class BaseCanvas(QWidget):
"""The subclass can draw a blank canvas more easier."""
def __init__(self, parent: QWidget):
"""Set the parameters for drawing."""
super(BaseCanvas, self).__init__(parent)
self.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding))
self.setFocusPolicy(Qt.StrongFocus)
self.painter = QPainter()
# Origin coordinate.
self.ox = self.width() / 2
self.oy = self.height() / 2
# Canvas zoom rate.
self.rate = 2.
self.zoom = 2. * self.rate
# Joint size.
self.joint_size = 3
# Canvas line width.
self.link_width = 3
self.path_width = 3
# Font size.
self.font_size = 15
# Show point mark or dimension.
self.show_point_mark = True
self.show_dimension = True
# Path track.
self.Path = _Path()
# Path solving.
self.target_path = {}
self.show_target_path = False
# Background
self.background = QImage()
self.background_opacity = 1.
self.background_scale = 1
self.background_offset = QPointF(0, 0)
def paintEvent(self, event):
"""Using a QPainter under 'self',
so just change QPen or QBrush before painting.
"""
self.painter.begin(self)
self.painter.fillRect(event.rect(), QBrush(Qt.white))
# Translation
self.painter.translate(self.ox, self.oy)
# Background
if not self.background.isNull():
rect = self.background.rect()
self.painter.setOpacity(self.background_opacity)
img_origin: QPointF = self.background_offset * self.zoom
self.painter.drawImage(
QRectF(img_origin, QSizeF(
rect.width() * self.background_scale * self.zoom,
rect.height() * self.background_scale * self.zoom
)),
self.background,
QRectF(rect)
)
self.painter.setOpacity(1)
# Show frame.
pen = QPen(Qt.blue)
pen.setWidth(1)
self.painter.setPen(pen)
self.painter.setFont(QFont("Arial", self.font_size))
# Draw origin lines.
pen.setColor(Qt.gray)
self.painter.setPen(pen)
x_l = -self.ox
x_r = self.width() - self.ox
self.painter.drawLine(QPointF(x_l, 0), QPointF(x_r, 0))
y_t = self.height() - self.oy
y_b = -self.oy
self.painter.drawLine(QPointF(0, y_b), QPointF(0, y_t))
def indexing(v):
"""Draw tick."""
return int(v / self.zoom - v / self.zoom % 5)
for x in range(indexing(x_l), indexing(x_r) + 1, 5):
self.painter.drawLine(
QPointF(x, 0) * self.zoom,
QPointF(x * self.zoom, -10 if x % 10 == 0 else -5)
)
for y in range(indexing(y_b), indexing(y_t) + 1, 5):
self.painter.drawLine(
QPointF(0, y) * self.zoom,
QPointF(10 if y % 10 == 0 else 5, y * self.zoom)
)
# Please to call the "end" method when ending paint event.
# self.painter.end()
def drawPoint(
self,
i: int,
cx,
cy,
fix: bool,
color: QColor
):
"""Draw a joint."""
pen = QPen(color)
pen.setWidth(2)
self.painter.setPen(pen)
x = cx * self.zoom
y = cy * -self.zoom
if fix:
bottom = y + 20
width = 10
# Draw a triangle below.
self.painter.drawPolygon(
QPointF(x, y),
QPointF(x - width, bottom),
QPointF(x + width, bottom)
)
r = self.joint_size * 2
else:
r = self.joint_size
self.painter.drawEllipse(QPointF(x, y), r, r)
if not self.show_point_mark:
return
pen.setColor(Qt.darkGray)
pen.setWidth(2)
self.painter.setPen(pen)
text = f"[{i}]" if type(i) == str else f"[Point{i}]"
if self.show_dimension:
text += f":({cx:.02f}, {cy:.02f})"
self.painter.drawText(QPointF(x, y) + QPointF(6, -6), text)
def drawTargetPath(self):
"""Draw solving path."""
