def __init__(self, topic='/HUD', length=300.0, end_angle=300.0, min=0.0, max=100.0, main_points=11,
warning=[], danger=[], multiplier='', units='', description=''):
super(GaugeSimple, self).__init__()
self.setFixedSize(300, 300)
self.setWindowTitle('A Magnificent Gauge')
self.setAutoFillBackground(True)
self.redraw_interval = 40
self.update_plot_timer = QtCore.QTimer()
self.update_plot_timer.timeout.connect(self.update_plot)
self._start_time = rospy.get_time()
self._rosdata = ROSData(topic, self._start_time)
self.min = min
self.curr_value = min
self.value_uncap = 0
self.max = max
self.length = length
self.main_points = main_points
self.start_angle = (end_angle + length) % 360
self.end_angle = end_angle % 360
self.is_circle = self.start_angle == self.end_angle
self.gauge_ticks = []
self.bounding_rect = QtCore.QRectF(25.0, 25.0, 250.0, 250.0)
self.center = QtCore.QPointF(150.0, 150.0)
self.warning = warning #zones
self.danger = danger #zones
self.center_radius = 5.0
self.margin = 12
self.units = units
self.multiplier = multiplier
self.description = description
self.update_plot_timer.start(self.redraw_interval)
#Various ui colors
self.marker_tick_color = QtGui.QPen(QtGui.QColor('#FF9900'), 1.8)
self.ui_color = QtGui.QPen(QtCore.Qt.green, 2.5)
self.ui_color_tick = QtGui.QPen(QtCore.Qt.green, 1.5)
self.gauge_color = QtGui.QPen(QtCore.Qt.lightGray, 2)
self.warning_color = QtGui.QPen(QtCore.Qt.yellow, 2)
self.warning_bg = QtGui.QRadialGradient(self.center, self.width()/3)
self.warning_bg.setColorAt(0.0, QtCore.Qt.yellow)
self.warning_bg.setColorAt(1.0, QtCore.Qt.black)
self.danger_color = QtGui.QPen(QtCore.Qt.red, 2)
self.danger_bg = QtGui.QRadialGradient(self.center, self.width()/3)
self.danger_bg.setColorAt(0.0, QtCore.Qt.red)
self.danger_bg.setColorAt(1.0, QtCore.Qt.black)
self.current_bg = QtCore.Qt.black
self.create_gauge()
def add_topic(self, topic_name):
if topic_name in self._rosdata:
qWarning('PlotWidget.add_topic(): topic already subscribed: %s' % topic_name)
return
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
if self._rosdata[topic_name].error is not None:
qWarning(str(self._rosdata[topic_name].error))
del self._rosdata[topic_name]
else:
data_x, data_y = self._rosdata[topic_name].next()
self.data_plot.add_curve(topic_name, topic_name, data_x, data_y)
self._subscribed_topics_changed()
def add_topic(self, topic_name):
topics_changed = False
for topic_name in get_plot_fields(self._node, topic_name)[0]:
if topic_name in self._rosdata:
qWarning(
'PlotWidget.add_topic(): topic already subscribed: %s' %
topic_name)
continue
self._rosdata[topic_name] = ROSData(self._node, topic_name,
self._start_time)
if self._rosdata[topic_name].error is not None:
qWarning(str(self._rosdata[topic_name].error))
del self._rosdata[topic_name]
else:
data_x, data_y = self._rosdata[topic_name].next()
self.data_plot.add_curve(topic_name, topic_name, data_x,
data_y)
topics_changed = True
if topics_changed:
self._subscribed_topics_changed()
class GaugeSimple(QtGui.QWidget):
''' Gauge pointer movement:
minimum->maximum values: clockwise rotation
maximum value > minimum-value
'''
marker_set = QtCore.pyqtSignal(list)
def __init__(self, topic='/HUD', length=300.0, end_angle=300.0, min=0.0, max=100.0, main_points=11,
warning=[], danger=[], multiplier='', units='', description=''):
