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-rw-r--r--src/luascript.cc127
-rw-r--r--src/outputwindow.cc157
-rw-r--r--src/outputwindow.h23
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 <math.h>
-#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<QPointF> points;
-
+ QVector<ColLine> lines;
+ QVector<QPointF> current_points;
+ QColor colour;
volatile bool stop;
+
+ volatile int speed;
+
+ volatile bool loadpen;
+ QString penfile;
+
+ volatile float scale;
};
#endif/*__KAIMAN_OUTPUTWINDOW_H__*/
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-15 07:08:29 +0000