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roslink.cpp
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#include "roslink.h"
#include "std_msgs/Bool.h"
#include "std_msgs/String.h"
#include <QDebug>
#include <QPainter>
#include <QGraphicsSvgItem>
#include "autonomousvehicleproject.h"
#include "backgroundraster.h"
#include <QTimer>
#include "gz4d_geo.h"
#include "rosdetails.h"
#include "boost/date_time/posix_time/posix_time.hpp"
ROSAISContact::ROSAISContact(QObject* parent): QObject(parent), mmsi(0), heading(0.0)
{
}
int ROSLink::s_radar_image_size = 1200;
int ROSLink::s_radar_half_image_size = 600;
ROSLink::ROSLink(AutonomousVehicleProject* parent): QObject(parent), GeoGraphicsItem(),m_node(nullptr), m_spinner(nullptr),m_have_local_reference(false),m_heading(0.0),m_posmv_heading(0.0),m_base_heading(0.0), m_helmMode("standby"),m_view_point_active(false),m_view_seglist_active(false),m_view_polygon_active(false),m_radar_pixmap(s_radar_image_size,s_radar_image_size), m_radar_scale(1.0),m_range(0.0),m_bearing(0.0)
{
m_base_dimension_to_bow = 1.0;
m_base_dimension_to_stern = 1.0;
m_base_dimension_to_port = 1.0;
m_base_dimension_to_stbd = 1.0;
setAcceptHoverEvents(false);
setOpacity(1.0);
setFlag(QGraphicsItem::ItemIsMovable, false);
//QGraphicsSvgItem *symbol = new QGraphicsSvgItem(this);
//symbol->setSharedRenderer(autonomousVehicleProject()->symbols());
//symbol->setElementId("Vessel");
//symbol->setFlag(QGraphicsItem::ItemIgnoresTransformations);
qRegisterMetaType<QGeoCoordinate>();
//connectROS();
m_radar_pixmap.fill(Qt::transparent);
m_watchdog_timer = new QTimer(this);
connect(m_watchdog_timer, SIGNAL(timeout()), this, SLOT(watchdogUpdate()));
}
void ROSLink::connectROS()
{
if(ros::master::check())
{
if(!m_node)
{
m_node = new ros::NodeHandle;
m_spinner = new ros::AsyncSpinner(0);
m_geopoint_subscriber = m_node->subscribe("/udp/position", 10, &ROSLink::geoPointStampedCallback, this);
m_base_navsatfix_subscriber = m_node->subscribe("/base/position", 10, &ROSLink::baseNavSatFixCallback, this);
m_origin_subscriber = m_node->subscribe("/udp/origin", 10, &ROSLink::originCallback, this);
m_heading_subscriber = m_node->subscribe("/udp/heading", 10, &ROSLink::headingCallback, this);
m_base_heading_subscriber = m_node->subscribe("/base/orientation", 10, &ROSLink::baseHeadingCallback, this);
m_ais_subscriber = m_node->subscribe("/udp/contact", 10, &ROSLink::contactCallback, this);
m_heartbeat_subscriber = m_node->subscribe("/udp/heartbeat", 10, &ROSLink::heartbeatCallback, this);
m_mission_status_subscriber = m_node->subscribe("/udp/project11/mission_manager/status", 10, &ROSLink::missionStatusCallback, this);
m_posmv_position = m_node->subscribe("/udp/posmv/position", 10, &ROSLink::posmvPositionCallback, this);
m_posmv_orientation = m_node->subscribe("/udp/posmv/orientation", 10, &ROSLink::posmvOrientationCallback, this);
m_range_subscriber = m_node->subscribe("/range", 10, &ROSLink::rangeCallback, this);
m_bearing_subscriber = m_node->subscribe("/bearing",10, &ROSLink::bearingCallback, this);
m_sog_subscriber = m_node->subscribe("/udp/sog",10, &ROSLink::sogCallback, this);
m_coverage_subscriber = m_node->subscribe("/udp/coverage", 10, &ROSLink::coverageCallback, this);
m_ping_subscriber = m_node->subscribe("/udp/mbes_ping", 10, &ROSLink::pingCallback, this);
m_display_subscriber = m_node->subscribe("/udp/project11/display", 10, &ROSLink::geoVizDisplayCallback, this);
m_radar_subscriber = m_node->subscribe("/udp/radar", 10, &ROSLink::radarCallback, this);
m_send_command_publisher = m_node->advertise<std_msgs::String>("/send_command",1);
