mirror of
https://github.com/Team4388/autoPlanner2025.git
synced 2026-06-09 00:38:05 -06:00
camelCase
This commit is contained in:
Daniel Carta
+53
-38
@@ -6,34 +6,34 @@ from PySide6.QtGui import QPixmap, QMouseEvent, QPainter, QPen, QColor, QPainter
|
||||
from PySide6.QtCore import Qt, QPoint, QRect
|
||||
|
||||
class ButtonEditor(QMainWindow):
|
||||
def __init__(self, path_planner):
|
||||
def __init__(self, pathPlanner):
|
||||
super().__init__()
|
||||
self.setWindowTitle("Button Editor")
|
||||
self.path_planner = path_planner
|
||||
self.pathPlanner = pathPlanner
|
||||
|
||||
self.image_label = QLabel(self)
|
||||
self.imageLabel = QLabel(self)
|
||||
|
||||
script_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
image_path = os.path.join(script_dir, "images", "Field.png")
|
||||
self.pixmap = QPixmap(image_path)
|
||||
scriptDir = os.path.dirname(os.path.abspath(__file__))
|
||||
imagePath = os.path.join(scriptDir, "images", "Field.png")
|
||||
self.pixmap = QPixmap(imagePath)
|
||||
|
||||
if self.pixmap.isNull():
|
||||
self.image_label.setText(f"Image not found at: {image_path}")
|
||||
self.imageLabel.setText(f"Image not found at: {imagePath}")
|
||||
else:
|
||||
self.image_label.setPixmap(self.pixmap)
|
||||
self.imageLabel.setPixmap(self.pixmap)
|
||||
|
||||
self.path_planner_button = QPushButton("Main Window")
|
||||
self.path_planner_button.clicked.connect(self.show_path_planner)
|
||||
self.button_editor_button = QPushButton("Button Editor")
|
||||
self.button_editor_button.clicked.connect(self.show_button_editor)
|
||||
self.pathPlannerButton = QPushButton("Main Window")
|
||||
self.pathPlannerButton.clicked.connect(self.showPathPlanner)
|
||||
self.buttonEditorButton = QPushButton("Button Editor")
|
||||
self.buttonEditorButton.clicked.connect(self.showButtonEditor)
|
||||
|
||||
button_layout = QHBoxLayout()
|
||||
button_layout.addWidget(self.path_planner_button)
|
||||
button_layout.addWidget(self.button_editor_button)
|
||||
buttonLayout = QHBoxLayout()
|
||||
buttonLayout.addWidget(self.pathPlannerButton)
|
||||
buttonLayout.addWidget(self.buttonEditorButton)
|
||||
|
||||
layout = QVBoxLayout()
|
||||
layout.addLayout(button_layout)
|
||||
layout.addWidget(self.image_label)
|
||||
layout.addLayout(buttonLayout)
|
||||
layout.addWidget(self.imageLabel)
|
||||
|
||||
container = QWidget()
|
||||
container.setLayout(layout)
|
||||
@@ -41,30 +41,45 @@ class ButtonEditor(QMainWindow):
|
||||
|
||||
self.resize(self.pixmap.width(), self.pixmap.height() + 60)
|
||||
|
||||
def show_button_editor(self):
|
||||
# Variables
|
||||
self.matchLength = 15
|
||||
self.TPS = 50
|
||||
self.matchTicks = self.matchLength * self.TPS
|
||||
self.displayTickResolution = 4
|
||||
self.displayTicks = round(self.matchTicks / self.displayTickResolution)
|
||||
|
||||
self.keyFrames = []
|
||||
|
||||
def addKeyFrames(self):
|
||||
currentFrame = 0
|
||||
|
||||
for i in range(0, self.displayTicks):
|
||||
self.keyFrames.append(currentFrame)
|
||||
|
||||
def showButtonEditor(self):
|
||||
self.show()
|
||||
self.path_planner.hide()
|
||||
self.pathPlanner.hide()
|
||||
|
||||
def show_path_planner(self):
|
||||
def showPathPlanner(self):
|
||||
self.hide()
|
||||
self.path_planner.show()
|
||||
self.pathPlanner.show()
|
||||
|
||||
def update_scene(self):
|
||||
def updateScene(self):
|
||||