pen = QPen()
pen.setWidth(self.path_width)
for i, name in enumerate(sorted(self.target_path)):
path = self.target_path[name]
road, dot, brush = target_path_style(i)
pen.setColor(road)
self.painter.setPen(pen)
self.painter.setBrush(brush)
if len(path) == 1:
x, y = path[0]
p = QPointF(x, -y) * self.zoom
self.painter.drawText(p + QPointF(6, -6), name)
pen.setColor(dot)
self.painter.setPen(pen)
self.painter.drawEllipse(p, self.joint_size, self.joint_size)
else:
painter_path = QPainterPath()
for j, (x, y) in enumerate(path):
p = QPointF(x, -y) * self.zoom
self.painter.drawEllipse(p, self.joint_size, self.joint_size)
if j == 0:
self.painter.drawText(p + QPointF(6, -6), name)
painter_path.moveTo(p)
else:
x2, y2 = path[j - 1]
self.__draw_arrow(x, -y, x2, -y2, zoom=True)
painter_path.lineTo(p)
pen.setColor(road)
self.painter.setPen(pen)
self.painter.drawPath(painter_path)
for x, y in path:
pen.setColor(dot)
self.painter.setPen(pen)
p = QPointF(x, -y) * self.zoom
self.painter.drawEllipse(p, self.joint_size, self.joint_size)
self.painter.setBrush(Qt.NoBrush)
def __draw_arrow(
self,
x1: float,
y1: float,
x2: float,
y2: float,
*,
zoom: bool = False,
text: str = ''
):
"""Front point -> Back point"""
if zoom:
x1 *= self.zoom
y1 *= self.zoom
x2 *= self.zoom
y2 *= self.zoom
a = atan2(y2 - y1, x2 - x1)
x1 = (x1 + x2) / 2 - 7.5 * cos(a)
y1 = (y1 + y2) / 2 - 7.5 * sin(a)
first_point = QPointF(x1, y1)
self.painter.drawLine(first_point, QPointF(
x1 + 15 * cos(a + radians(20)),
y1 + 15 * sin(a + radians(20))
))
self.painter.drawLine(first_point, QPointF(
x1 + 15 * cos(a - radians(20)),
y1 + 15 * sin(a - radians(20))
))
if not text:
return
# Font
font = self.painter.font()
font_copy = QFont(font)
font.setBold(True)
font.setPointSize(font.pointSize() + 8)
self.painter.setFont(font)
# Color
pen = self.painter.pen()
color = pen.color()
pen.setColor(color.darker())
self.painter.setPen(pen)
self.painter.drawText(first_point, text)
pen.setColor(color)
self.painter.setPen(pen)
self.painter.setFont(font_copy)
def drawCurve(self, path: Sequence[Tuple[float, float]]):
"""Draw path as curve."""
if len(set(path)) <= 2:
return
painter_path = QPainterPath()
error = False
for i, (x, y) in enumerate(path):
if isnan(x):
error = True
self.painter.drawPath(painter_path)
painter_path = QPainterPath()
else:
x *= self.zoom
y *= -self.zoom
if i == 0:
painter_path.moveTo(x, y)
self.painter.drawEllipse(QPointF(x, y), self.joint_size, self.joint_size)
continue
if error:
painter_path.moveTo(x, y)
error = False
else:
painter_path.lineTo(x, y)
self.painter.drawPath(painter_path)
def drawDot(self, path: Sequence[Tuple[float, float]]):
"""Draw path as dots."""
if len(set(path)) <= 2:
return
for x, y in path:
if isnan(x):
continue
self.painter.drawPoint(QPointF(x, -y) * self.zoom)
def solutionPolygon(
self,
func: str,
args: Sequence[str],
target: str,
pos: Union[Tuple[VPoint, ...], Dict[int, Tuple[float, float]]]
) -> Tuple[List[QPointF], QColor]:
"""Get solution polygon."""
if func == 'PLLP':
color = QColor(121, 171, 252)
params = [args[0], args[-1]]
elif func == 'PLAP':
color = QColor(249, 84, 216)
params = [args[0]]
else:
if func == 'PLPP':
color = QColor(94, 255, 185)
else:
# PXY
color = QColor(249, 175, 27)
params = [args[0]]
params.append(target)
tmp_list = []
for name in params:
try:
index = int(name.replace('P', ''))
except ValueError:
continue
else:
x, y = pos[index]
tmp_list.append(QPointF(x, -y) * self.zoom)
return tmp_list, color
def drawSolution(
self,
func: str,
args: Sequence[str],
target: str,
pos: Union[Tuple[VPoint, ...], Dict[int, Tuple[float, float]]]
):
"""Draw the solution triangle."""
