mainwindow.cpp 149 KB

12345678910111213141516171819202122232425262728293031323334353637383940414243444546474849505152535455565758596061626364656667686970717273747576777879808182838485868788899091929394959697989910010110210310410510610710810911011111211311411511611711811912012112212312412512612712812913013113213313413513613713813914014114214314414514614714814915015115215315415515615715815916016116216316416516616716816917017117217317417517617717817918018118218318418518618718818919019119219319419519619719819920020120220320420520620720820921021121221321421521621721821922022122222322422522622722822923023123223323423523623723823924024124224324424524624724824925025125225325425525625725825926026126226326426526626726826927027127227327427527627727827928028128228328428528628728828929029129229329429529629729829930030130230330430530630730830931031131231331431531631731831932032132232332432532632732832933033133233333433533633733833934034134234334434534634734834935035135235335435535635735835936036136236336436536636736836937037137237337437537637737837938038138238338438538638738838939039139239339439539639739839940040140240340440540640740840941041141241341441541641741841942042142242342442542642742842943043143243343443543643743843944044144244344444544644744844945045145245345445545645745845946046146246346446546646746846947047147247347447547647747847948048148248348448548648748848949049149249349449549649749849950050150250350450550650750850951051151251351451551651751851952052152252352452552652752852953053153253353453553653753853954054154254354454554654754854955055155255355455555655755855956056156256356456556656756856957057157257357457557657757857958058158258358458558658758858959059159259359459559659759859960060160260360460560660760860961061161261361461561661761861962062162262362462562662762862963063163263363463563663763863964064164264364464564664764864965065165265365465565665765865966066166266366466566666766866967067167267367467567667767867968068168268368468568668768868969069169269369469569669769869970070170270370470570670770870971071171271371471571671771871972072172272372472572672772872973073173273373473573673773873974074174274374474574674774874975075175275375475575675775875976076176276376476576676776876977077177277377477577677777877978078178278378478578678778878979079179279379479579679779879980080180280380480580680780880981081181281381481581681781881982082182282382482582682782882983083183283383483583683783883984084184284384484584684784884985085185285385485585685785885986086186286386486586686786886987087187287387487587687787887988088188288388488588688788888989089189289389489589689789889990090190290390490590690790890991091191291391491591691791891992092192292392492592692792892993093193293393493593693793893994094194294394494594694794894995095195295395495595695795895996096196296396496596696796896997097197297397497597697797897998098198298398498598698798898999099199299399499599699799899910001001100210031004100510061007100810091010101110121013101410151016101710181019102010211022102310241025102610271028102910301031103210331034103510361037103810391040104110421043104410451046104710481049105010511052105310541055105610571058105910601061106210631064106510661067106810691070107110721073107410751076107710781079108010811082108310841085108610871088108910901091109210931094109510961097109810991100110111021103110411051106110711081109111011111112111311141115111611171118111911201121112211231124112511261127112811291130113111321133113411351136113711381139114011411142114311441145114611471148114911501151115211531154115511561157115811591160116111621163116411651166116711681169117011711172117311741175117611771178117911801181118211831184118511861187118811891190119111921193119411951196119711981199120012011202120312041205120612071208120912101211121212131214121512161217121812191220122112221223122412251226122712281229123012311232123312341235123612371238123912401241124212431244124512461247124812491250125112521253125412551256125712581259126012611262126312641265126612671268126912701271127212731274127512761277127812791280128112821283128412851286128712881289129012911292129312941295129612971298129913001301130213031304130513061307130813091310131113121313131413151316131713181319132013211322132313241325132613271328132913301331133213331334133513361337133813391340134113421343134413451346134713481349135013511352135313541355135613571358135913601361136213631364136513661367136813691370137113721373137413751376137713781379138013811382138313841385138613871388138913901391139213931394139513961397139813991400140114021403140414051406140714081409141014111412141314141415141614171418141914201421142214231424142514261427142814291430143114321433143414351436143714381439144014411442144314441445144614471448144914501451145214531454145514561457145814591460146114621463146414651466146714681469147014711472147314741475147614771478147914801481148214831484148514861487148814891490149114921493149414951496149714981499150015011502150315041505150615071508150915101511151215131514151515161517151815191520152115221523152415251526152715281529153015311532153315341535153615371538153915401541154215431544154515461547154815491550155115521553155415551556155715581559156015611562156315641565156615671568156915701571157215731574157515761577157815791580158115821583158415851586158715881589159015911592159315941595159615971598159916001601160216031604160516061607160816091610161116121613161416151616161716181619162016211622162316241625162616271628162916301631163216331634163516361637163816391640164116421643164416451646164716481649165016511652165316541655165616571658