self.pixmap = QPixmap(os.path.join(os.path.dirname(os.path.abspath(__file__)), "images", "Field.png"))
|
||||
painter = QPainter(self.pixmap)
|
||||
|
||||
grey_pen = QPen(QColor(127, 127, 127))
|
||||
grey_pen.setWidth(2)
|
||||
painter.setPen(grey_pen)
|
||||
greyPen = QPen(QColor(127, 127, 127))
|
||||
greyPen.setWidth(2)
|
||||
painter.setPen(greyPen)
|
||||
|
||||
# Draw the Bezier curve segments
|
||||
if self.path_planner.coordinates.size > 0:
|
||||
for i in range(len(self.path_planner.coordinates) - 1):
|
||||
start = QPoint(self.path_planner.coordinates[i][0], self.path_planner.coordinates[i][1])
|
||||
end = QPoint(self.path_planner.coordinates[i + 1][0], self.path_planner.coordinates[i + 1][1])
|
||||
if self.pathPlanner.coordinates.size > 0:
|
||||
for i in range(len(self.pathPlanner.coordinates) - 1):
|
||||
start = QPoint(self.pathPlanner.coordinates[i][0], self.pathPlanner.coordinates[i][1])
|
||||
end = QPoint(self.pathPlanner.coordinates[i + 1][0], self.pathPlanner.coordinates[i + 1][1])
|
||||
|
||||
if i < len(self.path_planner.control_points):
|
||||
control_pair = self.path_planner.control_points[i]
|
||||
if i < len(self.pathPlanner.controlPoints):
|
||||
controlPair = self.pathPlanner.controlPoints[i]
|
||||
|
||||
pen = QPen(Qt.yellow)
|
||||
pen.setWidth(2)
|
||||
@@ -72,7 +87,7 @@ class ButtonEditor(QMainWindow):
|
||||
|
||||
path = QPainterPath()
|
||||
path.moveTo(start)
|
||||
path.cubicTo(control_pair[0], control_pair[1], end)
|
||||
path.cubicTo(controlPair[0], controlPair[1], end)
|
||||
painter.drawPath(path)
|
||||
|
||||
# Draw the nodes
|
||||
@@ -84,11 +99,11 @@ class ButtonEditor(QMainWindow):
|
||||
painter.setPen(Qt.NoPen)
|
||||
painter.setBrush(Qt.white)
|
||||
|
||||
for i, (x, y) in enumerate(self.path_planner.coordinates):
|
||||
node_rect = QRect(x - self.path_planner.node_size // 6, y - self.path_planner.node_size // 6,
|
||||
self.path_planner.node_size // 3, self.path_planner.node_size // 3)
|
||||
painter.drawEllipse(node_rect)
|
||||
painter.drawText(node_rect, Qt.AlignCenter, str(i + 1))
|
||||
for i, (x, y) in enumerate(self.pathPlanner.coordinates):
|
||||
nodeRect = QRect(x - self.pathPlanner.nodeSize // 6, y - self.pathPlanner.nodeSize // 6,
|
||||
self.pathPlanner.nodeSize // 3, self.pathPlanner.nodeSize // 3)
|
||||
painter.drawEllipse(nodeRect)
|
||||
painter.drawText(nodeRect, Qt.AlignCenter, str(i + 1))
|
||||
|
||||
painter.end()
|
||||
self.image_label.setPixmap(self.pixmap)
|
||||
self.imageLabel.setPixmap(self.pixmap)
|
||||
|
||||
@@ -14,35 +14,35 @@ class PathPlanner(QMainWindow):
|
||||
self.setWindowTitle("Auto Planner")
|
||||
|
||||
self.coordinates = np.empty((0, 2), dtype=int)
|
||||
self.control_points = []
|
||||
self.rotation_handles = []
|
||||
self.node_angles = []
|
||||
self.controlPoints = []
|
||||
self.rotationHandles = []
|
||||
self.nodeAngles = []
|
||||
|
||||
self.image_label = QLabel(self)
|
||||
self.imageLabel = QLabel(self)
|
||||
|
||||
script_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
image_path = os.path.join(script_dir, "images", "Field.png")
|
||||
self.pixmap = QPixmap(image_path)
|
||||
scriptDir = os.path.dirname(os.path.abspath(__file__))
|
||||
imagePath = os.path.join(scriptDir, "images", "Field.png")
|
||||
self.pixmap = QPixmap(imagePath)
|
||||
|
||||
if self.pixmap.isNull():
|
||||
self.image_label.setText(f"Image not found at: {image_path}")
