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qgroundcontrol
Commit 87d163cc authored by pixhawk's avatar pixhawk
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Merge branch 'master' of pixhawk.ethz.ch:qgroundcontrol into dev

parents a781aa7c 53e8ec10
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Showing with 402 additions and 76 deletions
src/Core.cc
View file @ 87d163cc
......@@ -114,6 +114,9 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
// to make sure that all components are initialized when the
// first messages arrive
UDPLink* udpLink = new UDPLink(QHostAddress::Any, 14550);
// Listen on Multicast-Address 239.255.77.77, Port 14550
//QHostAddress * multicast_udp = new QHostAddress("239.255.77.77");
//UDPLink* udpLink = new UDPLink(*multicast_udp, 14550);
mainWindow->addLink(udpLink);
// Check if link could be connected
......
src/comm/UDPLink.cc
View file @ 87d163cc
......@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
#include "UDPLink.h"
#include "LinkManager.h"
#include "MG.h"
#include <netinet/in.h>
UDPLink::UDPLink(QHostAddress host, quint16 port)
{
......@@ -197,11 +198,46 @@ bool UDPLink::connect()
{
socket = new QUdpSocket(this);
//Check if we are using a multicast-address
// bool multicast = false;
// if (host.isInSubnet(QHostAddress("224.0.0.0"),4))
// {
// multicast = true;
// connectState = socket->bind(port, QUdpSocket::ShareAddress);
// }
// else
// {
connectState = socket->bind(host, port);
// }
//Provides Multicast functionality to UdpSocket
/* not working yet
if (multicast)
{
int sendingFd = socket->socketDescriptor();
if (sendingFd != -1)
{
// set up destination address
struct sockaddr_in sendAddr;
memset(&sendAddr,0,sizeof(sendAddr));
sendAddr.sin_family=AF_INET;
sendAddr.sin_addr.s_addr=inet_addr(HELLO_GROUP);
sendAddr.sin_port=htons(port);
// set TTL
unsigned int ttl = 1; // restricted to the same subnet
if (setsockopt(sendingFd, IPPROTO_IP, IP_MULTICAST_TTL, (unsigned int*)&ttl, sizeof(ttl) ) < 0)
{
std::cout << "TTL failed\n";
}
}
}
*/
//QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readPendingDatagrams()));
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
connectState = socket->bind(host, port);
emit connected(connectState);
if (connectState)
{
......
src/comm/UDPLink.h
View file @ 87d163cc
......@@ -46,6 +46,7 @@ class UDPLink : public LinkInterface
public:
UDPLink(QHostAddress host = QHostAddress::Any, quint16 port = 14550);
//UDPLink(QHostAddress host = "239.255.76.67", quint16 port = 7667);
~UDPLink();
bool isConnected();
......
