From f4b015398462fff1a64d70b632390b4f06fe3bbe Mon Sep 17 00:00:00 2001 From: Bent Bisballe Nyeng Date: Sun, 23 Dec 2012 14:51:13 +0100 Subject: LoadPen, setSpeed, setScale and a bunch of cleanups... --- src/luascript.cc | 127 ++++++++++++++++++++++++++++++++++++++++++ src/outputwindow.cc | 157 ++++++++++++++++++++++++++++++++++++++++++---------- src/outputwindow.h | 23 +++++++- 3 files changed, 277 insertions(+), 30 deletions(-) diff --git a/src/luascript.cc b/src/luascript.cc index fb6a7db..df607de 100644 --- a/src/luascript.cc +++ b/src/luascript.cc @@ -82,6 +82,129 @@ static int _forward(lua_State *L) return 0; } +static int _loadpen(lua_State *L) +{/* + Pracro::checkParameters(L, + Pracro::T_STRING, + Pracro::T_END); + */ + const char *pen = lua_tostring(L, lua_gettop(L)); + + printf("load pen %s\n", pen); + + lua_getglobal(L, GLOBAL_POINTER); + LUAScript *lua = (LUAScript*)lua_touserdata(L, lua_gettop(L)); + + if(!lua) { + lua_pushstring(L, "No LUA pointer!"); + lua_error(L); + return 1; + } + + if(lua->lua_stop) { + printf("stopping...\n"); + lua_pushstring(L, "stop"); + lua_error(L); + } + + lua->out->loadPen(pen); + + return 0; +} + +static int _speed(lua_State *L) +{/* + Pracro::checkParameters(L, + Pracro::T_STRING, + Pracro::T_END); + */ + int x = lua_tonumber(L, lua_gettop(L)); + + printf("speed %d\n", x); + + lua_getglobal(L, GLOBAL_POINTER); + LUAScript *lua = (LUAScript*)lua_touserdata(L, lua_gettop(L)); + + if(!lua) { + lua_pushstring(L, "No LUA pointer!"); + lua_error(L); + return 1; + } + + if(lua->lua_stop) { + printf("stopping...\n"); + lua_pushstring(L, "stop"); + lua_error(L); + } + + lua->out->setSpeed(x); + + return 0; +} + +static int _scale(lua_State *L) +{/* + Pracro::checkParameters(L, + Pracro::T_STRING, + Pracro::T_END); + */ + double x = lua_tonumber(L, lua_gettop(L)); + + printf("scale %f\n", x); + + lua_getglobal(L, GLOBAL_POINTER); + LUAScript *lua = (LUAScript*)lua_touserdata(L, lua_gettop(L)); + + if(!lua) { + lua_pushstring(L, "No LUA pointer!"); + lua_error(L); + return 1; + } + + if(lua->lua_stop) { + printf("stopping...\n"); + lua_pushstring(L, "stop"); + lua_error(L); + } + + lua->out->setScale(x); + + return 0; +} + +static int _colour(lua_State *L) +{/* + Pracro::checkParameters(L, + Pracro::T_STRING, + Pracro::T_END); + */ + int r = luaL_checknumber(L, 1); + int g = luaL_checknumber(L, 2); + int b = luaL_checknumber(L, 3); + int a = luaL_checknumber(L, 4); + + printf("colour %d %d %d %d\n", r,b,g,a); + + lua_getglobal(L, GLOBAL_POINTER); + LUAScript *lua = (LUAScript*)lua_touserdata(L, lua_gettop(L)); + + if(!lua) { + lua_pushstring(L, "No LUA pointer!"); + lua_error(L); + return 1; + } + + if(lua->lua_stop) { + printf("stopping...\n"); + lua_pushstring(L, "stop"); + lua_error(L); + } + + lua->out->setColour(r,g,b,a); + + return 0; +} + static int _turn(lua_State *L) {/* Pracro::checkParameters(L, @@ -177,7 +300,11 @@ void LUAScript::init() lua_register(L, "debug", _debug); lua_register(L, "fremad", _forward); lua_register(L, "drej", _turn); + lua_register(L, "speed", _speed); + lua_register(L, "scale", _scale); lua_register(L, "reset", _reset); + lua_register(L, "colour", _colour); + lua_register(L, "loadpen", _loadpen); } void LUAScript::cleanup() diff --git a/src/outputwindow.cc b/src/outputwindow.cc index faa4432..43e691f 100644 --- a/src/outputwindow.cc +++ b/src/outputwindow.cc @@ -32,15 +32,10 @@ #include -#define SCALE 2 - OutputWindow::OutputWindow() { resize(1000, 1000); - QPixmap img("gfx/kaiman.png"); - //QPixmap img("gfx/arrow.png"); - kaiman = img.toImage(); /* QTransform t; t.scale(0.2, 0.2); @@ -58,6 +53,33 @@ void OutputWindow::stopScript() stop = true; } +void OutputWindow::loadPen(QString file) +{ + sem.acquire(); + penfile = file; + loadpen = true; +} + +void OutputWindow::setScale(double s) +{ + scale = s; + sem.acquire(); +} + +void OutputWindow::setSpeed(int s) +{ + if(s < 1) speed = 100; + else if(s > 100) speed = 1; + else speed = 101 - s; + sem.acquire(); +} + +void OutputWindow::setColour(int r, int g, int b, int a) +{ + colour = QColor(r, g, b, a); + sem.acquire(); +} + void OutputWindow::timeout() { /* @@ -75,28 +97,82 @@ void OutputWindow::paintEvent(QPaintEvent *) QPainter p(this); // QTransform tp; tp.scale(3, 3); p.setTransform(tp); + if(loadpen) { + QPixmap img(penfile); + kaiman = img.toImage(); + loadpen = false; + } + QTransform