130 lines
2.8 KiB
C++
130 lines
2.8 KiB
C++
#pragma once
|
|
|
|
#include <optional>
|
|
|
|
#include <QGeoCoordinate>
|
|
#include <QGestureEvent>
|
|
#include <QHBoxLayout>
|
|
#include <QVBoxLayout>
|
|
#include <QLabel>
|
|
#include <QMapboxGL>
|
|
#include <QMouseEvent>
|
|
#include <QOpenGLWidget>
|
|
#include <QScopedPointer>
|
|
#include <QString>
|
|
#include <QtGlobal>
|
|
#include <QTimer>
|
|
#include <QWheelEvent>
|
|
#include <QMap>
|
|
#include <QPixmap>
|
|
|
|
#include "selfdrive/common/params.h"
|
|
#include "selfdrive/common/util.h"
|
|
#include "cereal/messaging/messaging.h"
|
|
|
|
const QString MAPBOX_TOKEN = util::getenv("MAPBOX_TOKEN").c_str();
|
|
const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "https://maps.comma.ai" : "https://api.mapbox.com").c_str();
|
|
|
|
class MapInstructions : public QWidget {
|
|
Q_OBJECT
|
|
|
|
private:
|
|
QLabel *distance;
|
|
QLabel *primary;
|
|
QLabel *secondary;
|
|
QLabel *icon_01;
|
|
QWidget *lane_widget;
|
|
QHBoxLayout *lane_layout;
|
|
bool error = false;
|
|
|
|
public:
|
|
MapInstructions(QWidget * parent=nullptr);
|
|
void showError(QString error);
|
|
void noError();
|
|
void hideIfNoError();
|
|
|
|
public slots:
|
|
void updateDistance(float d);
|
|
void updateInstructions(cereal::NavInstruction::Reader instruction);
|
|
};
|
|
|
|
class MapETA : public QWidget {
|
|
Q_OBJECT
|
|
|
|
private:
|
|
QLabel *eta;
|
|
QLabel *eta_unit;
|
|
QLabel *time;
|
|
QLabel *time_unit;
|
|
QLabel *distance;
|
|
QLabel *distance_unit;
|
|
Params params;
|
|
|
|
public:
|
|
MapETA(QWidget * parent=nullptr);
|
|
|
|
public slots:
|
|
void updateETA(float seconds, float seconds_typical, float distance);
|
|
};
|
|
|
|
class MapWindow : public QOpenGLWidget {
|
|
Q_OBJECT
|
|
|
|
public:
|
|
MapWindow(const QMapboxGLSettings &);
|
|
~MapWindow();
|
|
|
|
private:
|
|
void initializeGL() final;
|
|
void paintGL() final;
|
|
void resizeGL(int w, int h) override;
|
|
|
|
QMapboxGLSettings m_settings;
|
|
QScopedPointer<QMapboxGL> m_map;
|
|
|
|
void initLayers();
|
|
|
|
void mousePressEvent(QMouseEvent *ev) final;
|
|
void mouseDoubleClickEvent(QMouseEvent *ev) final;
|
|
void mouseMoveEvent(QMouseEvent *ev) final;
|
|
void wheelEvent(QWheelEvent *ev) final;
|
|
bool event(QEvent *event) final;
|
|
bool gestureEvent(QGestureEvent *event);
|
|
void pinchTriggered(QPinchGesture *gesture);
|
|
|
|
bool m_sourceAdded = false;
|
|
SubMaster *sm;
|
|
QTimer* timer;
|
|
|
|
bool loaded_once = false;
|
|
bool allow_open = true;
|
|
|
|
// Panning
|
|
QPointF m_lastPos;
|
|
int pan_counter = 0;
|
|
int zoom_counter = 0;
|
|
|
|
// Position
|
|
std::optional<QMapbox::Coordinate> last_position;
|
|
std::optional<float> last_bearing;
|
|
FirstOrderFilter velocity_filter;
|
|
bool localizer_valid = false;
|
|
|
|
MapInstructions* map_instructions;
|
|
MapETA* map_eta;
|
|
|
|
void clearRoute();
|
|
|
|
private slots:
|
|
void timerUpdate();
|
|
|
|
public slots:
|
|
void offroadTransition(bool offroad);
|
|
|
|
signals:
|
|
void distanceChanged(float distance);
|
|
void instructionsChanged(cereal::NavInstruction::Reader instruction);
|
|
void ETAChanged(float seconds, float seconds_typical, float distance);
|
|
};
|
|
|