C++Qt5实现雷达及余晖扫描，探测发现障碍物距离及角度

#include "RadarSimulator.h" #include <QDesktopWidget> #include <QApplication> #include <QFontDatabase> RadarSimulator::RadarSimulator(QWidget *parent) : QWidget(parent) { iDistance = 0; iAngle = 0; setWindowFlags(Qt::FramelessWindowHint); QDesktopWidget *desktop = QApplication::desktop(); QRect screen = desktop->availableGeometry (); width = screen.width(); height = screen.height(); resize(width,height); setAutoFillBackground(true); setStyleSheet("background-color: rgb(31,31,31)"); int fontId = QFontDatabase::addApplicationFont(":/resfile/SourceHanSansCN-Bold.otf"); if(fontId != -1) { QStringList androidFont = QFontDatabase::applicationFontFamilies(fontId); if(androidFont.size() != 0) { font_title = androidFont.at(0); font_title.setPointSize(20); } } QColor color(98,245,31); pen_draw.setWidthF(2); pen_draw.setColor(color); font_txt.setPointSize(16); font_Reslt.setPointSize(20); btnExit = new QPushButton(this); btnExit->setIcon(QIcon(":/resfile/exit.png")); btnExit->setIconSize(QSize(104, 48)); btnExit->setStyleSheet("background:transparent"); btnExit->setAttribute(Qt::WA_DeleteOnClose); connect(btnExit, SIGNAL(clicked()), this, SLOT(closeExp())); btnExit->move(width-110, 10); SerialOpen(); bseqflow = false; bRecyle = false; bNeedErase = false; } void RadarSimulator::SerialOpen() { date_maker=new QTimer; connect(date_maker, SIGNAL(timeout()), this, SLOT(RadarData())); date_maker->start(20); } void RadarSimulator::RadarData() { if(!bseqflow){ iAngle += 1; if(iAngle >= 180){ bseqflow = true; bRecyle = true; } } else{ iAngle -= 1; if(iAngle <= 0){ bseqflow = false; bRecyle = true; } } if(iAngle > 30 && iAngle < 120 ){ // iDistance ++; // if(iDistance >= 80) iDistance = 60; }else iDistance = 0; // qDebug("Distance:%d, Angle:%d", iDistance, iAngle); update(); } void RadarSimulator::closeExp() { close(); } void RadarSimulator::drawInit() { QPainter *painter = new QPainter(this); painter->setRenderHint(QPainter::Antialiasing); painter->setRenderHint(QPainter::SmoothPixmapTransform); painter->setRenderHint(QPainter::TextAntialiasing); painter->save(); painter->setPen(pen_draw); painter->setFont(font_title); painter->drawText(10, height*0.043, "雷达模拟实验"); painter->restore(); drawRadar(painter); drawText(painter);//角度刻度 delete painter; } void RadarSimulator::paintEvent( QPaintEvent *e ) { drawInit(); drawLine(); drawObject(); } void RadarSimulator::drawRadar(QPainter *painter) { painter->save(); painter->setPen(pen_draw); painter->translate(width/2,0); double dOrigpos = height-height*0.074; painter->drawArc(-(width-width*0.0825)/2, dOrigpos-(width-width*0.0825)/2,(width-width*0.0825),(width-width*0.0825),0*16,180* 16); painter->drawArc(-(width-width*0.27)/2,dOrigpos-(width-width*0.27)/2,(width-width*0.27),(width-width*0.27),0*16,180* 16); painter->drawArc(-(width-width*0.479)/2,dOrigpos-(width-width*0.479)/2,(width-width*0.479),(width-width*0.479),0*16,180* 16); painter->drawArc(-(width-width*0.687)/2,dOrigpos-(width-width*0.687)/2,(width-width*0.687),(width-width*0.687),0*16,180* 16); painter->drawArc(-(width-width*0.887)/2,dOrigpos-(width-width*0.887)/2,(width-width*0.887),(width-width*0.887),0*16,180* 16); painter->restore(); painter->save(); painter->setPen(pen_draw); painter->translate(width/2,height-height*0.074); painter->drawLine(-width/2,0,width/2,0); double