165916601661166216631664166516661667166816691670167116721673167416751676167716781679168016811682168316841685168616871688168916901691169216931694169516961697169816991700170117021703170417051706170717081709171017111712171317141715171617171718171917201721172217231724172517261727172817291730173117321733173417351736173717381739174017411742174317441745174617471748174917501751175217531754175517561757175817591760176117621763176417651766176717681769177017711772177317741775177617771778177917801781178217831784178517861787178817891790179117921793179417951796179717981799180018011802180318041805180618071808180918101811181218131814181518161817181818191820182118221823182418251826182718281829183018311832183318341835183618371838183918401841184218431844184518461847184818491850185118521853185418551856185718581859186018611862186318641865186618671868186918701871187218731874187518761877187818791880188118821883188418851886188718881889189018911892189318941895189618971898189919001901190219031904190519061907190819091910191119121913191419151916191719181919192019211922192319241925192619271928192919301931193219331934193519361937193819391940194119421943194419451946194719481949195019511952195319541955195619571958195919601961196219631964196519661967196819691970197119721973197419751976197719781979198019811982198319841985198619871988198919901991199219931994199519961997199819992000200120022003200420052006200720082009201020112012201320142015201620172018201920202021202220232024202520262027202820292030203120322033203420352036203720382039204020412042204320442045204620472048204920502051205220532054205520562057205820592060206120622063206420652066206720682069207020712072207320742075207620772078207920802081208220832084208520862087208820892090209120922093209420952096209720982099210021012102210321042105210621072108210921102111211221132114211521162117211821192120212121222123212421252126212721282129213021312132213321342135213621372138213921402141214221432144214521462147214821492150215121522153215421552156215721582159216021612162216321642165216621672168216921702171217221732174217521762177217821792180218121822183218421852186218721882189219021912192219321942195219621972198219922002201220222032204220522062207220822092210221122122213221422152216221722182219222022212222222322242225222622272228222922302231223222332234223522362237223822392240224122422243224422452246224722482249225022512252225322542255225622572258225922602261226222632264226522662267226822692270227122722273227422752276227722782279228022812282228322842285228622872288228922902291229222932294229522962297229822992300230123022303230423052306230723082309231023112312231323142315231623172318231923202321232223232324232523262327232823292330233123322333233423352336233723382339234023412342234323442345234623472348234923502351235223532354235523562357235823592360236123622363236423652366236723682369237023712372237323742375237623772378237923802381238223832384238523862387238823892390239123922393239423952396239723982399240024012402240324042405240624072408240924102411241224132414241524162417241824192420242124222423242424252426242724282429243024312432243324342435243624372438243924402441244224432444244524462447244824492450245124522453245424552456245724582459246024612462246324642465246624672468246924702471247224732474247524762477247824792480248124822483248424852486248724882489249024912492249324942495249624972498249925002501250225032504250525062507250825092510251125122513251425152516251725182519252025212522252325242525252625272528252925302531253225332534253525362537253825392540254125422543254425452546254725482549255025512552255325542555255625572558255925602561256225632564256525662567256825692570257125722573257425752576257725782579258025812582258325842585258625872588258925902591259225932594259525962597259825992600260126022603260426052606260726082609261026112612261326142615261626172618261926202621262226232624262526262627262826292630263126322633263426352636263726382639264026412642264326442645264626472648264926502651265226532654265526562657265826592660266126622663266426652666266726682669267026712672267326742675267626772678267926802681268226832684268526862687268826892690269126922693269426952696269726982699270027012702270327042705270627072708270927102711271227132714271527162717271827192720272127222723272427252726272727282729273027312732273327342735273627372738273927402741274227432744274527462747274827492750275127522753275427552756275727582759276027612762276327642765276627672768276927702771277227732774277527762777277827792780278127822783278427852786278727882789279027912792279327942795279627972798279928002801280228032804280528062807280828092810281128122813281428152816281728182819282028212822282328242825282628272828282928302831283228332834283528362837283828392840284128422843284428452846284728482849285028512852285328542855285628572858285928602861286228632864286528662867286828692870287128722873287428752876287728782879288028812882288328842885288628872888288928902891289228932894289528962897289828992900290129022903290429052906290729082909291029112912291329142915291629172918291929202921292229232924292529262927292829292930293129322933293429352936293729382939294029412942294329442945294629472948294929502951295229532954295529562957295829592960296129622963296429652966296729682969297029712972297329742975297629772978297929802981298229832984298529862987298829892990299129922993299429952996299729982999300030013002300330043005300630073008300930103011301230133014301530163017301830193020302130223023302430253026302730283029303030313032303330343035303630373038303930403041304230433044304