Program Listing for File aerialmap_display.hpp

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/* Copyright 2014 Gareth Cross

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License. */

#pragma once

#include <string>
#include <memory>
#include <map>
#include <utility>

#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/nav_sat_fix.hpp>

#include "rviz_common/properties/float_property.hpp"
#include "rviz_common/properties/int_property.hpp"
#include "rviz_common/properties/string_property.hpp"
#include <rviz_common/ros_topic_display.hpp>

#include "tile.hpp"
#include "tile_object.hpp"
#include "tile_client.hpp"

namespace rviz_satellite
{

class AerialMapDisplay : public rviz_common::RosTopicDisplay<sensor_msgs::msg::NavSatFix>
{
  Q_OBJECT

public:
  AerialMapDisplay();
  ~AerialMapDisplay() override;

  void onInitialize() override;
  void reset() override;
  void update(float, float) override;

protected Q_SLOTS:
  void updateAlpha();
  void updateDrawUnder();
  void updateTileUrl();
  void updateZoom();
  void updateBlocks();
  void updateLocalMap();
  void updateLocalTileMapInformation();

protected:
  void onEnable() override;
  void onDisable() override;

  void processMessage(const sensor_msgs::msg::NavSatFix::ConstSharedPtr msg) override;

  bool validateMessage(const sensor_msgs::msg::NavSatFix::ConstSharedPtr msg);

  bool validateProperties();

  void shiftMap(TileCoordinate center_tile, Ogre::Vector2i offset, double size);

  void buildMap(TileCoordinate center_tile, double size);

  void buildTile(TileCoordinate coordinate, Ogre::Vector2i offset, double size);

  void resetMap();

  void resetTileServerError();

  void updateAlpha(const rclcpp::Time & t);

  rclcpp::Duration tf_tolerance() const;

  TileCoordinate centerTile() const;

  rviz_common::properties::StringProperty * tile_url_property_ = nullptr;
  rviz_common::properties::IntProperty * zoom_property_ = nullptr;
  rviz_common::properties::IntProperty * blocks_property_ = nullptr;
  rviz_common::properties::FloatProperty * alpha_property_ = nullptr;
  rviz_common::properties::FloatProperty * timeout_property_ = nullptr;
  rviz_common::properties::FloatProperty * tf_tolerance_property_ = nullptr;
  rviz_common::properties::Property * draw_under_property_ = nullptr;

  rviz_common::properties::Property * local_map_property_ = nullptr;
  rviz_common::properties::FloatProperty * local_meter_per_pixel_z0_property_ = nullptr;
  rviz_common::properties::StringProperty * local_origin_crs_property_ = nullptr;
  rviz_common::properties::FloatProperty * local_origin_x_property_ = nullptr;
  rviz_common::properties::FloatProperty * local_origin_y_property_ = nullptr;

  std::mutex tiles_mutex_;
  TileClient tile_client_;

  TileMapInformation tile_map_info_;
  std::map<TileId, std::future<QImage>> pending_tiles_;
  std::map<TileId, TileObject> tiles_;

  sensor_msgs::msg::NavSatFix::ConstSharedPtr last_fix_;
  bool tile_server_had_errors_ {false};

  static const std::string MAP_FRAME;
  static const QString MESSAGE_STATUS;
  static const QString TILE_REQUEST_STATUS;
  static const QString PROPERTIES_STATUS;
  static const QString ORIENTATION_STATUS;
  static const QString TRANSFORM_STATUS;
  static const QString PROJ_TRANSFORM_STATUS;
};

}  // namespace rviz_satellite