Team4388/autoPlanner2025
1
0
Fork 0
mirror of https://github.com/Team4388/autoPlanner2025.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

Lord of lightning shifts his gaze

Browse Source 
Added comments and renamed all instances of "robot" to "node"
This commit is contained in:
Daniel Carta
2024-07-02 21:05:58 -06:00
parent ed0defe9e0
commit c7a20a975f
1 changed files with 46 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files
main.py
+46 -43
View File
@@ -45,19 +45,20 @@ class MainWindow(QMainWindow):
self.coordinates = np.empty((0, 2), dtype=int)
self.last_click_time = 0
self.robot_size = 35
self.node_size = 35
self.handle_size = 15
self.rotation_handle_distance = 35
self.handles = []
self.rotation_handles = []
self.robot_angles = []
self.node_angles = []
self.dragging_handle = False
self.dragging_robot = False
self.dragging_node = False
self.dragging_rotation_handle = False
self.dragging_handle_index = -1
self.dragging_robot_index = -1
self.dragging_node_index = -1
self.dragging_rotation_handle_index = -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())
x, y = pos.x(), pos.y()
@@ -74,20 +75,19 @@ class MainWindow(QMainWindow):
current_time = event.timestamp()
if (current_time - self.last_click_time < 300 and
(pos - self.last_click_pos).manhattanLength() < 5):
# Double click detected
robot_index = self.is_point_in_robot(x, y)
if robot_index != -1:
self.delete_robot(robot_index)
node_index = self.is_point_in_node(x, y)
if node_index != -1:
self.delete_node(node_index)
else:
handle_index = self.is_point_in_handle(x, y)
if handle_index != -1:
self.dragging_handle = True
self.dragging_handle_index = handle_index
else:
robot_index = self.is_point_in_robot(x, y)
if robot_index != -1:
self.dragging_robot = True
self.dragging_robot_index = robot_index
node_index = self.is_point_in_node(x, y)
if node_index != -1:
self.dragging_node = True
self.dragging_node_index = node_index
else:
rotation_handle_index = self.is_point_in_rotation_handle(x, y)
if rotation_handle_index != -1:
@@ -97,7 +97,8 @@ class MainWindow(QMainWindow):
self.last_click_time = current_time
self.last_click_pos = pos
def delete_robot(self, index):
#Deletes node
def delete_node(self, index):
self.coordinates = np.delete(self.coordinates, index, axis=0)
if index < len(self.handles):
del self.handles[index]
@@ -105,48 +106,47 @@ class MainWindow(QMainWindow):
del self.rotation_handles[index]
self.draw_scene()
#
def mouseMoveEvent(self, event: QMouseEvent):
if self.dragging_handle:
pos = self.image_label.mapFrom(self, event.position().toPoint())
x, y = pos.x(), pos.y()
self.handles[self.dragging_handle_index] = QPoint(x, y)
self.draw_scene()
elif self.dragging_robot:
elif self.dragging_node:
pos = self.image_label.mapFrom(self, event.position().toPoint())
x, y = pos.x(), pos.y()
self.coordinates[self.dragging_robot_index] = [x, y]
self.coordinates[self.dragging_node_index] = [x, y]
self.calculate_handle_pos()
self.calculate_rotation_handle_pos()
self.draw_scene()
elif self.dragging_rotation_handle:
pos = self.image_label.mapFrom(self, event.position().toPoint())
x, y = pos.x(), pos.y()
robot_x, robot_y = self.coordinates[self.dragging_rotation_handle_index]
# Calculate the angle between the robot and the rotation handle
dx = x - robot_x
dy = y - robot_y
node_x, node_y = self.coordinates[self.dragging_rotation_handle_index]
dx = x - node_x
dy = y - node_y
angle = np.arctan2(dy, dx)
# Update the robot angle
self.robot_angles[self.dragging_rotation_handle_index] = angle
self.node_angles[self.dragging_rotation_handle_index] = angle
# Update the position of the rotation handle based on the angle and distance
rotation_handle_x = int(robot_x + self.rotation_handle_distance * np.cos(angle))