src/ui/map3D/Imagery.cc
View file @ 87d163cc
......@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
#include "Imagery.h"
#include <cmath>
#include <iomanip>
#include <sstream>
const double WGS84_A = 6378137.0;
......@@ -65,7 +66,8 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
const QString& utmZone)
{
double tileResolution;
if (currentImageryType == SATELLITE)
if (currentImageryType == GOOGLE_SATELLITE ||
currentImageryType == GOOGLE_MAP)
{
tileResolution = 1.0;
while (tileResolution * 3.0 / 2.0 < 1.0 / zoom)
......@@ -77,6 +79,10 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
tileResolution = 512.0;
}
}
else if (currentImageryType == SWISSTOPO_SATELLITE)
{
tileResolution = 0.25;
}
int32_t minTileX, minTileY, maxTileX, maxTileY;
int32_t zoomLevel;
......@@ -92,7 +98,7 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
{
for (int32_t c = minTileX; c <= maxTileX; ++c)
{
QString url = getTileURL(c, r, zoomLevel);
QString url = getTileLocation(c, r, zoomLevel, tileResolution);
TexturePtr t = textureCache->get(url);
}
......@@ -106,7 +112,8 @@ Imagery::draw2D(double windowWidth, double windowHeight,
const QString& utmZone)
{
double tileResolution;
if (currentImageryType == SATELLITE)
if (currentImageryType == GOOGLE_SATELLITE ||
currentImageryType == GOOGLE_MAP)
{
tileResolution = 1.0;
while (tileResolution * 3.0 / 2.0 < 1.0 / zoom)
......@@ -118,6 +125,10 @@ Imagery::draw2D(double windowWidth, double windowHeight,
tileResolution = 512.0;
}
}
else if (currentImageryType == SWISSTOPO_SATELLITE)
{
tileResolution = 0.25;
}
int32_t minTileX, minTileY, maxTileX, maxTileY;
int32_t zoomLevel;
......@@ -133,7 +144,7 @@ Imagery::draw2D(double windowWidth, double windowHeight,
{
for (int32_t c = minTileX; c <= maxTileX; ++c)
{
QString tileURL = getTileURL(c, r, zoomLevel);
QString tileURL = getTileLocation(c, r, zoomLevel, tileResolution);
double x1, y1, x2, y2, x3, y3, x4, y4;
imageBounds(c, r, tileResolution, x1, y1, x2, y2, x3, y3, x4, y4);
......@@ -154,7 +165,7 @@ void
Imagery::prefetch3D(double radius, double tileResolution,
double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone)
const QString& utmZone, bool useHeightModel)
{
int32_t minTileX, minTileY, maxTileX, maxTileY;
int32_t zoomLevel;
......@@ -170,9 +181,9 @@ Imagery::prefetch3D(double radius, double tileResolution,
{
for (int32_t c = minTileX; c <= maxTileX; ++c)
{
QString url = getTileURL(c, r, zoomLevel);
QString url = getTileLocation(c, r, zoomLevel, tileResolution);
TexturePtr t = textureCache->get(url);
TexturePtr t = textureCache->get(url, useHeightModel);
}
}
}
......@@ -181,7 +192,7 @@ void
Imagery::draw3D(double radius, double tileResolution,
double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone)
const QString& utmZone, bool useHeightModel)
{
int32_t minTileX, minTileY, maxTileX, maxTileY;
int32_t zoomLevel;
......@@ -197,12 +208,12 @@ Imagery::draw3D(double radius, double tileResolution,
{
for (int32_t c = minTileX; c <= maxTileX; ++c)
{
QString tileURL = getTileURL(c, r, zoomLevel);
QString tileURL = getTileLocation(c, r, zoomLevel, tileResolution);
double x1, y1, x2, y2, x3, y3, x4, y4;
imageBounds(c, r, tileResolution, x1, y1, x2, y2, x3, y3, x4, y4);
TexturePtr t = textureCache->get(tileURL);
TexturePtr t = textureCache->get(tileURL, useHeightModel);
if (!t.isNull())
{
......@@ -228,20 +239,38 @@ Imagery::imageBounds(int32_t tileX, int32_t tileY, double tileResolution,
double& x1, double& y1, double& x2, double& y2,
double& x3, double& y3, double& x4, double& y4) const
{
int32_t zoomLevel = MAX_ZOOM_LEVEL - static_cast<int32_t>(rint(log2(tileResolution)));
int32_t numTiles = static_cast<int32_t>(exp2(static_cast<double>(zoomLevel)));
if (currentImageryType == GOOGLE_MAP ||
