Merge pull request #828 from IKhonakhbeeva/simple_robot

Parameter for blocks, animation of moving and over fixes [AUTOZIP]

Author: iakov

initvars.qmake

@@ -6,7 +6,7 @@ SUBDIRS=
 #need to update index because of https://stackoverflow.com/questions/16035240/
 system(git update-index --refresh)
 # ATM we use xenial 16.04 as main linux builder, and it lacks new git with --broken option.
-TRIK_STUDIO_VERSION = start-$$system(git describe --tags --always --dirty --abbrev=6)
+TRIK_STUDIO_VERSION = junior-$$system(git describe --tags --always --dirty --abbrev=6)
 TRIK_STUDIO_YEAR = 2020
 
 #message($$DESTDIR)

plugins/robots/common/kitBase/include/kitBase/robotModel/robotModelInterface.h

@@ -199,6 +199,10 @@ public slots:
 
 	// Hack to manually rotate the robot
 	void turnManuallyOn(qreal angle);
+
+	// Hack to manually control the robot
+	void endManual(bool success);
+
 };
 
 }

plugins/robots/common/trikKit/src/blocks/details/trikBackwardOneCellBlock.cpp

@@ -24,13 +24,19 @@ BackwardOneCellBlock::BackwardOneCellBlock(kitBase::robotModel::RobotModelInterf
 {
 }
 
-void BackwardOneCellBlock::run()
-{
-	emit mRobotModel.moveManually(-1);
-	auto timer = mRobotModel.timeline().produceTimer();
-	timer->setRepeatable(false);
-	connect(timer, &utils::AbstractTimer::timeout, this, [this](){
-		emit done(mNextBlockId);
-	});
-	timer->start(500);
+void BackwardOneCellBlock::run() {
+	const auto result = -eval<int>("CellsNumber");
+	if (!errorsOccured()) {
+		mConnections << connect(&mRobotModel, &kitBase::robotModel::RobotModelInterface::endManual
+				, this, &BackwardOneCellBlock::endMoving);
+		emit mRobotModel.moveManually(result);
+	}
+}
+
+void BackwardOneCellBlock::endMoving(bool success) {
+	for (auto connection : mConnections) {
+		disconnect(connection);
+	}
+	if (!success) emit warning(tr("Movement is impossible!"));
+	emit done(mNextBlockId);
 }

plugins/robots/common/trikKit/src/blocks/details/trikBackwardOneCellBlock.h

@@ -32,6 +32,9 @@ class BackwardOneCellBlock : public kitBase::blocksBase::RobotsBlock
 
 private:
 	kitBase::robotModel::RobotModelInterface &mRobotModel;
+	QList<QMetaObject::Connection> mConnections;
+private slots:
+	void endMoving(bool success);
 };
 
 }

plugins/robots/common/trikKit/src/blocks/details/trikForwardOneCellBlock.cpp

@@ -24,13 +24,19 @@ ForwardOneCellBlock::ForwardOneCellBlock(kitBase::robotModel::RobotModelInterfac
 {
 }
 
-void ForwardOneCellBlock::run()
-{
-	emit mRobotModel.moveManually(1);
-	auto timer = mRobotModel.timeline().produceTimer();
-	timer->setRepeatable(false);
-	connect(timer, &utils::AbstractTimer::timeout, this, [this](){
-		emit done(mNextBlockId);
-	});
-	timer->start(500);
+void ForwardOneCellBlock::run() {
+	const auto result = eval<int>("CellsNumber");
+	if (!errorsOccured()) {
+		mConnections << connect(&mRobotModel, &kitBase::robotModel::RobotModelInterface::endManual
+				, this, &ForwardOneCellBlock::endMoving);
+		emit mRobotModel.moveManually(result);
+	}
+}
+
+void ForwardOneCellBlock::endMoving(bool success) {
+	for (auto connection : mConnections) {
+		disconnect(connection);
+	}
+	if (!success) emit warning(tr("Movement is impossible!"));
+	emit done(mNextBlockId);
 }

plugins/robots/common/trikKit/src/blocks/details/trikForwardOneCellBlock.h

@@ -32,6 +32,9 @@ class ForwardOneCellBlock : public kitBase::blocksBase::RobotsBlock
 
 private:
 	kitBase::robotModel::RobotModelInterface &mRobotModel;
+	QList<QMetaObject::Connection> mConnections;
+private slots:
+	void endMoving(bool success);
 };
 
 }

plugins/robots/common/twoDModel/include/twoDModel/engine/model/robotModel.h

@@ -218,6 +218,9 @@ private slots:
 	twoDModel::robotModel::TwoDRobotModel &mRobotModel;
 	SensorsConfiguration mSensorsConfiguration;
 
+	QPointF mWaitPos;
+	bool mIsCollide;
+	bool mIsRiding;
 	QPointF mPos;
 	qreal mAngle;
 	qreal mGyroAngle;

plugins/robots/common/twoDModel/src/engine/items/startPosition.cpp

@@ -15,6 +15,8 @@
 #include "startPosition.h"
 
 #include "twoDModel/engine/model/constants.h"
+#include <qrkernel/settingsManager.h>
+#include <QtMath>
 
 using namespace twoDModel::items;
 
