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obstacle

ObstacleEntity #

Bases: QEntity

An obstacle on the table.

It is represented as a cube (QCuboidMesh).

When selected with a mouse click, a property window is displayed to modify the obstacle properties.

The obstacle can also be moved using the mouse.

Attributes:

Name Type Description
enable_controller

Qt signal used to disable the camera controller when moving the obstacle using the mouse
Source code in cogip/entities/obstacle.py 
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class ObstacleEntity(Qt3DCore.QEntity):
    """
    An obstacle on the table.

    It is represented as a cube ([QCuboidMesh](https://doc.qt.io/qtforpython-6/PySide6/Qt3DExtras/QCuboidMesh.html)).

    When selected with a mouse click, a property window is displayed
    to modify the obstacle properties.

    The obstacle can also be moved using the mouse.

    Attributes:
        enable_controller: Qt signal used to disable the camera controller
            when moving the obstacle using the mouse
    """

    enable_controller = qtSignal(bool)

    def __init__(
        self,
        parent_widget: QtWidgets.QWidget,
        x: int = 0,
        y: int = 0,
        rotation: int = 0,
        length: int = 225,
        width: int = 225,
        height: int = 350,
    ):
        """
        Class constructor.

        Arguments:
            parent_widget: Parent widget
            x: X position
            y: Y position
            rotation: Rotation
            length: Length
            width: Width
            height: Height
        """
        super().__init__()

        self.parent_widget = parent_widget

        self.mesh = Qt3DExtras.QCuboidMesh()
        self.mesh.setXExtent(width)
        self.mesh.setYExtent(length)
        self.mesh.setZExtent(height)
        self.addComponent(self.mesh)

        self.material = Qt3DExtras.QPhongMaterial(self)
        self.addComponent(self.material)

        self.transform = Qt3DCore.QTransform(self)
        self.transform.setTranslation(QtGui.QVector3D(x, y, self.mesh.zExtent() / 2))
        self.transform.setRotationZ(rotation)
        self.addComponent(self.transform)

        self.picker = Qt3DRender.QObjectPicker()
        self.picker.setDragEnabled(True)
        self.picker.pressed.connect(self.pressed_obstacle)
        self.picker.released.connect(self.released_obstacle)
        self.picker.moved.connect(self.moved_obstacle)
        self.addComponent(self.picker)

        self.beacon_entity = Qt3DCore.QEntity(self)
        self.beacon_mesh = Qt3DExtras.QCylinderMesh(self.beacon_entity)
        self.beacon_mesh.setLength(80)
        self.beacon_mesh.setRadius(35)
        self.beacon_entity.addComponent(self.beacon_mesh)

        self.beacon_material = Qt3DExtras.QPhongMaterial(self.beacon_entity)
        self.beacon_entity.addComponent(self.beacon_material)

        self.beacon_transform = Qt3DCore.QTransform(self.beacon_entity)
        self.beacon_transform.setTranslation(
            QtGui.QVector3D(0, 0, self.mesh.zExtent() / 2 + self.beacon_mesh.length() / 2)
        )
        self.beacon_transform.setRotationX(90)
        self.beacon_entity.addComponent(self.beacon_transform)

        self.moving = False

        self.mesh.zExtentChanged.connect(self.updateZTranslation)

        # Create a layer used by sensors to activate detection on the obstacles
        self.layer = Qt3DRender.QLayer(self)
        self.layer.setRecursive(True)
        self.layer.setEnabled(True)
        self.addComponent(self.layer)

        # Create properties dialog
        self.properties = ObstacleProperties(self.parent_widget, self)

        Sensor.add_obstacle(self)

    @qtSlot(float)
    def updateZTranslation(self, zExtent: float):
        """
        Qt Slot

        Update the Z position based on the obstacle height.
        This function is called each time the height is modified
        to set the bottom on Z=0.
        """
        translation = self.transform.translation()
        translation.setZ(zExtent / 2)
        self.transform.setTranslation(translation)

    @qtSlot(int)
    def setXTranslation(self, x: int):
        """
        Qt Slot

        Set the X position.
        """
        translation = self.transform.translation()
        translation.setX(float(x))
        self.transform.setTranslation(translation)

    @qtSlot(int)
    def setYTranslation(self, y: int):
        """
        Qt Slot

        Set the Y position.
        """
        translation = self.transform.translation()
        translation.setY(float(y))
        self.transform.setTranslation(translation)

    @qtSlot(Qt3DRender.QPickEvent)
    def pressed_obstacle(self, pick: Qt3DRender.QPickEvent):
        """
        Qt Slot

        Slot called on a ```pressed``` mouse event on the obstacle.

