def __init__(self, scale):
super(QtGui.QMainWindow, self).__init__()
self.mMapViewer = MapViewer(self)
self.timerId = -1
self.mgr = TurtlebotManager(0.5)
self.scale = scale
self.initUI()
def __init__(self, origin, delta, scale=1.0):
super(QtGui.QMainWindow, self).__init__()
self.mMapViewer = MapViewer(self)
self.timerId = -1
self.mgr = TurtlebotManager(delta, origin, 0.05)
self.scale = scale
self.initUI()
def __init__(self):
super(QtGui.QMainWindow, self).__init__()
self.mMapViewer = MapViewer(self)
self.addEnvModal = False
self.initUI()
self.toolWindow = MapViewPlanForm(self)
self.toolWindow.show()
def __init__(self, size):
super(QtGui.QMainWindow, self).__init__()
self.formSize = size
self.mMapViewer = MapViewer(self)
self.resize(self.formSize[0], self.formSize[1])
self.configWindow = MapViewConfigForm(self)
self.initUI()
self.cursorPos = None
def __init__(self, origin, delta, scale=1.0):
super(QtGui.QMainWindow, self).__init__()
self.mMapViewer = MapViewer(self)
self.timerId = -1
self.mgr = TurtlebotManager(delta, origin, 0.05)
self.scale = scale
self.initUI()
def __init__(self, scale):
super(QtGui.QMainWindow, self).__init__()
self.mMapViewer = MapViewer(self)
self.timerId = -1
self.mgr = TurtlebotManager(0.5)
self.scale = scale
self.initUI()
def __init__(self, size):
super(QtGui.QMainWindow, self).__init__()
self.formSize = size
self.mMapViewer = MapViewer(self)
self.resize(self.formSize[0], self.formSize[1])
self.sampleNum = 8
self.populationNum = 200
self.generationNum = 1000
self.fitnessMgr = FitnessSpaceManager()
self.configWindow = MapViewConfigForm(self)
self.initUI()
self.cursorPos = None
self.planner = None
def initUI(self):
self.setWindowTitle("HDCG Data Gen")
openAction = QtGui.QAction('Open', self)
openAction.triggered.connect(self.openMap)
exportAction = QtGui.QAction('Export', self)
exportAction.triggered.connect(self.exportXML)
menubar = self.menuBar()
fileMenu = menubar.addMenu('&File')
fileMenu.addAction(openAction)
fileMenu.addAction(exportAction)
configAction = QtGui.QAction('Config', self)
configAction.triggered.connect(self.openConfig)
randomAction = QtGui.QAction('Random', self)
randomAction.triggered.connect(self.randomMap)
sampleSpatialRelationAction = QtGui.QAction('Random Spatial Relation', self)
sampleSpatialRelationAction.triggered.connect(self.sampleSpatialRelation)
batchAction = QtGui.QAction('Batch', self)
batchAction.triggered.connect(self.batchGen)
toolMenu = menubar.addMenu('&Tool')
toolMenu.addAction(configAction)
toolMenu.addAction(randomAction)
toolMenu.addAction(sampleSpatialRelationAction)
toolMenu.addAction(batchAction)
self.view = MapViewer(self)
self.setCentralWidget(self.view)
self.obsConfig = ObstacleEditConfig()
self.paramConfig = None
self.show()
class MapViewForm(QtGui.QMainWindow):
'''
classdocs
'''
def __init__(self, origin, delta, scale=1.0):
super(QtGui.QMainWindow, self).__init__()
self.mMapViewer = MapViewer(self)
self.timerId = -1
self.mgr = TurtlebotManager(delta, origin, 0.05)
self.scale = scale
self.initUI()
def initUI(self):
mapAction = QtGui.QAction('Map', self)
mapAction.triggered.connect(self.showOpenMapFileDialog)
pathAction = QtGui.QAction('Path', self)
pathAction.triggered.connect(self.showOpenPathFileDialog)
startAction = QtGui.QAction('Start', self)
startAction.triggered.connect(self.startMonitor)
