omnet++ 之canvas示例 在NED 文件中演示 @figure 用法

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network CarDemo
{
parameters:
@display("bgb=800,500");
@figure[road] (type=polygon; points=100,200, 200,100, 300,50, 500,50, 650,100, 700,200, 600,300, 500,350, 400,350, 200,350, 100,300; smooth=true; lineWidth=60; zoomLineWidth=true; lineColor=grey);
@figure[paint](type=polygon; points=100,200, 200,100, 300,50, 500,50, 650,100, 700,200, 600,300, 500,350, 400,350, 200,350, 100,300; smooth=true; lineWidth=3; zoomLineWidth=true; lineColor=white; lineStyle=dashed);
@figure[trail](type=polyline; lineWidth=5; lineOpacity=0.6; lineColor=orange);
@figure[car](type=image; image="car-top-view"; pos=0,0; anchor=c);
@figure[car.antenna](type=image; image="antenna"; pos=-10,-40; anchor=nw);
@figure[car.antenna.beam](type=path; path="M 10 0 L 10 -20 L 1200 -100 L 1200 100 L 10 20 Z"; fillColor=blue; fillOpacity=0.1; lineColor=blue; lineOpacity=0.1);
@figure[status](type=group; transform=translate(700,20));
// or, for non-zooming status area: @figure[status](type=panel; pos=700,20);
@figure[status.bg](type=rectangle; pos=0,0; size=150,100; anchor=n; cornerRadius=10; fillColor=#fafdb9; fillOpacity=0.2; lineColor=#fafdb9; lineOpacity=0.4);
@figure[status.distanceTitle](type=text; pos=0,20; text="Distance Travelled"; anchor=center);
@figure[status.distance](type=text; pos=0,40; text="0m"; anchor=center; font=Arial,22);
@figure[status.headingTitle](type=text; pos=0,70; text="Heading"; anchor=center);
@figure[status.heading](type=text; pos=0,90; text="0"; anchor=center; font=Arial,22);
submodules:
animator: CarAnimator;
}

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void CarAnimator::initialize()
{
timeStep = 1;
// 步长，步长 * 车速 = 一次移动距离
speed = 2;
// 车速
heading = 0;
// 车头角度
angularSpeed = 0;
// 转向速度
targetPointIndex = 0;
// 记录公路数据的索引
distanceTravelled = 0;
// 总里程
cCanvas *canvas = getParentModule()->getCanvas();
canvas->setAnimationSpeed(50.0, this);
// 取得公路的参数，
road = check_and_cast<cPolygonFigure *>(canvas->getFigure("road"));
// 拖尾数据，缺少点，需要在运动时候计算
trail = check_and_cast<cPolylineFigure *>(canvas->getFigure("trail"));
// 图形，@figure[car](type=image; image="car-top-view"; pos=0,0; anchor=c);
car = check_and_cast<cImageFigure *>(canvas->getFigure("car"));
// 天线的图形 @figure[car.antenna](type=image; image="antenna"; pos=-10,-40; anchor=nw);
antenna = check_and_cast<cFigure *>(canvas->getFigureByPath("car.antenna"));
// 右侧显示行驶距离文本
distanceDisplay = check_and_cast<cTextFigure *>(canvas->getFigureByPath("status.distance"));
// 右侧显示行驶的车头角度
headingDisplay = check_and_cast<cTextFigure *>(canvas->getFigureByPath("status.heading"));
// 获取下一点的数据
loc = road->getPoint(targetPointIndex);
// 引擎内部监控各个变量
WATCH(timeStep);
WATCH(loc.x);
WATCH(loc.y);
WATCH(speed);
WATCH(heading);
WATCH(angularSpeed);
WATCH(targetPointIndex);
WATCH(distanceTravelled);
refresh();
// 设置下次事件
scheduleAt(simTime(), new cMessage());
}
void CarAnimator::refresh() const
{
double t = (simTime() - lastStep) / timeStep;
ASSERT(t >= 0);
ASSERT(t <= 1);
// 车转向
cFigure::Transform carTr;
carTr.rotate(heading + angularSpeed * t);
// 车移动
double distance = speed * t;
carTr.translate(loc.x + distance * cos(heading), loc.y + distance * sin(heading));
car->setTransform(carTr);
// 天线转向
cFigure::Transform antTr;
antTr.rotate(-2 * simTime().dbl()*M_PI/180);
antenna->setTransform(antTr);
// 设置状态信息
char buf[20];
sprintf(buf, "%.0fm", distanceTravelled);
distanceDisplay->setText(buf);
int degrees = -int(heading*180/M_PI);
degrees = degrees - 360 * (int)floor(degrees / 360.0);
sprintf(buf, "%dxC2xB0", degrees);
headingDisplay->setText(buf);
}
void CarAnimator::refreshDisplay() const
{
// 其实，如果注释了这一句，也能运行，因为每个消息到达时候都进行了一个运动计算。
// 但是，注释后，明显会发生顿挫感，主要是因为：?
refresh();
}
void CarAnimator::handleMessage(cMessage *msg)
{
// 一次移动距离 =
步长，步长 * 车速
double distance = speed * timeStep.dbl();
// 根据角度更新当前位置
loc.x += distance * cos(heading);
loc.y += distance * sin(heading);
// 计算下一个目标的方向
Point target = road->getPoint(targetPointIndex);
Point vectorToTarget = target - loc;
// 距离小于某个数，则认为到了，
if (vectorToTarget.getLength() < 50)
// reached
targetPointIndex = (targetPointIndex+1) % road->getNumPoints();
double targetDirection = atan2(vectorToTarget.y, vectorToTarget.x);
double diff = targetDirection - heading;
while (diff < -M_PI)
diff += 2*M_PI;
while (diff > M_PI)
diff -= 2*M_PI;
// ，计算车头角度
heading += angularSpeed * timeStep.dbl();
// 以1/30的相差角度作为一次转向速度，转向
angularSpeed = diff / 30;
distanceTravelled += distance;
refresh();
// tail作为一个队列使用，多了就弹出一个，少了就添加
trail->addPoint(loc);
if (trail->getNumPoints() > 500)
trail->removePoint(0);
lastStep = simTime();
scheduleAt(simTime() + timeStep, msg);
}