super(GaugeSimple, self).__init__()
self.setFixedSize(300, 300)
self.setWindowTitle('A Magnificent Gauge')
self.setAutoFillBackground(True)
self.redraw_interval = 40
self.update_plot_timer = QtCore.QTimer()
self.update_plot_timer.timeout.connect(self.update_plot)
self._start_time = rospy.get_time()
self._rosdata = ROSData(topic, self._start_time)
self.min = min
self.curr_value = min
self.value_uncap = 0
self.max = max
self.length = length
self.main_points = main_points
self.start_angle = (end_angle + length) % 360
self.end_angle = end_angle % 360
self.is_circle = self.start_angle == self.end_angle
self.gauge_ticks = []
self.bounding_rect = QtCore.QRectF(25.0, 25.0, 250.0, 250.0)
self.center = QtCore.QPointF(150.0, 150.0)
self.warning = warning #zones
self.danger = danger #zones
self.center_radius = 5.0
self.margin = 12
self.units = units
self.multiplier = multiplier
self.description = description
self.update_plot_timer.start(self.redraw_interval)
#Various ui colors
self.marker_tick_color = QtGui.QPen(QtGui.QColor('#FF9900'), 1.8)
self.ui_color = QtGui.QPen(QtCore.Qt.green, 2.5)
self.ui_color_tick = QtGui.QPen(QtCore.Qt.green, 1.5)
self.gauge_color = QtGui.QPen(QtCore.Qt.lightGray, 2)
self.warning_color = QtGui.QPen(QtCore.Qt.yellow, 2)
self.warning_bg = QtGui.QRadialGradient(self.center, self.width()/3)
self.warning_bg.setColorAt(0.0, QtCore.Qt.yellow)
self.warning_bg.setColorAt(1.0, QtCore.Qt.black)
self.danger_color = QtGui.QPen(QtCore.Qt.red, 2)
self.danger_bg = QtGui.QRadialGradient(self.center, self.width()/3)
self.danger_bg.setColorAt(0.0, QtCore.Qt.red)
self.danger_bg.setColorAt(1.0, QtCore.Qt.black)
self.current_bg = QtCore.Qt.black
self.create_gauge()
def detect_safe_zones(self):
r = [(self.min, self.max)]
unsafe = sorted(self.warning+self.danger, key=lambda i:i[0])
for i in unsafe:
temp = []
for y in r:
if i[0] > y[1] or i[1] < y[0]:
temp.append(y)
elif i[0]==y[0] and i[1]==y[1]:
continue
elif i[0]>y[0] and i[1]<y[1]:
temp.append((y[0], i[0]))
temp.append((i[1], y[1]))
elif i[0]>y[0] and i[1]==y[1]:
temp.append((i[0], i[1]))
elif i[0]==y[0] and i[1]<y[1]:
temp.append((i[1], y[1]))
r = temp
return r
def create_gauge(self):
def text_width(text):
font = QtGui.QFont()
metrics = QtGui.QFontMetrics(font)
return metrics.width(text)
#Main points
divisor = self.main_points
if self.start_angle != self.end_angle:
divisor -= 1
angle_step = self.length/divisor
value_step = abs(self.max-self.min)/divisor
#Gauge main line(the circular path)
#Safe zones
zones = map(self.val2deg_tuple, self.detect_safe_zones())
self.gauge_safe = []
for zone in zones:
path = QtGui.QPainterPath()
path.arcMoveTo(self.bounding_rect, self.start_angle-zone[0])
path.arcTo(self.bounding_rect, self.start_angle-zone[0], -(zone[1]-zone[0]))
self.gauge_safe.append(path)
#Warning zones
warning_zones = map(self.val2deg_tuple, self.warning)
self.gauge_warning = []
for w in warning_zones:
path = QtGui.QPainterPath()
path.arcMoveTo(self.bounding_rect, self.start_angle-w[0])
path.arcTo(self.bounding_rect, self.start_angle-w[0], -(w[1]-w[0]))
self.gauge_warning.append(path)
#Danger zones
danger_zones = map(self.val2deg_tuple, self.danger)
self.gauge_danger = []
for d in danger_zones:
path = QtGui.QPainterPath()
path.arcMoveTo(self.bounding_rect, self.start_angle-d[0])