m_look_at_publisher = m_node->advertise<geographic_msgs::GeoPoint>("/base/camera/look_at",1);
m_look_at_mode_publisher = m_node->advertise<std_msgs::String>("/base/camera/look_at_mode",1);
m_node->param("/base/dimension_to_bow",m_base_dimension_to_bow,m_base_dimension_to_bow);
m_node->param("/base/dimension_to_stern",m_base_dimension_to_stern,m_base_dimension_to_stern);
m_node->param("/base/dimension_to_stbd",m_base_dimension_to_stbd,m_base_dimension_to_stbd);
m_node->param("/base/dimension_to_port",m_base_dimension_to_port,m_base_dimension_to_port);
double latitude, longitude;
if(m_node->getParam("/base/latitude",latitude) && m_node->getParam("/base/longitude",longitude))
{
m_base_location.setLatitude(latitude);
m_base_location.setLongitude(longitude);
}
m_node->param("/base/heading", m_base_heading, m_base_heading);
m_spinner->start();
m_watchdog_timer->start(500);
emit rosConnected(true);
}
}
else
{
if(m_node)
{
delete m_node;
m_node = nullptr;
delete m_spinner;
m_spinner = nullptr;
emit rosConnected(false);
}
}
QTimer::singleShot(1000,this,SLOT(connectROS()));
}
QRectF ROSLink::boundingRect() const
{
return shape().boundingRect();
}
void ROSLink::paint(QPainter* painter, const QStyleOptionGraphicsItem* option, QWidget* widget)
{
painter->save();
QPen p;
p.setCosmetic(true);
p.setColor(Qt::green);
p.setWidth(4);
painter->setPen(p);
painter->setBrush(Qt::cyan);
painter->drawPath(coverageShape());
//painter->drawPath(pingsShape());
painter->setBrush(Qt::NoBrush);
p.setColor(Qt::blue);
p.setWidth(2);
painter->setPen(p);
painter->drawPath(aisShape());
for(auto display_item: m_display_items)
{
for (auto point_group: display_item.second->point_groups)
{
p.setColor(point_group.color);
p.setWidth(point_group.size);
painter->setPen(p);
for(auto point: point_group.points)
painter->drawPoint(point.pos);
}
for(auto line: display_item.second->lines)
{
p.setColor(line.color);
p.setWidth(line.size);
painter->setPen(p);
painter->drawPath(shape(line.points));
}
for(auto polygon: display_item.second->polygons)
{
p.setColor(polygon.edge_color);
p.setWidth(polygon.edge_size);
painter->setPen(p);
painter->setBrush(QBrush(polygon.fill_color));
painter->drawPath(polygon.path);
}
painter->setBrush(Qt::NoBrush);
}
if(m_show_radar)
{
auto avp = autonomousVehicleProject();
if(avp)
{
auto bg = avp->getBackgroundRaster();
if(bg)
{
painter->save();
painter->translate(m_radar_location.pos);
double pixelSize = bg->pixelSize();
painter->scale(m_radar_scale/pixelSize,m_radar_scale/pixelSize);
painter->translate(-s_radar_half_image_size,-s_radar_half_image_size);
painter->setOpacity(.5);
painter->drawPixmap(0,0,m_radar_pixmap);
painter->restore();
}
}
}
p.setColor(Qt::darkBlue);
p.setWidth(5);
painter->setPen(p);
painter->drawPath(baseShape());
p.setWidth(3);
p.setColor(Qt::lightGray);
painter->setPen(p);
painter->drawPath(baseShape());
p.setWidth(8);
p.setColor(Qt::yellow);
painter->setPen(p);
painter->drawPath(vehicleShapePosmv());
p.setWidth(3);
if(m_node)
p.setColor(Qt::darkGreen);
else
p.setColor(Qt::darkRed);
painter->setPen(p);
painter->drawPath(vehicleShapePosmv());
if(m_node)
p.setColor(Qt::darkGreen);
else
p.setColor(Qt::darkRed);
p.setWidth(3);
painter->setPen(p);
painter->drawPath(vehicleShape());
painter->restore();
}
QPainterPath ROSLink::shape() const
{
QPainterPath ret;
ret.addPath(vehicleShape());
ret.addPath(vehicleShapePosmv());
ret.addPath(aisShape());
ret.addPath(baseShape());
ret.addPath(coverageShape());
ret.addPath(pingsShape());
for(auto display_item: m_display_items)
{
for(auto plist: display_item.second->point_groups)
{
for(auto p: plist.points)
ret.addEllipse(p.pos,plist.size,plist.size);
}
for(auto line: display_item.second->lines)
