Trik Studio 3D Visualization

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

@@ -187,6 +187,19 @@ public slots:
 	/// Emitted when left or right wheel was reconnected to another port.
 	void wheelOnPortChanged(WheelEnum wheel, const kitBase::robotModel::PortInfo &port);
 
+	/// Emitted when robot starts or ends play beep sound
+	void trajectorySoundStateChanged(QString id, int time);
+
+	/// Emitted when robot starts or ends draw
+	void trajectoryMarkerColorChanged(QString id, QColor color);
+
+	/// Emitted when robot position and/or rotation changed
+	void trajectoryPosOrAngleChanged(QString id, QPointF position, qreal rotation);
+	void trajectoryOnitemDragged(QString id, QPointF position, qreal rotation);
+
+	void trajectorySave();
+	void onStopPlaying();
+
 private:
 	QVector2D robotDirectionVector() const;
 

plugins/robots/common/twoDModel/include/twoDModel/engine/view/twoDModelWidget.h

@@ -28,6 +28,7 @@
 #include "twoDModel/engine/twoDModelDisplayWidget.h"
 
 #include "twoDModel/twoDModelDeclSpec.h"
+#include "plugins/robots/common/twoDModel/src/engine/trajectory/connectionToVizualizator.h"
 
 class QComboBox;
 class QPushButton;
@@ -47,6 +48,10 @@ class ControllerInterface;
 
 namespace twoDModel {
 
+//namespace trajectory {
+//class ConnectionToVizualizator;
+//}
+
 namespace model {
 class Model;
 class RobotModel;
@@ -108,6 +113,7 @@ class TWO_D_MODEL_EXPORT TwoDModelWidget : public QWidget
 	QDomDocument generateWorldModelWithBlobsXml() const;
 	QDomDocument generateWorldModelXml() const;
 	QDomDocument generateBlobsXml() const;
+	ConnectionToVizualizator *mConnToVizualizator;
 
 public slots:
 	void zoomIn() override;
@@ -129,6 +135,9 @@ public slots:
 	/// Emitted when user has stopped intepretation from the 2D model window.
 	void stopButtonPressed();
 
+	/// Emitted when user has stopped intepretation from the remote vizualizator
+	void restartRequested();
+
 protected:
 	void changeEvent(QEvent *e) override;
 	void showEvent(QShowEvent *e) override;

plugins/robots/common/twoDModel/src/engine/model/physics/box2DPhysicsEngine.cpp

@@ -17,6 +17,7 @@
 #include <qrutils/graphicsUtils/abstractItem.h>
 
 #include "twoDModel/engine/model/robotModel.h"
+#include "src/engine/trajectory/trajectorySaver.h"
 #include "twoDModel/engine/model/constants.h"
 #include "twoDModel/engine/model/worldModel.h"
 #include "src/engine/view/scene/twoDModelScene.h"
@@ -44,6 +45,7 @@ Box2DPhysicsEngine::Box2DPhysicsEngine (const WorldModel &worldModel
 	, mWorld(new b2World(b2Vec2(0, 0)))
 	, mPrevPosition(b2Vec2(0, 0))
 	, mPrevAngle(0)
+	, mTrajSaver(new TrajectorySaver(nullptr))
 {
 	connect(&worldModel, &model::WorldModel::wallAdded,
 			this, [this](const QSharedPointer<QGraphicsItem> &i) {itemAdded(i.data());});
@@ -53,6 +55,10 @@ Box2DPhysicsEngine::Box2DPhysicsEngine (const WorldModel &worldModel
 			this, [this](const QSharedPointer<QGraphicsItem> &i) {itemAdded(i.data());});
 	connect(&worldModel, &model::WorldModel::itemRemoved,
 			this, [this](const QSharedPointer<QGraphicsItem> &i) {itemRemoved(i.data());});
+
+	connect(this, &Box2DPhysicsEngine::trajectoryPosOrAngleChanged, mTrajSaver, &TrajectorySaver::saveItemPosOrAngle);
+	connect(this, &Box2DPhysicsEngine::trajectoryItemDragged, mTrajSaver, &TrajectorySaver::onItemDragged);
+	connect(this, &Box2DPhysicsEngine::sendNextFrame, mTrajSaver, &TrajectorySaver::sendFrame);
 }
 
