class duck_window(QtWidgets.QMainWindow):
map = None
mapviewer = None
info_json = None
editor = None
drawState = ''
copyBuffer = [[]]
def __init__(self, args, elem_info="doc/info.json"):
super().__init__()
# active items in editor
self.active_items = []
# additional windows for displaying information
self.author_window = info_window()
self.param_window = info_window()
self.mater_window = info_window()
# The brush button / override the closeEvent
self.brush_button = QtWidgets.QToolButton()
self.closeEvent = functools.partial(self.quit_program_event)
# Set locale
self.locale = args.locale
# Set debug mode
self.debug_mode = args.debug
# Load element's info
self.info_json = json.load(codecs.open(elem_info, "r", "utf-8"))
# Loads info about types from duckietown
self.duckietown_types_apriltags = get_duckietown_types()
self.new_tag_class = NewTagForm(self.duckietown_types_apriltags)
self.map = map.DuckietownMap()
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
viewer = mapviewer.MapViewer()
self.editor = MapEditor(self.map, self.mapviewer)
viewer.setMap(self.map)
self.mapviewer = viewer
viewer.setMinimumSize(540, 540)
self.ui.horizontalLayout.addWidget(viewer)
viewer.repaint()
self.initUi()
init_map(self)
self.update_layer_tree()
def get_translation(self, elem):
"""Gets info about the element based on self.locale
If local doesn't exist, return locale='en'
:param self
:param elem: dict, information about elements (or category), that contains translation
:return: dict(). Dict with translation based on the self.locale
"""
if self.locale in elem['lang']:
return elem['lang'][self.locale]
else:
logger.debug(
"duck_window.get_translation. No such locale: {}".format(
self.locale))
return elem['lang']['en']
def initUi(self):
self.center()
self.show()
# Initialize button objects
create_map = self.ui.create_new
open_map = self.ui.open_map
save_map = self.ui.save_map
save_map_as = self.ui.save_map_as
export_png = self.ui.export_png
calc_param = self.ui.calc_param
calc_materials = self.ui.calc_materials
about_author = self.ui.about_author
exit = self.ui.exit
change_blocks = self.ui.change_blocks
change_info = self.ui.change_info
change_map = self.ui.change_map
change_layer = self.ui.change_layer
# Initialize floating blocks
block_widget = self.ui.block_widget
info_widget = self.ui.info_widget
map_info_widget = self.ui.map_info_widget
layer_info_widget = self.ui.layer_info_widget
# Signal from viewer
self.mapviewer.selectionChanged.connect(self.selectionUpdate)
self.mapviewer.editObjectChanged.connect(self.create_form)
self.new_tag_class.apriltag_added.connect(self.add_apriltag)
# Assign actions to buttons
create_map.triggered.connect(self.create_map_triggered)
open_map.triggered.connect(self.open_map_triggered)
save_map.triggered.connect(self.save_map_triggered)
save_map_as.triggered.connect(self.save_map_as_triggered)
export_png.triggered.connect(self.export_png_triggered)
calc_param.triggered.connect(self.calc_param_triggered)
calc_materials.triggered.connect(self.calc_materials_triggered)
about_author.triggered.connect(self.about_author_triggered)
exit.triggered.connect(self.exit_triggered)
change_blocks.toggled.connect(self.change_blocks_toggled)
change_info.toggled.connect(self.change_info_toggled)
change_map.toggled.connect(self.change_map_toggled)
change_layer.toggled.connect(self.toggle_layer_window)
block_widget.closeEvent = functools.partial(self.blocks_event)
info_widget.closeEvent = functools.partial(self.info_event)
map_info_widget.closeEvent = functools.partial(self.map_event)
layer_info_widget.closeEvent = functools.partial(
self.close_layer_window_event)
# QToolBar setting
tool_bar = self.ui.tool_bar
a1 = QtWidgets.QAction(QtGui.QIcon("img/icons/new.png"),
_translate("MainWindow", "New map"), self)
a2 = QtWidgets.QAction(QtGui.QIcon("img/icons/open.png"),
_translate("MainWindow", "Open map"), self)
a3 = QtWidgets.QAction(QtGui.QIcon("img/icons/save.png"),
_translate("MainWindow", "Save map"), self)
a4 = QtWidgets.QAction(QtGui.QIcon("img/icons/save_as.png"),
_translate("MainWindow", "Save map as"), self)
a5 = QtWidgets.QAction(QtGui.QIcon("img/icons/png.png"),
_translate("MainWindow", "Export to PNG"), self)
b1 = QtWidgets.QAction(QtGui.QIcon("img/icons/copy.png"),
_translate("MainWindow", "Copy"), self)
b2 = QtWidgets.QAction(QtGui.QIcon("img/icons/cut.png"),
_translate("MainWindow", "Cut"), self)
b3 = QtWidgets.QAction(QtGui.QIcon("img/icons/insert.png"),
_translate("MainWindow", "Paste"), self)
b4 = QtWidgets.QAction(QtGui.QIcon("img/icons/delete.png"),
_translate("MainWindow", "Delete"), self)
b5 = QtWidgets.QAction(QtGui.QIcon("img/icons/undo.png"),
_translate("MainWindow", "Undo"), self)
b1.setShortcut("Ctrl+C")
b2.setShortcut("Ctrl+X")
b3.setShortcut("Ctrl+V")
b4.setShortcut("Delete")
b5.setShortcut("Ctrl+Z")
c1 = QtWidgets.QAction(QtGui.QIcon("img/icons/rotate.png"),
_translate("MainWindow", "Rotate"), self)
c2 = QtWidgets.QAction(
QtGui.QIcon("img/icons/trim.png"),
_translate("MainWindow", "Delete extreme empty blocks"), self)
c1.setShortcut("Ctrl+R")
c2.setShortcut("Ctrl+F")
self.brush_button.setIcon(QtGui.QIcon("img/icons/brush.png"))
self.brush_button.setCheckable(True)
self.brush_button.setToolTip("Brush tool")
self.brush_button.setShortcut("Ctrl+B")
a1.triggered.connect(self.create_map_triggered)
a2.triggered.connect(self.open_map_triggered)
a3.triggered.connect(self.save_map_triggered)
a4.triggered.connect(self.save_map_as_triggered)
a5.triggered.connect(self.export_png_triggered)
b1.triggered.connect(self.copy_button_clicked)
b2.triggered.connect(self.cut_button_clicked)
b3.triggered.connect(self.insert_button_clicked)
b4.triggered.connect(self.delete_button_clicked)
b5.triggered.connect(self.undo_button_clicked)
c1.triggered.connect(self.rotateSelectedTiles)
c2.triggered.connect(self.trimClicked)
self.brush_button.clicked.connect(self.brush_mode)
for elem in [[a1, a2, a3, a4, a5], [b1, b2, b3, b4, b5]]:
for act in elem:
tool_bar.addAction(act)
tool_bar.addSeparator()
tool_bar.addWidget(self.brush_button)
tool_bar.addAction(c1)
tool_bar.addAction(c2)
# Setup Layer Tree menu
self.ui.layer_tree.setModel(
QtGui.QStandardItemModel()) # set item model for tree
# Customize the Blocks menu
block_list_widget = self.ui.block_list
block_list_widget.itemClicked.connect(self.item_list_clicked)
block_list_widget.itemDoubleClicked.connect(
self.item_list_double_clicked)
# Customize the Map Editor menu
default_fill = self.ui.default_fill
delete_fill = self.ui.delete_fill
# Fill out the list
categories = self.info_json['categories']
information = self.info_json['info']
for group in categories:
# add separator
icon = "img/icons/galka.png"
widget = QtWidgets.QListWidgetItem(
QtGui.QIcon(icon),
self.get_translation(group)['name'])
widget.setData(0x0100, "separator")
widget.setData(0x0101, group['id'])
widget.setBackground(QtGui.QColor(169, 169, 169))
block_list_widget.addItem(widget)
# add elements
for elem_id in group['elements']:
widget = QtWidgets.QListWidgetItem(
QtGui.QIcon(information[elem_id]['icon']),
self.get_translation(information[elem_id])['name'])
widget.setData(0x0100, elem_id)
widget.setData(0x0101, group['id'])
block_list_widget.addItem(widget)
# add tiles to fill menu
if group['id'] in ("road", "block"):
default_fill.addItem(
QtGui.QIcon(information[elem_id]['icon']),
self.get_translation(information[elem_id])['name'],
elem_id)
delete_fill.addItem(
QtGui.QIcon(information[elem_id]['icon']),
self.get_translation(information[elem_id])['name'],
elem_id)
default_fill.setCurrentText(
self.get_translation(information["grass"])['name'])
delete_fill.setCurrentText(
self.get_translation(information["empty"])['name'])
set_fill = self.ui.set_fill
set_fill.clicked.connect(self.set_default_fill)
def center(self):
qr = self.frameGeometry()
cp = QDesktopWidget().availableGeometry().center()
qr.moveCenter(cp)
self.move(qr.topLeft())
# Create a new map
def create_map_triggered(self):
new_map(self)
logger.debug("Length - {}".format(len(self.map.get_tile_layer().data)))
self.mapviewer.offsetX = self.mapviewer.offsetY = 0
self.mapviewer.scene().update()
logger.debug("Creating a new map")
self.update_layer_tree()
# Open map
def open_map_triggered(self):
self.editor.save(self.map)
open_map(self)
self.mapviewer.offsetX = self.mapviewer.offsetY = 0
self.mapviewer.scene().update()
self.update_layer_tree()
# Save map
def save_map_triggered(self):
save_map(self)
logger.debug("Save")
# Save map as
def save_map_as_triggered(self):
save_map_as(self)
# Export to png
def export_png_triggered(self):
export_png(self)
# Calculate map characteristics
def calc_param_triggered(self):
text = get_map_specifications(self)
self.show_info(self.param_window,
_translate("MainWindow", "Map characteristics"), text)
# Calculate map materials
def calc_materials_triggered(self):
text = get_map_materials(self)
self.show_info(self.mater_window,
_translate("MainWindow", "Map material"), text)
# Help: About
def about_author_triggered(self):
text = '''
- Select an object using the left mouse button\n
- when object is selected you can change pos, using WASD: W(UP), A(LEFT), D(RIGHT), S(DOWN)\n
- reset object tracking using `Q`\n
- add apriltag using key `R`\n
- Edit an object, click on it using the right mouse button\n
- Authors:\n alskaa;\n dihindee;\n ovc-serega;\n HadronCollider;\n light5551;\n snush.\n\n Contact us on github!