{
ret.addPath(shape(line.points));
}
for(auto polygon: display_item.second->polygons)
{
ret.addPath(polygon.path);
}
}
// for(auto radar_sector: m_radar_sectors)
// {
// //ret.moveTo(radar_sector.second->origin.pos);
// //ret.addPixmap(radar_sector.second->sector);
// ret.addRect(radar_sector.second->origin.pos.x(),radar_sector.second->origin.pos.y(),radar_sector.second->sector.width(),radar_sector.second->sector.height());
// }
auto avp = autonomousVehicleProject();
if(avp)
{
auto bg = avp->getBackgroundRaster();
if(bg)
{
double pixelSize = bg->pixelSize();
double s = m_radar_scale/pixelSize;
ret.addRect(QRectF(geoToPixel(m_location,autonomousVehicleProject())+QPointF(-512*s*1.1,-512*s*1.1),QSizeF(1024*s*1.1,1024*s*1.1)));
}
}
return ret;
}
QPainterPath ROSLink::shape(std::vector<LocationPosition> const &lps) const
{
QPainterPath ret;
if(lps.size() > 1)
{
auto p = lps.begin();
ret.moveTo(p->pos);
p++;
while(p != lps.end())
{
ret.lineTo(p->pos);
p++;
}
}
return ret;
}
QPainterPath ROSLink::vehicleShape() const
{
auto bgr = autonomousVehicleProject()->getBackgroundRaster();
QPainterPath ret;
if (m_local_location_history.size() > 1)
{
auto p = m_local_location_history.begin();
ret.moveTo(*p);
p++;
while(p != m_local_location_history.end())
{
ret.lineTo(*p);
p++;
}
auto last = *(m_local_location_history.rbegin());
if(bgr)
{
qreal pixel_size = bgr->scaledPixelSize();
if(pixel_size > .5)
drawTriangle(ret,m_location,m_heading,pixel_size);
else
drawShipOutline(ret,m_location,m_heading,3,.8,.8,1);
}
//ret.addRect(-1,-5,2,10);
//ret.addRect(-5,-1,10,2);
}
return ret;
}
QPainterPath ROSLink::vehicleShapePosmv() const
{
QPainterPath ret;
if (m_local_posmv_location_history.size() > 1)
{
auto p = m_local_posmv_location_history.begin();
ret.moveTo(*p);
p++;
while(p != m_local_posmv_location_history.end())
{
ret.lineTo(*p);
p++;
}
auto last = *(m_local_posmv_location_history.rbegin());
auto bgr = autonomousVehicleProject()->getBackgroundRaster();
if(bgr)
{
qreal pixel_size = bgr->scaledPixelSize();
if(pixel_size > .5)
drawTriangle(ret,m_posmv_location,m_posmv_heading,pixel_size);
else
drawShipOutline(ret,m_posmv_location,m_posmv_heading,2,.8,.8,2);
}
}
return ret;
}
QPainterPath ROSLink::baseShape() const
{
QPainterPath ret;
if (m_local_base_location_history.size() > 1)
{
auto p = m_local_base_location_history.begin();
ret.moveTo(*p);
p++;
while(p != m_local_base_location_history.end())
{
ret.lineTo(*p);
p++;
}
auto last = *(m_local_base_location_history.rbegin());
}
if(m_base_location.isValid())
{
auto bgr = autonomousVehicleProject()->getBackgroundRaster();
if(bgr)
{
qreal pixel_size = bgr->scaledPixelSize();
if(pixel_size > 1)
drawTriangle(ret,m_base_location,m_base_heading,pixel_size);
else
// fairweather estimates: 70m by 12.70m
drawShipOutline(ret,m_base_location,m_base_heading,m_base_dimension_to_bow,m_base_dimension_to_port,m_base_dimension_to_stbd,m_base_dimension_to_stern);
}
}
return ret;
}
QPainterPath ROSLink::aisShape() const
{
QPainterPath ret;
for(auto contactList: m_contacts)
{
if((ros::Time::now() - contactList.second.back()->timestamp) < ros::Duration(300))
{
auto p = contactList.second.begin();
ret.moveTo((*p)->location_local);
p++;
while(p != contactList.second.end())
{
ret.lineTo((*p)->location_local);
p++;
}
auto last = *(contactList.second.rbegin());
auto bgr = autonomousVehicleProject()->getBackgroundRaster();
if(bgr)
{
bool forceTriangle = false;
if (last->dimension_to_bow + last->dimension_to_stern == 0 || last->dimension_to_port + last->dimension_to_stbd == 0)
forceTriangle = true;
qreal pixel_size = bgr->scaledPixelSize();
if(pixel_size > 1 || forceTriangle)