@@ -96,3 +98,23 @@ void StartPosition::contextMenuEvent(QGraphicsSceneContextMenuEvent *event)
 {
 	Q_UNUSED(event)
 }
+
+void StartPosition::resizeItem(QGraphicsSceneMouseEvent *event)
+{
+	Q_UNUSED(event)
+	auto gridSize = qReal::SettingsManager::value("2dGridCellSize").toInt();
+	auto x = pos().x() + gridSize/2;
+	auto y = pos().y() + gridSize/2;
+	auto roundedX = x - fmod(x, gridSize);
+	auto roundedX2 = roundedX + ((x > 0) ? gridSize : -gridSize);
+	if (qAbs(roundedX - x) > qAbs(roundedX2 - x)) {
+		roundedX = roundedX2;
+	}
+	auto roundedY = y - fmod(y, gridSize);
+	auto roundedY2 = roundedY + ((y > 0) ? gridSize : -gridSize);
+	if (qAbs(roundedY - y) > qAbs(roundedY2 - y)) {
+		roundedY = roundedY2;
+	}
+	QGraphicsItem::setPos(roundedX - gridSize/2, roundedY - gridSize/2);
+	update();
+}

plugins/robots/common/twoDModel/src/engine/items/startPosition.h

@@ -30,6 +30,7 @@ class StartPosition : public graphicsUtils::RotateItem
 	QDomElement serialize(QDomElement &parent) const override;
 	void deserialize(const QDomElement &startPositionElement) override;
 	void deserializeCompatibly(const QDomElement &robotElement);
+	void resizeItem(QGraphicsSceneMouseEvent *event) override;
 
 private:
 	void drawFieldForResizeItem(QPainter* painter) override;

plugins/robots/common/twoDModel/src/engine/model/robotModel.cpp

@@ -34,12 +34,14 @@
 
 #include "src/engine/items/startPosition.h"
 #include "src/engine/items/wallItem.h"
+#include "utils/abstractTimer.h"
 
 using namespace twoDModel::model;
 using namespace kitBase::robotModel;
 using namespace kitBase::robotModel::robotParts;
 
 const int positionStampsCount = 50;
+const qreal manualSpeed = 0.5;
 
 RobotModel::RobotModel(robotModel::TwoDRobotModel &robotModel
 		, const Settings &settings
@@ -95,18 +97,20 @@ void RobotModel::moveCell(int n) {
 	auto shiftPos = QTransform().rotate(mAngle).map(QPointF(gridSize, 0));
 	if (n < 0) shiftPos = -shiftPos;
 	for (int i = 0; i < abs(n); i++) {
-		auto moveLine = QLineF(rotationCenter(), rotationCenter() + shiftPos);
+		auto moveLine = QLineF(rotationCenter(), rotationCenter() + shiftPos * (i + 1));
 		for (auto wall : mWorldModel->walls()) {
 			auto wallLine = QLineF(wall->begin(), wall->end());
 			if (moveLine.intersect(wallLine, nullptr) == QLineF::BoundedIntersection) {
-				mWorldModel->errorReporter()->addError(tr("Movement is impossible!"));
-				markerDown(Qt::red);
+				mIsRiding = true;
+				mWaitPos = mPos + shiftPos * i;
+				mIsCollide = true;
 				return;
 			}
 		}
-		mPos = position() + shiftPos;
-		nextFragment();
 	}
+	mIsRiding = true;
+	mWaitPos = mPos + shiftPos * abs(n);
+	mIsCollide = false;
 }
 
 void RobotModel::turnOn(qreal angle) {
@@ -359,8 +363,20 @@ QVector<int> RobotModel::gyroscopeCalibrate()
 void RobotModel::nextStep()
 {
 	// Changing position quietly, they must not be caught by UI here.
-	mPos += mPhysicsEngine->positionShift(*this).toPointF();
-	mAngle += mPhysicsEngine->rotation(*this);
+	// No physics for simple robot
+//	mPos += mPhysicsEngine->positionShift(*this).toPointF();
+//	mAngle += mPhysicsEngine->rotation(*this);
+	if (mIsRiding) {
+		auto delta = mWaitPos - mPos;
+		auto lenSquare = QPointF::dotProduct(delta, delta);
+		if (lenSquare <= manualSpeed * manualSpeed) {
+			mPos = mWaitPos;
+			mIsRiding = false;
+			emit mRobotModel.endManual(!mIsCollide);
+		} else {
+			mPos += delta * manualSpeed / qSqrt(lenSquare);
+		}
+	}
 	emit positionRecalculated(mPos, mAngle);
 }
 
@@ -371,26 +387,27 @@ void RobotModel::recalculateParams()
 		return;
 	}
 
-	auto calculateMotorOutput = [&](WheelEnum wheel) {
-		const PortInfo &port = mWheelsToMotorPortsMap.value(wheel, PortInfo());
-		if (!port.isValid() || port.name() == "None") {
-			return;
-		}
+	// No motors on simple model
+//	auto calculateMotorOutput = [&](WheelEnum wheel) {
+//		const PortInfo &port = mWheelsToMotorPortsMap.value(wheel, PortInfo());
+//		if (!port.isValid() || port.name() == "None") {
+//			return;
+//		}
 
-		Wheel * const engine = mMotors.value(port, nullptr);
-		if (!engine) {
-			return;
-		}
+//		Wheel * const engine = mMotors.value(port, nullptr);
+//		if (!engine) {
+//			return;
+//		}
 
-		engine->spoiledSpeed = mSettings.realisticMotors() ? varySpeed(engine->speed) : engine->speed;
-	};
+//		engine->spoiledSpeed = mSettings.realisticMotors() ? varySpeed(engine->speed) : engine->speed;
+//	};
 
-	calculateMotorOutput(left);
-	calculateMotorOutput(right);
+//	calculateMotorOutput(left);
+//	calculateMotorOutput(right);
 
 	nextStep();
-	countSpeedAndAcceleration();
-	countMotorTurnover();
+//	countSpeedAndAcceleration();
+//	countMotorTurnover();
 	countBeep();
 }