Added resize, deletion, selection according with tabs, zoom, ...

crazyflie_ws/sandbox/crazypkg/gui/untitled/cornergrabber.h

@@ -31,7 +31,7 @@ public:
     qreal mouseDownY;
 
     enum {kMouseReleased=0, kMouseDown, kMouseMoving}; ///< define the mouse states
-    enum {bottomLeft, topLeft, topRight, bottomRight};
+    enum {noCorner, bottomLeft, topLeft, topRight, bottomRight};
 
 
 private:

crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.cpp

 #include "mainguiwindow.h"
 #include "ui_mainguiwindow.h"
 
+#include <QObject>
 #include <QDoubleSpinBox>
 #include <QTextEdit>
 #include <QString>
@@ -38,11 +39,11 @@ MainGUIWindow::~MainGUIWindow()
     delete ui;
 }
 
-void MainGUIWindow::_refresh_tabs()
+void MainGUIWindow::set_tabs(int n)
 {
     ui->tabWidget->clear();
     std::string str;
-    for (int i = 0; i < ui->spinBoxNumCrazyflies->value(); i++)
+    for (int i = 0; i < n; i++)
     {
         str = "CrazyFly ";
         str += std::to_string(i+1);
@@ -58,16 +59,13 @@ void MainGUIWindow::_init()
     //scene->setSceneRect(QRectF(QPointF(-100, 100), QSizeF(200, 200)));
 
     ui->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
-    item1 = new QGraphicsRectItem(0,0,100,100);
-    item1->setBrush(QBrush(Qt::blue));
-    scene->addText("Hello world!");
-    // scene->addRect(rect, QPen(Qt::black), QBrush(Qt::blue));
-    scene->addItem(item1);
-
     ui->graphicsView->setScene(scene);
 
-    ui->spinBoxNumCrazyflies->setMaximum(N_MAX_CRAZYFLIES);
-    _refresh_tabs();
+
+    QObject::connect(ui->tabWidget, SIGNAL(tabCloseRequested(int)), scene, SLOT(removeRectangle(int)));
+    QObject::connect(scene, SIGNAL(numRectanglesChanged(int)), this, SLOT(set_tabs(int)));
+    QObject::connect(ui->tabWidget, SIGNAL(currentChanged(int)), scene, SLOT(setSelectedRectangle(int)));
+    QObject::connect(scene, SIGNAL(rectangleSelected(int)), ui->tabWidget, SLOT(setCurrentIndex(int)));
 }
 
 #ifndef DEBUG_GUI
@@ -133,6 +131,8 @@ void MainGUIWindow::init()
     //refreshScreen();
 }
 
+
+
 // void MainGUIWindow::refreshScreen()
 // {
 // //    for(int i=0;i<countPIDControllers;i++)
@@ -942,17 +942,3 @@ void CSetpointQueue::print()
 
 // }
 #endif  // DEBUG_GUI
-void MainGUIWindow::on_spinBoxNumCrazyflies_valueChanged(int arg1)
-{
-    _refresh_tabs();
-}
-
-void MainGUIWindow::on_spinBoxNumCrazyflies_editingFinished()
-{
-
-}
-
-void MainGUIWindow::on_graphicsView_rubberBandChanged(const QRect &viewportRect, const QPointF &fromScenePoint, const QPointF &toScenePoint)
-{
-
-}

crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.h

@@ -67,6 +67,7 @@ public:
     #ifndef DEBUG_GUI
     void init();
     #endif
+
 public slots:
     #ifndef DEBUG_GUI
     void runCallbacks();
@@ -128,11 +129,8 @@ private slots:
    // void on_buttonStop_2_clicked();
    #endif
 
-    void on_spinBoxNumCrazyflies_valueChanged(int arg1);
-
-    void on_spinBoxNumCrazyflies_editingFinished();
+    void set_tabs(int n);
 
-    void on_graphicsView_rubberBandChanged(const QRect &viewportRect, const QPointF &fromScenePoint, const QPointF &toScenePoint);
 
 private:
 
@@ -141,7 +139,6 @@ private:
     QGraphicsRectItem* item1;
 
     void _init();
-    void _refresh_tabs();
 
