mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-04 04:52:09 +08:00
James
476 lines
17 KiB
C++
476 lines
17 KiB
C++
#include "selfdrive/ui/qt/maps/map_settings.h"
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#include <utility>
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#include <QApplication>
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#include <QDebug>
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#include "common/util.h"
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#include "selfdrive/ui/qt/request_repeater.h"
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#include "selfdrive/ui/qt/widgets/scrollview.h"
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static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); }
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static bool locationEqual(const QJsonValue &v1, const QJsonValue &v2) {
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return v1["latitude"] == v2["latitude"] && v1["longitude"] == v2["longitude"];
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}
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static qint64 convertTimestampToEpoch(const QString ×tamp) {
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QDateTime dt = QDateTime::fromString(timestamp, Qt::ISODate);
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return dt.isValid() ? dt.toSecsSinceEpoch() : 0;
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}
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MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
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setContentsMargins(0, 0, 0, 0);
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setAttribute(Qt::WA_NoMousePropagation);
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auto *frame = new QVBoxLayout(this);
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frame->setContentsMargins(40, 40, 40, 0);
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frame->setSpacing(0);
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auto *heading_frame = new QHBoxLayout;
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heading_frame->setContentsMargins(0, 0, 0, 0);
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heading_frame->setSpacing(32);
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{
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if (closeable) {
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auto *close_btn = new QPushButton("←");
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close_btn->setStyleSheet(R"(
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QPushButton {
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color: #FFFFFF;
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font-size: 100px;
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padding-bottom: 8px;
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border 1px grey solid;
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border-radius: 70px;
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background-color: #292929;
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font-weight: 500;
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}
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QPushButton:pressed {
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background-color: #3B3B3B;
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}
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)");
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close_btn->setFixedSize(140, 140);
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QObject::connect(close_btn, &QPushButton::clicked, [=]() { emit closeSettings(); });
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// TODO: read map_on_left from ui state
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heading_frame->addWidget(close_btn);
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}
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auto *heading = new QVBoxLayout;
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heading->setContentsMargins(0, 0, 0, 0);
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heading->setSpacing(16);
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{
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auto *title = new QLabel(tr("NAVIGATION"), this);
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title->setStyleSheet("color: #FFFFFF; font-size: 54px; font-weight: 600;");
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heading->addWidget(title);
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subtitle = new QLabel(tr("Manage at %1").arg(QString("%1:8082").arg(frogpilotUIState()->wifi->getIp4Address())), this);
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subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;");
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heading->addWidget(subtitle);
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}
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heading_frame->addLayout(heading, 1);
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}
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frame->addLayout(heading_frame);
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frame->addSpacing(32);
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current_widget = new DestinationWidget(this);
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QObject::connect(current_widget, &DestinationWidget::actionClicked,
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[]() { NavManager::instance()->setCurrentDestination({}); });
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frame->addWidget(current_widget);
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frame->addSpacing(32);
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QWidget *destinations_container = new QWidget(this);
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destinations_layout = new QVBoxLayout(destinations_container);
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destinations_layout->setContentsMargins(0, 32, 0, 32);
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destinations_layout->setSpacing(20);
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destinations_layout->addWidget(home_widget = new DestinationWidget(this));
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destinations_layout->addWidget(work_widget = new DestinationWidget(this));
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QObject::connect(home_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
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QObject::connect(work_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
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destinations_layout->addStretch();
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ScrollView *destinations_scroller = new ScrollView(destinations_container, this);
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destinations_scroller->setFrameShape(QFrame::NoFrame);
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frame->addWidget(destinations_scroller);
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setStyleSheet("MapSettings { background-color: #333333; }");
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QObject::connect(NavManager::instance(), &NavManager::updated, this, &MapSettings::refresh);
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}
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void MapSettings::showEvent(QShowEvent *event) {
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refresh();
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}
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void MapSettings::refresh() {
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if (!isVisible()) return;
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setUpdatesEnabled(false);
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auto get_w = [this](int i) {
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auto w = i < widgets.size() ? widgets[i] : widgets.emplace_back(new DestinationWidget);
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if (!w->parentWidget()) {
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destinations_layout->insertWidget(destinations_layout->count() - 1, w);
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QObject::connect(w, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
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}
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return w;
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};
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const auto current_dest = NavManager::instance()->currentDestination();
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if (!current_dest.isEmpty()) {
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current_widget->set(current_dest, true);
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} else {
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current_widget->unset("", true);
