def paintEvent(self, event):
with self.lock:
self.event = event
rect = event.rect()
qp = QPainter()
qp.begin(self)
radius = min(rect.width(), rect.height()) - 50
qp.setFont(QFont('Helvetica', 100))
qp.setPen(QPen(QBrush(QColor(255, 255, 255)), 20))
if self.is_disabled:
qp.fillRect(rect, self._DISABLED_COLOR)
qp.drawText(rect, QtCore.Qt.AlignCenter, self._FROWN)
elif self.is_blackout:
qp.fillRect(rect, self._BLACKOUT_COLOR)
qp.drawText(rect, QtCore.Qt.AlignCenter, self._FROWN)
time_diff = (self.next_whiteout_time - rospy.Time.now()).to_sec()
if time_diff < 0:
time_diff = 0
time_ratio = time_diff / (self.next_whiteout_time - self.blackout_time).to_sec()
qp.setFont(QFont('Helvetica', 30))
qp.drawText(0, rect.height() - 150, rect.width(), 150, QtCore.Qt.AlignCenter, "%.1f sec" % time_diff)
# 0-360
if time_ratio > 0:
rad = int(math.fmod(time_ratio * 360 + 90*16, 360) * 16)
qp.drawArc((rect.width() - radius) / 2, (rect.height() - radius) / 2, radius, radius, 90*16, rad)
else:
qp.fillRect(rect, self._OK_COLOR)
qp.drawText(rect, QtCore.Qt.AlignCenter, self._SMILEY)
qp.end()
def paintEvent(self, event):
geom = super(AxisWidget, self).geometry()
h = geom.height()
w = geom.width()
box = QRect(2, 2, w - 4, h - 4)
horiz = QLine(2, h / 2, w - 2, h / 2)
vert = QLine(w / 2, 2, w / 2, h - 2)
targ = QPoint(self._x * (w - 4) / 2 + w / 2,
self._y * (h - 4) / 2 + h / 2)
plt = super(AxisWidget, self).palette()
linebrsh = plt.dark()
targetbrsh = plt.highlight()
linepen = QPen(linebrsh, 1, Qt.SolidLine, Qt.SquareCap)
targetpen = QPen(targetbrsh, 2, Qt.SolidLine, Qt.SquareCap)
qp = QPainter()
qp.begin(self)
qp.setPen(linepen)
qp.drawRect(box)
qp.drawLine(horiz)
qp.drawLine(vert)
qp.setPen(targetpen)
qp.drawEllipse(targ, 10, 10)
qp.end()
def paintEvent(self,event):
super(JoystickPointView,self).paintEvent(event)
try:
if self._initialized:
pass
except:
self._origPos = self.pos()
self._initialized = True
qp = QPainter()
qp.begin(self)
borderWidth = 2
radius = self.height()/2
center = QtCore.QPoint(self.height()/2,self.width()/2)
# Outer Circle
qp.setRenderHint(QPainter.Antialiasing, True)
qp.setPen(QPen(QtCore.Qt.darkGray, borderWidth, QtCore.Qt.SolidLine, QtCore.Qt.RoundCap,QtCore.Qt.RoundJoin))
qp.setBrush(QBrush(QtCore.Qt.white, QtCore.Qt.SolidPattern))
qp.drawEllipse(center,radius-borderWidth,radius-borderWidth)
# Inner Circle
qp.setPen(QPen(QtCore.Qt.lightGray, borderWidth, QtCore.Qt.SolidLine, QtCore.Qt.RoundCap,QtCore.Qt.RoundJoin))
qp.setBrush(QBrush(QtCore.Qt.white, QtCore.Qt.SolidPattern))
qp.drawEllipse(center,radius-borderWidth-1,radius-borderWidth-1)
qp.end()
def paintEvent(self, event):
painter = QPainter(self)
#painter.setPen(QtCore.Qt.black)
#painter.translate(self.x(), self.y())
painter.rotate(self.angle)
painter.drawPixmap(0, 0, self.width(), self.height(), self._pixmap)
painter.end()
def paintEvent(self,event):
if not self._initialized:
self.placeStickAtCenter()
self._initialized = True
borderWidth = 1
joyRange = 80
center = QtCore.QPoint(self.height()/2,self.width()/2)
qp = QPainter()
qp.begin(self)
qp.setRenderHint(QPainter.Antialiasing, True)
qp.setPen(QPen(QtCore.Qt.lightGray, borderWidth, QtCore.Qt.SolidLine, QtCore.Qt.RoundCap,QtCore.Qt.RoundJoin))
if self._mode == "circle":
qp.drawEllipse(center,joyRange,joyRange)
if self._mode == "square":
x = center.x() - joyRange
y = center.y() - joyRange