     #ifndef DEBUG_GUI
     // void refreshScreen();

crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.ui

@@ -44,14 +44,17 @@
      <property name="currentIndex">
       <number>-1</number>
      </property>
+     <property name="tabsClosable">
+      <bool>true</bool>
+     </property>
     </widget>
    </widget>
    <widget class="QFrame" name="frame_drawing">
     <property name="geometry">
      <rect>
-      <x>30</x>
+      <x>20</x>
       <y>20</y>
-      <width>582</width>
+      <width>641</width>
       <height>469</height>
      </rect>
     </property>
@@ -61,13 +64,13 @@
     <property name="frameShadow">
      <enum>QFrame::Raised</enum>
     </property>
-    <widget class="QGraphicsView" name="graphicsView">
+    <widget class="myGraphicsView" name="graphicsView">
      <property name="geometry">
       <rect>
-       <x>30</x>
-       <y>20</y>
-       <width>531</width>
-       <height>430</height>
+       <x>10</x>
+       <y>9</y>
+       <width>621</width>
+       <height>451</height>
       </rect>
      </property>
      <property name="mouseTracking">
@@ -78,9 +81,9 @@
    <widget class="QFrame" name="frame_3">
     <property name="geometry">
      <rect>
-      <x>629</x>
+      <x>669</x>
       <y>21</y>
-      <width>581</width>
+      <width>541</width>
       <height>469</height>
      </rect>
     </property>
@@ -91,25 +94,6 @@
      <enum>QFrame::Raised</enum>
     </property>
    </widget>
-   <widget class="QSpinBox" name="spinBoxNumCrazyflies">
-    <property name="geometry">
-     <rect>
-      <x>1340</x>
-      <y>560</y>
-      <width>47</width>
-      <height>23</height>
-     </rect>
-    </property>
-    <property name="readOnly">
-     <bool>false</bool>
-    </property>
-    <property name="accelerated">
-     <bool>false</bool>
-    </property>
-    <property name="maximum">
-     <number>6</number>
-    </property>
-   </widget>
   </widget>
   <widget class="QMenuBar" name="menuBar">
    <property name="geometry">
@@ -132,6 +116,13 @@
   <widget class="QStatusBar" name="statusBar"/>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
+ <customwidgets>
+  <customwidget>
+   <class>myGraphicsView</class>
+   <extends>QGraphicsView</extends>
+   <header>myGraphicsView.h</header>
+  </customwidget>
+ </customwidgets>
  <resources/>
  <connections/>
 </ui>

crazyflie_ws/sandbox/crazypkg/gui/untitled/moc_mainguiwindow.cpp

@@ -19,8 +19,8 @@
 
 QT_BEGIN_MOC_NAMESPACE
 struct qt_meta_stringdata_MainGUIWindow_t {
-    QByteArrayData data[9];
-    char stringdata0[172];
+    QByteArrayData data[4];
+    char stringdata0[26];
 };
 #define QT_MOC_LITERAL(idx, ofs, len) \
     Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
@@ -30,20 +30,12 @@ struct qt_meta_stringdata_MainGUIWindow_t {
 static const qt_meta_stringdata_MainGUIWindow_t qt_meta_stringdata_MainGUIWindow = {
     {
 QT_MOC_LITERAL(0, 0, 13), // "MainGUIWindow"
-QT_MOC_LITERAL(1, 14, 36), // "on_spinBoxNumCrazyflies_value..."
-QT_MOC_LITERAL(2, 51, 0), // ""
-QT_MOC_LITERAL(3, 52, 4), // "arg1"
-QT_MOC_LITERAL(4, 57, 39), // "on_spinBoxNumCrazyflies_editi..."
-QT_MOC_LITERAL(5, 97, 33), // "on_graphicsView_rubberBandCha..."
-QT_MOC_LITERAL(6, 131, 12), // "viewportRect"
-QT_MOC_LITERAL(7, 144, 14), // "fromScenePoint"
-QT_MOC_LITERAL(8, 159, 12) // "toScenePoint"
+QT_MOC_LITERAL(1, 14, 8), // "set_tabs"
+QT_MOC_LITERAL(2, 23, 0), // ""
+QT_MOC_LITERAL(3, 24, 1) // "n"
 