'''
self.show_info(self.author_window, "About", text)
# Exit
def exit_triggered(self):
self.save_before_exit()
QtCore.QCoreApplication.instance().quit()
# Save map before exit
def save_before_exit(self):
if not self.debug_mode:
ret = self.quit_MessageBox()
if ret == QMessageBox.Cancel:
return
if ret == QMessageBox.Save:
save_map(self)
# Hide Block menu
def change_blocks_toggled(self):
block = self.ui.block_widget
if self.ui.change_blocks.isChecked():
block.show()
block.setFloating(False)
else:
block.close()
# Change button state
def blocks_event(self, event):
self.ui.change_blocks.setChecked(False)
event.accept()
# Hide information menu
def change_info_toggled(self):
block = self.ui.info_widget
if self.ui.change_info.isChecked():
block.show()
block.setFloating(False)
else:
block.close()
# Change button state
def info_event(self, event):
self.ui.change_info.setChecked(False)
event.accept()
# Hide the menu about map properties
def change_map_toggled(self):
block = self.ui.map_info_widget
if self.ui.change_map.isChecked():
block.show()
block.setFloating(False)
else:
block.close()
# Change button state
def map_event(self, event):
self.ui.change_map.setChecked(False)
event.accept()
# Layer window
def toggle_layer_window(self):
"""
Toggle layers window by `View -> Layers`
:return: -
"""
block = self.ui.layer_info_widget
if self.ui.change_layer.isChecked():
block.show()
block.setFloating(False)
else:
block.close()
def close_layer_window_event(self, event):
"""
Reset flag `View -> Layers` when closing layers window
:param event: closeEvent
:return: -
"""
self.ui.change_layer.setChecked(False)
event.accept()
def layer_tree_clicked(self):
pass
def layer_tree_double_clicked(self):
pass
def update_layer_tree(self):
"""
Update layer tree.
Show layer's elements as children in hierarchy (except tile layer)
:return: -
"""
def signal_check_state(item):
"""
update visible state of layer.
:return: -
"""
layer = self.map.get_layer_by_type_name(item.text())
if not layer:
logger.debug("Not found layer: {}".format(item.text()))
return
layer.visible = not layer.visible
logger.debug('Layer: {}; visible: {}'.format(
item.text(), layer.visible))
self.map.set_layer(layer)
self.mapviewer.scene().update()
layer_tree_view = self.ui.layer_tree
item_model = layer_tree_view.model()
item_model.clear()
try:
item_model.itemChanged.disconnect()
except TypeError:
pass # only 1st time in update_layer_tree
item_model.itemChanged.connect(signal_check_state)
item_model.setHorizontalHeaderLabels(['Name'])
root_item = layer_tree_view.model().invisibleRootItem()
for layer in self.map.layers:
layer_item = QtGui.QStandardItem(str(layer.type))
layer_item.setCheckable(True)
layer_item.setCheckState(
QtCore.Qt.Checked if layer.visible else QtCore.Qt.Unchecked)
root_item.appendRow(layer_item)
if layer.type == LayerType.TILES:
tile_elements = []
for row in layer.data:
for tile in row:
tile_elements.append(tile.kind)
layer_elements = utils.count_elements(tile_elements)
elif layer.type in (LayerType.TRAFFIC_SIGNS,
LayerType.GROUND_APRILTAG):
layer_elements = utils.count_elements([
'{}{}'.format(elem.kind, elem.tag_id)
for elem in layer.data
])
else:
layer_elements = utils.count_elements(
[elem.kind for elem in layer.data])
for kind, counter in layer_elements.most_common():
item = QtGui.QStandardItem("{} ({})".format(kind, counter))
layer_item.appendRow(item)
layer_item.sortChildren(0)
layer_tree_view.expandAll()
# MessageBox to exit
def quit_MessageBox(self):
reply = QMessageBox(self)
reply.setIcon(QMessageBox.Question)
reply.setWindowTitle(_translate("MainWindow", "Exit"))
reply.setText(_translate("MainWindow", "Exit"))
reply.setInformativeText(_translate("MainWindow", "Save and exit?"))
reply.setStandardButtons(QMessageBox.Save | QMessageBox.Discard
| QMessageBox.Cancel)
reply.setDefaultButton(QMessageBox.Save)
ret = reply.exec()
return ret
# Program exit event
def quit_program_event(self, event):
self.save_before_exit()
# Close additional dialog boxes
self.author_window.exit()
self.param_window.exit()
self.mater_window.exit()
event.accept()
# Handle a click on an item from a list to a list
def item_list_clicked(self):
list = self.ui.block_list
name = list.currentItem().data(0x0100)
type = list.currentItem().data(0x0101)
if name == "separator":
list.currentItem().setSelected(False)
for i in range(list.count()):
elem = list.item(i)
if type == elem.data(0x0101):
if name == elem.data(0x0100):
icon = QtGui.QIcon("img/icons/galka.png") if list.item(i + 1).isHidden() else \
QtGui.QIcon("img/icons/galka_r.png")
elem.setIcon(icon)
else:
elem.setHidden(not elem.isHidden())
else:
elem = self.info_json['info'][name]
info_browser = self.ui.info_browser
info_browser.clear()
text = "{}:\n {}\n{}:\n{}".format(
_translate("MainWindow", "Name"),
list.currentItem().text(),
_translate("MainWindow", "Description"),
self.get_translation(elem)['info'])
if elem["type"] == "block":
text += "\n\n{}: {} {}".format(
_translate("MainWindow", "Road len"), elem["length"],
_translate("MainWindow", "sm"))
text += " Tape:\n"
text += " {}: {} {}\n".format(_translate("MainWindow", "Red"),
elem["red"],
_translate("MainWindow", "sm"))
text += " {}: {} {}\n".format(
_translate("MainWindow", "Yellow"), elem["yellow"],
_translate("MainWindow", "sm"))
text += " {}: {} {}\n".format(
_translate("MainWindow", "White"), elem["white"],
_translate("MainWindow", "sm"))
info_browser.setText(text)
# Double click initiates as single click action
def item_list_double_clicked(self):
item_ui_list = self.ui.block_list
item_name = item_ui_list.currentItem().data(0x0100)
item_type = item_ui_list.currentItem().data(0x0101)
if item_name == "separator":
item_ui_list.currentItem().setSelected(False)
else:
if item_type in TILE_TYPES:
self.ui.default_fill.setCurrentText(
self.get_translation(
self.info_json['info'][item_name])['name'])
logger.debug("Set {} for brush".format(item_name))
else:
# save map before adding object
self.editor.save(self.map)
# adding object
self.map.add_objects_to_map([
dict(kind=item_name,
pos=(.0, .0),
rotate=0,
height=1,
optional=False,
static=True)
], self.info_json['info'])
# TODO: need to understand what's the type and create desired class, not general
# also https://github.com/moevm/mse_visual_map_editor_for_duckietown/issues/122
# (for args, that can be edited and be different between classes)
self.mapviewer.scene().update()
logger.debug("Add {} to map".format(item_name))
self.update_layer_tree()
# Reset to default values
def set_default_fill(self):
default_fill = self.ui.default_fill.currentData()
delete_fill = self.ui.delete_fill.currentData()
# TODO установка занчений по умолчанию
logger.debug("{}; {}".format(default_fill, delete_fill))
# Copy
def copy_button_clicked(self):
if self.brush_button.isChecked():
self.brush_button.click()
self.drawState = 'copy'
self.copyBuffer = copy.copy(self.mapviewer.tileSelection)
logger.debug("Copy")
# Cut
def cut_button_clicked(self):
if self.brush_button.isChecked():
self.brush_button.click()
self.drawState = 'cut'
self.copyBuffer = copy.copy(self.mapviewer.tileSelection)
logger.debug("Cut")
# Paste
def insert_button_clicked(self):
if len(self.copyBuffer) == 0:
return
self.editor.save(self.map)
if self.drawState == 'copy':
self.editor.copySelection(
self.copyBuffer, self.mapviewer.tileSelection[0],
self.mapviewer.tileSelection[1],
MapTile(self.ui.delete_fill.currentData()))
elif self.drawState == 'cut':
self.editor.moveSelection(
self.copyBuffer, self.mapviewer.tileSelection[0],
self.mapviewer.tileSelection[1],
MapTile(self.ui.delete_fill.currentData()))
self.mapviewer.scene().update()
self.update_layer_tree()
# Delete
def delete_button_clicked(self):
if not self.map.get_tile_layer().visible:
return
self.editor.save(self.map)
self.editor.deleteSelection(self.mapviewer.tileSelection,
MapTile(self.ui.delete_fill.currentData()))
self.mapviewer.scene().update()
self.update_layer_tree()
# Undo
def undo_button_clicked(self):
self.editor.undo()
self.mapviewer.scene().update()
self.update_layer_tree()
# Brush mode
def brush_mode(self):
if self.brush_button.isChecked():
self.drawState = 'brush'
else:
self.drawState = ''
def keyPressEvent(self, e):
selection = self.mapviewer.raw_selection
item_layer = self.map.get_objects_from_layers(
) # TODO: add self.current_layer for editing only it's objects?
new_selected_obj = False
for item in item_layer:
x, y = item.position
if x > selection[0] and x < selection[2] and y > selection[
1] and y < selection[3]:
if item not in self.active_items:
self.active_items.append(item)
new_selected_obj = True
if new_selected_obj:
# save map if new objects are selected
self.editor.save(self.map)
key = e.key()
if key == QtCore.Qt.Key_Q:
# clear object buffer
self.active_items = []
self.mapviewer.raw_selection = [0] * 4
elif key == QtCore.Qt.Key_R:
self.new_tag_class.create_form()
if self.active_items:
if key == QtCore.Qt.Key_Backspace:
# delete object
if question_form_yes_no(
self, "Deleting objects",
"Delete objects from map?") == QMessageBox.Yes:
# save map before deleting objects
self.editor.save(self.map)
for item in self.active_items:
object_type = self.info_json['info'][item.kind]['type']
layer = self.map.get_layer_by_type(
get_layer_type_by_object_type(object_type))
layer.remove_object_from_layer(item)
self.active_items = []
self.mapviewer.scene().update()
self.update_layer_tree()
return
for item in self.active_items:
logger.debug("Name of item: {}; X - {}; Y - {};".format(
item.kind, item.position[0], item.position[1]))
if key == QtCore.Qt.Key_W:
item.position[1] -= EPS
elif key == QtCore.Qt.Key_S:
item.position[1] += EPS
elif key == QtCore.Qt.Key_A:
item.position[0] -= EPS
elif key == QtCore.Qt.Key_D:
item.position[0] += EPS
elif key == QtCore.Qt.Key_E:
if len(self.active_items) == 1:
self.create_form(self.active_items[0])
else:
logger.debug("I can't edit more than one object!")
