class Common():
initialized = 0
# comment in these for user interface
#app = QtGui.QApplication(sys.argv)
#ui = UserInterface()
def __init__(self):
self.initialized = 0
def Init(self):
self.iMower = IntelliMower()
# comment in these for user interface
#self.ui.Init( 800, 800 )
self.initialized = 1
def Frame(self):
self.iMower.Reset()
self.iMower.LoadMap()
self.iMower.SetState(0)
self.iMower.Calculate()
#
# #self.iMower.PlaceMower(685, 417)
#
#self.iMower.SetState(0)
#
self.iMower.CalculatePath()
def __init__(self):
self.iMower = IntelliMower()
self.drawPointList = []
self.drawLineList = []
self.draw = 0
self.isCalcPathActivated = 0
super(UserInterface, self).__init__()
#self.readInputFile()
QtGui.QWidget.__init__(self)
self.lawnButton = QtGui.QPushButton('NewLawn', self)
self.obstacleButton = QtGui.QPushButton('NewObstacle', self)
self.calculateButton = QtGui.QPushButton('Calculate', self)
self.placeMowerButton = QtGui.QPushButton('PlaceMower', self)
self.placeStationButton = QtGui.QPushButton('PlaceStation', self)
self.nextPathButton = QtGui.QPushButton('NextPath', self)
self.calcPathButton = QtGui.QPushButton('CalcPath', self)
self.saveButton = QtGui.QPushButton('Save', self)
self.loadButton = QtGui.QPushButton('Load', self)
layout = QtGui.QHBoxLayout()
layout.addWidget(self.lawnButton)
layout.addWidget(self.obstacleButton)
layout.addWidget(self.calculateButton)
layout.addWidget(self.placeMowerButton)
layout.addWidget(self.placeStationButton)
layout.addWidget(self.nextPathButton)
layout.addWidget(self.calcPathButton)
layout.addWidget(self.saveButton)
layout.addWidget(self.loadButton)
vbox = QtGui.QVBoxLayout()
vbox.addStretch(1)
vbox.addLayout(layout)
self.setLayout(vbox)
# button logic
self.lawnButton.clicked.connect( self.NewLawn )
self.obstacleButton.clicked.connect( self.NewObstacle )
self.calculateButton.clicked.connect(self.Calculate)
self.placeMowerButton.clicked.connect( self.PlaceMower )
self.placeStationButton.clicked.connect(self.PlaceStation)
self.nextPathButton.clicked.connect( self.NextPath )
self.calcPathButton.clicked.connect( self.CalculatePath )
self.saveButton.clicked.connect( self.Save )
self.loadButton.clicked.connect( self.Load )
class UserInterface(QtGui.QWidget):
iMower = IntelliMower()
drawPointList = []
drawLineList = []
draw = 0
#
def __init__(self):
self.iMower = IntelliMower()
self.drawPointList = []
self.drawLineList = []
self.draw = 0
self.isCalcPathActivated = 0
super(UserInterface, self).__init__()
#self.readInputFile()
QtGui.QWidget.__init__(self)
self.lawnButton = QtGui.QPushButton('NewLawn', self)
self.obstacleButton = QtGui.QPushButton('NewObstacle', self)
self.calculateButton = QtGui.QPushButton('Calculate', self)
self.placeMowerButton = QtGui.QPushButton('PlaceMower', self)
self.placeStationButton = QtGui.QPushButton('PlaceStation', self)
self.nextPathButton = QtGui.QPushButton('NextPath', self)
self.calcPathButton = QtGui.QPushButton('CalcPath', self)
self.saveButton = QtGui.QPushButton('Save', self)
self.loadButton = QtGui.QPushButton('Load', self)
layout = QtGui.QHBoxLayout()
layout.addWidget(self.lawnButton)
layout.addWidget(self.obstacleButton)
layout.addWidget(self.calculateButton)
