def _create_vehicle_item(self, color, mav_id, vehicle_type):
if vehicle_type == MAV_TYPE_QUADROTOR:
# draw cross
item = QGraphicsPolygonItem(QPolygonF([
QPointF(0, 0),
QPointF(-3, -3),
QPointF(3, 3),
QPointF(0, 0),
QPointF(-3, 3),
QPointF(3, -3),
QPointF(0, 0),
]))
elif vehicle_type == MAV_TYPE_FIXED_WING:
# draw circle
item = QGraphicsEllipseItem(-3, -3, 6, 6)
else:
# draw square
item = QGraphicsRectItem(-3, -3, 6, 6)
item.setBrush(self._brushes[color])
item.setPen(self._pens[color])
item.setToolTip('%s #%d (%s)' % (color, mav_id, vehicle_type))
return item
class EdgeItem(GraphItem):
_qt_pen_styles = {
'dashed': Qt.DashLine,
'dotted': Qt.DotLine,
'solid': Qt.SolidLine,
}
def __init__(self, highlight_level, spline, label_center, label, from_node, to_node, parent=None, penwidth=1, edge_color=None, style='solid'):
super(EdgeItem, self).__init__(highlight_level, parent)
self.from_node = from_node
self.from_node.add_outgoing_edge(self)
self.to_node = to_node
self.to_node.add_incoming_edge(self)
self._default_edge_color = self._COLOR_BLACK
if edge_color is not None:
self._default_edge_color = edge_color
self._default_text_color = self._COLOR_BLACK
self._default_color = self._COLOR_BLACK
self._text_brush = QBrush(self._default_color)
self._shape_brush = QBrush(self._default_color)
if style in ['dashed', 'dotted']:
self._shape_brush = QBrush(Qt.transparent)
self._label_pen = QPen()
self._label_pen.setColor(self._default_text_color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._edge_pen = QPen(self._label_pen)
self._edge_pen.setWidth(penwidth)
self._edge_pen.setColor(self._default_edge_color)
self._edge_pen.setStyle(self._qt_pen_styles.get(style, Qt.SolidLine))
self._sibling_edges = set()
self._label = None
if label is not None:
self._label = QGraphicsSimpleTextItem(label)
label_rect = self._label.boundingRect()
label_rect.moveCenter(label_center)
self._label.setPos(label_rect.x(), label_rect.y())
self._label.hoverEnterEvent = self._handle_hoverEnterEvent
self._label.hoverLeaveEvent = self._handle_hoverLeaveEvent
self._label.setAcceptHoverEvents(True)
# spline specification according to http://www.graphviz.org/doc/info/attrs.html#k:splineType
coordinates = spline.split(' ')
# extract optional end_point
end_point = None
if (coordinates[0].startswith('e,')):
parts = coordinates.pop(0)[2:].split(',')
end_point = QPointF(float(parts[0]), -float(parts[1]))
# extract optional start_point
if (coordinates[0].startswith('s,')):
parts = coordinates.pop(0).split(',')
# first point
parts = coordinates.pop(0).split(',')
point = QPointF(float(parts[0]), -float(parts[1]))
path = QPainterPath(point)
while len(coordinates) > 2:
# extract triple of points for a cubic spline
parts = coordinates.pop(0).split(',')
point1 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point2 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point3 = QPointF(float(parts[0]), -float(parts[1]))
path.cubicTo(point1, point2, point3)
self._arrow = None
if end_point is not None:
# draw arrow
self._arrow = QGraphicsPolygonItem()
polygon = QPolygonF()
polygon.append(point3)
offset = QPointF(end_point - point3)
corner1 = QPointF(-offset.y(), offset.x()) * 0.35
corner2 = QPointF(offset.y(), -offset.x()) * 0.35
polygon.append(point3 + corner1)
polygon.append(end_point)
polygon.append(point3 + corner2)
self._arrow.setPolygon(polygon)
self._arrow.hoverEnterEvent = self._handle_hoverEnterEvent
self._arrow.hoverLeaveEvent = self._handle_hoverLeaveEvent
self._arrow.setAcceptHoverEvents(True)
self._path = QGraphicsPathItem()
self._path.setPath(path)
