def getNodeItemForNode(self, node, highlight_level):
"""
returns a pyqt NodeItem object, or None in case of error or invisible style
"""
# let pydot imitate pygraphviz api
attr = {}
for name in node.get_attributes().iterkeys():
value = get_unquoted(node, name)
attr[name] = value
obj_dic = node.__getattribute__("obj_dict")
for name in obj_dic:
if name not in ["attributes", "parent_graph"] and obj_dic[name] is not None:
attr[name] = get_unquoted(obj_dic, name)
node.attr = attr
if "style" in node.attr:
if node.attr["style"] == "invis":
return None
color = QColor(node.attr["color"]) if "color" in node.attr else None
name = None
if "label" in node.attr:
name = node.attr["label"]
elif "name" in node.attr:
name = node.attr["name"]
else:
print("Error, no label defined for node with attr: %s" % node.attr)
return None
if name is None:
# happens on Lucid pygraphviz version
print("Error, label is None for node %s, pygraphviz version may be too old." % node)
else:
name = name.decode("string_escape")
# decrease rect by one so that edges do not reach inside
bb_width = len(name) / 5
if "width" in node.attr:
bb_width = node.attr["width"]
bb_height = 1.0
if "width" in node.attr:
bb_height = node.attr["height"]
bounding_box = QRectF(0, 0, POINTS_PER_INCH * float(bb_width) - 1.0, POINTS_PER_INCH * float(bb_height) - 1.0)
pos = (0, 0)
if "pos" in node.attr:
pos = node.attr["pos"].split(",")
bounding_box.moveCenter(QPointF(float(pos[0]), -float(pos[1])))
node_item = NodeItem(
highlight_level=highlight_level,
bounding_box=bounding_box,
label=name,
shape=node.attr.get("shape", "ellipse"),
color=color,
tooltip=node.attr.get("tooltip", None)
# parent=None,
# label_pos=None
)
# node_item.setToolTip(self._generate_tool_tip(node.attr.get('URL', None)))
return node_item
def getNodeItemForNode(self, node, highlight_level):
"""
returns a pyqt NodeItem object, or None in case of error or invisible style
"""
# let pydot imitate pygraphviz api
# attr = {}
# for name in node.get_attributes().iterkeys():
# value = get_unquoted(node, name)
# attr[name] = value
# obj_dic = node.__getattribute__("obj_dict")
# for name in obj_dic:
# if name not in ['attributes', 'parent_graph'] and obj_dic[name] is not None:
# attr[name] = get_unquoted(obj_dic, name)
# node.attr = attr
if 'style' in node.attr:
if node.attr['style'] == 'invis':
return None
color = QColor(node.attr['color']) if 'color' in node.attr else None
name = None
if 'label' in node.attr:
name = node.attr['label']
elif 'name' in node.attr:
name = node.attr['name']
else:
print("Error, no label defined for node with attr: %s" % node.attr)
return None
if name is None:
# happens on Lucid pygraphviz version
print("Error, label is None for node %s, pygraphviz version may be too old." % node)
else:
name = name.decode('string_escape')
# decrease rect by one so that edges do not reach inside
bb_width = len(name) / 5
if 'width' in node.attr:
bb_width = node.attr['width']
bb_height = 1.0
if 'width' in node.attr:
bb_height = node.attr['height']
bounding_box = QRectF(0, 0, POINTS_PER_INCH * float(bb_width) - 1.0, POINTS_PER_INCH * float(bb_height) - 1.0)
pos = (0, 0)
if 'pos' in node.attr:
pos = node.attr['pos'].split(',')
bounding_box.moveCenter(QPointF(float(pos[0]), -float(pos[1])))
node_item = NodeItem(highlight_level=highlight_level,
bounding_box=bounding_box,
label=name,
shape=node.attr.get('shape', 'ellipse'),
color=color,
tooltip=node.attr.get('tooltip', None)
# parent=None,
# label_pos=None
)
# node_item.setToolTip(self._generate_tool_tip(node.attr.get('URL', None)))
return node_item
def create_node(self, bounding_box, shape, label, label_pos=None, url=None, parent=None, cluster=False, **kwargs):
self._check_constraints(kwargs)
node_item = HoveredNodeItem(bounding_box, shape, label, label_pos, url, parent, **kwargs)
if cluster:
bounding_box = QRectF(bounding_box)
bounding_box.setHeight(30)
node_item.set_hover_shape(bounding_box)
return node_item
def paint(self, painter, option, widget):
# Main rectangle
rectangle = QRectF(self._bounding_box.topLeft().x(),
self._bounding_box.topLeft().y() + self._bounding_box.height() * 0.1,
self._bounding_box.width() - self._bounding_box.height() * 0.1,
self._bounding_box.height() - self._bounding_box.height() * 0.1)
painter.drawRect(rectangle)
# Top line
painter.drawLine(rectangle.topLeft().x() + self._bounding_box.height() * 0.1,
self._bounding_box.topLeft().y(),
self._bounding_box.topRight().x(),
self._bounding_box.topRight().y())
# Top left corner
painter.drawLine(rectangle.topLeft().x() + self._bounding_box.height() * 0.1,
self._bounding_box.topLeft().y(),
self._bounding_box.topLeft().x() + 1,
rectangle.topLeft().y())
# Top right corner
painter.drawLine(self._bounding_box.topRight().x(),
self._bounding_box.topRight().y(),
rectangle.topRight().x(),
rectangle.topRight().y())
# Bottom right corner
painter.drawLine(rectangle.bottomRight().x() + 1,
rectangle.bottomRight().y() - 1,
self._bounding_box.bottomRight().x(),
rectangle.bottomRight().y() - self._bounding_box.height() * 0.1)
# Right line
painter.drawLine(self._bounding_box.topRight().x(),
self._bounding_box.topRight().y(),
self._bounding_box.topRight().x(),
self._bounding_box.bottomRight().y() - self._bounding_box.height() * 0.1)