530463047304830493050305130523053305430553056305730583059306030613062306330643065306630673068306930703071307230733074307530763077307830793080308130823083308430853086308730883089309030913092309330943095309630973098309931003101310231033104310531063107310831093110311131123113311431153116311731183119312031213122312331243125312631273128312931303131313231333134313531363137313831393140314131423143314431453146314731483149315031513152315331543155315631573158315931603161316231633164316531663167316831693170317131723173317431753176317731783179318031813182318331843185318631873188318931903191319231933194319531963197319831993200320132023203320432053206320732083209321032113212321332143215321632173218321932203221322232233224322532263227322832293230323132323233323432353236323732383239324032413242324332443245324632473248324932503251325232533254325532563257325832593260326132623263326432653266326732683269327032713272327332743275327632773278327932803281328232833284328532863287328832893290329132923293329432953296329732983299330033013302330333043305330633073308330933103311331233133314331533163317331833193320332133223323332433253326332733283329333033313332333333343335333633373338333933403341334233433344334533463347334833493350335133523353335433553356335733583359336033613362336333643365336633673368336933703371337233733374337533763377337833793380338133823383338433853386338733883389339033913392339333943395339633973398339934003401340234033404340534063407340834093410341134123413341434153416341734183419342034213422342334243425342634273428342934303431343234333434343534363437343834393440344134423443344434453446344734483449345034513452345334543455345634573458345934603461346234633464346534663467346834693470347134723473347434753476347734783479348034813482348334843485348634873488348934903491349234933494349534963497349834993500350135023503350435053506350735083509351035113512351335143515351635173518351935203521352235233524352535263527352835293530353135323533353435353536353735383539354035413542354335443545354635473548354935503551355235533554355535563557355835593560356135623563356435653566356735683569357035713572357335743575357635773578357935803581358235833584358535863587358835893590359135923593359435953596359735983599360036013602360336043605360636073608360936103611361236133614361536163617361836193620362136223623362436253626362736283629363036313632363336343635363636373638363936403641364236433644364536463647364836493650365136523653365436553656365736583659366036613662366336643665366636673668366936703671367236733674367536763677367836793680368136823683368436853686368736883689369036913692369336943695369636973698369937003701370237033704370537063707370837093710371137123713371437153716371737183719372037213722372337243725372637273728372937303731373237333734373537363737373837393740374137423743374437453746374737483749375037513752375337543755375637573758375937603761376237633764376537663767376837693770377137723773377437753776377737783779378037813782378337843785378637873788378937903791379237933794379537963797379837993800380138023803380438053806380738083809381038113812381338143815381638173818381938203821382238233824382538263827382838293830383138323833383438353836383738383839384038413842384338443845384638473848384938503851385238533854385538563857385838593860386138623863386438653866386738683869387038713872387338743875387638773878387938803881388238833884388538863887388838893890389138923893389438953896389738983899390039013902390339043905390639073908390939103911391239133914391539163917391839193920392139223923392439253926392739283929393039313932393339343935393639373938393939403941394239433944394539463947394839493950395139523953395439553956395739583959396039613962396339643965396639673968396939703971397239733974397539763977397839793980398139823983398439853986398739883989399039913992399339943995399639973998399940004001400240034004400540064007400840094010401140124013401440154016401740184019402040214022402340244025402640274028402940304031403240334034403540364037403840394040404140424043404440454046404740484049405040514052405340544055405640574058405940604061406240634064406540664067406840694070407140724073407440754076407740784079408040814082408340844085408640874088408940904091409240934094409540964097409840994100410141024103410441054106410741084109411041114112411341144115411641174118411941204121412241234124412541264127412841294130413141324133413441354136413741384139414041414142414341444145414641474148414941504151415241534154415541564157415841594160416141624163416441654166416741684169417041714172417341744175417641774178417941804181418241834184418541864187418841894190419141924193419441954196419741984199420042014202420342044205420642074208420942104211421242134214421542164217421842194220422142224223422442254226422742284229423042314232423342344235423642374238423942404241424242434244424542464247424842494250425142524253425442554256425742584259426042614262426342644265426642674268426942704271427242734274427542764277427842794280428142824283428442854286428742884289429042914292429342944295429642974298429943004301430243034304430543064307430843094310431143124313431443154316431743184319432043214322432343244325432643274328432943304331433243334334433543364337433843394340434143424343434443454346434743484349435043514352435343544355435643574358435943604361436243634364436543664367436843694370437143724373437443754376437743784379438043814382438343844385438643874388438943904391439243934394439543964397439843994400440144024403440444054406440744084409441044114412441344144415441644174418441944204421442244234424442544264427442844294430443144