width = joyRange * 2
height = joyRange * 2
qp.drawRect(x,y,width,height)
qp.end()
super(JoystickView,self).paintEvent(event)
def paintEvent(self, event):
with self.lock:
self.event = event
rect = event.rect()
qp = QPainter()
qp.begin(self)
radius = min(rect.width(), rect.height()) - 50
qp.setFont(QFont('Helvetica', 100))
qp.setPen(QPen(QBrush(QColor(255, 255, 255)), 20))
if self.is_disabled:
qp.fillRect(rect, self._DISABLED_COLOR)
qp.drawText(rect, QtCore.Qt.AlignCenter, self._FROWN)
elif self.is_blackout:
qp.fillRect(rect, self._BLACKOUT_COLOR)
qp.drawText(rect, QtCore.Qt.AlignCenter, self._FROWN)
time_diff = (self.next_whiteout_time - rospy.Time.now()).to_sec()
if time_diff < 0:
time_diff = 0
time_ratio = time_diff / (self.next_whiteout_time - self.blackout_time).to_sec()
qp.setFont(QFont('Helvetica', 30))
qp.drawText(0, rect.height() - 150, rect.width(), 150, QtCore.Qt.AlignCenter, "%.1f sec" % time_diff)
# 0-360
if time_ratio > 0:
rad = int(math.fmod(time_ratio * 360 + 90*16, 360) * 16)
qp.drawArc((rect.width() - radius) / 2, (rect.height() - radius) / 2, radius, radius, 90*16, rad)
else:
qp.fillRect(rect, self._OK_COLOR)
qp.drawText(rect, QtCore.Qt.AlignCenter, self._SMILEY)
qp.end()
def image_paint_event(self, data):
self.image_paint_event_original(data)
if self._cv_image is None:
return;
img = self._cv_image
painter = QPainter(self.imageFrame)
painter.drawImage(data.rect(), img)
painter.end()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as image'), 'rosgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as image'), 'rospackgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
def paintEvent(self, event):
contents_y = self.edit.verticalScrollBar().value()
page_bottom = contents_y + self.edit.viewport().height()
font_metrics = self.fontMetrics()
current_block = self.edit.document().findBlock(
self.edit.textCursor().position())
painter = QPainter(self)
painter.setPen(Qt.darkGray)
line_count = 0
first_pos = -1
posdiff = 0
# Iterate over all text blocks in the document.
block = self.edit.document().begin()
while block.isValid():
line_count += 1
# the top left position of the block in the document
if posdiff == 0:
position_y = self.edit.document().documentLayout(
).blockBoundingRect(block).topLeft().y()
if first_pos == -1:
first_pos = position_y
else:
posdiff = position_y - first_pos
else:
position_y += posdiff
# check if the position of the block is out side of visible area
if position_y > page_bottom:
break
# we want the line number for the selected line to be bold.
bold = False
if block == current_block:
bold = True
font = painter.font()
font.setBold(True)
painter.setFont(font)
painter.setPen(Qt.black)
# Draw the line number right justified at the y position of the
# line. 3 is the magic padding number. drawText(x, y, text)
painter.drawText(
self.width() - font_metrics.width(str(line_count)) - 3,
position_y - contents_y + font_metrics.ascent(),
str(line_count))
if bold:
font = painter.font()
font.setBold(False)
painter.setFont(font)
painter.setPen(Qt.darkGray)
block = block.next()
self.highest_line = line_count
painter.end()
QWidget.paintEvent(self, event)
def mouseMoveEvent(self, event):
'''
Determine if the current movement is a drag. If it is, convert it into a QDrag. If the
drag ends inside the tab bar, emit an move_tab_signal. If the drag ends outside the tab
bar, emit an detach_tab_signal.
