class RandomTimer(QObject):
timeout = Signal()
intervalChanged = Signal()
activeChanged = Signal()
def __init__(self):
super(RandomTimer, self).__init__()
self.timer = QTimer()
self.timer.timeout.connect(self.timeout)
def interval(self):
return self.timer.interval()
def setInterval(self, msec):
if self.timer.interval() != msec:
self.timer.setInterval(msec)
self.intervalChanged.emit()
print("interval = {}".format(self.timer.interval()))
@Slot()
def isActive(self):
return self.timer.isActive()
@Slot()
def start(self):
if not self.timer.isActive():
self.timer.start()
self.activeChanged.emit()
@Slot()
def stop(self):
if self.timer.isActive():
self.timer.stop()
self.activeChanged.emit()
@Slot(int, int, result=int)
def randomInterval(self, min, max):
range = max - min
msec = min + random.randint(0, range)
return msec
interval = Property(int, interval, setInterval, notify=intervalChanged)
active = Property(bool, isActive, notify=activeChanged)
class LcdNumber(QLCDNumber):
def __init__(self, parent=None):
super().__init__(parent)
self.setWindowFlag(Qt.FramelessWindowHint, True)
self.setAttribute(Qt.WA_StyledBackground)
self.resize(130, 40)
self.move(680, 150)
self.setDigitCount(8)
self.setMode(QLCDNumber.Dec)
self.setSegmentStyle(QLCDNumber.Flat)
self.timer = QTimer(self)
self.timer.timeout.connect(self.update_time)
self.time = datetime.strptime('00:00:00', '%H:%M:%S')
self.one_seconds = timedelta(seconds=1)
self.timer.start(1000)
self.display(self.time.strftime('%H:%M:%S'))
self.setStyleSheet("""
QLCDNumber{
border:none;
}
""")
self.timer.interval()
def re_init(self):
self.timer.start()
self.time = datetime.strptime('00:00:00', '%H:%M:%S')
self.display(self.time.strftime('%H:%M:%S'))
self.timer.interval()
pass
def update_time(self):
self.time += self.one_seconds
self.display(self.time.strftime('%H:%M:%S'))
def stop(self):
if self.timer.isActive():
self.timer.stop()
else:
self.timer.start()
class Robotic_Viewer_NG(QMainWindow):
def __init__(self):
QMainWindow.__init__(self)
self.setWindowTitle('A Wonderfull Name')
self.resize(1080,720)
self.setWindowIcon(QIcon(QPixmap('smallLogo.png')))
self.setStyleSheet("QMainWindow {background: '#f1fcb3';}")
self.setMinimumWidth(960)
self.setMinimumHeight(720)
## Création des widgets
self.settingsWidget = QWidget(self)
## Configuration des signals/slots
self.timeSimu = 90
self.time = 0
self.rythmSim = QTimer()
self.rythmSim.timeout.connect(self.simulationStep)
self.buildGameElements()
## Configuration des widgets
self.mapPx = QImage('TableCDFR2020.png').scaledToWidth(self.width()*2/3,aspectmode='KeepAspectRatio')
self.scaleFactor = 300/self.mapPx.width()
self.buildSettingsGroupBox(self.settingsWidget)
self.settingsWidget.setStyleSheet("background: '#94e4f7';")
self.fitToWindow()
def buildGameElements(self):
# Création d'une stratégie de jeux
self.robotM = VirtualRobot('MarioBot')
self.robotG = VirtualRobot('GuiguiBot')
self.robots = [ self.robotM , self.robotG ]
self.brain = Strategy()
self.brain.addRobot(self.robotM)
self.brain.addRobot(self.robotG)
self.robotM_traget = Circle(0,0,5)
self.robotG_traget = Circle(0,0,5)
# Création d'action supplémentaires
self.act1 = Action('ManuelM',90,25,np.deg2rad(0))
self.act2 = Action('ManuelG',70,25,np.deg2rad(180))
self.brain.addAction(self.act1.getID(),self.act1)