324433443444354436443744384439444044414442444344444445444644474448444944504451445244534454445544564457445844594460446144624463446444654466446744684469447044714472447344744475447644774478447944804481448244834484448544864487448844894490449144924493449444954496449744984499450045014502450345044505450645074508450945104511451245134514451545164517451845194520452145224523452445254526452745284529453045314532453345344535453645374538453945404541454245434544454545464547454845494550455145524553455445554556455745584559456045614562456345644565456645674568456945704571457245734574457545764577457845794580458145824583458445854586458745884589459045914592459345944595459645974598459946004601460246034604460546064607460846094610461146124613461446154616461746184619462046214622462346244625462646274628462946304631463246334634463546364637463846394640464146424643464446454646464746484649465046514652465346544655465646574658465946604661466246634664466546664667466846694670467146724673467446754676467746784679468046814682468346844685468646874688468946904691469246934694469546964697469846994700470147024703470447054706470747084709471047114712471347144715471647174718471947204721472247234724472547264727472847294730473147324733473447354736473747384739474047414742474347444745474647474748474947504751475247534754475547564757475847594760476147624763476447654766476747684769477047714772477347744775477647774778477947804781478247834784478547864787478847894790479147924793479447954796479747984799480048014802480348044805480648074808480948104811481248134814481548164817481848194820482148224823482448254826482748284829483048314832483348344835483648374838483948404841484248434844484548464847484848494850485148524853485448554856485748584859486048614862486348644865486648674868486948704871487248734874487548764877487848794880488148824883488448854886488748884889489048914892489348944895489648974898489949004901490249034904490549064907490849094910491149124913491449154916491749184919492049214922492349244925492649274928492949304931493249334934493549364937493849394940494149424943494449454946494749484949495049514952495349544955495649574958495949604961496249634964496549664967496849694970497149724973497449754976497749784979498049814982498349844985498649874988498949904991499249934994499549964997499849995000500150025003500450055006500750085009501050115012501350145015501650175018501950205021502250235024502550265027502850295030503150325033503450355036503750385039504050415042504350445045504650475048504950505051505250535054505550565057505850595060506150625063506450655066506750685069507050715072507350745075507650775078507950805081508250835084508550865087508850895090509150925093509450955096509750985099510051015102510351045105510651075108510951105111511251135114511551165117511851195120512151225123512451255126512751285129513051315132513351345135513651375138513951405141514251435144514551465147514851495150515151525153515451555156515751585159516051615162516351645165516651675168516951705171517251735174517551765177517851795180518151825183518451855186518751885189519051915192519351945195519651975198519952005201520252035204520552065207520852095210521152125213521452155216521752185219522052215222522352245225522652275228522952305231523252335234523552365237523852395240524152425243524452455246524752485249525052515252525352545255525652575258525952605261526252635264526552665267526852695270527152725273
  1. #include "mainwindow.h"
  2. #include "ui_mainwindow.h"
  3. #include <iomanip>//不要忘记包含此头文件
  4. #include <QScrollBar>
  5. #include "gpsimu.pb.h"
  6. #include "gnss_coordinate_convert.h"
  7. #define VIEW_WIDTH 10000
  8. #define VIEW_HEIGHT 10000
  9. double glon0 = 117.0866293;
  10. double glat0 = 39.1364713;
  11. //double glon0 = 117;
  12. //double glat0 = 39;
  13. double ghdg0 = 360;
  14. MainWindow * gw;
  15. MainWindow::MainWindow(QWidget *parent) :
  16. QMainWindow(parent),
  17. ui(new Ui::MainWindow)
  18. {
  19. gw = this;
  20. ui->setupUi(this);
  21. mnfac = 1;
  22. // int aaa[10000000];
  23. mnMoveX = VIEW_WIDTH/2;
  24. mnMoveY = VIEW_HEIGHT/2;
  25. mnDefmnfac = mnfac;
  26. mnDefMoveX = mnMoveX;
  27. mnDefMoveY = mnMoveY;
  28. myview = new MyView(this);
  29. myview->setObjectName(QStringLiteral("graphicsView"));
  30. myview->setGeometry(QRect(30, 30, 600, 600));
  31. connect(myview,SIGNAL(dbclickxy(double,double)),this,SLOT(onClickXY(double,double)));
  32. image = new QImage(VIEW_WIDTH, VIEW_HEIGHT, QImage::Format_RGB32);//画布的初始化大小设为300*300,使用32位颜色
  33. myview->setCacheMode(myview->CacheBackground);
  34. painter = new QPainter(image);
  35. painter->end();
  36. scene = new QGraphicsScene;
  37. // mpscene = new QGraphicsScene;//(-300, -300, 600, 600);
  38. mpscene = new QGraphicsScene(0,0,VIEW_WIDTH,VIEW_HEIGHT);
  39. mpscene->setBackgroundBrush(Qt::darkGreen);
  40. // painter->begin(image);
  41. QTabWidget * p = new QTabWidget(ui->centralWidget);
  42. p->setGeometry(30,30,300,300);
  43. mnFontHeight = ui->centralWidget->fontMetrics().height();
  44. CreateTab1View(p);
  45. mpLabel_Status = new QLabel(this);
  46. ui->statusBar->addPermanentWidget(mpLabel_Status);
  47. mTabMain = p;
  48. QTimer * timer = new QTimer();
  49. connect(timer,SIGNAL(timeout()),this,SLOT(onTimer()));
  50. timer->start(1000);
  51. setWindowTitle("Create Map From Lane Info");
  52. }
  53. MainWindow::~MainWindow()
  54. {
  55. delete ui;
  56. }
  57. void MainWindow::resizeEvent(QResizeEvent *event)
  58. {
  59. qDebug("resize");
  60. QSize sizemain = ui->centralWidget->size();
