def __init__ (self, table, robot_position, lower_clamp_motor,
lower_clamp_cylinders, lower_clamp_sensors, lower_clamp_zero,
upper_clamp_up_down_cylinder, upper_clamp_in_out_cylinder,
upper_clamp_open_cylinder, door_cylinder):
Observable.__init__ (self)
self.table = table
self.robot_position = robot_position
self.lower_clamp_motor = lower_clamp_motor
self.lower_clamp_cylinders = lower_clamp_cylinders
self.lower_clamp_sensors = lower_clamp_sensors
self.lower_clamp_zero = lower_clamp_zero
self.lower_clamp_clamping = [ None, None ]
self.lower_clamp_content = [ [ ], [ ] ]
self.upper_clamp_up_down_cylinder = upper_clamp_up_down_cylinder
self.upper_clamp_in_out_cylinder = upper_clamp_in_out_cylinder
self.upper_clamp_open_cylinder = upper_clamp_open_cylinder
self.upper_clamp_content = [ ]
self.door_cylinder = door_cylinder
self.load = [ ]
self.lower_clamp_motor.register (self.__lower_clamp_notified)
for c in self.lower_clamp_cylinders:
c.register (self.__lower_clamp_notified)
self.upper_clamp_up_down_cylinder.register (self.__upper_clamp_notified)
self.upper_clamp_in_out_cylinder.register (self.__upper_clamp_notified)
self.upper_clamp_open_cylinder.register (self.__upper_clamp_notified)
self.door_cylinder.register (self.__door_notified)
self.robot_position.register (self.__robot_position_notified)
def __init__ (self, link_in, link_out, scheduler,
pos_in, pos_out, speed_in, speed_out, init_pos,
switch_in = None, switch_out = None):
"""Cylinder parameters:
- link_in, link_out: output conected to valve, if one is none, use
simple effect.
- pos_in, pos_out: maximum position in each direction (minimum and
maximum length) (mm).
- speed_in, speed_out: linear speed (mm/s).
- init_pos: initial position (mm).
- switch_in, switch_out: limit switch models if present."""
Observable.__init__ (self)
self.link_in, self.link_out = link_in, link_out
self.scheduler = scheduler
self.pos_in, self.pos_out = pos_in, pos_out
self.speed_in, self.speed_out = speed_in, speed_out
self.switch_in, self.switch_out = switch_in, switch_out
self.last_update = self.scheduler.date
self.speed = 0
self.pos = init_pos
if self.link_in:
self.link_in.register (self.__notified)
if self.link_out:
self.link_out.register (self.__notified)
self.__timed_update ()
self.__update (init = True)
def __init__ (self, node, instance, index):
Observable.__init__ (self)
self.value = 0
self.__node = node
self.__mtype = node.reserve (instance + ':adc')
self.__index = index
self.register (self.__notified)
def __init__ (self, pack, index):
Observable.__init__ (self)
self.pack = pack
self.index = index
self.min = None
self.max = None
self.register (self.__notified)
def __init__ (self, pack, name):
Observable.__init__ (self)
self.pack = pack
assert name not in self.pack.channels
self.pack.channels[name] = self
self.name = name
self.value = 0.0
self.register (self.__notified)
def __init__ (self, link, scheduler, table, pos, angle, into = None,
level = 0, exclude = exclude):
Observable.__init__ (self)
DistanceSensor.__init__ (self, table, pos, angle, self.RANGE, into,
level, exclude)
self.link = link
self.scheduler = scheduler
self.value = None
self.register (self.__update)
self.evaluate ()
def __init__ (self, pack, name):
Observable.__init__ (self)
self.pack = pack
assert name not in self.pack.gpios
self.pack.gpios[name] = self
self.name = name
self.direction = 'input'
self.output_state = None
self.input_state = None
self.state = self.input_state
self.register (self.__notified)
def __init__ (self, *points, **kwargs):
Observable.__init__ (self)
self.pos = None
self.angle = 0
self.points = points
self.level = 0
for i in kwargs:
if i == 'level':
self.level = kwargs[i]
else:
raise TypeError ("unexpected keyword argument")