points, color = self.solutionPolygon(func, args, target, pos)
color.setAlpha(150)
pen = QPen(color)
pen.setWidth(self.joint_size)
self.painter.setPen(pen)
def draw_arrow(index: int, text: str):
"""Draw arrow."""
self.__draw_arrow(
points[-1].x(),
points[-1].y(),
points[index].x(),
points[index].y(),
text=text
)
draw_arrow(0, args[1])
if func == 'PLLP':
draw_arrow(1, args[2])
color.setAlpha(30)
self.painter.setBrush(QBrush(color))
self.painter.drawPolygon(QPolygonF(points))
self.painter.setBrush(Qt.NoBrush)
class BaseCanvas(QWidget):
"""The subclass can draw a blank canvas more easier."""
def __init__(self, parent=None):
super(BaseCanvas, self).__init__(parent)
self.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding))
#Origin coordinate.
self.ox = self.width() / 2
self.oy = self.height() / 2
#Canvas zoom rate.
self.rate = 2
self.zoom = 2 * self.rate
#Joint size.
self.jointsize = 5
#Canvas line width.
self.linkWidth = 3
self.pathWidth = 3
#Font size.
self.fontSize = 15
#Show point mark or dimension.
self.showPointMark = True
self.showDimension = True
#Path track.
self.Path = Path()
#Path solving.
self.targetPath = {}
self.showTargetPath = False
def paintEvent(self, event):
"""Using a QPainter under 'self',
so just change QPen or QBrush before painting.
"""
self.painter = QPainter()
self.painter.begin(self)
self.painter.fillRect(event.rect(), QBrush(Qt.white))
self.painter.translate(self.ox, self.oy)
#Draw origin lines.
pen = QPen(Qt.gray)
pen.setWidth(1)
self.painter.setPen(pen)
x_l = -self.ox
x_r = self.width() - self.ox
self.painter.drawLine(QPointF(x_l, 0), QPointF(x_r, 0))
y_t = self.height() - self.oy
y_b = -self.oy
self.painter.drawLine(QPointF(0, y_b), QPointF(0, y_t))
#Draw tick.
Indexing = lambda v: int(v / self.zoom - (v / self.zoom) % 5)
for x in range(Indexing(x_l), Indexing(x_r) + 1, 5):
self.painter.drawLine(
QPointF(x * self.zoom, 0),
QPointF(x * self.zoom, -10 if x % 10 == 0 else -5))
for y in range(Indexing(y_b), Indexing(y_t) + 1, 5):
self.painter.drawLine(
QPointF(0, y * self.zoom),
QPointF(10 if y % 10 == 0 else 5, y * self.zoom))
"""Please to call the "end" method when ending paint event.
self.painter.end()
"""
def __drawPoint(self, i: int, cx, cy, fix: bool, color: QColor):
"""Draw a joint."""
pen = QPen(color)
pen.setWidth(2)
self.painter.setPen(pen)
x = cx * self.zoom
y = cy * -self.zoom
if fix:
bottom = y + 20
width = 10
#Draw a triangle below.
self.painter.drawPolygon(QPointF(x, y), QPointF(x - width, bottom),
QPointF(x + width, bottom))
self.painter.drawEllipse(QPointF(x, y), width, width)
else:
self.painter.drawEllipse(QPointF(x, y), self.jointsize,
self.jointsize)
if not self.showPointMark:
return
pen.setColor(Qt.darkGray)
pen.setWidth(2)
self.painter.setPen(pen)
self.painter.setFont(QFont("Arial", self.fontSize))
text = "[{}]".format(i) if type(i) == str else "[Point{}]".format(i)
if self.showDimension:
text += ":({:.02f}, {:.02f})".format(cx, cy)
self.painter.drawText(QPointF(x + 6, y - 6), text)
def __drawTargetPath(self):
"""Draw solving path."""
