Subversion Repositories riscv_vhdl

#include "MapWidget.h"

#include "moc_MapWidget.h"

#include <math.h>

namespace debugger {

/** Start marker of GNSS raw measurements that receiver generates in JSON

 *  format.

 */

const Reg64Type MAGIC_GNSS = {"{'Epoch"};

/** Test points that will shown even if no position availbale */

QPointF defaultPos[] = {

    {55.929967, 37.516868},     // MIPT, Dolgoprudniy (Moscow area)

    {37.871853, -122.258423},   // University of California, Berkely

    {59.336187, 18.068777}      // Sweden, Gaisler (Leon3) office location

};

MapWidget::MapWidget(IGui *igui, QWidget *parent)

    : QWidget(parent) {

    igui_ = igui;

    gnssIsParsing_ = false;

    bNewDataAvailable = true;

    pressed = false;

    invert = false;

    m_normalMap = new StreetMap(this, 17);

    m_miniMap = new StreetMap(this, 12);

    // This signal force redrawing when new data were downloaded

    connect(m_normalMap, SIGNAL(signalTilesUpdated(QRect)),

            this, SLOT(slotTilesUpdated(QRect)));

    connect(m_miniMap, SIGNAL(signalTilesUpdated(QRect)),

            this, SLOT(slotTilesUpdated(QRect)));

    connect(this, SIGNAL(signalRequestNetworkData()),

            m_normalMap, SLOT(slotRequestNetworkData()));

    connect(this, SIGNAL(signalRequestNetworkData()),

            m_miniMap, SLOT(slotRequestNetworkData()));

    setFocusPolicy(Qt::ClickFocus);

    contextMenu = new QMenu(this);

    contextMenu->addAction(tr("Clear"), this, SLOT(slotActionClear()));

    contextMenu->addAction(tr("Nightmode"), this, SLOT(slotActionNightMode()));

    setContextMenuPolicy(Qt::CustomContextMenu);

    connect(this, SIGNAL(customContextMenuRequested(const QPoint &)),

                  SLOT(slotRightClickMenu(const QPoint &)));

    connect(this, SIGNAL(signalUpdateGnssRaw()),

                  SLOT(slotUpdateGnssRaw()));

    setWindowTitle(tr("Map"));

    posinfoSize = QSize(340, 200);

    posinfoPixmap = QPixmap(posinfoSize);

    const AttributeType *cfg = igui_->getpConfig();

    const AttributeType &serial_name = (*cfg)["Serial"];

    if (serial_name.is_string()) {

        uart_ = static_cast<ISerial *>

            (RISCV_get_service_iface(serial_name.to_string(), IFACE_SERIAL));

        if (uart_) {

            uart_->registerRawListener(static_cast<IRawListener *>(this));

        }

    }

    QDateTime sd = QDateTime::currentDateTime();

    qsrand(sd.toTime_t());

    int pos_init_idx =

        qrand() % static_cast<int>(sizeof(defaultPos)/sizeof(QPointF));

#if 0

    pos_init_idx = 0;

    double lat = defaultPos[pos_init_idx].x() + (double)(rand() & 0x1f)/100000.0;

    double lon = defaultPos[pos_init_idx].y()+ (double)(rand() & 0x1f)/100000.0;

    for (int x = 0; x < 50; x++) {

        gpsLat_.put(lat);

        gpsLon_.put(lon);

        lat = defaultPos[pos_init_idx].x() + (double)(rand() & 0x1f)/100000.0;

        lon = defaultPos[pos_init_idx].y() + (double)(rand() & 0x1f)/100000.0;

    }

#endif

    m_normalMap->setCenterCoord(defaultPos[pos_init_idx]);

    m_miniMap->setCenterCoord(defaultPos[pos_init_idx]);

}

MapWidget::~MapWidget() {

    if (uart_) {

        uart_->unregisterRawListener(static_cast<IRawListener *>(this));

    }

}

void MapWidget::updateData(const char *buf, int buflen) {

    for (int i = 0; i < buflen; i++) {

        gnssMagicNumber_.buf[7] = buf[i];

        gnssMagicNumber_.val >>= 8;

        if (!gnssIsParsing_) {

            if (gnssMagicNumber_.val == MAGIC_GNSS.val) {

                memcpy(gnssBuf_, MAGIC_GNSS.buf, 8);

                gnssBufCnt_ = 7;

                gnssBraceCnt_ = 1;

                gnssIsParsing_ = true;