|
||||
self.imageLabel.setText(f"Image not found at: {imagePath}")
|
||||
else:
|
||||
self.image_label.setPixmap(self.pixmap)
|
||||
self.imageLabel.setPixmap(self.pixmap)
|
||||
|
||||
self.main_window_button = QPushButton("Main Window")
|
||||
self.main_window_button.clicked.connect(self.show_main_window)
|
||||
self.button_editor_button = QPushButton("Button Editor")
|
||||
self.button_editor_button.clicked.connect(self.show_button_editor)
|
||||
self.mainWindowButton = QPushButton("Main Window")
|
||||
self.mainWindowButton.clicked.connect(self.showMainWindow)
|
||||
self.buttonEditorButton = QPushButton("Button Editor")
|
||||
self.buttonEditorButton.clicked.connect(self.showButtonEditor)
|
||||
|
||||
button_layout = QHBoxLayout()
|
||||
button_layout.addWidget(self.main_window_button)
|
||||
button_layout.addWidget(self.button_editor_button)
|
||||
buttonLayout = QHBoxLayout()
|
||||
buttonLayout.addWidget(self.mainWindowButton)
|
||||
buttonLayout.addWidget(self.buttonEditorButton)
|
||||
|
||||
layout = QVBoxLayout()
|
||||
layout.addLayout(button_layout)
|
||||
layout.addWidget(self.image_label)
|
||||
layout.addLayout(buttonLayout)
|
||||
layout.addWidget(self.imageLabel)
|
||||
|
||||
self.button_editor = ButtonEditor(self)
|
||||
self.buttonEditor = ButtonEditor(self)
|
||||
|
||||
container = QWidget()
|
||||
container.setLayout(layout)
|
||||
@@ -52,185 +52,178 @@ class PathPlanner(QMainWindow):
|
||||
|
||||
self.setMouseTracking(True)
|
||||
|
||||
self.last_click_pos = QPoint()
|
||||
self.lastClickPos = QPoint()
|
||||
|
||||
self.coordinates = np.empty((0, 2), dtype=int)
|
||||
self.last_click_time = 0
|
||||
self.node_size = 35
|
||||
self.handle_size = 15
|
||||
self.rotation_handle_distance = 35
|
||||
self.control_points = []
|
||||
self.rotation_handles = []
|
||||
self.node_angles = []
|
||||
self.dragging_control_point = False
|
||||
self.dragging_node = False
|
||||
self.dragging_rotation_handle = False
|
||||
self.dragging_control_point_index = (-1, -1)
|
||||
self.dragging_node_index = -1
|
||||
self.dragging_rotation_handle_index = -1
|
||||
self.lastClickTime = 0
|
||||
self.nodeSize = 35
|
||||
self.handleSize = 15
|
||||
self.rotationHandleDistance = 35
|
||||
self.controlPoints = []
|
||||
self.rotationHandles = []
|
||||
self.nodeAngles = []
|
||||
self.draggingControlPoint = False
|
||||
self.draggingNode = False
|
||||
self.draggingRotationHandle = False
|
||||
self.draggingControlPointIndex = (-1, -1)
|
||||
self.draggingNodeIndex = -1
|
||||
self.draggingRotationHandleIndex = -1
|
||||
|
||||
#Tells when either the left or right mouse button is pressed
|
||||
def mousePressEvent(self, event: QMouseEvent):
|
||||
pos = self.image_label.mapFrom(self, event.position().toPoint())
|
||||
pos = self.imageLabel.mapFrom(self, event.position().toPoint())
|
||||
x, y = pos.x(), pos.y()
|
||||
|
||||
if 0 <= x < self.pixmap.width() and 0 <= y < self.pixmap.height():
|
||||
if event.button() == Qt.RightButton:
|
||||
self.coordinates = np.vstack((self.coordinates, [x, y]))
|
||||
if len(self.coordinates) >= 2:
|
||||
self.calculate_control_points()
|
||||
self.calculate_rotation_handle_pos()
|
||||
self.draw_scene()
|
||||
self.button_editor.update_scene()
|
||||
self.calculateControlPoints()
|
||||
self.calculateRotationHandlePos()
|
||||
self.drawScene()
|
||||
self.buttonEditor.updateScene()
|
||||