stopAction = QtGui.QAction('Stop', self)
stopAction.triggered.connect(self.stopMonitor)
self.addPointAction = QtGui.QAction('Add', self)
self.addPointAction.triggered.connect(self.addPoint)
self.clearPointsAction = QtGui.QAction('clear', self)
self.clearPointsAction.triggered.connect(self.clearPoints)
menubar = self.menuBar()
mapMenu = menubar.addMenu('&Map')
mapMenu.addAction(mapAction)
pathMenu = menubar.addMenu('&Path')
pathMenu.addAction(pathAction)
startMenu = menubar.addMenu('&Start')
startMenu.addAction(startAction)
stopMenu = menubar.addMenu('&Stop')
stopMenu.addAction(stopAction)
self.toolbar = self.addToolBar('toolbar')
self.toolbar.addAction(mapAction)
self.toolbar.addAction(pathAction)
self.toolbar.addAction(startAction)
self.toolbar.addAction(stopAction)
self.setContextMenuPolicy(QtCore.Qt.CustomContextMenu);
self.connect(self, QtCore.SIGNAL('customContextMenuRequested(const QPoint&)'), self.contextMenuRequested)
self.setCentralWidget(self.mMapViewer)
self.show()
def showOpenMapFileDialog(self):
fname = QtGui.QFileDialog.getOpenFileName(self, 'Open file')
pixmap = QtGui.QPixmap(fname)
self.mMapViewer.setPixmap(pixmap)
self.world_width = pixmap.width()
self.world_height = pixmap.height()
print str(self.world_width) + " - " + str(self.world_height)
self.mMapViewer.mShowPoint = True
self.mgr.scale = self.scale
self.mgr.worldsize = [self.world_width, self.world_height]
def showOpenPathFileDialog(self):
fname = QtGui.QFileDialog.getOpenFileName(self, 'Open file')
mapLoader = PlannedPathLoader()
print fname
mapLoader.load(str(fname))
directory = os.path.dirname(str(fname))
mapFile = directory + "/" + str(mapLoader.mapFile)
print mapFile
pixmap = QtGui.QPixmap(mapFile)
self.mMapViewer.setPixmap(pixmap)
self.world_width = pixmap.width()
self.world_height = pixmap.height()
print str(self.world_width) + " - " + str(self.world_height)
self.mMapViewer.mShowPoint = True
self.mgr.scale = self.scale
self.mgr.worldsize = [self.world_width, self.world_height]
self.mgr.loadPath(mapLoader.path)
self.mMapViewer.plannedPath = mapLoader.path
def timerEvent(self, e):
#print "updating"
self.mgr.update()
#print str(self.mgr.currentPos[0]) + " " + str(self.mgr.currentPos[1]) + " " + str(self.mgr.currentOrientation)
#posx = int(self.mgr.currentPos[0] * self.scale) + self.world_width/2
#posy = int(self.mgr.currentPos[1]* self.scale) + self.world_height/2
posx = self.mgr.currentPos[0]
posy = self.mgr.currentPos[1]
self.mMapViewer.mPoint.setX(posx)
self.mMapViewer.mPoint.setY(posy)
self.mMapViewer.mPointYaw = self.mgr.currentOrientation
self.update()
self.mMapViewer.plannedPathReachedIdx = self.mgr.tIdx
self.mgr.ctrl()
def startMonitor(self):
self.timerId = self.startTimer(50)
def stopMonitor(self):
self.killTimer(self.timerId)
def addPoint(self, pos):
new_point = [self.clickPoint.x(), self.clickPoint.y()]
print "add point " + str(new_point)
self.mgr.plannedPath.addWaypoint(new_point)
self.mgr.plannedPath.update()
self.mMapViewer.plannedPath.addWaypoint(new_point)
self.mMapViewer.plannedPath.update()
self.update()
def clearPoints(self):
print "clear points"
self.mgr.plannedPath.clearWaypoints()
self.mMapViewer.plannedPath.clearWaypoints()
self.update()
def contextMenuRequested(self, point):
menu = QtGui.QMenu(self)
addPointAction = menu.addAction("Add Point")