'''
# Determine if the current movement is detected as a drag
if not self.drag_start_pos.isNull() and ((event.pos() - self.drag_start_pos).manhattanLength() > QApplication.startDragDistance()):
self.drag_initiated = True
# If the current movement is a drag initiated by the left button
if ((event.buttons() & Qt.LeftButton)) and self.drag_initiated:
# Stop the move event
finishMoveEvent = QMouseEvent(QEvent.MouseMove, event.pos(), Qt.NoButton, Qt.NoButton, Qt.NoModifier)
QTabBar.mouseMoveEvent(self, finishMoveEvent)
# Convert the move event into a drag
drag = QDrag(self)
mime_data = QMimeData()
mime_data.setData('action', b'application/tab-detach')
drag.setMimeData(mime_data)
# Create the appearance of dragging the tab content
# tab_index = self.tabAt(self.drag_start_pos)
pixmap = self.parentWidget().grab()
targetPixmap = QPixmap(pixmap.size())
targetPixmap.fill(Qt.transparent)
painter = QPainter(targetPixmap)
painter.setOpacity(0.85)
painter.drawPixmap(0, 0, pixmap)
painter.end()
drag.setPixmap(targetPixmap)
# Initiate the drag
dropAction = drag.exec_(Qt.MoveAction | Qt.CopyAction)
# If the drag completed outside of the tab bar, detach the tab and move
# the content to the current cursor position
if dropAction == Qt.IgnoreAction:
event.accept()
self.detach_tab_signal.emit(self.tabAt(self.drag_start_pos), self.mouse_cursor.pos(), False)
elif dropAction == Qt.MoveAction:
# else if the drag completed inside the tab bar, move the selected tab to the new position
if not self.drag_droped_pos.isNull():
self.move_tab_signal.emit(self.tabAt(self.drag_start_pos), self.tabAt(self.drag_droped_pos))
else:
# else if the drag completed inside the tab bar new TabBar, move the selected tab to the new TabBar
self.detach_tab_signal.emit(self.tabAt(self.drag_start_pos), self.mouse_cursor.pos(), False)
event.accept()
else:
QTabBar.mouseMoveEvent(self, event)
def save_svg_to_file(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr("Save as SVG"), "stackmachine.svg",
self.tr("Scalable Vector Graphic (*.svg)"))
if file_name is not None and file_name != "":
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as SVG'), 'rosgraph.svg', self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def paintEvent(self, event):
p = QPainter()
p.begin(self)
if self.velocity < 0:
p.setBrush(self.brushGreen)
p.setPen(self.penGreen)
else:
p.setBrush(self.brushRed)
p.setPen(self.penRed)
p.drawPie(0, 0, self.width(), self.height(), self.angle, self.velocity)
p.end()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as SVG'), 'rospackgraph.svg', self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _export(self):
file_name, _ = QFileDialog.getSaveFileName(
self, self.tr("Save as image"), "graph.png", self.tr("Image (*.bmp *.jpg *.png *.tiff)")
)
if file_name is None or file_name == "":
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
def make_icon(self, image_list, mode=QIcon.Normal, state=QIcon.On):
"""
Helper function to create QIcons from lists of image files
Warning: svg files interleaved with other files will not render correctly
:param image_list: list of image paths to layer into an icon.
:type image: list of str
:param mode: The mode of the QIcon to be created.
:type mode: int
:param state: the state of the QIcon to be created.