elif event.button() == Qt.LeftButton:
|
||||
current_time = event.timestamp()
|
||||
if (current_time - self.last_click_time < 300 and
|
||||
(pos - self.last_click_pos).manhattanLength() < 5):
|
||||
node_index = self.is_point_in_node(x, y)
|
||||
if node_index != -1:
|
||||
self.delete_node(node_index)
|
||||
currentTime = event.timestamp()
|
||||
if (currentTime - self.lastClickTime < 300 and
|
||||
(pos - self.lastClickPos).manhattanLength() < 5):
|
||||
nodeIndex = self.isPointInNode(x, y)
|
||||
if nodeIndex != -1:
|
||||
self.deleteNode(nodeIndex)
|
||||
else:
|
||||
control_point_index = self.is_point_in_control_point(x, y)
|
||||
if control_point_index != (-1, -1):
|
||||
self.smoothPoints(control_point_index[0], control_point_index[1])
|
||||
self.draw_scene()
|
||||
self.button_editor.update_scene()
|
||||
controlPointIndex = self.isPointInControlPoint(x, y)
|
||||
if controlPointIndex != (-1, -1):
|
||||
self.smoothPoints(controlPointIndex[0], controlPointIndex[1])
|
||||
self.drawScene()
|
||||
self.buttonEditor.updateScene()
|
||||
else:
|
||||
control_point_index = self.is_point_in_control_point(x, y)
|
||||
if control_point_index != (-1, -1):
|
||||
self.dragging_control_point = True
|
||||
self.dragging_control_point_index = control_point_index
|
||||
controlPointIndex = self.isPointInControlPoint(x, y)
|
||||
if controlPointIndex != (-1, -1):
|
||||
self.draggingControlPoint = True
|
||||
self.draggingControlPointIndex = controlPointIndex
|
||||
else:
|
||||
node_index = self.is_point_in_node(x, y)
|
||||
if node_index != -1:
|
||||
self.dragging_node = True
|
||||
self.dragging_node_index = node_index
|
||||
nodeIndex = self.isPointInNode(x, y)
|
||||
if nodeIndex != -1:
|
||||
self.draggingNode = True
|
||||
self.draggingNodeIndex = nodeIndex
|
||||
else:
|
||||
rotation_handle_index = self.is_point_in_rotation_handle(x, y)
|
||||
if rotation_handle_index != -1:
|
||||
self.dragging_rotation_handle = True
|
||||
self.dragging_rotation_handle_index = rotation_handle_index
|
||||
rotationHandleIndex = self.isPointInRotationHandle(x, y)
|
||||
if rotationHandleIndex != -1:
|
||||
self.draggingRotationHandle = True
|
||||
self.draggingRotationHandleIndex = rotationHandleIndex
|
||||
|
||||
self.last_click_time = current_time
|
||||
self.last_click_pos = pos
|
||||
self.lastClickTime = currentTime
|
||||
self.lastClickPos = pos
|
||||
|
||||
#Deletes node
|
||||
def delete_node(self, index):
|
||||
def deleteNode(self, index):
|
||||
self.coordinates = np.delete(self.coordinates, index, axis=0)
|
||||
if index < len(self.control_points):
|
||||
del self.control_points[index]
|
||||
if index > 0 and index < len(self.control_points):
|
||||
del self.control_points[index - 1]
|
||||
if index < len(self.rotation_handles):
|
||||
del self.rotation_handles[index]
|
||||
self.draw_scene()
|
||||
self.button_editor.update_scene()
|
||||
if index < len(self.controlPoints):
|
||||
del self.controlPoints[index]
|
||||
if index > 0 and index < len(self.controlPoints):
|
||||
del self.controlPoints[index - 1]
|
||||
if index < len(self.rotationHandles):
|
||||
del self.rotationHandles[index]
|
||||
self.drawScene()
|
||||
self.buttonEditor.updateScene()
|
||||
|
||||
def mouseMoveEvent(self, event: QMouseEvent):
|
||||
if self.dragging_control_point:
|
||||
pos = self.image_label.mapFrom(self, event.position().toPoint())
|
||||
