mirror of
https://github.com/Team4388/autoPlanner2025.git
synced 2026-06-09 00:38:05 -06:00
Daniel Carta
281 lines
11 KiB
Python
281 lines
11 KiB
Python
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, QWidget
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from PySide6.QtGui import QPixmap, QMouseEvent, QPainter, QPen, QColor, QPainterPath, QPolygon, QFont
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from PySide6.QtCore import Qt, QPoint, QRect
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class MainWindow(QMainWindow):
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def __init__(self):
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super().__init__()
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self.setWindowTitle("Auto Planner")
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# Set background image to the field
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self.image_label = QLabel(self)
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script_dir = os.path.dirname(os.path.abspath(__file__))
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image_path = os.path.join(script_dir, "images", "Field.png")
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self.pixmap = QPixmap(image_path)
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if self.pixmap.isNull():
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self.image_label.setText(f"Image not found at: {image_path}")
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else:
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self.image_label.setPixmap(self.pixmap)
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# Buttons
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self.clear_button = QPushButton("Clear Auto")
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self.clear_button.clicked.connect(self.clear_points)
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# Layout of the auto planner
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layout = QVBoxLayout()
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layout.addWidget(self.clear_button)
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layout.addWidget(self.image_label)
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container = QWidget()
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container.setLayout(layout)
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self.setCentralWidget(container)
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self.resize(self.pixmap.width(), self.pixmap.height() + 60)
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self.setMouseTracking(True)
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# Variables
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self.last_click_pos = QPoint()
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self.coordinates = np.empty((0, 2), dtype=int)
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self.last_click_time = 0
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self.robot_size = 35
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self.handle_size = 15
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self.rotation_handle_distance = 35
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self.handles = []
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self.rotation_handles = []
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self.robot_angles = []
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self.dragging_handle = False
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self.dragging_robot = False
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self.dragging_rotation_handle = False
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self.dragging_handle_index = -1
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self.dragging_robot_index = -1
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self.dragging_rotation_handle_index = -1
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def mousePressEvent(self, event: QMouseEvent):
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pos = self.image_label.mapFrom(self, event.position().toPoint())
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x, y = pos.x(), pos.y()
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if 0 <= x < self.pixmap.width() and 0 <= y < self.pixmap.height():
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if event.button() == Qt.RightButton:
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self.coordinates = np.vstack((self.coordinates, [x, y]))
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if len(self.coordinates) >= 2:
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self.calculate_handle_pos()
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self.calculate_rotation_handle_pos()
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self.draw_scene()
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self.draw_scene()
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elif event.button() == Qt.LeftButton:
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current_time = event.timestamp()
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if (current_time - self.last_click_time < 300 and
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(pos - self.last_click_pos).manhattanLength() < 5):
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# Double click detected
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robot_index = self.is_point_in_robot(x, y)
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if robot_index != -1:
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self.delete_robot(robot_index)
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else:
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handle_index = self.is_point_in_handle(x, y)
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if handle_index != -1:
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self.dragging_handle = True
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self.dragging_handle_index = handle_index
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else:
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robot_index = self.is_point_in_robot(x, y)
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if robot_index != -1:
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self.dragging_robot = True
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self.dragging_robot_index = robot_index
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else:
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rotation_handle_index = self.is_point_in_rotation_handle(x, y)
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if rotation_handle_index != -1:
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self.dragging_rotation_handle = True
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self.dragging_rotation_handle_index = rotation_handle_index
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self.last_click_time = current_time
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self.last_click_pos = pos
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def delete_robot(self, index):
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self.coordinates = np.delete(self.coordinates, index, axis=0)
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if index < len(self.handles):
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del self.handles[index]
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if index < len(self.rotation_handles):
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del self.rotation_handles[index]
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self.draw_scene()
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def mouseMoveEvent(self, event: QMouseEvent):
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if self.dragging_handle:
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pos = self.image_label.mapFrom(self, event.position().toPoint())
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x, y = pos.x(), pos.y()
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self.handles[self.dragging_handle_index] = QPoint(x, y)
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self.draw_scene()
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elif self.dragging_robot:
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pos = self.image_label.mapFrom(self, event.position().toPoint())
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x, y = pos.x(), pos.y()
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self.coordinates[self.dragging_robot_index] = [x, y]
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self.calculate_handle_pos()
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self.calculate_rotation_handle_pos()
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self.draw_scene()
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elif self.dragging_rotation_handle:
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pos = self.image_label.mapFrom(self, event.position().toPoint())
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x, y = pos.x(), pos.y()
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robot_x, robot_y = self.coordinates[self.dragging_rotation_handle_index]
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# Calculate the angle between the robot and the rotation handle
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dx = x - robot_x
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dy = y - robot_y
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angle = np.arctan2(dy, dx)
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# Update the robot angle
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self.robot_angles[self.dragging_rotation_handle_index] = angle
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# Update the position of the rotation handle based on the angle and distance
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rotation_handle_x = int(robot_x + self.rotation_handle_distance * np.cos(angle))
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rotation_handle_y = int(robot_y + self.rotation_handle_distance * np.sin(angle))
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self.rotation_handles[self.dragging_rotation_handle_index] = QPoint(rotation_handle_x, rotation_handle_y)
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self.draw_scene()