def getNodeItemForSubgraph(self, subgraph, highlight_level, scene=None):
# let pydot imitate pygraphviz api
attr = {}
for name in subgraph.get_attributes().keys():
value = get_unquoted(subgraph, name)
attr[name] = value
obj_dic = subgraph.__getattribute__('obj_dict')
for name in obj_dic:
if name not in ['nodes', 'attributes', 'parent_graph'
] and obj_dic[name] is not None:
attr[name] = get_unquoted(obj_dic, name)
elif name == 'nodes':
for key in obj_dic['nodes']['graph'][0]['attributes']:
attr[key] = get_unquoted(
obj_dic['nodes']['graph'][0]['attributes'], key)
subgraph.attr = attr
bb = subgraph.attr.get('bb', None)
if bb is None:
# no bounding box
return None
bb = bb.strip('"').split(',')
if len(bb) < 4:
# bounding box is empty
return None
bounding_box = QRectF(0, 0,
float(bb[2]) - float(bb[0]),
float(bb[3]) - float(bb[1]))
if 'lp' in subgraph.attr:
label_pos = subgraph.attr['lp'].strip('"').split(',')
else:
label_pos = (float(bb[0]) + (float(bb[2]) - float(bb[0])) / 2,
float(bb[1]) + (float(bb[3]) - float(bb[1])) -
LABEL_HEIGHT / 2)
bounding_box.moveCenter(
QPointF(
float(bb[0]) + (float(bb[2]) - float(bb[0])) / 2,
-float(bb[1]) - (float(bb[3]) - float(bb[1])) / 2))
name = subgraph.attr.get('label', '')
color = QColor(
subgraph.attr['color']) if 'color' in subgraph.attr else None
subgraph_nodeitem = NodeItem(
highlight_level,
bounding_box,
label=name,
shape='box',
color=color,
parent=scene.activePanel() if scene is not None else None,
label_pos=QPointF(float(label_pos[0]), -float(label_pos[1])))
bounding_box = QRectF(bounding_box)
# With clusters we have the problem that mouse hovers cannot
# decide whether to be over the cluster or a subnode. Using
# just the "title area" solves this. TODO: Maybe using a
# border region would be even better (multiple RectF)
bounding_box.setHeight(LABEL_HEIGHT)
subgraph_nodeitem.set_hovershape(bounding_box)
if scene is not None:
scene.addItem(subgraph_nodeitem)
return subgraph_nodeitem
def create_node(self, bounding_box, shape, label, label_pos=None, url=None, parent=None, cluster=False, **kwargs):
self._check_constraints(kwargs)
if label.startswith('<') and label.endswith('>'):
node_item = DmgHtmlNodeItem(bounding_box, shape, label[1:-1], label_pos, url, parent, **kwargs)
else:
node_item = DmgNodeItem(bounding_box, shape, label, label_pos, url, parent, **kwargs)
if cluster:
bounding_box = QRectF(bounding_box)
bounding_box.setHeight(30)
node_item.set_hover_shape(bounding_box)
return node_item
def get_cluster_node(self, node):
# let pydot imitate pygraphviz api
attr = {}
for name in node.get_attributes().iterkeys():
value = get_unquoted(node, name)
attr[name] = value
obj_dic = node.__getattribute__("obj_dict")
for name in obj_dic:
if name not in ["nodes", "attributes", "parent_graph"] and obj_dic[name] is not None:
attr[name] = get_unquoted(obj_dic, name)
elif name == "nodes":
for key in obj_dic["nodes"]["graph"][0]["attributes"]:
attr[key] = get_unquoted(obj_dic["nodes"]["graph"][0]["attributes"], key)
node.attr = attr
name = None
if "label" in node.attr:
name = node.attr["label"]
elif "name" in node.attr:
name = node.attr["name"]
else:
print("Error, no label defined for node with attr: %s" % node.attr)
return None
if name is None:
# happens on Lucid pygraphviz version
print("Error, label is None for node %s, pygraphviz version may be too old." % node)
bb_width = node.attr["width"]
bb_height = node.attr["height"]
bounding_box = QRectF(0, 0, POINTS_PER_INCH * float(bb_width) - 1.0, POINTS_PER_INCH * float(bb_height) - 1.0)
# print bounding_box
pos = (0, 0)
if "pos" in node.attr:
pos = node.attr["pos"].split(",")
bounding_box.moveCenter(QPointF(float(pos[0]), -float(pos[1])))
label_pos = QPointF(bounding_box.center().x(), bounding_box.top() + LABEL_HEIGHT / 2)
color = QColor(node.attr["color"]) if "color" in node.attr else None
url = node.attr["URL"] if "URL" in node.attr else "N/A"
label = node.attr["label"] if "label" in node.attr else name
graph_node_item = self._factory.create_node(
bounding_box=bounding_box, shape="box", label=label, label_pos=label_pos, url=url, cluster=True
)
return graph_node_item
def getNodeItemForNode(self, node, highlight_level, scene=None):
"""
returns a pyqt NodeItem object, or None in case of error or invisible style
"""
# let pydot imitate pygraphviz api
attr = {}
for name in node.get_attributes().iterkeys():
value = get_unquoted(node, name)
attr[name] = value
obj_dic = node.__getattribute__("obj_dict")
for name in obj_dic:
if name not in ['attributes', 'parent_graph'
] and obj_dic[name] is not None:
attr[name] = get_unquoted(obj_dic, name)
node.attr = attr
if node.attr.get('style') == 'invis':
return None
color = QColor(node.attr['color']) if 'color' in node.attr else None
name = node.attr.get('label', node.attr.get('name'))
if name is None:
print("Error, no label defined for node with attr: %s" % node.attr)
return None
name = name.decode('string_escape')
# decrease rect by one so that edges do not reach inside
bb_width = node.attr.get('width', len(name) / 5)
bb_height = node.attr.get('height', 1.0)
bounding_box = QRectF(0, 0,
POINTS_PER_INCH * float(bb_width) - 1.0,
POINTS_PER_INCH * float(bb_height) - 1.0)
pos = node.attr.get('pos', '0,0').split(',')
bounding_box.moveCenter(QPointF(float(pos[0]), -float(pos[1])))