  61. qDebug("size x = %d y=%d",sizemain.width(),sizemain.height());
  62. AdjustWPos(sizemain);
  63. }
  64. void MainWindow::AdjustWPos(QSize sizemain)
  65. {
  66. myview->setGeometry(0,30,sizemain.width()-mnFontHeight * 22 - 30,sizemain.height());
  67. mTabMain->setGeometry(sizemain.width()-mnFontHeight * 22,30,mnFontHeight * 22,sizemain.height()-50);
  68. // mgplidar->setGeometry(sizemain.width()-280,30,260,200);
  69. }
  70. void MainWindow::ExecPainter()
  71. {
  72. QTime x;
  73. x.start();
  74. // qDebug("painter.");
  75. painter->begin(image);
  76. qDebug("time is %d",x.elapsed());
  77. image->fill(QColor(255, 255, 255));//对画布进行填充
  78. // std::vector<iv::GPSData> navigation_data = brain->navigation_data;
  79. painter->setRenderHint(QPainter::Antialiasing, true);//设置反锯齿模式,好看一点
  80. painter->translate(mnMoveX,mnMoveY);
  81. painter->setPen(Qt::black);
  82. painter->drawLine(VIEW_WIDTH/(-2),0,VIEW_WIDTH/2,0);
  83. painter->drawLine(0,VIEW_HEIGHT/(-2),0,VIEW_HEIGHT/2);
  84. int i;
  85. // int nfac = 5;;
  86. painter->setPen(Qt::blue);
  87. int nfac = mnfac;
  88. if(mbClick)
  89. {
  90. painter->setPen(Qt::red);
  91. painter->drawEllipse(QPoint(mClickX ,mClickY),mnMarkSize,mnMarkSize);
  92. painter->setPen(Qt::black);
  93. }
  94. if(mbSetObj)
  95. {
  96. painter->setPen(Qt::green);
  97. painter->drawRect(mfObjX*mnfac-mnMarkSize,mfObjY*mnfac*(-1)-mnMarkSize,mnMarkSize*2,mnMarkSize*2);
  98. painter->setPen(Qt::black);
  99. }
  100. painter->setPen(Qt::green);
  101. double x0,y0;
  102. GaussProjCal(glon0,glat0,&x0,&y0);
  103. painter->setPen(Qt::blue);
  104. // int nfac = mnfac;
  105. int selid = mpCBRoad->currentText().toInt();
  106. for(i=0;i<mxodr.GetRoadCount();i++)
  107. {
  108. // continue;
  109. int j;
  110. Road * pRoad = mxodr.GetRoad(i);
  111. painter->setPen(Qt::blue);
  112. if(selid == atoi(pRoad->GetRoadId().data()))
  113. {
  114. painter->setPen(Qt::red);
  115. }
  116. if(mxodr.GetRoad(i)->GetGeometryBlockCount()>0)
  117. {
  118. GeometryBlock * pgeob = pRoad->GetGeometryBlock(0);
  119. double x,y;
  120. RoadGeometry * pg;
  121. pg = pgeob->GetGeometryAt(0);
  122. x = pg->GetX();
  123. y = pg->GetY();
  124. double endx,endy,endhdg;
  125. GetEndPoint(pRoad,endx,endy,endhdg);
  126. x = (x+endx)/2;
  127. y = (y+endy)/2;
  128. x = x + mfViewMoveX;
  129. y = y + mfViewMoveY;
  130. painter->drawText(x*mnfac,y*mnfac*(-1),mxodr.GetRoad(i)->GetRoadId().data());
  131. }
  132. for(j=0;j<mxodr.GetRoad(i)->GetGeometryBlockCount();j++)
  133. {
  134. GeometryBlock * pgeob = pRoad->GetGeometryBlock(j);
  135. double x,y;
  136. double x_center,y_center;
  137. double R;
  138. RoadGeometry * pg;
  139. GeometryArc * parc;
  140. GeometryParamPoly3 * ppp3;
  141. GeometrySpiral *pSpiral;
  142. GeometryPoly3 *ppoly;
  143. double rel_x,rel_y,rel_hdg;
  144. pg = pgeob->GetGeometryAt(0);
  145. x = pg->GetX();
  146. y = pg->GetY();
  147. x = x + mfViewMoveX;
  148. y = y + mfViewMoveY;
  149. if(j== 0)
  150. {
  151. if(selid == atoi(pRoad->GetRoadId().data()))
  152. {
  153. painter->setPen(Qt::green);
  154. painter->drawEllipse(x*mnfac-5,y*mnfac*(-1)-5,10,10);
  155. painter->setPen(Qt::red);
  156. }
  157. }
  158. switch (pg->GetGeomType()) {
  159. case 0:
  160. painter->drawLine(QPoint(x*mnfac,y*mnfac*(-1)),
  161. QPoint((x + pg->GetLength() * cos(pg->GetHdg()))*mnfac,(y + pg->GetLength() * sin(pg->GetHdg()))*mnfac*(-1)));
  162. break;
  163. case 1:
  164. pSpiral = (GeometrySpiral * )pg;
  165. {
  166. int ncount = pSpiral->GetLength() * mnfac;
  167. double sstep = pSpiral->GetLength()/((double)ncount);
  168. int k;
  169. double x0,y0,hdg0,s0;
  170. x0 = pSpiral->GetX();
  171. y0 = pSpiral->GetY();
  172. s0 = pSpiral->GetS();
  173. hdg0 = pSpiral->GetHdg() ;
  174. painter->setPen(Qt::red);
  175. for(k=0;k<ncount;k++)
  176. {
  177. pSpiral->GetCoords(s0+sstep*k,rel_x,rel_y,rel_hdg);
  178. x = rel_x;
  179. y = rel_y;
  180. x = x + mfViewMoveX;
  181. y = y + mfViewMoveY;
  182. painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
  183. }
  184. painter->setPen(Qt::blue);
  185. }
  186. // qDebug("spi");
  187. break;
  188. case 2:
  189. {
  190. parc = (GeometryArc *)pg;
  191. R = abs(1.0/parc->GetCurvature());
  192. if(parc->GetCurvature() > 0)
  193. {
  194. x_center = pg->GetX() + R *cos(pg->GetHdg() + M_PI/2.0);
  195. y_center = pg->GetY() + R * sin(pg->GetHdg() + M_PI/2.0);
  196. }
  197. else
  198. {
  199. x_center = pg->GetX() + R *cos(pg->GetHdg() -M_PI/2.0);
  200. y_center = pg->GetY() + R * sin(pg->GetHdg() - M_PI/2.0);
  201. }
  202. int k;
  203. int ncount = parc->GetLength() * mnfac ;
  204. double curv = parc->GetCurvature();
  205. double hdgstep;
  206. double hdg0 = parc->GetHdg();
  207. double hdgnow = parc->GetHdg();
  208. if(ncount > 0) hdgstep= (parc->GetLength()/R)/ncount;
  209. for(k=0;k<ncount;k++)
  210. {
  211. double x_draw,y_draw;
  212. if(curv > 0)
  213. {
  214. hdgnow = hdg0 + k*hdgstep;
  215. x_draw = x_center + R *cos(hdgnow - M_PI/2.0);
  216. y_draw = y_center + R * sin(hdgnow - M_PI/2.0);
  217. }
  218. else
  219. {
  220. hdgnow = hdg0 - k * hdgstep;
  221. x_draw = x_center + R *cos(hdgnow + M_PI/2.0);
  222. y_draw = y_center + R * sin(hdgnow + M_PI/2.0);
  223. }
  224. x_draw = x_draw + mfViewMoveX;
  225. y_draw = y_draw + mfViewMoveY;
  226. painter->drawPoint(x_draw * mnfac ,y_draw * mnfac *(-1));
  227. }
  228. }
  229. break;
  230. case 3:
  231. {
  232. ppoly = (GeometryPoly3 *)pg;
  233. x = pg->GetX();
