def __init__(self, parent=None):
QGraphicsView.__init__(self, parent)
self.scene = QGraphicsScene(self)
self.scene.setBackgroundBrush(Qt.yellow)
self.setScene(self.scene)
center_rect = QGraphicsRectItem(-10, -10, 20, 20)
self.scene.addItem(center_rect)
rect = QGraphicsRectItem(0, 0, 100, 100)
rect.setPos(-100, -100)
self.scene.addItem(rect)
rect2 = QGraphicsRectItem(0, 0, 100, 100)
self.scene.addItem(rect2)
text = self.scene.addText("Hello WOrld")
# self.scene.addLine(QLineF(0, 10, -20, -20), QPen(Qt.black))
rect2.moveBy(50, 50)
rect2.setRotation(50)
rect2.moveBy(-50, -50)
print(self.scene.width(), self.scene.height())
self.resize(400, 400)
def display_markers(self):
"""Add markers on top of first plot."""
for item in self.idx_markers:
self.scene.removeItem(item)
self.idx_markers = []
window_start = self.parent.value('window_start')
window_length = self.parent.value('window_length')
window_end = window_start + window_length
y_distance = self.parent.value('y_distance')
markers = []
if self.parent.info.markers is not None:
if self.parent.value('marker_show'):
markers = self.parent.info.markers
for mrk in markers:
if window_start <= mrk['end'] and window_end >= mrk['start']:
mrk_start = max((mrk['start'], window_start))
mrk_end = min((mrk['end'], window_end))
color = QColor(self.parent.value('marker_color'))
item = QGraphicsRectItem(mrk_start, 0,
mrk_end - mrk_start,
len(self.idx_label) * y_distance)
item.setPen(color)
item.setBrush(color)
item.setZValue(-9)
self.scene.addItem(item)
item = TextItem_with_BG(color.darker(200))
item.setText(mrk['name'])
item.setPos(mrk['start'],
len(self.idx_label) *
self.parent.value('y_distance'))
item.setFlag(QGraphicsItem.ItemIgnoresTransformations)
item.setRotation(-90)
self.scene.addItem(item)
self.idx_markers.append(item)
def display_markers(self):
"""Add markers on top of first plot."""
for item in self.idx_markers:
self.scene.removeItem(item)
self.idx_markers = []
window_start = self.parent.value('window_start')
window_length = self.parent.value('window_length')
window_end = window_start + window_length
y_distance = self.parent.value('y_distance')
markers = []
if self.parent.info.markers is not None:
if self.parent.value('marker_show'):
markers = self.parent.info.markers
for mrk in markers:
if window_start <= mrk['end'] and window_end >= mrk['start']:
mrk_start = max((mrk['start'], window_start))
mrk_end = min((mrk['end'], window_end))
color = QColor(self.parent.value('marker_color'))
item = QGraphicsRectItem(mrk_start, 0,
mrk_end - mrk_start,
len(self.idx_label) * y_distance)
item.setPen(color)
item.setBrush(color)
item.setZValue(-9)
self.scene.addItem(item)
item = TextItem_with_BG(color.darker(200))
item.setText(mrk['name'])
item.setPos(mrk['start'],
len(self.idx_label) *
self.parent.value('y_distance'))
item.setFlag(QGraphicsItem.ItemIgnoresTransformations)
item.setRotation(-90)
self.scene.addItem(item)
self.idx_markers.append(item)
class Square(QGraphicsView):
def __init__(self, x, y, a, b):
self.x = x
self.y = y
self.a = a
self.b = b
self.square = QGraphicsRectItem(self.x, self.y, self.a, self.b)
def draw_square(self, scene):
scene.addItem(self.square)
def move_square(self, m, n):
self.square.setPos(m, n)
def rotate_square(self, r):
self.square.setRotation(r)
def scale_square(self, s):
self.square.setScale((s + 50) / 100)
def recolor_square(self, r, g, b):
self.square.setBrush(QColor(r, g, b))
def loadMap(self, mapLocation):
with open(mapLocation) as file:
mapObjList = json.load(file)
for item in mapObjList["objects"]:
if (item["type"] == "rect"):
shape = QGraphicsRectItem(item["centerX"] - item["length"] / 2,
-item["centerY"] - item["width"] / 2,
item["length"], item["width"])