node_item = NodeItem(
highlight_level=highlight_level,
bounding_box=bounding_box,
label=name,
shape=node.attr.get('shape', 'ellipse'),
color=color,
tooltip=node.attr.get('tooltip'),
parent=scene.activePanel() if scene is not None else None
#label_pos=None
)
if scene is not None:
scene.addItem(node_item)
return node_item
def drawField(self, painter):
# draw green surface rectangle
painter.setPen(Qt.black)
painter.setBrush(Qt.green)
rx = -self.world_width * 0.5
ry = -self.world_height * 0.5
rect = QRectF(rx, ry, self.world_width, self.world_height)
painter.drawRect(rect)
# draw white lines
painter.setPen(QPen(Qt.white,2))
for line in self.field_geometry.field_lines:
p1 = self.convertToDrawWorld(line.p1_x, line.p1_y)
p2 = self.convertToDrawWorld(line.p2_x, line.p2_y)
painter.drawLine(p1, p2)
for arc in self.field_geometry.field_arcs:
top_left = self.convertToDrawWorld(
arc.center_x - arc.radius, arc.center_y + arc.radius)
size = arc.radius * 2.0 * self.scaleOnField
start_angle = math.degrees(arc.a1)
end_angle = math.degrees(arc.a2)
span_angle = end_angle - start_angle
# angle must be 1/16 degrees order
start_angle *= 16
span_angle *= 16
painter.drawArc(top_left.x(), top_left.y(), size, size, start_angle, span_angle)
def _draw_field(self, painter):
# フィールドの緑と白線を描画する
# グリーンカーペットを描画
painter.setPen(Qt.black)
painter.setBrush(Qt.green)
rect = QRectF(-self._view_width * 0.5, -self._view_height * 0.5,
self._view_width, self._view_height)
painter.drawRect(rect)
# 白線を描画
painter.setPen(QPen(Qt.white, self._WHITE_LINE_THICKNESS))
for line in self._field_lines:
p1 = self._convert_to_view(line["p1_x"], line["p1_y"])
p2 = self._convert_to_view(line["p2_x"], line["p2_y"])
painter.drawLine(p1, p2)
for arc in self._field_arcs:
top_left = self._convert_to_view(arc["center_x"] - arc["radius"],
arc["center_y"] + arc["radius"])
size = arc["radius"] * 2.0 * self._scale_field_to_view
# angle must be 1/16 degrees order
start_angle = math.degrees(arc["a1"]) * 16
end_angle = math.degrees(arc["a2"]) * 16
span_angle = end_angle - start_angle
painter.drawArc(top_left.x(), top_left.y(), size, size,
start_angle, span_angle)
def add_ROI(self, pixel_coords):
self.regionCounter += 1
markerSize = 25
ellipse_item = QGraphicsEllipseItem(
QRectF(
QPointF(pixel_coords.x() - markerSize / 2,
pixel_coords.y() - markerSize / 2),
QSizeF(markerSize, markerSize)))
ellipse_item.setBrush(QBrush(QColor('red')))
self.addItem(ellipse_item)
label_font = QFont()
label_font.setPointSize(15)
region_string = 'r' + str(self.regionCounter).zfill(2)
ellipse_item_label = QGraphicsTextItem(region_string)
ellipse_item_label.setPos(pixel_coords)
ellipse_item_label.setFont(label_font)
self.addItem(ellipse_item_label)
self.items_dict.update({
region_string: {
'ellipse_item': ellipse_item,
'ellipse_item_label': ellipse_item_label,
'pixel_coords': pixel_coords,
'ap_item_label': {}
}
})
def paintEvent(self, event):
# super(QLabel, self).repaint(rect)
painter = QPainter(self)
# print "@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@2", event.rect()
# painter.fillRect(event.rect(), Qt.darkGray)
doc = QTextDocument()
highlight = syntax.PythonHighlighter(doc, is_dark = True, default = ['white'])
font = self.font()
# font.setFamily("Courier");
font.setStyleHint(QFont.Monospace);
font.setFixedPitch(True);
# font.setPointSize(self.font().pointSize());
doc.setDefaultFont(font)
self.width = event.rect().width()
# doc.setTextWidth(self.width())
text = self.text()
doc.setPlainText(text)
painter.translate(0., event.rect().center().y() - doc.size().height()/2.)
doc.drawContents(painter, QRectF(event.rect()))
painter.resetTransform()
self.size = doc.size()
# print "repainting"
pass
def _load_default_image(self):
joystick_icon = os.path.join(
rospkg.RosPack().get_path('rocon_bubble_icons'), 'icons',
'joystick.png')
pixmap = QPixmap(joystick_icon, format="png")
self.scene.addPixmap(pixmap)
self.scene.update()
self.fitInView(QRectF(0, 0, self.scene.width(), self.scene.height()),
Qt.KeepAspectRatio)
def create_node(self,
bounding_box,
shape,
label,
label_pos=None,
url=None,
parent=None,
cluster=False,
**kwargs):
self._check_constraints(kwargs)
node_item = HoveredNodeItem(bounding_box, shape, label, label_pos, url,
parent, **kwargs)
if cluster:
bounding_box = QRectF(bounding_box)
bounding_box.setHeight(30)
node_item.set_hover_shape(bounding_box)
return node_item
def get_cluster_node(self, node):
# let pydot imitate pygraphviz api
attr = {}
for name in node.get_attributes().iterkeys():
value = get_unquoted(node, name)
attr[name] = value
obj_dic = node.__getattribute__("obj_dict")
for name in obj_dic:
if name not in ['nodes', 'attributes', 'parent_graph'
] and obj_dic[name] is not None:
attr[name] = get_unquoted(obj_dic, name)
elif name == 'nodes':
for key in obj_dic['nodes']['graph'][0]['attributes']:
attr[key] = get_unquoted(
obj_dic['nodes']['graph'][0]['attributes'], key)
node.attr = attr
name = None
if 'label' in node.attr:
name = node.attr['label']
elif 'name' in node.attr:
name = node.attr['name']
else:
print("Error, no label defined for node with attr: %s" % node.attr)
return None
if name is None:
# happens on Lucid pygraphviz version
print(
"Error, label is None for node %s, pygraphviz version may be too old."