        Emit a signal to disable the camera controller before moving the obstacle.
        """
        self.enable_controller.emit(False)

    @qtSlot(Qt3DRender.QPickEvent)
    def released_obstacle(self, pick: Qt3DRender.QPickEvent):
        """
        Qt Slot

        Slot called on a ```released``` mouse event on the obstacle.

        If this event occurs just after a ```pressed``` event, it is only a mouse click,
        so display the property window.

        Emit a signal to re-enable the camera controller after moving the obstacle.
        """
        if not self.moving:
            if ObstacleProperties.active_properties:
                ObstacleProperties.active_properties.close()
            self.properties.show()
            self.properties.raise_()
            self.properties.activateWindow()
            ObstacleProperties.set_active_properties(self.properties)
        self.moving = False
        self.enable_controller.emit(True)

    @qtSlot(Qt3DRender.QPickEvent)
    def moved_obstacle(self, pick: Qt3DRender.QPickEvent):
        """
        Qt Slot

        Slot called on a ```moved``` mouse event on the obstacle.

        Just record that the obstacle is moving, the translation is computed
        in the [GameView][cogip.widgets.gameview.GameView] object.
        """
        self.moving = True

    def get_model(self) -> models.Obstacle:
        """
        Returns the [Obstacle][cogip.models.models.Obstacle] model.
        Used to save the obstacles list.

        Returns:
            The obstacle model
        """
        return models.Obstacle(
            x=self.transform.translation().x(),
            y=self.transform.translation().y(),
            rotation=self.transform.rotationZ(),
            length=self.mesh.yExtent(),
            width=self.mesh.xExtent(),
            height=self.mesh.zExtent(),
        )

    @qtSlot(QtGui.QVector3D)
    def new_move_delta(self, delta: QtGui.QVector3D):
        """
        Qt Slot

        Update the obstacle position.

        Arguments:
            delta: The difference between current and new position
        """
        if not delta:
            self.moving = False
        elif self.moving:
            new_translation = self.transform.translation() + delta
            self.transform.setTranslation(new_translation)
            self.properties.spin_x.setValue(new_translation.x())
            self.properties.spin_y.setValue(new_translation.y())

__init__(parent_widget, x=0, y=0, rotation=0, length=225, width=225, height=350) #

Class constructor.

Parameters:

Name Type Description Default
parent_widget QWidget

Parent widget

 required
x int

X position

 0
y int

Y position

 0
rotation int

Rotation

 0
length int

Length

 225
width int

Width

 225
height int

Height

 350
Source code in cogip/entities/obstacle.py 
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def __init__(
    self,
    parent_widget: QtWidgets.QWidget,
    x: int = 0,
    y: int = 0,
    rotation: int = 0,
    length: int = 225,
    width: int = 225,
    height: int = 350,
):
    """
    Class constructor.

    Arguments:
        parent_widget: Parent widget
        x: X position
        y: Y position
        rotation: Rotation
        length: Length
        width: Width
        height: Height
    """
    super().__init__()

    self.parent_widget = parent_widget

    self.mesh = Qt3DExtras.QCuboidMesh()
    self.mesh.setXExtent(width)
    self.mesh.setYExtent(length)
    self.mesh.setZExtent(height)
    self.addComponent(self.mesh)

    self.material = Qt3DExtras.QPhongMaterial(self)
    self.addComponent(self.material)

    self.transform = Qt3DCore.QTransform(self)
    self.transform.setTranslation(QtGui.QVector3D(x, y, self.mesh.zExtent() / 2))
    self.transform.setRotationZ(rotation)
    self.addComponent(self.transform)

