arch: Update the SceneObject contructor

Redefine the cosntructor for easier instantion of objects that we load from a loader class
dervelakos · Jan 2, 2025 · 113faa4 · 113faa4
1 parent 44e9e79
commit 113faa4
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Showing 9 changed files with 141 additions and 26 deletions.
diff --git a/models/car.yaml b/models/car.yaml
@@ -1,6 +1,8 @@
 width: 80.0
 length: 150.0
 
+resizable: False
+
 mass: 20.0
 friction: 25.0
 

diff --git a/models/wall.yaml b/models/wall.yaml
@@ -0,0 +1,6 @@
+color: [255, 100, 50, 255]  # Compressed format
+
+width: 10.0
+length: 100.0
+
+resizable: True
diff --git a/models/white-truck.yaml b/models/white-truck.yaml
@@ -2,6 +2,8 @@
 width: 93.75
 length: 421.5
 
+resizable: False
+
 mass: 100.0
 friction: 200.0
 

diff --git a/scenarios/campain-1.yaml b/scenarios/campain-1.yaml
@@ -1,16 +1,104 @@
 aliases:
-- name: Wall
-  model: null
+- model: models/wall.yaml
+  name: Wall
   render: RectangleRender
-  type: Wall
-- name: Vehicle
-  model: null
+  type: SceneObject
+- model: models/car.yaml
+  name: Car
   render: SimpleVehicleRender
   type: Vehicle
-- name: WhiteTruck
-  model: "models/white-truck.yaml"
+- model: models/white-truck.yaml
+  name: WhiteTruck
   render: SimpleVehicleRender
   type: Vehicle
 objects:
   dynamic: []
-  static: []
+  static:
+  - alias: Wall
+    angle: -0.06200839517698959
+    dim:
+    - 10
+    - 924.0005411253827
+    loc:
+    - 1050.0
+    - 197.0
+  - alias: Wall
+    angle: 89.83582916128299
+    dim:
+    - 10
+    - 698.0028653236318
+    loc:
+    - 1508.0
+    - 542.0
+  - alias: Wall
+    angle: -179.72716501693193
+    dim:
+    - 10
+    - 1050.0119046944183
+    loc:
+    - 987.0
+    - 863.0
+  - alias: Wall
+    angle: -90.22872445172517
+    dim:
+    - 10
+    - 501.0039920000638
+    loc:
+    - 465.0
+    - 613.0
+  - alias: Car
+    angle: -90.94695144677347
+    dim:
+    - 80.0
+    - 150.0
+    loc:
+    - 1467.0
+    - 764.0
+  - alias: Car
+    angle: -93.46822925891715
+    dim:
+    - 80.0
+    - 150.0
+    loc:
+    - 1469.0
+    - 336.0
+  - alias: Car
+    angle: -179.11859600341788
+    dim:
+    - 80.0
+    - 150.0
+    loc:
+    - 1280.0
+    - 804.0
+  - alias: Car
+    angle: 180.0
+    dim:
+    - 80.0
+    - 150.0
+    loc:
+    - 1013.0
+    - 806.0
+  - alias: Car
+    angle: 179.38394009160078
+    dim:
+    - 80.0
+    - 150.0
+    loc:
+    - 685.0
+    - 796.0
+  - alias: WhiteTruck
+    angle: 179.30130561701654
+    dim:
+    - 93.75
+    - 421.5
+    loc:
+    - 1130.0
+    - 531.0
+  - alias: WhiteTruck
+    angle: 179.83440572259718
+    dim:
+    - 93.75
+    - 421.5
+    loc:
+    - 999.0
+    - 368.0
diff --git a/src/GraphicalWindow.py b/src/GraphicalWindow.py
@@ -55,8 +55,9 @@ def createObject(self):
         if self.editMode:
             alias = self.aliases[self.selectedListObject]
             tmp = alias.genObject([center_x, center_y],
-                                  angle+90,
-                                  [length, width])
+                                  angle)
+            if tmp.isResizable():
+                tmp.setDimensions(width, length)
             tmp.setAlias(alias)
             self.simEngine.registerStaticObject(tmp)
             self.renderEngine.registerObject(alias.genRender(tmp))

diff --git a/src/Main.py b/src/Main.py
@@ -8,7 +8,6 @@
 from PyQt5.QtWidgets import QApplication
 
 from VehicleRender import SimpleVehicleRender, RectangleRender
-from SceneObjects import Wall
 from Vehicle import Vehicle
 from VehicleImporter import easyImport
 from Sensors import Lidar

diff --git a/src/ScenarioLoader.py b/src/ScenarioLoader.py
@@ -18,10 +18,10 @@ def __init__(self, classType, model, render, name):
         else:
             self.data = None
 