path.arcTo(self.bounding_rect, self.start_angle-d[0], -(d[1]-d[0]))
self.gauge_danger.append(path)
#Initial gauge position
self.set_gauge(self.curr_value)
for i in xrange(self.main_points):
#Find the point on the curve
angle = self.start_angle -i*angle_step
value = self.min + i*value_step
p = QtGui.QPainterPath()
p.arcMoveTo(self.bounding_rect, angle)
x, y = p.currentPosition().x(), p.currentPosition().y()
x_new = x*0.9 + self.center.x()*0.1
y_new = y*0.9 + self.center.y()*0.1
x_text = x*0.8 + self.center.x()*0.2 - (text_width(str(round(value, 1)))-10)/2
y_text = y*0.8 + self.center.y()*0.2 + 4
tick_path = QtGui.QPainterPath()
tick_path.moveTo(x_new, y_new)
tick_path.lineTo(x, y)
#Store the tick_length for the marker area
self.gauge_ticks.append([QtCore.QPointF(x_text, y_text), value, tick_path])
#Store the tick_length for the marker area
self.tick_length = math.sqrt((x-x_new)**2+(y-y_new)**2)
def val2deg(self, value):
return self.length*((value-self.min)/abs(self.max-self.min))
def val2deg_tuple(self, t):
return map(self.val2deg, t)
def deg2val(self, degrees):
#Convert the given degress relative to the start_angle to the respective value
return abs(self.max-self.min)*(degrees/self.length)+self.min
def mouseReleaseEvent(self, e):
self.mouseMoveEvent(e)
def mouseMoveEvent(self, e):
#marker_line and marker_value dont exist before the first call of this function
click_pos = e.posF()
x_coeff = (click_pos.x() - self.center.x())**2
y_coeff = (click_pos.y() - self.center.y())**2
dist = math.sqrt(x_coeff + y_coeff)
w = self.bounding_rect.width()/2
if w - self.tick_length <= dist <= w:
#Find the angle between the start angle and the click point
angle = self.angle_from_zero(self.center, click_pos, self.start_angle)
#Return if the user clicked outside of the allowed range
if self.deg2val(angle) > self.max or self.deg2val(angle) < self.min:
return
self.set_marker(self.deg2val(angle))
def angle_from_zero(self, p1, p2, offset):
angle = math.degrees(math.atan2(p1.y()-p2.y(), p2.x()-p1.x()))
if angle < 0:
angle += 360
angle = offset - angle
if angle < 0:
angle += 360
return angle
def set_marker(self, value):
#New values: marker_point
#Emit the new value
self.marker_value = max(min(value, self.max), self.min)
self.marker_set.emit([self.description, self.marker_value])
#Round it for presentation purposes
self.marker_value = round(self.marker_value, 2)
#Create the marker line
p = QtGui.QPainterPath()
p.arcMoveTo(self.bounding_rect, self.start_angle - self.val2deg(value))
self.marker_point = p.currentPosition()
self.draw_marker(y=3)
def compute_marker_rotation(self):
#Marker_point is already set and ready for use
return self.angle_from_zero(self.center, self.marker_point, 90)
def draw_marker(self, x=0, y=0, size=10):
poly = QtGui.QPolygonF()
poly.append(QtCore.QPointF(x-size, y))
poly.append(QtCore.QPointF(x+size, y))
poly.append(QtCore.QPointF(x+size, y-size))
poly.append(QtCore.QPointF(x, y))
poly.append(QtCore.QPointF(x-size, y-size))
poly.append(QtCore.QPointF(x-size, y))
self.marker_line = QtGui.QPainterPath()
self.marker_line.addPolygon(poly)
self.update()
def update_plot(self):
dump, value = self._rosdata.next()
self.value_uncap = round(value.pop(),1)
#print value
if len(value)>0:
self.set_gauge(self.value_uncap)
self.update_plot_timer.start(self.redraw_interval)
