From 88886143b162bd83c429186144de990e3ff93b02 Mon Sep 17 00:00:00 2001
From: jvongehr <joel-jerome.vongehr@stud.hs-bochum.de>
Date: Fri, 3 Sep 2021 00:12:52 +0200
Subject: [PATCH] QImage hates me and I hate QImage
---
include/turtlesim/turtle_frame.h | 6 +--
msg/img.msg | 4 +-
src/turtle_frame.cpp | 63 ++++++++++++++++++++++----------
src/turtlesim_xl.cpp | 8 +---
4 files changed, 48 insertions(+), 33 deletions(-)
diff --git a/include/turtlesim/turtle_frame.h b/include/turtlesim/turtle_frame.h
index 0ddd094..34b8f9f 100644
--- a/include/turtlesim/turtle_frame.h
+++ b/include/turtlesim/turtle_frame.h
@@ -33,6 +33,7 @@
#include <QPaintEvent>
#include <QTimer>
#include <QVector>
+#include <turtlesim_xl/img.h>
// This prevents a MOC error with versions of boost >= 1.48
#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829
@@ -59,8 +60,7 @@ public:
std::string spawnTurtle(const std::string& name, float x, float y, float angle);
std::string spawnTurtle(const std::string& name, float x, float y, float angle, size_t index);
- void setShape(std::string shape);
- void drawShape();
+ void drawImage(turtlesim_xl::img img);
protected:
void paintEvent(QPaintEvent* event);
@@ -102,8 +102,6 @@ private:
float meter_;
float width_in_meters_;
float height_in_meters_;
-
- std::string shape;
};
}
diff --git a/msg/img.msg b/msg/img.msg
index 02795b4..f31755a 100644
--- a/msg/img.msg
+++ b/msg/img.msg
@@ -1,4 +1,4 @@
int64 x
int64 y
-# uint64[] img
-string imgPath
\ No newline at end of file
+uint8[] img
+# string imgPath
\ No newline at end of file
diff --git a/src/turtle_frame.cpp b/src/turtle_frame.cpp
index 5b89364..dd272af 100644
--- a/src/turtle_frame.cpp
+++ b/src/turtle_frame.cpp
@@ -28,6 +28,7 @@
*/
#include "turtlesim/turtle_frame.h"
+#include <turtlesim_xl/img.h>
#include <QPointF>
@@ -294,28 +295,50 @@ bool TurtleFrame::resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Resp
return true;
}
-void TurtleFrame::drawShape() {
- path_painter_.setPen(QColor(0xff,0xff,0xff));
- int xTurtleStart = 12*meter_;
- int yTurtleStart = FRAME_HEIGHT - 7*meter_;
- if(shape == "triangle") {
- int xTopRight = xTurtleStart;
- int xTopLeft = xTopRight/2;
- int xBottom = (xTopLeft + xTopRight) / 2;
-
- int yTop = yTurtleStart;
- int yBottom = yTop + 5*meter_;
-
- path_painter_.drawLine(xTopLeft, yTop, xTopRight, yTop);
- path_painter_.drawLine(xTopLeft, yTop, xBottom, yBottom);
- path_painter_.drawLine(xBottom, yBottom, xTopRight, yTop);
- }else {
- path_painter_.drawRect((12-5)*meter_,FRAME_HEIGHT-(7-5)*meter_,5*meter_,-5*meter_);
+void TurtleFrame::drawImage(turtlesim_xl::img imgData) {
+ QPointF point;
+
+ point.setX(130);
+ point.setY(140);
+
+ // const uint8_t *rawImg = imgData.img.data();
+ std::vector<uint8_t> rawImg;
+ for(uint8_t nr : imgData.img) {
+ rawImg.push_back(nr);
}
-}
-void TurtleFrame::setShape(std::string shape) {
- this->shape = shape;
+ const char *c = reinterpret_cast<const char *>(rawImg.data());
+
+ QByteArray byAr = QByteArray(c);
+ // for(uint8_t nr : imgData.img) {
+ // // byAr.append(nr);
+ // // char byte = nr;
+ // // byAr.append(byte);
+
+ // // QByteArray tmp = QByteArray::fromRawData(&byte, sizeof(nr));
+ // // byAr += tmp;
+
+ // const char *c = reinterpret_cast<const char *>(&nr);
+ // byAr.append(c);
+
+ // if(i % 250 == 0 && nr != 0) {
+ // ROS_INFO("img data: %d; char: %d; QByte: %d", nr, c, byAr.at(i));
+ // }
+ // }
+ ROS_INFO("Img Count: %d; QByte Count: %d", imgData.img.size() , byAr.size());
+
+ QImage img;
+ img.loadFromData(byAr);
+
+ ROS_INFO("Draw msg img at: x = %d; y = %d", 130, 140);
+ path_painter_.drawImage(point, img);
+
+ // ROS_INFO("Draw loaded img at: x = %d; y = %d", 230, 240);
+ // point.setX(230);
+ // point.setY(240);
+ // img.load("/home/tsu/catkin_ws/src/turtleswarm/images/test.png");
+
+ // path_painter_.drawImage(point, img);
}
}
diff --git a/src/turtlesim_xl.cpp b/src/turtlesim_xl.cpp
index 584f20d..57ecea8 100644
--- a/src/turtlesim_xl.cpp
+++ b/src/turtlesim_xl.cpp
@@ -36,7 +36,6 @@
class TurtleApp : public QApplication
{
- turtlesim_xl::img shapeData;
ros::Subscriber shapeSub;
turtlesim::TurtleFrame* frame;
public:
@@ -57,9 +56,6 @@ public:
int exec(std::string shape = "rectangle")
{
- frame->setShape(shape);
- ROS_INFO("Offset before calling draw: x = %d; y = %d", shapeData.x, shapeData.y);
- frame->drawShape();
frame->show();
return QApplication::exec();
@@ -67,10 +63,8 @@ public:
private:
void updateShape(turtlesim_xl::img data) {
- shapeData = data;
ROS_INFO("NEW SHAPE DATA SAVED");
- frame->setShape("triangle");
- frame->drawShape();
+ frame->drawImage(data);
}
};
--
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