drawTriangle(ret,last->location,last->heading,pixel_size);
else
drawShipOutline(ret,last->location,last->heading,last->dimension_to_bow,last->dimension_to_port,last->dimension_to_stbd,last->dimension_to_stern);
}
}
}
return ret;
}
QPainterPath ROSLink::coverageShape() const
{
QPainterPath ret;
for(auto p: m_local_coverage)
ret.addPolygon(p);
// QPolygonF poly;
// if(!m_local_coverage.empty())
// {
// auto p = m_local_coverage.begin();
// poly << *p;
// //ret.moveTo(*p);
// p++;
// while(p != m_local_coverage.end())
// {
// poly << *p;
// //ret.lineTo(*p);
// p++;
// }
// ret.addPolygon(poly);
// //ret.lineTo(m_local_coverage.front());
// }
return ret;
}
QPainterPath ROSLink::pingsShape() const
{
QPainterPath ret;
QPolygonF poly;
for(auto p: m_local_pings)
if(!p.empty())
{
auto pp = p.begin();
poly << *pp;
//ret.moveTo(*p);
pp++;
while(pp != p.end())
{
poly << *pp;
//ret.lineTo(*p);
pp++;
}
ret.addPolygon(poly);
//ret.lineTo(m_local_coverage.front());
}
return ret;
}
void ROSLink::drawTriangle(QPainterPath& path, const QGeoCoordinate& location, double heading_degrees, double scale) const
{
QGeoCoordinate tip = location.atDistanceAndAzimuth(15*scale,heading_degrees);
QGeoCoordinate llcorner = location.atDistanceAndAzimuth(15*scale,heading_degrees-150);
QGeoCoordinate lrcorner = location.atDistanceAndAzimuth(15*scale,heading_degrees+150);
// QPointF ltip = geoToPixel(tip,autonomousVehicleProject())-m_local_reference_position;
// QPointF lllocal = geoToPixel(llcorner,autonomousVehicleProject())-m_local_reference_position;
// QPointF lrlocal = geoToPixel(lrcorner,autonomousVehicleProject())-m_local_reference_position;
QPointF ltip = geoToPixel(tip,autonomousVehicleProject());
QPointF lllocal = geoToPixel(llcorner,autonomousVehicleProject());
QPointF lrlocal = geoToPixel(lrcorner,autonomousVehicleProject());
path.moveTo(ltip);
path.lineTo(lllocal);
path.lineTo(lrlocal);
path.lineTo(ltip);
}
void ROSLink::drawShipOutline(QPainterPath& path, const QGeoCoordinate& location, double heading_degrees, float dimension_to_bow, float dimension_to_port, float dimension_to_stbd, float dimension_to_stern) const
{
float length = dimension_to_bow+dimension_to_stern;
float width = dimension_to_port+dimension_to_stbd;
QGeoCoordinate llcorner = location.atDistanceAndAzimuth(dimension_to_port,270+heading_degrees).atDistanceAndAzimuth(dimension_to_stern,180+heading_degrees);
QGeoCoordinate lrcorner = llcorner.atDistanceAndAzimuth(width,90+heading_degrees);
QGeoCoordinate urcorner = lrcorner.atDistanceAndAzimuth(length,heading_degrees);
QGeoCoordinate ulcorner = urcorner.atDistanceAndAzimuth(width,270+heading_degrees);
QGeoCoordinate rkink = lrcorner.atDistanceAndAzimuth(length*.8,heading_degrees);
QGeoCoordinate lkink = llcorner.atDistanceAndAzimuth(length*.8,heading_degrees);
QGeoCoordinate bow = ulcorner.atDistanceAndAzimuth(width/2.0,90+heading_degrees);
// QPointF lllocal = geoToPixel(llcorner,autonomousVehicleProject())-m_local_reference_position;
// QPointF lrlocal = geoToPixel(lrcorner,autonomousVehicleProject())-m_local_reference_position;
// QPointF lkinkl = geoToPixel(lkink,autonomousVehicleProject())-m_local_reference_position;
// QPointF rkinkl = geoToPixel(rkink,autonomousVehicleProject())-m_local_reference_position;
// QPointF bowl = geoToPixel(bow,autonomousVehicleProject())-m_local_reference_position;
QPointF lllocal = geoToPixel(llcorner,autonomousVehicleProject());
QPointF lrlocal = geoToPixel(lrcorner,autonomousVehicleProject());
QPointF lkinkl = geoToPixel(lkink,autonomousVehicleProject());
QPointF rkinkl = geoToPixel(rkink,autonomousVehicleProject());
QPointF bowl = geoToPixel(bow,autonomousVehicleProject());