:type state: int
"""
if type(image_list) is not list:
image_list = [image_list]
if len(image_list) <= 0:
raise TypeError('The list of images is empty.')
num_svg = 0
for item in image_list:
if item[-4:].lower() == '.svg':
num_svg = num_svg + 1
if num_svg != len(image_list):
# Legacy support for non-svg images
icon_pixmap = QPixmap()
icon_pixmap.load(image_list[0])
painter = QPainter(icon_pixmap)
for item in image_list[1:]:
painter.drawPixmap(0, 0, QPixmap(item))
icon = QIcon()
icon.addPixmap(icon_pixmap, mode, state)
painter.end()
return icon
else:
# rendering SVG files into a QImage
renderer = QSvgRenderer(image_list[0])
icon_image = QImage(renderer.defaultSize(), QImage.Format_ARGB32)
icon_image.fill(0)
painter = QPainter(icon_image)
renderer.render(painter)
if len(image_list) > 1:
for item in image_list[1:]:
renderer.load(item)
renderer.render(painter)
painter.end()
# Convert QImage into a pixmap to create the icon
icon_pixmap = QPixmap()
icon_pixmap.convertFromImage(icon_image)
icon = QIcon(icon_pixmap)
return icon
def updateOverlay(self, rect=None):
# Redraw the overlay image from scratch using the location image and current location.
self.image.overlay_image.fill(Qt.transparent)
painter = QPainter(self.image.overlay_image)
painter.setBackgroundMode(Qt.TransparentMode)
painter.setCompositionMode(QPainter.CompositionMode_Source)
for location in self.locations:
if self.draw_location[location]:
color = self.location_colors[location]
if self.edit_properties_location == location and self.editing_properties:
color = self.edit_area_selection_color
lineColor = QColor(color)
lineColor.setAlpha(255)
brushColor = QColor(color)
brushColor.setAlpha(128)
painter.setPen(lineColor)
painter.setBrush(brushColor)
painter.drawPolygon(self.locations[location])
if (self.current_selection is not None) or (self.new_selection
is not None):
lineColor = QColor(self.edit_area_selection_color)
lineColor.setAlpha(255)
brushColor = QColor(self.edit_area_selection_color)
brushColor.setAlpha(128)
painter.setPen(lineColor)
painter.setBrush(brushColor)
if self.new_selection is not None:
# Create a temporary polygon as the new selection is being drawn.
if self.current_selection is not None:
current_selection = QPolygon(self.current_selection)
if self.subtract_new_selection:
current_selection = current_selection.subtracted(
self.new_selection)
else:
current_selection = current_selection.united(
self.new_selection)
painter.drawPolygon(current_selection)
elif self.subtract_new_selection == False:
painter.drawPolygon(self.new_selection)
else:
painter.drawPolygon(self.current_selection)
painter.end()
if rect is None:
self.image.update()
else:
self.image.update(rect)
def make_icon(self, image_list, mode=QIcon.Normal, state=QIcon.On):
"""
Helper function to create QIcons from lists of image files
Warning: svg files interleaved with other files will not render correctly
:param image_list: list of image paths to layer into an icon.
:type image: list of str
:param mode: The mode of the QIcon to be created.
:type mode: int
:param state: the state of the QIcon to be created.
:type state: int
"""
if type(image_list) is not list:
image_list = [image_list]
if len(image_list) <= 0:
raise TypeError('The list of images is empty.')
num_svg = 0
for item in image_list:
if item[-4:].lower() == '.svg':
num_svg = num_svg + 1
if num_svg != len(image_list):
# Legacy support for non-svg images
icon_pixmap = QPixmap()
icon_pixmap.load(image_list[0])
painter = QPainter(icon_pixmap)
for item in image_list[1:]:
painter.drawPixmap(0, 0, QPixmap(item))
icon = QIcon()
icon.addPixmap(icon_pixmap, mode, state)
painter.end()
return icon
else:
# rendering SVG files into a QImage
renderer = QSvgRenderer(image_list[0])
icon_image = QImage(renderer.defaultSize(), QImage.Format_ARGB32)
icon_image.fill(0)
painter = QPainter(icon_image)
renderer.render(painter)
if len(image_list) > 1:
for item in image_list[1:]:
renderer.load(item)
renderer.render(painter)
painter.end()
# Convert QImage into a pixmap to create the icon
icon_pixmap = QPixmap()
icon_pixmap.convertFromImage(icon_image)
icon = QIcon(icon_pixmap)
return icon
def updateOverlay(self, rect = None):