layout.addWidget(self.placeMowerButton)
layout.addWidget(self.placeStationButton)
layout.addWidget(self.nextPathButton)
layout.addWidget(self.calcPathButton)
layout.addWidget(self.saveButton)
layout.addWidget(self.loadButton)
vbox = QtGui.QVBoxLayout()
vbox.addStretch(1)
vbox.addLayout(layout)
self.setLayout(vbox)
# button logic
self.lawnButton.clicked.connect( self.NewLawn )
self.obstacleButton.clicked.connect( self.NewObstacle )
self.calculateButton.clicked.connect(self.Calculate)
self.placeMowerButton.clicked.connect( self.PlaceMower )
self.placeStationButton.clicked.connect(self.PlaceStation)
self.nextPathButton.clicked.connect( self.NextPath )
self.calcPathButton.clicked.connect( self.CalculatePath )
self.saveButton.clicked.connect( self.Save )
self.loadButton.clicked.connect( self.Load )
#
def Init(self, wWidth, wHeight):
print "Sweep line drawing off"
self.setGeometry(100, 100, wWidth, wHeight)
self.setWindowTitle('IntelliMower Lawn Plotter Tool v0.4')
self.show()
#
def NewLawn(self):
self.iMower.Reset()
self.draw = 1
QtGui.QWidget.update( self )
self.iMower.SetState( 1 )
#
def NewObstacle(self):
self.iMower.SetState( 2 )
#
def Calculate(self):
self.iMower.SetState(0)
self.iMower.Calculate()
self.draw = 1
QtGui.QWidget.update( self )
#
def PlaceMower(self):
self.iMower.SetState(3)
#
def PlaceStation(self):
self.iMower.SetState(4)
#
def NextPath(self):
#self.iMower.SetState(3)
self.iMower.FindNextPath()
self.draw = 1
QtGui.QWidget.update(self)
#
def CalculatePath(self):
#self.iMower.SetState(3)
startTime = time.time()
while self.iMower.pathCalcComplete != 1:
newTime = time.time() - startTime
self.iMower.FindNextPath()
self.draw = 1
QtGui.QWidget.update(self)
QtGui.QApplication.processEvents()
# wait for approx 2 secs
# while True:
# if newTime >= 2:
# newTime = 0
# startTime = time.time()
# break
elapsedTime = time.time() - startTime
print ( "Elapsed Time:", elapsedTime )
self.iMower.SavePath()
#
def Save(self):
self.iMower.SetState(0)
self.iMower.SaveMap()
#
def Load(self):
self.iMower.Reset()
self.iMower.LoadMap()
self.draw = 1
QtGui.QWidget.update(self)
#
def mousePressEvent(self, event):
self.iMower.Controller( event.pos().x(), event.pos().y() )
self.draw = 1
QtGui.QWidget.update(self)
#
def mouseReleaseEvent(self, QMouseEvent):
#cursor = QtGui.QCursor()
#print ("Positions relative screen: ")
#print cursor.pos()
return
#
def GetMousePos(self):
return
#
def paintEvent(self, e):
if self.draw == 1:
self.w = QtGui.QWidget(self)
#qtw = QtGui.QListWidget()
palette = self.w.palette()
role = self.w.backgroundRole()
palette.setColor(role, QtCore.Qt.white)
self.w.setPalette(palette)
palette = self.palette()
role = self.backgroundRole()
palette.setColor(role, QtCore.Qt.white)
self.setPalette(palette)
#qtw.setAutoFillBackground(True)
#qtw.setPalette(p)
qp = QtGui.QPainter()
qp.begin(self)
self.DrawLines(qp)
self.DrawPoints(qp)
qp.end()
self.draw = 1
#
def DrawPoints(self, qp):
#draw collision points
self.drawPointList = self.iMower.lawn.collisionPairs
for point in self.drawPointList:
qp.setPen(QtCore.Qt.black)
qp.setBrush(QtCore.Qt.black)
size = self.size()
radius = 2
center = QtCore.QPoint(point.x, point.y)