currentImageryType == GOOGLE_SATELLITE)
{
int32_t zoomLevel = MAX_ZOOM_LEVEL - static_cast<int32_t>(rint(log2(tileResolution)));
int32_t numTiles = static_cast<int32_t>(exp2(static_cast<double>(zoomLevel)));
double lon1 = tileXToLongitude(tileX, numTiles);
double lon2 = tileXToLongitude(tileX + 1, numTiles);
double lon1 = tileXToLongitude(tileX, numTiles);
double lon2 = tileXToLongitude(tileX + 1, numTiles);
double lat1 = tileYToLatitude(tileY, numTiles);
double lat2 = tileYToLatitude(tileY + 1, numTiles);
double lat1 = tileYToLatitude(tileY, numTiles);
double lat2 = tileYToLatitude(tileY + 1, numTiles);
QString utmZone;
LLtoUTM(lat1, lon1, x1, y1, utmZone);
LLtoUTM(lat1, lon2, x2, y2, utmZone);
LLtoUTM(lat2, lon2, x3, y3, utmZone);
LLtoUTM(lat2, lon1, x4, y4, utmZone);
QString utmZone;
LLtoUTM(lat1, lon1, x1, y1, utmZone);
LLtoUTM(lat1, lon2, x2, y2, utmZone);
LLtoUTM(lat2, lon2, x3, y3, utmZone);
LLtoUTM(lat2, lon1, x4, y4, utmZone);
}
else if (currentImageryType == SWISSTOPO_SATELLITE ||
currentImageryType == SWISSTOPO_SATELLITE_3D)
{
double utmMultiplier = tileResolution * 200.0;
double minX = tileX * utmMultiplier;
double maxX = minX + utmMultiplier;
double minY = tileY * utmMultiplier;
double maxY = minY + utmMultiplier;
x1 = maxX; y1 = minY;
x2 = maxX; y2 = maxY;
x3 = minX; y3 = maxY;
x4 = minX; y4 = minY;
}
}
void
......@@ -254,15 +283,30 @@ Imagery::tileBounds(double tileResolution,
{
double centerUtmX = (maxUtmX - minUtmX) / 2.0 + minUtmX;
double centerUtmY = (maxUtmY - minUtmY) / 2.0 + minUtmY;
int32_t centerTileX, centerTileY;
UTMtoTile(minUtmX, minUtmY, utmZone, tileResolution,
minTileX, maxTileY, zoomLevel);
UTMtoTile(centerUtmX, centerUtmY, utmZone, tileResolution,
centerTileX, centerTileY, zoomLevel);
UTMtoTile(maxUtmX, maxUtmY, utmZone, tileResolution,
maxTileX, minTileY, zoomLevel);
if (currentImageryType == GOOGLE_MAP ||
currentImageryType == GOOGLE_SATELLITE)
{
UTMtoTile(minUtmX, minUtmY, utmZone, tileResolution,
minTileX, maxTileY, zoomLevel);
UTMtoTile(centerUtmX, centerUtmY, utmZone, tileResolution,
centerTileX, centerTileY, zoomLevel);
UTMtoTile(maxUtmX, maxUtmY, utmZone, tileResolution,
maxTileX, minTileY, zoomLevel);
}
else if (currentImageryType == SWISSTOPO_SATELLITE ||
currentImageryType == SWISSTOPO_SATELLITE_3D)
{
double utmMultiplier = tileResolution * 200;
minTileX = static_cast<int32_t>(rint(minUtmX / utmMultiplier));
minTileY = static_cast<int32_t>(rint(minUtmY / utmMultiplier));
centerTileX = static_cast<int32_t>(rint(centerUtmX / utmMultiplier));
centerTileY = static_cast<int32_t>(rint(centerUtmY / utmMultiplier));
maxTileX = static_cast<int32_t>(rint(maxUtmX / utmMultiplier));
maxTileY = static_cast<int32_t>(rint(maxUtmY / utmMultiplier));
}
if (maxTileX - minTileX + 1 > 14)
{
......@@ -513,20 +557,33 @@ Imagery::UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone,
}
QString
Imagery::getTileURL(int32_t tileX, int32_t tileY, int32_t zoomLevel) const
Imagery::getTileLocation(int32_t tileX, int32_t tileY, int32_t zoomLevel,
double tileResolution) const
{
std::ostringstream oss;
switch (currentImageryType)
{
case MAP:
case GOOGLE_MAP:
oss << "http://mt0.google.com/vt/lyrs=m@120&x=" << tileX
<< "&y=" << tileY << "&z=" << zoomLevel;
break;
case SATELLITE:
case GOOGLE_SATELLITE:
oss << "http://khm.google.com/vt/lbw/lyrs=y&x=" << tileX
<< "&y=" << tileY << "&z=" << zoomLevel;
break;
case SWISSTOPO_SATELLITE: case SWISSTOPO_SATELLITE_3D:
oss << "../map/eth_zurich_swissimage_025/200/color/" << tileY
<< "/tile-";
if (tileResolution < 1.0)
{
oss << std::fixed << std::setprecision(2) << tileResolution;
}
else
{
oss << static_cast<int32_t>(rint(tileResolution));
}
oss << "-" << tileY << "-" << tileX << ".jpg";
default:
{};
}
......