  234. y = pg->GetY();
  235. double A,B,C,D;
  236. A = ppoly->GetA();
  237. B = ppoly->GetB();
  238. C = ppoly->GetC();
  239. D = ppoly->GetD();
  240. const double steplim = 0.1;
  241. double du = steplim;
  242. double u = 0;
  243. double v = 0;
  244. double oldx,oldy;
  245. oldx = x;
  246. oldy = y;
  247. double xstart,ystart;
  248. xstart = x;
  249. ystart = y;
  250. double hdgstart = ppoly->GetHdg();
  251. double flen = 0;
  252. while(flen < ppoly->GetLength())
  253. {
  254. double fdis = 0;
  255. v = A + B*u + C*u*u + D*u*u*u;
  256. x = xstart + u*cos(hdgstart) - v*sin(hdgstart);
  257. y = ystart + u*sin(hdgstart) + v*cos(hdgstart);
  258. fdis = sqrt(pow(x- oldx,2)+pow(y-oldy,2));
  259. oldx = x;
  260. oldy = y;
  261. if(fdis>(steplim*2.0))du = du/2.0;
  262. flen = flen + fdis;
  263. u = u + du;
  264. std::cout<<" x: "<<x<<" y:"<<y<<std::endl;
  265. x = x + mfViewMoveX;
  266. y = y + mfViewMoveY;
  267. painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
  268. }
  269. }
  270. break;
  271. case 4:
  272. {
  273. ppp3 = (GeometryParamPoly3 * )pg;
  274. int ncount = ppp3->GetLength()* mnfac;
  275. double sstep;
  276. double arclength = ppp3->GetLength();
  277. if(ncount > 0)sstep = ppp3->GetLength()/ncount;
  278. else sstep = 10000.0;
  279. double s = 0;
  280. while(s < ppp3->GetLength())
  281. {
  282. double xtem,ytem;
  283. double pRange = s/arclength;
  284. xtem = ppp3->GetuA() + ppp3->GetuB() * pRange + ppp3->GetuC() * pRange*pRange + ppp3->GetuD() * pRange*pRange*pRange;
  285. ytem = ppp3->GetvA() + ppp3->GetvB() * pRange + ppp3->GetvC() * pRange*pRange + ppp3->GetvD() * pRange*pRange*pRange;
  286. x = xtem*cos(ppp3->GetHdg()) - ytem * sin(ppp3->GetHdg()) + ppp3->GetX();
  287. y = xtem*sin(ppp3->GetHdg()) + ytem * cos(ppp3->GetHdg()) + ppp3->GetY();
  288. x = x + mfViewMoveX;
  289. y = y + mfViewMoveY;
  290. painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
  291. s = s+ sstep;
  292. }
  293. }
  294. break;
  295. default:
  296. break;
  297. }
  298. // painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
  299. }
  300. }
  301. for(i=0;i<mvectorlp.size();i++)
  302. {
  303. if(!mbShowLane)continue;
  304. if(i == mnMarkLane)
  305. {
  306. painter->setPen(Qt::red);
  307. }
  308. else
  309. {
  310. painter->setPen(Qt::blue);
  311. }
  312. int npsize = mvectorlp[i].mvectorlpleft.size();
  313. int j;
  314. for(j=0;j<npsize;j++)
  315. {
  316. double x,y;
  317. double lon,lat;
  318. lon = mvectorlp[i].mvectorlpleft[j].mfLon;
  319. lat = mvectorlp[i].mvectorlpleft[j].mfLat;
  320. GaussProjCal(lon,lat,&x,&y);
  321. x = x-x0;
  322. y= y-y0;
  323. painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
  324. lon = mvectorlp[i].mvectorlpright[j].mfLon;
  325. lat = mvectorlp[i].mvectorlpright[j].mfLat;
  326. GaussProjCal(lon,lat,&x,&y);
  327. x = x-x0;
  328. y= y-y0;
  329. x = x + mfViewMoveX;
  330. y = y + mfViewMoveY;
  331. painter->drawPoint((int)(x*mnfac),(int)(y*(-1.0*mnfac)));
  332. }
  333. }
  334. painter->setPen(Qt::green);
  335. painter->end();
  336. }
  337. //刷新
  338. void MainWindow::paintEvent(QPaintEvent *)
  339. {
  340. if(mnViewMode == 1)
  341. {
  342. if(mbRefresh)
  343. {
  344. // UpdateScene();
  345. }
  346. myview->setScene(mpscene);
  347. myview->show();
  348. return;
  349. }
  350. if(mbRefresh)
  351. {
  352. ExecPainter();
  353. // qDebug(" time is %d ",x.elapsed());
  354. mbRefresh = false;
  355. }
  356. scene->clear();
  357. scene->addPixmap(QPixmap::fromImage(*image));
  358. myview->setScene(scene);
  359. myview->show();
  360. if(mbInit == false)
  361. {
  362. myview->horizontalScrollBar()->setValue((mnMoveX - 800));
  363. myview->verticalScrollBar()->setValue((mnMoveY - 500));
  364. mbInit = true;
  365. }
  366. // qDebug(" time 2 is %d ",x.elapsed());
  367. }
  368. void MainWindow::onTimer()
  369. {
  370. }
  371. void MainWindow::CreateTab1View(QTabWidget * p)
  372. {
  373. QGroupBox * pGroup = new QGroupBox();
  374. pGroup->setGeometry(0,0,mnFontHeight * 21,mnFontHeight * 110);
  375. QLabel * pLabel;
  376. QLineEdit * pLE;
  377. QPushButton * pPB;
  378. QSlider * pSlider;
  379. QComboBox * pCB;
  380. int nXPos = 10;
  381. int nYPos = 30;
  382. int i;
  383. int nSpace = mnFontHeight * 65/10;
  384. int nLEWidth = mnFontHeight * 6;
  385. int nLEHeight = mnFontHeight * 3/2;
  386. pLabel = new QLabel(pGroup);
  387. pLabel->setText("View Mode");
  388. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  389. nXPos = nXPos + nSpace;
  390. pCB = new QComboBox(pGroup);
  391. pCB->addItem("Line");
  392. pCB->addItem("Scene");
  393. pCB->setCurrentIndex(0);
  394. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  395. mpCBViewMode = pCB;
  396. connect(pCB,SIGNAL(currentIndexChanged(int)),this,SLOT(onViewModeChange(int)));
  397. nXPos = 10;
  398. nYPos = nYPos + mnFontHeight * 3;
  399. pLabel = new QLabel(pGroup);
  400. pLabel->setText("Lat0");
  401. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  402. nXPos = nXPos + nSpace;
  403. pLabel = new QLabel(pGroup);
  404. pLabel->setText("Lon0");
  405. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  406. nXPos = nXPos + nSpace;
  407. pLabel = new QLabel(pGroup);
  408. pLabel->setText("Head0");
  409. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  410. nXPos = nXPos + nSpace;
  411. nXPos = 10;
  412. nYPos = nYPos + mnFontHeight * 2;
  413. pLE = new QLineEdit(pGroup);