path.moveTo(lllocal);
path.lineTo(lrlocal);
path.lineTo(rkinkl);
path.lineTo(bowl);
path.lineTo(lkinkl);
path.lineTo(lllocal);
}
void ROSLink::read(const QJsonObject& json)
{
}
void ROSLink::write(QJsonObject& json) const
{
}
void ROSLink::setROSDetails(ROSDetails* details)
{
m_details = details;
}
void ROSLink::geoPointStampedCallback(const geographic_msgs::GeoPointStamped::ConstPtr& message)
{
QGeoCoordinate position(message->position.latitude,message->position.longitude,message->position.altitude);
QMetaObject::invokeMethod(this,"updateLocation", Qt::QueuedConnection, Q_ARG(QGeoCoordinate, position));
}
void ROSLink::posmvPositionCallback(const sensor_msgs::NavSatFix::ConstPtr& message)
{
QGeoCoordinate position(message->latitude, message->longitude, message->altitude);
QMetaObject::invokeMethod(this,"updatePosmvLocation", Qt::QueuedConnection, Q_ARG(QGeoCoordinate, position));
}
void ROSLink::rangeCallback(const std_msgs::Float32::ConstPtr& message)
{
m_range_timestamp = ros::Time::now();
m_range = message->data;
}
void ROSLink::bearingCallback(const std_msgs::Float32::ConstPtr& message)
{
m_bearing_timestamp = ros::Time::now();
m_bearing = message->data;
}
void ROSLink::sogCallback(const geometry_msgs::TwistStamped::ConstPtr& message)
{
qreal sog = sqrt(message->twist.linear.x*message->twist.linear.x+message->twist.linear.y*message->twist.linear.y);
QMetaObject::invokeMethod(this,"updateSog", Qt::QueuedConnection, Q_ARG(qreal, sog));
}
void ROSLink::updateSog(qreal sog)
{
// 1852m per NM
m_sog = sog*1.9438;
m_sog_history.append(m_sog);
if(m_sog_history.length() > 200)
m_sog_history.pop_front();
qreal sog_sum = 0;
for(auto s: m_sog_history)
sog_sum += s;
m_sog_avg = sog_sum/m_sog_history.length();
//qDebug() << m_sog << " knts, " << m_sog_avg << " knts avg";
m_details->sogUpdate(m_sog,m_sog_avg);
}
void ROSLink::baseNavSatFixCallback(const sensor_msgs::NavSatFix::ConstPtr& message)
{
QGeoCoordinate position(message->latitude, message->longitude, message->altitude);
QMetaObject::invokeMethod(this,"updateBaseLocation", Qt::QueuedConnection, Q_ARG(QGeoCoordinate, position));
}
void ROSLink::originCallback(const geographic_msgs::GeoPoint::ConstPtr& message)
{
m_origin.setLatitude(message->latitude);
m_origin.setLongitude(message->longitude);
m_origin.setAltitude(message->altitude);
QMetaObject::invokeMethod(this,"updateOriginLocation", Qt::QueuedConnection, Q_ARG(QGeoCoordinate, m_origin));
//qDebug() << m_origin;
}
void ROSLink::headingCallback(const marine_msgs::NavEulerStamped::ConstPtr& message)
{
QMetaObject::invokeMethod(this,"updateHeading", Qt::QueuedConnection, Q_ARG(double, message->orientation.heading));
}
void ROSLink::posmvOrientationCallback(const marine_msgs::NavEulerStamped::ConstPtr& message)
{
QMetaObject::invokeMethod(this,"updatePosmvHeading", Qt::QueuedConnection, Q_ARG(double, message->orientation.heading));
}
void ROSLink::baseHeadingCallback(const marine_msgs::NavEulerStamped::ConstPtr& message)
{
QMetaObject::invokeMethod(this,"updateBaseHeading", Qt::QueuedConnection, Q_ARG(double, message->orientation.heading));
}
void ROSLink::contactCallback(const marine_msgs::Contact::ConstPtr& message)
{
//qDebug() << message->mmsi << ": " << message->name.c_str() << " heading: " << message->heading << " cog: " << message->cog << " dimensions: port: " << message->dimension_to_port << " strbd: " << message->dimension_to_stbd << " bow " << message->dimension_to_bow << " stern: " << message->dimension_to_stern;
//qDebug() << "\t\t" << message->position.latitude << ", " << message->position.longitude;
if(message->position.latitude > 90 || message->position.longitude > 180)