def set_gauge(self, value):
#Clamp between [min, max]
self.curr_value = round(max(min(value, self.max), self.min),1)
p = QtGui.QPainterPath()
p.arcMoveTo(self.bounding_rect, self.start_angle-self.val2deg(self.curr_value))
x, y = p.currentPosition().x(), p.currentPosition().y()
self.gauge_line = QtGui.QPainterPath()
self.gauge_line.moveTo(self.center)
self.gauge_line.lineTo(x, y)
self.update()
def increment_gauge(self, step):
#Clamp between (min, max)
self.curr_value = max(min(self.curr_value + step, self.max), self.min)
p = QtGui.QPainterPath()
p.arcMoveTo(self.bounding_rect, self.start_angle-self.val2deg(self.curr_value))
x, y = p.currentPosition().x(), p.currentPosition().y()
self.gauge_line = QtGui.QPainterPath()
self.gauge_line.moveTo(self.center)
self.gauge_line.lineTo(x, y)
self.update()
def set_bg_color(self):
#Determine the zone that the gauge arrow is inside
#Is it in a warning zone?
for w in self.warning:
if w[0] <= self.curr_value <= w[1]:
self.current_bg = self.warning_bg
return
#Or a danger zone?
for d in self.danger:
if d[0] <= self.curr_value <= d[1]:
self.current_bg = self.danger_bg
return
#Don't be scared, you're safe!
self.current_bg = QtCore.Qt.black
def paintEvent(self, event):
def center_text(text):
rect = painter.boundingRect(self.bounding_rect, QtCore.Qt.AlignHCenter, text)
return rect.width()/2
painter = QtGui.QPainter(self)
painter.setRenderHint(QtGui.QPainter.Antialiasing)
#Draw the background
self.set_bg_color()
painter.fillRect(event.rect(), self.current_bg)
painter.setBrush(QtCore.Qt.transparent)
painter.setPen(self.gauge_color)
painter.drawPath(self.gauge_line)
#Draw the safe zones
painter.setPen(self.ui_color)
for s in self.gauge_safe:
painter.drawPath(s)
#Draw the warning zones
painter.setPen(self.warning_color)
for w in self.gauge_warning:
painter.drawPath(w)
#Draw the danger zones
painter.setPen(self.danger_color)
for d in self.gauge_danger:
painter.drawPath(d)
#Draw the marker line
if getattr(self, 'marker_line', None):
painter.setPen(self.marker_tick_color)
painter.translate(self.marker_point)
painter.rotate(self.compute_marker_rotation())
painter.drawPath(self.marker_line)
painter.resetTransform()
#Draw the center circle
painter.setPen(self.ui_color)
painter.drawEllipse(self.center.x()-self.center_radius/2, self.center.y()-self.center_radius/2, self.center_radius, self.center_radius)
#Draw the paths
painter.setPen(self.ui_color_tick)
for i, path in enumerate(self.gauge_ticks):
if not (self.is_circle and i == (len(self.gauge_ticks))):
painter.drawText(path[0], str(int(path[1])))
painter.drawPath(path[2])
#Draw the text labels
painter.drawText(QtCore.QPointF(self.center.x()-center_text(str(self.value_uncap)), self.center.y()-40), str(self.value_uncap))
painter.drawText(QtCore.QPointF(self.center.x()-center_text(self.multiplier), self.center.y()+20+self.margin), self.multiplier)
painter.drawText(QtCore.QPointF(self.center.x()-center_text(self.units), self.center.y()+20+self.margin*2), self.units)
painter.drawText(QtCore.QPointF(self.center.x()-center_text(self.description), self.center.y()+20+self.margin*3), self.description)
painter.setPen(self.marker_tick_color)
if getattr(self, 'marker_value', None):
painter.drawText(QtCore.QPointF(self.center.x()-center_text(str(self.marker_value)), self.center.y()-20), str(self.marker_value))