    self.picker = Qt3DRender.QObjectPicker()
    self.picker.setDragEnabled(True)
    self.picker.pressed.connect(self.pressed_obstacle)
    self.picker.released.connect(self.released_obstacle)
    self.picker.moved.connect(self.moved_obstacle)
    self.addComponent(self.picker)

    self.beacon_entity = Qt3DCore.QEntity(self)
    self.beacon_mesh = Qt3DExtras.QCylinderMesh(self.beacon_entity)
    self.beacon_mesh.setLength(80)
    self.beacon_mesh.setRadius(35)
    self.beacon_entity.addComponent(self.beacon_mesh)

    self.beacon_material = Qt3DExtras.QPhongMaterial(self.beacon_entity)
    self.beacon_entity.addComponent(self.beacon_material)

    self.beacon_transform = Qt3DCore.QTransform(self.beacon_entity)
    self.beacon_transform.setTranslation(
        QtGui.QVector3D(0, 0, self.mesh.zExtent() / 2 + self.beacon_mesh.length() / 2)
    )
    self.beacon_transform.setRotationX(90)
    self.beacon_entity.addComponent(self.beacon_transform)

    self.moving = False

    self.mesh.zExtentChanged.connect(self.updateZTranslation)

    # Create a layer used by sensors to activate detection on the obstacles
    self.layer = Qt3DRender.QLayer(self)
    self.layer.setRecursive(True)
    self.layer.setEnabled(True)
    self.addComponent(self.layer)

    # Create properties dialog
    self.properties = ObstacleProperties(self.parent_widget, self)

    Sensor.add_obstacle(self)

get_model() #

Returns the Obstacle model. Used to save the obstacles list.

Returns:

Type Description
Obstacle

The obstacle model
Source code in cogip/entities/obstacle.py 
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def get_model(self) -> models.Obstacle:
    """
    Returns the [Obstacle][cogip.models.models.Obstacle] model.
    Used to save the obstacles list.

    Returns:
        The obstacle model
    """
    return models.Obstacle(
        x=self.transform.translation().x(),
        y=self.transform.translation().y(),
        rotation=self.transform.rotationZ(),
        length=self.mesh.yExtent(),
        width=self.mesh.xExtent(),
        height=self.mesh.zExtent(),
    )

moved_obstacle(pick) #

Qt Slot

Slot called on a moved mouse event on the obstacle.

Just record that the obstacle is moving, the translation is computed in the GameView object.

Source code in cogip/entities/obstacle.py 
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@qtSlot(Qt3DRender.QPickEvent)
def moved_obstacle(self, pick: Qt3DRender.QPickEvent):
    """
    Qt Slot

    Slot called on a ```moved``` mouse event on the obstacle.

    Just record that the obstacle is moving, the translation is computed
    in the [GameView][cogip.widgets.gameview.GameView] object.
    """
    self.moving = True

new_move_delta(delta) #

Qt Slot

Update the obstacle position.

Parameters:

Name Type Description Default
delta QVector3D

The difference between current and new position

 required
Source code in cogip/entities/obstacle.py 
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@qtSlot(QtGui.QVector3D)
def new_move_delta(self, delta: QtGui.QVector3D):
    """
    Qt Slot

    Update the obstacle position.

    Arguments:
        delta: The difference between current and new position
    """
    if not delta:
        self.moving = False
    elif self.moving:
        new_translation = self.transform.translation() + delta
        self.transform.setTranslation(new_translation)
        self.properties.spin_x.setValue(new_translation.x())
        self.properties.spin_y.setValue(new_translation.y())

pressed_obstacle(pick) #

Qt Slot

Slot called on a pressed mouse event on the obstacle.

Emit a signal to disable the camera controller before moving the obstacle.

Source code in cogip/entities/obstacle.py 
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@qtSlot(Qt3DRender.QPickEvent)
def pressed_obstacle(self, pick: Qt3DRender.QPickEvent):
    """
    Qt Slot

    Slot called on a ```pressed``` mouse event on the obstacle.

    Emit a signal to disable the camera controller before moving the obstacle.
    """
    self.enable_controller.emit(False)

released_obstacle(pick) #

Qt Slot

Slot called on a released mouse event on the obstacle.