src/ui/map3D/Imagery.h
View file @ 87d163cc
......@@ -43,8 +43,10 @@ public:
enum ImageryType
{
MAP = 0,
SATELLITE = 1
GOOGLE_MAP = 0,
GOOGLE_SATELLITE = 1,
SWISSTOPO_SATELLITE = 2,
SWISSTOPO_SATELLITE_3D = 3
};
void setImageryType(ImageryType type);
......@@ -62,11 +64,11 @@ public:
void prefetch3D(double radius, double tileResolution,
double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone);
const QString& utmZone, bool useHeightModel);
void draw3D(double radius, double tileResolution,
double xOrigin, double yOrigin,
double viewXOffset, double viewYOffset,
const QString& utmZone);
const QString& utmZone, bool useHeightModel);
bool update(void);
......@@ -100,7 +102,8 @@ private:
void UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone,
double& latitude, double& longitude) const;
QString getTileURL(int32_t tileX, int32_t tileY, int32_t zoomLevel) const;
QString getTileLocation(int32_t tileX, int32_t tileY, int32_t zoomLevel,
double tileResolution) const;
ImageryType currentImageryType;
......
src/ui/map3D/Q3DWidget.cc
View file @ 87d163cc
......@@ -232,7 +232,7 @@ Q3DWidget::userTimer(void)
{
if (timerFunc)
{
timerFunc(timerFuncData);
timerFunc(timerFuncData);
}
}
......@@ -356,7 +356,6 @@ Q3DWidget::getMouseY(void)
return mapFromGlobal(cursor().pos()).y();
}
void
Q3DWidget::rotateCamera(float dx, float dy)
{
......@@ -858,9 +857,12 @@ Q3DWidget::timerEvent(QTimerEvent* event)
}
void
Q3DWidget::closeEvent(QCloseEvent *)
Q3DWidget::closeEvent(QCloseEvent* event)
{
// exit application
timer.stop();
event->accept();
}
void
......
src/ui/map3D/QMap3DWidget.cc
View file @ 87d163cc
......@@ -95,6 +95,8 @@ QMap3DWidget::buildLayout(void)
imageryComboBox->addItem("None");
imageryComboBox->addItem("Map (Google)");
imageryComboBox->addItem("Satellite (Google)");
imageryComboBox->addItem("Satellite (Swisstopo)");
imageryComboBox->addItem("3D Satellite (Swisstopo)");
QPushButton* recenterButton = new QPushButton(this);
recenterButton->setText("Recenter Camera");
......@@ -536,11 +538,19 @@ QMap3DWidget::showImagery(const QString& text)
{
if (text.compare("Map (Google)") == 0)
{
imagery->setImageryType(Imagery::MAP);
imagery->setImageryType(Imagery::GOOGLE_MAP);
}
else if (text.compare("Satellite (Google)") == 0)
{
imagery->setImageryType(Imagery::SATELLITE);
imagery->setImageryType(Imagery::GOOGLE_SATELLITE);
}
else if (text.compare("Satellite (Swisstopo)") == 0)
{
imagery->setImageryType(Imagery::SWISSTOPO_SATELLITE);
}
else if (text.compare("3D Satellite (Swisstopo)") == 0)
{
imagery->setImageryType(Imagery::SWISSTOPO_SATELLITE_3D);
}
displayImagery = true;
}