self.mapviewer.scene().update()
def create_form(self, active_object: MapObject):
def accept():
if 'tag_type' in edit_obj:
tag_type = edit_obj['tag_type'].text()
if 'tag_id' in edit_obj and (
not edit_obj['tag_id'].text().isdigit()
or int(edit_obj['tag_id'].text())
not in self.duckietown_types_apriltags[tag_type]):
msgBox = QMessageBox()
msgBox.setText("tag id or tag type is uncorrect!")
msgBox.exec()
return
if tag_type not in self.duckietown_types_apriltags.keys(
) or int(edit_obj['tag_id'].text()
) not in self.duckietown_types_apriltags[tag_type]:
msgBox = QMessageBox()
msgBox.setText("tag id or tag type is uncorrect!")
msgBox.exec()
return
elif 'tag_id' in edit_obj:
if not edit_obj['tag_id'].text().isdigit() or not int(
edit_obj['tag_id'].text(
)) in self.duckietown_types_apriltags['TrafficSign']:
msgBox = QMessageBox()
msgBox.setText("tag id is uncorrect!")
msgBox.exec()
return
for attr_name, attr in editable_attrs.items():
if attr_name == 'pos':
active_object.position[0] = float(edit_obj['x'].text())
active_object.position[1] = float(edit_obj['y'].text())
continue
if type(attr) == bool:
active_object.__setattr__(attr_name,
edit_obj[attr_name].isChecked())
continue
if type(attr) == float:
active_object.__setattr__(
attr_name, float(edit_obj[attr_name].text()))
if type(attr) == int:
active_object.__setattr__(attr_name,
int(edit_obj[attr_name].text()))
else:
active_object.__setattr__(attr_name,
edit_obj[attr_name].text())
dialog.close()
self.mapviewer.scene().update()
self.update_layer_tree()
def reject():
dialog.close()
dialog = QtWidgets.QDialog(self)
dialog.setWindowTitle('Change attribute of object')
# buttonbox
buttonBox = QtWidgets.QDialogButtonBox(
QtWidgets.QDialogButtonBox.Ok | QtWidgets.QDialogButtonBox.Cancel)
buttonBox.accepted.connect(accept)
buttonBox.rejected.connect(reject)
# form
formGroupBox = QGroupBox("Change attribute's object: {}".format(
active_object.kind))
layout = QFormLayout()
editable_attrs = active_object.get_editable_attrs()
edit_obj = {}
combo_id = QComboBox(self)
def change_combo_id(value):
combo_id.clear()
combo_id.addItems(
[str(i) for i in self.duckietown_types_apriltags[value]])
combo_id.setEditText(str(
self.duckietown_types_apriltags[value][0]))
for attr_name in sorted(editable_attrs):
attr = editable_attrs[attr_name]
if attr_name == 'pos':
x_edit = QLineEdit(str(attr[0]))
y_edit = QLineEdit(str(attr[1]))
edit_obj['x'] = x_edit
edit_obj['y'] = y_edit
layout.addRow(QLabel("{}.X".format(attr_name)), x_edit)
layout.addRow(QLabel("{}.Y".format(attr_name)), y_edit)
continue
elif attr_name == 'tag_id':
edit = QLineEdit(str(attr))
edit_obj[attr_name] = edit
tag_id = int(attr)
type_id = list(self.duckietown_types_apriltags.keys())[0]
for type_sign in self.duckietown_types_apriltags.keys():
if tag_id in self.duckietown_types_apriltags[type_sign]:
type_id = type_sign
break
combo_id.addItems(
[str(i) for i in self.duckietown_types_apriltags[type_id]])
combo_id.setLineEdit(edit)
combo_id.setEditText(str(attr))
layout.addRow(QLabel(attr_name), combo_id)
continue
elif attr_name == 'tag_type':
edit = QLineEdit(str(attr))
edit_obj[attr_name] = edit
combo_type = QComboBox(self)
combo_type.addItems(
[str(i) for i in self.duckietown_types_apriltags.keys()])
combo_type.activated[str].connect(change_combo_id)
combo_type.setLineEdit(edit)
combo_type.setEditText(attr)
layout.addRow(QLabel(attr_name), combo_type)
continue
if type(attr) == bool:
check = QCheckBox()
check.setChecked(attr)
edit_obj[attr_name] = check
layout.addRow(QLabel(attr_name), check)
continue
edit = QLineEdit(str(attr))
edit_obj[attr_name] = edit
layout.addRow(QLabel(attr_name), edit)
formGroupBox.setLayout(layout)
# layout
mainLayout = QVBoxLayout()
mainLayout.addWidget(formGroupBox)
mainLayout.addWidget(buttonBox)
dialog.setLayout(mainLayout)
dialog.exec_()
def rotateSelectedTiles(self):
self.editor.save(self.map)
selection = self.mapviewer.tileSelection
tile_layer = self.map.get_tile_layer().data
if selection:
for i in range(max(selection[1], 0),
min(selection[3], len(tile_layer))):
for j in range(max(selection[0], 0),
min(selection[2], len(tile_layer[0]))):
tile_layer[i][j].rotation = (tile_layer[i][j].rotation +
90) % 360
self.mapviewer.scene().update()
def add_apriltag(self, apriltag: GroundAprilTagObject):
layer = self.map.get_layer_by_type(LayerType.GROUND_APRILTAG)
if layer is None:
self.map.add_layer_from_data(LayerType.GROUND_APRILTAG, [apriltag])
else:
self.map.add_elem_to_layer_by_type(LayerType.GROUND_APRILTAG,
apriltag)
self.update_layer_tree()
self.mapviewer.scene().update()
def trimClicked(self):
self.editor.save(self.map)
self.editor.trimBorders(True, True, True, True,
MapTile(self.ui.delete_fill.currentData()))
self.mapviewer.scene().update()
self.update_layer_tree()
def selectionUpdate(self):
selection = self.mapviewer.tileSelection
filler = MapTile(self.ui.default_fill.currentData())
tile_layer = self.map.get_tile_layer().data
if self.drawState == 'brush':
self.editor.save(self.map)
self.editor.extendToFit(selection, selection[0], selection[1],
MapTile(self.ui.delete_fill.currentData()))
if selection[0] < 0:
delta = -selection[0]
selection[0] = 0
selection[2] += delta
if selection[1] < 0:
delta = -selection[1]
selection[3] += delta
for i in range(max(selection[0], 0),
min(selection[2], len(tile_layer[0]))):
for j in range(max(selection[1], 0),
min(selection[3], len(tile_layer))):
tile_layer[j][i] = copy.copy(filler)
self.update_layer_tree()
self.mapviewer.scene().update()
# функция создания доп. информационного окна
def show_info(self, name, title, text):
name.set_window_name(title)
name.set_text(text)
name.show()
class duck_window(QtWidgets.QMainWindow):
map = None
mapviewer = None
info_json = None
editor = None
drawState = ''
copyBuffer = [[]]
def __init__(self):
super().__init__()
# доп. окна для вывода информации
self.author_window = info_window()
self.param_window = info_window()
self.mater_window = info_window()
# кнопка для кисти и переопределение события закрытия
self.brush_button = QtWidgets.QToolButton()
self.closeEvent = functools.partial(self.quit_program_event)
self.map = map.DuckietownMap()
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
viewer = mapviewer.MapViewer()
self.editor = MapEditor(self.map, self.mapviewer)
viewer.setMap(self.map)
self.mapviewer = viewer
viewer.setMinimumSize(540, 540)
self.ui.horizontalLayout.addWidget(viewer)
viewer.repaint()
self.initUi()
read_file = codecs.open("doc/info.json", "r", "utf-8")
self.info_json = json.load(read_file)
init_map(self)
def initUi(self):
self.center()
self.show()
# инициализация объектов кнопок
create_map = self.ui.create_new
open_map = self.ui.open_map
save_map = self.ui.save_map
save_map_as = self.ui.save_map_as
export_png = self.ui.export_png
calc_param = self.ui.calc_param
calc_materials = self.ui.calc_materials
about_author = self.ui.about_author
exit = self.ui.exit
change_blocks = self.ui.change_blocks
change_info = self.ui.change_info
change_map = self.ui.change_map
# инициализация плавающих блоков
block_widget = self.ui.block_widget
info_widget = self.ui.info_widget
map_info_widget = self.ui.map_info_widget
# сигнал от viewer'а
self.mapviewer.selectionChanged.connect(self.selectionUpdate)
# подключение действий к кнопкам
create_map.triggered.connect(self.create_map_triggered)
open_map.triggered.connect(self.open_map_triggered)
save_map.triggered.connect(self.save_map_triggered)
save_map_as.triggered.connect(self.save_map_as_triggered)
export_png.triggered.connect(self.export_png_triggered)
calc_param.triggered.connect(self.calc_param_triggered)
calc_materials.triggered.connect(self.calc_materials_triggered)
about_author.triggered.connect(self.about_author_triggered)
exit.triggered.connect(self.exit_triggered)
change_blocks.toggled.connect(self.change_blocks_toggled)
change_info.toggled.connect(self.change_info_toggled)
change_map.toggled.connect(self.change_map_toggled)
block_widget.closeEvent = functools.partial(self.blocks_event)
info_widget.closeEvent = functools.partial(self.info_event)
map_info_widget.closeEvent = functools.partial(self.map_event)
# настройка QToolBar
tool_bar = self.ui.tool_bar
a1 = QtWidgets.QAction(QtGui.QIcon("img/icons/new.png"), 'Новая карта',
self)
a2 = QtWidgets.QAction(QtGui.QIcon("img/icons/open.png"),
'Открыть карту', self)
a3 = QtWidgets.QAction(QtGui.QIcon("img/icons/save.png"),
'Сохранить карту', self)
a4 = QtWidgets.QAction(QtGui.QIcon("img/icons/save_as.png"),
'Сохранить карту как', self)