pen = QPen()
pen.setWidth(self.pathWidth)
for i, name in enumerate(sorted(self.targetPath)):
path = self.targetPath[name]
Pen, Dot, Brush = colorPath(i)
pen.setColor(Pen)
self.painter.setPen(pen)
self.painter.setBrush(Brush)
if len(path) > 1:
pointPath = QPainterPath()
for j, (x, y) in enumerate(path):
x *= self.zoom
y *= -self.zoom
self.painter.drawEllipse(QPointF(x, y), RADIUS, RADIUS)
if j == 0:
self.painter.drawText(QPointF(x + 6, y - 6), name)
pointPath.moveTo(x, y)
else:
x2, y2 = path[j - 1]
self.__drawArrow(x, y, x2 * self.zoom, y2 * -self.zoom)
pointPath.lineTo(QPointF(x, y))
self.painter.drawPath(pointPath)
for x, y in path:
pen.setColor(Dot)
self.painter.setPen(pen)
self.painter.drawEllipse(
QPointF(x * self.zoom, y * -self.zoom), RADIUS, RADIUS)
elif len(path) == 1:
x = path[0][0] * self.zoom
y = path[0][1] * -self.zoom
self.painter.drawText(QPointF(x + 6, y - 6), name)
pen.setColor(Dot)
self.painter.setPen(pen)
self.painter.drawEllipse(QPointF(x, y), RADIUS, RADIUS)
self.painter.setBrush(Qt.NoBrush)
def __drawArrow(self, x1: float, y1: float, x2: float, y2: float):
"""Front point -> Back point"""
a = atan2(y2 - y1, x2 - x1)
x1 = (x1 + x2) / 2 - 7.5 * cos(a)
y1 = (y1 + y2) / 2 - 7.5 * sin(a)
self.painter.drawLine(
QPointF(x1, y1),
QPointF(x1 + 15 * cos(a + radians(20)),
y1 + 15 * sin(a + radians(20))))
self.painter.drawLine(
QPointF(x1, y1),
QPointF(x1 + 15 * cos(a - radians(20)),
y1 + 15 * sin(a - radians(20))))
def __drawCurve(self, path: Sequence[Tuple[float, float]]):
"""Draw path as curve."""
pointPath = QPainterPath()
error = False
for i, (x, y) in enumerate(path):
if isnan(x):
error = True
self.painter.drawPath(pointPath)
pointPath = QPainterPath()
else:
x *= self.zoom
y *= -self.zoom
if i == 0:
pointPath.moveTo(x, y)
self.painter.drawEllipse(QPointF(x, y), RADIUS, RADIUS)
continue
if error:
pointPath.moveTo(x, y)
error = False
else:
pointPath.lineTo(x, y)
self.painter.drawPath(pointPath)
def __drawDot(self, path: Sequence[Tuple[float, float]]):
"""Draw path as dots."""
for x, y in path:
if isnan(x):
continue
self.painter.drawPoint(QPointF(x * self.zoom, y * -self.zoom))
def __drawSolution(self, func: str, args: Tuple[str], target: str,
pos: TypeVar('Coords', Tuple[VPoint],
Dict[int, Tuple[float, float]])):
"""Draw the solution triangle."""
if func == 'PLLP':
color = QColor(121, 171, 252)
params = [args[0], args[-1]]
elif func == 'PLAP':
color = QColor(249, 84, 216)
params = [args[0]]
elif func == 'PLPP':
color = QColor(94, 255, 185)
params = [args[0]]
params.append(target)
pen = QPen()
pen.setColor(color)
pen.setWidth(RADIUS)
self.painter.setPen(pen)
def drawArrow(n: int) -> bool:
"""Draw arrow and return True if done."""
try:
x, y = pos[int(params[-1].replace('P', ''))]
x2, y2 = pos[int(params[n].replace('P', ''))]
except ValueError:
return False
else:
self.__drawArrow(x * self.zoom, y * -self.zoom, x2 * self.zoom,
y2 * -self.zoom)
return True
if not drawArrow(0):
return
if func == 'PLLP':
if not drawArrow(1):
return
color.setAlpha(30)
self.painter.setBrush(QBrush(color))
qpoints = []
for name in params:
x, y = pos[int(name.replace('P', ''))]
qpoints.append(QPointF(x * self.zoom, y * -self.zoom))
self.painter.drawPolygon(*qpoints)
self.painter.setBrush(Qt.NoBrush)
class BaseCanvas(QWidget):
"""The subclass can draw a blank canvas more easier."""
def __init__(self, parent=None):
super(BaseCanvas, self).__init__(parent)
self.setSizePolicy(QSizePolicy(
QSizePolicy.Expanding,
QSizePolicy.Expanding
))
#Origin coordinate.
self.ox = self.width()/2
self.oy = self.height()/2
#Canvas zoom rate.
self.rate = 2
self.zoom = 2 * self.rate
#Canvas line width.
self.linkWidth = 3
self.pathWidth = 3
#Font size.
self.fontSize = 10
#Show point mark or dimension.
self.showPointMark = True
self.showDimension = True
#Path track.
self.Path = Path()
#Path solving.
self.targetPath = {}
self.showTargetPath = False
def paintEvent(self, event):
"""Using a QPainter under 'self',
so just change QPen or QBrush before painting.