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}
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home_widget->unset(NAV_FAVORITE_LABEL_HOME);
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work_widget->unset(NAV_FAVORITE_LABEL_WORK);
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QString favorite_destinations = QString::fromStdString(params.get("FavoriteDestinations"));
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QJsonDocument favorite_destinations_doc = QJsonDocument::fromJson(favorite_destinations.toUtf8());
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std::optional<QJsonObject> home_favorite;
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std::optional<QJsonObject> work_favorite;
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QJsonArray other_favorites;
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if (favorite_destinations_doc.isArray()) {
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QJsonArray favorite_destinations_array = favorite_destinations_doc.array();
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for (const QJsonValue &favorite_value : favorite_destinations_array) {
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QJsonObject favorite_object = favorite_value.toObject();
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if (favorite_object.contains("latitude") && favorite_object.contains("longitude")) {
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bool is_home = favorite_object.value("is_home").toBool();
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bool is_work = favorite_object.value("is_work").toBool();
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if (!home_favorite.has_value() && is_home) {
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home_favorite = favorite_object;
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} else if (!work_favorite.has_value() && is_work) {
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work_favorite = favorite_object;
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} else if (!is_home && !is_work) {
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other_favorites.append(favorite_object);
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}
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}
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}
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}
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if (home_favorite.has_value()) {
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QJsonObject home_destination;
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home_destination.insert("latitude", home_favorite->value("latitude"));
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home_destination.insert("longitude", home_favorite->value("longitude"));
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if (home_favorite->contains("name")) {
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home_destination.insert("place_name", home_favorite->value("name"));
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home_destination.insert("place_details", home_favorite->value("name"));
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}
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home_destination.insert("save_type", NAV_TYPE_FAVORITE);
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home_destination.insert("is_home", true);
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home_widget->set(home_destination, false);
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}
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if (work_favorite.has_value()) {
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QJsonObject work_destination;
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work_destination.insert("latitude", work_favorite->value("latitude"));
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work_destination.insert("longitude", work_favorite->value("longitude"));
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if (work_favorite->contains("name")) {
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work_destination.insert("place_name", work_favorite->value("name"));
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work_destination.insert("place_details", work_favorite->value("name"));
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}
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work_destination.insert("save_type", NAV_TYPE_FAVORITE);
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work_destination.insert("is_work", true);
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work_widget->set(work_destination, false);
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}
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int n = 0;
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for (const QJsonValue &favorite_value : other_favorites) {
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QJsonObject favorite_object = favorite_value.toObject();
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QJsonObject destination;
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destination.insert("latitude", favorite_object.value("latitude"));
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destination.insert("longitude", favorite_object.value("longitude"));
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if (favorite_object.contains("name")) {
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destination.insert("place_name", favorite_object.value("name"));
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destination.insert("place_details", favorite_object.value("name"));
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}
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destination.insert("save_type", NAV_TYPE_FAVORITE);
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DestinationWidget *destination_widget = get_w(n++);
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destination_widget->set(destination, false);
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}
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for (QJsonValue location_value : NavManager::instance()->currentLocations()) {
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DestinationWidget *destination_widget = nullptr;
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QJsonObject destination = location_value.toObject();
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if (destination["save_type"].toString() == NAV_TYPE_FAVORITE) {
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QString label = destination["label"].toString();
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if (label == NAV_FAVORITE_LABEL_HOME) {
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destination_widget = home_widget;
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}
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if (label == NAV_FAVORITE_LABEL_WORK) {
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destination_widget = work_widget;
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}
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}
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destination_widget = destination_widget ? destination_widget : get_w(n++);
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destination_widget->set(destination, false);
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destination_widget->setVisible(!locationEqual(destination, current_dest));
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}
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setUpdatesEnabled(true);
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subtitle->setText(tr("Manage at %1").arg(QString("%1:8082").arg(frogpilotUIState()->wifi->getIp4Address())));
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}
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void MapSettings::navigateTo(const QJsonObject &place) {
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NavManager::instance()->setCurrentDestination(place);
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emit closeSettings();
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}
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DestinationWidget::DestinationWidget(QWidget *parent) : QPushButton(parent) {
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setContentsMargins(0, 0, 0, 0);
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auto *frame = new QHBoxLayout(this);
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frame->setContentsMargins(32, 24, 32, 24);
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frame->setSpacing(32);
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icon = new QLabel(this);
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icon->setAlignment(Qt::AlignCenter);
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icon->setFixedSize(96, 96);
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icon->setObjectName("icon");
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frame->addWidget(icon);