self.brain.addAction(self.act2.getID(),self.act2)
# Création d'element de jeux externes
l_cercA = Circle(80,-30,30)
l_cercB = Circle(30,330,30)
l_cercC = Circle(80,330,30)
l_cercD = Circle(30,-30,40)
self.staticElts = [l_cercA,l_cercB,l_cercC,l_cercD]
i = 0
for elt in self.staticElts :
elt.setID(elt.getID()+' '+repr(i))
print(elt)
i = i +1
self.rstElmtPos()
def rstElmtPos(self):
self.robotM.setStaticState(90,25,np.deg2rad(0))
self.robotG.setStaticState(70,25,np.deg2rad(180))
self.repaint()
def rstElmtStat(self):
#self.staticElts = [self.cercA,self.cercB,self.cercC,self.cercD]
self.repaint()
def paintEvent(self, event):
mapP = QPainter()
mapP.begin(self)
mapP.drawImage(self.centralGP.x(),self.centralGP.y(),self.mapPx)
mapP.end()
self.drawRobot(self.robotM,'blue')
self.drawRobot(self.robotG,'purple')
self.drawElts(self.staticElts,'black','pink')
self.drawElts([self.robotM_traget,self.robotG_traget],'red','white')
def drawElts(self,elt_list,colorElt,colotTxt):
for elt in elt_list :
l_pp = self.getRealFromUiCoord(elt.getX(),elt.getY())
eltP = QPainter()
eltP.begin(self)
eltP.setBrush(QBrush(QColor(colorElt)))
myPen = QPen()
myPen.setBrush(QBrush(QColor(colotTxt)))
if 'rect' in elt.getID() :
l_pw = elt.getWidth()/self.scaleFactor
l_pl = elt.getLength()/self.scaleFactor
eltP.drawRect(l_pp.getX()-(l_pw/2),l_pp.getY()-(l_pl/2),l_pw,l_pl)
eltP.setPen(myPen)
eltP.drawText(l_pp.getX()-(l_pw/4),l_pp.getY(),l_pw,l_pl,1,elt.getID())
elif 'circle' in elt.getID() :
l_pr = elt.getRayon()/self.scaleFactor
eltP.drawEllipse(l_pp.getX()-(l_pr/2),l_pp.getY()-(l_pr/2),l_pr,l_pr)
eltP.setPen(myPen)
eltP.drawText(l_pp.getX()-l_pr/3,l_pp.getY(),l_pr,l_pr,1,elt.getID())
else :
pass
eltP.end()
def drawRobot(self, robot, color):
# Position computing
relativePoint = self.getRealFromUiCoord(robot.getPosition().x,robot.getPosition().y)
w_tr = robot.getWidth()/(2*self.scaleFactor)
l_tr = robot.getLength()/(4*self.scaleFactor)
x_center = relativePoint.x # w_tr
y_center = relativePoint.y #- l_tr
pts_list = QPoint(-w_tr,-l_tr), QPoint(-w_tr,l_tr), QPoint(0,l_tr*1.2), QPoint(w_tr,l_tr),QPoint(w_tr,-l_tr),QPoint(-w_tr,-l_tr)
polyst = self.rotatePolygon(pts_list,robot.getAngle())
poly = QPolygon(polyst)
poly.translate(x_center,y_center)
# Draw Item
myPen = QPen()
myPen.setBrush(QBrush(QColor(color)))
myPen.setWidth(5)
robotP = QPainter()
robotP.begin(self)
robotP.setPen(myPen)
robotP.drawPolyline(poly)
robotP.end()
def rotatePolygon(self,polygon,teta):
rotatedPolygon = []
for corner in polygon :
Vi = np.array([corner.x(),corner.y(),1])
Mrot = np.array([ [np.cos(teta), np.sin(teta),0],
[-np.sin(teta), np.cos(teta),0],
[ 0,0,0] ])
Vo = np.dot(Mrot,np.transpose(Vi))
rotatedPolygon.append(QPoint(Vo[0],Vo[1]))
return rotatedPolygon
def buildSettingsGroupBox(self, a_widget) :
self.settingsGroupBox = QGroupBox('Settings')
l_gridLayout = QGridLayout()
self.labelRegTitle = QLabel('Position') # 0
self.lineEditReg = QLineEdit() # 1
self.lineEditReg.setText("X : 0 - Y : 0 - T : 0") # 1
self.pushBtnRegRst = QPushButton('Restart') # 2
self.pushBtnRegRst.clicked.connect(self.rstElmtPos) # 2
self.labelRegTarget = QLabel('Target : not defined') # 3
self.selectedRobot = 0
self.labelSimuTitle = QLabel('Simulation') # 0
self.pushBtnStartSimu = QPushButton('Start') # 1
self.pushBtnStartSimu.clicked.connect(self.startSimu)