QtGui.QWidget.paintEvent(self, event)
def __init__(self,
topic='/HUD',
length=300.0,
end_angle=300.0,
min=0.0,
max=100.0,
main_points=11,
warning=[],
danger=[],
multiplier='',
units='',
description=''):
super(GaugeSimple, self).__init__()
self.setFixedSize(300, 300)
self.setWindowTitle('A Magnificent Gauge')
self.setAutoFillBackground(True)
self.redraw_interval = 40
self.update_plot_timer = QtCore.QTimer()
self.update_plot_timer.timeout.connect(self.update_plot)
self._start_time = rospy.get_time()
self._rosdata = ROSData(topic, self._start_time)
self.min = min
self.curr_value = min
self.value_uncap = 0
self.max = max
self.length = length
self.main_points = main_points
self.start_angle = (end_angle + length) % 360
self.end_angle = end_angle % 360
self.is_circle = self.start_angle == self.end_angle
self.gauge_ticks = []
self.bounding_rect = QtCore.QRectF(25.0, 25.0, 250.0, 250.0)
self.center = QtCore.QPointF(150.0, 150.0)
self.warning = warning #zones
self.danger = danger #zones
self.center_radius = 5.0
self.margin = 12
self.units = units
self.multiplier = multiplier
self.description = description
self.update_plot_timer.start(self.redraw_interval)
#Various ui colors
self.marker_tick_color = QtGui.QPen(QtGui.QColor('#FF9900'), 1.8)
self.ui_color = QtGui.QPen(QtCore.Qt.green, 2.5)
self.ui_color_tick = QtGui.QPen(QtCore.Qt.green, 1.5)
self.gauge_color = QtGui.QPen(QtCore.Qt.lightGray, 2)
self.warning_color = QtGui.QPen(QtCore.Qt.yellow, 2)
self.warning_bg = QtGui.QRadialGradient(self.center, self.width() / 3)
self.warning_bg.setColorAt(0.0, QtCore.Qt.yellow)
self.warning_bg.setColorAt(1.0, QtCore.Qt.black)
self.danger_color = QtGui.QPen(QtCore.Qt.red, 2)
self.danger_bg = QtGui.QRadialGradient(self.center, self.width() / 3)
self.danger_bg.setColorAt(0.0, QtCore.Qt.red)
self.danger_bg.setColorAt(1.0, QtCore.Qt.black)
self.current_bg = QtCore.Qt.black
self.create_gauge()
class GaugeSimple(QtGui.QWidget):
''' Gauge pointer movement:
minimum->maximum values: clockwise rotation
maximum value > minimum-value
'''
marker_set = QtCore.pyqtSignal(list)
def __init__(self,
topic='/HUD',
length=300.0,
end_angle=300.0,
min=0.0,
max=100.0,
main_points=11,
warning=[],
danger=[],
multiplier='',
units='',
description=''):
super(GaugeSimple, self).__init__()
self.setFixedSize(300, 300)
self.setWindowTitle('A Magnificent Gauge')
self.setAutoFillBackground(True)
self.redraw_interval = 40
self.update_plot_timer = QtCore.QTimer()
self.update_plot_timer.timeout.connect(self.update_plot)
self._start_time = rospy.get_time()
self._rosdata = ROSData(topic, self._start_time)
self.min = min
self.curr_value = min
self.value_uncap = 0
self.max = max
self.length = length
self.main_points = main_points
self.start_angle = (end_angle + length) % 360
self.end_angle = end_angle % 360
self.is_circle = self.start_angle == self.end_angle
self.gauge_ticks = []
self.bounding_rect = QtCore.QRectF(25.0, 25.0, 250.0, 250.0)
self.center = QtCore.QPointF(150.0, 150.0)
self.warning = warning #zones
self.danger = danger #zones
self.center_radius = 5.0
self.margin = 12
self.units = units
self.multiplier = multiplier
self.description = description
self.update_plot_timer.start(self.redraw_interval)
#Various ui colors
self.marker_tick_color = QtGui.QPen(QtGui.QColor('#FF9900'), 1.8)