     },
-    "MainGUIWindow\0on_spinBoxNumCrazyflies_valueChanged\0"
-    "\0arg1\0on_spinBoxNumCrazyflies_editingFinished\0"
-    "on_graphicsView_rubberBandChanged\0"
-    "viewportRect\0fromScenePoint\0toScenePoint"
+    "MainGUIWindow\0set_tabs\0\0n"
 };
 #undef QT_MOC_LITERAL
 
@@ -53,7 +45,7 @@ static const uint qt_meta_data_MainGUIWindow[] = {
        7,       // revision
        0,       // classname
        0,    0, // classinfo
-       3,   14, // methods
+       1,   14, // methods
        0,    0, // properties
        0,    0, // enums/sets
        0,    0, // constructors
@@ -61,14 +53,10 @@ static const uint qt_meta_data_MainGUIWindow[] = {
        0,       // signalCount
 
  // slots: name, argc, parameters, tag, flags
-       1,    1,   29,    2, 0x08 /* Private */,
-       4,    0,   32,    2, 0x08 /* Private */,
-       5,    3,   33,    2, 0x08 /* Private */,
+       1,    1,   19,    2, 0x08 /* Private */,
 
  // slots: parameters
     QMetaType::Void, QMetaType::Int,    3,
-    QMetaType::Void,
-    QMetaType::Void, QMetaType::QRect, QMetaType::QPointF, QMetaType::QPointF,    6,    7,    8,
 
        0        // eod
 };
@@ -79,9 +67,7 @@ void MainGUIWindow::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _i
         MainGUIWindow *_t = static_cast<MainGUIWindow *>(_o);
         Q_UNUSED(_t)
         switch (_id) {
-        case 0: _t->on_spinBoxNumCrazyflies_valueChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
-        case 1: _t->on_spinBoxNumCrazyflies_editingFinished(); break;
-        case 2: _t->on_graphicsView_rubberBandChanged((*reinterpret_cast< const QRect(*)>(_a[1])),(*reinterpret_cast< const QPointF(*)>(_a[2])),(*reinterpret_cast< const QPointF(*)>(_a[3]))); break;
+        case 0: _t->set_tabs((*reinterpret_cast< int(*)>(_a[1]))); break;
         default: ;
         }
     }
@@ -112,13 +98,13 @@ int MainGUIWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
     if (_id < 0)
         return _id;
     if (_c == QMetaObject::InvokeMetaMethod) {
-        if (_id < 3)
+        if (_id < 1)
             qt_static_metacall(this, _c, _id, _a);
-        _id -= 3;
+        _id -= 1;
     } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
-        if (_id < 3)
+        if (_id < 1)
             *reinterpret_cast<int*>(_a[0]) = -1;
-        _id -= 3;
+        _id -= 1;
     }
     return _id;
 }

crazyflie_ws/sandbox/crazypkg/gui/untitled/moc_myGraphicsScene.cpp

@@ -19,8 +19,8 @@
 
 QT_BEGIN_MOC_NAMESPACE
 struct qt_meta_stringdata_myGraphicsScene_t {
-    QByteArrayData data[1];
-    char stringdata0[16];
+    QByteArrayData data[8];
+    char stringdata0[106];
 };
 #define QT_MOC_LITERAL(idx, ofs, len) \
     Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
@@ -29,10 +29,19 @@ struct qt_meta_stringdata_myGraphicsScene_t {
     )
 static const qt_meta_stringdata_myGraphicsScene_t qt_meta_stringdata_myGraphicsScene = {
     {
-QT_MOC_LITERAL(0, 0, 15) // "myGraphicsScene"
+QT_MOC_LITERAL(0, 0, 15), // "myGraphicsScene"
+QT_MOC_LITERAL(1, 16, 20), // "numRectanglesChanged"
+QT_MOC_LITERAL(2, 37, 0), // ""
+QT_MOC_LITERAL(3, 38, 6), // "newNum"
+QT_MOC_LITERAL(4, 45, 17), // "rectangleSelected"
+QT_MOC_LITERAL(5, 63, 5), // "index"
+QT_MOC_LITERAL(6, 69, 15), // "removeRectangle"
+QT_MOC_LITERAL(7, 85, 20) // "setSelectedRectangle"
 