rotation_handle_y = int(robot_y + self.rotation_handle_distance * np.sin(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.draw_scene()
#Resets dragging when mouse is released
def mouseReleaseEvent(self, event: QMouseEvent):
if event.button() == Qt.LeftButton:
self.dragging_handle = False
self.dragging_handle_index = -1
self.dragging_robot = False
self.dragging_robot_index = -1
self.dragging_node = False
self.dragging_node_index = -1
self.dragging_rotation_handle = False
self.dragging_rotation_handle_index = -1
#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
@@ -161,13 +161,14 @@ class MainWindow(QMainWindow):
return i
return -1
def is_point_in_robot(self, x, y):
for i, (robot_x, robot_y) in enumerate(self.coordinates):
if (abs(x - robot_x) <= self.robot_size // 2 and
abs(y - robot_y) <= self.robot_size // 2):
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):
return i
return -1
#Calculating the handle positions
def calculate_handle_pos(self):
if len(self.coordinates) >= 2:
x1, y1 = self.coordinates[-2]
@@ -176,10 +177,10 @@ class MainWindow(QMainWindow):
def calculate_rotation_handle_pos(self):
for i, (x, y) in enumerate(self.coordinates):
if i >= len(self.robot_angles):
self.robot_angles.append(np.pi) # Default angle for new robots
if i >= len(self.node_angles):
self.node_angles.append(np.pi) # Default angle for new nodes
angle = self.robot_angles[i]
angle = self.node_angles[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))
@@ -189,6 +190,7 @@ class MainWindow(QMainWindow):
else:
self.rotation_handles[i] = QPoint(rotation_handle_x, rotation_handle_y)
#Draws the scene, big important function
def draw_scene(self):
self.pixmap = QPixmap(os.path.join(os.path.dirname(os.path.abspath(__file__)), "images", "Field.png"))
painter = QPainter(self.pixmap)
@@ -198,10 +200,10 @@ class MainWindow(QMainWindow):
painter.setPen(grey_pen)
for i, handle in enumerate(self.handles):
if i < len(self.coordinates) and i + 1 < len(self.coordinates):
robot1_pos = QPoint(self.coordinates[i][0], self.coordinates[i][1])
robot2_pos = QPoint(self.coordinates[i+1][0], self.coordinates[i+1][1])
painter.drawLine(handle, robot1_pos)
painter.drawLine(handle, robot2_pos)
node1_pos = QPoint(self.coordinates[i][0], self.coordinates[i][1])
node2_pos = QPoint(self.coordinates[i+1][0], self.coordinates[i+1][1])
painter.drawLine(handle, node1_pos)
painter.drawLine(handle, node2_pos)
if len(self.coordinates) >= 2:
for i in range(len(self.coordinates) - 1):
@@ -233,7 +235,7 @@ class MainWindow(QMainWindow):
for i, (x, y) in enumerate(self.coordinates):
if i < len(self.rotation_handles):
angle = self.robot_angles[i]
angle = self.node_angles[i]
painter.save()
painter.translate(x, y)
@@ -243,8 +245,8 @@ class MainWindow(QMainWindow):
pen.setWidth(2)
painter.setPen(pen)
painter.setBrush(Qt.NoBrush)
painter.drawRect(-self.robot_size // 2, -self.robot_size // 2,
self.robot_size, self.robot_size)
painter.drawRect(-self.node_size // 2, -self.node_size // 2,
self.node_size, self.node_size)
painter.restore()
@@ -252,8 +254,8 @@ class MainWindow(QMainWindow):
font = painter.font()
font.setPointSize(25)
painter.setFont(font)
painter.drawText(QRect(x - self.robot_size//2, y - self.robot_size//2,
self.robot_size, self.robot_size),
painter.drawText(QRect(x - self.node_size//2, y - self.node_size//2,
self.node_size, self.node_size),
Qt.AlignCenter, str(i + 1))
for i, handle in enumerate(self.rotation_handles):
@@ -267,6 +269,7 @@ class MainWindow(QMainWindow):
self.image_label.setPixmap(self.pixmap)
#Clears all
def clear_points(self):
self.coordinates = np.empty((0, 2), dtype=int)
self.handles = []