addPointAction.triggered.connect(self.addPoint)
clearPointsAction = menu.addAction("Clear Points")
clearPointsAction.triggered.connect(self.clearPoints)
self.clickPoint = self.mMapViewer.mapFromGlobal( self.mapToGlobal(point) )
menu.exec_(self.mapToGlobal(point))
class MapViewForm(QtGui.QMainWindow):
def __init__(self):
super(QtGui.QMainWindow, self).__init__()
self.mMapViewer = MapViewer(self)
self.addEnvModal = False
self.initUI()
self.toolWindow = MapViewPlanForm(self)
self.toolWindow.show()
def initUI(self):
mapAction = QtGui.QAction('Map', self)
mapAction.triggered.connect(self.showOpenFileDialog)
rndEnvAction = QtGui.QAction('Random', self)
rndEnvAction.triggered.connect(self.randEnv)
mmEnvAction = QtGui.QAction('MultiModal',self)
mmEnvAction.triggered.connect(self.mmEnv)
showPlanDiagAction = QtGui.QAction('PlanDiag', self)
showPlanDiagAction.triggered.connect(self.showPlanDiag)
menubar = self.menuBar()
mapMenu = menubar.addMenu('&Map')
mapMenu.addAction(mapAction)
envMenu = menubar.addMenu('&Env')
envMenu.addAction(rndEnvAction)
envMenu.addAction(mmEnvAction)
self.toolbar = self.addToolBar('toolbar')
self.toolbar.addAction(mapAction)
self.toolbar.addAction(showPlanDiagAction)
self.setCentralWidget(self.mMapViewer)
self.mMapViewer.setMouseTracking(True)
self.setWindowTitle('Map View')
self.setGeometry(300, 300, 200, 200)
self.show()
def mmEnv(self):
self.addEnvModal = True
QtGui.QApplication.setOverrideCursor(QtGui.QCursor(QtCore.Qt.CrossCursor))
def randEnv(self):
self.mMapViewer.geneRndEnv()
self.mMapViewer.updateEnv()
self.update()
def showPlanDiag(self):
self.toolWindow.show()
def showOpenFileDialog(self):
fname = QtGui.QFileDialog.getOpenFileName(self, 'Open file', '~')
pixmap = QtGui.QPixmap(fname)
self.mMapViewer.setPixmap(pixmap)
self.mMapViewer.initMapInfo()
def mousePressEvent(self, QMouseEvent):
super(MapViewForm, self).mousePressEvent(QMouseEvent)
if self.addEnvModal == True:
if QMouseEvent.button()==QtCore.Qt.RightButton:
self.addEnvModal = False
self.mMapViewer.addingEnvModal = False
QtGui.QApplication.restoreOverrideCursor()
def decomposeMap(self):
print "I am pressed"
class MapViewForm(QtGui.QMainWindow):
'''
classdocs
'''
def __init__(self, scale):
super(QtGui.QMainWindow, self).__init__()
self.mMapViewer = MapViewer(self)
self.timerId = -1
self.mgr = TurtlebotManager(0.5)
self.scale = scale
self.initUI()
def initUI(self):
mapAction = QtGui.QAction('Map', self)
mapAction.triggered.connect(self.showOpenFileDialog)
startAction = QtGui.QAction('Start', self)
startAction.triggered.connect(self.startMonitor)
stopAction = QtGui.QAction('Stop', self)
stopAction.triggered.connect(self.stopMonitor)
menubar = self.menuBar()
mapMenu = menubar.addMenu('&Map')
mapMenu.addAction(mapAction)
startMenu = menubar.addMenu('&Start')
startMenu.addAction(startAction)
stopMenu = menubar.addMenu('&Stop')
stopMenu.addAction(stopAction)
self.toolbar = self.addToolBar('toolbar')
self.toolbar.addAction(mapAction)
self.toolbar.addAction(startAction)
self.toolbar.addAction(stopAction)
self.setCentralWidget(self.mMapViewer)
self.show()
def showOpenFileDialog(self):
fname = QtGui.QFileDialog.getOpenFileName(self, 'Open file')
mapLoader = PlannedPathLoader()
print fname
mapLoader.load(str(fname))
directory = os.path.dirname(str(fname))
mapFile = directory + "/" + str(mapLoader.mapFile)