self.addToGroup(self._path)
self.set_node_color()
self.set_label_color()
def add_to_scene(self, scene):
scene.addItem(self)
if self._label is not None:
scene.addItem(self._label)
if self._arrow is not None:
scene.addItem(self._arrow)
def setToolTip(self, tool_tip):
super(EdgeItem, self).setToolTip(tool_tip)
if self._label is not None:
self._label.setToolTip(tool_tip)
if self._arrow is not None:
self._arrow.setToolTip(tool_tip)
def add_sibling_edge(self, edge):
self._sibling_edges.add(edge)
def set_node_color(self, color=None):
if color is None:
self._label_pen.setColor(self._default_text_color)
self._text_brush.setColor(self._default_color)
if self._shape_brush.isOpaque():
self._shape_brush.setColor(self._default_edge_color)
self._edge_pen.setColor(self._default_edge_color)
else:
self._label_pen.setColor(color)
self._text_brush.setColor(color)
if self._shape_brush.isOpaque():
self._shape_brush.setColor(color)
self._edge_pen.setColor(color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._shape_brush)
self._arrow.setPen(self._edge_pen)
def set_label_color(self, color=None):
if color is None:
self._label_pen.setColor(self._default_text_color)
else:
self._label_pen.setColor(color)
if self._label is not None:
self._label.setBrush(self._text_brush)
self._label.setPen(self._label_pen)
def _handle_hoverEnterEvent(self, event):
# hovered edge item in red
self.set_node_color(self._COLOR_RED)
if self._highlight_level > 1:
if self.from_node != self.to_node:
# from-node in blue
self.from_node.set_node_color(self._COLOR_BLUE)
# to-node in green
self.to_node.set_node_color(self._COLOR_GREEN)
else:
# from-node/in-node in teal
self.from_node.set_node_color(self._COLOR_TEAL)
self.to_node.set_node_color(self._COLOR_TEAL)
if self._highlight_level > 2:
# sibling edges in orange
for sibling_edge in self._sibling_edges:
sibling_edge.set_node_color(self._COLOR_ORANGE)
def _handle_hoverLeaveEvent(self, event):
self.set_node_color()
if self._highlight_level > 1:
self.from_node.set_node_color()
self.to_node.set_node_color()
if self._highlight_level > 2:
for sibling_edge in self._sibling_edges:
sibling_edge.set_node_color()
class EdgeItem(GraphItem):
_qt_pen_styles = {
'dashed': Qt.DashLine,
'dotted': Qt.DotLine,
'solid': Qt.SolidLine,
}
def __init__(self,
highlight_level,
spline,
label_center,
label,
from_node,
to_node,
parent=None,
penwidth=1,
edge_color=None,
style='solid'):
super(EdgeItem, self).__init__(highlight_level, parent)
self.from_node = from_node
self.from_node.add_outgoing_edge(self)
self.to_node = to_node
self.to_node.add_incoming_edge(self)
self._default_edge_color = self._COLOR_BLACK
if edge_color is not None:
self._default_edge_color = edge_color
self._default_text_color = self._COLOR_BLACK
self._default_color = self._COLOR_BLACK
self._text_brush = QBrush(self._default_color)
self._shape_brush = QBrush(self._default_color)
if style in ['dashed', 'dotted']:
self._shape_brush = QBrush(Qt.transparent)
self._label_pen = QPen()
self._label_pen.setColor(self._default_text_color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._edge_pen = QPen(self._label_pen)
self._edge_pen.setWidth(penwidth)
self._edge_pen.setColor(self._default_edge_color)
self._edge_pen.setStyle(self._qt_pen_styles.get(style, Qt.SolidLine))
self._sibling_edges = set()
self._label = None
if label is not None:
self._label = QGraphicsSimpleTextItem(label)
self._label.setFont(GraphItem._LABEL_FONT)
label_rect = self._label.boundingRect()
label_rect.moveCenter(label_center)
self._label.setPos(label_rect.x(), label_rect.y())
self._label.hoverEnterEvent = self._handle_hoverEnterEvent