if self.draggingControlPoint:
|
||||
pos = self.imageLabel.mapFrom(self, event.position().toPoint())
|
||||
x, y = pos.x(), pos.y()
|
||||
curve_index, point_index = self.dragging_control_point_index
|
||||
self.control_points[curve_index][point_index] = QPoint(x, y)
|
||||
self.draw_scene()
|
||||
self.button_editor.update_scene()
|
||||
elif self.dragging_node:
|
||||
pos = self.image_label.mapFrom(self, event.position().toPoint())
|
||||
curveIndex, pointIndex = self.draggingControlPointIndex
|
||||
self.controlPoints[curveIndex][pointIndex] = QPoint(x, y)
|
||||
self.drawScene()
|
||||
self.buttonEditor.updateScene()
|
||||
elif self.draggingNode:
|
||||
pos = self.imageLabel.mapFrom(self, event.position().toPoint())
|
||||
x, y = pos.x(), pos.y()
|
||||
self.coordinates[self.dragging_node_index] = [x, y]
|
||||
self.calculate_control_points()
|
||||
self.calculate_rotation_handle_pos()
|
||||
self.draw_scene()
|
||||
self.button_editor.update_scene()
|
||||
elif self.dragging_rotation_handle:
|
||||
pos = self.image_label.mapFrom(self, event.position().toPoint())
|
||||
self.coordinates[self.draggingNodeIndex] = [x, y]
|
||||
self.calculateControlPoints()
|
||||
self.calculateRotationHandlePos()
|
||||
self.drawScene()
|
||||
self.buttonEditor.updateScene()
|
||||
elif self.draggingRotationHandle:
|
||||
pos = self.imageLabel.mapFrom(self, event.position().toPoint())
|
||||
x, y = pos.x(), pos.y()
|
||||
node_x, node_y = self.coordinates[self.dragging_rotation_handle_index]
|
||||
dx = x - node_x
|
||||
dy = y - node_y
|
||||
nodeX, nodeY = self.coordinates[self.draggingRotationHandleIndex]
|
||||
dx = x - nodeX
|
||||
dy = y - nodeY
|
||||
angle = np.arctan2(dy, dx)
|
||||
|
||||
self.node_angles[self.dragging_rotation_handle_index] = angle
|
||||
self.nodeAngles[self.draggingRotationHandleIndex] = angle
|
||||
|
||||
rotation_handle_x = int(node_x + self.rotation_handle_distance * np.cos(angle))
|
||||
rotation_handle_y = int(node_y + self.rotation_handle_distance * np.sin(angle))
|
||||
self.rotation_handles[self.dragging_rotation_handle_index] = QPoint(rotation_handle_x, rotation_handle_y)
|
||||
self.draw_scene()
|
||||
self.button_editor.update_scene()
|
||||
rotationHandleX = int(nodeX + self.rotationHandleDistance * np.cos(angle))
|
||||
rotationHandleY = int(nodeY + self.rotationHandleDistance * np.sin(angle))
|
||||
self.rotationHandles[self.draggingRotationHandleIndex] = QPoint(rotationHandleX, rotationHandleY)
|
||||
self.drawScene()
|
||||
self.buttonEditor.updateScene()
|
||||
|
||||
#Resets dragging when mouse is released
|
||||
def mouseReleaseEvent(self, event: QMouseEvent):
|
||||
if event.button() == Qt.LeftButton:
|
||||
self.dragging_control_point = False
|
||||
self.dragging_control_point_index = (-1, -1)
|
||||
self.dragging_node = False
|
||||
self.dragging_node_index = -1
|
||||
self.dragging_rotation_handle = False
|
||||
self.dragging_rotation_handle_index = -1
|
||||
self.button_editor.update_scene()
|
||||
self.draggingControlPoint = False
|
||||
self.draggingControlPointIndex = (-1, -1)
|
||||
self.draggingNode = False
|
||||
self.draggingNodeIndex = -1
|
||||
self.draggingRotationHandle = False
|
||||
self.draggingRotationHandleIndex = -1
|
||||
self.buttonEditor.updateScene()
|
||||
|
||||
#These 3 are for distinguishing what the user is clicking
|
||||
def is_point_in_rotation_handle(self, x, y):