a5 = QtWidgets.QAction(QtGui.QIcon("img/icons/png.png"),
'Экспортировать в png', self)
b1 = QtWidgets.QAction(QtGui.QIcon("img/icons/copy.png"), 'Копировать',
self)
b2 = QtWidgets.QAction(QtGui.QIcon("img/icons/cut.png"), 'Вырезать',
self)
b3 = QtWidgets.QAction(QtGui.QIcon("img/icons/insert.png"), 'Вставить',
self)
b4 = QtWidgets.QAction(QtGui.QIcon("img/icons/delete.png"), 'Удалить',
self)
b5 = QtWidgets.QAction(QtGui.QIcon("img/icons/undo.png"),
'Откатить изменение', self)
b1.setShortcut("Ctrl+C")
b2.setShortcut("Ctrl+X")
b3.setShortcut("Ctrl+V")
b4.setShortcut("Delete")
b5.setShortcut("Ctrl+Z")
c1 = QtWidgets.QAction(QtGui.QIcon("img/icons/rotate.png"),
'Повернуть', self)
c2 = QtWidgets.QAction(QtGui.QIcon("img/icons/trim.png"),
'Обрезать крайние блоки', self)
c1.setShortcut("Ctrl+R")
c2.setShortcut("Ctrl+F")
self.brush_button.setIcon(QtGui.QIcon("img/icons/brush.png"))
self.brush_button.setCheckable(True)
self.brush_button.setToolTip("Режим кисти")
self.brush_button.setShortcut("Ctrl+B")
a1.triggered.connect(self.create_map_triggered)
a2.triggered.connect(self.open_map_triggered)
a3.triggered.connect(self.save_map_triggered)
a4.triggered.connect(self.save_map_as_triggered)
a5.triggered.connect(self.export_png_triggered)
b1.triggered.connect(self.copy_button_clicked)
b2.triggered.connect(self.cut_button_clicked)
b3.triggered.connect(self.insert_button_clicked)
b4.triggered.connect(self.delete_button_clicked)
b5.triggered.connect(self.undo_button_clicked)
c1.triggered.connect(self.rotateSelectedTiles)
c2.triggered.connect(self.trimClicked)
self.brush_button.clicked.connect(self.brush_mode)
for elem in [[a1, a2, a3, a4, a5], [b1, b2, b3, b4, b5]]:
for act in elem:
tool_bar.addAction(act)
tool_bar.addSeparator()
tool_bar.addWidget(self.brush_button)
tool_bar.addAction(c1)
tool_bar.addAction(c2)
# Настройка меню Блоки
block_list_widget = self.ui.block_list
block_list_widget.itemClicked.connect(self.item_list_clicked)
block_list_widget.itemDoubleClicked.connect(
self.item_list_double_clicked)
# Заполнение списка
blocks_list = [
("Куски дороги", "separator", "road", "img/icons/galka.png"),
("Дорога", "straight", "road", "img/tiles/straight.png"),
("Левый поворот", "curve_left", "road",
"img/tiles/curve_left.png"),
("Правый поворот", "curve_right", "road",
"img/tiles/curve_right.png"),
("T-образный левый перекрёсток", "3way_left", "road",
"img/tiles/three_way_left.png"),
("T-образный правый перекрёсток", "3way_right", "road",
"img/tiles/three_way_left.png"),
("Перекрёсток", "4way", "road", "img/tiles/four_way_center.png"),
("Блоки заполнения", "separator", "block", "img/icons/galka.png"),
("Пустой блок", "empty", "block", "img/tiles/empty.png"),
("Асфальт", "asphalt", "block", "img/tiles/asphalt.png"),
("Трава", "grass", "block", "img/tiles/grass.png"),
("Плитка", "floor", "block", "img/tiles/floor.png")
]
signs_list = [
("Запрещающие знаки", "separator", "ban", "img/icons/galka.png"),
("Стоп", "sign_stop", "ban", "img/signs/sign_stop.png"),
("Уступи дорогу", "sign_yield", "ban", "img/signs/sign_yield.png"),
("Поворот направо запрещён", "sign_no_right_turn", "ban",
"img/signs/sign_no_right_turn.png"),
("Поворот налево запрещён", "sign_no_left_turn", "ban",
"img/signs/sign_no_left_turn.png"),
("Кирпич", "sign_do_not_enter", "ban",
"img/signs/sign_do_not_enter.png"),
("Информационные знаки", "separator", "info",
"img/icons/galka.png"),
("Односторонее движении направо", "sign_oneway_right", "info",
"img/signs/sign_oneway_right.png"),
("Односторонее движении налево", "sign_oneway_left", "info",
"img/signs/sign_oneway_left.png"),
("Перекрёсток", "sign_4_way_intersect", "info",
"img/signs/sign_4_way_intersect.png"),
("T-образный правый перекрёсток", "sign_right_T_intersect", "info",
"img/signs/sign_right_T_intersect.png"),
("T-образный левый перекрёсток", "sign_left_T_intersect", "info",
"img/signs/sign_left_T_intersect.png"),
("T-образный перекрёсток", "sign_T_intersection", "info",
"img/signs/sign_T_intersection.png"),
("Специальные знаки", "separator", "spec", "img/icons/galka.png"),
("Пешеход", "sign_pedestrian", "spec",
"img/signs/sign_pedestrian.png"),
("Светофор", "sign_t_light_ahead", "spec",
"img/signs/sign_t_light_ahead.png"),
("Уточки", "sign_duck_crossing", "spec",
"img/signs/sign_duck_crossing.png"),
("Парковка", "sign_parking", "spec", "img/signs/sign_parking.png")
]
object_list = [
("Городские объекты", "separator", "objects",
"img/icons/galka.png"),
("Светофор", "trafficlight", "objects",
"img/objects/trafficlight.png"),
("Барьер", "barrier", "objects", "img/objects/barrier.png"),
("Конус", "cone", "objects", "img/objects/cone.png"),
("Уточка", "duckie", "objects", "img/objects/duckie.png"),
("Уточка-бот", "duckiebot", "objects",
"img/objects/duckiebot.png"),
("Дерево", "tree", "objects", "img/objects/tree.png"),
("Дом", "house", "objects", "img/objects/house.png"),
("Грузовик(в стиле доставки)", "truck", "objects",
"img/objects/truck.png"),
("Автобус", "bus", "objects", "img/objects/bus.png"),
("Здание(многоэтажное)", "building", "objects",
"img/objects/building.png"),
]
for elem in [blocks_list, signs_list, object_list]:
for name, data, categ, icon in elem:
widget = QtWidgets.QListWidgetItem(QtGui.QIcon(icon), name)
widget.setData(0x0100, data)
widget.setData(0x0101, categ)
if data == "separator":
widget.setBackground(QtGui.QColor(169, 169, 169))
block_list_widget.addItem(widget)
# Настройка меню Редактор карты
default_fill = self.ui.default_fill
delete_fill = self.ui.delete_fill
for name, data, categ, icon in blocks_list:
if data != "separator":
default_fill.addItem(QtGui.QIcon(icon), name, data)
delete_fill.addItem(QtGui.QIcon(icon), name, data)
default_fill.setCurrentText("Трава")
delete_fill.setCurrentText("Пустой блок")
set_fill = self.ui.set_fill
set_fill.clicked.connect(self.set_default_fill)
def center(self):
qr = self.frameGeometry()
cp = QDesktopWidget().availableGeometry().center()
qr.moveCenter(cp)
self.move(qr.topLeft())
# Действие по созданию новой карты
def create_map_triggered(self):
new_map(self)
print(self.map.tiles, self.map.items)
self.mapviewer.offsetX = self.mapviewer.offsetY = 0
self.mapviewer.scene().update()
print("создание новой карты")
# Действия по открытию карты
def open_map_triggered(self):
self.editor.save(self.map)
open_map(self)
self.mapviewer.offsetX = self.mapviewer.offsetY = 0
self.mapviewer.scene().update()
# Сохранение карты
def save_map_triggered(self):
save_map(self)
# Сохранение карт с новым именем
def save_map_as_triggered(self):
save_map_as(self)
# Экспорт в png
def export_png_triggered(self):
export_png(self)
# Подсчёт характеристик карт
def calc_param_triggered(self):
text = get_map_specifications(self)
self.show_info(self.param_window, "Характеристики карты", text)
# Расчёт требуемых материалов
def calc_materials_triggered(self):
text = get_map_materials(self)
self.show_info(self.mater_window, "Необходимые материалы", text)
# Вывод справки по работе с программой
def about_author_triggered(self):
text = "Авторы:\n alskaa;\n dihindee; \n ovc-serega.\n\n Ищите нас на github!"
self.show_info(self.author_window, "Об авторах", text)
# Выход из программы
def exit_triggered(self):
ret = self.quit_MessageBox()
if ret == QMessageBox.Cancel:
return
if ret == QMessageBox.Save:
save_map(self)
self.info.close()
QtCore.QCoreApplication.instance().quit()
# скрытие меню о блоках
def change_blocks_toggled(self):
block = self.ui.block_widget
if self.ui.change_blocks.isChecked():
block.show()
block.setFloating(False)
else:
block.close()
# изменение состояния кнопки при закрытии
def blocks_event(self, event):
self.ui.change_blocks.setChecked(False)
event.accept()
# скрытие меню информации
def change_info_toggled(self):
block = self.ui.info_widget
if self.ui.change_info.isChecked():
block.show()
block.setFloating(False)
else:
block.close()
# изменение состояния кнопки при закрытии
def info_event(self, event):
self.ui.change_info.setChecked(False)
event.accept()
# скрытие меню о свойствах карты
def change_map_toggled(self):
block = self.ui.map_info_widget
if self.ui.change_map.isChecked():
block.show()
block.setFloating(False)
else:
block.close()
# изменение состояния кнопки при закрытии
def map_event(self, event):
self.ui.change_map.setChecked(False)
event.accept()
# MessageBox для выхода
def quit_MessageBox(self):
reply = QMessageBox(self)
reply.setIcon(QMessageBox.Question)
reply.setWindowTitle("Выход")
reply.setText("Выход из программы")
reply.setInformativeText("Выйти и сохранить?")