% node)
bb_width = node.attr['width']
bb_height = node.attr['height']
bounding_box = QRectF(0, 0,
POINTS_PER_INCH * float(bb_width) - 1.0,
POINTS_PER_INCH * float(bb_height) - 1.0)
# print bounding_box
pos = (0, 0)
if 'pos' in node.attr:
pos = node.attr['pos'].split(',')
bounding_box.moveCenter(QPointF(float(pos[0]), -float(pos[1])))
label_pos = QPointF(bounding_box.center().x(),
bounding_box.top() + LABEL_HEIGHT / 2)
color = QColor(node.attr['color']) if 'color' in node.attr else None
url = node.attr['URL'] if 'URL' in node.attr else 'N/A'
label = node.attr['label'] if 'label' in node.attr else name
graph_node_item = self._factory.create_node(bounding_box=bounding_box,
shape='box',
label=label,
label_pos=label_pos,
url=url,
cluster=True)
return graph_node_item
def mousePressEvent(self, mouse_event):
self._last_pan_point = mouse_event.pos()
self._last_scene_center = self._map_to_scene_f(
QRectF(self.frameRect()).center())
self.setCursor(Qt.ClosedHandCursor)
item = self.itemAt(self._last_pan_point)
if item:
#If clicked text or bounding box then give correspondent parent NodeItem
if isinstance(item.parentItem(), NodeItem):
nodename = str(item.parentItem()._label.text())
#Edit node event
self.cb_clicknode(nodename)
def on_compressed_image_received(self, image):
'''
:param sensor_msgs.CompressedImage image: convert and display this in the QGraphicsView.
'''
if len(self.scene.items()) > 1:
self.scene.removeItem(self.scene.items()[0])
pixmap = QPixmap()
pixmap.loadFromData(image.data, format=image.format)
self.scene.addPixmap(pixmap)
self.scene.update()
# setting fitInvView seems sensitive to here or prior to scene update
self.fitInView(QRectF(0, 0, self.scene.width(), self.scene.height()),
Qt.KeepAspectRatio)
def _handle_add_clicked(self):
name = self.name_edit.text()
if len(name) != 0:
# remove and re-draw it
if name in self.places_dict.keys():
self.places_dict.pop(name)
for item in self._sceneItems[name].keys():
self._scene.removeItem(self._sceneItems[name][item])
try:
# storing the values in the dict
x = self.x_spin.value()
y = self.y_spin.value()
theta = self.theta_spin.value()
q = quaternion_from_euler(0.0, 0.0, theta)
self.places_dict[str(name)] = [
x, y, 0.0,
float(q[0]),
float(q[1]),
float(q[2]),
float(q[3])
]
# drawing the items
self._sceneItems[name] = {"text": QGraphicsTextItem()}
self._sceneItems[name]["text"].setDefaultTextColor(
QColor(0, 0, 255))
self._sceneItems[name]["text"].setFont(QFont("Times", 10))
self._sceneItems[name]["text"].setPlainText(name)
scene_pos = self._gridToScene(x, y, q)
x_c = scene_pos[0] - self._sceneItems[name][
"text"].boundingRect().width() / 2.0
self._sceneItems[name]["text"].setPos(x_c, scene_pos[1])
self._scene.addItem(self._sceneItems[name]["text"])
self._sceneItems[name]["rec"] = self._scene.addRect(
QRectF((scene_pos[0] - 2), (scene_pos[1] - 2), 4, 4))
line = QLineF(
scene_pos[0], scene_pos[1],
(scene_pos[0] - self._mag * cos(radians(scene_pos[3]))),
(scene_pos[1] + self._mag * sin(radians(scene_pos[3]))))
self._sceneItems[name]["line"] = self._scene.addLine(
line, pen=QPen(Qt.red, 2))
except ValueError:
QMessageBox.critical(self, "Error!",
"You must insert a valid value.")
else:
QMessageBox.critical(
self, "Error!",
"You have to insert a name and a valid position.")