"""
self.painter = QPainter()
self.painter.begin(self)
self.painter.fillRect(event.rect(), QBrush(Qt.white))
self.painter.translate(self.ox, self.oy)
#Draw origin lines.
pen = QPen(Qt.gray)
pen.setWidth(1)
self.painter.setPen(pen)
x_l = -self.ox
x_r = self.width()-self.ox
self.painter.drawLine(QPointF(x_l, 0), QPointF(x_r, 0))
y_t = self.height()-self.oy
y_b = -self.oy
self.painter.drawLine(QPointF(0, y_b), QPointF(0, y_t))
#Draw tick.
Indexing = lambda v: int(v/self.zoom - (v/self.zoom)%5)
for x in range(Indexing(x_l), Indexing(x_r)+1, 5):
self.painter.drawLine(
QPointF(x*self.zoom, 0),
QPointF(x*self.zoom, -10 if x%10==0 else -5)
)
for y in range(Indexing(y_b), Indexing(y_t)+1, 5):
self.painter.drawLine(
QPointF(0, y*self.zoom),
QPointF(10 if y%10==0 else 5, y*self.zoom)
)
"""Please to call the "end" method when ending paint event.
self.painter.end()
"""
def drawFrame(self):
"""Draw a outer frame."""
positive_x = self.width() - self.ox
positive_y = -self.oy
negative_x = -self.ox
negative_y = self.height() - self.oy
self.painter.drawLine(
QPointF(negative_x, positive_y),
QPointF(positive_x, positive_y)
)
self.painter.drawLine(
QPointF(negative_x, negative_y),
QPointF(positive_x, negative_y)
)
self.painter.drawLine(
QPointF(negative_x, positive_y),
QPointF(negative_x, negative_y)
)
self.painter.drawLine(
QPointF(positive_x, positive_y),
QPointF(positive_x, negative_y)
)
def drawPoint(self,
i: int,
cx,
cy,
fix: bool,
color: QColor
):
"""Draw a joint."""
pen = QPen(color)
pen.setWidth(2)
self.painter.setPen(pen)
x = cx*self.zoom
y = cy*-self.zoom
if fix:
bottom = y + 20
width = 10
#Draw a triangle below.
self.painter.drawPolygon(
QPointF(x, y),
QPointF(x - width, bottom),
QPointF(x + width, bottom)
)
self.painter.drawEllipse(QPointF(x, y), width, width)
else:
self.painter.drawEllipse(QPointF(x, y), 5, 5)
if not self.showPointMark:
return
pen.setColor(Qt.darkGray)
pen.setWidth(2)
self.painter.setPen(pen)
self.painter.setFont(QFont("Arial", self.fontSize))
text = "[{}]".format(i) if type(i)==str else "[Point{}]".format(i)
if self.showDimension:
text += ":({:.02f}, {:.02f})".format(cx, cy)
self.painter.drawText(QPointF(x+6, y-6), text)
def drawTargetPath(self):
"""Draw solving path."""