            }

            continue;

        }

        gnssBuf_[gnssBufCnt_++] = buf[i];

        gnssBuf_[gnssBufCnt_] = '\0';

        if (buf[i] == '{') {

            gnssBraceCnt_++;

            continue;

        }

        if (buf[i] != '}') {

            continue;

        }

        if (--gnssBraceCnt_ == 0) {

            gnssIsParsing_ = false;

            gnssRawMeas_.from_config(gnssBuf_);

            emit signalUpdateGnssRaw();

        }

    }

}

void MapWidget::slotUpdateGnssRaw() {

    if (!gnssRawMeas_.is_dict()) {

        return;

    }

    AttributeType &gps = gnssRawMeas_["GPS"];

    if (!gps.is_dict()) {

        return;

    }

    AttributeType &lms = gps["LMS"];

    if (!lms.is_list() || lms.size() < 8) {

        return;

    }

    if (lms[0u].to_int() == 0) {

        return;

    }

    double lat, lon;

    lat = static_cast<double>(lms[1].to_int());

    lat += lms[2].to_float() / 60.0;

    if (lms[3].is_equal("S")) {

        lat = -lat;

    }

    lon = static_cast<double>(lms[4].to_int());

    lon += lms[5].to_float() / 60.0;

    if (lms[6].is_equal("W")) {

        lon = -lon;

    }

    if (lat == 0 || lon == 0) {

        return;

    }

    gpsLat_.put(lat);

    gpsLon_.put(lon);

    if (!pressed) {

        QPointF coord(gpsLat_.get_avg(), gpsLon_.get_avg());

        m_normalMap->setCenterCoord(coord);

        m_miniMap->setCenterCoord(coord);

    }

    emit signalRequestNetworkData();

}

void MapWidget::slotTilesUpdated(QRect rect) {

    renderAll();

    update();

}

void MapWidget::slotActionClear() {

    //for (int i=0; i<DataTotal; i++) {

        //pPosTrack[i]->clear();

    //}

    gpsLat_.clear();

    gpsLon_.clear();

    renderAll();

    update();

}

void MapWidget::slotActionNightMode() {

    invert = !invert;

    renderAll();

    update();

}

void MapWidget::slotRightClickMenu(const QPoint &p) {

    QPoint globalPos = mapToGlobal(p);

    //contextMenu->exec(globalPos);

    contextMenu->popup(globalPos);

}

void MapWidget::resizeEvent(QResizeEvent *ev) {

    if (ev->size().height() == 0 || ev->size().width() == 0) {

        // Warning: When window inactive the height=0

        return;

    }

    mainmapSize = ev->size();

    int w = mainmapSize.width();

    int h = mainmapSize.height();

    m_normalMap->resize(w, h);

    int square_sz = qMin((2*w)/5, (2*h)/5);

    minimapSize = QSize(square_sz, square_sz);

    m_miniMap->resize(square_sz, square_sz);

    renderAll();

    update();

    if (bNewDataAvailable) {

        bNewDataAvailable = false;

        emit signalRequestNetworkData();

    }

}

void MapWidget::renderAll() {

    renderMinimap();

    renderMainMap();      // Rendering of the mainMap will cause update signal

}

void MapWidget::renderMainMap() {

    // only set the dimension to the magnified portion

    if (mainmapPixmap.size() != mainmapSize) {

        mainmapPixmap = QPixmap(mainmapSize);

        mainmapPixmap.fill(Qt::lightGray);

    }

    QPainter p_map(&mainmapPixmap);

    m_normalMap->render(&p_map, QRect(QPoint(0,0), mainmapSize));

    p_map.setPen(Qt::black);

    p_map.drawText(rect(),  Qt::AlignBottom | Qt::TextWordWrap,

                tr("Map data CCBYSA 2017 OpenStreetMap.org contributors"));

    // Draw Position track:

    p_map.translate(20,20);

    fontPos.setPixelSize(16);

    p_map.setFont(fontPos);

    renderTrack(0, p_map);

    p_map.end();

}

void MapWidget::renderTrack(int trkIdx, QPainter &p) {

    // Draw semi-transparent background for coordinates output:

    QColor trackLineColor(tr("#008F8F"));

    QColor trackPointColor(tr("#004848"));

    QColor trackTextColor;

