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my_paint_canvas.py
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my_paint_canvas.py
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import yaml
import math
from map import Map
from simulator import Simulator
from lib.settings import lane_width, turn_radius, arm_len, NS_lane_count, EW_lane_count, veh_dt, disp_dt, simu_t, time_wrap
from PyQt5.QtCore import Qt, QTimer, QPointF, QRectF, QLineF
from PyQt5.QtGui import QPainter, QColor, QPen, QFont
from PyQt5.QtWidgets import QWidget
class MyPaintCanvas(QWidget):
def __init__(self, parent=None, mainw=None):
super().__init__(parent)
self.mainw = mainw
self.disp_timer = QTimer(self)
self.disp_timer.start(disp_dt * 1000)
self.disp_timer.timeout.connect(self.update) # 每次 update 触发 paintEvent
self.veh_timer = QTimer(self)
self.veh_timer.start(veh_dt * 1000 / time_wrap)
self.veh_timer.timeout.connect(self.update_traffic)
self.lw = lane_width
self.tr = turn_radius
self.al = arm_len
self.NSl = NS_lane_count
self.EWl = EW_lane_count
self.draw_road_shape = self.gen_draw_road()
self.draw_traj_shape = self.gen_draw_traj(Map.getInstance().ju_track_table)
# 设置背景颜色
self.setAutoFillBackground(True)
palette = self.palette()
palette.setColor(self.backgroundRole(), QColor(247, 232, 232))
self.setPalette(palette)
def update_traffic(self):
Simulator.getInstance().update()
def paintEvent(self, event): # 每次 disp_timer timeout 的时候调用，重绘
qp = QPainter(self)
qp.setRenderHint(QPainter.Antialiasing, True) # 消除锯齿
window_wid = (self.lw * self.NSl + self.tr + self.al) * 2
window_hgt = (self.lw * self.EWl + self.tr + self.al) * 2
if window_hgt / self.height() < window_wid / self.width():
# 高度方向比较宽松，宽度顶满
viewport_wid = self.width()
viewport_hgt = self.width() * window_hgt / window_wid
else:
# 宽度方向比较宽松，高度顶满
viewport_wid = self.height() * window_wid / window_hgt
viewport_hgt = self.height()
# setViewport(x, y, w, h) 设置视窗在控件上的坐标，这里居中
qp.setViewport((self.width() - viewport_wid) / 2, (self.height() - viewport_hgt) / 2, viewport_wid, viewport_hgt)
# setWindow(x, y, w, h) 设置逻辑坐标，这里把中间点作为 (0, 0)
qp.setWindow(- window_wid / 2, - window_hgt / 2, window_wid, window_hgt)
self.draw_road(qp)
# self.draw_traj(qp) # 显示轨迹，调试用
self.draw_vehs(qp)
ts = Simulator.getInstance().timestep
self.mainw.step_lbl.setText("Timestep: %4d" % ts)
self.mainw.time_lbl.setText("Elapsed time: %.1f s" % (ts * veh_dt))
# print('ts = %d, simu_t/veh_dt = %d' % (ts, simu_t / veh_dt))
if ts >= simu_t / veh_dt:
self.mainw.close()
def gen_draw_road(self):
'''
在逻辑坐标系中，计算交叉口绘制所需的形状
'''
x1 = self.lw * self.NSl
x2 = x1 + self.tr
x3 = x2 + self.al
y1 = self.lw * self.EWl
y2 = y1 + self.tr
y3 = y2 + self.al
edge_Qlines = [
QLineF(-x3, -y1, -x2, -y1), # 西上
QLineF(-x3, y1, -x2, y1), # 西下
QLineF(x3, -y1, x2, -y1), # 东上
QLineF(x3, y1, x2, y1), # 东下
QLineF(-x1, -y3, -x1, -y2), # 北左
QLineF(x1, -y3, x1, -y2), # 北右
QLineF(-x1, y3, -x1, y2), # 南左
QLineF(x1, y3, x1, y2) # 南右
]
edge_Qarcs = [
[QRectF(-x2-self.tr, -y2-self.tr, 2*self.tr, 2*self.tr), 270 * 16, 90 * 16], # 左上
[QRectF(x1, -y2-self.tr, 2*self.tr, 2*self.tr), 180 * 16, 90 * 16], # 右上
[QRectF(-x2-self.tr, y1, 2*self.tr, 2*self.tr), 0 * 16, 90 * 16], # 左下
[QRectF(x1, y1, 2*self.tr, 2*self.tr), 90 * 16, 90 * 16] # 右下
]