print mapFile
pixmap = QtGui.QPixmap(mapFile)
self.mMapViewer.setPixmap(pixmap)
self.world_width = pixmap.width()
self.world_height = pixmap.height()
print str(self.world_width) + " - " + str(self.world_height)
self.mMapViewer.mShowPoint = True
self.mgr.scale = 5.0
self.mgr.worldsize = [self.world_width, self.world_height]
self.mgr.loadPath(mapLoader.path)
self.mMapViewer.plannedPath = mapLoader.path
def timerEvent(self, e):
#print "updating"
self.mgr.update()
#print str(self.mgr.currentPos[0]) + " " + str(self.mgr.currentPos[1]) + " " + str(self.mgr.currentOrientation)
#posx = int(self.mgr.currentPos[0] * self.scale) + self.world_width/2
#posy = int(self.mgr.currentPos[1]* self.scale) + self.world_height/2
posx = self.mgr.currentPos[0]
posy = self.mgr.currentPos[1]
'''
xPos = self.mMapViewer.mPoint.x()
yPos = self.mMapViewer.mPoint.y()
if xPos < self.mMapViewer.width():
self.mMapViewer.mPoint.setX(xPos+1)
if self.mMapViewer.mPoint.y() < self.mMapViewer.height():
self.mMapViewer.mPoint.setY(yPos+1)
self.statusBar().showMessage(str(xPos)+"+"+str(yPos))
'''
self.mMapViewer.mPoint.setX(posx)
self.mMapViewer.mPoint.setY(posy)
self.mMapViewer.mPointYaw = self.mgr.currentOrientation
self.update()
self.mgr.control()
self.mMapViewer.plannedPathReachedIdx = self.mgr.tIdx
def startMonitor(self):
self.timerId = self.startTimer(50)
def stopMonitor(self):
self.killTimer(self.timerId)
class MapViewWindow(QtGui.QMainWindow):
def __init__(self):
super(QtGui.QMainWindow, self).__init__()
self.initUI()
def initUI(self):
self.setWindowTitle("HDCG Data Gen")
openAction = QtGui.QAction('Open', self)
openAction.triggered.connect(self.openMap)
exportAction = QtGui.QAction('Export', self)
exportAction.triggered.connect(self.exportXML)
menubar = self.menuBar()
fileMenu = menubar.addMenu('&File')
fileMenu.addAction(openAction)
fileMenu.addAction(exportAction)
configAction = QtGui.QAction('Config', self)
configAction.triggered.connect(self.openConfig)
randomAction = QtGui.QAction('Random', self)
randomAction.triggered.connect(self.randomMap)
sampleSpatialRelationAction = QtGui.QAction('Random Spatial Relation', self)
sampleSpatialRelationAction.triggered.connect(self.sampleSpatialRelation)
batchAction = QtGui.QAction('Batch', self)
batchAction.triggered.connect(self.batchGen)
toolMenu = menubar.addMenu('&Tool')
toolMenu.addAction(configAction)
toolMenu.addAction(randomAction)
toolMenu.addAction(sampleSpatialRelationAction)
toolMenu.addAction(batchAction)
self.view = MapViewer(self)
self.setCentralWidget(self.view)
self.obsConfig = ObstacleEditConfig()
self.paramConfig = None
self.show()
def openMap(self):
fname = QtGui.QFileDialog.getOpenFileName(self, 'Open file')
if fname != None:
self.view.openMap( str(fname) )
self.setWindowTitle( self.view.world.name )
self.path_plan_info = PathPlanningInfo( self.view.world )
self.paramConfig = ParamConfig(self.path_plan_info)
def openConfig(self):
if self.path_plan_info != None:
self.paramConfig.show()
def mousePressEvent(self, e):
if e.button() == QtCore.Qt.LeftButton:
x_pos = e.pos().x()
y_pos = e.pos().y()
for obs in self.view.world.obstacles:
if obs.contains( [x_pos, y_pos] ):
print obs.name
self.obsConfig.setObstacle(obs)
self.obsConfig.show()
def randomMap(self):
print "random map"
self.view.world.start = self.view.world.samplePoint()
