Draw robot body. self.draw_polygon ((150, 171.5), (-80, 171.5), (-130, 121.5), (-130, -121.5), (-80, -171.5), (150, -171.5), fill = COLOR_ROBOT) # Draw Robot axis. self.draw_line ((-50, 0), (50, 0), fill = COLOR_AXES, arrow = 'last') # Draw Robot wheels. f = 221 # Wheel spacing wr = 60 / 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)