shape.setTransformOriginPoint(
QPoint(item["centerX"], -item["centerY"]))
shape.setPen(QPen(self.black))
shape.setBrush(QBrush(self.black, Qt.SolidPattern))
shape.setRotation(item["rotation"])
self.scene.addItem(shape)
elif (item["type"] == "text"):
label = QGraphicsTextItem(item["text"])
label.setX(item["centerX"] - item["length"] / 2)
label.setY(-item["centerY"] - item["width"] / 2)
font = QFont("Bavaria")
font.setPointSize(24)
font.setWeight(QFont.Bold)
label.setFont(font)
label.setRotation(item["rotation"])
self.RoomNameList.append(label)
self.scene.addItem(label)
elif (item["type"] == "obstacle"):
shape = QGraphicsRectItem(item["centerX"] - item["length"] / 2,
-item["centerY"] - item["width"] / 2,
item["length"], item["width"])
shape.setTransformOriginPoint(
QPoint(item["centerX"], -item["centerY"]))
shape.setPen(QPen(self.gray))
shape.setBrush(QBrush(self.gray, Qt.SolidPattern))
shape.setRotation(item["rotation"])
self.ObstacleList.append(shape)
elif (item["type"] == "plant"):
shape = QGraphicsEllipseItem(
item["centerX"] - item["length"] / 2,
-item["centerY"] - item["width"] / 2, item["length"],
item["width"])
shape.setTransformOriginPoint(
QPoint(item["centerX"], -item["centerY"]))
shape.setPen(QPen(self.green))
shape.setBrush(QBrush(self.green, Qt.SolidPattern))
shape.setRotation(item["rotation"])
self.ObstacleList.append(shape)
self.SupervisorMap.scale(self.scaleFactor, self.scaleFactor)
class MainController(QObject):
appStart = pyqtSignal()
newCommand = pyqtSignal(tuple)
def __init__(self):
super(MainController, self).__init__()
self.ser = Serial(WIFLY_SERIAL_PORT, WIFLY_BAUD_RATE)
self.wiflyReceiver = WiflyReceiver(self.ser)
self.wiflySender = WiflySender(self.ser)
self.rover = Rover()
self.mainWidget = MainWidget()
self.wiflyReceiverThread = QThread()
self.wiflyReceiver.moveToThread(self.wiflyReceiverThread)
self.wiflySenderThread = QThread()
self.wiflySender.moveToThread(self.wiflySenderThread)
self.simState = SIMULATION_STATE_PHASE_1
self.simTimer = QTimer()
self.simTimer.setSingleShot(True)
self.wiflyReceiver.msgReceived.connect(self.mainWidget.appendMsg)
self.wiflyReceiver.msgReceived.connect(self.rover.processData)
self.newCommand.connect(self.wiflySender.sendMsg)
self.appStart.connect(self.wiflyReceiver.processMsg)
self.mainWidget.ui.gearSlider.valueChanged.connect(
self.manualGearChange)
self.mainWidget.ui.upButton.clicked.connect(self.manualMoveForward)
self.mainWidget.ui.downButton.clicked.connect(self.manualMoveBackward)
self.mainWidget.ui.leftButton.clicked.connect(self.manualMoveLeft)
self.mainWidget.ui.rightButton.clicked.connect(self.manualMoveRight)
self.mainWidget.ui.brakeButton.clicked.connect(self.manualStop)
self.mainWidget.ui.simulationButton.clicked.connect(
self.simulationStart)
self.rover.newRoverPosition.connect(self.drawRover)
self.rover.newWallDetected.connect(self.drawNewWall)
self.simTimer.timeout.connect(self.simulationUpdate)
self.mapScene = QGraphicsScene(0, 0, WORLD_X / CANVAS_RATIO,
WORLD_Y / CANVAS_RATIO)
self.mainWidget.ui.mappingGraphicsView.setScene(self.mapScene)
self.roverRect = QGraphicsRectItem()
self.mapScene.addItem(self.roverRect)
"""
rect1 = QGraphicsRectItem()
rect2 = QGraphicsRectItem()
self.mapScene.addItem(rect1)
self.mapScene.addItem(rect2)
rect1.setRect(100, 100, 20, 40)
rect2.setRect(100, 100, 20, 40)
#rect.moveBy(10, 50)
rect2.setTransformOriginPoint(100, 100)
rect2.setRotation(-10)
print rect1.rect().center()
#print rect2.transformOriginPoint().x(), rect2.transformOriginPoint().y()
"""
@pyqtSlot(tuple, tuple)
def drawNewWall(self, wallFront, wallRear):
pFront = QGraphicsRectItem(wallFront[0] / CANVAS_RATIO,
wallFront[1] / CANVAS_RATIO, DOT_SIZE,
DOT_SIZE)