 Box2DPhysicsEngine::~Box2DPhysicsEngine(){
@@ -143,8 +149,13 @@ void Box2DPhysicsEngine::addRobot(model::RobotModel * const robot)
 			auto model = &rItem->robotModel();
 			mBox2DRobots[model]->reinitSensor(sensor);
 		});
-
 		connect(robot, &model::RobotModel::deserialized, this, &Box2DPhysicsEngine::onMouseReleased);
+		connect(robot, &RobotModel::trajectorySoundStateChanged, mTrajSaver, &TrajectorySaver::saveBeepState);
+		connect(robot, &RobotModel::trajectoryMarkerColorChanged, mTrajSaver, &TrajectorySaver::saveMarkerState);
+		connect(robot, &RobotModel::trajectoryPosOrAngleChanged, mTrajSaver, &TrajectorySaver::saveItemPosOrAngle);
+		connect(robot, &RobotModel::trajectoryOnitemDragged, mTrajSaver, &TrajectorySaver::onItemDragged);
+		connect(robot, &RobotModel::trajectorySave, mTrajSaver, &TrajectorySaver::saveToFile);
+		connect(robot, &RobotModel::onStopPlaying, mTrajSaver, &TrajectorySaver::onStopInterpretation);
 	});
 }
 
@@ -353,7 +364,10 @@ void Box2DPhysicsEngine::nextFrame()
 			item->setPos(scenePos - item->boundingRect().center());
 			item->setRotation(angleToScene(mBox2DDynamicItems[item]->getRotation()));
 		}
+		auto *abstractItem = dynamic_cast<graphicsUtils::AbstractItem *>(item);
+		emit trajectoryPosOrAngleChanged(abstractItem->id(), abstractItem->pos(), abstractItem->rotation());
 	}
+	emit sendNextFrame();
 }
 
 void Box2DPhysicsEngine::clearForcesAndStop()
@@ -364,6 +378,7 @@ void Box2DPhysicsEngine::clearForcesAndStop()
 		body->SetLinearVelocity({0, 0});
 		body->SetAngularVelocity(0);
 	}
+	//emit trajectorySave();
 }
 
 bool Box2DPhysicsEngine::isRobotStuck() const
@@ -428,6 +443,7 @@ void Box2DPhysicsEngine::onItemDragged(graphicsUtils::AbstractItem *item)
 				bItem->setRotation(0);
 				bItem->moveToPosition(positionToBox2D(localScenePos + localCenter));
 				bItem->setRotation(angleToBox2D(localRotation));
+				emit trajectoryItemDragged(item->id(), item->pos(), item->rotation());
 			}
 		} else {
 			b2Vec2 pos = positionToBox2D(collidingPolygon.boundingRect().center());

plugins/robots/common/twoDModel/src/engine/model/physics/box2DPhysicsEngine.h

@@ -19,6 +19,7 @@
 #include <qrutils/mathUtils/geometry.h>
 
 #include "twoDModel/engine/model/worldModel.h"
+#include "plugins/robots/common/twoDModel/src/engine/trajectory/trajectorySaver.h"
 
 class b2World;
 class b2Body;
@@ -34,6 +35,10 @@ namespace twoDModel {
 		class SensorItem;
 	}
 
+	namespace trajectory {
+	class TrajectorySaver;
+	}
+
 	namespace model {
 	namespace physics {
 	namespace parts {
@@ -44,6 +49,7 @@ namespace twoDModel {
 
 class Box2DPhysicsEngine : public PhysicsEngineBase
 {
+	Q_OBJECT
 public:
 	Box2DPhysicsEngine(const WorldModel &worldModel, const QList<RobotModel *> &robots);
 	~Box2DPhysicsEngine();
@@ -84,6 +90,12 @@ public slots:
 	void onMousePressed();
 	void onRecoverRobotPosition(const QPointF &pos);
 