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self.draw_scene()
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def mouseReleaseEvent(self, event: QMouseEvent):
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if event.button() == Qt.LeftButton:
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self.dragging_handle = False
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self.dragging_handle_index = -1
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self.dragging_robot = False
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self.dragging_robot_index = -1
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self.dragging_rotation_handle = False
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self.dragging_rotation_handle_index = -1
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def is_point_in_rotation_handle(self, x, y):
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for i, handle in enumerate(self.rotation_handles):
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if (abs(x - handle.x()) <= self.handle_size // 2 and
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abs(y - handle.y()) <= self.handle_size // 2):
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return i
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return -1
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def is_point_in_handle(self, x, y):
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for i, handle in enumerate(self.handles):
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if (abs(x - handle.x()) <= self.handle_size // 2 and
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abs(y - handle.y()) <= self.handle_size // 2):
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return i
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return -1
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def is_point_in_robot(self, x, y):
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for i, (robot_x, robot_y) in enumerate(self.coordinates):
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if (abs(x - robot_x) <= self.robot_size // 2 and
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abs(y - robot_y) <= self.robot_size // 2):
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return i
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return -1
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def calculate_handle_pos(self):
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if len(self.coordinates) >= 2:
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x1, y1 = self.coordinates[-2]
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x2, y2 = self.coordinates[-1]
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self.handles.append(QPoint((x1 + x2) // 2, (y1 + y2) // 2))
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def calculate_rotation_handle_pos(self):
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for i, (x, y) in enumerate(self.coordinates):
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if i >= len(self.robot_angles):
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self.robot_angles.append(np.pi) # Default angle for new robots
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angle = self.robot_angles[i]
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rotation_handle_x = int(x + self.rotation_handle_distance * np.cos(angle))
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rotation_handle_y = int(y + self.rotation_handle_distance * np.sin(angle))
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if i >= len(self.rotation_handles):
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self.rotation_handles.append(QPoint(rotation_handle_x, rotation_handle_y))
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else:
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self.rotation_handles[i] = QPoint(rotation_handle_x, rotation_handle_y)
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def draw_scene(self):
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self.pixmap = QPixmap(os.path.join(os.path.dirname(os.path.abspath(__file__)), "images", "Field.png"))
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painter = QPainter(self.pixmap)
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grey_pen = QPen(QColor(127, 127, 127))
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grey_pen.setWidth(2)
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painter.setPen(grey_pen)
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for i, handle in enumerate(self.handles):
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if i < len(self.coordinates) and i + 1 < len(self.coordinates):
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robot1_pos = QPoint(self.coordinates[i][0], self.coordinates[i][1])
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robot2_pos = QPoint(self.coordinates[i+1][0], self.coordinates[i+1][1])
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painter.drawLine(handle, robot1_pos)
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painter.drawLine(handle, robot2_pos)
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if len(self.coordinates) >= 2:
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for i in range(len(self.coordinates) - 1):
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start = QPoint(self.coordinates[i][0], self.coordinates[i][1])
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end = QPoint(self.coordinates[i + 1][0], self.coordinates[i + 1][1])
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if i < len(self.handles):
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pen = QPen(Qt.yellow)
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pen.setWidth(2)
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painter.setPen(pen)
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path = QPainterPath()
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path.moveTo(start)
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handle = self.handles[i]
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path.cubicTo(handle, handle, end)
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painter.drawPath(path)
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painter.setPen(Qt.NoPen)
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painter.setBrush(QColor(0, 255, 255))
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painter.drawEllipse(
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handle.x() - self.handle_size // 2,
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handle.y() - self.handle_size // 2,
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self.handle_size,
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self.handle_size
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)
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painter.setBrush(Qt.NoBrush)
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else:
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painter.drawLine(start, end)
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for i, (x, y) in enumerate(self.coordinates):
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if i < len(self.rotation_handles):
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angle = self.robot_angles[i]
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painter.save()
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painter.translate(x, y)
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painter.rotate(np.degrees(angle))
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pen = QPen(QColor(127, 127, 127))
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pen.setWidth(2)
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painter.setPen(pen)
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painter.setBrush(Qt.NoBrush)
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painter.drawRect(-self.robot_size // 2, -self.robot_size // 2,
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self.robot_size, self.robot_size)
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painter.restore()
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painter.setPen(Qt.white)
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font = painter.font()
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font.setPointSize(25)
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painter.setFont(font)
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painter.drawText(QRect(x - self.robot_size//2, y - self.robot_size//2,
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self.robot_size, self.robot_size),
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Qt.AlignCenter, str(i + 1))
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for i, handle in enumerate(self.rotation_handles):
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painter.setBrush(QColor(255, 0, 255))
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painter.drawEllipse(
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handle,
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self.handle_size // 2,
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self.handle_size // 2
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)
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painter.setBrush(Qt.NoBrush)
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self.image_label.setPixmap(self.pixmap)
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def clear_points(self):
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self.coordinates = np.empty((0, 2), dtype=int)
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self.handles = []
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self.rotation_handles = []
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self.pixmap = QPixmap(os.path.join(os.path.dirname(os.path.abspath(__file__)), "images", "Field.png"))
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self.image_label.setPixmap(self.pixmap)
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if __name__ == "__main__":
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app = QApplication(sys.argv)
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window = MainWindow()
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window.show()
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sys.exit(app.exec()) |