self.view.world.goal = self.view.world.samplePoint()
self.repaint()
def sampleSpatialRelation(self, hide_message = False):
self.path_plan_info.updateRandomSpatialRelation()
if hide_message == False:
QtGui.QMessageBox.about( self, "Spatial Relation", str( self.path_plan_info.spatial_relations[0] ) )
def exportXML(self):
fname = QtGui.QFileDialog.getSaveFileName(self, 'Save file')
if fname != None:
self.path_plan_info.write_to_xml(str(fname))
def batchGen(self):
batch_info = BatchInfo()
batch_config = BatchConfig(batch_info)
batch_config.exec_()
for i in range(batch_info.batch_num):
self.randomMap()
self.sampleSpatialRelation(True)
self.path_plan_info.path_output_file = batch_info.workspace + "/" + self.path_plan_info.world.name + "-" + str(i)
fname = self.path_plan_info.path_output_file + ".xml"
self.path_plan_info.write_to_xml(fname)
cmd = batch_info.workspace + "/h2p-harrts-demo"
os.system(cmd + " " + fname)
return
class MapViewForm(QtGui.QMainWindow):
def __init__(self, size):
super(QtGui.QMainWindow, self).__init__()
self.formSize = size
self.mMapViewer = MapViewer(self)
self.resize(self.formSize[0], self.formSize[1])
self.sampleNum = 8
self.populationNum = 200
self.generationNum = 1000
self.fitnessMgr = FitnessSpaceManager()
self.configWindow = MapViewConfigForm(self)
self.initUI()
self.cursorPos = None
self.planner = None
def initUI(self):
configAction = QtGui.QAction('Config', self)
configAction.triggered.connect(self.configParam)
optAction = QtGui.QAction('Optimize', self)
optAction.triggered.connect(self.optimize)
importAction = QtGui.QAction('Import', self)
importAction.triggered.connect(self.importData)
menubar = self.menuBar()
configMenu = menubar.addMenu('&Config')
configMenu.addAction(configAction)
optMenu = menubar.addMenu('&Optimize')
optMenu.addAction(optAction)
importMenu = menubar.addMenu('&Import')
importMenu.addAction(importAction)
self.initContextMenu()
self.mMapViewer.resize(self.formSize[0], self.formSize[1])
self.setCentralWidget(self.mMapViewer)
self.show()
def initContextMenu(self):
self.setContextMenuPolicy(QtCore.Qt.CustomContextMenu)
self.customContextMenuRequested.connect(self.showContextMenu)
self.contextMenu = QtGui.QMenu(self)
self.actionAddStart = self.contextMenu.addAction('start')
self.actionAddEnd = self.contextMenu.addAction('end')
self.actionAddStart.triggered.connect(self.addStart)
self.actionAddEnd.triggered.connect(self.addEnd)
def showContextMenu(self, pos):
self.contextMenu.move(self.pos() + pos)
self.cursorPos = pos
self.contextMenu.show()
def keyPressEvent(self, e):
if e.key() == QtCore.Qt.Key_Left:
print "letf"
if self.fitnessMgr.currentFitnessIdx > 0:
self.fitnessMgr.currentFitnessIdx -= 1
self.updateMapviewer()
self.updateTitle()
self.update()
elif e.key() == QtCore.Qt.Key_Right:
print "right"
if self.fitnessMgr.currentFitnessIdx < self.fitnessMgr.fitnessNum - 1:
self.fitnessMgr.currentFitnessIdx += 1
self.updateMapviewer()
self.updateTitle()
self.update()
def addStart(self):
self.mMapViewer.addStart(self.cursorPos)
def addEnd(self):
self.mMapViewer.addEnd(self.cursorPos)
def configParam(self):
self.configWindow.show()
def optimize(self):
if len(self.mMapViewer.startPos) == 0 or len(
self.mMapViewer.endPos) == 0:
msgBox = QtGui.QMessageBox()
msgBox.setText("Start or End has not been set.")