     },
-    "myGraphicsScene"
+    "myGraphicsScene\0numRectanglesChanged\0"
+    "\0newNum\0rectangleSelected\0index\0"
+    "removeRectangle\0setSelectedRectangle"
 };
 #undef QT_MOC_LITERAL
 
@@ -42,22 +51,62 @@ static const uint qt_meta_data_myGraphicsScene[] = {
        7,       // revision
        0,       // classname
        0,    0, // classinfo
-       0,    0, // methods
+       4,   14, // methods
        0,    0, // properties
        0,    0, // enums/sets
        0,    0, // constructors
        0,       // flags
-       0,       // signalCount
+       2,       // signalCount
+
+ // signals: name, argc, parameters, tag, flags
+       1,    1,   34,    2, 0x06 /* Public */,
+       4,    1,   37,    2, 0x06 /* Public */,
+
+ // slots: name, argc, parameters, tag, flags
+       6,    1,   40,    2, 0x0a /* Public */,
+       7,    1,   43,    2, 0x0a /* Public */,
+
+ // signals: parameters
+    QMetaType::Void, QMetaType::Int,    3,
+    QMetaType::Void, QMetaType::Int,    5,
+
+ // slots: parameters
+    QMetaType::Void, QMetaType::Int,    5,
+    QMetaType::Void, QMetaType::Int,    5,
 
        0        // eod
 };
 
 void myGraphicsScene::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
 {
-    Q_UNUSED(_o);
-    Q_UNUSED(_id);
-    Q_UNUSED(_c);
-    Q_UNUSED(_a);
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        myGraphicsScene *_t = static_cast<myGraphicsScene *>(_o);
+        Q_UNUSED(_t)
+        switch (_id) {
+        case 0: _t->numRectanglesChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
+        case 1: _t->rectangleSelected((*reinterpret_cast< int(*)>(_a[1]))); break;
+        case 2: _t->removeRectangle((*reinterpret_cast< int(*)>(_a[1]))); break;
+        case 3: _t->setSelectedRectangle((*reinterpret_cast< int(*)>(_a[1]))); break;
+        default: ;
+        }
+    } else if (_c == QMetaObject::IndexOfMethod) {
+        int *result = reinterpret_cast<int *>(_a[0]);
+        void **func = reinterpret_cast<void **>(_a[1]);
+        {
+            typedef void (myGraphicsScene::*_t)(int );
+            if (*reinterpret_cast<_t *>(func) == static_cast<_t>(&myGraphicsScene::numRectanglesChanged)) {
+                *result = 0;
+                return;
+            }
+        }
+        {
+            typedef void (myGraphicsScene::*_t)(int );
+            if (*reinterpret_cast<_t *>(func) == static_cast<_t>(&myGraphicsScene::rectangleSelected)) {
+                *result = 1;
+                return;
+            }
+        }
+    }
 }
 
 const QMetaObject myGraphicsScene::staticMetaObject = {
@@ -84,6 +133,29 @@ int myGraphicsScene::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
     _id = QGraphicsScene::qt_metacall(_c, _id, _a);
     if (_id < 0)
         return _id;
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        if (_id < 4)
+            qt_static_metacall(this, _c, _id, _a);
+        _id -= 4;
+    } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
+        if (_id < 4)
+            *reinterpret_cast<int*>(_a[0]) = -1;
+        _id -= 4;
+    }
     return _id;
 }
+
+// SIGNAL 0
+void myGraphicsScene::numRectanglesChanged(int _t1)
+{
+    void *_a[] = { Q_NULLPTR, const_cast<void*>(reinterpret_cast<const void*>(&_t1)) };
+    QMetaObject::activate(this, &staticMetaObject, 0, _a);
+}
+
+// SIGNAL 1
+void myGraphicsScene::rectangleSelected(int _t1)
+{
+    void *_a[] = { Q_NULLPTR, const_cast<void*>(reinterpret_cast<const void*>(&_t1)) };
+    QMetaObject::activate(this, &staticMetaObject, 1, _a);
+}
 QT_END_MOC_NAMESPACE