reply.setStandardButtons(QMessageBox.Save | QMessageBox.Discard
| QMessageBox.Cancel)
reply.setDefaultButton(QMessageBox.Save)
ret = reply.exec()
return ret
# Событие выхода из программы
def quit_program_event(self, event):
ret = self.quit_MessageBox()
if ret == QMessageBox.Cancel:
event.ignore()
return
if ret == QMessageBox.Save:
save_map(self)
# закрытие доп. диалоговых окон
self.author_window.exit()
self.param_window.exit()
self.mater_window.exit()
event.accept()
# обработка клика по элементу из списка списку
def item_list_clicked(self):
list = self.ui.block_list
name = list.currentItem().data(0x0100)
type = list.currentItem().data(0x0101)
if name == "separator":
list.currentItem().setSelected(False)
for i in range(list.count()):
elem = list.item(i)
if type == elem.data(0x0101):
if name == elem.data(0x0100):
icon = QtGui.QIcon("img/icons/galka.png") if list.item(i + 1).isHidden() else \
QtGui.QIcon("img/icons/galka_r.png")
elem.setIcon(icon)
else:
elem.setHidden(not elem.isHidden())
else:
elem = self.info_json[name]
info_browser = self.ui.info_browser
info_browser.clear()
text = "Название:\n " + list.currentItem().text() \
+ "\n\nОписание:\n " + elem["info"]
if elem["type"] == "block":
text += "\n\nДлина дороги: " + str(elem["length"]) + " см\n"
text += "\nИзолента:\n"
text += " Красная: " + str(elem["red"]) + " см\n"
text += " Желтая: " + str(elem["yellow"]) + " см\n"
text += " Белая: " + str(elem["white"]) + " см"
info_browser.setText(text)
# 2й клик также перехватывается одинарным
def item_list_double_clicked(self):
list = self.ui.block_list
name = list.currentItem().data(0x0100)
type = list.currentItem().data(0x0101)
if name == "separator":
list.currentItem().setSelected(False)
else:
# TODO Добавление блока на карту по 2 клику
print(name)
# Установка значений по умолчанию
def set_default_fill(self):
default_fill = self.ui.default_fill.currentData()
delete_fill = self.ui.delete_fill.currentData()
# TODO установка занчений по умолчанию
print(default_fill, delete_fill)
# Вызов функции копирования
def copy_button_clicked(self):
if self.brush_button.isChecked():
self.brush_button.click()
self.drawState = 'copy'
self.copyBuffer = copy.copy(self.mapviewer.tileSelection)
# print("copy")
# Вызов функции вырезания
def cut_button_clicked(self):
if self.brush_button.isChecked():
self.brush_button.click()
self.drawState = 'cut'
self.copyBuffer = copy.copy(self.mapviewer.tileSelection)
# print("cut")
# Вызов функции вставки
def insert_button_clicked(self):
if len(self.copyBuffer) == 0:
return
self.editor.save(self.map)
if self.drawState == 'copy':
self.editor.copySelection(
self.copyBuffer, self.mapviewer.tileSelection[0],
self.mapviewer.tileSelection[1],
MapTile(self.ui.delete_fill.currentData()))
elif self.drawState == 'cut':
self.editor.moveSelection(
self.copyBuffer, self.mapviewer.tileSelection[0],
self.mapviewer.tileSelection[1],
MapTile(self.ui.delete_fill.currentData()))
self.mapviewer.scene().update()
# Вызов функции удаления
def delete_button_clicked(self):
self.editor.save(self.map)
self.editor.deleteSelection(self.mapviewer.tileSelection,
MapTile(self.ui.delete_fill.currentData()))
self.mapviewer.scene().update()
# Вызов функции отката
def undo_button_clicked(self):
self.editor.undo()
self.mapviewer.scene().update()
# Включение режима кисти
def brush_mode(self):
if self.brush_button.isChecked():
self.drawState = 'brush'
else:
self.drawState = ''
def rotateSelectedTiles(self):
self.editor.save(self.map)
selection = self.mapviewer.tileSelection
if selection:
for i in range(selection[0], selection[2]):
for j in range(selection[1], selection[3]):
self.map.tiles[j][i].rotation = (
self.map.tiles[j][i].rotation + 90) % 360
self.mapviewer.scene().update()
def trimClicked(self):
self.editor.save(self.map)
self.editor.trimBorders(True, True, True, True,
MapTile(self.ui.delete_fill.currentData()))
self.mapviewer.scene().update()
def selectionUpdate(self):
selection = self.mapviewer.tileSelection
filler = MapTile(self.ui.default_fill.currentData())
if self.drawState == 'brush':
self.editor.save(self.map)
self.editor.extendToFit(selection, selection[0], selection[1],
MapTile(self.ui.delete_fill.currentData()))
if selection[0] < 0:
delta = -selection[0]
selection[0] = 0
selection[2] += delta
if selection[1] < 0:
delta = -selection[1]
selection[3] += delta
for i in range(max(selection[0], 0),
min(selection[2], len(self.map.tiles[0]))):
for j in range(max(selection[1], 0),
min(selection[3], len(self.map.tiles))):
self.map.tiles[j][i] = copy.copy(filler)
self.mapviewer.scene().update()
# функция создания доп. информационного окна
def show_info(self, name, title, text):
name.set_window_name(title)
name.set_text(text)
name.show()
class duck_window(QtWidgets.QMainWindow):
map = None
mapviewer = None
info_json = None
editor = None
drawState = ''
copyBuffer = [[]]
def __init__(self, args, elem_info="doc/info.json"):
super().__init__()
# active items in editor
self.distortion_view_one_string_mode = True
self.region_create = False
self.active_items = []
self.active_group = None
self.name_of_editable_obj = None
self.dm = get_dt_world()
self.tile_size = DEFAULT_TILE_SIZE
self.duckie_manager = ManagerDuckietownMaps()
self.duckie_manager.add_map("maps/empty", self.dm)
# additional windows for displaying information
self.author_window = info_window()
self.param_window = info_window()
self.mater_window = info_window()
# The brush button / override the closeEvent
self.brush_button = QtWidgets.QToolButton()
self.closeEvent = functools.partial(self.quit_program_event)
# Set locale
self.locale = args.locale
# Set debug mode
self.debug_mode = args.debug
# Load element's info
self.info_json = json.load(codecs.open(elem_info, "r", "utf-8"))
# Loads info about types from duckietown
self.duckietown_types_apriltags = get_duckietown_types()
##### Forms #############
self.new_tag_class = NewTagForm(self.duckietown_types_apriltags)
self.init_info_form = StartInfoForm()
self.new_group_form = NewGroupForm()
self.env_form = EnvForm()
############################
map_name = "maps/empty"
self.dm = get_dt_world(map_name)
logger.debug(self.dm.get_context())
self.map = map.DuckietownMap()
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
viewer = mapviewer.MapViewer()
self.editor = MapEditor(self.map, self.mapviewer)
viewer.setMap(self.map)
self.mapviewer = viewer
viewer.setMinimumSize(540, 540)
self.ui.horizontalLayout.addWidget(viewer)
viewer.repaint()
self.initUi()
self.update_layer_tree()
def get_translation(self, elem):
"""Gets info about the element based on self.locale
If local doesn't exist, return locale='en'
:param self
:param elem: dict, information about elements (or category), that contains translation
:return: dict(). Dict with translation based on the self.locale
"""
if self.locale in elem['lang']:
return elem['lang'][self.locale]
else:
logger.debug(
"duck_window.get_translation. No such locale: {}".format(
self.locale))
return elem['lang']['en']
def initUi(self):
self.center()
self.show()
# Initialize button objects
create_map = self.ui.create_new
open_map = self.ui.open_map
save_map = self.ui.save_map
save_map_as = self.ui.save_map_as
calc_param = self.ui.calc_param
about_author = self.ui.about_author
exit = self.ui.exit
change_blocks = self.ui.change_blocks
change_info = self.ui.change_info
change_map = self.ui.change_map
change_layer = self.ui.change_layer
distortion_view = self.ui.distortion_view
create_region = self.ui.region_create
import_old_format = self.ui.import_old_format
environment = self.ui.env
# Initialize floating blocks
block_widget = self.ui.block_widget
info_widget = self.ui.info_widget
map_info_widget = self.ui.map_info_widget
layer_info_widget = self.ui.layer_info_widget
# Signal from viewer
self.mapviewer.selectionChanged.connect(self.selectionUpdate)
self.mapviewer.editObjectChanged.connect(self.create_form)
self.new_tag_class.apriltag_added.connect(self.add_apriltag)
# Assign actions to buttons
create_map.triggered.connect(self.create_map_triggered)
open_map.triggered.connect(self.open_map_triggered)
save_map.triggered.connect(self.save_map_triggered)
save_map_as.triggered.connect(self.save_map_as_triggered)
calc_param.triggered.connect(self.calc_param_triggered)
about_author.triggered.connect(self.about_author_triggered)
distortion_view.triggered.connect(
self.change_distortion_view_triggered)
create_region.triggered.connect(self.create_region)
import_old_format.triggered.connect(self.import_old_format)
environment.triggered.connect(self.change_env)
exit.triggered.connect(self.exit_triggered)
change_blocks.toggled.connect(self.change_blocks_toggled)
change_info.toggled.connect(self.change_info_toggled)
change_map.toggled.connect(self.change_map_toggled)
change_layer.toggled.connect(self.toggle_layer_window)
block_widget.closeEvent = functools.partial(self.blocks_event)
info_widget.closeEvent = functools.partial(self.info_event)
map_info_widget.closeEvent = functools.partial(self.map_event)
layer_info_widget.closeEvent = functools.partial(
self.close_layer_window_event)
# QToolBar setting
tool_bar = self.ui.tool_bar
a1 = QtWidgets.QAction(QtGui.QIcon("img/icons/new.png"),
_translate("MainWindow", "New map"), self)
a2 = QtWidgets.QAction(QtGui.QIcon("img/icons/open.png"),
_translate("MainWindow", "Open map"), self)
a3 = QtWidgets.QAction(QtGui.QIcon("img/icons/save.png"),
_translate("MainWindow", "Save map"), self)
a4 = QtWidgets.QAction(QtGui.QIcon("img/icons/save_as.png"),
_translate("MainWindow", "Save map as"), self)
a5 = QtWidgets.QAction(QtGui.QIcon("img/icons/png.png"),
_translate("MainWindow", "Export to PNG"), self)
b1 = QtWidgets.QAction(QtGui.QIcon("img/icons/copy.png"),
_translate("MainWindow", "Copy"), self)
b2 = QtWidgets.QAction(QtGui.QIcon("img/icons/cut.png"),
_translate("MainWindow", "Cut"), self)