pRear = QGraphicsRectItem(wallRear[0] / CANVAS_RATIO,
wallRear[1] / CANVAS_RATIO, DOT_SIZE,
DOT_SIZE)
self.mapScene.addItem(pFront)
self.mapScene.addItem(pRear)
@pyqtSlot(tuple, float)
def drawRover(self, center, orientation):
self.roverRect.setRect((center[0] - ROVER_WIDTH / 2) / CANVAS_RATIO,
(center[1] - ROVER_LENGTH / 2) / CANVAS_RATIO,
ROVER_WIDTH / CANVAS_RATIO,
ROVER_LENGTH / CANVAS_RATIO)
self.roverRect.setTransformOriginPoint(center[0] / CANVAS_RATIO,
center[1] / CANVAS_RATIO)
self.roverRect.setRotation(math.degrees(-orientation))
@pyqtSlot()
def manualGearChange(self):
gear = self.mainWidget.ui.gearSlider.value()
self.mainWidget.ui.gearLcdNumber.display(gear)
self.rover.roverGear = gear
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveForward(self):
self.rover.roverDirection = ROVER_DIRECTION_FORWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveBackward(self):
self.rover.roverDirection = ROVER_DIRECTION_BACKWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveLeft(self):
self.rover.roverDirection = ROVER_DIRECTION_LEFT
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveRight(self):
self.rover.roverDirection = ROVER_DIRECTION_RIGHT
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualStop(self):
self.mainWidget.ui.gearSlider.setValue(0)
@pyqtSlot()
def simulationStart(self):
self.simState == SIMULATION_STATE_PHASE_1
self.simTimer.start(5000)
@pyqtSlot()
def simulationUpdate(self):
if self.simState == SIMULATION_STATE_PHASE_1:
self.simState = SIMULATION_STATE_PHASE_2
self.rover.roverGear = 2
self.rover.roverDirection = ROVER_DIRECTION_FORWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(16000)
elif self.simState == SIMULATION_STATE_PHASE_2:
self.simState = SIMULATION_STATE_PHASE_3
self.rover.roverDirection = ROVER_DIRECTION_BACKWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(6100)
elif self.simState == SIMULATION_STATE_PHASE_3:
self.simState = SIMULATION_STATE_PHASE_4
self.rover.roverDirection = ROVER_DIRECTION_LEFT
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(3500)
elif self.simState == SIMULATION_STATE_PHASE_4:
self.simState = SIMULATION_STATE_PHASE_5
self.rover.roverDirection = ROVER_DIRECTION_BACKWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(8300)
elif self.simState == SIMULATION_STATE_PHASE_5:
self.rover.roverGear = 0
self.rover.roverDirection = ROVER_DIRECTION_STOP
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
def start(self):
self.mainWidget.show()
self.wiflyReceiverThread.start()
self.wiflySenderThread.start()
self.appStart.emit()
class Window(QMainWindow, QGraphicsView):
def __init__(self):
super().__init__()
self.initUI()
def initUI(self):
self.setWindowTitle('Proof of concept')
self.setWindowIcon(QIcon('web.png'))
# self.setGeometry(3000, 3000, 250, 150)
# vbox = QVBoxLayout()
# self.setLayout(vbox)
self.initView()
self.button = QPushButton('Test', self)
self.button.move(50, 50)
self.button.clicked.connect(self.myButtonClicked)
self.statusBar()
self.showMaximized()
def myButtonClicked(self, event):
sender = self.sender()
self.statusBar().showMessage(sender.text() + ' was pressed')
def initView(self):
QGraphicsView.__init__(self)
self.scene = QGraphicsScene()
blueBrush = QBrush(QColor('blue'))
outlinePen = QPen(QColor('black'))
self.myRectt = QGraphicsRectItem(100, 30, 80, 100)
self.myRectt.setBrush(blueBrush)
self.myRectt.setPen(outlinePen)
self.scene.addItem(self.myRectt)
self.scene.setSceneRect(0, 0, 3000, 3000)
self.myRect = QGraphicsRectItem(500, 200, 100, 100)
self.myRect.setBrush(blueBrush)
self.myRect.setPen(outlinePen)
self.scene.addItem(self.myRect)
self.view = QGraphicsView(self.scene, self)
self.view.resize(3000, 3000)
def keyPressEvent(self, e): # override !