def __init__ (self, onto, pos, angle, range):
Drawable.__init__ (self, onto)
Observable.__init__ (self)
self.onto = onto
self.pos = pos
self.angle = angle
self.range = range
self.target = (pos[0] + cos (angle) * range,
pos[1] + sin (angle) * range)
self.obstacles = [ ]
self.distance = None
self.hide = False
def __init__ (self, table, robot_position,
arm_cyl, clamp_cyl, contacts, pot):
Observable.__init__ (self)
self.table = table
self.robot_position = robot_position
self.arm_cyl = arm_cyl
self.clamp_cyl = clamp_cyl
self.contacts = contacts
self.pot = pot
self.plate = None
self.cherries = [ ]
self.robot_position.register (self.__robot_position_notified)
self.arm_cyl.register (self.__arm_notified)
self.clamp_cyl.register (self.__arm_notified)
self.pot.register (self.__pot_notified)
def __init__ (self, table, robot_position, arm_cyl, far_cyl, near_cyl,
arm_out_contact, arm_in_contact):
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.arm_out_contact = arm_out_contact
self.arm_in_contact = arm_in_contact
self.far_pushed = False
self.near_pushed = False
self.arm_cyl.register (self.__arm_notified)
self.far_cyl.register (self.__push_notified)
self.near_cyl.register (self.__push_notified)
self.robot_position.register (self.__robot_position_notified)
def __init__ (self, link, scheduler,
speed, min_stop = None, max_stop = None):
"""Motor parameters:
- speed: rad/s for a 1.0 value.
- min_stop, max_stop: rad, mechanical stops."""
Observable.__init__ (self)
self.scheduler = scheduler
self.speed = speed
self.min_stop = min_stop
self.max_stop = max_stop
self.angle = 0
self.link = link
self.value = None
self.last_update = self.scheduler.date
self.link.register (self.__notified)
self.__timed_update ()
def __init__ (self, link, scheduler, table, pos, angle, into = None,
level = 0, exclude = None, factor = 1):
Observable.__init__ (self)
self.rays = [ ]
range = self.RANGE * self.QUALITY
self.rays.append (DistanceSensorSensopartRay (table, pos, angle,
range, into, level, exclude))
for s in self.SECONDARY:
for i in (-1, 1):
self.rays.append (DistanceSensorSensopartRay (table, pos,
angle + s[0] * i, range * s[1], into, level, exclude))
self.factor = factor
self.link = link
self.scheduler = scheduler
self.value = None
self.evaluate ()
self.register (self.__update)
def __init__ (self, table, robot_position, elevation_motor,
rotation_motor, clamping_motor, door_motors, slot_contacts,
codebars):
Observable.__init__ (self)
self.table = table
self.robot_position = robot_position
self.elevation_motor = elevation_motor
self.rotation_motor = rotation_motor
self.clamping_motor = clamping_motor
self.rotation_motor.limits.min = 0
self.rotation_motor.limits.notify ()
self.door_motors = (door_motors[0], None, door_motors[1],
door_motors[2], None, door_motors[3], None)
self.slots = (
Slot (self.BAY_OFFSET, 0, 0 * self.BAY_ZOFFSET, 0,
door_motors[0], slot_contacts[0], codebars[0]),
Slot (self.BAY_OFFSET, 0, 1 * self.BAY_ZOFFSET, 0,
None, slot_contacts[1]),
Slot (self.BAY_OFFSET, 0, 2 * self.BAY_ZOFFSET, 0,
door_motors[1], slot_contacts[2]),
Slot (-self.BAY_OFFSET, 0, 0 * self.BAY_ZOFFSET, 1,
door_motors[2], slot_contacts[3], codebars[1]),
Slot (-self.BAY_OFFSET, 0, 1 * self.BAY_ZOFFSET, 1,
None, slot_contacts[4]),
Slot (-self.BAY_OFFSET, 0, 2 * self.BAY_ZOFFSET, 1,
door_motors[3], slot_contacts[5]),
Slot (0, self.BAY_OFFSET, 2 * self.BAY_ZOFFSET, None,
None, slot_contacts[6]))
self.front_slots = (
self.slots[self.SLOT_FRONT_BOTTOM],
self.slots[self.SLOT_FRONT_MIDDLE],
self.slots[self.SLOT_FRONT_TOP])
self.back_slots = (
self.slots[self.SLOT_BACK_BOTTOM],
self.slots[self.SLOT_BACK_MIDDLE],
self.slots[self.SLOT_BACK_TOP])
self.load = None
self.robot_position.register (self.__robot_position_notified)