  414. pLE->setText(QString::number(glat0,'f',7));
  415. pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  416. mpLELat0 = pLE;
  417. nXPos = nXPos + nSpace;
  418. pLE = new QLineEdit(pGroup);
  419. pLE->setText(QString::number(glon0,'f',7));
  420. pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  421. mpLELon0 = pLE;
  422. nXPos = nXPos + nSpace;
  423. pLE = new QLineEdit(pGroup);
  424. pLE->setText(QString::number(ghdg0,'f',3));
  425. pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  426. mpLEHead0 = pLE;
  427. nXPos = nXPos + nSpace;
  428. nXPos = 10;
  429. nYPos = nYPos + mnFontHeight * 2;
  430. pLabel = new QLabel(pGroup);
  431. pLabel->setText("ViewMove");
  432. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  433. nXPos = nXPos + nSpace;
  434. pLE = new QLineEdit(pGroup);
  435. pLE->setText(QString::number(mfViewMoveX,'f',2));
  436. pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  437. mpLEViewMoveX = pLE;
  438. nXPos = nXPos + nSpace;
  439. pLE = new QLineEdit(pGroup);
  440. pLE->setText(QString::number(mfViewMoveY,'f',2));
  441. pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  442. mpLEViewMoveY = pLE;
  443. nXPos = nXPos + nSpace;
  444. nXPos = 10;
  445. nYPos = nYPos + mnFontHeight * 4;
  446. pPB = new QPushButton(pGroup);
  447. pPB->setText("Restore Default View");
  448. pPB->setGeometry(nXPos,nYPos,mnFontHeight*10,nLEHeight);
  449. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickDefView()));
  450. nXPos = nXPos + mnFontHeight * 11;
  451. pPB = new QPushButton(pGroup);
  452. pPB->setText("Zoom One");
  453. pPB->setGeometry(nXPos,nYPos,mnFontHeight*6,nLEHeight);
  454. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickZoomOne()));
  455. nXPos = 10;
  456. nYPos = nYPos + mnFontHeight * 4;
  457. pLabel = new QLabel(pGroup);
  458. pLabel->setText("Scale");
  459. pLabel->setGeometry(nXPos,nYPos,mnFontHeight*3,nLEHeight);
  460. nXPos = nXPos + mnFontHeight * 4;
  461. pSlider = new QSlider(pGroup);
  462. pSlider->setOrientation(Qt::Horizontal);
  463. pSlider->setGeometry(nXPos,nYPos,mnFontHeight * 10,nLEHeight);
  464. pSlider->setRange(1,100);
  465. pSlider->setValue(mnfac);
  466. connect(pSlider,SIGNAL(valueChanged(int)),this,SLOT(onChangeScale(int)));
  467. mpSlider_Scale = pSlider;
  468. nXPos = nXPos + mnFontHeight*11;
  469. pLE = new QLineEdit(pGroup);
  470. pLE->setGeometry(nXPos,nYPos,mnFontHeight*3,nLEHeight);
  471. pLE->setText(QString::number(pSlider->value()));
  472. mpLE_Scale = pLE;
  473. // nXPos = 10;
  474. // nYPos = nYPos + mnFontHeight * 2;
  475. // pLabel = new QLabel(pGroup);
  476. // pLabel->setText("MoveX");
  477. // pLabel->setGeometry(nXPos,nYPos,mnFontHeight*3,nLEHeight);
  478. // nXPos = nXPos + mnFontHeight * 4;
  479. // pSlider = new QSlider(pGroup);
  480. // pSlider->setOrientation(Qt::Horizontal);
  481. // pSlider->setGeometry(nXPos,nYPos,mnFontHeight * 10,nLEHeight);
  482. // pSlider->setRange(0,100);
  483. // pSlider->setValue(mnMoveX*100/VIEW_WIDTH);
  484. // connect(pSlider,SIGNAL(valueChanged(int)),this,SLOT(onChangeMoveX(int)));
  485. // mpSlider_MoveX = pSlider;
  486. // nXPos = nXPos + mnFontHeight*11;
  487. // pLE = new QLineEdit(pGroup);
  488. // pLE->setGeometry(nXPos,nYPos,mnFontHeight*3,nLEHeight);
  489. // pLE->setText(QString::number(pSlider->value()));
  490. // mpLE_MoveX = pLE;
  491. // nXPos = 10;
  492. // nYPos = nYPos + mnFontHeight * 2;
  493. // pLabel = new QLabel(pGroup);
  494. // pLabel->setText("MoveY");
  495. // pLabel->setGeometry(nXPos,nYPos,mnFontHeight*3,nLEHeight);
  496. // nXPos = nXPos + mnFontHeight * 4;
  497. // pSlider = new QSlider(pGroup);
  498. // pSlider->setOrientation(Qt::Horizontal);
  499. // pSlider->setGeometry(nXPos,nYPos,mnFontHeight * 10,nLEHeight);
  500. // pSlider->setRange(0,100);
  501. // pSlider->setValue(mnMoveY*100/VIEW_HEIGHT);
  502. // connect(pSlider,SIGNAL(valueChanged(int)),this,SLOT(onChangeMoveY(int)));
  503. // mpSlider_MoveY = pSlider;
  504. // nXPos = nXPos + mnFontHeight*11;
  505. // pLE = new QLineEdit(pGroup);
  506. // pLE->setGeometry(nXPos,nYPos,mnFontHeight*3,nLEHeight);
  507. // pLE->setText(QString::number(pSlider->value()));
  508. // mpLE_MoveY = pLE;
  509. nXPos = 10;
  510. nYPos = nYPos + mnFontHeight * 4;
  511. pLabel = new QLabel(pGroup);
  512. pLabel->setText("Mark");
  513. pLabel->setGeometry(nXPos,nYPos,mnFontHeight*3,nLEHeight);
  514. nXPos = nXPos + mnFontHeight * 4;
  515. pSlider = new QSlider(pGroup);
  516. pSlider->setOrientation(Qt::Horizontal);
  517. pSlider->setGeometry(nXPos,nYPos,mnFontHeight * 10,nLEHeight);
  518. pSlider->setRange(5,100);
  519. pSlider->setValue(mnMarkSize);
  520. connect(pSlider,SIGNAL(valueChanged(int)),this,SLOT(onChangeMark(int)));
  521. mpSlider_Mark = pSlider;
  522. nXPos = nXPos + mnFontHeight*11;
  523. pLE = new QLineEdit(pGroup);
  524. pLE->setGeometry(nXPos,nYPos,mnFontHeight*3,nLEHeight);
  525. pLE->setText(QString::number(pSlider->value()));
  526. mpLE_Mark = pLE;
  527. nXPos = 10;
  528. nYPos = nYPos + mnFontHeight * 4;
  529. pLabel = new QLabel(pGroup);
  530. pLabel->setText("SelLon");
  531. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  532. nXPos = nXPos + nSpace;
  533. pLabel = new QLabel(pGroup);
  534. pLabel->setText("SelLat");
  535. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  536. nXPos = nXPos + nSpace;
  537. nXPos = 10;
  538. nYPos = nYPos + mnFontHeight * 2;
  539. pLE = new QLineEdit(pGroup);
  540. pLE->setText("");