if e.key() == Qt.Key_Escape:
self.close()
elif e.key() == Qt.Key_W:
self.statusBar().showMessage("UP pressed")
self.myRectt.setY(self.myRectt.y() + 1)
self.show()
elif e.key() == Qt.Key_D:
self.statusBar().showMessage("RIGHT pressed")
self.myRectt.setX(self.myRectt.x() + 1)
self.show()
elif e.key() == Qt.Key_S:
self.statusBar().showMessage("DOWN pressed")
self.myRectt.setY(self.myRectt.y() - 1)
self.show()
elif e.key() == Qt.Key_A:
self.statusBar().showMessage("LEFT pressed")
self.myRectt.setX(self.myRectt.x() - 1)
# self.myRect.setPos(self.myRect.x(),self.myRect.y()-)
self.show()
elif e.key() == Qt.Key_8:
self.statusBar().showMessage("UP pressed")
self.myRect.setY(self.myRect.y() + 1)
self.show()
elif e.key() == Qt.Key_6:
self.statusBar().showMessage("RIGHT pressed")
self.myRect.setX(self.myRect.x() + 1)
self.show()
elif e.key() == Qt.Key_5:
self.statusBar().showMessage("DOWN pressed")
self.myRect.setY(self.myRect.y() - 1)
self.show()
elif e.key() == Qt.Key_4:
self.statusBar().showMessage("LEFT pressed")
self.myRect.setX(self.myRect.x() - 1)
# self.myRect.setPos(self.myRect.x(),self.myRect.y()-)
self.show()
elif e.key() == Qt.Key_R:
self.statusBar().showMessage("Rotate this shit")
self.myRect.setTransformOriginPoint(
550, 250
) #initial position.x + widh/2 ,initial position.y +height/2
print(self.myRect.rotation())
x = self.myRect.x()
print(x)
self.myRect.setRotation(self.myRect.rotation() - 5)
self.show()
elif e.key() == Qt.Key_T:
self.statusBar().showMessage("Rotate")
self.myRectt.setTransformOriginPoint(140, 80)
self.myRectt.setRotation(self.myRectt.rotation() - 5)
self.show()
class MainController(QObject):
appStart = pyqtSignal()
newCommand = pyqtSignal(tuple)
def __init__(self):
super(MainController, self).__init__()
self.ser = Serial(WIFLY_SERIAL_PORT, WIFLY_BAUD_RATE)
self.wiflyReceiver = WiflyReceiver(self.ser)
self.wiflySender = WiflySender(self.ser)
self.rover = Rover()
self.mainWidget = MainWidget()
self.wiflyReceiverThread = QThread()
self.wiflyReceiver.moveToThread(self.wiflyReceiverThread)
self.wiflySenderThread = QThread()
self.wiflySender.moveToThread(self.wiflySenderThread)
self.simState = SIMULATION_STATE_PHASE_1
self.simTimer = QTimer()
self.simTimer.setSingleShot(True)
self.wiflyReceiver.msgReceived.connect(self.mainWidget.appendMsg)
self.wiflyReceiver.msgReceived.connect(self.rover.processData)
self.newCommand.connect(self.wiflySender.sendMsg)
self.appStart.connect(self.wiflyReceiver.processMsg)
self.mainWidget.ui.gearSlider.valueChanged.connect(self.manualGearChange)
self.mainWidget.ui.upButton.clicked.connect(self.manualMoveForward)
self.mainWidget.ui.downButton.clicked.connect(self.manualMoveBackward)
self.mainWidget.ui.leftButton.clicked.connect(self.manualMoveLeft)
self.mainWidget.ui.rightButton.clicked.connect(self.manualMoveRight)
self.mainWidget.ui.brakeButton.clicked.connect(self.manualStop)
self.mainWidget.ui.simulationButton.clicked.connect(self.simulationStart)
self.rover.newRoverPosition.connect(self.drawRover)
self.rover.newWallDetected.connect(self.drawNewWall)
self.simTimer.timeout.connect(self.simulationUpdate)
self.mapScene = QGraphicsScene(0, 0, WORLD_X / CANVAS_RATIO, WORLD_Y / CANVAS_RATIO)