# Redraw the overlay image from scratch using the location image and current location.
self.image.overlay_image.fill(Qt.transparent)
painter = QPainter(self.image.overlay_image)
painter.setBackgroundMode(Qt.TransparentMode)
painter.setCompositionMode(QPainter.CompositionMode_Source)
for location in self.locations:
if self.draw_location[location]:
color = self.location_colors[location]
if self.edit_properties_location == location and self.editing_properties:
color = self.edit_area_selection_color
lineColor = QColor(color)
lineColor.setAlpha(255)
brushColor = QColor(color)
brushColor.setAlpha(128)
painter.setPen(lineColor)
painter.setBrush(brushColor)
painter.drawPolygon(self.locations[location])
if (self.current_selection is not None) or (self.new_selection is not None):
lineColor = QColor(self.edit_area_selection_color)
lineColor.setAlpha(255)
brushColor = QColor(self.edit_area_selection_color)
brushColor.setAlpha(128)
painter.setPen(lineColor)
painter.setBrush(brushColor)
if self.new_selection is not None:
# Create a temporary polygon as the new selection is being drawn.
if self.current_selection is not None:
current_selection = QPolygon(self.current_selection)
if self.subtract_new_selection:
current_selection = current_selection.subtracted(self.new_selection)
else:
current_selection = current_selection.united(self.new_selection)
painter.drawPolygon(current_selection)
elif self.subtract_new_selection == False:
painter.drawPolygon(self.new_selection)
else:
painter.drawPolygon(self.current_selection)
painter.end()
if rect is None:
self.image.update()
else:
self.image.update(rect)
def paintEvent(self,event=None):
#global mouse_is_pressed
w_height = self.frameGeometry().height()
w_width = self.frameGeometry().width()
if w_height > w_width:
diam = w_width
else:
diam = w_height
radius = int(diam / 2) - 10
start_x = w_width/2 - radius
start_y = w_height/2 - radius
line1_x1 = w_width/2 + radius*0.707
line1_x2 = w_width/2 - radius*0.707
line1_y1 = w_height/2 - radius*0.707
line1_y2 = w_height/2 + radius*0.707
line2_x1 = w_width/2 - radius*0.707
line2_x2 = w_width/2 + radius*0.707
line2_y1 = line1_y1
line2_y2 = line1_y2
painter=QPainter()
painter.begin(self)
painter.setPen(QPen(Qt.black))
painter.drawLine(line1_x1, line1_y1, line1_x2, line1_y2) #cross
painter.drawLine(line2_x1, line2_y1, line2_x2, line2_y2)
painter.drawEllipse(start_x,start_y , (radius*2), (radius*2))
if self.mouse_is_pressed == True:
painter.setBrush(Qt.blue)
rad = self.get_radius(w_width, w_height, self.cursor_pos)
pos = self.get_pos(w_width, w_height, self.cursor_pos)
if (radius < rad):
rad = radius
self.draw_arc(painter, w_width, w_height, pos, rad)
self.cur_nradius = rad*1.0/radius
self.cur_sector = pos
else:
self.cur_nradius = 0.0
self.cur_sector = 0.0
painter.end()
#print self.mouse_is_pressed
pass
def paintEvent(self, event):
with self.lock:
if self.status == 1:
color = self._SUCCESS_COLOR
elif self.status == 2:
color = self._WARN_COLOR
else:
color = self._UNKNOWN_COLOR
rect = event.rect()
qp = QPainter()
qp.begin(self)
radius = min(rect.width(), rect.height()) - 100
qp.setFont(QFont('Helvetica', 100))
qp.setPen(QPen(QBrush(color), 50))
qp.setBrush(color)
qp.drawEllipse((rect.width() - radius) / 2,
(rect.height() - radius) / 2, radius, radius)
qp.end()
return
def paintEvent(self, event):
with self.lock:
if self.status == 1:
color = self._SUCCESS_COLOR
elif self.status == 2:
color = self._WARN_COLOR
else:
color = self._UNKNOWN_COLOR
rect = event.rect()
qp = QPainter()
qp.begin(self)
radius = min(rect.width(), rect.height()) - 100
qp.setFont(QFont('Helvetica', 100))
qp.setPen(QPen(QBrush(color), 50))
qp.setBrush(color)
qp.drawEllipse((rect.width() - radius) / 2, (rect.height() - radius) / 2,
radius, radius)
qp.end()
return
def paintEvent(self, event):
contents_y = self.edit.verticalScrollBar().value()
page_bottom = contents_y + self.edit.viewport().height()
font_metrics = self.fontMetrics()
current_block = self.edit.document().findBlock(self.edit.textCursor().position())
painter = QPainter(self)
painter.setPen(Qt.darkGray)