    QPen pointPen(trackPointColor, 0, Qt::SolidLine, Qt::RoundCap);

    trackLineColor.setAlpha(0xa0);

    trackPointColor.setAlpha(0xa0);

    QPen linePen = QPen(trackLineColor, 0, Qt::SolidLine, Qt::RoundCap);

    p.setPen(pointPen);

    p.setRenderHint(QPainter::Antialiasing);

    QPoint xy;

    double lat = gpsLat_.getp()[0];

    double lon = gpsLon_.getp()[0];

    QPoint xy0 = m_normalMap->coordToPixpos(QPointF(lat, lon));

    p.drawLine(xy0.x() - 2, xy0.y(), xy0.x() + 2, xy0.y());

    p.drawLine(xy0.x(), xy0.y() + 2, xy0.x(), xy0.y() - 2);

    for (int i = 0; i < gpsLat_.size(); i++) {

        lat = gpsLat_.getp()[i];

        lon = gpsLon_.getp()[i];

        xy = m_normalMap->coordToPixpos(QPointF(lat, lon));

        p.setPen(linePen);

        p.drawLine(xy0.x(), xy0.y(), xy.x(), xy.y());

        xy0 = xy;

        p.setPen(pointPen);

        p.drawLine(xy0.x() - 2, xy0.y(), xy0.x() + 2, xy0.y());

        p.drawLine(xy0.x(), xy0.y() + 2, xy0.x(), xy0.y() - 2);

    }

    QString strPosition;

    strPosition.sprintf("GPS LMS: Lat %.4f; Lon %.4f", lat, lon);

    int h = p.fontMetrics().size(Qt::TextSingleLine, strPosition).height();

    QRect rect = QRect(QPoint(0, trkIdx * (h + 5)),

                       QPoint(340, (trkIdx + 1) * (h + 5)));

    p.fillRect(rect, QBrush(QColor(128, 128, 128, 128)));

    // Draw axis line template:

    int marginy = trkIdx*(h + 5)/2;

    int startx = 5;

    int starty = marginy + (h + 5)/2;

    int endx = 30;

    int endy = marginy + (h + 5)/2;

    p.setPen(linePen);

    p.drawLine(startx, starty, endx, endy);

    p.setPen(pointPen);

    p.drawLine(startx - 2, starty, startx + 2, starty);

    p.drawLine(startx, starty + 2, startx, starty - 2);

    p.drawLine(endx - 2, endy, endx + 2, endy);

    p.drawLine(endx, endy + 2, endx, endy - 2);

    trackTextColor.setRgb(0xff, 0xff, 0xff, 0xc0);

    p.setPen(trackTextColor);

    p.drawText(endx + 6, h + trkIdx*(h + 5) + 1, strPosition);

    trackTextColor.setRgb(0x20, 0x20, 0x20, 0xff);

    p.setPen(trackTextColor);

    p.drawText(endx + 5, h + trkIdx*(h + 5), strPosition);

}

void MapWidget::renderPosInfo(QPainter &p)

{

    QString info, strTmp;

    /*for (int i=0; i<POS_Total; i++) {

        if (PosTrack[i].ena == false) continue;

        strTmp.sprintf("%s: \n", PosTrack[i].name.c_str());

        info += strTmp;

    }*/

    QSize infoSize = p.fontMetrics().size(Qt::TextDontClip, info);

    QPoint infoPos = QPoint(10, 10);

    QRect infoRect = QRect(infoPos, infoSize);

    p.fillRect(infoRect, QBrush(QColor(0xff, 0xef, 0xd5, 0x80)));

    /*

    int sz = pPosTrack[type]->size();

    QColor clr = getDataColor(type);

    p.setPen(QPen(clr, 2, Qt::SolidLine, Qt::RoundCap));

    p.setRenderHint(QPainter::Antialiasing);

    */

}

void MapWidget::renderMinimap() {

    if (minimapSize.width() == 0 || minimapSize.height() == 0) {

        // At the beging there occurs strange resizeEvent()

        return;

    }

    // 1/2 x 1/2 of the main screen width:

    int w = mainmapSize.width();

    int h = mainmapSize.height();

    if (w == 0 || h == 0)

        return;

    int square_sz = m_miniMap->getWidth();     // always square: height = width

    minimapRadius = square_sz/2;     //

    minimapInnerRadius = minimapRadius - 15;

    minimapSize = QSize(square_sz, square_sz);

    minimapPosition = QPoint(w - square_sz, h - square_sz);

    minimapCenter = minimapPosition + QPoint(minimapRadius, minimapRadius);