If this event occurs just after a pressed event, it is only a mouse click, so display the property window.

Emit a signal to re-enable the camera controller after moving the obstacle.

Source code in cogip/entities/obstacle.py 
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@qtSlot(Qt3DRender.QPickEvent)
def released_obstacle(self, pick: Qt3DRender.QPickEvent):
    """
    Qt Slot

    Slot called on a ```released``` mouse event on the obstacle.

    If this event occurs just after a ```pressed``` event, it is only a mouse click,
    so display the property window.

    Emit a signal to re-enable the camera controller after moving the obstacle.
    """
    if not self.moving:
        if ObstacleProperties.active_properties:
            ObstacleProperties.active_properties.close()
        self.properties.show()
        self.properties.raise_()
        self.properties.activateWindow()
        ObstacleProperties.set_active_properties(self.properties)
    self.moving = False
    self.enable_controller.emit(True)

setXTranslation(x) #

Qt Slot

Set the X position.

Source code in cogip/entities/obstacle.py 
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@qtSlot(int)
def setXTranslation(self, x: int):
    """
    Qt Slot

    Set the X position.
    """
    translation = self.transform.translation()
    translation.setX(float(x))
    self.transform.setTranslation(translation)

setYTranslation(y) #

Qt Slot

Set the Y position.

Source code in cogip/entities/obstacle.py 
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@qtSlot(int)
def setYTranslation(self, y: int):
    """
    Qt Slot

    Set the Y position.
    """
    translation = self.transform.translation()
    translation.setY(float(y))
    self.transform.setTranslation(translation)

updateZTranslation(zExtent) #

Qt Slot

Update the Z position based on the obstacle height. This function is called each time the height is modified to set the bottom on Z=0.

Source code in cogip/entities/obstacle.py 
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@qtSlot(float)
def updateZTranslation(self, zExtent: float):
    """
    Qt Slot

    Update the Z position based on the obstacle height.
    This function is called each time the height is modified
    to set the bottom on Z=0.
    """
    translation = self.transform.translation()
    translation.setZ(zExtent / 2)
    self.transform.setTranslation(translation)

ObstacleProperties #

Bases: QDialog

The property window.

Each obstacle has its own property window.

Attributes:

Name Type Description
active_properties ObstacleProperties

The current property window displayed.
Source code in cogip/entities/obstacle.py 
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class ObstacleProperties(QtWidgets.QDialog):
    """
    The property window.

    Each obstacle has its own property window.

    Attributes:
        active_properties: The current property window displayed.
    """

    active_properties: "ObstacleProperties" = None

    def __init__(self, parent: QtWidgets.QWidget, obstacle_entity: ObstacleEntity):
        """
        Class constructor.

        Arguments:
            parent: The parent widget
            obstacle_entity: The related obstacle entity
        """
        super().__init__(parent)

        self.obstacle_entity = obstacle_entity
        self.setWindowTitle("Obstacle Properties")
        self.setModal(False)
        self.setMinimumWidth(self.fontMetrics().horizontalAdvance(self.windowTitle()))

        layout = QtWidgets.QGridLayout()
        self.setLayout(layout)

        row = 0

        label_x = QtWidgets.QLabel("X")
        self.spin_x = QtWidgets.QSpinBox()
        self.spin_x.setStepType(QtWidgets.QAbstractSpinBox.AdaptiveDecimalStepType)
        self.spin_x.setMinimum(-1000)
        self.spin_x.setMaximum(1000)
        self.spin_x.setValue(int(self.obstacle_entity.transform.translation().x()))
        self.spin_x.valueChanged.connect(self.obstacle_entity.setXTranslation)
        layout.addWidget(label_x, row, 0)
        layout.addWidget(self.spin_x, row, 1)
        row += 1

        label_y = QtWidgets.QLabel("Y")
        self.spin_y = QtWidgets.QSpinBox()
        self.spin_y.setStepType(QtWidgets.QAbstractSpinBox.AdaptiveDecimalStepType)
        self.spin_y.setMinimum(-1500)
        self.spin_y.setMaximum(1500)
        self.spin_y.setValue(int(self.obstacle_entity.transform.translation().y()))
        self.spin_y.valueChanged.connect(self.obstacle_entity.setYTranslation)
        layout.addWidget(label_y, row, 0)
        layout.addWidget(self.spin_y, row, 1)
        row += 1