self.pushBtnStopSimu = QPushButton('Stop') # 2
self.pushBtnStopSimu.clicked.connect(self.stopSimu)
self.labelSimuInfos = QLabel('Durée de simulation : '+repr(self.timeSimu)+' sec') # 4
self.hSlider= QSlider() # 3
self.hSlider.setOrientation(Qt.Horizontal) # 3
self.hSlider.valueChanged.connect(self.sliderEvolution)
self.hSlider.setValue(self.timeSimu)
self.hSlider.setRange(0,120)
self.labelPfTitle = QLabel('Path Finding') # 0
self.comboBoxAlgoPF = QComboBox() # 1
self.comboBoxAlgoPF.addItem('A*') # 1
self.comboBoxAlgoPF.addItem('Dijtra') # 1
self.comboBoxLenghtPF = QComboBox() # 2
self.comboBoxLenghtPF.addItem('Manathan') # 2
self.comboBoxLenghtPF.addItem('Euclidian') # 2
self.pushBtnPF = QPushButton('NOT USED') # 3
self.pushBtnPF.clicked.connect(self.rstElmtStat)
self.labelPfElt = QLabel('') # 4
self.labelStratTitle = QLabel('Stratégie') # 0
self.labelStratRbtG = QLabel('GuiGuiBot') # 0
self.comboBoxStratRbtG = QComboBox() # 1
for l_act in self.brain.getActionKeys() :
self.comboBoxStratRbtG.addItem(l_act)
self.comboBoxStratRbtG.currentIndexChanged.connect(self.updateStrategies)
self.labelStratRbtM = QLabel('MarioBot') # 2
self.comboBoxStratRbtM = QComboBox() # 3
for l_act in self.brain.getActionKeys() :
self.comboBoxStratRbtM.addItem(l_act)
self.comboBoxStratRbtM.currentIndexChanged.connect(self.updateStrategies)
l_gridLayout.addWidget(self.labelRegTitle,0,0)
l_gridLayout.addWidget(self.lineEditReg,1,0)
l_gridLayout.addWidget(self.pushBtnRegRst,2,0)
l_gridLayout.addWidget(self.labelRegTarget,3,0)
l_gridLayout.addWidget(self.labelSimuTitle,0,1)
l_gridLayout.addWidget(self.pushBtnStartSimu,1,1)
l_gridLayout.addWidget(self.pushBtnStopSimu,2,1)
l_gridLayout.addWidget(self.hSlider,3,1)
l_gridLayout.addWidget(self.labelSimuInfos,4,1)
l_gridLayout.addWidget(self.labelStratTitle,0,2)
l_gridLayout.addWidget(self.labelStratRbtG,1,2)
l_gridLayout.addWidget(self.comboBoxStratRbtG,2,2)
l_gridLayout.addWidget(self.labelStratRbtM,3,2)
l_gridLayout.addWidget(self.comboBoxStratRbtM,4,2)
l_gridLayout.addWidget(self.labelPfTitle,0,3)
l_gridLayout.addWidget(self.comboBoxAlgoPF,1,3)
l_gridLayout.addWidget(self.comboBoxLenghtPF,2,3)
l_gridLayout.addWidget(self.pushBtnPF,3,3)
l_gridLayout.addWidget(self.labelPfElt,4,3)
l_gridLayout.setColumnStretch(0, a_widget.width()/4)
l_gridLayout.setColumnStretch(1, a_widget.width()/4)
l_gridLayout.setColumnStretch(2, a_widget.width()/4)
l_gridLayout.setColumnStretch(3, a_widget.width()/4)
self.settingsGroupBox.setLayout(l_gridLayout)
vbox = QVBoxLayout()
vbox.addWidget(self.settingsGroupBox)
a_widget.setLayout(vbox)
def startSimu(self):
self.time = 0
self.rythmSim.start(100)
def stopSimu(self):
self.rythmSim.stop()
def updateStrategies(self):
self.brain.assignAction(self.comboBoxStratRbtG.currentText(),self.robotG.getID())
self.brain.assignAction(self.comboBoxStratRbtM.currentText(),self.robotM.getID())
def simulationStep(self):
if self.time < self.timeSimu :
# Appel de la stratégie
self.brain.beat()
# Simulation des robots
for rbt in self.robots :
rbt.updateState(self.rythmSim.interval()) # Refresh position
rbt.updateSensors(self.brain.getElements().values()) # Refresh sensors data
# Mise à jour de l'interface graphique
self.time = self.time + (self.rythmSim.interval()/1000)