qp.drawEllipse(center, radius, radius)
# Draw mower
if self.iMower.posX != 0 and self.iMower.posY != 0:
qp.setPen(QtCore.Qt.blue)
qp.setBrush(QtCore.Qt.blue)
size = self.size()
radius = 30
center = QtCore.QPoint(self.iMower.posX, self.iMower.posY)
qp.drawEllipse(center, radius, radius)
# Draw station
if self.iMower.stationPosX != 0 and self.iMower.stationPosY != 0:
qp.setPen(QtCore.Qt.black)
qp.setBrush(QtCore.Qt.black)
size = self.size()
radius = 10
center = QtCore.QPoint(self.iMower.stationPosX, self.iMower.stationPosY)
qp.drawEllipse(center, radius, radius)
#
def DrawLines(self, qp):
# draw Lawn border line
pen = QtGui.QPen(QtCore.Qt.black , 2, QtCore.Qt.SolidLine)
qp.setPen(pen)
self.drawLineList = self.iMower.lawn.outerBorder.lineList
for line in self.drawLineList:
qp.drawLine(line.p1.x, line.p1.y, line.p2.x, line.p2.y)
# draw obstacle borders
numObstacles = len(self.iMower.lawn.innerBorders)
if numObstacles > 0:
# Obstacle line settings
pen = QtGui.QPen(QtCore.Qt.black, 1, QtCore.Qt.SolidLine)
qp.setPen(pen)
i = 0
while True:
if i >= numObstacles:
break
self.drawLineList = self.iMower.lawn.innerBorders[i].lineList
i+=1
for line in self.drawLineList:
qp.drawLine(line.p1.x, line.p1.y, line.p2.x, line.p2.y)
# draw bounding box
# if len( self.iMower.lawn.boundingBox ) > 0:
# pen = QtGui.QPen(QtCore.Qt.black, 3, QtCore.Qt.SolidLine)
# qp.setPen(pen)
#
# qp.drawLine( self.iMower.lawn.boundingBox[0].x, self.iMower.lawn.boundingBox[0].y, self.iMower.lawn.boundingBox[1].x, self.iMower.lawn.boundingBox[1].y )
# qp.drawLine( self.iMower.lawn.boundingBox[1].x, self.iMower.lawn.boundingBox[1].y, self.iMower.lawn.boundingBox[2].x, self.iMower.lawn.boundingBox[2].y )
# qp.drawLine( self.iMower.lawn.boundingBox[2].x, self.iMower.lawn.boundingBox[2].y, self.iMower.lawn.boundingBox[3].x, self.iMower.lawn.boundingBox[3].y )
# qp.drawLine( self.iMower.lawn.boundingBox[3].x, self.iMower.lawn.boundingBox[3].y, self.iMower.lawn.boundingBox[0].x, self.iMower.lawn.boundingBox[0].y )
# draw sweep lines
# if len( self.iMower.lawn.sweepLines ) > 0:
# # Sweep line settings
# pen = QtGui.QPen(QtCore.Qt.black, 2, QtCore.Qt.SolidLine)
# qp.setPen(pen)
# self.drawLineList = self.iMower.lawn.sweepLines
#
# for line in self.drawLineList:
# qp.drawLine(line.p1.x, line.p1.y, line.p2.x, line.p2.y)
#draw collision pair lines
numPairs = len( self.iMower.lawn.collisionPairs)
if numPairs > 0:
pen = QtGui.QPen(QtCore.Qt.green, 2, QtCore.Qt.SolidLine)
qp.setPen(pen)
tmpPointList = self.iMower.lawn.collisionPairs
i = 0
while True:
if i >= (numPairs - 1):
break
#if tmpPointList[i].id == tmpPointList[i+1].id:
qp.drawLine(tmpPointList[i].x, tmpPointList[i].y, tmpPointList[i+1].x, tmpPointList[i+1].y)
i+=2
#draw mow paths
numRoutePoints = len( self.iMower.path.pathList )
if numRoutePoints > 1:
pen = QtGui.QPen(QtCore.Qt.blue, 5, QtCore.Qt.SolidLine)
qp.setPen(pen)
tmpPointList = self.iMower.path.pathList
i = 0
while i < ( numRoutePoints - 1 ):
qp.drawLine(tmpPointList[i].x, tmpPointList[i].y, tmpPointList[i+1].x, tmpPointList[i+1].y)
i+=1
def Init(self):
self.iMower = IntelliMower()
# comment in these for user interface
self.ui.Init(800, 800)
self.initialized = 1