self.ui_color = QtGui.QPen(QtCore.Qt.green, 2.5)
self.ui_color_tick = QtGui.QPen(QtCore.Qt.green, 1.5)
self.gauge_color = QtGui.QPen(QtCore.Qt.lightGray, 2)
self.warning_color = QtGui.QPen(QtCore.Qt.yellow, 2)
self.warning_bg = QtGui.QRadialGradient(self.center, self.width() / 3)
self.warning_bg.setColorAt(0.0, QtCore.Qt.yellow)
self.warning_bg.setColorAt(1.0, QtCore.Qt.black)
self.danger_color = QtGui.QPen(QtCore.Qt.red, 2)
self.danger_bg = QtGui.QRadialGradient(self.center, self.width() / 3)
self.danger_bg.setColorAt(0.0, QtCore.Qt.red)
self.danger_bg.setColorAt(1.0, QtCore.Qt.black)
self.current_bg = QtCore.Qt.black
self.create_gauge()
def detect_safe_zones(self):
r = [(self.min, self.max)]
unsafe = sorted(self.warning + self.danger, key=lambda i: i[0])
for i in unsafe:
temp = []
for y in r:
if i[0] > y[1] or i[1] < y[0]:
temp.append(y)
elif i[0] == y[0] and i[1] == y[1]:
continue
elif i[0] > y[0] and i[1] < y[1]:
temp.append((y[0], i[0]))
temp.append((i[1], y[1]))
elif i[0] > y[0] and i[1] == y[1]:
temp.append((i[0], i[1]))
elif i[0] == y[0] and i[1] < y[1]:
temp.append((i[1], y[1]))
r = temp
return r
def create_gauge(self):
def text_width(text):
font = QtGui.QFont()
metrics = QtGui.QFontMetrics(font)
return metrics.width(text)
#Main points
divisor = self.main_points
if self.start_angle != self.end_angle:
divisor -= 1
angle_step = self.length / divisor
value_step = abs(self.max - self.min) / divisor
#Gauge main line(the circular path)
#Safe zones
zones = map(self.val2deg_tuple, self.detect_safe_zones())
self.gauge_safe = []
for zone in zones:
path = QtGui.QPainterPath()
path.arcMoveTo(self.bounding_rect, self.start_angle - zone[0])
path.arcTo(self.bounding_rect, self.start_angle - zone[0],
-(zone[1] - zone[0]))
self.gauge_safe.append(path)
#Warning zones
warning_zones = map(self.val2deg_tuple, self.warning)
self.gauge_warning = []
for w in warning_zones:
path = QtGui.QPainterPath()
path.arcMoveTo(self.bounding_rect, self.start_angle - w[0])
path.arcTo(self.bounding_rect, self.start_angle - w[0],
-(w[1] - w[0]))
self.gauge_warning.append(path)
#Danger zones
danger_zones = map(self.val2deg_tuple, self.danger)
self.gauge_danger = []
for d in danger_zones:
path = QtGui.QPainterPath()
path.arcMoveTo(self.bounding_rect, self.start_angle - d[0])
path.arcTo(self.bounding_rect, self.start_angle - d[0],
-(d[1] - d[0]))
self.gauge_danger.append(path)
#Initial gauge position
self.set_gauge(self.curr_value)
for i in xrange(self.main_points):
#Find the point on the curve
angle = self.start_angle - i * angle_step
value = self.min + i * value_step
p = QtGui.QPainterPath()
p.arcMoveTo(self.bounding_rect, angle)
x, y = p.currentPosition().x(), p.currentPosition().y()
x_new = x * 0.9 + self.center.x() * 0.1
y_new = y * 0.9 + self.center.y() * 0.1
x_text = x * 0.8 + self.center.x() * 0.2 - (
text_width(str(round(value, 1))) - 10) / 2
y_text = y * 0.8 + self.center.y() * 0.2 + 4
tick_path = QtGui.QPainterPath()
tick_path.moveTo(x_new, y_new)
tick_path.lineTo(x, y)
#Store the tick_length for the marker area
self.gauge_ticks.append(
[QtCore.QPointF(x_text, y_text), value, tick_path])
#Store the tick_length for the marker area
self.tick_length = math.sqrt((x - x_new)**2 + (y - y_new)**2)
def val2deg(self, value):