self.labelSimuInfos.setText('Simulation : '+repr(round(self.time,2))+'\t/ '+repr(self.timeSimu)+' sec')
self.robotM_traget.setXY(self.robotM.getTarget().getPosition().getX(),self.robotM.getTarget().getPosition().getY())
self.robotG_traget.setXY(self.robotG.getTarget().getPosition().getX(),self.robotG.getTarget().getPosition().getY())
self.repaint()
else :
pass
def fitToWindow(self):
self.settingsWidget.setGeometry(0,0,self.width(),self.height()/4)
self.centralGP = QPoint((self.width()-self.mapPx.width())/2, self.settingsWidget.height()+20)
self.repaint()
def getUiFromRealCoord(self,x,y):
ty = -self.centralGP.x()
tx = -self.centralGP.y()
s = self.scaleFactor
Vre = np.array([x,y,s])
Mtr = np.array([ [ 0,s,tx],
[ s,0,ty],
[ 0,0,0] ])
Vui = np.dot(Mtr,np.transpose(Vre))
l_x = Vui[0]
l_y = Vui[1]
return Point(round(l_x),round(l_y))
def getRealFromUiCoord(self,x,y):
tx = (y/self.scaleFactor)
ty = (x/self.scaleFactor)
Vui = np.array([self.centralGP.x(),self.centralGP.y(),1])
Mtr = np.array([ [ 1,0,tx],
[ 0,1,ty],
[ 0,0,1] ])
Vre = np.dot(Mtr,np.transpose(Vui))
l_x = Vre[0]
l_y = Vre[1]
return Point(round(l_x),round(l_y))
def mousePressEvent(self, it):
rel_pt = self.getUiFromRealCoord(it.x(),it.y())
if it.button()== Qt.MouseButton.RightButton and self.selectedRobot != 0:
self.labelRegTarget.setText('Manual target of '+self.selectedRobot.getID()+' X: '+repr(rel_pt.x)+' Y:'+repr(rel_pt.y))
if 'M' in self.selectedRobot.getID():
self.brain.modifyAction('ManuelM',State(rel_pt.x,rel_pt.y,np.pi))
if 'G' in self.selectedRobot.getID():
self.brain.modifyAction('ManuelG',State(rel_pt.x,rel_pt.y,np.pi))
if it.button()== Qt.MouseButton.LeftButton :
for rbt in self.robots :
if rbt.getPosition().distanceFrom(rel_pt)<10 :
self.selectedRobot = rbt
self.labelRegTarget.setText(self.selectedRobot.getID()+ ' selected...')
def refreshEltLabel(self):
l_str = ''
for i in self.brain.getElementsKeys():
l_str = i+' '+l_str
self.labelPfElt.setText(l_str)
def sliderEvolution(self,it):
self.timeSimu = self.hSlider.value()
self.labelSimuInfos.setText('Durée de simulation :'+repr(self.timeSimu)+' sec')
def wheelEvent(self,event):
angle_delta = 10.0*(event.delta()/120)
rel_pt = self.getUiFromRealCoord(event.x(),event.y())
for rbt in self.robots :
if rbt.getPosition().distanceFrom(rel_pt)<10 :
rbt.setAngle(rbt.getAngle() + np.deg2rad(angle_delta))
self.lineEditReg.setText(rbt.__str__()+' '+rbt.getPosition().__str__())
self.repaint()
def mouseMoveEvent(self,it):
rel_pt = self.getUiFromRealCoord(it.x(),it.y())
table = Rect(100,150,200,300)
for rbt in self.robots:
if rbt.getPosition().distanceFrom(rel_pt)<10 :
rbt.setPosition(rel_pt.x,rel_pt.y)
self.lineEditReg.setText(rbt.__str__()+' '+rbt.getPosition().__str__())
self.repaint()
for elt in self.staticElts:
if elt.getPosition().distanceFrom(rel_pt)<10 :
elt.setPosition(rel_pt.x,rel_pt.y)
if table.contains(elt.getPosition()):
if not self.brain.containsElement(elt.getID()):
self.brain.addElement(elt.getID(),elt)
self.refreshEltLabel()
else :
pass
else :
if self.brain.containsElement(elt.getID()):
self.brain.removeElement(elt.getID())
self.refreshEltLabel()
else:
pass
self.lineEditReg.setText(elt.__str__())
self.repaint()
def resizeEvent(self, it):
self.fitToWindow()
class Notification(QWidget):
"""Custom pop-up notification widget with fade-in and fade-out effect."""
