mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-07 06:32:08 +08:00
Harald Schäfer
f870a968e9
* squash * fix doc * compile device * compile device * Update ref * add msgq to precommit exclusions * No service ports * fix compile * address comments * More comments * Delete logger * Update opendbc * Linting * bump msgq old-commit-hash: e71ec4e8d7e39a56235f590227e7cb361cd8b79d
62 lines
1.5 KiB
C++
62 lines
1.5 KiB
C++
#pragma once
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#include <memory>
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#include <QOpenGLContext>
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#include <QMapLibre/Map>
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#include <QMapLibre/Settings>
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#include <QTimer>
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#include <QGeoCoordinate>
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#include <QOpenGLBuffer>
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#include <QOffscreenSurface>
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#include <QOpenGLFunctions>
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#include <QOpenGLFramebufferObject>
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#include "msgq/visionipc/visionipc_server.h"
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#include "cereal/messaging/messaging.h"
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class MapRenderer : public QObject {
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Q_OBJECT
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public:
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MapRenderer(const QMapLibre::Settings &, bool online=true);
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uint8_t* getImage();
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void update();
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bool loaded();
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~MapRenderer();
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private:
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std::unique_ptr<QOpenGLContext> ctx;
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std::unique_ptr<QOffscreenSurface> surface;
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std::unique_ptr<QOpenGLFunctions> gl_functions;
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std::unique_ptr<QOpenGLFramebufferObject> fbo;
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std::unique_ptr<VisionIpcServer> vipc_server;
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std::unique_ptr<PubMaster> pm;
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std::unique_ptr<SubMaster> sm;
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void publish(const double render_time, const bool loaded);
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void sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf);
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QMapLibre::Settings m_settings;
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QScopedPointer<QMapLibre::Map> m_map;
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void initLayers();
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double start_render_t;
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uint32_t frame_id = 0;
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uint64_t last_llk_rendered = 0;
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bool rendering = false;
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bool rendered() {
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return last_llk_rendered == (*sm)["liveLocationKalman"].getLogMonoTime();
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}
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QTimer* timer;
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bool ever_loaded = false;
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public slots:
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void updatePosition(QMapLibre::Coordinate position, float bearing);
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void updateRoute(QList<QGeoCoordinate> coordinates);
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void msgUpdate();
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};
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