def create_node(self,
bounding_box,
shape,
label,
label_pos=None,
url=None,
parent=None,
cluster=False,
**kwargs):
self._check_constraints(kwargs)
if label.startswith('<') and label.endswith('>'):
node_item = DmgHtmlNodeItem(bounding_box, shape, label[1:-1],
label_pos, url, parent, **kwargs)
else:
node_item = DmgNodeItem(bounding_box, shape, label, label_pos, url,
parent, **kwargs)
if cluster:
bounding_box = QRectF(bounding_box)
bounding_box.setHeight(30)
node_item.set_hover_shape(bounding_box)
return node_item
def getNodeItemForSubgraph(self, subgraph, highlight_level):
# let pydot imitate pygraphviz api
attr = {}
for name in subgraph.get_attributes().iterkeys():
value = get_unquoted(subgraph, name)
attr[name] = value
obj_dic = subgraph.__getattribute__("obj_dict")
for name in obj_dic:
if name not in ["nodes", "attributes", "parent_graph"] and obj_dic[name] is not None:
attr[name] = get_unquoted(obj_dic, name)
elif name == "nodes":
for key in obj_dic["nodes"]["graph"][0]["attributes"]:
attr[key] = get_unquoted(obj_dic["nodes"]["graph"][0]["attributes"], key)
subgraph.attr = attr
bb = subgraph.attr.get("bb", None)
if bb is None:
# no bounding box
return None
bb = bb.strip('"').split(",")
if len(bb) < 4:
# bounding box is empty
return None
bounding_box = QRectF(0, 0, float(bb[2]) - float(bb[0]), float(bb[3]) - float(bb[1]))
if "lp" in subgraph.attr:
label_pos = subgraph.attr["lp"].strip('"').split(",")
else:
label_pos = (
float(bb[0]) + (float(bb[2]) - float(bb[0])) / 2,
float(bb[1]) + (float(bb[3]) - float(bb[1])) - LABEL_HEIGHT / 2,
)
bounding_box.moveCenter(
QPointF(float(bb[0]) + (float(bb[2]) - float(bb[0])) / 2, -float(bb[1]) - (float(bb[3]) - float(bb[1])) / 2)
)
name = subgraph.attr.get("label", "")
color = QColor(subgraph.attr["color"]) if "color" in subgraph.attr else None
subgraph_nodeitem = NodeItem(
highlight_level,
bounding_box,
label=name,
shape="box",
color=color,
label_pos=QPointF(float(label_pos[0]), -float(label_pos[1])),
)
bounding_box = QRectF(bounding_box)
# With clusters we have the problem that mouse hovers cannot
# decide whether to be over the cluster or a subnode. Using
# just the "title area" solves this. TODO: Maybe using a
# border region would be even better (multiple RectF)
bounding_box.setHeight(LABEL_HEIGHT)
subgraph_nodeitem.set_hovershape(bounding_box)
return subgraph_nodeitem
def _display_image(self):
image = self.teleop_app_info.image_data
if image:
if len(self.scene.items()) > 1:
self.scene.removeItem(self.scene.items()[0])
image_data = self.teleop_app_info.image_data.data
pixmap = QPixmap()
pixmap.loadFromData(
image_data,
format="PNG",
)
self._widget.camera_view.fitInView(
QRectF(0, 0, pixmap.width(), pixmap.height()),
Qt.KeepAspectRatio)
self.scene.addPixmap(pixmap)
self.scene.update()
else:
self.scene.clear()
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('YAML files {.yaml} (*.yaml)'))
if filename[0] != '':
with open(filename[0], 'r') as infile:
try:
self.places_dict = yaml.load(infile)
for k in self._sceneItems.keys():
for item in self._sceneItems[k].keys():
self._scene.removeItem(self._sceneItems[k][item])
for name in self.places_dict.keys():
#
q = numpy.asarray(self.places_dict[name][3:7])
scene_pos = self._gridToScene(
self.places_dict[name][0],
self.places_dict[name][1], q)
# drawing the items
self._sceneItems[name] = {"text": QGraphicsTextItem()}
self._sceneItems[name]["text"].setDefaultTextColor(
QColor(0, 0, 255))
self._sceneItems[name]["text"].setFont(
QFont("Times", 10))
self._sceneItems[name]["text"].setPlainText(name)
x_c = scene_pos[0] - self._sceneItems[name][
"text"].boundingRect().width() / 2.0
self._sceneItems[name]["text"].setPos(
x_c, scene_pos[1])
self._scene.addItem(self._sceneItems[name]["text"])
self._sceneItems[name]["rec"] = self._scene.addRect(
QRectF((scene_pos[0] - 2), (scene_pos[1] - 2), 4,
4))
line = QLineF(scene_pos[0], scene_pos[1],
(scene_pos[0] -
self._mag * cos(radians(scene_pos[3]))),
(scene_pos[1] +
self._mag * sin(radians(scene_pos[3]))))
self._sceneItems[name]["line"] = self._scene.addLine(
line, pen=QPen(Qt.red, 2))
except yaml.scanner.ScannerError:
QMessageBox.critical(self, "Error!", "Invalid YAML file.")
def paintEvent(self, event): painter = QPainter(self) doc = QTextDocument() highlight = syntax.PythonHighlighter(doc, is_dark = True, default = ['white']) font = self.font() font.setStyleHint(QFont.Monospace); font.setFixedPitch(True); doc.setDefaultFont(font) self.width = event.rect().width() text = self.text() doc.setPlainText(text) painter.translate(0., event.rect().center().y() - doc.size().height()/2.) doc.drawContents(painter, QRectF(event.rect())) painter.resetTransform() self.size = doc.size()
def _y_changed(self, value):
name = self.name_edit.text()
if (len(name) != 0) and (name in self.places_dict.keys()):
self._scene.removeItem(self._sceneItems[name]["line"])
self._scene.removeItem(self._sceneItems[name]["rec"])
grid_pos = self.places_dict[name]
scene_pos = self._gridToScene(grid_pos[0], value,
numpy.asarray(grid_pos[3:7]))
x_c = scene_pos[0] - self._sceneItems[name]["text"].boundingRect(
).width() / 2.0
self._sceneItems[name]["text"].setPos(x_c, scene_pos[1])
self._sceneItems[name]["rec"] = self._scene.addRect(
QRectF((scene_pos[0] - 2), (scene_pos[1] - 2), 4, 4))