def __init__(self, parent, txt, anim_duration=500, life_span=2000):
"""
Args:
parent (QWidget): Parent widget
txt (str): Text to display in notification
anim_duration (int): Duration of the animation in msecs
life_span (int): How long does the notification stays in place in msecs
"""
super().__init__()
self.setWindowFlags(Qt.Popup)
self.setParent(parent)
self._parent = parent
self.label = QLabel(txt)
self.label.setAlignment(Qt.AlignCenter)
self.label.setWordWrap(True)
self.label.setMargin(8)
font = QFont()
font.setBold(True)
self.label.setFont(font)
layout = QHBoxLayout()
layout.addWidget(self.label)
layout.setSizeConstraint(QLayout.SetFixedSize)
layout.setContentsMargins(1, 0, 1, 0)
self.setLayout(layout)
self.adjustSize()
# Move to the top right corner of the parent
x = self._parent.size().width() - self.width() - 2
self.move(x, 0)
self.setAttribute(Qt.WA_DeleteOnClose)
self.setAttribute(Qt.WA_TranslucentBackground)
ss = ("QWidget{background-color: rgba(255, 194, 179, 0.8);"
"border-width: 2px;"
"border-color: #ffebe6;"
"border-style: groove; border-radius: 8px;}")
self.setStyleSheet(ss)
self.effect = QGraphicsOpacityEffect()
self.setGraphicsEffect(self.effect)
self.effect.setOpacity(0.0)
self._opacity = 0.0
self.timer = QTimer(self)
self.timer.setInterval(life_span)
self.timer.timeout.connect(self.start_self_destruction)
# Fade in animation
self.fade_in_anim = QPropertyAnimation(self, b"opacity")
self.fade_in_anim.setDuration(anim_duration)
self.fade_in_anim.setStartValue(0.0)
self.fade_in_anim.setEndValue(1.0)
self.fade_in_anim.valueChanged.connect(self.update_opacity)
self.fade_in_anim.finished.connect(self.timer.start)
# Fade out animation
self.fade_out_anim = QPropertyAnimation(self, b"opacity")
self.fade_out_anim.setDuration(anim_duration)
self.fade_out_anim.setStartValue(1.0)
self.fade_out_anim.setEndValue(0)
self.fade_out_anim.valueChanged.connect(self.update_opacity)
self.fade_out_anim.finished.connect(self.close)
# Start fade in animation
self.fade_in_anim.start(QPropertyAnimation.DeleteWhenStopped)
def get_opacity(self):
"""opacity getter."""
return self._opacity
def set_opacity(self, op):
"""opacity setter."""
self._opacity = op
@Slot(float)
def update_opacity(self, value):
"""Updates graphics effect opacity."""
self.effect.setOpacity(value)
def start_self_destruction(self):
"""Starts fade-out animation and closing of the notification."""
self.fade_out_anim.start(QPropertyAnimation.DeleteWhenStopped)
def enterEvent(self, e):
super().enterEvent(e)
self.start_self_destruction()
self.setAttribute(Qt.WA_TransparentForMouseEvents)
def remaining_time(self):
if self.timer.isActive():
return self.timer.remainingTime()
if self.fade_out_anim.state() == QPropertyAnimation.Running:
return 0
return self.timer.interval()
opacity = Property(float, get_opacity, set_opacity)
class Notification(QFrame):
"""Custom pop-up notification widget with fade-in and fade-out effect."""