crazyflie_ws/sandbox/crazypkg/gui/untitled/moc_myGraphicsView.cpp

+/****************************************************************************
+** Meta object code from reading C++ file 'myGraphicsView.h'
+**
+** Created by: The Qt Meta Object Compiler version 67 (Qt 5.7.0)
+**
+** WARNING! All changes made in this file will be lost!
+*****************************************************************************/
+
+#include "myGraphicsView.h"
+#include <QtCore/qbytearray.h>
+#include <QtCore/qmetatype.h>
+#if !defined(Q_MOC_OUTPUT_REVISION)
+#error "The header file 'myGraphicsView.h' doesn't include <QObject>."
+#elif Q_MOC_OUTPUT_REVISION != 67
+#error "This file was generated using the moc from 5.7.0. It"
+#error "cannot be used with the include files from this version of Qt."
+#error "(The moc has changed too much.)"
+#endif
+
+QT_BEGIN_MOC_NAMESPACE
+struct qt_meta_stringdata_myGraphicsView_t {
+    QByteArrayData data[1];
+    char stringdata0[15];
+};
+#define QT_MOC_LITERAL(idx, ofs, len) \
+    Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
+    qptrdiff(offsetof(qt_meta_stringdata_myGraphicsView_t, stringdata0) + ofs \
+        - idx * sizeof(QByteArrayData)) \
+    )
+static const qt_meta_stringdata_myGraphicsView_t qt_meta_stringdata_myGraphicsView = {
+    {
+QT_MOC_LITERAL(0, 0, 14) // "myGraphicsView"
+
+    },
+    "myGraphicsView"
+};
+#undef QT_MOC_LITERAL
+
+static const uint qt_meta_data_myGraphicsView[] = {
+
+ // content:
+       7,       // revision
+       0,       // classname
+       0,    0, // classinfo
+       0,    0, // methods
+       0,    0, // properties
+       0,    0, // enums/sets
+       0,    0, // constructors
+       0,       // flags
+       0,       // signalCount
+
+       0        // eod
+};
+
+void myGraphicsView::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+    Q_UNUSED(_o);
+    Q_UNUSED(_id);
+    Q_UNUSED(_c);
+    Q_UNUSED(_a);
+}
+
+const QMetaObject myGraphicsView::staticMetaObject = {
+    { &QGraphicsView::staticMetaObject, qt_meta_stringdata_myGraphicsView.data,
+      qt_meta_data_myGraphicsView,  qt_static_metacall, Q_NULLPTR, Q_NULLPTR}
+};
+
+
+const QMetaObject *myGraphicsView::metaObject() const
+{
+    return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject;
+}
+
+void *myGraphicsView::qt_metacast(const char *_clname)
+{
+    if (!_clname) return Q_NULLPTR;
+    if (!strcmp(_clname, qt_meta_stringdata_myGraphicsView.stringdata0))
+        return static_cast<void*>(const_cast< myGraphicsView*>(this));
+    return QGraphicsView::qt_metacast(_clname);
+}
+
+int myGraphicsView::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
+{
+    _id = QGraphicsView::qt_metacall(_c, _id, _a);
+    if (_id < 0)
+        return _id;
+    return _id;
+}
+QT_END_MOC_NAMESPACE

crazyflie_ws/sandbox/crazypkg/gui/untitled/myGraphicsRectItem.cpp

@@ -12,11 +12,13 @@ myGraphicsRectItem::myGraphicsRectItem(const QRectF & rect, QGraphicsItem * pare
 {
     this->setFlag(QGraphicsItem::ItemIsSelectable);
     this->setFlag(QGraphicsItem::ItemIsMovable);
+    this->setFlag(QGraphicsItem::ItemSendsScenePositionChanges);
     pen = new QPen(Qt::red);
     brush = new QBrush(Qt::red);
 
     tmp_rect = 0;
     _grabbers_created = false;
+    resize_mode = false;
     // this->setAcceptHoverEvents(true);
 }
 