t; t.rotate(-r + 90); - t.scale((100.0 / kaiman.width()) * SCALE, - (100.0 / kaiman.width()) * SCALE); + t.scale((100.0 / kaiman.width() * scale), + (100.0 / kaiman.width() * scale) ); QImage img = kaiman.transformed(t, Qt::SmoothTransformation); - p.drawImage((x * SCALE) - img.width()/2 , - (y * SCALE)- img.height()/2, img); + p.drawImage((x * scale) - img.width()/2 + width() / 2, + (y * scale) - img.height()/2 + height() / 2, img); + + QTransform gt; + gt.translate(width() / 2, height() / 2); + gt.scale(scale, scale); + p.setTransform(gt); - QPen pen(QColor(255,0,0,100)); - pen.setWidth(4); + QPen pen; + pen.setWidth(6); + /* + p.setPen(pen); + p.drawLines(points); + */ + for(int i = 0; i < lines.size(); i++) { + ColLine l = lines[i]; + pen.setColor(l.colour); + p.setPen(pen); + QLineF line = l.line; + line.setP1(line.p1()); + line.setP2(line.p2()); + p.drawLine(line); + } + + pen.setWidth(2); + pen.setStyle(Qt::DotLine); + // pen.setCapStyle(Qt::RoundCap); + pen.setColor(Qt::black); + + // pen.setColor(colour); p.setPen(pen); - p.drawLines(points); + for(int i = 0; i < current_points.size(); i+=2) { + QPointF p1 = current_points[i]; + QPointF p2 = current_points[i + 1]; + p.drawLine(QLineF(p1, p2)); + } + + QColor c = colour; + c.setAlpha(c.alpha() / 4); + pen.setStyle(Qt::SolidLine); + pen.setWidth(6); + pen.setColor(c); + p.setPen(pen); + for(int i = 0; i < current_points.size(); i+=2) { + QPointF p1 = current_points[i]; + QPointF p2 = current_points[i + 1]; + p.drawLine(QLineF(p1, p2)); + } sem.release(); } void OutputWindow::reset() { - points.clear(); - x = (width() / 2) / SCALE; - y = (height() / 2) / SCALE; + scale = 2.0; + speed = 50; + penfile = "gfx/kaiman.png"; + loadpen = true; + + lines.clear(); + current_points.clear(); + x = 0;//(width() / 2) / scale; + y = 0;//(height() / 2) / scale; r = 0; + colour = QColor(150, 0, 0, 150); stop = false; while(sem.tryAcquire()) {} } @@ -107,31 +183,56 @@ static inline int sign(int x) return -1; } -void OutputWindow::forward(int x) +void OutputWindow::forward(int dist) { sem.acquire(); - float target_x = sin(r * (M_PI / 180.0)) * x; - float target_y = cos(r * (M_PI / 180.0)) * x; + float target_x = sin(r * (M_PI / 180.0)) * dist; + float target_y = cos(r * (M_PI / 180.0)) * dist; + + float source_x = x; + float source_y = y; + + int spd = abs(dist * speed) / 60;//28; + for(int i = 0; i < spd; i++) { + if(stop) return; + float d = (float)i / (float)spd; - float source_x = this->x; - float source_y = this->y; + current_points.clear(); + current_points.append(QPointF(source_x, source_y)); + + x = source_x * (1 - d) + (source_x + target_x) * d; + y = source_y * (1 - d) + (source_y + target_y) * d; + + current_points.append(QPointF(x, y)); - for(int i = 0; i < abs(x); i++) { - if(stop) return; - float d = (float)i / (float)x * sign(x); - this->x = source_x + target_x * d; - this->y = source_y + target_y * d; - points.append(QPointF(this->x * SCALE, this->y * SCALE)); sem.acquire(); } + x = source_x + target_x; + y = source_y + target_y; + + ColLine l; + l.colour = colour; + l.line = QLine(QPoint(source_x, source_y), + QPoint(x, y)); + lines.append(l); + + + current_points.clear(); + sem.acquire(); } +// Turn x degrees void OutputWindow::turn(int x) { + int spd = (speed * abs(x) / 80); + float offset = this->r; sem.acquire(); - for(int i = 0; i < abs(x)/2; i++) { + for(int i = 0; i < spd; i++) { if(stop) return; - this->r += sign(x)*2; + float p = (float)i / (float)spd; + this->r = offset + (float)x * p; sem.acquire(); } + this->r = offset + x; + sem.acquire(); } diff --git a/src/outputwindow.h b/src/outputwindow.h index 5f14099..d875b36 100644 --- a/src/outputwindow.h +++ b/src/outputwindow.h @@ -45,6 +45,12 @@ public: void stopScript(); + void setSpeed(int s); + void setScale(double s); + void setColour(int r, int g, int b, int a); + + void loadPen(QString file); + public slots: void timeout(); void reset(); @@ -53,13 +59,26 @@ protected: void paintEvent(QPaintEvent * event); private: + class ColLine { + public: + QColor colour; + QLine line; + }; QImage kaiman; double x, y, r; QTimer timer; QSemaphore sem; - QVector points; - + QVector lines; + QVector current_points; + QColor colour; volatile bool stop; + + volatile int speed; + + volatile bool loadpen; + QString penfile; + + volatile float scale; }; #endif/*__KAIMAN_OUTPUTWINDOW_H__*/ -- cgit v1.2.3