return;
ROSAISContact *c = new ROSAISContact();
c->timestamp = message->header.stamp;
c->mmsi = message->mmsi;
c->name = message->name;
c->location.setLatitude(message->position.latitude);
c->location.setLongitude(message->position.longitude);
if(message->heading < 0)
c->heading = message->cog*180.0/M_PI;
else
c->heading = message->heading*180.0/M_PI;
c->dimension_to_bow = message->dimension_to_bow;
c->dimension_to_port = message->dimension_to_port;
c->dimension_to_stbd = message->dimension_to_stbd;
c->dimension_to_stern = message->dimension_to_stern;
QMetaObject::invokeMethod(this,"addAISContact", Qt::QueuedConnection, Q_ARG(ROSAISContact*, c));
}
void ROSLink::heartbeatCallback(const marine_msgs::Heartbeat::ConstPtr& message)
{
ros::Time last_heartbeat_receive_time = ros::Time::now();
ros::Time last_heartbeat_timestamp = message->header.stamp;
QString status_string;
QString helm_mode;
for(auto kv: message->values)
{
status_string += kv.key.c_str();
status_string += ": ";
status_string += kv.value.c_str();
status_string += "\n";
if (kv.key == "piloting_mode")
helm_mode = kv.value.c_str();
}
QMetaObject::invokeMethod(m_details,"updateVehicleStatus", Qt::QueuedConnection, Q_ARG(QString const&, status_string));
QMetaObject::invokeMethod(this,"updateHeartbeatTimes", Qt::QueuedConnection, Q_ARG(ros::Time const&, last_heartbeat_timestamp), Q_ARG(ros::Time const&, last_heartbeat_receive_time));
QMetaObject::invokeMethod(m_details,"updateHelmMode", Qt::QueuedConnection, Q_ARG(QString const&, helm_mode));
}
void ROSLink::missionStatusCallback(const marine_msgs::Heartbeat::ConstPtr& message)
{
QString status_string;
for(auto kv: message->values)
{
status_string += kv.key.c_str();
status_string += ": ";
status_string += kv.value.c_str();
status_string += "\n";
}
QMetaObject::invokeMethod(m_details,"updateMissionStatus", Qt::QueuedConnection, Q_ARG(QString const&, status_string));
}
void ROSLink::updateHeartbeatTimes(const ros::Time& last_heartbeat_timestamp, const ros::Time& last_heartbeat_receive_time)
{
m_last_heartbeat_timestamp = last_heartbeat_timestamp;
m_last_heartbeat_receive_time = last_heartbeat_receive_time;
}
void ROSLink::watchdogUpdate()
{
if(m_node)
{
ros::Time now = ros::Time::now();
ros::Duration diff = now-m_last_heartbeat_timestamp;
//std::cerr << "timestamp: " << m_last_heartbeat_timestamp << "\tnow: " << now << "\tdiff:" << diff << std::endl;
m_details->heartbeatDelay(diff.toSec(), m_last_heartbeat_timestamp, m_last_heartbeat_receive_time);
m_details->rangeAndBearingUpdate(m_range,m_range_timestamp,m_bearing,m_bearing_timestamp);
}
else
{
ros::Time uninit_time;
m_details->heartbeatDelay(1000.0, uninit_time, uninit_time);
}
}
QGeoCoordinate ROSLink::rosMapToGeo(const QPointF& location) const
{
gz4d::geo::Point<double,gz4d::geo::WGS84::LatLon> gr(m_origin.latitude(),m_origin.longitude(),m_origin.altitude());
gz4d::geo::LocalENU<> geoReference(gr); //geoReference = gz4d::geo::LocalENU<>(gr);
auto ecef = geoReference.toECEF(gz4d::Point<double>(location.x(),location.y(),0.0));
gz4d::geo::Point<double,gz4d::geo::WGS84::LatLon>ret(ecef);
return QGeoCoordinate(ret[0],ret[1]);
}
void ROSLink::sendMissionPlan(const QString& plan)
{
//sendCommand("mission_plan "+plan.toStdString());
sendCommand("mission_manager replace_task mission_plan "+plan.toStdString());
// std_msgs::String mp;
// mp.data = plan.toStdString();
// if(m_node)
// m_mission_plan_publisher.publish(mp);
}
void ROSLink::appendMission(const QString& plan)
{
sendCommand("mission_manager append_task mission_plan "+plan.toStdString());
}
void ROSLink::prependMission(const QString& plan)
{