return self.length * ((value - self.min) / abs(self.max - self.min))
def val2deg_tuple(self, t):
return map(self.val2deg, t)
def deg2val(self, degrees):
#Convert the given degress relative to the start_angle to the respective value
return abs(self.max - self.min) * (degrees / self.length) + self.min
def mouseReleaseEvent(self, e):
self.mouseMoveEvent(e)
def mouseMoveEvent(self, e):
#marker_line and marker_value dont exist before the first call of this function
click_pos = e.posF()
x_coeff = (click_pos.x() - self.center.x())**2
y_coeff = (click_pos.y() - self.center.y())**2
dist = math.sqrt(x_coeff + y_coeff)
w = self.bounding_rect.width() / 2
if w - self.tick_length <= dist <= w:
#Find the angle between the start angle and the click point
angle = self.angle_from_zero(self.center, click_pos,
self.start_angle)
#Return if the user clicked outside of the allowed range
if self.deg2val(angle) > self.max or self.deg2val(
angle) < self.min:
return
self.set_marker(self.deg2val(angle))
def angle_from_zero(self, p1, p2, offset):
angle = math.degrees(math.atan2(p1.y() - p2.y(), p2.x() - p1.x()))
if angle < 0:
angle += 360
angle = offset - angle
if angle < 0:
angle += 360
return angle
def set_marker(self, value):
#New values: marker_point
#Emit the new value
self.marker_value = max(min(value, self.max), self.min)
self.marker_set.emit([self.description, self.marker_value])
#Round it for presentation purposes
self.marker_value = round(self.marker_value, 2)
#Create the marker line
p = QtGui.QPainterPath()
p.arcMoveTo(self.bounding_rect, self.start_angle - self.val2deg(value))
self.marker_point = p.currentPosition()
self.draw_marker(y=3)
def compute_marker_rotation(self):
#Marker_point is already set and ready for use
return self.angle_from_zero(self.center, self.marker_point, 90)
def draw_marker(self, x=0, y=0, size=10):
poly = QtGui.QPolygonF()
poly.append(QtCore.QPointF(x - size, y))
poly.append(QtCore.QPointF(x + size, y))
poly.append(QtCore.QPointF(x + size, y - size))
poly.append(QtCore.QPointF(x, y))
poly.append(QtCore.QPointF(x - size, y - size))
poly.append(QtCore.QPointF(x - size, y))
self.marker_line = QtGui.QPainterPath()
self.marker_line.addPolygon(poly)
self.update()
def update_plot(self):
dump, value = self._rosdata.next()
self.value_uncap = round(value.pop(), 1)
#print value
if len(value) > 0:
self.set_gauge(self.value_uncap)
self.update_plot_timer.start(self.redraw_interval)
def set_gauge(self, value):
#Clamp between [min, max]
self.curr_value = round(max(min(value, self.max), self.min), 1)
p = QtGui.QPainterPath()
p.arcMoveTo(self.bounding_rect,
self.start_angle - self.val2deg(self.curr_value))
x, y = p.currentPosition().x(), p.currentPosition().y()
self.gauge_line = QtGui.QPainterPath()
self.gauge_line.moveTo(self.center)
self.gauge_line.lineTo(x, y)
self.update()
def increment_gauge(self, step):
#Clamp between (min, max)
self.curr_value = max(min(self.curr_value + step, self.max), self.min)
p = QtGui.QPainterPath()
p.arcMoveTo(self.bounding_rect,
self.start_angle - self.val2deg(self.curr_value))
x, y = p.currentPosition().x(), p.currentPosition().y()
self.gauge_line = QtGui.QPainterPath()
self.gauge_line.moveTo(self.center)
self.gauge_line.lineTo(x, y)
self.update()
def set_bg_color(self):
#Determine the zone that the gauge arrow is inside
#Is it in a warning zone?