......@@ -673,6 +683,7 @@ QMap3DWidget::drawImagery(double originX, double originY, double originZ,
double minResolution = 0.25;
double centerResolution = cameraPose.distance / 100.0;
double maxResolution = 1048576.0;
bool useHeightModel = false;
if (imageryComboBox->currentText().compare("Map (Google)") == 0)
{
......@@ -682,6 +693,17 @@ QMap3DWidget::drawImagery(double originX, double originY, double originZ,
{
minResolution = 0.5;
}
else if (imageryComboBox->currentText().compare("Satellite (Swisstopo)") == 0)
{
minResolution = 0.25;
maxResolution = 0.25;
}
else if (imageryComboBox->currentText().compare("3D Satellite (Swisstopo)") == 0)
{
minResolution = 0.25;
maxResolution = 0.25;
useHeightModel = true;
}
double resolution = minResolution;
while (resolution * 2.0 < centerResolution)
......@@ -694,7 +716,8 @@ QMap3DWidget::drawImagery(double originX, double originY, double originZ,
}
imagery->draw3D(viewingRadius, resolution, originX, originY,
cameraPose.xOffset, cameraPose.yOffset, zone);
cameraPose.xOffset, cameraPose.yOffset, zone,
useHeightModel);
if (prefetch)
{
......@@ -702,13 +725,15 @@ QMap3DWidget::drawImagery(double originX, double originY, double originZ,
{
imagery->prefetch3D(viewingRadius / 2.0, resolution / 2.0,
originX, originY,
cameraPose.xOffset, cameraPose.yOffset, zone);
cameraPose.xOffset, cameraPose.yOffset, zone,
useHeightModel);
}
if (resolution * 2.0 <= maxResolution)
{
imagery->prefetch3D(viewingRadius * 2.0, resolution * 2.0,
originX, originY,
cameraPose.xOffset, cameraPose.yOffset, zone);
cameraPose.xOffset, cameraPose.yOffset, zone,
useHeightModel);
}
}
......
src/ui/map3D/Texture.cc
View file @ 87d163cc
......@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
#include "Texture.h"
Texture::Texture()
: _is3D(false)
{
}
......@@ -54,9 +55,11 @@ Texture::sync(const WebImagePtr& image)
state = static_cast<State>(image->getState());
if (image->getState() != WebImage::UNINITIALIZED &&
sourceURL != image->getSourceURL())
(sourceURL != image->getSourceURL() ||
_is3D != image->is3D()))
{
sourceURL = image->getSourceURL();
_is3D = image->is3D();
}
if (image->getState() == WebImage::READY && image->getSyncFlag())
......@@ -91,7 +94,9 @@ Texture::sync(const WebImagePtr& image)
glBindTexture(GL_TEXTURE_2D, id);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, imageWidth, imageHeight,
GL_RGBA, GL_UNSIGNED_BYTE, image->getData());
GL_RGBA, GL_UNSIGNED_BYTE, image->getImageData());
heightModel = image->getHeightModel();
}
}
......@@ -140,18 +145,77 @@ Texture::draw(float x1, float y1, float x2, float y2,
}
glColor3f(1.0f, 1.0f, 1.0f);
glBegin(GL_QUADS);