self._label.hoverLeaveEvent = self._handle_hoverLeaveEvent
self._label.setAcceptHoverEvents(True)
# spline specification according to http://www.graphviz.org/doc/info/attrs.html#k:splineType
coordinates = spline.split(' ')
# extract optional end_point
end_point = None
if (coordinates[0].startswith('e,')):
parts = coordinates.pop(0)[2:].split(',')
end_point = QPointF(float(parts[0]), -float(parts[1]))
# extract optional start_point
if (coordinates[0].startswith('s,')):
parts = coordinates.pop(0).split(',')
# first point
parts = coordinates.pop(0).split(',')
point = QPointF(float(parts[0]), -float(parts[1]))
path = QPainterPath(point)
while len(coordinates) > 2:
# extract triple of points for a cubic spline
parts = coordinates.pop(0).split(',')
point1 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point2 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point3 = QPointF(float(parts[0]), -float(parts[1]))
path.cubicTo(point1, point2, point3)
self._arrow = None
if end_point is not None:
# draw arrow
self._arrow = QGraphicsPolygonItem()
polygon = QPolygonF()
polygon.append(point3)
offset = QPointF(end_point - point3)
corner1 = QPointF(-offset.y(), offset.x()) * 0.35
corner2 = QPointF(offset.y(), -offset.x()) * 0.35
polygon.append(point3 + corner1)
polygon.append(end_point)
polygon.append(point3 + corner2)
self._arrow.setPolygon(polygon)
self._arrow.hoverEnterEvent = self._handle_hoverEnterEvent
self._arrow.hoverLeaveEvent = self._handle_hoverLeaveEvent
self._arrow.setAcceptHoverEvents(True)
self._path = QGraphicsPathItem()
self._path.setPath(path)
self.addToGroup(self._path)
self.set_node_color()
self.set_label_color()
def add_to_scene(self, scene):
scene.addItem(self)
if self._label is not None:
scene.addItem(self._label)
if self._arrow is not None:
scene.addItem(self._arrow)
def setToolTip(self, tool_tip):
super(EdgeItem, self).setToolTip(tool_tip)
if self._label is not None:
self._label.setToolTip(tool_tip)
if self._arrow is not None:
self._arrow.setToolTip(tool_tip)
def add_sibling_edge(self, edge):
self._sibling_edges.add(edge)
def set_node_color(self, color=None):
if color is None:
self._label_pen.setColor(self._default_text_color)
self._text_brush.setColor(self._default_color)
if self._shape_brush.isOpaque():
self._shape_brush.setColor(self._default_edge_color)
self._edge_pen.setColor(self._default_edge_color)
else:
self._label_pen.setColor(color)
self._text_brush.setColor(color)
if self._shape_brush.isOpaque():
self._shape_brush.setColor(color)
self._edge_pen.setColor(color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._shape_brush)
self._arrow.setPen(self._edge_pen)
def set_label_color(self, color=None):
if color is None:
self._label_pen.setColor(self._default_text_color)
else:
self._label_pen.setColor(color)
if self._label is not None:
self._label.setBrush(self._text_brush)
self._label.setPen(self._label_pen)
def _handle_hoverEnterEvent(self, event):
# hovered edge item in red
self.set_node_color(self._COLOR_RED)
self.set_label_color(self._COLOR_RED)
if self._highlight_level > 1:
if self.from_node != self.to_node:
# from-node in blue
self.from_node.set_node_color(self._COLOR_BLUE)
# to-node in green
self.to_node.set_node_color(self._COLOR_GREEN)
else:
# from-node/in-node in teal
self.from_node.set_node_color(self._COLOR_TEAL)
self.to_node.set_node_color(self._COLOR_TEAL)
if self._highlight_level > 2:
# sibling edges in orange
for sibling_edge in self._sibling_edges:
sibling_edge.set_node_color(self._COLOR_ORANGE)
def _handle_hoverLeaveEvent(self, event):