for w in self.warning:
if w[0] <= self.curr_value <= w[1]:
self.current_bg = self.warning_bg
return
#Or a danger zone?
for d in self.danger:
if d[0] <= self.curr_value <= d[1]:
self.current_bg = self.danger_bg
return
#Don't be scared, you're safe!
self.current_bg = QtCore.Qt.black
def paintEvent(self, event):
def center_text(text):
rect = painter.boundingRect(self.bounding_rect,
QtCore.Qt.AlignHCenter, text)
return rect.width() / 2
painter = QtGui.QPainter(self)
painter.setRenderHint(QtGui.QPainter.Antialiasing)
#Draw the background
self.set_bg_color()
painter.fillRect(event.rect(), self.current_bg)
painter.setBrush(QtCore.Qt.transparent)
painter.setPen(self.gauge_color)
painter.drawPath(self.gauge_line)
#Draw the safe zones
painter.setPen(self.ui_color)
for s in self.gauge_safe:
painter.drawPath(s)
#Draw the warning zones
painter.setPen(self.warning_color)
for w in self.gauge_warning:
painter.drawPath(w)
#Draw the danger zones
painter.setPen(self.danger_color)
for d in self.gauge_danger:
painter.drawPath(d)
#Draw the marker line
if getattr(self, 'marker_line', None):
painter.setPen(self.marker_tick_color)
painter.translate(self.marker_point)
painter.rotate(self.compute_marker_rotation())
painter.drawPath(self.marker_line)
painter.resetTransform()
#Draw the center circle
painter.setPen(self.ui_color)
painter.drawEllipse(self.center.x() - self.center_radius / 2,
self.center.y() - self.center_radius / 2,
self.center_radius, self.center_radius)
#Draw the paths
painter.setPen(self.ui_color_tick)
for i, path in enumerate(self.gauge_ticks):
if not (self.is_circle and i == (len(self.gauge_ticks))):
painter.drawText(path[0], str(int(path[1])))
painter.drawPath(path[2])
#Draw the text labels
painter.drawText(
QtCore.QPointF(
self.center.x() - center_text(str(self.value_uncap)),
self.center.y() - 40), str(self.value_uncap))
painter.drawText(
QtCore.QPointF(self.center.x() - center_text(self.multiplier),
self.center.y() + 20 + self.margin),
self.multiplier)
painter.drawText(
QtCore.QPointF(self.center.x() - center_text(self.units),
self.center.y() + 20 + self.margin * 2), self.units)
painter.drawText(
QtCore.QPointF(self.center.x() - center_text(self.description),
self.center.y() + 20 + self.margin * 3),
self.description)
painter.setPen(self.marker_tick_color)
if getattr(self, 'marker_value', None):
painter.drawText(
QtCore.QPointF(
self.center.x() - center_text(str(self.marker_value)),
self.center.y() - 20), str(self.marker_value))
QtGui.QWidget.paintEvent(self, event)
