You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
92 lines
2.1 KiB
92 lines
2.1 KiB
#pragma once
|
|
|
|
#include <optional>
|
|
|
|
#include <QGeoCoordinate>
|
|
#include <QGestureEvent>
|
|
#include <QLabel>
|
|
#include <QMap>
|
|
#include <QMapboxGL>
|
|
#include <QMouseEvent>
|
|
#include <QOpenGLWidget>
|
|
#include <QPixmap>
|
|
#include <QPushButton>
|
|
#include <QScopedPointer>
|
|
#include <QString>
|
|
#include <QVBoxLayout>
|
|
#include <QWheelEvent>
|
|
|
|
#include "cereal/messaging/messaging.h"
|
|
#include "common/params.h"
|
|
#include "common/util.h"
|
|
#include "selfdrive/ui/ui.h"
|
|
#include "selfdrive/ui/qt/maps/map_eta.h"
|
|
#include "selfdrive/ui/qt/maps/map_instructions.h"
|
|
|
|
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);
|
|
void setError(const QString &err_str);
|
|
|
|
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 locationd_valid = false;
|
|
bool routing_problem = false;
|
|
|
|
QWidget *map_overlay;
|
|
QLabel *error;
|
|
MapInstructions* map_instructions;
|
|
MapETA* map_eta;
|
|
QPushButton *settings_btn;
|
|
QPixmap directions_icon, settings_icon;
|
|
|
|
// Blue with normal nav, green when nav is input into the model
|
|
QColor getNavPathColor(bool nav_enabled) {
|
|
return nav_enabled ? QColor("#31ee73") : QColor("#31a1ee");
|
|
}
|
|
|
|
void clearRoute();
|
|
void updateDestinationMarker();
|
|
uint64_t route_rcv_frame = 0;
|
|
|
|
private slots:
|
|
void updateState(const UIState &s);
|
|
|
|
public slots:
|
|
void offroadTransition(bool offroad);
|
|
|
|
signals:
|
|
void requestVisible(bool visible);
|
|
void requestSettings(bool settings);
|
|
};
|
|
|