mirror of
https://github.com/Team4388/autoPlanner2025.git
synced 2026-06-09 00:38:05 -06:00
HUGE changes
- Added an about page that shows readme - Added even more comments - Added a playback feature - 100x the pain and suffering!
This commit is contained in:
Daniel Carta
+97
-28
@@ -2,8 +2,8 @@ import sys
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import os
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import numpy as np
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from PySide6.QtWidgets import QApplication, QLabel, QMainWindow, QPushButton, QVBoxLayout, QHBoxLayout, QWidget
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from PySide6.QtGui import QPixmap, QPainter, QPen, QColor
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from PySide6.QtCore import Qt, QPoint, QRect
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from PySide6.QtGui import QPixmap, QPainter, QPen, QColor, QKeyEvent
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from PySide6.QtCore import Qt, QPoint, QRect, QTimer
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'''
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This window is the button editor
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@@ -13,7 +13,8 @@ The button editor takes the path that is made in the path planner and lets the u
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class ButtonEditor(QMainWindow):
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def __init__(self, pathPlanner):
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super().__init__()
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# Initialization
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# Initialization for the window
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self.setWindowTitle("Button Editor")
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self.pathPlanner = pathPlanner
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@@ -68,7 +69,8 @@ class ButtonEditor(QMainWindow):
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self.matchTicks = self.matchLength * self.TPS # The amount of ticks in a match
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self.displayTickResolution = 6.25 # The number of ticks to divide the match ticks by
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self.displayTicks = round(self.matchTicks / self.displayTickResolution) # How many ticks to show the user
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self.paused = True # If the user has paused the auto
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self.playbackSpeed = 0.25 # Speed multiplier for playback
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self.currentFrame = 1 # The frame that is currently selected
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self.keyFrameData = [{"isNode": False, "isButton": False} for _ in range(self.displayTicks)] # Dictionary for every tick including if that tick is a node frame or a button frame
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self.updateKeyFrameData()
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@@ -82,10 +84,38 @@ class ButtonEditor(QMainWindow):
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for idx in node_indices:
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self.keyFrameData[idx]["isNode"] = True
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# Start the timer
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self.timer = QTimer(self)
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self.timer.timeout.connect(self.advanceFrame)
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self.timer.start(int(1000 // (self.TPS * self.playbackSpeed)))
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# Initialization
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self.setupFrames()
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self.updateScene()
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self.updateRectangles()
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self.updateTimeLabel()
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self.rectangleClicked(0)
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# Tell when the user presses a key down
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def keyPressEvent(self, event: QKeyEvent):
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old_frame = self.currentFrame
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if event.key() == Qt.Key_Right and self.currentFrame < len(self.displayFrames):
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self.currentFrame += 1
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elif event.key() == Qt.Key_Left and self.currentFrame > 1:
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self.currentFrame -= 1
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elif event.key() == Qt.Key_E:
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self.paused = not self.paused
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if self.paused:
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self.timer.stop()
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else:
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self.timer.start(int(1000 // (self.TPS * self.playbackSpeed)))
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print(self.paused)
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if old_frame != self.currentFrame:
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self.updateRectangles()
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self.updateScene()
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self.updateTimeLabel()
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# Updating the key frames with data from the path planner
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def updateKeyFrameData(self):
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@@ -170,6 +200,25 @@ class ButtonEditor(QMainWindow):
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start_angle = self.pathPlanner.nodeAngles[i] if i < len(self.pathPlanner.nodeAngles) else 0
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end_angle = self.pathPlanner.nodeAngles[i + 1] if i + 1 < len(self.pathPlanner.nodeAngles) else 0
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angle = self.interpolateAngle(start_angle, end_angle, t)
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total_frames = self.displayTicks
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frame_index = self.currentFrame - 1
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if 0 <= frame_index < total_frames:
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overall_t = frame_index / (total_frames - 1)
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num_segments = len(self.pathPlanner.coordinates) - 1
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segment_index = min(int(overall_t * num_segments), num_segments - 1)
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segment_t = (overall_t * num_segments) - segment_index
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start = QPoint(self.pathPlanner.coordinates[segment_index][0], self.pathPlanner.coordinates[segment_index][1])
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end = QPoint(self.pathPlanner.coordinates[segment_index + 1][0], self.pathPlanner.coordinates[segment_index + 1][1])