def __init__(self,
parent,
txt,
anim_duration=500,
life_span=None,
word_wrap=True,
corner=Qt.TopRightCorner):
"""
Args:
parent (QWidget): Parent widget
txt (str): Text to display in notification
anim_duration (int): Duration of the animation in msecs
life_span (int): How long does the notification stays in place in msecs
word_wrap (bool)
corner (Qt.Corner)
"""
super().__init__()
if life_span is None:
word_count = len(txt.split(" "))
mspw = 60000 / 140 # Assume people can read ~140 words per minute
life_span = mspw * word_count
self.setFocusPolicy(Qt.NoFocus)
self.setWindowFlags(Qt.Popup)
self.setParent(parent)
self._parent = parent
self._corner = corner
self.label = QLabel(txt)
self.label.setMaximumSize(parent.size())
self.label.setAlignment(Qt.AlignCenter)
self.label.setWordWrap(word_wrap)
self.label.setMargin(8)
self.label.setSizePolicy(QSizePolicy.Minimum, QSizePolicy.Minimum)
font = QFont()
font.setBold(True)
self.label.setFont(font)
layout = QHBoxLayout()
layout.addWidget(self.label)
layout.setSizeConstraint(QLayout.SetMinimumSize)
layout.setContentsMargins(3, 3, 3, 3)
self.setLayout(layout)
self.adjustSize()
self.setAttribute(Qt.WA_DeleteOnClose)
self.setObjectName("Notification")
self._background_color = "#e6ffc2b3"
ss = ("QFrame#Notification{"
f"background-color: {self._background_color};"
"border-width: 2px;"
"border-color: #ffebe6;"
"border-style: groove; border-radius: 8px;}")
self.setStyleSheet(ss)
self.setAcceptDrops(True)
self.effect = QGraphicsOpacityEffect()
self.setGraphicsEffect(self.effect)
self.effect.setOpacity(0.0)
self._opacity = 0.0
self.timer = QTimer(self)
self.timer.setInterval(life_span)
self.timer.timeout.connect(self.start_self_destruction)
# Fade in animation
self.fade_in_anim = QPropertyAnimation(self, b"opacity")
self.fade_in_anim.setDuration(anim_duration)
self.fade_in_anim.setStartValue(0.0)
self.fade_in_anim.setEndValue(1.0)
self.fade_in_anim.valueChanged.connect(self.update_opacity)
self.fade_in_anim.finished.connect(self.timer.start)
# Fade out animation
self.fade_out_anim = QPropertyAnimation(self, b"opacity")
self.fade_out_anim.setDuration(anim_duration)
self.fade_out_anim.setStartValue(1.0)
self.fade_out_anim.setEndValue(0)
self.fade_out_anim.valueChanged.connect(self.update_opacity)
self.fade_out_anim.finished.connect(self.close)
# Start fade in animation
self.fade_in_anim.start(QPropertyAnimation.DeleteWhenStopped)
def show(self):
# Move to the top right corner of the parent
super().show()
if self._corner in (Qt.TopRightCorner, Qt.BottomRightCorner):
x = self._parent.size().width() - self.width() - 2
else:
x = self.pos().x()
if self._corner in (Qt.BottomLeftCorner, Qt.BottomRightCorner):
y = self._parent.size().height() - self.height() - 2
else:
y = self.pos().y()
self.move(x, y)
def get_opacity(self):
"""opacity getter."""
return self._opacity
def set_opacity(self, op):
"""opacity setter."""
self._opacity = op
@Slot(float)
def update_opacity(self, value):
"""Updates graphics effect opacity."""
self.effect.setOpacity(value)
def start_self_destruction(self):
"""Starts fade-out animation and closing of the notification."""
self.fade_out_anim.start(QPropertyAnimation.DeleteWhenStopped)
self.setAttribute(Qt.WA_TransparentForMouseEvents)
def enterEvent(self, e):
super().enterEvent(e)
self.start_self_destruction()
def dragEnterEvent(self, e):
super().dragEnterEvent(e)
self.start_self_destruction()
def remaining_time(self):
if self.timer.isActive():
return self.timer.remainingTime()
if self.fade_out_anim.state() == QPropertyAnimation.Running:
return 0
return self.timer.interval()
opacity = Property(float, get_opacity, set_opacity)