sendCommand("mission_manager prepend_task mission_plan "+plan.toStdString());
}
void ROSLink::updateMission(const QString& plan)
{
sendCommand("mission_manager update_task mission_plan "+plan.toStdString());
}
void ROSLink::sendHover(const QGeoCoordinate& hoverLocation)
{
std::stringstream updates;
updates << std::fixed << std::setprecision(7) << "mission_manager override hover " << hoverLocation.latitude() << " " << hoverLocation.longitude();
sendCommand(updates.str());
}
void ROSLink::sendGoto(const QGeoCoordinate& gotoLocation)
{
std::stringstream updates;
updates << std::fixed << std::setprecision(7) << "mission_manager override goto " << gotoLocation.latitude() << " " << gotoLocation.longitude();
sendCommand(updates.str());
}
void ROSLink::sendNextItem()
{
std::stringstream updates;
updates << "mission_manager next_task";
sendCommand(updates.str());
}
void ROSLink::restartMission()
{
std::stringstream updates;
updates << "mission_manager restart_mission";
sendCommand(updates.str());
}
void ROSLink::sendGotoLine(int waypoint_index)
{
std::stringstream updates;
updates << "goto_line " << waypoint_index;
sendCommand(updates.str());
}
void ROSLink::sendStartLine(int waypoint_index)
{
std::stringstream updates;
updates << "start_line " << waypoint_index;
sendCommand(updates.str());
}
void ROSLink::updateLocation(const QGeoCoordinate& location)
{
prepareGeometryChange();
m_location_history.push_back(location);
m_local_location_history.push_back(geoToPixel(location,autonomousVehicleProject()));
while (m_local_location_history.size()>500)
m_local_location_history.pop_front();
m_location = location;
update();
}
void ROSLink::updatePosmvLocation(const QGeoCoordinate& location)
{
prepareGeometryChange();
m_posmv_location_history.push_back(location);
m_local_posmv_location_history.push_back(geoToPixel(location,autonomousVehicleProject()));
while (m_local_posmv_location_history.size()>1500)
m_local_posmv_location_history.pop_front();
m_posmv_location = location;
update();
}
void ROSLink::updateBaseLocation(const QGeoCoordinate& location)
{
prepareGeometryChange();
m_base_location_history.push_back(location);
m_local_base_location_history.push_back(geoToPixel(location,autonomousVehicleProject()));
while (m_local_base_location_history.size()>100)
m_local_base_location_history.pop_front();
m_base_location = location;
update();
}
void ROSLink::updateOriginLocation(const QGeoCoordinate& location)
{
auto pixel_location = geoToPixel(location,autonomousVehicleProject());
if(!m_have_local_reference || pixel_location != m_local_reference_position)
{
prepareGeometryChange();
setPos(geoToPixel(location,autonomousVehicleProject()));
m_local_reference_position = geoToPixel(location,autonomousVehicleProject());
m_have_local_reference = true;
recalculatePositions();
emit originUpdated();
}
}
void ROSLink::updateHeading(double heading)
{
prepareGeometryChange();
m_heading = heading;
update();
}
void ROSLink::updatePosmvHeading(double heading)
{
prepareGeometryChange();
m_posmv_heading = heading;
update();
}
void ROSLink::updateBaseHeading(double heading)
{
prepareGeometryChange();
m_base_heading = heading;
update();
}
void ROSLink::addAISContact(ROSAISContact *c)
{
prepareGeometryChange();
c->location_local = geoToPixel(c->location,autonomousVehicleProject());
m_contacts[c->mmsi].push_back(c);
while(!m_contacts[c->mmsi].empty() && (ros::Time::now() - m_contacts[c->mmsi].front()->timestamp) > ros::Duration(600))
m_contacts[c->mmsi].pop_front();
while(m_contacts[c->mmsi].size()>100)
m_contacts[c->mmsi].pop_front();
update();
}
void ROSLink::updateBackground(BackgroundRaster *bgr)
{
setParentItem(bgr);
recalculatePositions();