msgBox.exec_()
return
self.planner = MultiObjectivePathPlanner(self.fitnessMgr,
self.mMapViewer.startPos,
self.mMapViewer.endPos,
self.sampleNum)
position_range = []
for i in range(self.sampleNum):
position_range.append([0, self.formSize[0] - 1])
position_range.append([0, self.formSize[1] - 1])
self.mMapViewer.pathList = self.planner.findSolutions(
self.populationNum, self.generationNum, position_range)
self.update()
import matplotlib.pyplot as plt
fig = plt.figure()
ax = fig.add_subplot(111)
for p in self.planner.nsga.population:
ax.plot(p.fitness[0], p.fitness[1], 'ro')
plt.show()
def updateTitle(self):
self.setWindowTitle(
str(self.fitnessMgr.currentFitnessIdx + 1) + "/" +
str(self.fitnessMgr.fitnessNum))
def updateMapviewer(self):
pixmap = self.fitnessMgr.pixmaps[self.fitnessMgr.currentFitnessIdx]
self.mMapViewer.setPixmap(pixmap)
def importData(self):
fname = QtGui.QFileDialog.getOpenFileName(self, 'Open file')
if fname == "" or fname == None:
return
pixmap = QtGui.QPixmap(fname)
pixmap = pixmap.scaled(self.formSize[0], self.formSize[1])
print "W:" + str(pixmap.width()) + " H:" + str(pixmap.height())
self.fitnessMgr.addFitness(pixmap)
self.fitnessMgr.currentFitnessIdx = self.fitnessMgr.fitnessNum - 1
self.updateMapviewer()
self.updateTitle()
self.update()
def main():
buildingTable = read_in_table_data()
columbia = Village(Constants.MAP_NAME, buildingTable)
MapViewer.displayMapWithVillage(
columbia,
highlightByCondition=[
(Building.isRectangular, Constants.RED),
(Building.isDoubleSymmetricNotRectangular, Constants.YELLOW),
(Building.isOnlyLeftRightSymmetric, Constants.BLUE),
(Building.isOnlyTopBottomSymmetric, Constants.GREEN),
(Building.isNotSymmetric, Constants.PURPLE)
])
MapViewer.displayMapWithVillage(
columbia,
highlightByCondition=[(Building.isLongerLeftRight, Constants.RED),
(Building.isLongerTopBottom, Constants.BLUE),
(Building.isLengthSame, Constants.GREEN)])
MapViewer.displayMapWithVillage(
columbia,
highlightByCondition=[
(Building.noTouchingBoundingBoxPoints, Constants.PURPLE),
(Building.oneTouchingBoundingBoxPoint, Constants.YELLOW),
(Building.twoTouchingBoundingBoxPoints, Constants.RED),
(Building.threeTouchingBoundingBoxPoints, Constants.GREEN),
(Building.fourTouchingBoundingBoxPoints, Constants.BLUE)
])
MapViewer.displayMapWithVillage(columbia,
highlightByCondition=[
(Building.isSkinny, Constants.RED),
(Building.isNotSkinny, Constants.BLUE)
])
MapViewer.displayMapWithVillage(columbia,
highlightByCondition=[
(Building.isSmall, Constants.RED),
(Building.isMedium, Constants.BLUE),
(Building.isLarge, Constants.GREEN)
])
printBuildingDescriptionsByShape(columbia)
printBuildingDescriptionsByShapeAndLocation(columbia)
printBuildingsNearby(columbia)
printBuildingsByDirectionalPositions(columbia)
MapViewer.displayInteractiveMap(columbia)
MapViewer.displaySimilarPointCluster(columbia, Utils.largest)
MapViewer.displaySimilarPointCluster(columbia, Utils.smallest)
MapViewer.displaySimilarPointCluster(columbia, Utils.largestNotInBuilding)
class MapViewForm(QtGui.QMainWindow):
'''
classdocs
'''
def __init__(self, origin, delta, scale=1.0):
