def wheelEvent(self, event):
event.ignore()
numDegrees = event.angleDelta().y() / 8
if numDegrees > 0:
self.setTransform(QTransform.fromScale(1.15, 1.15), True)
#self.scale(1.15, 1.15)
else:
self.setTransform(QTransform.fromScale(0.85, 0.85), True)
def _mirror(self, item):
"""
Mirror any QItem to have correct orientation
:param item:
:return:
"""
item.setTransform(QTransform().scale(1, -1).translate(
0, -self.map_height))
def setRobotPosition(self, robotID, x, y, angle):
if self.robots.has_key(robotID):
rob = self.robots.get(robotID)
if x != None:
if self.fieldIsSwitched:
rob.x = -x
else:
rob.x = x
if y != None:
if self.fieldIsSwitched:
rob.y = -y
else:
rob.y = y
if angle != None:
if self.fieldIsSwitched:
rob.angel = -angle + self.degToRadians(180)
else:
rob.angel = -angle
transform = QTransform()
transform.rotateRadians(rob.angel)
rotPixMap = QPixmap(
rob.rob_label.originalPixmap).transformed(transform)
rob.rob_label.setPixmap(rotPixMap)
rob.rob_label.setScaledContents(True)
addScale = (abs(math.sin(rob.angel * 2))) * (math.sqrt(2) - 1)
newsize = self.rob_pool.size + (self.rob_pool.size * addScale)
rob.rob_label.setFixedSize(newsize, newsize)
#print(addScale, newsize, rob.rob_label.width())
rob.rob_label.setScaledContents(True)
rob.rob_label.move(self.screenMidX - int(rob.rob_label.width() / 2) + self._meter_to_UI(rob.x), \
self.screenMidY - int(rob.rob_label.height() / 2) - self._meter_to_UI(rob.y))
rob.ang_label.move( rob.rob_label.x() + int(rob.rob_label.width() / 2) - rob.ang_label.width() / 2,\
rob.rob_label.y() + int(rob.rob_label.height() / 2) - rob.ang_label.height() / 2)
rob.arrow_label.move(rob.rob_label.x() + int(rob.rob_label.width() / 2) - rob.arrow_label.width() / 2,\
rob.rob_label.y() + int(rob.rob_label.height() / 2) - rob.arrow_label.height() / 2)
rob.arrow_label.setRoboAngle(self.radToDeg(rob.angel))
rob.ang_label.setAngles(self.radToDeg(-rob.angel), None)
def mouseMoveEvent(self, event):
if event.buttons() == Qt.MidButton:
mouseMovePos = event.pos()
view_diff = (mouseMovePos - self.mousePressPos)
tf = self.transform_press
scene_diff = view_diff
new_tf = QTransform(tf.m11(), tf.m12(), tf.m21(), tf.m22(),
tf.dx() + view_diff.x(),
tf.dy() + view_diff.y())
self.setTransform(new_tf)
else:
super(GraphView, self).mouseMoveEvent(event)
def scale_map(self, graphicsView, scenario):
rectF = graphicsView.geometry()
if (float(rectF.width()) / self.mapSize.width() <
float(rectF.height()) / self.mapSize.height()):
scale = float(rectF.width()) / self.mapSize.width()
elif scenario == 'pal_office' or scenario == 'sml':
scale = 0.7
else:
scale = float(rectF.height()) / self.mapSize.height()
transform = QTransform(scale, 0, 0.0, scale, 0, 0)
return transform
def wheelEvent(self, wheel_event):
if wheel_event.modifiers() == Qt.NoModifier:
delta = wheel_event.delta()
delta = max(min(delta, 480), -480)
mouse_before_scale_in_scene = self.mapToScene(wheel_event.pos())
scale_factor = 1 + (0.2 * (delta / 120.0))
scaling = QTransform(scale_factor, 0, 0, scale_factor, 0, 0)
self.setTransform(self.transform() * scaling)
mouse_after_scale_in_scene = self.mapToScene(wheel_event.pos())
center_in_scene = self.mapToScene(self.frameRect().center())
self.centerOn(center_in_scene + mouse_before_scale_in_scene - mouse_after_scale_in_scene)
wheel_event.accept()
else:
QGraphicsView.wheelEvent(self, wheel_event)
def wheelEvent(self, wheel_event):
if wheel_event.modifiers() == Qt.NoModifier:
num_degrees = wheel_event.delta() / 8.0
num_steps = num_degrees / 15.0
mouse_before_scale_in_scene = self.mapToScene(wheel_event.pos())
scale_factor = 1.2 * num_steps
if num_steps < 0:
scale_factor = -1.0 / scale_factor
scaling = QTransform(scale_factor, 0, 0, scale_factor, 0, 0)
self.setTransform(self.transform() * scaling)
mouse_after_scale_in_scene = self.mapToScene(wheel_event.pos())
center_in_scene = self.mapToScene(self.frameRect().center())
self.centerOn(center_in_scene + mouse_before_scale_in_scene -
mouse_after_scale_in_scene)
wheel_event.accept()
else:
QGraphicsView.wheelEvent(self, wheel_event)
