src/robomon/SmallRobot.cpp

   1 /*
   2  * SmallRobot.cpp                       07/12/04
   3  *
   4  * Draw a small robot on the playground.
   5  *
   6  * Copyright: (c) 2007 CTU Dragons
   7  *            CTU FEE - Department of Control Engineering
   8  * Authors: Martin Zidek, Michal Sojka, Tran Duy Khanh
   9  * License: GNU GPL v.2
  10  */
  11
  12 #include <math.h>
  13 #include <QGraphicsScene>
  14 #include <QPainter>
  15 #include <QStyleOption>
  16 #include <robomath.h>
  17
  18 #include "SmallRobot.h"
  19
  20 SmallRobot::SmallRobot()
  21         : color(255, 0, 0)
  22 {
  23 }
  24
  25 SmallRobot::SmallRobot(QColor color)
  26 {
  27         this->color = color;
  28 }
  29
  30 QRectF SmallRobot::boundingRect() const
  31 {
  32         qreal adjust = 0.5;
  33         return QRectF(-18 - adjust, -22 - adjust, 36 + adjust, 60 + adjust);
  34 }
  35
  36 void SmallRobot::setParent(QWidget *parent)
  37 {
  38         /* used to update after the robot's replacement */
  39         this->parent = parent;
  40         connect(this, SIGNAL(robotMovedSignal()), parent, SLOT(robotMoved()));
  41 }
  42
  43 void SmallRobot::paint(QPainter *painter,
  44                         const QStyleOptionGraphicsItem *, QWidget *)
  45 {
  46         painter->setBrush(color);
  47         painter->drawEllipse((int)(5 + -10/2.0), (int)(-10/2.0),
  48                                 (int)10, (int)10);
  49         painter->drawLine(5, 0, 25, 0);
  50 }
  51
  52 void SmallRobot::init()
  53 {
  54         setFlag(ItemIsMovable);
  55         updateRobot();
  56 }
  57
  58 void SmallRobot::move()
  59 {
  60         QPointF position = pos();
  61
  62         mclPart->x = (qreal)(position.x() /
  63                         widgetSize.width() * playgroundSize.width());
  64         mclPart->y = (qreal)((widgetSize.height() - position.y()) /
  65                         widgetSize.height() * playgroundSize.height());
  66
  67         emit robotMovedSignal();
  68         updateRobot();
  69 }
  70
  71 void SmallRobot::updateRobot()
  72 {
  73         resetTransform();
  74         rotate(RAD2DEG(-mclPart->angle));
  75         setPos((qreal)(mclPart->x / playgroundSize.width() * widgetSize.width()),
  76                 (qreal)((playgroundSize.height() - mclPart->y)
  77                         / playgroundSize.height() * widgetSize.height()));
  78
  79         //FIXME: I do not know how calculate thetas here. Michal
  80         //mcl_pos2ang(&mclPart, theta, mcl.beacon_cnt, mcl.beacon_color);
  81         setToolTip(QString("X=%1 Y=%2\nangle=%3\n"
  82 //                              "weight=%4"
  83                         // "\nth1=%5\nth2=%6\nth3=%7\nth4=%8"
  84                            )
  85                         .arg(mclPart->x, 0, 'f', 3)
  86                         .arg(mclPart->y, 0, 'f', 3)
  87                         .arg(RAD2DEG(mclPart->angle), 0, 'f', 3)
  88 //                      .arg(mclPart->weight, 0, 'f', 5)
  89                         // .arg(RAD2DEG(mclPart->theta[0]), 0, 'f', 3)
  90 //                      .arg(RAD2DEG(mclPart->theta[1]), 0, 'f', 3)
  91 //                      .arg(RAD2DEG(mclPart->theta[2]), 0, 'f', 3)
  92 //                      .arg(RAD2DEG(mclPart->theta[3]), 0, 'f', 3)
  93                 );
  94
  95 //      int col = (int)(mclPart->weight * 128 + 50);
  96 //      col = (col > 255) ? 255 : col;
  97 //      col = (col < 0) ? 0 : col;
  98         int col = 255;
  99         color = QColor(col, 40, 40);
 100 }
 101
 102 QPainterPath SmallRobot::shape() const
 103 {
 104         QPainterPath path;
 105         path.addEllipse((int)(5 + -10/2.0), (int)(-10/2.0),
 106                                 (int)10, (int)10);
 107         return path;
 108 }
 109
 110 void SmallRobot::mousePressEvent(QGraphicsSceneMouseEvent *event)
 111 {
 112         update();
 113         QGraphicsItem::mousePressEvent(event);
 114 }
 115
 116 void SmallRobot::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
 117 {
 118         update();
 119         move();
 120         QGraphicsItem::mouseReleaseEvent(event);
 121 }