|
||||
for i, handle in enumerate(self.rotation_handles):
|
||||
if (abs(x - handle.x()) <= self.handle_size // 2 and
|
||||
abs(y - handle.y()) <= self.handle_size // 2):
|
||||
def isPointInRotationHandle(self, x, y):
|
||||
for i, handle in enumerate(self.rotationHandles):
|
||||
if (abs(x - handle.x()) <= self.handleSize // 2 and
|
||||
abs(y - handle.y()) <= self.handleSize // 2):
|
||||
return i
|
||||
return -1
|
||||
|
||||
def is_point_in_control_point(self, x, y):
|
||||
for i, control_pair in enumerate(self.control_points):
|
||||
for j, control_point in enumerate(control_pair):
|
||||
if (abs(x - control_point.x()) <= self.handle_size // 2 and
|
||||
abs(y - control_point.y()) <= self.handle_size // 2):
|
||||
def isPointInControlPoint(self, x, y):
|
||||
for i, controlPair in enumerate(self.controlPoints):
|
||||
for j, controlPoint in enumerate(controlPair):
|
||||
if (abs(x - controlPoint.x()) <= self.handleSize // 2 and
|
||||
abs(y - controlPoint.y()) <= self.handleSize // 2):
|
||||
return (i, j)
|
||||
return (-1, -1)
|
||||
|
||||
def is_point_in_node(self, x, y):
|
||||
for i, (node_x, node_y) in enumerate(self.coordinates):
|
||||
if (abs(x - node_x) <= self.node_size // 2 and
|
||||
abs(y - node_y) <= self.node_size // 2):
|
||||
def isPointInNode(self, x, y):
|
||||
for i, (nodeX, nodeY) in enumerate(self.coordinates):
|
||||
if (abs(x - nodeX) <= self.nodeSize // 2 and
|
||||
abs(y - nodeY) <= self.nodeSize // 2):
|
||||
return i
|
||||
return -1
|
||||
|
||||
#Calculating the handle positions
|
||||
def calculate_control_points(self):
|
||||
def calculateControlPoints(self):
|
||||
if len(self.coordinates) >= 2:
|
||||
x1, y1 = self.coordinates[-2]
|
||||
x2, y2 = self.coordinates[-1]
|
||||
mid_x, mid_y = (x1 + x2) // 2, (y1 + y2) // 2
|
||||
self.control_points.append([
|
||||
QPoint(mid_x - (x2 - x1) // 4, mid_y - (y2 - y1) // 4),
|
||||
QPoint(mid_x + (x2 - x1) // 4, mid_y + (y2 - y1) // 4)
|
||||
midX, midY = (x1 + x2) // 2, (y1 + y2) // 2
|
||||
self.controlPoints.append([
|
||||
QPoint(midX - (x2 - x1) // 4, midY - (y2 - y1) // 4),
|
||||
QPoint(midX + (x2 - x1) // 4, midY + (y2 - y1) // 4)
|
||||
])
|
||||
|
||||
def calculate_rotation_handle_pos(self):
|
||||
def calculateRotationHandlePos(self):
|
||||
for i, (x, y) in enumerate(self.coordinates):
|
||||
if i >= len(self.node_angles):
|
||||
self.node_angles.append(np.pi) # Default angle for new nodes
|
||||
if i >= len(self.nodeAngles):
|
||||
self.nodeAngles.append(np.pi) # Default angle for new nodes
|
||||
|
||||
angle = self.node_angles[i]
|
||||
angle = self.nodeAngles[i]
|
||||
|
||||
rotation_handle_x = int(x + self.rotation_handle_distance * np.cos(angle))
|
||||
rotation_handle_y = int(y + self.rotation_handle_distance * np.sin(angle))
|
||||
rotationHandleX = int(x + self.rotationHandleDistance * np.cos(angle))
|
||||
rotationHandleY = int(y + self.rotationHandleDistance * np.sin(angle))
|
||||
|
||||
if i >= len(self.rotation_handles):
|
||||
self.rotation_handles.append(QPoint(rotation_handle_x, rotation_handle_y))
|
||||
if i >= len(self.rotationHandles):
|
||||
self.rotationHandles.append(QPoint(rotationHandleX, rotationHandleY))
|
||||
else:
|
||||
self.rotation_handles[i] = QPoint(rotation_handle_x, rotation_handle_y)
|
||||
self.rotationHandles[i] = QPoint(rotationHandleX, rotationHandleY)
|
||||
|
||||
#Updates buttonEditor