b3 = QtWidgets.QAction(QtGui.QIcon("img/icons/insert.png"),
_translate("MainWindow", "Paste"), self)
b4 = QtWidgets.QAction(QtGui.QIcon("img/icons/delete.png"),
_translate("MainWindow", "Delete"), self)
b5 = QtWidgets.QAction(QtGui.QIcon("img/icons/undo.png"),
_translate("MainWindow", "Undo"), self)
b1.setShortcut("Ctrl+C")
b2.setShortcut("Ctrl+X")
b3.setShortcut("Ctrl+V")
b4.setShortcut("Delete")
b5.setShortcut("Ctrl+Z")
c1 = QtWidgets.QAction(QtGui.QIcon("img/icons/rotate.png"),
_translate("MainWindow", "Rotate"), self)
c2 = QtWidgets.QAction(
QtGui.QIcon("img/icons/trim.png"),
_translate("MainWindow", "Delete extreme empty blocks"), self)
c1.setShortcut("Ctrl+R")
c2.setShortcut("Ctrl+F")
self.brush_button.setIcon(QtGui.QIcon("img/icons/brush.png"))
self.brush_button.setCheckable(True)
self.brush_button.setToolTip("Brush tool")
self.brush_button.setShortcut("Ctrl+B")
a1.triggered.connect(self.create_map_triggered)
a2.triggered.connect(self.open_map_triggered)
a3.triggered.connect(self.save_map_triggered)
a4.triggered.connect(self.save_map_as_triggered)
b1.triggered.connect(self.copy_button_clicked)
b2.triggered.connect(self.cut_button_clicked)
b3.triggered.connect(self.insert_button_clicked)
b4.triggered.connect(self.delete_button_clicked)
b5.triggered.connect(self.undo_button_clicked)
c1.triggered.connect(self.rotateSelectedTiles)
c2.triggered.connect(self.trimClicked)
self.brush_button.clicked.connect(self.brush_mode)
for elem in [[a1, a2, a3, a4, a5], [b1, b2, b3, b4, b5]]:
for act in elem:
tool_bar.addAction(act)
tool_bar.addSeparator()
tool_bar.addWidget(self.brush_button)
tool_bar.addAction(c1)
tool_bar.addAction(c2)
# Setup Layer Tree menu
self.ui.layer_tree.setModel(
QtGui.QStandardItemModel()) # set item model for tree
# Customize the Blocks menu
block_list_widget = self.ui.block_list
block_list_widget.itemClicked.connect(self.item_list_clicked)
block_list_widget.itemDoubleClicked.connect(
self.item_list_double_clicked)
# Customize the Map Editor menu
default_fill = self.ui.default_fill
delete_fill = self.ui.delete_fill
# Fill out the list
categories = self.info_json['categories']
information = self.info_json['info']
for group in categories:
# add separator
icon = "img/icons/galka.png"
widget = QtWidgets.QListWidgetItem(
QtGui.QIcon(icon),
self.get_translation(group)['name'])
widget.setData(0x0100, "separator")
widget.setData(0x0101, group['id'])
widget.setBackground(QtGui.QColor(169, 169, 169))
block_list_widget.addItem(widget)
# add elements
for elem_id in group['elements']:
widget = QtWidgets.QListWidgetItem(
QtGui.QIcon(information[elem_id]['icon']),
self.get_translation(information[elem_id])['name'])
widget.setData(0x0100, elem_id)
widget.setData(0x0101, group['id'])
block_list_widget.addItem(widget)
# add tiles to fill menu
if group['id'] in ("road", "block"):
default_fill.addItem(
QtGui.QIcon(information[elem_id]['icon']),
self.get_translation(information[elem_id])['name'],
elem_id)
delete_fill.addItem(
QtGui.QIcon(information[elem_id]['icon']),
self.get_translation(information[elem_id])['name'],
elem_id)
default_fill.setCurrentText(
self.get_translation(information["grass"])['name'])
delete_fill.setCurrentText(
self.get_translation(information["empty"])['name'])
set_fill = self.ui.set_fill
set_fill.clicked.connect(self.set_default_fill)
def change_env(self):
self.env_form.show()
def center(self):
qr = self.frameGeometry()
cp = QDesktopWidget().availableGeometry().center()
qr.moveCenter(cp)
self.move(qr.topLeft())
# Create a new map
def open_map_triggered(self):
logger.debug("Creating a new map")
new_map_dir = QFileDialog.getExistingDirectory(
self, 'Open new map', '.',
QFileDialog.ShowDirsOnly | QFileDialog.DontResolveSymlinks)
if new_map_dir:
dm2_test = get_new_dt_world(new_map_dir)
print(dm2_test)
self.duckie_manager.add_map(new_map_dir.split('/')[-1], dm2_test)
self.reset_duckietown_map(dm2_test)
print(new_map_dir.split('/')[-1])
self.mapviewer.offsetX = self.mapviewer.offsetY = 0
self.mapviewer.scene().update()
self.update_layer_tree()
def import_old_format(self):
old_format_map = QFileDialog.getOpenFileName(self,
'Open map(old format)',
'.')
path, _ = old_format_map
print(path)
with open(path) as file:
new_format_map = convert_new_format(file.read())
print(new_format_map)
map_path = os.getcwd() + "/output"
try:
os.makedirs(map_path)
except:
pass
dump(new_format_map)
dm = get_new_dt_world(map_path)
self.duckie_manager.add_map(map_path.split('/')[-1], dm)
self.reset_duckietown_map(dm)
self.mapviewer.offsetX = self.mapviewer.offsetY = 0
self.mapviewer.scene().update()
self.update_layer_tree()
# Open map
def create_map_triggered(self):
logger.debug(2)
self.editor.save(self.map)
def init_info(info):
i, j = int(info['x']), int(info['y'])
self.tile_size = float(info['tile_size'])
self.create_empty_map(i, j)
self.dm.tile_maps['map_1'].x = self.tile_size
self.dm.tile_maps['map_1'].y = self.tile_size
self.mapviewer.tile_size = self.tile_size
self.mapviewer.scene().update()
self.update_layer_tree()
self.init_info_form.send_info.connect(init_info)
self.init_info_form.show()
self.mapviewer.offsetX = self.mapviewer.offsetY = 0
self.mapviewer.scene().update()
self.update_layer_tree()
def create_region(self):
self.region_create = True
self.new_group_form.show()
print('Create REGION ', self.region_create)
def change_distortion_view_triggered(self):
self.distortion_view_one_string_mode = not self.distortion_view_one_string_mode
# Save map
def save_map_triggered(self):
self.save_map_as_triggered()
# Save map as
def save_map_as_triggered(self):
path_folder = save_map_as(self)
if path_folder:
map_final = self.dm.dump(self.dm)
for layer_name in map_final:
with open(path_folder + f'/{layer_name}.yaml', 'w+') as file:
file.write(map_final[layer_name])
print('FINAL PATH, ', path_folder)
# Calculate map characteristics
def calc_param_triggered(self):
text = ""
for info, obj in self.dm.tiles:
i, j = obj.i, obj.j
type = obj.type
orientation = obj.type
text += f"{i}-{j}: {type}/{orientation}\n"
self.show_info(self.param_window,
_translate("MainWindow", "Map characteristics"), text)
# Help: About
def about_author_triggered(self):
text = '''
- Select an object using the left mouse button\n
- when object is selected you can change pos, using mouse\n
- add apriltag using key `R`\n
- Edit an object, click on it using the right mouse button\n
- Authors:\n alskaa;\n dihindee;\n ovc-serega;\n HadronCollider;\n light5551;\n snush.\n\n Contact us on github!
'''
self.show_info(self.author_window, "About", text)
# Exit
def exit_triggered(self):
self.save_before_exit()
QtCore.QCoreApplication.instance().quit()
# Save map before exit
def save_before_exit(self):
if not self.debug_mode:
ret = self.quit_MessageBox()
if ret == QMessageBox.Cancel:
return
if ret == QMessageBox.Save:
self.save_map_as_triggered()
# Hide Block menu
def change_blocks_toggled(self):
block = self.ui.block_widget
if self.ui.change_blocks.isChecked():
block.show()
block.setFloating(False)
else:
block.close()
# Change button state
def blocks_event(self, event):
self.ui.change_blocks.setChecked(False)
event.accept()
# Hide information menu
def change_info_toggled(self):
block = self.ui.info_widget
if self.ui.change_info.isChecked():
block.show()
block.setFloating(False)
else:
block.close()
# Change button state
def info_event(self, event):
self.ui.change_info.setChecked(False)
event.accept()
# Hide the menu about map properties
def change_map_toggled(self):
block = self.ui.map_info_widget
if self.ui.change_map.isChecked():
block.show()
block.setFloating(False)
else:
block.close()
# Change button state
def map_event(self, event):
self.ui.change_map.setChecked(False)
event.accept()
# Layer window
def toggle_layer_window(self):
"""
Toggle layers window by `View -> Layers`
:return: -
"""
block = self.ui.layer_info_widget
if self.ui.change_layer.isChecked():
block.show()
block.setFloating(False)
else:
block.close()
def close_layer_window_event(self, event):
"""
Reset flag `View -> Layers` when closing layers window
:param event: closeEvent
:return: -
"""
self.ui.change_layer.setChecked(False)
event.accept()
def layer_tree_clicked(self):
pass
def layer_tree_double_clicked(self):
pass
def update_layer_tree(self):
"""
Update layer tree.
Show layer's elements as children in hierarchy (except tile layer)
:return: -
"""
def signal_check_state(item):
"""
update visible state of layer.
:return: -
"""
dm = self.duckie_manager.get_map(item.text())
self.reset_duckietown_map(dm)
self.mapviewer.scene().update()
layer_tree_view.clearSelection()
item_model.clear()
item_model.setHorizontalHeaderLabels(['Maps'])
self.show_maps_menu(layer_tree_view.model().invisibleRootItem())
layer_tree_view = self.ui.layer_tree
item_model = layer_tree_view.model()
item_model.clear()
print('waws clear')
try:
item_model.itemChanged.disconnect()
except TypeError:
pass # only 1st time in update_layer_tree
item_model.itemChanged.connect(signal_check_state)
item_model.setHorizontalHeaderLabels(['Maps'])
root_item = layer_tree_view.model().invisibleRootItem()
self.show_maps_menu(root_item)
layer_tree_view.expandAll()
def show_maps_menu(self, root_item):
for map_name in self.duckie_manager.get_maps_name():
layer_item = QtGui.QStandardItem(str(map_name))
layer_item.setCheckable(True)
layer_item.setCheckState(QtCore.Qt.Unchecked)
layer_item.setCheckState(
QtCore.Qt.Checked if self.duckie_manager.is_active ==
map_name else QtCore.Qt.Unchecked)
root_item.appendRow(layer_item)
layer_item.sortChildren(0)
# MessageBox to exit
def quit_MessageBox(self):
reply = QMessageBox(self)
reply.setIcon(QMessageBox.Question)
reply.setWindowTitle(_translate("MainWindow", "Exit"))
reply.setText(_translate("MainWindow", "Exit"))
reply.setInformativeText(_translate("MainWindow", "Save and exit?"))