@@ -49,6 +51,20 @@ QVariant myGraphicsRectItem::itemChange(GraphicsItemChange change, const QVarian
             deleteGrabbers();
         }
     }
+    if (change == QGraphicsItem::ItemPositionChange && scene()) // with this, block movement of object when we are hovering through cornergrabbers
+    {
+        if(checkCornerGrabbers() == CornerGrabber::noCorner)
+        {
+            qDebug("move now!");
+            return QPointF(value.toPointF().x(), value.toPointF().y());
+        }
+        else
+        {
+            qDebug("dont move now!");
+            return QPointF(pos().x(), pos().y());
+        }
+    }
+
 
     return QGraphicsItem::itemChange(change, value);
 }
@@ -58,7 +74,7 @@ bool myGraphicsRectItem::grabbersAreCreated()
     return _grabbers_created;
 }
 
-void myGraphicsRectItem::setCornerPositions()
+void myGraphicsRectItem::setCornerPositions() //need to call this function whenever we chnge the size of the rectangle
 {
     QRectF rect = this->rect();
 
@@ -101,7 +117,15 @@ int myGraphicsRectItem::checkCornerGrabbers()
     else if( _bottomRight_corner->isActive())
         return CornerGrabber::bottomRight;
     else
-        return 20;
+        return CornerGrabber::noCorner;               //0 is none
+}
+
+bool myGraphicsRectItem::anyGrabber()
+{
+    if(checkCornerGrabbers() != CornerGrabber::noCorner)
+        return true;
+    else
+        return false;
 }
 
 void myGraphicsRectItem::mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent)
@@ -109,38 +133,64 @@ void myGraphicsRectItem::mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent)
     if (mouseEvent->button() != Qt::LeftButton)
         return;
 
-    createGrabbers();           //This is just in case they have not been created by now.
+    createGrabbers();           //This is just in case they have not been created by now. We have a creator guardian anyhow
 
-    switch(checkCornerGrabbers())
+    if(anyGrabber())
     {
-        case CornerGrabber::bottomLeft:
-            qDebug("bottomLeft");
-            mouseEvent->setAccepted(true);
-            break;
-        case CornerGrabber::topLeft:
-            qDebug("topLeft");
-            mouseEvent->setAccepted(true);
-            break;
-        case CornerGrabber::topRight:
-            qDebug("topRight");
-            mouseEvent->setAccepted(true);
-            break;
-        case CornerGrabber::bottomRight:
-            qDebug("bottomRight");
-            mouseEvent->setAccepted(true);
-            break;
-        default:
-            qDebug("No corner");
-            // Normal case here, mouse not in corner grabbers
-            QGraphicsRectItem::mousePressEvent(mouseEvent);
-            break;
+        resize_mode = true;
     }
-    // TODO: check if over handlers, if, resize mode
+    QGraphicsRectItem::mousePressEvent(mouseEvent);
 }
 
 void myGraphicsRectItem::mouseMoveEvent(QGraphicsSceneMouseEvent *mouseEvent)
 {
     this->prepareGeometryChange();
+    if(resize_mode)
+    {
+        switch(checkCornerGrabbers())
+        {
+            case CornerGrabber::bottomLeft:
+            {
+                qDebug("bottomLeft");
+                QRectF resize_rect = this->rect();
+                resize_rect.setBottomLeft(mouseEvent->pos());
+                this->setRect(resize_rect.normalized());
+                setCornerPositions();
+                break;
+            }
+            case CornerGrabber::topLeft:
+            {
+                qDebug("topLeft");
+                QRectF resize_rect = this->rect();
+                resize_rect.setTopLeft(mouseEvent->pos());
+                this->setRect(resize_rect.normalized());
+                setCornerPositions();
+                break;
+            }
+            case CornerGrabber::topRight:
+            {
+                qDebug("topRight");
+                QRectF resize_rect = this->rect();
+                resize_rect.setTopRight(mouseEvent->pos());
+                this->setRect(resize_rect.normalized());
+                setCornerPositions();
+                break;
+            }
+            case CornerGrabber::bottomRight:
+            {
+                qDebug("bottomRight");
+                QRectF resize_rect = this->rect();
+                resize_rect.setBottomRight(mouseEvent->pos());
+                this->setRect(resize_rect.normalized());
+                setCornerPositions();
+                break;
+            }
+            case CornerGrabber::noCorner:
+                qDebug("No corner. Should never enter here");
+            default:
+                break;
+        }
+    }
     QGraphicsRectItem::mouseMoveEvent(mouseEvent);
 }
 
