Program Listing for File tile_map_view.h

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#ifndef TILE_MAP_TILE_MAP_VIEW_H_
#define TILE_MAP_TILE_MAP_VIEW_H_

#include <string>

#include <tile_map/tile_source.h>
#include <tile_map/texture_cache.h>

#include <swri_transform_util/transform.h>

#include <rclcpp/logger.hpp>

namespace tile_map
{
  class TileSource;

  struct Tile
  {
  public:
    QString url;
    size_t url_hash;
    int32_t level;
    int32_t subdiv_count;
    double subwidth;

    TexturePtr texture;

    std::vector<tf2::Vector3> points;
    std::vector<tf2::Vector3> points_t;
  };

  class TileMapView
  {
  public:
    explicit TileMapView(rclcpp::Logger logger = rclcpp::get_logger("tile_map::TileMapView"));

    bool IsReady();

    void ResetCache();

    void SetLogger(rclcpp::Logger logger);

    void SetTileSource(const std::shared_ptr<TileSource>& tile_source);

    void SetTransform(const swri_transform_util::Transform& transform);

    void SetView(
      double latitude,
      double longitude,
      double scale,
      int32_t width,
      int32_t height);

    void Draw();

  private:
    void DrawTiles(std::vector<Tile> &tiles ,int priority);

    std::shared_ptr<TileSource> tile_source_;

    swri_transform_util::Transform transform_;

    int32_t level_;

    int64_t center_x_;
    int64_t center_y_;

    int64_t size_;

    int32_t width_;
    int32_t height_;

    std::vector<Tile> tiles_;
    std::vector<Tile> precache_;

    TextureCachePtr tile_cache_;

    rclcpp::Logger logger_;

    void ToLatLon(int32_t level, double x, double y, double& latitude, double& longitude);

    void InitializeTile(int32_t level, int64_t x, int64_t y, Tile& tile, int priority);
  };
}

#endif  // TILE_MAP_TILE_MAP_VIEW_H_