dRadius = width/2*0.96; painter->drawLine(0,0,(-dRadius)*qCos(qDegreesToRadians(30.0)), (-dRadius)*qSin(qDegreesToRadians(30.0))); painter->drawLine(0,0,(-dRadius)*qCos(qDegreesToRadians(60.0)), (-dRadius)*qSin(qDegreesToRadians(60.0))); painter->drawLine(0,0,(-dRadius)*qCos(qDegreesToRadians(90.0)), (-dRadius)*qSin(qDegreesToRadians(90.0))); painter->drawLine(0,0,(-dRadius)*qCos(qDegreesToRadians(120.0)),(-dRadius)*qSin(qDegreesToRadians(120.0))); painter->drawLine(0,0,(-dRadius)*qCos(qDegreesToRadians(150.0)),(-dRadius)*qSin(qDegreesToRadians(150.0))); painter->drawLine((-dRadius)*qCos(qDegreesToRadians(30.0)),0,dRadius,0); painter->restore(); } //实时扫描 void RadarSimulator::drawLine() { QPainter *painter = new QPainter(this); painter->save(); QPen pen; QColor color(30,250,60); pen.setWidthF(16); pen.setColor(color); //添加线的颜色 painter->setPen(pen); painter->translate(width/2,height-height*0.074); // draws the line according to the angle //painter->drawLine(0,0,(height-height*0.12)*qCos(qDegreesToRadians((double)iAngle)),-(height-height*0.12)*qSin(qDegreesToRadians((double)iAngle))); if(bRecyle){ veclines.clear(); bRecyle = false; bNeedErase = true; } if(veclines.size() >= 30){ veclines.pop_front(); } QLineF line(0, 0,(height-height*0.12)*qCos(qDegreesToRadians((double)iAngle)), -(height-height*0.12)*qSin(qDegreesToRadians((double)iAngle))); veclines.push_back(line); //qDebug("***DrawLine:Angle:%d", iAngle); int line_cnt = veclines.size(); for(int num = 0; num < line_cnt; num++) { float opc = 0.3; if(num != 0){ opc = (float)2.0*num / line_cnt; if(opc <= 0.3) opc = 0.3; } painter->setOpacity(opc); painter->drawLine(veclines[num]); } // painter->drawLines(veclines); painter->restore(); delete(painter); } //绘制扫描的物体 void RadarSimulator::drawObject() { QPainter *painter = new QPainter(this); painter->save(); QPen pen; QColor color(255,10,10); pen.setWidthF(16); pen.setColor(color); //添加线的颜色 painter->setPen(pen); painter->translate(width/2,height-height*0.074); // moves the starting coordinats to new location float pixsDistance = iDistance*((height-height*0.1666)*1/180); // covers the distance from the sensor from cm to pixels // limiting the range to 40 cms if(iDistance<180 && iDistance > 0) { if(bNeedErase){ vecObjlines.clear(); bNeedErase = false; } QLineF line(pixsDistance*qCos(qDegreesToRadians((double)iAngle)), -pixsDistance*qSin(qDegreesToRadians((double)iAngle)), (width-width*0.538)*qCos(qDegreesToRadians((double)iAngle)), -(width-width*0.538)*qSin(qDegreesToRadians((double)iAngle))); vecObjlines.push_back(line); } int line_cnt = vecObjlines.size(); for(int num = 0; num < line_cnt; num++) { float opc = 0.3; if(num != 0){ opc = (float)2.0*num / line_cnt; if(opc <= 0.3) opc = 0.3; } painter->setOpacity(opc); painter->drawLine(vecObjlines[num]); } // painter->drawLines(vecObjlines); painter->restore(); delete(painter); } void RadarSimulator::drawText(QPainter *painter) { painter->save(); painter->setBrush(Qt::black); painter->drawRect(0,height-height*0.070,width,height*0.070); painter->restore(); painter->save(); QString noObject; if(iDistance>180 || iDistance <= 2) { noObject = "超出范围"; } else { noObject = "已探测到"; } painter->setPen(pen_draw); painter->setFont(font_txt); painter->drawText(width-wi