#!/usr/bin/env python
#############################################################################
##
## Copyright (C) 2013 Riverbank Computing Limited.
## Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies).
## All rights reserved.
##
## This file is part of the examples of PyQt.
##
## $QT_BEGIN_LICENSE:BSD$
## You may use this file under the terms of the BSD license as follows:
##
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## modification, are permitted provided that the following conditions are
## met:
## * Redistributions of source code must retain the above copyright
## notice, this list of conditions and the following disclaimer.
## * Redistributions in binary form must reproduce the above copyright
## notice, this list of conditions and the following disclaimer in
## the documentation and/or other materials provided with the
## distribution.
## * Neither the name of Nokia Corporation and its Subsidiary(-ies) nor
## the names of its contributors may be used to endorse or promote
## products derived from this software without specific prior written
## permission.
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## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
## "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
## LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
## A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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## $QT_END_LICENSE$
##
#############################################################################
import math
from PyQt5.QtCore import pyqtSlot, Q_CLASSINFO, QRectF, Qt
from PyQt5.QtGui import QBrush, QPainter, QTransform
from PyQt5.QtWidgets import (QApplication, QGraphicsItem, QGraphicsObject,
QGraphicsScene, QGraphicsView)
from PyQt5.QtDBus import QDBusAbstractAdaptor, QDBusConnection
class Car(QGraphicsObject):
def __init__(self):
super(Car, self).__init__()
self.color = QBrush(Qt.green)
self.wheelsAngle = 0.0
self.speed = 0.0
self.startTimer(1000 // 33)
self.setFlag(QGraphicsItem.ItemIsMovable, True)
self.setFlag(QGraphicsItem.ItemIsFocusable, True)
def accelerate(self):
if self.speed < 10:
self.speed += 1
def decelerate(self):
if self.speed > -10:
self.speed -= 1
def turnLeft(self):
if self.wheelsAngle > -30:
self.wheelsAngle -= 5
def turnRight(self):
if self.wheelsAngle < 30:
self.wheelsAngle += 5
def boundingRect(self):
return QRectF(-35, -81, 70, 115)
def timerEvent(self, event):
axelDistance = 54.0
wheelsAngleRads = (self.wheelsAngle * math.pi) / 180
turnDistance = math.cos(wheelsAngleRads) * axelDistance * 2
turnRateRads = wheelsAngleRads / turnDistance
turnRate = (turnRateRads * 180) / math.pi
rotation = self.speed * turnRate
self.setTransform(QTransform().rotate(rotation), True)
self.setTransform(QTransform.fromTranslate(0, -self.speed), True)
self.update()
def paint(self, painter, option, widget):
painter.setBrush(Qt.gray)
painter.drawRect(-20, -58, 40, 2) # Front axel
painter.drawRect(-20, 7, 40, 2) # Rear axel
painter.setBrush(self.color)
painter.drawRect(-25, -79, 50, 10) # Front wing
painter.drawEllipse(-25, -48, 50, 20) # Side pods
painter.drawRect(-25, -38, 50, 35) # Side pods
painter.drawRect(-5, 9, 10, 10) # Back pod
painter.drawEllipse(-10, -81, 20, 100) # Main body
painter.drawRect(-17, 19, 34, 15) # Rear wing
painter.setBrush(Qt.black)
painter.drawPie(-5, -51, 10, 15, 0, 180 * 16)
painter.drawRect(-5, -44, 10, 10) # Cockpit
painter.save()
painter.translate(-20, -58)
painter.rotate(self.wheelsAngle)
painter.drawRect(-10, -7, 10, 15) # Front left
painter.restore()
painter.save()
painter.translate(20, -58)
painter.rotate(self.wheelsAngle)
painter.drawRect(0, -7, 10, 15) # Front right
painter.restore()
painter.drawRect(-30, 0, 12, 17) # Rear left
painter.drawRect(19, 0, 12, 17) # Rear right
class CarInterfaceAdaptor(QDBusAbstractAdaptor):
Q_CLASSINFO("D-Bus Interface", 'org.example.Examples.CarInterface')
Q_CLASSINFO("D-Bus Introspection", ''
' <interface name="org.example.Examples.CarInterface">\n'
' <method name="accelerate"/>\n'
' <method name="decelerate"/>\n'
' <method name="turnLeft"/>\n'
' <method name="turnRight"/>\n'
' </interface>\n'
'')
def __init__(self, parent):
super(CarInterfaceAdaptor, self).__init__(parent)
self.setAutoRelaySignals(True)
@pyqtSlot()
def accelerate(self):
self.parent().accelerate()
@pyqtSlot()
def decelerate(self):
self.parent().decelerate()
@pyqtSlot()
def turnLeft(self):
self.parent().turnLeft()
@pyqtSlot()
def turnRight(self):
self.parent().turnRight()
if __name__ == '__main__':
import sys
app = QApplication(sys.argv)
scene = QGraphicsScene()
scene.setSceneRect(-500, -500, 1000, 1000)
scene.setItemIndexMethod(QGraphicsScene.NoIndex)
car = Car()
scene.addItem(car)
view = QGraphicsView(scene)
view.setRenderHint(QPainter.Antialiasing)
view.setBackgroundBrush(Qt.darkGray)
view.setWindowTitle("Qt DBus Controlled Car")
view.resize(400, 300)
view.show()
a = CarInterfaceAdaptor(car)
connection = QDBusConnection.sessionBus()
connection.registerObject('/Car', car)
connection.registerService('org.example.CarExample')
rc = app.exec_()
# Make sure things get destroyed in the right order.
del view
sys.exit(rc)
