From c83b28b3c0db4024a140665607aaba3cf5d758e4 Mon Sep 17 00:00:00 2001
From: William Woodall <wjwwood@gmail.com>
Date: Wed, 12 Oct 2011 23:24:45 -0500
Subject: [PATCH] More work on the hw4.py

---
 hw4/costmap.py       |  1 -
 hw4/costmapwidget.py | 28 ++++++++++++++---
 hw4/hw4.py           | 73 ++++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 97 insertions(+), 5 deletions(-)
 create mode 100644 hw4/hw4.py

diff --git a/hw4/costmap.py b/hw4/costmap.py
index ff4cee9..3560758 100644
--- a/hw4/costmap.py
+++ b/hw4/costmap.py
@@ -22,7 +22,6 @@ def __init__(self, width = 1, height = 1, dtype = 'int16', resolution = 1.0):
         self.data = np.zeros(self.width*self.height, dtype = dtype)
         self.data = self.data.reshape(self.width, self.height)
         
-        self.neighbors = np.zeros(8, dtype=self.dtype)
         self.on_update = None
     
     def __repr__(self):
diff --git a/hw4/costmapwidget.py b/hw4/costmapwidget.py
index e9b26b4..85e7f18 100644
--- a/hw4/costmapwidget.py
+++ b/hw4/costmapwidget.py
@@ -36,7 +36,7 @@ def __init__(self, costmap, parent=None, width=5.0, height=4.0, dpi=100, interpo
         FigureCanvas.__init__(self, self.fig)
         self.setParent(parent)
         
-        self.mpl_connect('pick_event', self.on_pick)
+        self.mpl_connect('button_release_event', self.on_mouse_release)
         
         FigureCanvas.setSizePolicy(self,
                                    QtGui.QSizePolicy.Expanding,
@@ -44,6 +44,8 @@ def __init__(self, costmap, parent=None, width=5.0, height=4.0, dpi=100, interpo
         
         FigureCanvas.updateGeometry(self)
         
+        self.on_mouse_click = self.default_on_mouse_click
+        
         # Idle control
         self.idle = True
         
@@ -53,9 +55,27 @@ def __init__(self, costmap, parent=None, width=5.0, height=4.0, dpi=100, interpo
         # Override costmap on change
         self.costmap.on_update = self.costmap_update_callback
     
-    def on_pick(self, pick_event):
-        """Gets called when an object is picked"""
-        print pick_event
+    def on_mouse_release(self, e):
+        """Gets called when a mouse button is released"""
+        if self.on_mouse_click != None:
+            self.on_mouse_click(e)
+    
+    def default_on_mouse_click(self, e):
+        """Default function for mouse clicking"""
+        if e.xdata == None or e.ydata == None:
+            return
+        from math import floor
+        coord = (floor(e.xdata+0.5)-0.5, floor(e.ydata+0.5)-0.5)
+        if -0.5 > coord[0] < self.costmap.width-1.5 or \
+           -0.5 > coord[1] < self.costmap.height-1.5:
+            return
+        if e.button == 1:
+            self.start = Rectangle(coord, 1, 1, color='g')
+        elif e.button == 3:
+            self.goal = Rectangle(coord, 1, 1, color='k')
+        else:
+            return
+        self.on_map_update()
     
     def connect_stuff(self):
         """Make Qt connections"""
diff --git a/hw4/hw4.py b/hw4/hw4.py
new file mode 100644
index 0000000..d0b99ce
--- /dev/null
+++ b/hw4/hw4.py
@@ -0,0 +1,73 @@
+#!/usr/bin/env python
+
+import sys
+from copy import copy
+
+from PySide import QtCore, QtGui
+
+from costmap import Costmap2D
+from obstacle import Obstacle
+from brushfire import BrushfireExpansion
+from costmapwidget import Costmap2DWidget
+
+DEFAULT_WIDTH = 10
+DEFAULT_HEIGHT = 20
+DEFAULT_RESOLUTION = 1.0
+
+class AlgorithmWidget(QtGui.QGroupBox):
+    def __init__(self, name="Unnamed Algorithm", parent=None):
+        QtGui.QGroupBox.__init__(self, name, parent=parent)
+        
+        self.costmap = Costmap2D(DEFAULT_WIDTH, DEFAULT_HEIGHT, resolution=DEFAULT_RESOLUTION)
+        Obstacle(3,3,3,3).draw(self.costmap)
+        Obstacle(5,9,3,3).draw(self.costmap)
+        Obstacle(4,16,3,3).draw(self.costmap)
+        
+        self.costmap_widget = Costmap2DWidget(self.costmap, parent = self)
+        
+        self.run_button = QtGui.QPushButton("Run")
+        self.step_button = QtGui.QPushButton("Step")
+        self.reset_button = QtGui.QPushButton("Reset")
+        self.buttons = [self.run_button, self.step_button, self.reset_button]
+        
+        self.make_connections()
+    
+    def make_connections(self):
+        """Makes the Qt connections"""
+        self.run_button.clicked.connect(self.on_run_clicked)
+    
+    @QtCore.Slot()
+    def on_run_clicked(self):
+        """Called when run is clicked"""
+        print '(run button) implement me!'
+    
+    def pack_buttons(self):
+        """Puts the buttons into the layout, this lets additional buttons to be inserted"""
+        button_layout = QtGui.QHBoxLayout()
+        for button in self.buttons:
+            button_layout.addWidget(button)
+        
+        layout = QtGui.QVBoxLayout()
+        layout.addWidget(self.costmap_widget)
+        layout.addLayout(button_layout)
+        layout.addStretch(1)
+        self.setLayout(layout)
+    
+
+class Homework4App(QtGui.QWidget):
+    def __init__(self, parent=None):
+        QtGui.QWidget.__init__(self, parent)
+        
+        example = AlgorithmWidget(parent=self)
+        example.pack_buttons()
+        
+        layout = QtGui.QHBoxLayout()
+        layout.addWidget(example)
+        self.setLayout(layout)
+    
+
+if __name__ == '__main__':
+    app = QtGui.QApplication(sys.argv)
+    hw4app = Homework4App()
+    hw4app.show()
+    sys.exit(app.exec_())