self.set_node_color()
self.set_label_color()
if self._highlight_level > 1:
self.from_node.set_node_color()
self.to_node.set_node_color()
if self._highlight_level > 2:
for sibling_edge in self._sibling_edges:
sibling_edge.set_node_color()
class EdgeItem(GraphItem):
EDGE_PEN_WIDTH = 0.5
def __init__(self, spline, label, label_center, from_node, to_node, parent=None, **kwargs):
super(EdgeItem, self).__init__(parent, **kwargs)
self._edge_pen_width = kwargs.get('edge_pen_width', self.EDGE_PEN_WIDTH)
self.from_node = from_node
self.from_node.add_outgoing_edge(self)
self.to_node = to_node
self.to_node.add_incoming_edge(self)
self._brush = QBrush(self._color)
self._label_pen = QPen()
self._label_pen.setColor(self._color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._label_pen.setWidthF(self._label_pen_width)
self._edge_pen = QPen()
self._edge_pen.setColor(self._color)
self._edge_pen.setWidthF(self._edge_pen_width)
self._sibling_edges = set()
self._label = None
if label is not None:
self._label = QGraphicsSimpleTextItem(label)
font = self._label.font()
font.setPointSize(8)
self._label.setFont(font)
label_rect = self._label.boundingRect()
label_rect.moveCenter(label_center)
self._label.setPos(label_rect.x(), label_rect.y())
# spline specification according to http://www.graphviz.org/doc/info/attrs.html#k:splineType
coordinates = spline.split(' ')
# extract optional end_point
end_point = None
if coordinates[0].startswith('e,'):
parts = coordinates.pop(0)[2:].split(',')
end_point = QPointF(float(parts[0]), -float(parts[1]))
# extract optional start_point
if coordinates[0].startswith('s,'):
parts = coordinates.pop(0).split(',')
# first point
parts = coordinates.pop(0).split(',')
point = QPointF(float(parts[0]), -float(parts[1]))
path = QPainterPath(point)
while len(coordinates) > 2:
# extract triple of points for a cubic spline
parts = coordinates.pop(0).split(',')
point1 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point2 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point3 = QPointF(float(parts[0]), -float(parts[1]))
path.cubicTo(point1, point2, point3)
self._arrow = None
if end_point is not None:
# draw arrow
self._arrow = QGraphicsPolygonItem()
polygon = QPolygonF()
polygon.append(point3)
offset = QPointF(end_point - point3)
corner1 = QPointF(-offset.y(), offset.x()) * 0.35
corner2 = QPointF(offset.y(), -offset.x()) * 0.35
polygon.append(point3 + corner1)
polygon.append(end_point)
polygon.append(point3 + corner2)
self._arrow.setPolygon(polygon)
self._path = QGraphicsPathItem()
self._path.setPath(path)
self.addToGroup(self._path)
self._brush.setColor(self._color)
self._edge_pen.setColor(self._color)
self._label_pen.setColor(self._color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._brush)
self._arrow.setPen(self._edge_pen)
if self._label is not None:
self._label.setBrush(self._brush)
self._label.setPen(self._label_pen)
def add_to_scene(self, scene):
scene.addItem(self)
if self._label is not None:
scene.addItem(self._label)
if self._arrow is not None:
scene.addItem(self._arrow)
def setToolTip(self, tool_tip):
super(EdgeItem, self).setToolTip(tool_tip)
if self._label is not None:
self._label.setToolTip(tool_tip)
if self._arrow is not None:
self._arrow.setToolTip(tool_tip)
def add_sibling_edge(self, edge):
self._sibling_edges.add(edge)
def set_color(self, color=None):
if color is None:
color = self._color
self._brush.setColor(color)
self._edge_pen.setColor(color)
self._label_pen.setColor(color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._brush)
self._arrow.setPen(self._edge_pen)
