src/robomon/Robot.cpp

   1 /*
   2  * Robot.cpp                    07/10/31
   3  *
   4  * Draw and move a 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 <QPen>
  14
  15 #include "PlaygroundScene.h"
  16 #include "Robot.h"
  17 #include <robodim.h>
  18 #include <actuators.h>
  19 #include <iostream>
  20
  21 Robot::Robot(const QString &text, const QPen &pen, const QBrush &brush) :
  22         QObject(), QGraphicsItem()
  23 {
  24         this->text = text;
  25         this->pen = pen;
  26         this->brush = brush;
  27         setVisible(false);
  28         setVidle(0);
  29         moveRobot(1, 1, 0);
  30 }
  31
  32 Robot::~Robot()
  33 {
  34 }
  35
  36 QRectF Robot::boundingRect() const
  37 {
  38         return QRectF(0, -ROBOT_VIDLE_LENGTH_M*1000,
  39                       ROBOT_WIDTH_MM, ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM + ROBOT_VIDLE_LENGTH_M*1000);
  40 }
  41
  42 void Robot::paint(QPainter *painter,
  43                 const QStyleOptionGraphicsItem *option, QWidget *widget)
  44 {
  45         Q_UNUSED(option);
  46         Q_UNUSED(widget);
  47         Q_UNUSED(painter);
  48
  49         painter->setPen(pen);
  50         painter->setBrush(brush);
  51         painter->drawRect(QRectF(0, 0, ROBOT_WIDTH_MM,
  52                           ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM));
  53         const float xa = ROBOT_WIDTH_MM/2.0;
  54         const float ya = ROBOT_AXIS_TO_BACK_MM;
  55         const float yb = ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM*0.8;
  56         const float yc = ROBOT_AXIS_TO_BACK_MM + ROBOT_AXIS_TO_FRONT_MM*0.4;
  57         const float xd = ROBOT_WIDTH_MM/4.0;
  58         QLineF arrow[] = {
  59                 QLineF(xa, ya, xa, yb),
  60                 QLineF(xa, yb, xa-xd, yc),
  61                 QLineF(xa, yb, xa+xd, yc)};
  62         painter->drawLines(arrow, 3);
  63         if (vidle != 0) {
  64                 const float vidle_angle = (float)(vidle - VIDLE_DOWN)/(VIDLE_UP-VIDLE_DOWN)*M_PI/2.0;
  65                 const float y = -ROBOT_VIDLE_LENGTH_M*1000*cos(vidle_angle);
  66                 QLineF vidle[] = {
  67                         QLineF(0*ROBOT_WIDTH_MM/3, 0, 0*ROBOT_WIDTH_MM/3, y),
  68                         QLineF(1*ROBOT_WIDTH_MM/3, 0, 1*ROBOT_WIDTH_MM/3, y),
  69                         QLineF(2*ROBOT_WIDTH_MM/3, 0, 2*ROBOT_WIDTH_MM/3, y),
  70                         QLineF(3*ROBOT_WIDTH_MM/3, 0, 3*ROBOT_WIDTH_MM/3, y)};
  71                 painter->drawLines(vidle, 4);
  72         }
  73
  74         painter->setFont(QFont("Arial", 40, 0, 0));
  75         QTransform mirror;
  76         mirror.scale(1,-1);
  77         painter->setTransform(mirror, true);
  78         painter->drawText(QRect(0, 0, ROBOT_WIDTH_MM, -ROBOT_AXIS_TO_BACK_MM),
  79                           Qt::AlignCenter, text);
  80 }
  81
  82 void Robot::moveRobot(double x, double y, double phi)
  83 {
  84         QPointF pos(x, y);
  85
  86         pos = PlaygroundScene::world2scene(pos);
  87
  88         setPos(pos);
  89         setTransform(QTransform().rotateRadians(phi-M_PI/2.0).translate(-ROBOT_WIDTH_MM/2.0, -ROBOT_AXIS_TO_BACK_MM));
  90 }
  91
  92 void Robot::mySetVisible(bool show)
  93 {
  94         setVisible(show);
  95 }
  96
  97 void Robot::setVidle(int value)
  98 {
  99         QRectF r = boundingRect();
 100         //r.setBottom(0);
 101         vidle = value;
 102         update(r);
 103 }