line_count = 0
# Iterate over all text blocks in the document.
block = self.edit.document().begin()
while block.isValid():
line_count += 1
# the top left position of the block in the document
position = self.edit.document().documentLayout().blockBoundingRect(block).topLeft()
# check if the position of the block is out side of visible area
if position.y() > page_bottom:
break
# we want the line number for the selected line to be bold.
bold = False
if block == current_block:
bold = True
font = painter.font()
font.setBold(True)
painter.setFont(font)
painter.setPen(Qt.black)
# Draw the line number right justified at the y position of the
# line. 3 is the magic padding number. drawText(x, y, text)
painter.drawText(
self.width() - font_metrics.width(str(line_count)) - 3,
round(position.y()) - contents_y + font_metrics.ascent() + self.edit.document().documentMargin(),
str(line_count),
)
if bold:
font = painter.font()
font.setBold(False)
painter.setFont(font)
painter.setPen(Qt.darkGray)
block = block.next()
self.highest_line = line_count
painter.end()
QWidget.paintEvent(self, event)
def writeLocationsToFile(self):
out_dict = {}
out_dict["locations"] = self.locations.keys()
out_dict["locations"] = sorted(out_dict["locations"])
out_dict["polygons"] = []
for index, key in enumerate(sorted(self.locations)):
out_dict["polygons"].append([])
polygon = self.locations[key]
for i in range(polygon.size()):
pt = polygon.point(i)
scaled_pt = scalePoint(pt, self.image_size, self.map_size)
out_dict["polygons"][index].append(scaled_pt.x())
out_dict["polygons"][index].append(scaled_pt.y())
data_directory = os.path.dirname(os.path.realpath(self.location_file))
image_file = getLocationsImageFileLocationFromDataDirectory(
data_directory)
# Create an image with the location data, so that C++ programs don't need to rely on determining regions using polygons.
out_dict["data"] = 'locations.pgm'
location_image = QImage(self.map_size, QImage.Format_RGB32)
location_image.fill(Qt.white)
painter = QPainter(location_image)
for index, key in enumerate(self.locations):
if index > 254:
rospy.logerr(
"You have more than 254 locations, which is unsupported by the bwi_planning_common C++ code!"
)
painter.setPen(Qt.NoPen)
painter.setBrush(QColor(index, index, index))
scaled_polygon = scalePolygon(self.locations[key], self.image_size,
self.map_size)
painter.drawPolygon(scaled_polygon)
painter.end()
location_image.save(image_file)
stream = open(self.location_file, 'w')
yaml.dump(out_dict, stream)
stream.close()
self.is_modified = False
def writeLocationsToFile(self):
out_dict = {}
out_dict["locations"] = self.locations.keys()
out_dict["polygons"] = []
for index, location in enumerate(self.locations):
out_dict["polygons"].append([])
for i in range(self.locations[location].size()):
pt = self.locations[location].point(i)
scaled_pt = scalePoint(pt, self.image_size, self.map_size)
out_dict["polygons"][index].append(scaled_pt.x())
out_dict["polygons"][index].append(scaled_pt.y())
data_directory = os.path.dirname(os.path.realpath(self.location_file))
image_file = getLocationsImageFileLocationFromDataDirectory(data_directory)
# Create an image with the location data, so that C++ programs don't need to rely on determining regions using polygons.
out_dict["data"] = 'locations.pgm'
location_image = QImage(self.map_size, QImage.Format_RGB32)
location_image.fill(Qt.white)
painter = QPainter(location_image)
for index, location in enumerate(self.locations):
if index > 254:
rospy.logerr("You have more than 254 locations, which is unsupported by the bwi_planning_common C++ code!")