super(QtGui.QMainWindow, self).__init__()
self.mMapViewer = MapViewer(self)
self.timerId = -1
self.mgr = TurtlebotManager(delta, origin, 0.05)
self.scale = scale
self.initUI()
def initUI(self):
mapAction = QtGui.QAction('Map', self)
mapAction.triggered.connect(self.showOpenMapFileDialog)
pathAction = QtGui.QAction('Path', self)
pathAction.triggered.connect(self.showOpenPathFileDialog)
startAction = QtGui.QAction('Start', self)
startAction.triggered.connect(self.startMonitor)
stopAction = QtGui.QAction('Stop', self)
stopAction.triggered.connect(self.stopMonitor)
self.addPointAction = QtGui.QAction('Add', self)
self.addPointAction.triggered.connect(self.addPoint)
self.clearPointsAction = QtGui.QAction('clear', self)
self.clearPointsAction.triggered.connect(self.clearPoints)
menubar = self.menuBar()
mapMenu = menubar.addMenu('&Map')
mapMenu.addAction(mapAction)
pathMenu = menubar.addMenu('&Path')
pathMenu.addAction(pathAction)
startMenu = menubar.addMenu('&Start')
startMenu.addAction(startAction)
stopMenu = menubar.addMenu('&Stop')
stopMenu.addAction(stopAction)
self.toolbar = self.addToolBar('toolbar')
self.toolbar.addAction(mapAction)
self.toolbar.addAction(pathAction)
self.toolbar.addAction(startAction)
self.toolbar.addAction(stopAction)
self.setContextMenuPolicy(QtCore.Qt.CustomContextMenu)
self.connect(
self, QtCore.SIGNAL('customContextMenuRequested(const QPoint&)'),
self.contextMenuRequested)
self.setCentralWidget(self.mMapViewer)
self.show()
def showOpenMapFileDialog(self):
fname = QtGui.QFileDialog.getOpenFileName(self, 'Open file')
pixmap = QtGui.QPixmap(fname)
self.mMapViewer.setPixmap(pixmap)
self.world_width = pixmap.width()
self.world_height = pixmap.height()
print str(self.world_width) + " - " + str(self.world_height)
self.mMapViewer.mShowPoint = True
self.mgr.scale = self.scale
self.mgr.worldsize = [self.world_width, self.world_height]
def showOpenPathFileDialog(self):
fname = QtGui.QFileDialog.getOpenFileName(self, 'Open file')
mapLoader = PlannedPathLoader()
print fname
mapLoader.load(str(fname))
directory = os.path.dirname(str(fname))
mapFile = directory + "/" + str(mapLoader.mapFile)
print mapFile
pixmap = QtGui.QPixmap(mapFile)
self.mMapViewer.setPixmap(pixmap)
self.world_width = pixmap.width()
self.world_height = pixmap.height()
print str(self.world_width) + " - " + str(self.world_height)
self.mMapViewer.mShowPoint = True
self.mgr.scale = self.scale
self.mgr.worldsize = [self.world_width, self.world_height]
self.mgr.loadPath(mapLoader.path)
self.mMapViewer.plannedPath = mapLoader.path
def timerEvent(self, e):
#print "updating"
self.mgr.update()
#print str(self.mgr.currentPos[0]) + " " + str(self.mgr.currentPos[1]) + " " + str(self.mgr.currentOrientation)
#posx = int(self.mgr.currentPos[0] * self.scale) + self.world_width/2
#posy = int(self.mgr.currentPos[1]* self.scale) + self.world_height/2
posx = self.mgr.currentPos[0]
posy = self.mgr.currentPos[1]
self.mMapViewer.mPoint.setX(posx)
self.mMapViewer.mPoint.setY(posy)
self.mMapViewer.mPointYaw = self.mgr.currentOrientation
self.update()
self.mMapViewer.plannedPathReachedIdx = self.mgr.tIdx