self.mainWidget.ui.mappingGraphicsView.setScene(self.mapScene)
self.roverRect = QGraphicsRectItem()
self.mapScene.addItem(self.roverRect)
"""
rect1 = QGraphicsRectItem()
rect2 = QGraphicsRectItem()
self.mapScene.addItem(rect1)
self.mapScene.addItem(rect2)
rect1.setRect(100, 100, 20, 40)
rect2.setRect(100, 100, 20, 40)
#rect.moveBy(10, 50)
rect2.setTransformOriginPoint(100, 100)
rect2.setRotation(-10)
print rect1.rect().center()
#print rect2.transformOriginPoint().x(), rect2.transformOriginPoint().y()
"""
@pyqtSlot(tuple, tuple)
def drawNewWall(self, wallFront, wallRear):
pFront = QGraphicsRectItem(wallFront[0] / CANVAS_RATIO,
wallFront[1] / CANVAS_RATIO,
DOT_SIZE, DOT_SIZE)
pRear = QGraphicsRectItem(wallRear[0] / CANVAS_RATIO,
wallRear[1] / CANVAS_RATIO,
DOT_SIZE, DOT_SIZE)
self.mapScene.addItem(pFront)
self.mapScene.addItem(pRear)
@pyqtSlot(tuple, float)
def drawRover(self, center, orientation):
self.roverRect.setRect((center[0] - ROVER_WIDTH / 2) / CANVAS_RATIO,
(center[1] - ROVER_LENGTH / 2) / CANVAS_RATIO,
ROVER_WIDTH / CANVAS_RATIO, ROVER_LENGTH / CANVAS_RATIO)
self.roverRect.setTransformOriginPoint(center[0] / CANVAS_RATIO, center[1] / CANVAS_RATIO)
self.roverRect.setRotation(math.degrees(-orientation))
@pyqtSlot()
def manualGearChange(self):
gear = self.mainWidget.ui.gearSlider.value()
self.mainWidget.ui.gearLcdNumber.display(gear)
self.rover.roverGear = gear
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveForward(self):
self.rover.roverDirection = ROVER_DIRECTION_FORWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveBackward(self):
self.rover.roverDirection = ROVER_DIRECTION_BACKWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveLeft(self):
self.rover.roverDirection = ROVER_DIRECTION_LEFT
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveRight(self):
self.rover.roverDirection = ROVER_DIRECTION_RIGHT
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualStop(self):
self.mainWidget.ui.gearSlider.setValue(0)
@pyqtSlot()
def simulationStart(self):
self.simState == SIMULATION_STATE_PHASE_1
self.simTimer.start(5000)
@pyqtSlot()
def simulationUpdate(self):
if self.simState == SIMULATION_STATE_PHASE_1:
self.simState = SIMULATION_STATE_PHASE_2
self.rover.roverGear = 2
self.rover.roverDirection = ROVER_DIRECTION_FORWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(16000)
elif self.simState == SIMULATION_STATE_PHASE_2:
self.simState = SIMULATION_STATE_PHASE_3
self.rover.roverDirection = ROVER_DIRECTION_BACKWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(6100)
elif self.simState == SIMULATION_STATE_PHASE_3:
self.simState = SIMULATION_STATE_PHASE_4
self.rover.roverDirection = ROVER_DIRECTION_LEFT
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(3500)
elif self.simState == SIMULATION_STATE_PHASE_4:
self.simState = SIMULATION_STATE_PHASE_5
self.rover.roverDirection = ROVER_DIRECTION_BACKWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(8300)
elif self.simState == SIMULATION_STATE_PHASE_5:
self.rover.roverGear = 0
self.rover.roverDirection = ROVER_DIRECTION_STOP
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
def start(self):
self.mainWidget.show()
self.wiflyReceiverThread.start()
self.wiflySenderThread.start()
self.appStart.emit()
