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62 lines
1.3 KiB
62 lines
1.3 KiB
#pragma once
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#include <optional>
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#include <QThread>
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#include <QGeoCoordinate>
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#include <QGeoManeuver>
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#include <QGeoRouteRequest>
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#include <QGeoRouteSegment>
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#include <QGeoRoutingManager>
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#include <QGeoServiceProvider>
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#include <QTimer>
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#include <QMapboxGL>
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#include "cereal/messaging/messaging.h"
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class RouteEngine : public QObject {
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Q_OBJECT
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public:
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RouteEngine();
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SubMaster *sm;
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PubMaster *pm;
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QTimer* msg_timer;
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QTimer* route_timer;
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std::optional<int> ui_pid;
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// Route
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bool gps_ok = false;
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QGeoServiceProvider *geoservice_provider;
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QGeoRoutingManager *routing_manager;
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QGeoRoute route;
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QGeoRouteSegment segment;
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QMapbox::Coordinate nav_destination;
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// Position
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std::optional<QMapbox::Coordinate> last_position;
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std::optional<float> last_bearing;
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bool localizer_valid = false;
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// Route recompute
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bool active = false;
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int recompute_backoff = 0;
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int recompute_countdown = 0;
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void calculateRoute(QMapbox::Coordinate destination);
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void clearRoute();
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bool shouldRecompute();
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private slots:
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void routeUpdate();
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void msgUpdate();
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void routeCalculated(QGeoRouteReply *reply);
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void recomputeRoute();
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void sendRoute();
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signals:
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void positionUpdated(QMapbox::Coordinate position, float bearing);
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void routeUpdated(QList<QGeoCoordinate> coordinates);
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};
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