self.mgr.ctrl()
def startMonitor(self):
self.timerId = self.startTimer(50)
def stopMonitor(self):
self.killTimer(self.timerId)
def addPoint(self, pos):
new_point = [self.clickPoint.x(), self.clickPoint.y()]
print "add point " + str(new_point)
self.mgr.plannedPath.addWaypoint(new_point)
self.mgr.plannedPath.update()
self.mMapViewer.plannedPath.addWaypoint(new_point)
self.mMapViewer.plannedPath.update()
self.update()
def clearPoints(self):
print "clear points"
self.mgr.plannedPath.clearWaypoints()
self.mMapViewer.plannedPath.clearWaypoints()
self.update()
def contextMenuRequested(self, point):
menu = QtGui.QMenu(self)
addPointAction = menu.addAction("Add Point")
addPointAction.triggered.connect(self.addPoint)
clearPointsAction = menu.addAction("Clear Points")
clearPointsAction.triggered.connect(self.clearPoints)
self.clickPoint = self.mMapViewer.mapFromGlobal(
self.mapToGlobal(point))
menu.exec_(self.mapToGlobal(point))
class MapViewForm(QtGui.QMainWindow):
def __init__(self, size):
super(QtGui.QMainWindow, self).__init__()
self.formSize = size
self.mMapViewer = MapViewer(self)
self.resize(self.formSize[0], self.formSize[1])
self.configWindow = MapViewConfigForm(self)
self.initUI()
self.cursorPos = None
def initUI(self):
configAction = QtGui.QAction('Config', self)
configAction.triggered.connect(self.configParam)
optAction = QtGui.QAction('Optimize', self)
optAction.triggered.connect(self.optimize)
importAction = QtGui.QAction('Import', self)
importAction.triggered.connect(self.importData)
menubar = self.menuBar()
configMenu = menubar.addMenu('&Config')
configMenu.addAction(configAction)
optMenu = menubar.addMenu('&Optimize')
optMenu.addAction(optAction)
importMenu = menubar.addMenu('&Import')
importMenu.addAction(importAction)
self.initContextMenu()
self.mMapViewer.resize(self.formSize[0], self.formSize[1])
self.setCentralWidget(self.mMapViewer)
self.show()
def initContextMenu(self):
self.setContextMenuPolicy(QtCore.Qt.CustomContextMenu)
self.customContextMenuRequested.connect(self.showContextMenu)
self.contextMenu = QtGui.QMenu(self)
self.actionAddStart = self.contextMenu.addAction('start')
self.actionAddEnd = self.contextMenu.addAction('end')
self.actionAddStart.triggered.connect(self.addStart)
self.actionAddEnd.triggered.connect(self.addEnd)
def showContextMenu(self, pos):
self.contextMenu.move(self.pos() + pos)
self.cursorPos = pos
self.contextMenu.show()
def addStart(self):
self.mMapViewer.addStart(self.cursorPos)
def addEnd(self):
self.mMapViewer.addEnd(self.cursorPos)
def configParam(self):
self.configWindow.show()
def optimize(self):
self.mMapViewer.mas.evolve(500)
self.update()
def importData(self):
fname = QtGui.QFileDialog.getOpenFileName(self, 'Open file')
pixmap = QtGui.QPixmap(fname)
self.mMapViewer.setPixmap(pixmap)
self.formSize[0] = pixmap.width()
self.formSize[1] = pixmap.height()
self.mMapViewer.resize(self.formSize[0], self.formSize[1])
self.imageData = pixmap.toImage()
self.mMapViewer.updateData()
self.update()
def getDataVal(x, y):
int_x = int(x)
int_y = int(y)
p = self.imageData.pixel(int_x, int_y)
return QtGui.qGray(p)