def draw_curve(self, path: Sequence[_Coord]):
"""Draw path as curve."""
if len(set(path)) <= 2:
return
painter_path = QPainterPath()
error = False
for i, (x, y) in enumerate(path):
if isnan(x):
error = True
self.painter.drawPath(painter_path)
painter_path = QPainterPath()
else:
x *= self.zoom
y *= -self.zoom
if i == 0:
painter_path.moveTo(x, y)
self.painter.drawEllipse(QPointF(x, y), self.joint_size,
self.joint_size)
continue
if error:
painter_path.moveTo(x, y)
error = False
else:
painter_path.lineTo(x, y)
self.painter.drawPath(painter_path)
def __drawCurve(self, path: Sequence[Tuple[float, float]]):
"""Draw path as curve."""
pointPath = QPainterPath()
error = False
for i, (x, y) in enumerate(path):
if isnan(x):
error = True
self.painter.drawPath(pointPath)
pointPath = QPainterPath()
else:
x *= self.zoom
y *= -self.zoom
if i == 0:
pointPath.moveTo(x, y)
self.painter.drawEllipse(QPointF(x, y), RADIUS, RADIUS)
continue
if error:
pointPath.moveTo(x, y)
error = False
else:
pointPath.lineTo(x, y)
self.painter.drawPath(pointPath)
def drawCurve(self, path):
pointPath = QPainterPath()
for i, (x, y) in enumerate(path):
if isnan(x):
continue
else:
if i==0:
pointPath.moveTo(x*self.zoom, y*-self.zoom)
else:
pointPath.lineTo(QPointF(x*self.zoom, y*-self.zoom))
self.painter.drawPath(pointPath)
def draw_target_path(self):
"""Draw solving path."""
pen = QPen()
pen.setWidth(self.path_width)
for i, name in enumerate(sorted(self.target_path)):
path = self.target_path[name]
road, dot, brush = target_path_style(i)
pen.setColor(road)
self.painter.setPen(pen)
self.painter.setBrush(brush)
if len(path) == 1:
x, y = path[0]
p = QPointF(x, -y) * self.zoom
self.painter.drawText(p + QPointF(6, -6), name)
pen.setColor(dot)
self.painter.setPen(pen)
self.painter.drawEllipse(p, self.joint_size, self.joint_size)
else:
painter_path = QPainterPath()
for j, (x, y) in enumerate(path):
p = QPointF(x, -y) * self.zoom
self.painter.drawEllipse(p, self.joint_size,
self.joint_size)
if j == 0:
self.painter.drawText(p + QPointF(6, -6), name)
painter_path.moveTo(p)
else:
x2, y2 = path[j - 1]
self.__draw_arrow(x, -y, x2, -y2, zoom=True)
painter_path.lineTo(p)
pen.setColor(road)
self.painter.setPen(pen)
self.painter.drawPath(painter_path)
for x, y in path:
pen.setColor(dot)
self.painter.setPen(pen)
p = QPointF(x, -y) * self.zoom
self.painter.drawEllipse(p, self.joint_size,
self.joint_size)
self.painter.setBrush(Qt.NoBrush)
def drawTargetPath(self):
"""Draw solving path."""
pen = QPen()
pen.setWidth(self.pathWidth)
for i, name in enumerate(sorted(self.targetPath)):
path = self.targetPath[name]
Pen, Dot, Brush = colorPath(i)
pen.setColor(Pen)
self.painter.setPen(pen)
self.painter.setBrush(Brush)
if len(path)>1:
pointPath = QPainterPath()
for i, (x, y) in enumerate(path):
x *= self.zoom
y *= -self.zoom
self.painter.drawEllipse(QPointF(x, y), 4, 4)
if i==0:
self.painter.drawText(QPointF(x+6, y-6), name)
pointPath.moveTo(x, y)
else:
x2, y2 = path[i-1]
self.drawArrow(x, y, x2*self.zoom, y2*-self.zoom)
pointPath.lineTo(QPointF(x, y))
self.painter.drawPath(pointPath)
for x, y in path:
pen.setColor(Dot)
self.painter.setPen(pen)
self.painter.drawEllipse(
QPointF(x*self.zoom, y*-self.zoom), 3, 3
)
elif len(path)==1:
x = path[0][0]*self.zoom
y = path[0][1]*-self.zoom
self.painter.drawText(QPointF(x+6, y-6), name)
pen.setColor(Dot)
self.painter.setPen(pen)
self.painter.drawEllipse(QPointF(x, y), 3, 3)
self.painter.setBrush(Qt.NoBrush)
def paintEvent(self, event):
painter = QPainter()
painter.begin(self)
painter.fillRect(event.rect(), QBrush(Qt.white))
painter.translate(self.width() / 2, self.height() / 2)
if not self.parama['profile']:
painter.end()
return
pen = QPen()
# center circle
pen.setColor(Qt.red)
pen.setWidth(3)
pen.setStyle(Qt.SolidLine)
painter.setPen(pen)
r = 10
painter.drawEllipse(QPointF(0, 0), r, r)
# Base circle
if self.show_base:
pen.setColor(Qt.cyan)
pen.setWidth(3)
pen.setStyle(Qt.DashLine)
painter.setPen(pen)
r = self.parama['rb'] * self.parama['rate']
painter.drawEllipse(QPointF(0, 0), r, r)
# rotate
rotate = QTransform()
rotate.translate(0, 0)
rotate.rotate(self.rotate)
# profile
pen.setColor(Qt.blue)
pen.setWidth(5)
pen.setStyle(Qt.SolidLine)
painter.setPen(pen)
path_profile = QPainterPath()
path_profile.moveTo(
QPoint(self.parama['profile'][0]['Rx'] * self.parama['rate'],
self.parama['profile'][0]['Ry'] * self.parama['rate']))
for i in range(len(self.parama['profile'])):
e = self.parama['profile'][i]
x = e['Rx'] * self.parama['rate']
y = e['Ry'] * self.parama['rate']
path_profile.lineTo(QPointF(x, y))
painter.drawPath(rotate.map(path_profile))
# route
if self.show_cutter_route:
pen.setColor(Qt.green)
pen.setWidth(3)
pen.setStyle(Qt.DashLine)
painter.setPen(pen)
painterpath_route = QPainterPath()
painterpath_route.moveTo(
QPoint(
self.parama['cutter_route'][0]['Rx'] * self.parama['rate'],
self.parama['cutter_route'][0]['Ry'] *
self.parama['rate']))
for i in range(len(self.parama['cutter_route']) - self.rotate):
e = self.parama['cutter_route'][i]
x = e['Rx'] * self.parama['rate']
y = e['Ry'] * self.parama['rate']
painterpath_route.lineTo(QPointF(x, y))
painter.drawPath(rotate.map(painterpath_route))
# roll
pen.setColor(Qt.darkGray)
pen.setWidth(3)
pen.setStyle(Qt.SolidLine)
painter.setPen(pen)
r = self.parama['rc'] * self.parama['rate']
last_point = QPointF(
self.parama['cutter_route'][-self.rotate]['Rx'] *
self.parama['rate'],
self.parama['cutter_route'][-self.rotate]['Ry'] *
self.parama['rate'])
path_roll = QPainterPath()
path_roll.addEllipse(last_point, r, r)
painter.drawPath(rotate.map(path_roll))
painter.end()