@@ -150,5 +200,9 @@ void myGraphicsRectItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *mouseEvent)
     if (mouseEvent->button() != Qt::LeftButton)
         return;
     // TODO: stop resize mode
+    if(resize_mode)
+    {
+        resize_mode = false;
+    }
     QGraphicsRectItem::mouseReleaseEvent(mouseEvent);
 }

crazyflie_ws/sandbox/crazypkg/gui/untitled/myGraphicsRectItem.h

@@ -28,6 +28,7 @@ protected:
 
 private:
     void setCornerPositions();
+    bool anyGrabber();
     int checkCornerGrabbers();
     void createGrabbers();
     bool grabbersAreCreated();
@@ -46,6 +47,8 @@ private:
     CornerGrabber* _bottomRight_corner;
 
     bool _grabbers_created;
+    bool resize_mode;
+
 };
 
 #endif

crazyflie_ws/sandbox/crazypkg/gui/untitled/myGraphicsScene.cpp

@@ -3,6 +3,7 @@
 #include <QGraphicsSceneMouseEvent>
 #include <QRect>
 #include <QApplication>
+#include <QKeyEvent>
 
 myGraphicsScene::myGraphicsScene(QObject *parent)
     : QGraphicsScene(parent)
@@ -15,6 +16,49 @@ myGraphicsScene::myGraphicsScene(QObject *parent)
     // firstClick = true;
 }
 
+
+void myGraphicsScene::keyPressEvent(QKeyEvent * keyEvent)
+{
+    if(keyEvent->key() == Qt::Key_Delete)
+    {
+        qDebug("del key pressed");
+        for(unsigned int i = 0; i < rectangles.size(); i++)
+        {
+            if(rectangles[i]->isSelected())
+            {
+                qDebug("selectedRectangle: %d", i);
+                removeRectangle(i);
+            }
+        }
+    }
+    QGraphicsScene::keyPressEvent(keyEvent);
+}
+
+void myGraphicsScene::setSelectedRectangle(int index)
+{
+    for(unsigned int i = 0; i < rectangles.size(); i++)
+    {
+        rectangles[i]->setSelected(false);
+        if(index == i)
+        {
+            rectangles[index]->setSelected(true);
+        }
+    }
+}
+
+int myGraphicsScene::checkSelectedRectangle()
+{
+    for(unsigned int i = 0; i < rectangles.size(); i++)
+    {
+        if(rectangles[i]->isSelected())
+        {
+            qDebug("rectangle selected index = %d", i);
+            return i;
+        }
+    }
+    return -1;
+}
+
 void myGraphicsScene::mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent)
 {
     if (mouseEvent->button() != Qt::LeftButton)
@@ -29,6 +73,7 @@ void myGraphicsScene::mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent)
         addItem(tmp_rect_item);
     }
 
+
     QGraphicsScene::mousePressEvent(mouseEvent);
 }
 
@@ -43,27 +88,37 @@ void myGraphicsScene::mouseMoveEvent(QGraphicsSceneMouseEvent *mouseEvent)
     QGraphicsScene::mouseMoveEvent(mouseEvent);
 }
 