        label_rotation = QtWidgets.QLabel("Rotation")
        self.spin_rotation = QtWidgets.QSpinBox()
        self.spin_rotation.setSuffix("°")
        self.spin_rotation.setMinimum(-180)
        self.spin_rotation.setMaximum(180)
        self.spin_rotation.setValue(int(self.obstacle_entity.transform.rotationZ()))
        self.spin_rotation.valueChanged.connect(self.obstacle_entity.transform.setRotationZ)
        layout.addWidget(label_rotation, row, 0)
        layout.addWidget(self.spin_rotation, row, 1)
        row += 1

        label_width = QtWidgets.QLabel("Width")
        self.spin_width = QtWidgets.QSpinBox()
        self.spin_width.setMaximum(2000)
        self.spin_width.setSingleStep(10)
        self.spin_width.setValue(int(self.obstacle_entity.mesh.xExtent()))
        self.spin_width.valueChanged.connect(self.obstacle_entity.mesh.setXExtent)
        layout.addWidget(label_width, row, 0)
        layout.addWidget(self.spin_width, row, 1)
        row += 1

        label_length = QtWidgets.QLabel("Length")
        self.spin_length = QtWidgets.QSpinBox()
        self.spin_length.setMaximum(2000)
        self.spin_length.setSingleStep(10)
        self.spin_length.setValue(int(self.obstacle_entity.mesh.yExtent()))
        self.spin_length.valueChanged.connect(self.obstacle_entity.mesh.setYExtent)
        layout.addWidget(label_length, row, 0)
        layout.addWidget(self.spin_length, row, 1)
        row += 1

        label_height = QtWidgets.QLabel("Height")
        self.spin_height = QtWidgets.QSpinBox()
        self.spin_height.setMaximum(1000)
        self.spin_height.setSingleStep(10)
        self.spin_height.setValue(int(self.obstacle_entity.mesh.zExtent()))
        self.spin_height.valueChanged.connect(self.obstacle_entity.mesh.setZExtent)
        layout.addWidget(label_height, row, 0)
        layout.addWidget(self.spin_height, row, 1)
        row += 1

        self.readSettings()

    @classmethod
    def set_active_properties(cls, properties: "ObstacleProperties"):
        """
        Class method.

        Set the current property window displayed.

        Arguments:
            properties: The current property
        """
        cls.active_properties = properties

    def closeEvent(self, event: QtGui.QCloseEvent):
        """
        Close the property windows.

        Arguments:
            event: The close event (unused)
        """
        ObstacleProperties.set_active_properties(None)

        settings = QtCore.QSettings("COGIP", "monitor")
        settings.setValue("obstacle_dialog/geometry", self.saveGeometry())

        super().closeEvent(event)

    def readSettings(self):
        settings = QtCore.QSettings("COGIP", "monitor")
        self.restoreGeometry(settings.value("obstacle_dialog/geometry"))

__init__(parent, obstacle_entity) #

Class constructor.

Parameters:

Name Type Description Default
parent QWidget

The parent widget

 required
obstacle_entity ObstacleEntity

The related obstacle entity

 required
Source code in cogip/entities/obstacle.py 
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def __init__(self, parent: QtWidgets.QWidget, obstacle_entity: ObstacleEntity):
    """
    Class constructor.

    Arguments:
        parent: The parent widget
        obstacle_entity: The related obstacle entity
    """
    super().__init__(parent)

    self.obstacle_entity = obstacle_entity
    self.setWindowTitle("Obstacle Properties")
    self.setModal(False)
    self.setMinimumWidth(self.fontMetrics().horizontalAdvance(self.windowTitle()))

    layout = QtWidgets.QGridLayout()
    self.setLayout(layout)