center_Qlines = [
QLineF(-x3, 0, -x2, 0), # 西
QLineF(x3, 0, x2, 0), # 东
QLineF(0, -y3, 0, -y2), # 北
QLineF(0, y3, 0, y2) # 南
]
stop_Qlines = [
QLineF(-x2, 0, -x2, y1), # 西
QLineF(x2, 0, x2, -y1), # 东
QLineF(0, -y2, -x1, -y2), # 北
QLineF(0, y2, x1, y2) # 南
]
lane_Qlines = []
if self.EWl > 1:
for i in range(self.EWl - 1):
lane_Qlines.append(QLineF(-x3, - (i+1) * self.lw, -x2, - (i+1) * self.lw)) # 西上
lane_Qlines.append(QLineF(-x3, (i+1) * self.lw, -x2, (i+1) * self.lw)) # 西下
lane_Qlines.append(QLineF(x3, - (i+1) * self.lw, x2, - (i+1) * self.lw)) # 东上
lane_Qlines.append(QLineF(x3, (i+1) * self.lw, x2, (i+1) * self.lw)) # 东下
if self.NSl > 1:
for i in range(self.NSl - 1):
lane_Qlines.append(QLineF(- (i+1) * self.lw, -y3, - (i+1) * self.lw, -y2)) # 北左
lane_Qlines.append(QLineF((i+1) * self.lw, -y3, (i+1) * self.lw, -y2)) # 北右
lane_Qlines.append(QLineF(- (i+1) * self.lw, y3, - (i+1) * self.lw, y2)) # 南左
lane_Qlines.append(QLineF((i+1) * self.lw, y3, (i+1) * self.lw, y2)) # 南右
return {
'edge_Qlines': edge_Qlines,
'edge_Qarcs': edge_Qarcs,
'center_Qlines': center_Qlines,
'lane_Qlines': lane_Qlines,
'stop_Qlines': stop_Qlines
}
def gen_draw_traj(self, ju_track_table):
'''
根据轨迹，生成用于画图的lines和arcs
'''
traj_Qlines = []
traj_Qarcs = []
for dir, shape_list in ju_track_table.items():
for seg in shape_list:
if seg[0] == 'line':
traj_Qlines.append(QLineF(seg[1][0], seg[1][1], seg[2][0], seg[2][1]))
else:
traj_Qarcs.append([
QRectF(seg[3][0]-seg[4], seg[3][1]-seg[4], 2*seg[4], 2*seg[4]),
min(seg[5][0], seg[5][1]) * 16,
math.fabs(seg[5][0] - seg[5][1]) * 16
])
return {
'traj_Qlines': traj_Qlines,
'traj_Qarcs': traj_Qarcs
}
def draw_road(self, qp):
# 交叉口边缘
qp.setPen(QPen(QColor(49, 58, 135), 0.4, Qt.SolidLine))
for ele in self.draw_road_shape['edge_Qlines']:
qp.drawLine(ele)
for ele in self.draw_road_shape['edge_Qarcs']:
qp.drawArc(ele[0], ele[1], ele[2])
# 车道中心线
qp.setPen(QPen(QColor(242, 184, 0), 0.3, Qt.SolidLine))
for ele in self.draw_road_shape['center_Qlines']:
qp.drawLine(ele)
# 车道线
qp.setPen(QPen(QColor("white"), 0.2, Qt.SolidLine))
for ele in self.draw_road_shape['lane_Qlines']:
qp.drawLine(ele)
# 停车线
qp.setPen(QPen(QColor(244, 82, 79), 0.4, Qt.SolidLine))
for ele in self.draw_road_shape['stop_Qlines']:
qp.drawLine(ele)
def draw_traj(self, qp):
qp.setPen(QPen(QColor('darkGrey'), 0.2, Qt.SolidLine))
for ele in self.draw_traj_shape['traj_Qlines']:
qp.drawLine(ele)
for ele in self.draw_traj_shape['traj_Qarcs']:
qp.drawArc(ele[0], ele[1], ele[2])
def draw_vehs(self, qp):
qp.setBrush(QColor(49, 58, 135))
qp.setPen(QPen(QColor(255, 152, 146), 0.1, Qt.SolidLine))
qf = qp.font()
qf.setPointSizeF(2.5)
qf.setFamily('Consolas')
qp.setFont(qf)
x1 = self.lw * self.NSl
x2 = x1 + self.tr
y1 = self.lw * self.EWl
y2 = y1 + self.tr
for veh in Simulator.getInstance().all_veh['Nap']:
x = - (self.lw / 2 + self.lw * veh.inst_lane)
y = - (y2 + (-veh.inst_x))
rect = QRectF(x - veh.veh_wid/2, y - veh.veh_len_back, veh.veh_wid, veh.veh_len)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
for veh in Simulator.getInstance().all_veh['Nex']:
x = self.lw / 2 + self.lw * veh.inst_lane
y = - (y2 + (veh.inst_x))
rect = QRectF(x - veh.veh_wid/2, y - veh.veh_len_front, veh.veh_wid, veh.veh_len)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