    // reupdate our mask

    if (minimapPixmapMask.size() != minimapSize) {

        minimapPixmapMask = QPixmap(minimapSize);

        minimapPixmapMask.fill(Qt::transparent);

        QRadialGradient g;

        g.setCenter(minimapRadius, minimapRadius);

        g.setFocalPoint(minimapRadius, minimapRadius);

        g.setRadius(minimapRadius);

        g.setColorAt(1.0, QColor(255, 255, 255, 0));

        g.setColorAt(0.5, QColor(128, 128, 128, 255));

        QPainter mask(&minimapPixmapMask);

        mask.setRenderHint(QPainter::Antialiasing);

        mask.setCompositionMode(QPainter::CompositionMode_Source);

        mask.setBrush(g);

        mask.setPen(Qt::NoPen);

        mask.drawRect(minimapPixmapMask.rect());

        mask.setBrush(QColor(Qt::transparent));

        mask.drawEllipse(g.center(), minimapInnerRadius, minimapInnerRadius);

        mask.end();

    }

    // only set the dimension to the magnified portion

    if (minimapPixmap.size() != minimapSize) {

        minimapPixmap = QPixmap(minimapSize);

        minimapPixmap.fill(Qt::lightGray);

    }

    QPainter p_map(&minimapPixmap);

    m_miniMap->render(&p_map, QRect(QPoint(0,0), minimapSize));

    // Draw small view area:

    p_map.setPen(Qt::red);

    QRectF border = m_normalMap->getBorderCoord();

    QRect view = m_miniMap->coordToPixpos(border);

    //view.translate(minimapPosition);

    p_map.drawLine(view.topLeft(), view.topRight());

    p_map.drawLine(view.topRight(), view.bottomRight());

    p_map.drawLine(view.bottomRight(), view.bottomLeft());

    p_map.drawLine(view.bottomLeft(), view.topLeft());

    p_map.end();

}

void MapWidget::paintEvent(QPaintEvent *event) {

    QPainter p;

    p.begin(this);

    // Main Map:

    p.drawPixmap(QPoint(0,0), mainmapPixmap);

    // Painting minimap:

    p.setRenderHint(QPainter::Antialiasing);

    QPainterPath clipPath;

    clipPath.addEllipse(minimapCenter, minimapInnerRadius, minimapInnerRadius);

    p.setClipPath(clipPath);

    p.drawPixmap(minimapPosition, minimapPixmap);

    p.setClipping(false);

    p.drawPixmap(minimapPosition, minimapPixmapMask);

    //renderPosInfo(p);

    p.setPen(Qt::gray);

    p.drawPath(clipPath);

    if (invert) {

        p.setCompositionMode(QPainter::CompositionMode_Difference);

        p.fillRect(event->rect(), Qt::white);

    }

    p.end();

}

void MapWidget::mousePressEvent(QMouseEvent *event)

{

    setFocus();

    if (event->buttons() != Qt::LeftButton)

        return;

    pressed = true;

    pressPos = event->pos();

}

void MapWidget::mouseMoveEvent(QMouseEvent *event)

{

    if (!event->buttons())

        return;

    if (pressed) {

        QPoint delta = event->pos() - pressPos;

        pressPos = event->pos();

        m_normalMap->pan(delta);

        m_miniMap->setCenterCoord(m_normalMap->getCenterCoord());

        // Warning: 

        //      It will draw tiles that were already downloaded, others will be empty.

        //      Network request will on button release

        renderAll();

        update();

    }

}

void MapWidget::mouseReleaseEvent(QMouseEvent *) {

    pressed = false;

    emit signalRequestNetworkData();

}

void MapWidget::keyPressEvent(QKeyEvent *event)

{

    switch (event->key()) {

    case Qt::Key_Plus:

        if (m_normalMap->getZoom() < 19) {

            m_normalMap->setZoom(m_normalMap->getZoom()+1);

            m_normalMap->pan(QPoint());

            emit signalRequestNetworkData();

        }

        break;

    case Qt::Key_Minus:

        if (m_normalMap->getZoom() > 15) {

            m_normalMap->setZoom(m_normalMap->getZoom()-1);

            m_normalMap->pan(QPoint());

            emit signalRequestNetworkData();

        }

        break;

    default:;

    }

}

}  // namespace debugger