    row = 0

    label_x = QtWidgets.QLabel("X")
    self.spin_x = QtWidgets.QSpinBox()
    self.spin_x.setStepType(QtWidgets.QAbstractSpinBox.AdaptiveDecimalStepType)
    self.spin_x.setMinimum(-1000)
    self.spin_x.setMaximum(1000)
    self.spin_x.setValue(int(self.obstacle_entity.transform.translation().x()))
    self.spin_x.valueChanged.connect(self.obstacle_entity.setXTranslation)
    layout.addWidget(label_x, row, 0)
    layout.addWidget(self.spin_x, row, 1)
    row += 1

    label_y = QtWidgets.QLabel("Y")
    self.spin_y = QtWidgets.QSpinBox()
    self.spin_y.setStepType(QtWidgets.QAbstractSpinBox.AdaptiveDecimalStepType)
    self.spin_y.setMinimum(-1500)
    self.spin_y.setMaximum(1500)
    self.spin_y.setValue(int(self.obstacle_entity.transform.translation().y()))
    self.spin_y.valueChanged.connect(self.obstacle_entity.setYTranslation)
    layout.addWidget(label_y, row, 0)
    layout.addWidget(self.spin_y, row, 1)
    row += 1

    label_rotation = QtWidgets.QLabel("Rotation")
    self.spin_rotation = QtWidgets.QSpinBox()
    self.spin_rotation.setSuffix("°")
    self.spin_rotation.setMinimum(-180)
    self.spin_rotation.setMaximum(180)
    self.spin_rotation.setValue(int(self.obstacle_entity.transform.rotationZ()))
    self.spin_rotation.valueChanged.connect(self.obstacle_entity.transform.setRotationZ)
    layout.addWidget(label_rotation, row, 0)
    layout.addWidget(self.spin_rotation, row, 1)
    row += 1

    label_width = QtWidgets.QLabel("Width")
    self.spin_width = QtWidgets.QSpinBox()
    self.spin_width.setMaximum(2000)
    self.spin_width.setSingleStep(10)
    self.spin_width.setValue(int(self.obstacle_entity.mesh.xExtent()))
    self.spin_width.valueChanged.connect(self.obstacle_entity.mesh.setXExtent)
    layout.addWidget(label_width, row, 0)
    layout.addWidget(self.spin_width, row, 1)
    row += 1

    label_length = QtWidgets.QLabel("Length")
    self.spin_length = QtWidgets.QSpinBox()
    self.spin_length.setMaximum(2000)
    self.spin_length.setSingleStep(10)
    self.spin_length.setValue(int(self.obstacle_entity.mesh.yExtent()))
    self.spin_length.valueChanged.connect(self.obstacle_entity.mesh.setYExtent)
    layout.addWidget(label_length, row, 0)
    layout.addWidget(self.spin_length, row, 1)
    row += 1

    label_height = QtWidgets.QLabel("Height")
    self.spin_height = QtWidgets.QSpinBox()
    self.spin_height.setMaximum(1000)
    self.spin_height.setSingleStep(10)
    self.spin_height.setValue(int(self.obstacle_entity.mesh.zExtent()))
    self.spin_height.valueChanged.connect(self.obstacle_entity.mesh.setZExtent)
    layout.addWidget(label_height, row, 0)
    layout.addWidget(self.spin_height, row, 1)
    row += 1

    self.readSettings()

closeEvent(event) #

Close the property windows.

Parameters:

Name Type Description Default
event QCloseEvent

The close event (unused)

 required
Source code in cogip/entities/obstacle.py 
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def closeEvent(self, event: QtGui.QCloseEvent):
    """
    Close the property windows.

    Arguments:
        event: The close event (unused)
    """
    ObstacleProperties.set_active_properties(None)

    settings = QtCore.QSettings("COGIP", "monitor")
    settings.setValue("obstacle_dialog/geometry", self.saveGeometry())

    super().closeEvent(event)

set_active_properties(properties) classmethod #

Class method.

Set the current property window displayed.

Parameters:

Name Type Description Default
properties ObstacleProperties

The current property

 required
Source code in cogip/entities/obstacle.py 
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@classmethod
def set_active_properties(cls, properties: "ObstacleProperties"):
    """
    Class method.

    Set the current property window displayed.

    Arguments:
        properties: The current property
    """
    cls.active_properties = properties