MapView.h

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#pragma once

#ifndef __MAPVIEW_H
#define __MAPVIEW_H
 
 
 

#include "GLWindow2.h"
#include <deque>
#include "cvd/thread.h"
#include "TooN/se3.h"
#include "MouseKeyHandler.h"


class DroneKalmanFilter;
class PTAMWrapper;
class Predictor;
class EstimationNode;

class TrailPoint
{
public:
        inline TrailPoint(TooN::Vector<3> filter)
        {
                pointFilter = filter;
                PTAMValid = false;
        }
        inline TrailPoint(TooN::Vector<3> filter, TooN::Vector<3> ptam)
        {
                pointFilter = filter;
                pointPTAM = ptam;
                PTAMValid = true;
        }
        TooN::Vector<3> pointPTAM;
        TooN::Vector<3> pointFilter;
        bool PTAMValid;
};

class MapView : private CVD::Thread, private MouseKeyHandler
{
private:
        // base window
        GLWindow2* myGLWindow;
        CVD::ImageRef desiredWindowSize;                // size the window scould get changed to if [changeSizeNextRender]
        CVD::ImageRef defaultWindowSize;                // size the window gets opened with
        bool changeSizeNextRender;


        // the associated thread's run function.
        // calls control() every time a new PTAM info is available or every 20ms.
        void run();

        // main routine; uses all available information, 
        // in order to calculate and send a new control command to the drone
        void control();

        // renders map view
        void Render();

        DroneKalmanFilter* filter;
        PTAMWrapper* ptamWrapper;
        EstimationNode* node;

        bool resetRequested;

        // keep Running
        bool keepRunning;

        Predictor* predConvert;


        // ---------- rendering stuff ---------------------------
        char charBuf[1000];
        std::string msg;
        enum {UI_NONE = 0, UI_DEBUG = 1, UI_PRES = 2} drawUI;
        float lineWidthFactor;

        // plot stuff
        void plotMapPoints();
        void plotGrid();
        void plotKeyframes();
        void SetupFrustum();
        void SetupModelView(TooN::SE3<> se3WorldFromCurrent = TooN::SE3<>());

        // viewing options
        TooN::SE3<> mse3ViewerFromWorld;
        TooN::Vector<3> mv3MassCenter;
        bool resetMapViewFlag;

        void plotCam(TooN::SE3<> droneToGlobal, bool xyCross, float thick, float len, float alpha);
        void drawTrail();

        // resets tracking. private as it needs to be called from internal thread.
        void ResetInternal();

        // values for rendering.
        TooN::Vector<10> lastFramePoseSpeed;
        bool inControl;
        bool clearTrail;


        // trail for rendering
        std::vector<TrailPoint> trailPoints;

public:

        MapView(DroneKalmanFilter* f, PTAMWrapper* p, EstimationNode* nde);
        ~MapView(void);

        bool handleCommand(std::string s);

        inline void Reset() {resetRequested = true;};

        // Event handling routines.
        // get called by the myGLWindow on respective event.
        void on_key_down(int key);
        //virtual void on_mouse_move(CVD::ImageRef where, int state);
        //virtual void on_mouse_down(CVD::ImageRef where, int state, int button);
        //virtual void on_event(int event);


        static pthread_mutex_t trailPointsVec_CS; //pthread_mutex_lock( &cs_mutex );

        // start and stop system and respective thread.
        void startSystem();
        void stopSystem();

        void resetMapView();
};
#endif /* __MAPVIEW_H */