RobotItem::RobotItem(const QString &robotImageFileName, model::RobotModel &robotModel)
: RotateItem()
, mImage(QImage(robotImageFileName))
, mBeepItem(new BeepItem)
, mRectangleImpl()
, mRobotModel(robotModel)
{
connect(&mRobotModel, &model::RobotModel::robotRided, this, &RobotItem::ride);
connect(&mRobotModel, &model::RobotModel::positionChanged, this, &RobotItem::setPos);
connect(&mRobotModel, &model::RobotModel::rotationChanged, this, &RobotItem::setRotation);
connect(&mRobotModel, &model::RobotModel::playingSoundChanged, this, &RobotItem::setNeededBeep);
connect(&mRobotModel.configuration(), &model::SensorsConfiguration::deviceRemoved, this, &RobotItem::removeSensor);
connect(&mRobotModel.configuration(), &model::SensorsConfiguration::positionChanged
, this, &RobotItem::updateSensorPosition);
connect(&mRobotModel.configuration(), &model::SensorsConfiguration::rotationChanged
, this, &RobotItem::updateSensorRotation);
setAcceptHoverEvents(true);
setAcceptDrops(true);
setCursor(QCursor(Qt::PointingHandCursor));
setZValue(1);
setX2(x1() + robotWidth);
setY2(y1() + robotHeight);
mMarkerPoint = QPointF(0, y2() / 2); // Marker is situated behind the robot
QPen pen(this->pen());
pen.setWidth(defaultTraceWidth);
setPen(pen);
setTransformOriginPoint(rotatePoint);
mBeepItem->setParentItem(this);
mBeepItem->setPos((robotWidth - beepWavesSize) / 2, (robotHeight - beepWavesSize) / 2);
mBeepItem->setVisible(false);
RotateItem::init();
QHash<kitBase::robotModel::PortInfo, kitBase::robotModel::DeviceInfo> sensors = robotModel.info().specialDevices();
for (const kitBase::robotModel::PortInfo &port : sensors.keys()) {
const kitBase::robotModel::DeviceInfo device = sensors[port];
SensorItem *sensorItem = new SensorItem(robotModel.configuration(), port
, robotModel.info().sensorImagePath(device), robotModel.info().sensorImageRect(device));
addSensor(port, sensorItem);
const QPair<QPoint, qreal> configuration(robotModel.info().specialDeviceConfiguration(port));
QPoint position(configuration.first.x() * boundingRect().width() / 2
, configuration.first.y() * boundingRect().height() / 2);
sensorItem->setPos(position + boundingRect().center());
sensorItem->setRotation(configuration.second);
}
}
void SensorWidget::drawChannels()
{
if(m_pGraphicsScene)
{
m_pGraphicsScene->clear();
for(qint32 i = 0; i < m_pSensorModel->rowCount(); ++i)
{
QString dispChName = m_pSensorModel->data(i, 0).toString();
QString fullChName = m_pSensorModel->data(i, 1).toString();
QPointF loc = m_pSensorModel->data(i, 2).toPointF();
qint32 chNum = m_pSensorModel->getNameIdMap()[fullChName];
SensorItem *item = new SensorItem(dispChName, chNum, loc, QSizeF(28, 16));
item->setSelected(m_pSensorModel->data(i, 3).toBool());
item->setPos(loc);
connect(item, &SensorItem::itemChanged, m_pSensorModel, &SensorModel::updateChannelState);
m_pGraphicsScene->addItem(item);
}
}
}