def draw_flipper_state(self): length = 100 self._widget.flipper_front_current.setText(str(self.flipper_state)) #self.flipper_state += self.flipper_diff; if(self.flipper_state > self.flipper_front_max_state): self.flipper_diff *= -1 # self.flipper_state = self.flipper_front_max_state if(self.flipper_state < self.flipper_front_min_state): self.flipper_diff *= -1 # self.flipper_state = self.flipper_front_min_state self.flipper_scene.clear() self.draw_flipper_max() self.draw_flipper_min() #red chassi self.flipper_scene.addRect(65, 60, 145, 25, QPen(), QBrush(QColor(255,0,0))) #right wheel self.flipper_scene.addEllipse(150, 50, 50, 50, QPen(), QBrush(QColor(0,0,0))) #left wheel self.flipper_scene.addEllipse(50, 50, 50, 50, QPen(), QBrush(QColor(0,0,0))) #flipper wheel transform = QTransform() transform.translate(155,70) transform.rotateRadians(-self.flipper_state) transform.translate(-25,-25) #flipper wheel connection flipper_wheel = QtGui.QGraphicsEllipseItem(120,5, 50, 50) flipper_wheel.setTransform(transform) flipper_wheel.setBrush( QBrush(QColor(0,0,0))) self.flipper_scene.addItem(flipper_wheel) #self.flipper_scene.addEllipse(250, 50, 50, 50, QPen(), QBrush(QColor(0,0,0))) transform = QTransform() transform.translate(160,75) transform.rotateRadians(-self.flipper_state) transform.translate(-10,-10) flipper_link = QtGui.QGraphicsRectItem(0,0, 135, 20) flipper_link.setBrush( QBrush(QColor(163,163,163))) flipper_link.setTransform(transform) self.flipper_scene.addItem(flipper_link) #front connection self.flipper_scene.addEllipse(155, 70, 10, 10, QPen(), QBrush(QColor(0,0,0))) transform = QTransform() transform.translate(160,75) transform.rotateRadians(-self.flipper_state) transform.translate(-10,-10) #flipper wheel connection flipper_wheel_connection = QtGui.QGraphicsEllipseItem(120,5, 10, 10) flipper_wheel_connection.setTransform(transform) flipper_wheel_connection.setBrush( QBrush(QColor(0,0,0))) self.flipper_scene.addItem(flipper_wheel_connection)
def _mirror(self, item):
item.setTransform(QTransform.fromScale(-1, 1), True)
item.setTransform(QTransform.fromTranslate(-self.w, 0), True)
def __init__(self, gameFrame, fieldImageLabel):
self.frame = gameFrame
self.field = fieldImageLabel
rp = rospkg.RosPack()
ip_filename = os.path.join(rp.get_path('bitbots_live_tool_rqt'),
'resource', 'ip_config.yaml')
with open(ip_filename, "r") as file:
config = yaml.load(file)
self.fieldfilename = config.get("FIELD_IMAGE")
self.field_scale_global = config.get("FIELD_SCALE")
self.default_positions = config.get("DEFAULT_POSITIONS")
file.close()
print("Config: " + self.fieldfilename + ", " +
str(self.field_scale_global))
rp = rospkg.RosPack()
self.fieldfilename = os.path.join(
BallPool.rp.get_path('bitbots_live_tool_rqt'), 'resource',
self.fieldfilename)
self.fieldPixmap = QPixmap(self.fieldfilename)
self.field.setPixmap(self.fieldPixmap)
field_width = self.fieldPixmap.width()
field_height = self.fieldPixmap.height()
self.field_aspect = float(field_width) / float(field_height)
self.frame_aspect = float(self.frame.width()) / float(
self.frame.height())
self.field_border = 40 # margin to frame
self.transform = QTransform()
self.fieldIsSwitched = False
self.icon_timeout = 3
self.team_colors = {3: "cyan", 2: "magenta"}
if self.field_aspect >= self.frame_aspect: #
self.field_size_x = self.frame.width() - self.field_border * 2
self.field_size_y = self.field_size_x / self.field_aspect
else:
self.field_size_y = self.frame.height() - self.field_border * 2
self.field_size_x = self.field_size_y / self.field_aspect
self.field.setScaledContents(True)
self.field.setFixedSize(self.field_size_x, self.field_size_y)
self.field_scale = float(self.field_size_x) / float(field_width)
#print(self.field_scale)
self.screenMidX = int(self.frame.width() / 2)
self.screenMidY = int(self.frame.height() / 2)
self.field.move(self.screenMidX - int(self.field.width() / 2),
self.screenMidY - int(self.field.height() / 2))
self.colors = ["red", "green", "yellow", "blue"]
self.robots = {} # dict where keys are robot IDs
self.tabToRobot = {} # dict where keys are tab-nrs [0-3]
self.ball_pool = BallPool(self.frame, size=42)
self.rob_pool = RobotPool(self.frame, size=48)
self.opp_pool = OpponentPool(self.frame, size=42)
self.team_pool = TeammatePool(self.frame, size=42)
self.cross_pool = CrossPool(self.frame, size=34)
self.undef_pool = UndefinedPool(self.frame, size=42)