line = QLineF(
scene_pos[0], scene_pos[1],
(scene_pos[0] - self._mag * cos(radians(scene_pos[3]))),
(scene_pos[1] + self._mag * sin(radians(scene_pos[3]))))
self._sceneItems[name]["line"] = self._scene.addLine(line,
pen=QPen(
Qt.red,
2))
self.places_dict[name][1] = value
def mousePressEvent(self, mouse_event):
self._last_pan_point = mouse_event.pos()
self._last_scene_center = self._map_to_scene_f(QRectF(self.frameRect()).center())
self.setCursor(Qt.ClosedHandCursor)
QGraphicsView.mousePressEvent(self, mouse_event)
def get_subgraph_nodes(self, graph, nodes):
# let pydot imitate pygraphviz api
attr = {}
for name in graph.get_attributes().iterkeys():
value = get_unquoted(graph, name)
attr[name] = value
obj_dic = graph.__getattribute__("obj_dict")
for name in obj_dic:
if name not in ["nodes", "attributes", "parent_graph"] and obj_dic[name] is not None:
attr[name] = get_unquoted(obj_dic, name)
elif name == "nodes":
for key in obj_dic["nodes"]["graph"][0]["attributes"]:
attr[key] = get_unquoted(obj_dic["nodes"]["graph"][0]["attributes"], key)
graph.attr = attr
bb = graph.attr["bb"].strip('"').split(",")
if len(bb) < 4:
# bounding box is empty
return None
bounding_box = QRectF(0, 0, float(bb[2]) - float(bb[0]), float(bb[3]) - float(bb[1]))
if "lp" in graph.attr:
label_pos = graph.attr["lp"].strip('"').split(",")
else:
label_pos = (
float(bb[0]) + (float(bb[2]) - float(bb[0])) / 2,
float(bb[1]) + (float(bb[3]) - float(bb[1])) - LABEL_HEIGHT / 2,
)
bounding_box.moveCenter(
QPointF(float(bb[0]) + (float(bb[2]) - float(bb[0])) / 2, -float(bb[1]) - (float(bb[3]) - float(bb[1])) / 2)
)
name = graph.attr.get("label", "")
color = QColor(graph.attr["color"]) if "color" in graph.attr else None
url = graph.attr["URL"] if "URL" in graph.attr else "N/A"
graph_node_item = self._factory.create_node(
bounding_box=bounding_box,
shape="box",
label=name,
label_pos=QPointF(float(label_pos[0]), -float(label_pos[1])),
url=url,
cluster=True,
)
for subgraph in graph.get_subgraph_list():
subgraph_node_item = self.get_subgraph_nodes(subgraph, nodes)
# skip subgraphs with empty bounding boxes
if subgraph_node_item is None:
continue
nodes[subgraph.get_name()] = subgraph_node_item
for node in subgraph.get_node_list():
# hack required by pydot
if node.get_name() in ("graph", "node", "empty"):
continue
nodes[node.get_name()] = self.get_node_item_for_node(node)
for node in graph.get_node_list():
# hack required by pydot
if node.get_name() in ("graph", "node", "empty"):
continue
nodes[node.get_name()] = self.get_node_item_for_node(node)
return graph_node_item
def get_node_item_for_node(self, node):
"""
returns a pyqt NodeItem object, or None in case of error or invisible style
"""
# let pydot imitate pygraphviz api
attr = {}
for name in node.get_attributes().iterkeys():
value = get_unquoted(node, name)
attr[name] = value
obj_dic = node.__getattribute__("obj_dict")
for name in obj_dic:
if name not in ["attributes", "parent_graph"] and obj_dic[name] is not None:
attr[name] = get_unquoted(obj_dic, name)
node.attr = attr
if "style" in node.attr:
if node.attr["style"] == "invis":
return None
color = QColor(node.attr["color"]) if "color" in node.attr else None
name = None
if "label" in node.attr:
name = node.attr["label"]
elif "name" in node.attr:
name = node.attr["name"]
else:
print("Error, no label defined for node with attr: %s" % node.attr)
return None
if name is None:
# happens on Lucid pygraphviz version
print("Error, label is None for node %s, pygraphviz version may be too old." % node)
else:
name = name.decode("string_escape")
# decrease rect by one so that edges do not reach inside
bb_width = len(name) / 5
if "width" in node.attr:
bb_width = node.attr["width"]
bb_height = 1.0
if "width" in node.attr:
bb_height = node.attr["height"]
pos = (0, 0)
if "pos" in node.attr:
pos = node.attr["pos"].split(",")
bounding_box = QRectF(0, 0, POINTS_PER_INCH * float(bb_width) - 1.0, POINTS_PER_INCH * float(bb_height) - 1.0)
bounding_box.moveCenter(QPointF(float(pos[0]), -float(pos[1])))
pen_width = self._factory.pen_width()
if "penwidth" in node.attr:
pen_width = float(node.attr["penwidth"])
url = node.attr["URL"] if "URL" in node.attr else "N/A"
node_item = self._factory.create_node(
bounding_box=bounding_box, shape=node.attr.get("shape", "box"), label=name, url=url, penwidth=pen_width
)
return node_item
def get_node_item_for_node(self, node):
"""
returns a pyqt NodeItem object, or None in case of error or invisible style
"""
# let pydot imitate pygraphviz api
attr = {}
for name in node.get_attributes().iterkeys():
value = get_unquoted(node, name)
attr[name] = value
obj_dic = node.__getattribute__("obj_dict")
for name in obj_dic:
if name not in ['attributes', 'parent_graph'
] and obj_dic[name] is not None:
attr[name] = get_unquoted(obj_dic, name)
node.attr = attr
if 'style' in node.attr:
if node.attr['style'] == 'invis':
return None
color = QColor(node.attr['color']) if 'color' in node.attr else None
name = None
if 'label' in node.attr:
name = node.attr['label']
elif 'name' in node.attr:
name = node.attr['name']
else:
print("Error, no label defined for node with attr: %s" % node.attr)
return None
if name is None:
# happens on Lucid pygraphviz version
print(
"Error, label is None for node %s, pygraphviz version may be too old."