}
void ROSLink::recalculatePositions()
{
prepareGeometryChange();
//setPos(geoToPixel(m_origin,autonomousVehicleProject()));
setPos(0,0);
m_local_location_history.clear();
AutonomousVehicleProject *avp = autonomousVehicleProject();
for(auto l: m_location_history)
{
m_local_location_history.push_back(geoToPixel(l,autonomousVehicleProject()));
}
m_local_posmv_location_history.clear();
for(auto l: m_posmv_location_history)
{
m_local_posmv_location_history.push_back(geoToPixel(l,autonomousVehicleProject()));
}
for(std::pair<std::string, std::shared_ptr<geoviz::Item> > display_item: m_display_items)
{
display_item.second->label_position.pos = geoToPixel(display_item.second->label_position.location,avp);
for(auto pl: display_item.second->point_groups)
{
for(auto p: pl.points)
p.pos = geoToPixel(p.location,avp);
}
for(auto l: display_item.second->lines)
{
for(auto p: l.points)
{
std::cerr << "old pos: " << p.pos.x() << ", " << p.pos.y() << std::endl;
p.pos = geoToPixel(p.location,avp);
std::cerr << "new pos: " << p.pos.x() << ", " << p.pos.y() << std::endl;
}
}
for(auto poly: display_item.second->polygons)
{
for(auto op: poly.outer)
op.pos = geoToPixel(op.location,avp);
for(auto ir: poly.inner)
for(auto ip: ir)
ip.pos = geoToPixel(ip.location,avp);
}
}
for(auto contactList: m_contacts)
{
for(auto contact: contactList.second)
contact->location_local = geoToPixel(contact->location,autonomousVehicleProject());
}
if(m_have_local_reference)
{
m_local_reference_position = geoToPixel(m_origin,autonomousVehicleProject());
}
m_local_base_location_history.clear();
for(auto l: m_base_location_history)
{
m_local_base_location_history.push_back(geoToPixel(l,autonomousVehicleProject()));
}
update();
}
const std::string& ROSLink::helmMode() const
{
return m_helmMode;
}
void ROSLink::setHelmMode(const std::string& helmMode)
{
m_helmMode = helmMode;
sendCommand("piloting_mode "+helmMode);
// std_msgs::String hm;
// hm.data = helmMode;
// m_helmMode_publisher.publish(hm);
}
void ROSLink::sendCommand(const std::string& command)
{
std_msgs::String cmd;
cmd.data = command;
qDebug() << command.c_str();
m_send_command_publisher.publish(cmd);
}
void ROSLink::sendLookAt(QGeoCoordinate const &targetLocation)
{
geographic_msgs::GeoPoint gp;
gp.latitude = targetLocation.latitude();
gp.longitude = targetLocation.longitude();
m_look_at_publisher.publish(gp);
}
void ROSLink::sendLookAtMode(std::string const &mode)
{
std_msgs::String mode_string;
mode_string.data = mode;
m_look_at_mode_publisher.publish(mode_string);
}
AutonomousVehicleProject * ROSLink::autonomousVehicleProject() const
{
return qobject_cast<AutonomousVehicleProject*>(parent());
}
void ROSLink::coverageCallback(const geographic_msgs::GeoPath::ConstPtr& message)
{
QList<QList<QGeoCoordinate> > coverage;
QList<QPolygonF> local_coverage;
coverage.push_back(QList<QGeoCoordinate>());
local_coverage.push_back(QPolygonF());
for(auto gp: message->poses)
{
QGeoCoordinate gc;
gc.setLatitude(gp.pose.position.latitude);
gc.setLongitude(gp.pose.position.longitude);
if(gc.isValid())
{
coverage.back().append(gc);
local_coverage.back().append(geoToPixel(gc,autonomousVehicleProject())-m_local_reference_position);
}
else
{
coverage.push_back(QList<QGeoCoordinate>());
local_coverage.push_back(QPolygonF());
}
}
QMetaObject::invokeMethod(this,"updateCoverage", Qt::QueuedConnection, Q_ARG(QList<QList<QGeoCoordinate> >, coverage), Q_ARG(QList<QPolygonF>, local_coverage));
}
void ROSLink::geoVizDisplayCallback(const geographic_visualization_msgs::GeoVizItem::ConstPtr& message)
{
AutonomousVehicleProject *avp = autonomousVehicleProject();
geoviz::Item *item = new geoviz::Item();