|
||||
def update_scene(self):
|
||||
self.button_editor.update_scene(self.coordinates, self.control_points)
|
||||
def updateScene(self):
|
||||
self.buttonEditor.updateScene(self.coordinates, self.controlPoints)
|
||||
|
||||
#Draws the scene, big important function
|
||||
def draw_scene(self):
|
||||
def drawScene(self):
|
||||
self.pixmap = QPixmap(os.path.join(os.path.dirname(os.path.abspath(__file__)), "images", "Field.png"))
|
||||
painter = QPainter(self.pixmap)
|
||||
|
||||
grey_pen = QPen(QColor(127, 127, 127))
|
||||
grey_pen.setWidth(2)
|
||||
painter.setPen(grey_pen)
|
||||
for i, control_pair in enumerate(self.control_points):
|
||||
greyPen = QPen(QColor(127, 127, 127))
|
||||
greyPen.setWidth(2)
|
||||
painter.setPen(greyPen)
|
||||
for i, controlPair in enumerate(self.controlPoints):
|
||||
if i < len(self.coordinates) - 1:
|
||||
start = QPoint(self.coordinates[i][0], self.coordinates[i][1])
|
||||
end = QPoint(self.coordinates[i + 1][0], self.coordinates[i + 1][1])
|
||||
@@ -241,29 +234,29 @@ class PathPlanner(QMainWindow):
|
||||
|
||||
path = QPainterPath()
|
||||
path.moveTo(start)
|
||||
path.cubicTo(control_pair[0], control_pair[1], end)
|
||||
path.cubicTo(controlPair[0], controlPair[1], end)
|
||||
painter.drawPath(path)
|
||||
|
||||
painter.setBrush(Qt.NoBrush)
|
||||
for control_point in control_pair:
|
||||
for controlPoint in controlPair:
|
||||
painter.setPen(QPen(QColor(127, 127, 127), 1, Qt.DashLine))
|
||||
painter.drawLine(start, control_point)
|
||||
painter.drawLine(end, control_point)
|
||||
painter.drawLine(start, controlPoint)
|
||||
painter.drawLine(end, controlPoint)
|
||||
|
||||
painter.setPen(Qt.NoPen)
|
||||
painter.setBrush(QColor(0, 255, 255))
|
||||
for control_point in control_pair:
|
||||
for controlPoint in controlPair:
|
||||
painter.drawEllipse(
|
||||
control_point.x() - self.handle_size // 2,
|
||||
control_point.y() - self.handle_size // 2,
|
||||
self.handle_size,
|
||||
self.handle_size
|
||||
controlPoint.x() - self.handleSize // 2,
|
||||
controlPoint.y() - self.handleSize // 2,
|
||||
self.handleSize,
|
||||
self.handleSize
|
||||
)
|
||||
painter.setBrush(Qt.NoBrush)
|
||||
|
||||
for i, (x, y) in enumerate(self.coordinates):
|
||||
if i < len(self.rotation_handles):
|
||||
angle = self.node_angles[i]
|
||||
if i < len(self.rotationHandles):
|
||||
angle = self.nodeAngles[i]
|
||||
|
||||
painter.save()
|
||||
painter.translate(x, y)
|
||||
@@ -273,8 +266,8 @@ class PathPlanner(QMainWindow):
|
||||
pen.setWidth(2)
|
||||
painter.setPen(pen)
|
||||
painter.setBrush(Qt.NoBrush)
|
||||
painter.drawRect(-self.node_size // 2, -self.node_size // 2,
|
||||
self.node_size, self.node_size)
|
||||
painter.drawRect(-self.nodeSize // 2, -self.nodeSize // 2,
|
||||
self.nodeSize, self.nodeSize)
|
||||
|
||||
painter.restore()
|
||||
|
||||
@@ -282,70 +275,65 @@ class PathPlanner(QMainWindow):
|
||||
font = painter.font()
|
||||
font.setPointSize(25)
|
||||
painter.setFont(font)
|
||||
painter.drawText(QRect(x - self.node_size // 2, y - self.node_size // 2,
|
||||
self.node_size, self.node_size),
|
||||
painter.drawText(QRect(x - self.nodeSize // 2, y - self.nodeSize // 2,
|
||||
self.nodeSize, self.nodeSize),
|
||||
Qt.AlignCenter, str(i + 1))
|
||||
|
||||
for i, handle in enumerate(self.rotation_handles):
|
||||
for i, handle in enumerate(self.rotationHandles):
|
||||