% node)
else:
name = name.decode('string_escape')
# decrease rect by one so that edges do not reach inside
bb_width = len(name) / 5
if 'width' in node.attr:
bb_width = node.attr['width']
bb_height = 1.0
if 'width' in node.attr:
bb_height = node.attr['height']
pos = (0, 0)
if 'pos' in node.attr:
pos = node.attr['pos'].split(',')
bounding_box = QRectF(0, 0,
POINTS_PER_INCH * float(bb_width) - 1.0,
POINTS_PER_INCH * float(bb_height) - 1.0)
bounding_box.moveCenter(QPointF(float(pos[0]), -float(pos[1])))
pen_width = self._factory.pen_width()
if 'penwidth' in node.attr:
pen_width = float(node.attr['penwidth'])
url = node.attr['URL'] if 'URL' in node.attr else 'N/A'
node_item = self._factory.create_node(bounding_box=bounding_box,
shape=node.attr.get(
'shape', 'box'),
label=name,
url=url,
penwidth=pen_width)
return node_item
def get_subgraph_nodes(self, graph, nodes):
# let pydot imitate pygraphviz api
attr = {}
for name in graph.get_attributes().iterkeys():
value = get_unquoted(graph, name)
attr[name] = value
obj_dic = graph.__getattribute__("obj_dict")
for name in obj_dic:
if name not in ['nodes', 'attributes', 'parent_graph'
] and obj_dic[name] is not None:
attr[name] = get_unquoted(obj_dic, name)
elif name == 'nodes':
for key in obj_dic['nodes']['graph'][0]['attributes']:
attr[key] = get_unquoted(
obj_dic['nodes']['graph'][0]['attributes'], key)
graph.attr = attr
bb = graph.attr['bb'].strip('"').split(',')
if len(bb) < 4:
# bounding box is empty
return None
bounding_box = QRectF(0, 0,
float(bb[2]) - float(bb[0]),
float(bb[3]) - float(bb[1]))
if 'lp' in graph.attr:
label_pos = graph.attr['lp'].strip('"').split(',')
else:
label_pos = (float(bb[0]) + (float(bb[2]) - float(bb[0])) / 2,
float(bb[1]) + (float(bb[3]) - float(bb[1])) -
LABEL_HEIGHT / 2)
bounding_box.moveCenter(
QPointF(
float(bb[0]) + (float(bb[2]) - float(bb[0])) / 2,
-float(bb[1]) - (float(bb[3]) - float(bb[1])) / 2))
name = graph.attr.get('label', '')
color = QColor(graph.attr['color']) if 'color' in graph.attr else None
url = graph.attr['URL'] if 'URL' in graph.attr else 'N/A'
graph_node_item = self._factory.create_node(bounding_box=bounding_box,
shape='box',
label=name,
label_pos=QPointF(
float(label_pos[0]),
-float(label_pos[1])),
url=url,
cluster=True)
for subgraph in graph.get_subgraph_list():
subgraph_node_item = self.get_subgraph_nodes(subgraph, nodes)
# skip subgraphs with empty bounding boxes
if subgraph_node_item is None:
continue
nodes[subgraph.get_name()] = subgraph_node_item
for node in subgraph.get_node_list():
# hack required by pydot
if node.get_name() in ('graph', 'node', 'empty'):
continue
nodes[node.get_name()] = self.get_node_item_for_node(node)
for node in graph.get_node_list():
# hack required by pydot
if node.get_name() in ('graph', 'node', 'empty'):
continue
nodes[node.get_name()] = self.get_node_item_for_node(node)
return graph_node_item
def boundingRect(self):
return QRectF(0, 0, 100, 100)
def resizeEvent(self, evt=None):
self.fitInView(QRectF(0, 0, self.scene.width(), self.scene.height()),
Qt.KeepAspectRatio)
def boundingRect(self):
return QRectF(0, 0, SandtrayItem.length * SandtrayItem.scale,
SandtrayItem.width * SandtrayItem.scale)
def drawField(self, painter):
# draw green surface rectangle
painter.setPen(Qt.black)
painter.setBrush(Qt.green)
rx = -self.fieldWidth * 0.5
ry = -self.fieldHeight * 0.5
rect = QRectF(rx, ry, self.fieldWidth, self.fieldHeight)
painter.drawRect(rect)
# draw wall rectangle
painter.setPen(QPen(Qt.black, 3))
painter.setBrush(Qt.NoBrush)
sizeX = self.CW.WALL_WIDTH * self.scaleOnField
sizeY = self.CW.WALL_HEIGHT * self.scaleOnField
rx = -sizeX * 0.5
ry = -sizeY * 0.5
rect = QRectF(rx, ry, sizeX, sizeY)
painter.drawRect(rect)
# draw center circle
painter.setPen(QPen(Qt.white, 2))
point = self.convertToDrawWorld(0.0, 0.0)
size = self.CW.FIELD_CENTER_RADIUS * self.scaleOnField
painter.drawEllipse(point, size, size)
# draw play field rectangle
sizeX = self.CW.PLAY_FIELD_WIDTH * self.scaleOnField
sizeY = self.CW.PLAY_FIELD_HEIGHT * self.scaleOnField
rx = -sizeX * 0.5
ry = -sizeY * 0.5
rect = QRectF(rx, ry, sizeX, sizeY)
painter.drawRect(rect)
# draw mid-line
point1 = self.convertToDrawWorld(-self.CW.PLAY_FIELD_WIDTH * 0.5, 0)
point2 = self.convertToDrawWorld(self.CW.PLAY_FIELD_WIDTH * 0.5, 0)
painter.drawLine(point1, point2)
# draw center line
point1 = self.convertToDrawWorld(0, self.CW.PLAY_FIELD_HEIGHT * 0.5)
point2 = self.convertToDrawWorld(0, -self.CW.PLAY_FIELD_HEIGHT * 0.5)
painter.drawLine(point1, point2)
# draw streach line
x = self.CW.PLAY_FIELD_WIDTH * 0.5 - self.CW.FIELD_DEFENCE_RADIUS