+void myGraphicsScene::addRectangleToVector(myGraphicsRectItem* rect)
+{
+    rectangles.push_back(rect);
+    emit numRectanglesChanged(rectangles.size());
+}
+
+void myGraphicsScene::removeRectangle(int index)
+{
+    this->removeItem(rectangles[index]);
+    rectangles.erase(rectangles.begin() + index);
+    emit numRectanglesChanged(rectangles.size());
+}
+
 void myGraphicsScene::mouseReleaseEvent(QGraphicsSceneMouseEvent *mouseEvent)
 {
     if(startedRect)
     {
         if (mouseEvent->button() != Qt::LeftButton)
             return;
-
-        // Drag and drop approach:
-
         // TODO: If too small, etc etc, dont add it to the container and remove it
 
         tmp_rect_item->setRect(tmp_rect_item->rect().normalized());
-        rectangles.push_back(tmp_rect_item);
-
+        addRectangleToVector(tmp_rect_item);
         tmp_rect = 0;
         startedRect = false;
-
-        // update();
-
     }
-
+    int selected_rect = checkSelectedRectangle();
+    if(selected_rect != -1)
+    {
+        emit rectangleSelected(selected_rect);
+    }
 
     QGraphicsScene::mouseReleaseEvent(mouseEvent);
 }

crazyflie_ws/sandbox/crazypkg/gui/untitled/myGraphicsScene.h

@@ -17,19 +17,29 @@ class myGraphicsScene : public QGraphicsScene
     Q_OBJECT
 
 public:
+
     explicit myGraphicsScene(QObject *parent = 0);
     std::vector<myGraphicsRectItem*> rectangles;
 
 public slots:
+    void removeRectangle(int index);
+    void setSelectedRectangle(int index);
 
 signals:
+    void numRectanglesChanged(int newNum);
+    void rectangleSelected(int index);
 
 protected:
     void mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent) override;
     void mouseMoveEvent(QGraphicsSceneMouseEvent *mouseEvent) override;
     void mouseReleaseEvent(QGraphicsSceneMouseEvent *mouseEvent) override;
 
+    void keyPressEvent(QKeyEvent * keyEvent) override;
+
 private:
+    void addRectangleToVector(myGraphicsRectItem* rect);
+    int checkSelectedRectangle();
+
     QPen* pen;
     QBrush* brush;
     QRectF* tmp_rect;
@@ -37,8 +47,6 @@ private:
     QPointF* p1;
     QPointF* p2;
 
-    // bool firstClick;
-
     bool startedRect;
 };
 

crazyflie_ws/sandbox/crazypkg/gui/untitled/myGraphicsView.cpp

+#include "myGraphicsView.h"
+
+#include <QApplication>
+#include <QMouseEvent>
+
+myGraphicsView::myGraphicsView(QWidget *parent)
+    : QGraphicsView(parent)
+{
+    translation_mode = false;
+}
+
+
+void myGraphicsView::wheelEvent(QWheelEvent *event)
+{
+
+    if(Qt::ControlModifier == QApplication::keyboardModifiers())
+    {
+        this->setTransformationAnchor(QGraphicsView::AnchorUnderMouse);
+        // Scale the view / do the zoom
+        double scaleFactor = 1.15;
+        if(event->delta() > 0) {
+            // Zoom in
+            this-> scale(scaleFactor, scaleFactor);
+
+        } else {
+            // Zooming out
+            this->scale(1.0 / scaleFactor, 1.0 / scaleFactor);
+        }
+    }
+    else
+    {
+        QGraphicsView::wheelEvent(event); // dont propagate if we are zooming. If we propagate, we will also scroll
+    }
+}
+
+void myGraphicsView::mousePressEvent(QMouseEvent *mouseEvent)
+{
+    if (mouseEvent->button() == Qt::MiddleButton)
+    {
+        translation_mode = true;
+        tmp_point = new QPointF(mouseEvent->localPos());
+    }
+    QGraphicsView::mousePressEvent(mouseEvent);
+}
+
+void myGraphicsView::mouseMoveEvent(QMouseEvent *mouseEvent)
+{
+    if(translation_mode)
+    {
+        translate_dx = mouseEvent->localPos().x() - tmp_point->x();
+        translate_dy = mouseEvent->localPos().y() - tmp_point->y();
+        this->translate(translate_dx, translate_dy);
+    }
+    QGraphicsView::mouseMoveEvent(mouseEvent);
+}
+
+
+void myGraphicsView::mouseReleaseEvent(QMouseEvent *mouseEvent)
+{
+    translation_mode = false;
+    QGraphicsView::mouseReleaseEvent(mouseEvent);
+}