painter.setBrush(QColor(255, 0, 255))
|
||||
painter.drawEllipse(
|
||||
handle,
|
||||
self.handle_size // 2,
|
||||
self.handle_size // 2
|
||||
self.handleSize // 2,
|
||||
self.handleSize // 2
|
||||
)
|
||||
painter.setBrush(Qt.NoBrush)
|
||||
|
||||
self.image_label.setPixmap(self.pixmap)
|
||||
self.button_editor.update_scene()
|
||||
self.imageLabel.setPixmap(self.pixmap)
|
||||
self.buttonEditor.updateScene()
|
||||
|
||||
#S M O O T H
|
||||
def smoothPoints(self, curve_index: int, point_index: int):
|
||||
if curve_index + 1 < len(self.control_points):
|
||||
prev_control_pair = self.control_points[curve_index]
|
||||
next_control_pair = self.control_points[curve_index + 1]
|
||||
node = QPoint(self.coordinates[curve_index + 1][0], self.coordinates[curve_index + 1][1])
|
||||
def smoothPoints(self, curveIndex: int, pointIndex: int):
|
||||
if curveIndex + 1 < len(self.controlPoints):
|
||||
prevControlPair = self.controlPoints[curveIndex]
|
||||
nextControlPair = self.controlPoints[curveIndex + 1]
|
||||
node = QPoint(self.coordinates[curveIndex + 1][0], self.coordinates[curveIndex + 1][1])
|
||||
|
||||
#Calculate the new position for the second control point
|
||||
new_control2 = QPoint(
|
||||
2 * node.x() - next_control_pair[0].x(),
|
||||
2 * node.y() - next_control_pair[0].y()
|
||||
newControl2 = QPoint(
|
||||
2 * node.x() - nextControlPair[0].x(),
|
||||
2 * node.y() - nextControlPair[0].y()
|
||||
)
|
||||
self.control_points[curve_index][1] = new_control2
|
||||
self.controlPoints[curveIndex][1] = newControl2
|
||||
|
||||
#Calculate the new position for the first control point
|
||||
new_control1 = QPoint(
|
||||
2 * node.x() - prev_control_pair[1].x(),
|
||||
2 * node.y() - prev_control_pair[1].y()
|
||||
newControl1 = QPoint(
|
||||
2 * node.x() - prevControlPair[1].x(),
|
||||
2 * node.y() - prevControlPair[1].y()
|
||||
)
|
||||
self.control_points[curve_index + 1][0] = new_control1
|
||||
self.controlPoints[curveIndex + 1][0] = newControl1
|
||||
|
||||
#Clears all
|
||||
def clear_points(self):
|
||||
def clearPoints(self):
|
||||
self.coordinates = np.empty((0, 2), dtype=int)
|
||||
self.control_points.clear()
|
||||
self.rotation_handles.clear()
|
||||
self.node_angles.clear()
|
||||
self.draw_scene()
|
||||
self.button_editor.update_scene()
|
||||
self.controlPoints.clear()
|
||||
self.rotationHandles.clear()
|
||||
self.nodeAngles.clear()
|
||||
self.drawScene()
|
||||
self.buttonEditor.updateScene()
|
||||
|
||||
#Warning for clearing
|
||||
def show_clear_warning(self):
|
||||
def showClearWarning(self):
|
||||
reply = QMessageBox.question(self, "Clear Auto",
|
||||
"Are you sure you want to clear this auto?",
|
||||
QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
|
||||
if reply == QMessageBox.Yes:
|
||||
self.clear_points()
|
||||
self.clearPoints()
|
||||
|
||||
def show_main_window(self):
|
||||
def showMainWindow(self):
|
||||
self.show()
|
||||
self.button_editor.hide()
|
||||
self.buttonEditor.hide()
|
||||
|
||||
def show_button_editor(self):
|
||||
def showButtonEditor(self):
|
||||
self.hide()
|
||||
self.button_editor.show()
|
||||
self.buttonEditor.show()
|
||||
|
||||
if __name__ == "__main__":
|
||||
app = QApplication(sys.argv)
|
||||
window = PathPlanner()
|
||||
window.show()
|
||||
sys.exit(app.exec())
|
||||
sys.exit(app.exec())
|
||||
|
||||
Reference in New Issue
Block a user