point1 = self.convertToDrawWorld(x, self.CW.FIELD_STREACH * 0.5)
point2 = self.convertToDrawWorld(x, -self.CW.FIELD_STREACH * 0.5)
painter.drawLine(point1, point2)
x *= -1.0
point1 = self.convertToDrawWorld(x, self.CW.FIELD_STREACH * 0.5)
point2 = self.convertToDrawWorld(x, -self.CW.FIELD_STREACH * 0.5)
painter.drawLine(point1, point2)
# draw defence arc
sizeX = self.CW.FIELD_DEFENCE_RADIUS * 2.0 * self.scaleOnField
sizeY = self.CW.FIELD_DEFENCE_RADIUS * 2.0 * self.scaleOnField
rx = self.CW.PLAY_FIELD_WIDTH * 0.5 - self.CW.FIELD_DEFENCE_RADIUS
ry = self.CW.FIELD_STREACH * 0.5 + self.CW.FIELD_DEFENCE_RADIUS
rx *= self.scaleOnField
ry *= self.scaleOnField
ry *= -1.0
rect = QRectF(rx, ry, sizeX, sizeY)
startAngle = 90 * 16
spanAngle = 90 * 16
painter.drawArc(rect, startAngle, spanAngle)
ry = self.CW.FIELD_STREACH * 0.5 - self.CW.FIELD_DEFENCE_RADIUS
ry *= self.scaleOnField
rect = QRectF(rx, ry, sizeX, sizeY)
startAngle = 180 * 16
spanAngle = 90 * 16
painter.drawArc(rect, startAngle, spanAngle)
rx = -self.CW.FIELD_WIDTH - self.CW.FIELD_DEFENCE_RADIUS
ry = self.CW.FIELD_STREACH * 0.5 + self.CW.FIELD_DEFENCE_RADIUS
rx *= self.scaleOnField
ry *= self.scaleOnField
rect = QRectF(rx, ry, sizeX, sizeY)
startAngle = 180 * 16
spanAngle = 90 * 16
painter.drawArc(rect, startAngle, spanAngle)
def boundingRect(self):
return QRectF(0, 0, self._history_left + self._history_width + self._margin_right, self._history_bottom + self._margin_bottom)
def addGraph(self, graph_str):
graph = graph_str.splitlines()
header = graph[0].split()
if header[0] != 'graph':
raise Exception('wrong graph format', 'header is: ' + graph[0])
self.scale_factor = 100.0
self.width = float(header[2])
self.height = float(header[3])
print "QGraphicsScene size:", self.width, self.height
self.scene = GraphScene(
QRectF(0, 0, self.scX(self.width), self.scY(self.height)))
for l in graph:
items = l.split()
if len(items) == 0:
continue
elif items[0] == 'stop':
break
elif items[0] == 'node':
#node CImp 16.472 5.25 0.86659 0.5 CImp filled ellipse lightblue lightblue
if len(items) != 11:
raise Exception('wrong number of items in line',
'line is: ' + l)
name = items[6]
if name == "\"\"":
name = ""
w = self.scX(items[4])
h = self.scY(items[5])
x = self.tfX(items[2])
y = self.tfY(items[3])
self.nodes[name] = self.scene.addEllipse(
x - w / 2, y - h / 2, w, h)
self.nodes[name].setData(0, name)
text_item = self.scene.addSimpleText(name)
br = text_item.boundingRect()
text_item.setPos(x - br.width() / 2, y - br.height() / 2)
elif items[0] == 'edge':
# without label:
# edge CImp Ts 4 16.068 5.159 15.143 4.9826 12.876 4.5503 11.87 4.3583 solid black
#
# with label:
# edge b_stSplit TorsoVelAggregate 7 7.5051 6.3954 7.7054 6.3043 7.9532 6.1899 8.1728 6.0833 8.4432 5.9522 8.7407 5.8012 8.9885 5.6735 aa 8.6798 5.9792 solid black
line_len = int(items[3])
label_text = None
label_pos = None
if (line_len * 2 + 6) == len(items):
# no label
pass
elif (line_len * 2 + 9) == len(items):
# edge with label
label_text = items[4 + line_len * 2]
label_pos = QPointF(self.tfX(items[4 + line_len * 2 + 1]),
self.tfY(items[4 + line_len * 2 + 2]))
else:
raise Exception(
'wrong number of items in line',
'should be: ' + str(line_len * 2 + 6) + " or " +
str(line_len * 2 + 9) + ', line is: ' + l)
line = []
for i in range(line_len):
line.append((self.tfX(items[4 + i * 2]),
self.tfY(items[5 + i * 2])))
control_points_idx = 1
path = QPainterPath(QPointF(line[0][0], line[0][1]))
while True:
q1 = line[control_points_idx]
q2 = line[control_points_idx + 1]
p2 = line[control_points_idx + 2]
path.cubicTo(q1[0], q1[1], q2[0], q2[1], p2[0], p2[1])
control_points_idx = control_points_idx + 3
if control_points_idx >= len(line):
break
edge = self.scene.addPath(path)
edge.setData(0, (items[1], items[2]))
self.edges.append(edge)
end_p = QPointF(line[-1][0], line[-1][1])
p0 = end_p - QPointF(line[-2][0], line[-2][1])
p0_norm = math.sqrt(p0.x() * p0.x() + p0.y() * p0.y())
p0 = p0 / p0_norm
p0 = p0 * self.scale_factor * 0.15
p1 = QPointF(p0.y(), -p0.x()) * 0.25
p2 = -p1
poly = QPolygonF()
poly.append(p0 + end_p)
poly.append(p1 + end_p)
poly.append(p2 + end_p)
poly.append(p0 + end_p)
# poly_path = QPainterPath()
# poly_path.addPolygon(poly)
# painter = QPainter()
self.scene.addPolygon(poly)
if label_text and label_pos:
if label_text[0] == "\"":
label_text = label_text[1:]
if label_text[-1] == "\"":
label_text = label_text[:-1]
label_text = label_text.replace("\\n", "\n")
label_item = self.scene.addSimpleText(label_text)
br = label_item.boundingRect()
label_item.setPos(label_pos.x() - br.width() / 2,
label_pos.y() - br.height() / 2)