if (!_is3D)
{
glBegin(GL_QUADS);
glTexCoord2f(dx, maxV - dy);
glVertex3f(x1, y1, 0.0f);
glTexCoord2f(maxU - dx, maxV - dy);
glVertex3f(x2, y2, 0.0f);
glTexCoord2f(maxU - dx, dy);
glVertex3f(x3, y3, 0.0f);
glTexCoord2f(dx, dy);
glVertex3f(x4, y4, 0.0f);
glEnd();
}
else
{
float scaleX = 1.0f / static_cast<float>(heightModel.size() - 1);
for (int32_t i = 0; i < heightModel.size() - 1; ++i)
{
float scaleI = scaleX * static_cast<float>(i);
glTexCoord2f(dx, maxV - dy);
glVertex2f(x1, y1);
glTexCoord2f(maxU - dx, maxV - dy);
glVertex2f(x2, y2);
glTexCoord2f(maxU - dx, dy);
glVertex2f(x3, y3);
glTexCoord2f(dx, dy);
glVertex2f(x4, y4);
float scaleY =
1.0f / static_cast<float>(heightModel[i].size() - 1);
glEnd();
float x1i = x1 + scaleI * (x4 - x1);
float x1f = x2 + scaleI * (x3 - x2);
float x2i = x1i + scaleX * (x4 - x1);
float x2f = x1f + scaleX * (x3 - x2);
for (int32_t j = 0; j < heightModel[i].size() - 1; ++j)
{
float scaleJ = scaleY * static_cast<float>(j);
float y1i = y1 + scaleJ * (y2 - y1);
float y1f = y4 + scaleJ * (y3 - y4);
float y2i = y1i + scaleY * (y2 - y1);
float y2f = y1f + scaleY * (y3 - y4);
float nx1 = x1i + scaleJ * (x1f - x1i);
float nx2 = x1i + (scaleJ + scaleY) * (x1f - x1i);
float nx3 = x2i + (scaleJ + scaleY) * (x2f - x2i);
float nx4 = x2i + scaleJ * (x2f - x2i);
float ny1 = y1i + scaleI * (y1f - y1i);
float ny2 = y2i + scaleI * (y2f - y2i);
float ny3 = y2i + (scaleI + scaleX) * (y2f - y2i);
float ny4 = y1i + (scaleI + scaleX) * (y1f - y1i);
glBegin(GL_QUADS);
glTexCoord2f(dx + scaleJ * (maxU - dx * 2.0f),
dy + (1.0f - scaleI) * (maxV - dy * 2.0f));
glVertex3f(nx1, ny1, -static_cast<float>(heightModel[i][j]));
glTexCoord2f(dx + (scaleJ + scaleY) * (maxU - dx * 2.0f),
dy + (1.0f - scaleI) * (maxV - dy * 2.0f));
glVertex3f(nx2, ny2, -static_cast<float>(heightModel[i][j + 1]));
glTexCoord2f(dx + (scaleJ + scaleY) * (maxU - dx * 2.0f),
dy + (1.0f - scaleI - scaleX) * (maxV - dy * 2.0f));
glVertex3f(nx3, ny3, -static_cast<float>(heightModel[i + 1][j + 1]));
glTexCoord2f(dx + scaleJ * (maxU - dx * 2.0f),
dy + (1.0f - scaleI - scaleX) * (maxV - dy * 2.0f));
glVertex3f(nx4, ny4, -static_cast<float>(heightModel[i + 1][j]));
glEnd();
}
}
}
glDisable(GL_TEXTURE_2D);
}
bool
Texture::is3D(void) const
{
return _is3D;
}
src/ui/map3D/Texture.h
View file @ 87d163cc
......@@ -59,6 +59,8 @@ public:
float x3, float y3, float x4, float y4,
bool smoothInterpolation) const;
bool is3D(void) const;
private:
enum State
{
......@@ -77,6 +79,9 @@ private:
int32_t imageWidth;
int32_t imageHeight;
bool _is3D;
QVector< QVector<int32_t> > heightModel;
float maxU;
float maxV;
};
......