painter.setPen(Qt.NoPen)
painter.setBrush(QColor(index, index, index))
scaled_polygon = scalePolygon(self.locations[location], self.image_size, self.map_size)
painter.drawPolygon(scaled_polygon)
painter.end()
location_image.save(image_file)
stream = open(self.location_file, 'w')
yaml.dump(out_dict, stream)
stream.close()
self.is_modified = False
def paintEvent(self, event):
painter = QPainter(self)
painter.drawImage(event.rect(), self.map_image, event.rect())
painter.drawImage(event.rect(), self.overlay_image, event.rect())
painter.end()
def paintEvent(self, event):
painter = QPainter(self)
painter.drawImage(event.rect(), self.map_image, event.rect())
painter.drawImage(event.rect(), self.overlay_image, event.rect())
painter.end()
def paintEvent(self, event, ctx=None):
if ctx is None:
ctx = QPainter(self)
self.face.paint(ctx)
ctx.end()
def redraw(self, event):
"""
Draw timeline's "cells" (ie. boxes that represent seconds).
Taken from robot_monitor.message_timeline.on_paint
@deprecated: This way (using QPainter) didn't work as intended.
"""
#super(TimelineView, self).paintEvent(event)
# painter = QPainter(self)
## This yields warning that says:
## "QPainter::begin: Widget painting can only begin as a result of a paintEvent"
painter = QPainter()
painter.begin(self.viewport())
pen = QPen(
Qt.black,
2) #, Qt.SolidLine, Qt.RoundCap, Qt.RoundJoin) # Needs modified.
painter.setPen(pen)
is_enabled = self.isEnabled()
#(width_tl, height_tl) = self.size()
qsize = self.size()
width_tl = qsize.width()
height_tl = qsize.height()
length_tl = self._max_num_seconds + 1 - self._min_num_seconds
rospy.logdebug('paintEvent is_enabled=%s length_tl=%d', is_enabled,
length_tl)
value_size = width_tl / float(length_tl)
for i in xrange(0, length_tl):
brush = None
color_index = i + self._min_num_seconds
if (is_enabled):
qcolor = self._color_callback(color_index)
else:
qcolor = QColor('grey')
end_color = QColor(0.5 * QColor('red').value(),
0.5 * QColor('green').value(),
0.5 * QColor('blue').value())
#painter.setBrush(qcolor)
painter.setBrush(QBrush(qcolor))
start = i * value_size
end = (i + 1) * value_size
rect = QRect(start, 0, end, height_tl)
# dc.GradientFillLinear(wx.Rect(start, 0, end, height_tl),
# qcolor, end_color, wx.SOUTH)
rospy.logdebug('paintEvent i=%d start=%s end=%s height_tl=%s', i,
start, end, height_tl)
#painter.fillRect(QRect(start, end, 100, height_tl), qcolor)
painter.fillRect(rect, qcolor)
if (i > 0):
# dc.SetPen(wx.BLACK_PEN)
pen.setColor(Qt.black)
# dc.DrawLine(start, 0, start, height_tl)
painter.drawLine(start, 0, start, height_tl)
size_marker = QSize(20, 20)
marker_x = (
(self._xpos_marker - 1) * value_size + (value_size / 2.0) -
(self._timeline_marker.actualSize(size_marker).width() / 2.0))
# dc.DrawBitmap(self._timeline_marker, marker_x, 0, True)
qrect = QRect(marker_x, 0, size_marker.width(), size_marker.height())
self._timeline_marker.paint(painter, qrect)
rospy.logdebug(' paintEvent marker_x=%s', marker_x)
painter.end()