+	signals:
+	void trajectoryPosOrAngleChanged(QString id, QPointF pos, qreal rotation);
+	void trajectoryItemDragged(QString id, QPointF pos, qreal rotation);
+	void trajectorySave();
+	void sendNextFrame();
+
 protected:
 	void onPixelsInCmChanged(qreal value) override;
 	void itemAdded(QGraphicsItem *item) override;
@@ -104,9 +116,11 @@ public slots:
 	QMap<QGraphicsItem *, parts::Box2DItem *> mBox2DResizableItems;  // Takes ownership on b2Body instances
 	QMap<QGraphicsItem *, parts::Box2DItem *> mBox2DDynamicItems;  // Doesn't take ownership
 	QMap<RobotModel *, QSet<twoDModel::view::SensorItem *>> mRobotSensors; // Doesn't take ownership
+	QList<parts::Box2DItem *> inMoveItems;
 
 	b2Vec2 mPrevPosition;
 	float mPrevAngle;
+	TrajectorySaver const *mTrajSaver {};
 };
 
 }

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

@@ -68,6 +68,7 @@ void RobotModel::reinit()
 	mBeepTime = 0;
 	mDeltaDegreesOfAngle = 0;
 	mAcceleration = QPointF(0, 0);
+	//emit OnStartPlaying();
 }
 
 void RobotModel::clear()
@@ -111,6 +112,7 @@ RobotModel::Wheel *RobotModel::initMotor(int radius, int speed, uint64_t degrees
 void RobotModel::playSound(int timeInMs)
 {
 	mBeepTime = qMax(mBeepTime, timeInMs);
+	emit trajectorySoundStateChanged(mRobotModel.robotId(), mBeepTime);
 }
 
 void RobotModel::setNewMotor(int speed, uint degrees, const PortInfo &port, bool breakMode)
@@ -179,6 +181,8 @@ void RobotModel::stopRobot()
 	mIsFirstAngleStamp = true;
 	mPosStamps.clear();
 	emit playingSoundChanged(false);
+	emit onStopPlaying();
+	emit trajectorySave();
 	for (auto &&engine : mMotors) {
 		engine->speed = 0;
 		engine->breakMode = true;
@@ -301,11 +305,13 @@ QColor RobotModel::markerColor() const
 void RobotModel::markerDown(const QColor &color)
 {
 	mMarker = color;
+	emit trajectoryMarkerColorChanged(mRobotModel.robotId(), color);
 }
 
 void RobotModel::markerUp()
 {
 	mMarker = Qt::transparent;
+	emit trajectoryMarkerColorChanged(mRobotModel.robotId(), Qt::transparent);
 }
 
 QVector<int> RobotModel::accelerometerReading() const
@@ -372,6 +378,10 @@ void RobotModel::nextFragment()
 	}
 
 	emit robotRided(mPos, mAngle);
+	if (isRiding())
+	{
+		emit trajectoryPosOrAngleChanged(mRobotModel.robotId(), mPos, mAngle);
+	}
 }
 
 QPointF RobotModel::position() const
@@ -384,6 +394,7 @@ void RobotModel::setPosition(const QPointF &newPos)
 	if (newPos != mPos) {
 		mPos = newPos;
 		emit positionChanged(newPos);
+		emit trajectoryOnitemDragged(mRobotModel.robotId(), mPos, mAngle);
 	}
 }
 
@@ -397,6 +408,7 @@ void RobotModel::setRotation(qreal angle)
 	if (!mathUtils::Math::eq(mAngle, angle)) {
 		mAngle = angle;
 		emit rotationChanged(angle);
+		emit trajectoryOnitemDragged(mRobotModel.robotId(), mPos, mAngle);
 	}
 }
 
@@ -415,10 +427,11 @@ bool RobotModel::onTheGround() const
 	return mIsOnTheGround;
 }
 
+
 void RobotModel::serialize(QDomElement &parent) const
 {
 	QDomElement curRobot = parent.ownerDocument().createElement("robot");
-	curRobot.setAttribute("id", mRobotModel.robotId());	
+	curRobot.setAttribute("id", mRobotModel.robotId());
 	mSensorsConfiguration.serialize(curRobot);
 	serializeWheels(curRobot);