if self._label is not None:
self._label.setBrush(self._brush)
self._label.setPen(self._label_pen)
class EdgeItem(GraphItem):
EDGE_PEN_WIDTH = 0.5
def __init__(self,
spline,
label,
label_center,
from_node,
to_node,
parent=None,
**kwargs):
super(EdgeItem, self).__init__(parent, **kwargs)
self._edge_pen_width = kwargs.get('edge_pen_width',
self.EDGE_PEN_WIDTH)
self.from_node = from_node
self.from_node.add_outgoing_edge(self)
self.to_node = to_node
self.to_node.add_incoming_edge(self)
self._brush = QBrush(self._color)
self._label_pen = QPen()
self._label_pen.setColor(self._color)
self._label_pen.setJoinStyle(Qt.RoundJoin)
self._label_pen.setWidthF(self._label_pen_width)
self._edge_pen = QPen()
self._edge_pen.setColor(self._color)
self._edge_pen.setWidthF(self._edge_pen_width)
self._sibling_edges = set()
self._label = None
if label is not None:
self._label = QGraphicsSimpleTextItem(label)
font = self._label.font()
font.setPointSize(8)
self._label.setFont(font)
label_rect = self._label.boundingRect()
label_rect.moveCenter(label_center)
self._label.setPos(label_rect.x(), label_rect.y())
# spline specification according to http://www.graphviz.org/doc/info/attrs.html#k:splineType
coordinates = spline.split(' ')
# extract optional end_point
end_point = None
if coordinates[0].startswith('e,'):
parts = coordinates.pop(0)[2:].split(',')
end_point = QPointF(float(parts[0]), -float(parts[1]))
# extract optional start_point
if coordinates[0].startswith('s,'):
parts = coordinates.pop(0).split(',')
# first point
parts = coordinates.pop(0).split(',')
point = QPointF(float(parts[0]), -float(parts[1]))
path = QPainterPath(point)
while len(coordinates) > 2:
# extract triple of points for a cubic spline
parts = coordinates.pop(0).split(',')
point1 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point2 = QPointF(float(parts[0]), -float(parts[1]))
parts = coordinates.pop(0).split(',')
point3 = QPointF(float(parts[0]), -float(parts[1]))
path.cubicTo(point1, point2, point3)
self._arrow = None
if end_point is not None:
# draw arrow
self._arrow = QGraphicsPolygonItem()
polygon = QPolygonF()
polygon.append(point3)
offset = QPointF(end_point - point3)
corner1 = QPointF(-offset.y(), offset.x()) * 0.35
corner2 = QPointF(offset.y(), -offset.x()) * 0.35
polygon.append(point3 + corner1)
polygon.append(end_point)
polygon.append(point3 + corner2)
self._arrow.setPolygon(polygon)
self._path = QGraphicsPathItem()
self._path.setPath(path)
self.addToGroup(self._path)
self._brush.setColor(self._color)
self._edge_pen.setColor(self._color)
self._label_pen.setColor(self._color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._brush)
self._arrow.setPen(self._edge_pen)
if self._label is not None:
self._label.setBrush(self._brush)
self._label.setPen(self._label_pen)
def add_to_scene(self, scene):
scene.addItem(self)
if self._label is not None:
scene.addItem(self._label)
if self._arrow is not None:
scene.addItem(self._arrow)
def setToolTip(self, tool_tip):
super(EdgeItem, self).setToolTip(tool_tip)
if self._label is not None:
self._label.setToolTip(tool_tip)
if self._arrow is not None:
self._arrow.setToolTip(tool_tip)
def add_sibling_edge(self, edge):
self._sibling_edges.add(edge)
def set_color(self, color=None):
if color is None:
color = self._color
self._brush.setColor(color)
self._edge_pen.setColor(color)
self._label_pen.setColor(color)
self._path.setPen(self._edge_pen)
if self._arrow is not None:
self._arrow.setBrush(self._brush)
self._arrow.setPen(self._edge_pen)
if self._label is not None:
self._label.setBrush(self._brush)
self._label.setPen(self._label_pen)