reply.setStandardButtons(QMessageBox.Save | QMessageBox.Discard
| QMessageBox.Cancel)
reply.setDefaultButton(QMessageBox.Save)
ret = reply.exec()
return ret
# Program exit event
def quit_program_event(self, event):
self.save_before_exit()
# Close additional dialog boxes
self.author_window.exit()
self.param_window.exit()
self.mater_window.exit()
event.accept()
def create_empty_map(self, i_size: int, j_size: int) -> None:
self.mapviewer.i_tile, self.mapviewer.j_tile = i_size, j_size
for i in range(i_size):
for j in range(j_size):
tile = Tile("{}/tile_{}_{}".format(self.dm.get_context(), i,
j))
tile.obj.i = i
tile.obj.j = j
tile.frame.pose.x = int(i) * 0.585 + 0.585 / 2
tile.frame.pose.y = int(j) * 0.585 + 0.585 / 2
tile.obj.orientation = 'E'
tile.frame.relative_to = self.dm.get_context()
tile.frame.dm = self.dm
self.dm.add(tile)
# Handle a click on an item from a list to a list
def item_list_clicked(self):
list = self.ui.block_list
name = list.currentItem().data(0x0100)
type = list.currentItem().data(0x0101)
if name == "separator":
list.currentItem().setSelected(False)
for i in range(list.count()):
elem = list.item(i)
if type == elem.data(0x0101):
if name == elem.data(0x0100):
icon = QtGui.QIcon("img/icons/galka.png") if list.item(i + 1).isHidden() else \
QtGui.QIcon("img/icons/galka_r.png")
elem.setIcon(icon)
else:
elem.setHidden(not elem.isHidden())
else:
elem = self.info_json['info'][name]
info_browser = self.ui.info_browser
info_browser.clear()
text = "{}:\n {}\n{}:\n{}".format(
_translate("MainWindow", "Name"),
list.currentItem().text(),
_translate("MainWindow", "Description"),
self.get_translation(elem)['info'])
if elem["type"] == "block":
text += "\n\n{}: {} {}".format(
_translate("MainWindow", "Road len"), elem["length"],
_translate("MainWindow", "sm"))
text += " Tape:\n"
text += " {}: {} {}\n".format(_translate("MainWindow", "Red"),
elem["red"],
_translate("MainWindow", "sm"))
text += " {}: {} {}\n".format(
_translate("MainWindow", "Yellow"), elem["yellow"],
_translate("MainWindow", "sm"))
text += " {}: {} {}\n".format(
_translate("MainWindow", "White"), elem["white"],
_translate("MainWindow", "sm"))
info_browser.setText(text)
# Double click initiates as single click action
def item_list_double_clicked(self):
item_ui_list = self.ui.block_list
item_name = item_ui_list.currentItem().data(0x0100)
item_type = item_ui_list.currentItem().data(0x0101)
if item_name == "separator":
item_ui_list.currentItem().setSelected(False)
else:
if item_type in TILE_TYPES:
self.ui.default_fill.setCurrentText(
self.get_translation(
self.info_json['info'][item_name])['name'])
logger.debug("Set {} for brush".format(item_name))
else:
# save map before adding object
self.editor.save(self.map)
# adding object
print(item_name)
type_of_element = self.info_json['info'][item_name]['type']
obj = None
if item_name == "duckie":
obj = Citizen(
f"{self.dm.get_context()}/duckie_{len(self.dm.citizens.dict())}",
x=1,
y=1)
elif item_name == "watchtower":
name = f"{self.dm.get_context()}/watchtower_{len(self.dm.watchtowers.dict())}"
obj = Watchtower(name, x=1, y=1)
self.dm.add(Camera(f"{name}/camera"))
elif type_of_element == "sign":
name = f"{self.dm.get_context()}/{get_canonical_sign_name(item_name)}_{len(self.dm.traffic_signs.dict())}"
obj = TrafficSign(name, x=1, y=1)
obj.obj.type = get_canonical_sign_name(item_name)
obj.obj.id = utils.get_id_by_type(item_name)
elif item_name == "apriltag":
name = f"{self.dm.get_context()}/groundtag_{len(self.dm.ground_tags.dict())}"
obj = GroundTag(name, x=1, y=1)
elif item_name == "duckiebot":
name = f"{self.dm.get_context()}/vehicle_{len(self.dm.vehicles.dict())}"
obj = Vehicle(name, x=1, y=1)
self.dm.add(Camera(f"{name}/camera"))
else: # block for decorations
name = f"{self.dm.get_context()}/{item_name}_{len(self.dm.decorations.dict())}"
obj = Decoration(name, x=1, y=1)
obj.obj.type = item_name
if obj:
obj.frame.relative_to = self.dm.get_context()
self.dm.add(obj)
# TODO: need to understand what's the type and create desired class, not general
# also https://github.com/moevm/mse_visual_map_editor_for_duckietown/issues/122
# (for args, that can be edited and be different between classes)
self.mapviewer.scene().update()
logger.debug("Add {} to map".format(item_name))
self.update_layer_tree()
# Reset to default values
def set_default_fill(self):
default_fill = self.ui.default_fill.currentData()
delete_fill = self.ui.delete_fill.currentData()
# TODO установка занчений по умолчанию
logger.debug("{}; {}".format(default_fill, delete_fill))
# Copy
def copy_button_clicked(self):
if self.brush_button.isChecked():
self.brush_button.click()
self.drawState = 'copy'
self.copyBuffer = copy.copy(self.mapviewer.tileSelection)
logger.debug("Copy")
# Cut
def cut_button_clicked(self):
if self.brush_button.isChecked():
self.brush_button.click()
self.drawState = 'cut'
self.copyBuffer = copy.copy(self.mapviewer.tileSelection)
logger.debug("Cut")
# Paste
def insert_button_clicked(self):
if len(self.copyBuffer) == 0:
return
self.editor.save(self.map)
if self.drawState == 'copy':
self.editor.copySelection(
self.copyBuffer, self.mapviewer.tileSelection[0],
self.mapviewer.tileSelection[1],
MapTile(self.ui.delete_fill.currentData()))
elif self.drawState == 'cut':
self.editor.moveSelection(
self.copyBuffer, self.mapviewer.tileSelection[0],
self.mapviewer.tileSelection[1],
MapTile(self.ui.delete_fill.currentData()))
self.mapviewer.scene().update()
self.update_layer_tree()
# Delete
def delete_button_clicked(self):
if not self.map.get_tile_layer().visible:
return
self.mapviewer.remove_last_obj()
self.mapviewer.scene().update()
self.update_layer_tree()
# Undo
def undo_button_clicked(self):
self.editor.undo()
self.mapviewer.scene().update()
self.update_layer_tree()
# Brush mode
def brush_mode(self):
if self.brush_button.isChecked():
self.drawState = 'brush'
else:
self.drawState = ''
def keyPressEvent(self, e):
selection = self.mapviewer.raw_selection
item_layer = self.map.get_objects_from_layers(
) # TODO: add self.current_layer for editing only it's objects?
new_selected_obj = False
for layer in self.dm:
print(layer)
print(selection)
if self.region_create:
self.region_create = False
for item in item_layer:
x, y = item.position
if x > selection[0] and x < selection[2] and y > selection[
1] and y < selection[3]:
if item not in self.active_items:
self.active_items.append(item)
new_selected_obj = True
if new_selected_obj:
# save map if new objects are selected
self.editor.save(self.map)
key = e.key()
print('KEY ', key, " ", QtCore.Qt.ALT, " ", e.modifiers())
if key == QtCore.Qt.Key_Q:
# clear object buffer
self.active_items = []
self.mapviewer.raw_selection = [0] * 4
elif key == QtCore.Qt.Key_R:
self.new_tag_class.create_form()
elif key == QtCore.Qt.Key_H:
# print(self.duckie_manager.get_maps_name())
for map_name in self.duckie_manager.get_maps_name():
if map_name == "maps/test":
self.reset_duckietown_map(
self.duckie_manager.get_map(map_name))
if self.active_items:
if key == QtCore.Qt.Key_Backspace:
# delete object
if question_form_yes_no(
self, "Deleting objects",
"Delete objects from map?") == QMessageBox.Yes:
# save map before deleting objects
self.editor.save(self.map)
for item in self.active_items:
object_type = self.info_json['info'][item.kind]['type']
layer = self.map.get_layer_by_type(
get_layer_type_by_object_type(object_type))
layer.remove_object_from_layer(item)
self.active_items = []
self.mapviewer.scene().update()
self.update_layer_tree()
return
for item in self.active_items:
logger.debug("Name of item: {}; X - {}; Y - {};".format(
item.kind, item.position[0], item.position[1]))
if key == QtCore.Qt.Key_W:
item.position[1] -= EPS
elif key == QtCore.Qt.Key_S:
item.position[1] += EPS
elif key == QtCore.Qt.Key_A:
item.position[0] -= EPS
elif key == QtCore.Qt.Key_D:
item.position[0] += EPS
elif key == QtCore.Qt.Key_E:
if len(self.active_items) == 1:
self.create_form(self.active_items[0])
else:
logger.debug("I can't edit more than one object!")
self.mapviewer.scene().update()
def create_form(self, active_object_data: tuple):
active_object, (name, tp) = active_object_data
self.name_of_editable_obj = name
assert tp is _Frame
def accept():
try:
active_object.pose.x = float(edit_obj['x'].text())
active_object.pose.y = float(edit_obj['y'].text())
active_object.pose.yaw = float(
np.deg2rad(float(edit_obj['yaw'].text())))
new_type = None
print(f"ACCEPT: {cam_obj}")
for key in editable_values:
print("Key - ", key)
if key in [
"width", "height", "framerate",
"distortion_parameters", "camera_matrix"
]: # cam obj
if key in ["width", "height", "framerate"]:
cam_obj[key] = int(edit_obj[key].text().split()[0])
elif key == "distortion_parameters":
if not cam_obj.distortion_parameters:
cam_obj["distortion_parameters"] = []
if self.distortion_view_one_string_mode:
dk = edit_obj[f"distortion_parameters"].text(
).replace(" ", "").split(",")
for idx, val in enumerate(dk):
val = float(val)
if len(cam_obj.distortion_parameters) < 5:
cam_obj.distortion_parameters.append(
val)
else:
cam_obj.distortion_parameters[
idx] = val
else:
for idx in range(5):
val = float(edit_obj[
f"distortion_parameters_{idx}"].text().