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auto *inner_frame = new QVBoxLayout;
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inner_frame->setContentsMargins(0, 0, 0, 0);
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inner_frame->setSpacing(0);
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{
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title = new ElidedLabel(this);
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title->setAttribute(Qt::WA_TransparentForMouseEvents);
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inner_frame->addWidget(title);
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subtitle = new ElidedLabel(this);
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subtitle->setAttribute(Qt::WA_TransparentForMouseEvents);
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subtitle->setObjectName("subtitle");
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inner_frame->addWidget(subtitle);
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}
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frame->addLayout(inner_frame, 1);
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action = new QPushButton(this);
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action->setFixedSize(96, 96);
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action->setObjectName("action");
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action->setStyleSheet("font-size: 65px; font-weight: 600;");
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QObject::connect(action, &QPushButton::clicked, this, &QPushButton::clicked);
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QObject::connect(action, &QPushButton::clicked, this, &DestinationWidget::actionClicked);
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frame->addWidget(action);
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setFixedHeight(164);
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setStyleSheet(R"(
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DestinationWidget { background-color: #202123; border-radius: 10px; }
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QLabel { color: #FFFFFF; font-size: 48px; font-weight: 400; }
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#icon { background-color: #3B4356; border-radius: 48px; }
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#subtitle { color: #9BA0A5; }
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#action { border: none; border-radius: 48px; color: #FFFFFF; padding-bottom: 4px; }
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/* current destination */
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[current="true"] { background-color: #E8E8E8; }
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[current="true"] QLabel { color: #000000; }
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[current="true"] #icon { background-color: #42906B; }
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[current="true"] #subtitle { color: #333333; }
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[current="true"] #action { color: #202123; }
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/* no saved destination */
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[set="false"] QLabel { color: #9BA0A5; }
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[current="true"][set="false"] QLabel { color: #A0000000; }
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/* pressed */
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[current="false"]:pressed { background-color: #18191B; }
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[current="true"] #action:pressed { background-color: #D6D6D6; }
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)");
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QObject::connect(this, &QPushButton::clicked, [this]() { if (!dest.isEmpty()) emit navigateTo(dest); });
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}
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void DestinationWidget::set(const QJsonObject &destination, bool current) {
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if (dest == destination) return;
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dest = destination;
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setProperty("current", current);
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setProperty("set", true);
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auto icon_pixmap = current ? icons().directions : icons().recent;
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auto title_text = destination["place_name"].toString();
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auto subtitle_text = destination["place_details"].toString();
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bool is_fav = destination["save_type"] == NAV_TYPE_FAVORITE;
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bool is_home = destination.value("is_home").toBool() || destination.value("label").toString() == NAV_FAVORITE_LABEL_HOME;
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bool is_work = destination.value("is_work").toBool() || destination.value("label").toString() == NAV_FAVORITE_LABEL_WORK;
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if (is_fav) {
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if (is_home) {
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icon_pixmap = icons().home;
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title_text = tr("Home");
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} else if (is_work) {
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icon_pixmap = icons().work;
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title_text = tr("Work");
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} else {
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icon_pixmap = icons().favorite;
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}
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}
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icon->setPixmap(icon_pixmap);
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title->setText(title_text);
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subtitle->setText(subtitle_text);
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subtitle->setVisible(true);
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// TODO: use pixmap
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action->setAttribute(Qt::WA_TransparentForMouseEvents, !current);
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action->setText(current ? "×" : "→");
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action->setVisible(true);
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setStyleSheet(styleSheet());
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}
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void DestinationWidget::unset(const QString &label, bool current) {
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dest = {};
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setProperty("current", current);
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setProperty("set", false);
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if (label.isEmpty()) {
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icon->setPixmap(icons().directions);
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title->setText(tr("No destination set"));
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} else {
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QString title_text = label == NAV_FAVORITE_LABEL_HOME ? tr("home") : tr("work");
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icon->setPixmap(label == NAV_FAVORITE_LABEL_HOME ? icons().home : icons().work);
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title->setText(tr("No %1 location set").arg(title_text));
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}
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subtitle->setVisible(false);
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action->setVisible(false);
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setStyleSheet(styleSheet());
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setVisible(true);
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}
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// singleton NavManager
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NavManager *NavManager::instance() {
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static NavManager *request = new NavManager(qApp);
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return request;
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}
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NavManager::NavManager(QObject *parent) : QObject(parent) {
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locations = QJsonDocument::fromJson(params.get("NavPastDestinations").c_str()).array();
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current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object();