src/ui/map3D/TextureCache.cc
View file @ 87d163cc
......@@ -52,19 +52,20 @@ TextureCache::TextureCache(uint32_t _cacheSize)
}
TexturePtr
TextureCache::get(const QString& tileURL)
TextureCache::get(const QString& tileURL, bool useHeightModel)
{
QPair<TexturePtr, int32_t> p1 = lookup(tileURL);
QPair<TexturePtr, int32_t> p1 = lookup(tileURL, useHeightModel);
if (!p1.first.isNull())
{
return p1.first;
}
QPair<WebImagePtr, int32_t> p2 = imageCache->lookup(tileURL);
QPair<WebImagePtr, int32_t> p2 =
imageCache->lookup(tileURL, useHeightModel);
if (!p2.first.isNull())
{
textures[p2.second]->sync(p2.first);
p1 = lookup(tileURL);
p1 = lookup(tileURL, useHeightModel);
return p1.first;
}
......@@ -85,11 +86,12 @@ TextureCache::sync(void)
}
QPair<TexturePtr, int32_t>
TextureCache::lookup(const QString& tileURL)
TextureCache::lookup(const QString& tileURL, bool useHeightModel)
{
for (int32_t i = 0; i < textures.size(); ++i)
{
if (textures[i]->getSourceURL() == tileURL)
if (textures[i]->getSourceURL() == tileURL &&
textures[i]->is3D() == useHeightModel)
{
return qMakePair(textures[i], i);
}
......
src/ui/map3D/TextureCache.h
View file @ 87d163cc
......@@ -42,12 +42,13 @@ class TextureCache
public:
explicit TextureCache(uint32_t cacheSize);
TexturePtr get(const QString& tileURL);
TexturePtr get(const QString& tileURL, bool useHeightModel = false);
void sync(void);
private:
QPair<TexturePtr, int32_t> lookup(const QString& tileURL);
QPair<TexturePtr, int32_t> lookup(const QString& tileURL,
bool useHeightModel);
bool requireSync(void) const;
......
src/ui/map3D/WebImage.cc
View file @ 87d163cc
......@@ -31,7 +31,7 @@ This file is part of the QGROUNDCONTROL project
#include "WebImage.h"
#include <QDebug>
#include <QFile>
#include <QGLWidget>
WebImage::WebImage()
......@@ -39,6 +39,7 @@ WebImage::WebImage()
, sourceURL("")
, image(0)
, lastReference(0)
, _is3D(false)
, syncFlag(false)
{
......@@ -51,6 +52,7 @@ WebImage::clear(void)
sourceURL.clear();
state = WebImage::UNINITIALIZED;
lastReference = 0;
heightModel.clear();
}
WebImage::State
......@@ -78,12 +80,18 @@ WebImage::setSourceURL(const QString& url)
}
const uint8_t*
WebImage::getData(void) const
WebImage::getImageData(void) const
{
return image->scanLine(0);
}
void
const QVector< QVector<int32_t> >&
WebImage::getHeightModel(void) const
{
return heightModel;
}
bool
WebImage::setData(const QByteArray& data)
{
QImage tempImage;
......@@ -94,10 +102,84 @@ WebImage::setData(const QByteArray& data)
image.reset(new QImage);
}
*image = QGLWidget::convertToGLFormat(tempImage);
return true;
}
else
{
return false;
}
}
bool
WebImage::setData(const QString& filename)
{
QImage tempImage;
if (tempImage.load(filename))
{
if (image.isNull())
{
image.reset(new QImage);
}
*image = QGLWidget::convertToGLFormat(tempImage);
return true;
}
else
{
return false;
}
}
bool
WebImage::setData(const QString& imageFilename, const QString& heightFilename)
{
QFile heightFile(heightFilename);
QImage tempImage;
if (tempImage.load(imageFilename) && heightFile.open(QIODevice::ReadOnly))
{
if (image.isNull())
{
image.reset(new QImage);
}
*image = QGLWidget::convertToGLFormat(tempImage);
QDataStream heightDataStream(&heightFile);
// read in width and height values for height map
char header[8];
heightDataStream.readRawData(header, 8);
int32_t height = *(reinterpret_cast<int32_t *>(header));
int32_t width = *(reinterpret_cast<int32_t *>(header + 4));
char buffer[height * width * sizeof(int32_t)];
heightDataStream.readRawData(buffer, height * width * sizeof(int32_t));
heightModel.clear();
for (int32_t i = 0; i < height; ++i)
{
QVector<int32_t> scanline;
for (int32_t j = 0; j < width; ++j)
{
int32_t n = *(reinterpret_cast<int32_t *>(buffer
+ (i * height + j)
* sizeof(int32_t)));
scanline.push_back(n);
}
heightModel.push_back(scanline);
}
heightFile.close();
_is3D = true;
return true;
}
else
{
qDebug() << "# WARNING: cannot load image data for" << sourceURL;
return false;
}
}
......@@ -119,6 +201,12 @@ WebImage::getByteCount(void) const
return image->byteCount();
}
bool
WebImage::is3D(void) const
{
return _is3D;
}
uint64_t
WebImage::getLastReference(void) const
{
......
