int main(int argc, char **argv) {
/*********************
** Qt
**********************/
QApplication app(argc, argv);
qRegisterMetaType<sensor_msgs::CompressedImageConstPtr>("sensor_msgs::CompressedImageConstPtr");
qRegisterMetaType<tld_msgs::Target>("tld_msgs::Target");
MainWindow w;
w.show();
ros::init(argc, argv, "listener");
ros::NodeHandle node;
Test test(node);
test.start();
QObject::connect(&test, SIGNAL(ImageReceived(sensor_msgs::CompressedImageConstPtr)), &w, SLOT(ImageShow(sensor_msgs::CompressedImageConstPtr)));
QObject::connect(w.ui->widget, SIGNAL(signalSelectRect(tld_msgs::Target)), &test, SLOT(selectRectReceived(tld_msgs::Target)));
int result = app.exec();
return result;
}
void HWMapContainer::askForGeneratedPreview()
{
pMap = new HWMap(this);
connect(pMap, SIGNAL(ImageReceived(QPixmap)), this, SLOT(setImage(QPixmap)));
connect(pMap, SIGNAL(HHLimitReceived(int)), this, SLOT(setHHLimit(int)));
connect(pMap, SIGNAL(destroyed(QObject *)), this, SLOT(onPreviewMapDestroyed(QObject *)));
pMap->getImage(m_seed,
getTemplateFilter(),
get_mapgen(),
getMazeSize(),
getDrawnMapData(),
m_script
);
setHHLimit(0);
const QPixmap waitIcon(":/res/iconTime.png");
QPixmap waitImage(m_previewSize);
QPainter p(&waitImage);
p.fillRect(waitImage.rect(), linearGrad);
int x = (waitImage.width() - waitIcon.width()) / 2;
int y = (waitImage.height() - waitIcon.height()) / 2;
p.drawPixmap(QPoint(x, y), waitIcon);
addInfoToPreview(waitImage);
cType->setEnabled(false);
}
void HWMap::onClientDisconnect()
{
QLinearGradient linearGrad(QPoint(128, 0), QPoint(128, 128));
linearGrad.setColorAt(1, QColor(0, 0, 192));
linearGrad.setColorAt(0, QColor(66, 115, 225));
if (readbuffer.size() == 128 * 32 + 1)
{
quint8 *buf = (quint8*) readbuffer.constData();
QImage im(buf, 256, 128, QImage::Format_Mono);
im.setNumColors(2);
QPixmap px(QSize(256, 128));
QPixmap pxres(px.size());
QPainter p(&pxres);
px.fill(Qt::yellow);
QBitmap bm = QBitmap::fromImage(im);
px.setMask(bm);
p.fillRect(pxres.rect(), linearGrad);
p.drawPixmap(0, 0, px);
emit HHLimitReceived(buf[128 * 32]);
emit ImageReceived(px);
} else if (readbuffer.size() == 128 * 256 + 1)
{
QVector<QRgb> colorTable;
colorTable.resize(256);
for(int i = 0; i < 256; ++i)
colorTable[i] = qRgba(255, 255, 0, i);
const quint8 *buf = (const quint8*) readbuffer.constData();
QImage im(buf, 256, 128, QImage::Format_Indexed8);
im.setColorTable(colorTable);
QPixmap px = QPixmap::fromImage(im, Qt::ColorOnly);
QPixmap pxres(px.size());
QPainter p(&pxres);
p.fillRect(pxres.rect(), linearGrad);
p.drawPixmap(0, 0, px);
emit HHLimitReceived(buf[128 * 256]);
emit ImageReceived(px);
}
}