for veh in Simulator.getInstance().all_veh['Sap']:
x = self.lw / 2 + self.lw * veh.inst_lane
y = y2 + (-veh.inst_x)
rect = QRectF(x - veh.veh_wid/2, y - veh.veh_len_front, veh.veh_wid, veh.veh_len)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
for veh in Simulator.getInstance().all_veh['Sex']:
x = - (self.lw / 2 + self.lw * veh.inst_lane)
y = y2 + veh.inst_x
rect = QRectF(x - veh.veh_wid/2, y - veh.veh_len_back, veh.veh_wid, veh.veh_len)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
for veh in Simulator.getInstance().all_veh['Wap']:
x = - (x2 + (-veh.inst_x))
y = self.lw / 2 + self.lw * veh.inst_lane
rect = QRectF(x - veh.veh_len_back, y - veh.veh_wid/2, veh.veh_len, veh.veh_wid)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
for veh in Simulator.getInstance().all_veh['Wex']:
x = - (x2 + veh.inst_x)
y = - (self.lw / 2 + self.lw * veh.inst_lane)
rect = QRectF(x - veh.veh_len_front, y - veh.veh_wid/2, veh.veh_len, veh.veh_wid)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
for veh in Simulator.getInstance().all_veh['Eap']:
x = x2 + (-veh.inst_x)
y = - (self.lw / 2 + self.lw * veh.inst_lane)
rect = QRectF(x - veh.veh_len_front, y - veh.veh_wid/2, veh.veh_len, veh.veh_wid)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
for veh in Simulator.getInstance().all_veh['Eex']:
x = x2 + veh.inst_x
y = self.lw / 2 + self.lw * veh.inst_lane
rect = QRectF(x - veh.veh_len_back, y - veh.veh_wid/2, veh.veh_len, veh.veh_wid)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
for veh in Simulator.getInstance().all_veh['ju']:
# 寻找在哪一段上
seg_idx = 0
for (i, end_x) in enumerate(veh.track.ju_shape_end_x):
if veh.inst_x > end_x: # 比第i段的终点大，则在(i+1)段
seg_idx = i + 1
break
seg = veh.track.ju_track[seg_idx] # 这一段的形状
if seg_idx > 0:
seg_x = veh.inst_x - veh.track.ju_shape_end_x[seg_idx - 1] # 在这一段的长度
else:
seg_x = veh.inst_x
if seg[0] == 'line': # 是直线，太好了
if abs(seg[1][0] - seg[2][0]) < 1e-5: # 竖线
x = seg[1][0]
if seg[1][1] < seg[2][1]: # 从上到下
y = seg[1][1] + seg_x
rect = QRectF(x - veh.veh_wid/2, y - veh.veh_len_back, veh.veh_wid, veh.veh_len)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
else: # 从下到上
y = seg[1][1] - seg_x
rect = QRectF(x - veh.veh_wid/2, y - veh.veh_len_front, veh.veh_wid, veh.veh_len)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
else: # 横线
y = seg[1][1]
if seg[1][0] < seg[2][0]: # 从左向右
x = seg[1][0] + seg_x
rect = QRectF(x - veh.veh_len_back, y - veh.veh_wid/2, veh.veh_len, veh.veh_wid)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
else: # 从右向左
x = seg[1][0] - seg_x
rect = QRectF(x - veh.veh_len_front, y - veh.veh_wid/2, veh.veh_len, veh.veh_wid)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
else: # 圆曲线
qp.save()
qp.translate(seg[3][0], seg[3][1])
if seg[5][0] < seg[5][1]: # 轨迹逆时针
rotation = seg[5][0] + seg_x / seg[4] * 180 / math.pi
qp.rotate(- rotation) # rotate 是顺时针的度数
rect = QRectF(seg[4] - veh.veh_wid/2, - veh.veh_len_front, veh.veh_wid, veh.veh_len)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
else:
rotation = seg[5][0] - seg_x / seg[4] * 180 / math.pi
qp.rotate(- rotation)
rect = QRectF(seg[4] - veh.veh_wid/2, - veh.veh_len_back, veh.veh_wid, veh.veh_len)
qp.drawRect(rect)
# qp.drawText(rect.bottomLeft(), str(veh._id))
qp.restore()