pen = QPen()
pen.setWidth(self.pathWidth)
for i, name in enumerate(sorted(self.targetPath)):
path = self.targetPath[name]
Pen, Dot, Brush = colorPath(i)
pen.setColor(Pen)
self.painter.setPen(pen)
self.painter.setBrush(Brush)
if len(path)>1:
pointPath = QPainterPath()
for i, (x, y) in enumerate(path):
x *= self.zoom
y *= -self.zoom
self.painter.drawEllipse(QPointF(x, y), 4, 4)
if i==0:
self.painter.drawText(QPointF(x+6, y-6), name)
pointPath.moveTo(x, y)
else:
x2, y2 = path[i-1]
self.drawArrow(x, y, x2*self.zoom, y2*-self.zoom)
pointPath.lineTo(QPointF(x, y))
self.painter.drawPath(pointPath)
for x, y in path:
pen.setColor(Dot)
self.painter.setPen(pen)
self.painter.drawEllipse(
QPointF(x*self.zoom, y*-self.zoom), 3, 3
)
elif len(path)==1:
x = path[0][0]*self.zoom
y = path[0][1]*-self.zoom
self.painter.drawText(QPointF(x+6, y-6), name)
pen.setColor(Dot)
self.painter.setPen(pen)
self.painter.drawEllipse(QPointF(x, y), 3, 3)
self.painter.setBrush(Qt.NoBrush)
def drawArrow(self, x1: float, y1: float, x2: float, y2: float):
"""Front point -> Back point"""
a = atan2(y2 - y1, x2 - x1)
x1 = (x1 + x2) / 2 - 7.5*cos(a)
y1 = (y1 + y2) / 2 - 7.5*sin(a)
self.painter.drawLine(
QPointF(x1, y1),
QPointF(x1 + 15*cos(a + radians(20)), y1 + 15*sin(a + radians(20)))
)
self.painter.drawLine(
QPointF(x1, y1),
QPointF(x1 + 15*cos(a - radians(20)), y1 + 15*sin(a - radians(20)))
)
def drawCurve(self, path):
pointPath = QPainterPath()
for i, (x, y) in enumerate(path):
if isnan(x):
continue
else:
if i==0:
pointPath.moveTo(x*self.zoom, y*-self.zoom)
else:
pointPath.lineTo(QPointF(x*self.zoom, y*-self.zoom))
self.painter.drawPath(pointPath)
def drawDot(self, path):
for x, y in path:
if isnan(x):
continue
else:
self.painter.drawPoint(QPointF(x*self.zoom, y*-self.zoom))
def paintEvent(self, event):
painter = QPainter()
painter.begin(self)
painter.fillRect(event.rect(), QBrush(Qt.white))
painter.translate(self.width() / 2, self.height() / 2)
if not self.parama['profile']:
painter.end()
return
pen = QPen()
# center circle
pen.setColor(Qt.red)
pen.setWidth(3)
pen.setStyle(Qt.SolidLine)
painter.setPen(pen)
r = 10
painter.drawEllipse(QPointF(0, 0), r, r)
# Base circle
if self.show_base:
pen.setColor(Qt.cyan)
pen.setWidth(3)
pen.setStyle(Qt.DashLine)
painter.setPen(pen)
r = self.parama['rb'] * self.parama['rate']
painter.drawEllipse(QPointF(0, 0), r, r)
# rotate
rotate = QTransform()
rotate.translate(0, 0)
rotate.rotate(self.rotate)
# profile
pen.setColor(Qt.blue)
pen.setWidth(5)
pen.setStyle(Qt.SolidLine)
painter.setPen(pen)
path_profile = QPainterPath()
path_profile.moveTo(
QPoint(self.parama['profile'][0]['Rx'] * self.parama['rate'],
self.parama['profile'][0]['Ry'] * self.parama['rate']))
for i in range(len(self.parama['profile'])):
e = self.parama['profile'][i]
x = e['Rx'] * self.parama['rate']
y = e['Ry'] * self.parama['rate']
path_profile.lineTo(QPointF(x, y))
painter.drawPath(rotate.map(path_profile))
# route
if self.show_cutter_route:
pen.setColor(Qt.green)
pen.setWidth(3)
pen.setStyle(Qt.DashLine)
painter.setPen(pen)
painterpath_route = QPainterPath()
painterpath_route.moveTo(
QPoint(
self.parama['cutter_route'][0]['Rx'] * self.parama['rate'],
self.parama['cutter_route'][0]['Ry'] *
self.parama['rate']))
for i in range(len(self.parama['cutter_route']) - self.rotate):
e = self.parama['cutter_route'][i]
x = e['Rx'] * self.parama['rate']
y = e['Ry'] * self.parama['rate']
painterpath_route.lineTo(QPointF(x, y))
painter.drawPath(rotate.map(painterpath_route))
# roll
pen.setColor(Qt.darkGray)
pen.setWidth(3)
pen.setStyle(Qt.SolidLine)
painter.setPen(pen)
r = self.parama['rc'] * self.parama['rate']
last_point = QPointF(
self.parama['cutter_route'][-self.rotate]['Rx'] *
self.parama['rate'],
self.parama['cutter_route'][-self.rotate]['Ry'] *
self.parama['rate'])
path_roll = QPainterPath()
path_roll.addEllipse(last_point, r, r)
painter.drawPath(rotate.map(path_roll))
painter.end()