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if (auto dongle_id = getDongleId()) {
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{
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// Fetch favorite and recent locations
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QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations";
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RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true);
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QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavManager::parseLocationsResponse);
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}
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{
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auto param_watcher = new ParamWatcher(this);
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QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavManager::updated);
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// Destination set while offline
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QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next";
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HttpRequest *deleter = new HttpRequest(this);
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RequestRepeater *repeater = new RequestRepeater(this, url, "", 10, true);
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QObject::connect(repeater, &RequestRepeater::requestDone, [=](const QString &resp, bool success) {
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if (success && resp != "null") {
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if (params.get("NavDestination").empty()) {
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qWarning() << "Setting NavDestination from /next" << resp;
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params.put("NavDestination", resp.toStdString());
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} else {
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qWarning() << "Got location from /next, but NavDestination already set";
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}
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// Send DELETE to clear destination server side
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deleter->sendRequest(url, HttpRequest::Method::DELETE);
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}
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// athena can set destination at any time
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param_watcher->addParam("NavDestination");
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current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object();
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emit updated();
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});
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}
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}
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}
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void NavManager::parseLocationsResponse(const QString &response, bool success) {
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if (!success || response == prev_response) return;
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prev_response = response;
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QString trimmed = response.trimmed();
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if (trimmed.isEmpty() || trimmed == "null") {
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locations = QJsonArray();
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emit updated();
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return;
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}
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QJsonParseError parse_error;
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QJsonDocument doc = QJsonDocument::fromJson(trimmed.toUtf8(), &parse_error);
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if (parse_error.error != QJsonParseError::NoError) {
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qWarning() << "JSON Parse failed on navigation locations" << response;
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return;
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}
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QJsonArray remote_locations;
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if (doc.isArray()) {
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remote_locations = doc.array();
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} else if (doc.isObject() && doc.object().value("locations").isArray()) {
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remote_locations = doc.object().value("locations").toArray();
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} else {
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locations = QJsonArray();
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emit updated();
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return;
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}
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for (QJsonValueRef loc : remote_locations) {
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QJsonObject obj = loc.toObject();
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qint64 server_time = convertTimestampToEpoch(obj.value("modified").toString());
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obj.insert("time", qMax(server_time, getLastActivity(obj)));
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loc = obj;
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}
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locations = remote_locations;
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sortLocations();
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emit updated();
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}
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void NavManager::sortLocations() {
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// Sort: alphabetical FAVORITES, and then most recent.
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// We don't need to care about the ordering of HOME and WORK. DestinationWidget always displays them at the top.
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std::stable_sort(locations.begin(), locations.end(), [](const QJsonValue &a, const QJsonValue &b) {
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if (a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE) {
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return (std::tuple(a["save_type"].toString(), a["place_name"].toString()) <
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std::tuple(b["save_type"].toString(), b["place_name"].toString()));
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} else {
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return a["time"].toVariant().toLongLong() > b["time"].toVariant().toLongLong();
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}
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});
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write_param_future = std::async(std::launch::async, [destinations = QJsonArray(locations)]() {
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Params().put("NavPastDestinations", QJsonDocument(destinations).toJson().toStdString());
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});
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}
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qint64 NavManager::getLastActivity(const QJsonObject &loc) const {
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qint64 last_activity = 0;
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auto it = std::find_if(locations.begin(), locations.end(),
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[&loc](const QJsonValue &l) { return locationEqual(loc, l); });
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if (it != locations.end()) {
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auto tm = it->toObject().value("time");
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if (!tm.isUndefined() && !tm.isNull()) {
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last_activity = tm.toVariant().toLongLong();
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}
|
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}
|
||
return last_activity;
|
||
}
|
||
|
||
void NavManager::setCurrentDestination(const QJsonObject &loc) {
|
||
current_dest = loc;
|
||
if (!current_dest.isEmpty()) {
|
||
current_dest["time"] = QDateTime::currentSecsSinceEpoch();
|
||
auto it = std::find_if(locations.begin(), locations.end(),
|
||
[&loc](const QJsonValue &l) { return locationEqual(loc, l); });
|
||
if (it != locations.end()) {
|
||
*it = current_dest;
|
||
sortLocations();
|
||
}
|
||
params.put("NavDestination", QJsonDocument(current_dest).toJson().toStdString());
|
||
} else {
|
||
params.remove("NavDestination");
|
||
}
|
||
emit updated();
|
||
}
|