OP-160 Curve widget: 1st working version. Use "initCurve" with a list of double to create a curve, and connect to the curveUpdated signal to

read it (or call getCurve manuall).


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1687 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/config/mixercurveline.cpp

@@ -119,23 +119,4 @@ void Edge::paint(QPainter *painter, const QStyleOptionGraphicsItem *, QWidget *)
     painter->setPen(QPen(Qt::black, 1, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
     painter->drawLine(line);
 
-    // Draw the arrows
-/*
-    double angle = ::acos(line.dx() / line.length());
-    if (line.dy() >= 0)
-        angle = TwoPi - angle;
-
-    QPointF sourceArrowP1 = sourcePoint + QPointF(sin(angle + Pi / 3) * arrowSize,
-                                                  cos(angle + Pi / 3) * arrowSize);
-    QPointF sourceArrowP2 = sourcePoint + QPointF(sin(angle + Pi - Pi / 3) * arrowSize,
-                                                  cos(angle + Pi - Pi / 3) * arrowSize);   
-    QPointF destArrowP1 = destPoint + QPointF(sin(angle - Pi / 3) * arrowSize,
-                                              cos(angle - Pi / 3) * arrowSize);
-    QPointF destArrowP2 = destPoint + QPointF(sin(angle - Pi + Pi / 3) * arrowSize,
-                                              cos(angle - Pi + Pi / 3) * arrowSize);
-
-    painter->setBrush(Qt::black);
-    painter->drawPolygon(QPolygonF() << line.p1() << sourceArrowP1 << sourceArrowP2);
-    painter->drawPolygon(QPolygonF() << line.p2() << destArrowP1 << destArrowP2);
-    */
 }

ground/src/plugins/config/mixercurvewidget.cpp

@@ -67,35 +67,11 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     scene->setSceneRect(plot->boundingRect());
     setScene(scene);
 
-    Node *node1 = new Node(this);
+    QList<double> list;
-    Node *node2 = new Node(this);
+    list << 0 << 0.3 << 0.6 << -0.4 << -0.8;
-    Node *node3 = new Node(this);
+    initCurve(list);
-    Node *node4 = new Node(this);
-    Node *node5 = new Node(this);
-    scene->addItem(node1);
-    scene->addItem(node2);
-    scene->addItem(node3);
-    scene->addItem(node4);
-    scene->addItem(node5);
 
-    scene->addItem(new Edge(node1, node2));
+    qDebug() << getCurve();
-    scene->addItem(new Edge(node2, node3));
-    scene->addItem(new Edge(node3, node4));
-    scene->addItem(new Edge(node4, node5));
-
-    qreal w = plot->boundingRect().width()/4;
-
-    node1->setPos(0,50);
-    node2->setPos(w, 50);
-    node3->setPos(2*w, 50);
-    node4->setPos(3*w, 50);
-    node5->setPos(4*w, 50);
-
-    node1->verticalMove(true);
-    node2->verticalMove(true);
-    node3->verticalMove(true);
-    node4->verticalMove(true);
-    node5->verticalMove(true);
 
 }
 
@@ -104,6 +80,66 @@ MixerCurveWidget::~MixerCurveWidget()
 
 }
 
+/**
+  Init curve: create a (flat) curve with a specified number of points.
+
+  If a curve exists already, resets it.
+  Points should be between -1 and 1.
+  */
+void MixerCurveWidget::initCurve(QList<double> points)
+{
+
+    if (points.length() < 2)
+        return; // We need at least 2 points on a curve!
+
+    // First of all, reset the list
+    // TODO: we probably need to actually delete some objects too there?
+        foreach (Node *node, nodeList ) {
+            QList<Edge*> edges = node->edges();
+            foreach(Edge *edge, edges)
+                scene()->removeItem(edge);
+        scene()->removeItem(node);
+    }
+    nodeList.clear();
+
+    // Create the nodes
+    qreal w = plot->boundingRect().width()/(points.length()-1);
+    qreal h = plot->boundingRect().height()/2;
+    for (int i=0; i<points.length(); i++) {
+        Node *node = new Node(this);
+        scene()->addItem(node);
+        nodeList.append(node);
+        double val = points.at(i);
+        if (val>1)
+                val=1;
+        if (val<-1)
+                val=-1;
+        node->setPos(w*i,h-val*h);
+        node->verticalMove(true);
+    }
+
+    // ... and link them together:
+    for (int i=0; i<(points.length()-1); i++) {
+        scene()->addItem(new Edge(nodeList.at(i),nodeList.at(i+1)));
+    }
+
+}
+
+
+/**
+  Returns the current curve settings
+  */
+QList<double> MixerCurveWidget::getCurve() {
+    QList<double> list;
+
+    qreal h = plot->boundingRect().height()/2;
+    foreach(Node *node, nodeList) {
+        list.append((h-node->pos().y())/h);
+    }
+
+    return list;
+}
+
 void MixerCurveWidget::showEvent(QShowEvent *event)
 {
     Q_UNUSED(event)
@@ -124,5 +160,6 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
 
 void MixerCurveWidget::itemMoved()
 {
- qDebug() << "Moved ball";
+    QList<double> list = getCurve();
+    emit curveUpdated(list);
 }

ground/src/plugins/config/mixercurvewidget.h

@@ -31,6 +31,8 @@
 #include <QGraphicsView>
 #include <QtSvg/QSvgRenderer>
 #include <QtSvg/QGraphicsSvgItem>
+#include "mixercurvepoint.h"
+#include "mixercurveline.h"
 
 
 class MixerCurveWidget : public QGraphicsView
@@ -40,15 +42,19 @@ class MixerCurveWidget : public QGraphicsView
 public:
     MixerCurveWidget(QWidget *parent = 0);
    ~MixerCurveWidget();
-   void itemMoved();
+   void itemMoved(); // Callback when a point is moved, to be updated
-
+   void initCurve (QList<double> points);
-public slots:
+   QList<double> getCurve();
 
+signals:
+    // Shall create a "curve updated" signal here, maybe ?
+   void curveUpdated(QList<double> );
 
 private slots:
 
 private:
    QGraphicsSvgItem *plot;
+   QList<Node*> nodeList;
 
 protected:
     void showEvent(QShowEvent *event);