self.elevation_motor.register (self.__elevation_notified)
self.rotation_motor.register (self.__rotation_notified)
self.clamping_motor.register (self.__clamping_notified)
def __init__ (self, table, robot_position, left_clamp_link, right_clamp_link,
elevator_link, gate_link, element_contacts):
Observable.__init__ (self)
self.table = table
self.robot_position = robot_position
self.clamp_link = (left_clamp_link, right_clamp_link)
self.elevator_link = elevator_link
self.gate_link = gate_link
self.element_contacts = element_contacts
self.element_contacts[1].state = True
self.element_contacts[1].notify ()
self.clamp_load = [ ]
self.load = [ ]
self.front_elements = [ ]
self.tickness = None
self.clamp_pos = [ None, None ]
self.robot_position.register (self.__robot_position_notified)
self.clamp_link[0].register (self.__left_clamp_notified)
self.clamp_link[1].register (self.__right_clamp_notified)
self.elevator_link.register (self.__elevator_notified)
self.gate_link.register (self.__gate_notified)
def __init__ (self, table,
arm_motor_link, cylinder_puck_contact,
servo_links, bridge_puck_contact,
elevator_motor_link, elevator_door_model, elevator_door_contact,
into = None):
Observable.__init__ (self)
self.table = table
self.into = into or ()
self.arm_slot = [ None, None, None ]
self.bridge_slot = [ None, None ]
self.elevator_slot = [ ]
self.lost = [ ]
self.arm_motor_link = arm_motor_link
self.arm_motor_link.register (self.__arm_motor_notified)
self.cylinder_puck_contact = cylinder_puck_contact
self.servo_links = servo_links
self.bridge_puck_contact = bridge_puck_contact
self.servo_links[0].register (self.__bridge_door_servo_notified)
self.servo_links[1].register (self.__bridge_finger_servo_notified)
self.elevator_motor_link = elevator_motor_link
self.elevator_motor_link.register (self.__elevator_motor_notified)
self.elevator_door = elevator_door_model
self.elevator_door_contact = elevator_door_contact
self.elevator_door.register (self.__elevator_door_notified)
def __init__ (self, dim, level = 0):
Observable.__init__ (self)
self.pos = None
self.angle = 0
self.dim = dim
self.level = level
def __init__(self, radius, level=0):
Observable.__init__(self)
self.pos = None
self.radius = radius
self.level = level
def __init__ (self, node, instance):
Observable.__init__ (self)
self.pos = { }
node.register (instance + ':pos-report', self.__handle)
def __init__ (self, motor_link):
Observable.__init__ (self)
self.motor_link = motor_link
self.motor_link.register (self.__motor_notified)
def __init__ (self, node, mtype):
Observable.__init__ (self)
self.__node = node
self.state = None
node.register (mtype, self.__handle)
def __init__(self):
Observable.__init__(self)
self.pos = None
self.angle = None
def __init__ (self, node, instance):
Observable.__init__ (self)
self.path = [ ]
node.register (instance + ':path', self.__handle)
def __init__ (self):
Observable.__init__ (self)
self.value = None
def __init__ (self, link, obstacles = None):
Observable.__init__ (self)
self.link = link
self.obstacles = obstacles or [ ]
self.link.register (self.__notified)
def __init__ (self):
Observable.__init__ (self)
self.cherries = [ ]
def __init__ (self, link):
Observable.__init__ (self)
self.link = link
self.link.register (self.__notified)
def __init__ (self, link, invert = False):
Observable.__init__ (self)
self.link = link
self.state = None
self.invert = invert
self.register (self.__update)
def __init__ (self, *args):
Observable.__init__ (self)
DistanceSensor.__init__ (self, *args)
def __init__ (self, table, robot_position, arm_cyl):
Observable.__init__ (self)
self.table = table
self.robot_position = robot_position
self.arm_cyl = arm_cyl
self.arm_cyl.register (self.__arm_notified)