-    def genObject(self, loc, angle, dim):
+    def genObject(self, loc, angle):
         if self.data:
-            return globals()[self.classType](loc, angle, dim, data=self.data)
-        return globals()[self.classType](loc, angle, dim)
+            return globals()[self.classType](loc, angle, data=self.data)
+        return globals()[self.classType](loc, angle)
 
     def genRender(self, obj):
         if self.data:
@@ -108,7 +108,8 @@ def instantiateScenario(self, simEngine, renderEngine):
             for obj in self.data['objects']['static']:
                 print (obj)
                 alias = self.aliases[obj['alias']]
-                tmp = alias.genObject(obj['loc'], obj['angle'], obj['dim'])
+                tmp = alias.genObject(obj['loc'], obj['angle'])
+                tmp.setDimensions(obj['dim'][0],obj['dim'][1])
                 tmp.setAlias(alias)
                 simEngine.registerStaticObject(tmp)
                 if renderEngine is None:

diff --git a/src/SceneObjects.py b/src/SceneObjects.py
@@ -3,14 +3,21 @@
 from Utils import Vector2D
 
 class SceneObject:
-    def __init__(self, initialPos, rotation, dimensions, data=None):
+    def __init__(self, initialPos, rotation, data):
 
         self.pos = Vector2D(initialPos[0], initialPos[1])
         self.angle = rotation
 
         #We support only rectanglular objects :P
-        self.width = dimensions[0]
-        self.length = dimensions[1]
+        if 'width' in data:
+            self.width = data['width']
+        if 'length' in data:
+            self.width = data['length']
+
+        if 'resizable' in data:
+            self.resizable = data['resizable']
+        else:
+            self.resizable = False
 
         self.boundOffset = Vector2D(0.0, 0.0)
 
@@ -32,12 +39,21 @@ def setAngle(self, angle):
     def getAngle(self):
         return self.angle
 
+    def isResizable(self):
+        return self.resizable
+
     def setAlias(self, alias):
         self.alias = alias
 
     def getAlias(self):
         return self.alias
 
+    def setDimensions(self, width=None, length=None):
+        if width:
+            self.width = width
+        if length:
+            self.length = length
+
     def getCorners(self):
         """
         Calculate the coordinates of the rectangle's four corners.
@@ -196,6 +212,6 @@ def checkCollision(self, sceneObject):
     def __str__(self):
         return f"x:{self.x}, y: {self.y}, angle: {self.angle}, width: {self.width}, length: {self.length}"
 
-class Wall(SceneObject):
-    def __init__(self, initialPos, rotation, dimensions=[100.0, 10.0]):
-        super().__init__(initialPos, rotation, dimensions)
+#class Wall(SceneObject):
+#    def __init__(self, initialPos, rotation, dimensions=[100.0, 10.0]):
+#        super().__init__(initialPos, rotation, dimensions)
diff --git a/src/VehicleRender.py b/src/VehicleRender.py
@@ -5,10 +5,12 @@ class BasicRender:
     def drawMain(self, painter):
         pass
 
-class RectangleRender:
-    def __init__(self, parent, color=QColor(0, 255, 0), data=None):
+class RectangleRender(BasicRender):
+    def __init__(self, parent, data=None):
         self.parent = parent
-        self.color = color
+
+        if 'color' in data:
+            self.color = QColor(*data['color'])
 
         if data and 'image' in data:
             self.image = QImage(data["image"]).scaled(int(self.parent.length),
@@ -53,8 +55,6 @@ def drawImage(self, painter):
         painter.drawImage(int(-self.parent.length/2),
                          int(-self.parent.width/2),
                          self.image)
-                         #sw=int(self.parent.length),
-                         #sh=int(self.parent.width))
 
         painter.restore()