split()[0])
if len(cam_obj.distortion_parameters) < 5:
cam_obj.distortion_parameters.append(
val)
else:
cam_obj.distortion_parameters[
idx] = val
elif key == "camera_matrix":
if not cam_obj.camera_matrix:
cam_obj["camera_matrix"] = []
if not cam_obj.camera_matrix:
for _ in range(3):
cam_obj.camera_matrix.append([])
for row in range(3):
for col in range(3):
val = float(
edit_obj[f"camera_matrix_{row}_{col}"].
text().split()[0])
if len(cam_obj.camera_matrix[row]) < 3:
cam_obj.camera_matrix[row].append(val)
else:
cam_obj.camera_matrix[row][col] = val
print('MATRIX1 ', cam_obj.camera_matrix)
else:
new_value = edit_obj[key].text().split()[0]
if key == 'id' and len(
edit_obj[key].text().split()) > 1:
new_type = edit_obj[key].text().split()[1][1:-1]
if key == 'type' and new_type:
obj[key] = get_canonical_sign_name(
new_type) # new_type
continue
if new_value.isdigit():
new_value = int(new_value)
try:
if isinstance(new_value, str):
new_value = float(new_value)
except ValueError:
pass
print(f"New value {new_value} for key {key}")
obj[key] = new_value
except Exception as e:
msg = QMessageBox()
msg.setIcon(QMessageBox.Critical)
msg.setText(str(e))
msg.setWindowTitle("Error")
msg.exec_()
dialog.close()
self.mapviewer.scene().update()
self.update_layer_tree()
def reject():
dialog.close()
# work version
info_object = self.dm.get_objects_by_name(name)
del info_object[(name, tp)]
_, type_object = list(info_object.keys())[0]
obj = info_object[(name, type_object)]
cam_obj = None
dialog = QtWidgets.QDialog(self)
dialog.setWindowTitle('Change attribute of object')
# buttonbox
buttonBox = QtWidgets.QDialogButtonBox(
QtWidgets.QDialogButtonBox.Ok | QtWidgets.QDialogButtonBox.Cancel)
buttonBox.accepted.connect(accept)
buttonBox.rejected.connect(reject)
# form
formGroupBox = QGroupBox("Change attribute's object: {}".format(""))
layout = QFormLayout()
# editable_attrs = active_object.get_editable_attrs()
edit_obj = {}
combo_id = QComboBox(self)
def change_combo_id(value):
combo_id.clear()
combo_id.addItems([
"{}/{}".format(i.id, i.type)
for i in self.duckietown_types_apriltags[value]
])
combo_id.setEditText(str(
self.duckietown_types_apriltags[value][0]))
def change_type_from_combo(value: str):
if 'type' in edit_obj:
edit_obj['type'].setText(value.split()[1][1:-1])
x_edit = QLineEdit(str(active_object.pose.x))
y_edit = QLineEdit(str(active_object.pose.y))
yaw_edit = QLineEdit(str(np.rad2deg(active_object.pose.yaw)))
edit_obj['x'] = x_edit
edit_obj['y'] = y_edit
edit_obj['yaw'] = yaw_edit
layout.addRow(QLabel("{}.X".format("pose")), x_edit)
layout.addRow(QLabel("{}.Y".format("pose")), y_edit)
layout.addRow(QLabel("{}.yaw".format("pose")), yaw_edit)
editable_values = obj.dict()
print('ATTR SHOW: ', editable_values, name)
for attr_name in sorted(editable_values.keys()):
attr = editable_values[attr_name]
new_edit = QLineEdit(str(attr))
edit_obj[attr_name] = new_edit
if "vehicle" not in name and attr_name == 'id':
type_id = list(self.duckietown_types_apriltags.keys())[0]
for type_sign in self.duckietown_types_apriltags.keys():
try:
if int(attr
) in self.duckietown_types_apriltags[type_sign]:
type_id = type_sign
break
except:
pass
if "sign" not in name:
for type_tag in self.duckietown_types_apriltags:
combo_id.addItems([
"{}".format(i.id)
for i in self.duckietown_types_apriltags[type_tag]
])
else:
combo_id.addItems([
"{} ({})".format(i.id, i.type)
for i in self.duckietown_types_apriltags[type_id]
])
combo_id.setLineEdit(new_edit)
new_edit.setReadOnly(True)
combo_id.setEditText(str(attr))
combo_id.currentTextChanged.connect(change_type_from_combo)
layout.addRow(QLabel(attr_name), combo_id)
elif attr_name == 'id':
new_edit.setReadOnly(True)
layout.addRow(QLabel("{}".format(attr_name)), new_edit)
elif attr_name == "type":
new_edit.setReadOnly(True)
layout.addRow(QLabel("{}".format(attr_name)), new_edit)
else:
layout.addRow(QLabel("{}".format(attr_name)), new_edit)
if "vehicle" in name:
cam = self.dm.get_objects_by_name(name + "/camera")
cam_obj: _Camera = cam[list(cam.keys())[0]]
editable_values.update(cam_obj.dict())
print("Camera info ", type(cam), cam.keys(),
list(cam.keys())[0], cam)
print(cam_obj)
layout.addRow(QHLine())
width_camera_edit = QLineEdit(str(cam_obj.width))
height_camera_edit = QLineEdit(str(cam_obj.height))
framerate_camera_edit = QLineEdit(str(cam_obj.framerate))
edit_obj.update({
"width": width_camera_edit,
"height": height_camera_edit,
"framerate": framerate_camera_edit
})
layout.addRow(QLabel("{}.width".format("camera")),
width_camera_edit)
layout.addRow(QLabel("{}.height".format("camera")),
height_camera_edit)
layout.addRow(QLabel("{}.framerate".format("camera")),
framerate_camera_edit)
layout.addRow(QLabel("Camera Matrix"))
grid_matrix = QGridLayout()
grid_matrix.setColumnStretch(1, 4)
grid_matrix.setColumnStretch(2, 4)
for row in range(3):
for col in range(3):
if cam_obj.camera_matrix:
# TODO: NEED TO TEST
grid_line_edit = QLineEdit(
str(cam_obj.camera_matrix[row][col]))
else:
grid_line_edit = QLineEdit("0")
edit_obj[f"camera_matrix_{row}_{col}"] = grid_line_edit
grid_matrix.addWidget(grid_line_edit, row, col)
layout.addRow(grid_matrix)
grid_distortion = QGridLayout()
grid_distortion.setColumnStretch(1, 4)
grid_distortion.setColumnStretch(2, 4)
layout.addRow(QLabel("Camera Distortion: [k1, k2, p1, p2, k3]"))
for idx in range(5):
if cam_obj.distortion_parameters:
grid_line_edit = QLineEdit(
str(cam_obj.distortion_parameters[idx]))
else:
grid_line_edit = QLineEdit("0")
edit_obj[f"distortion_parameters_{idx}"] = grid_line_edit
grid_distortion.addWidget(grid_line_edit, 0, idx)
layout.addRow(grid_distortion)
layout.addRow(QHLine())
combo_groups = QComboBox(self)
##### DEV FOR GROUP ####
groups = ["No chosen"]
for ((nm, _), group) in self.dm.groups:
groups.append(f"{nm} [{group.description}]")
print(nm, group.description)
combo_groups.addItems([i for i in groups])
combo_groups.setEditText("Choose group")
combo_groups.currentTextChanged.connect(self.change_active_group)
layout.addRow(QLabel("Choose group"), combo_groups)
add_group = QPushButton("Add in group", self)
add_group.clicked.connect(self.add_group_triggered)
del_group = QPushButton("Del in group", self)
del_group.clicked.connect(self.del_group_triggered)
hl = QHBoxLayout()
hl.addWidget(add_group)
hl.addWidget(del_group)
layout.addRow(hl)
########################
formGroupBox.setLayout(layout)
# layout
mainLayout = QVBoxLayout()
mainLayout.addWidget(formGroupBox)
mainLayout.addWidget(buttonBox)
dialog.setLayout(mainLayout)
dialog.exec_()
def add_group_triggered(self):
if self.active_group:
members = self.active_group.members
if self.name_of_editable_obj not in members:
members.append(self.name_of_editable_obj)
def del_group_triggered(self):
if self.active_group and self.name_of_editable_obj in self.active_group.members:
self.active_group.members.remove(self.name_of_editable_obj)
def change_active_group(self, value: str):
if self.active_group:
self.active_group = self.dm.get_object(value.split()[0], _Group)
def rotateSelectedTiles(self):
self.editor.save(self.map)
is_selected_tile = self.mapviewer.is_selected_tile
for ((nm, _), tile) in self.dm.tiles:
if is_selected_tile(tile):
frame: _Frame = self.dm.frames[nm]
orien_val = get_degree_for_orientation(
tile.orientation
) - 90 # (rot_val[tile.orientation] + 90) % 360
tile.orientation = get_orientation_for_degree(orien_val)
frame.pose.yaw = {
'E': np.pi * 1.5,
'N': 0,
'W': np.pi,
'S': np.pi * 0.5,
None: 0
}[tile.orientation]
self.mapviewer.scene().update()
def add_apriltag(self, apriltag: GroundAprilTagObject):
layer = self.map.get_layer_by_type(LayerType.GROUND_APRILTAG)
if layer is None:
self.map.add_layer_from_data(LayerType.GROUND_APRILTAG, [apriltag])
else:
self.map.add_elem_to_layer_by_type(LayerType.GROUND_APRILTAG,
apriltag)
self.update_layer_tree()
self.mapviewer.scene().update()
def trimClicked(self):
self.editor.save(self.map)
self.editor.trimBorders(True, True, True, True,
MapTile(self.ui.delete_fill.currentData()))
self.mapviewer.scene().update()
self.update_layer_tree()
def selectionUpdate(self):
is_selected_tile = self.mapviewer.is_selected_tile
if self.drawState == 'brush':
self.editor.save(
self.map) # TODO: CTRL+Z need to fix because dt-world
tiles = self.dm.tiles.only_tiles()
for i in range(len(tiles)):
for j in range(len(tiles[0])):
tile = tiles[i][j]
if is_selected_tile(tile):
tile.type = self.ui.default_fill.currentData()
tile.orientation = 'E'
self.update_layer_tree()
self.mapviewer.scene().update()
def reset_duckietown_map(self, new_dm: DuckietownMap):
self.dm = new_dm
self.mapviewer.dm = new_dm
# self.update_layer_tree()
self.mapviewer.scene().update()
def get_random_name(self, begin):
return "{}_{}".format(begin, np.random.randint(1000))
def show_info(self, name, title, text):
name.set_window_name(title)
name.set_text(text)
name.show()