src/ui/map3D/WebImage.h
View file @ 87d163cc
......@@ -57,13 +57,18 @@ public:
const QString& getSourceURL(void) const;
void setSourceURL(const QString& url);
const uint8_t* getData(void) const;
void setData(const QByteArray& data);
const uint8_t* getImageData(void) const;
const QVector< QVector<int32_t> >& getHeightModel(void) const;
bool setData(const QByteArray& data);
bool setData(const QString& filename);
bool setData(const QString& imageFilename, const QString& heightFilename);
int32_t getWidth(void) const;
int32_t getHeight(void) const;
int32_t getByteCount(void) const;
bool is3D(void) const;
uint64_t getLastReference(void) const;
void setLastReference(uint64_t value);
......@@ -74,7 +79,9 @@ private:
State state;
QString sourceURL;
QScopedPointer<QImage> image;
QVector< QVector<int32_t> > heightModel;
uint64_t lastReference;
bool _is3D;
bool syncFlag;
};
......
src/ui/map3D/WebImageCache.cc
View file @ 87d163cc
......@@ -52,14 +52,15 @@ WebImageCache::WebImageCache(QObject* parent, uint32_t _cacheSize)
}
QPair<WebImagePtr, int32_t>
WebImageCache::lookup(const QString& url)
WebImageCache::lookup(const QString& url, bool useHeightModel)
{
QPair<WebImagePtr, int32_t> cacheEntry;
for (int32_t i = 0; i < webImages.size(); ++i)
{
if (webImages[i]->getState() != WebImage::UNINITIALIZED &&
webImages[i]->getSourceURL() == url)
webImages[i]->getSourceURL() == url &&
webImages[i]->is3D() == useHeightModel)
{
cacheEntry.first = webImages[i];
cacheEntry.second = i;
......@@ -104,7 +105,37 @@ WebImageCache::lookup(const QString& url)
++currentReference;
cacheEntry.first->setState(WebImage::REQUESTED);
networkManager->get(QNetworkRequest(QUrl(url)));
if (url.left(4).compare("http") == 0)
{
networkManager->get(QNetworkRequest(QUrl(url)));
}
else
{
bool success;
if (useHeightModel)
{
QString heightURL = url;
heightURL.replace("color", "dom");
heightURL.replace(".jpg", ".txt");
success = cacheEntry.first->setData(url, heightURL);
}
else
{
success = cacheEntry.first->setData(url);
}
if (success)
{
cacheEntry.first->setSyncFlag(true);
cacheEntry.first->setState(WebImage::READY);
}
else
{
cacheEntry.first->setState(WebImage::UNINITIALIZED);
}
}
return cacheEntry;
}
......
src/ui/map3D/WebImageCache.h
View file @ 87d163cc
......@@ -45,7 +45,8 @@ class WebImageCache : public QObject
public:
WebImageCache(QObject* parent, uint32_t cacheSize);
QPair<WebImagePtr, int32_t> lookup(const QString& url);
QPair<WebImagePtr, int32_t> lookup(const QString& url,
bool useHeightModel);
WebImagePtr at(int32_t index) const;
......
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