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control1 = self.pathPlanner.controlPoints[segment_index][0]
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control2 = self.pathPlanner.controlPoints[segment_index][1]
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point = self.pointOnBezierCurve(start, control1, control2, end, segment_t)
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start_angle = self.pathPlanner.nodeAngles[segment_index] if segment_index < len(self.pathPlanner.nodeAngles) else 0
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end_angle = self.pathPlanner.nodeAngles[segment_index + 1] if segment_index + 1 < len(self.pathPlanner.nodeAngles) else 0
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angle = self.interpolateAngle(start_angle, end_angle, segment_t)
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self.drawRobot(painter, point, angle)
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painter.end() # If you don't end the painter the app crashes
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@@ -210,33 +259,40 @@ class ButtonEditor(QMainWindow):
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# Update the frames on the bottom of the screen that the user interacts with
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def updateRectangles(self):
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# Add the key frame widget
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for i in reversed(range(self.rectanglesLayout.count())):
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widgetToRemove = self.rectanglesLayout.itemAt(i).widget()
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self.rectanglesLayout.removeWidget(widgetToRemove)
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widgetToRemove.setParent(None)
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#Set the key frames width
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window_width = self.rectanglesWidget.width()
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if self.keyFrameData:
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rect_width = window_width / len(self.keyFrameData)
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rect_height = 100 # Adjustable key frame height
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for index, frame in enumerate(self.keyFrameData):
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rectWidget = QWidget()
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rectWidget.setFixedSize(rect_width, rect_height)
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# Clear existing rectangles
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while self.rectanglesLayout.count():
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item = self.rectanglesLayout.takeAt(0)
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widget = item.widget()
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if widget:
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widget.deleteLater()
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# Calculate the width of each rectangle
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total_width = self.width() - 80
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rect_width = max(1, total_width // self.displayTicks)
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# Create new rectangles
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for i in range(self.displayTicks):
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rect = QWidget()
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rect.setFixedSize(rect_width, 100)
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# Set the colors of the frames
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if frame["isNode"]:
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rectWidget.setStyleSheet("background-color: yellow;")
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# Set the color based on frame type
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if i == self.currentFrame - 1:
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color = "red"
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elif self.keyFrameData[i]["isNode"]:
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color = "yellow"
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elif self.keyFrameData[i]["isButton"]:
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color = "blue"
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else:
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if index % 2 == 0:
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rectWidget.setStyleSheet("background-color: #ADD8E6;")
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else:
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rectWidget.setStyleSheet("background-color: #00008B;")
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color = "#ADD8E6" if i % 2 == 0 else "#00008B"
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rect.setStyleSheet(f"background-color: {color};")
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rectWidget.mousePressEvent = lambda event, idx=index: self.rectangleClicked(idx)
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self.rectanglesLayout.addWidget(rectWidget)
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# Connect the click event
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rect.mousePressEvent = lambda event, index=i: self.rectangleClicked(index)
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self.rectanglesLayout.addWidget(rect)
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# Force layout update
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self.rectanglesWidget.updateGeometry()
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self.rectanglesLayout.update()
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# Set the current frame to the frame that the user clicked
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def rectangleClicked(self, index):
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@@ -257,6 +313,19 @@ class ButtonEditor(QMainWindow):
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milliseconds = int((current_time % 1) * 1000)
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self.timeLabel.setText(f"{minutes}:{seconds:02d}.{milliseconds:03d} / {self.matchLength:.3f} sec")
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# The auto playback
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def advanceFrame(self):
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if not self.paused:
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if self.currentFrame < len(self.displayFrames):
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self.currentFrame += 1
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else:
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self.currentFrame = 1 # Loop back to the start
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# Update
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self.updateRectangles()
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self.updateScene()
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self.updateTimeLabel()
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# App initialization
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if __name__ == "__main__":
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app = QApplication(sys.argv)
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