  541. pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  542. mpLE_SelX = pLE;
  543. nXPos = nXPos + nSpace;
  544. pLE = new QLineEdit(pGroup);
  545. pLE->setText("");
  546. pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  547. mpLE_SelY = pLE;
  548. nXPos = nXPos + nSpace;
  549. nXPos = 10;
  550. nYPos = nYPos + mnFontHeight * 2;
  551. pLE = new QLineEdit(pGroup);
  552. pLE->setText("");
  553. pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  554. mpLE_SelLon = pLE;
  555. nXPos = nXPos + nSpace;
  556. pLE = new QLineEdit(pGroup);
  557. pLE->setText("");
  558. pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  559. mpLE_SelLat = pLE;
  560. nXPos = nXPos + nSpace;
  561. pLE = new QLineEdit(pGroup);
  562. pLE->setText("");
  563. pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  564. pLE->setText("360");
  565. mpLE_StartHeading = pLE;
  566. nXPos = 10;
  567. nYPos = nYPos + mnFontHeight * 2;
  568. pPB = new QPushButton(pGroup);
  569. pPB->setText("Set Move");
  570. pPB->setGeometry(nXPos,nYPos,mnFontHeight*10,nLEHeight);
  571. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickSetMove()));
  572. nXPos = 30 + mnFontHeight*10;
  573. pPB = new QPushButton(pGroup);
  574. pPB->setText("Reset Move");
  575. pPB->setGeometry(nXPos,nYPos,mnFontHeight*10,nLEHeight);
  576. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickReSetMove()));
  577. nXPos = 10;
  578. nYPos = nYPos + mnFontHeight * 4;
  579. pPB = new QPushButton(pGroup);
  580. pPB->setText("Load Lane");
  581. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  582. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickLoadLane()));
  583. nXPos = nXPos + nSpace;
  584. pCB = new QComboBox(pGroup);
  585. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  586. nXPos = nXPos + nSpace;
  587. mpCBLane = pCB;
  588. nXPos = 10;
  589. nYPos = nYPos + mnFontHeight * 2;
  590. pPB = new QPushButton(pGroup);
  591. pPB->setText("Remove");
  592. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  593. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickRemoveLane()));
  594. nXPos = nXPos + nSpace;
  595. pPB = new QPushButton(pGroup);
  596. pPB->setText("Mark");
  597. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  598. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickMarkLane()));
  599. nXPos = nXPos + nSpace;
  600. pPB = new QPushButton(pGroup);
  601. pPB->setText("Clear Road Lane");
  602. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  603. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickClearRoadLane()));
  604. nXPos = nXPos + nSpace;
  605. nXPos = 10;
  606. nYPos = nYPos + mnFontHeight * 2;
  607. pPB = new QPushButton(pGroup);
  608. pPB->setText("To Road");
  609. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  610. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickToRoad()));
  611. nXPos = nXPos + nSpace;
  612. pPB = new QPushButton(pGroup);
  613. pPB->setText("To Opposite");
  614. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  615. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickToOpposite()));
  616. nXPos = nXPos + nSpace;
  617. pLE = new QLineEdit(pGroup);
  618. pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  619. nXPos = nXPos + nSpace;
  620. mpLE_RoadName = pLE;
  621. nXPos = 10;
  622. nYPos = nYPos + mnFontHeight * 2;
  623. pCB = new QComboBox(pGroup);
  624. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  625. nXPos = nXPos + nSpace;
  626. mpCBSelLane = pCB;
  627. pCB = new QComboBox(pGroup);
  628. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  629. nXPos = nXPos + nSpace;
  630. mpCBSelOpLane = pCB;
  631. pPB = new QPushButton(pGroup);
  632. pPB->setText("Add Road");
  633. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  634. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickAddRoad()));
  635. nXPos = nXPos + nSpace;
  636. nXPos = 10;
  637. nYPos = nYPos + mnFontHeight * 4;
  638. pCB = new QComboBox(pGroup);
  639. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  640. nXPos = nXPos + nSpace;
  641. mpCBRoad = pCB;
  642. connect(pCB,SIGNAL(currentIndexChanged(int)),this,SLOT(onClickCBRoadChange(int)));
  643. pPB = new QPushButton(pGroup);
  644. pPB->setText("Mark");
  645. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  646. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickRoadMark()));
  647. nXPos = nXPos + nSpace;
  648. pPB = new QPushButton(pGroup);
  649. pPB->setText("Del");
  650. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  651. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickRoadDel()));
  652. nXPos = nXPos + nSpace;
  653. nXPos = 10;
  654. nYPos = nYPos + mnFontHeight * 2;
  655. pLabel = new QLabel(pGroup);
  656. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  657. pLabel->setText("Predecessor:");
  658. nXPos = nXPos + nSpace;
  659. pLabel = new QLabel(pGroup);
  660. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  661. pLabel->setText("road");
  662. mpLabelRoadShowPreType1 = pLabel;
  663. nXPos = nXPos + nSpace;
  664. pLabel = new QLabel(pGroup);
  665. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  666. pLabel->setText("10010");
  667. mpLabelRoadShowPreID = pLabel;
  668. nXPos = nXPos + nSpace;
  669. nXPos = 10;
  670. nYPos = nYPos + mnFontHeight * 2;
  671. pLabel = new QLabel(pGroup);
  672. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  673. pLabel->setText("start");
  674. mpLabelRoadShowPreType2 = pLabel;
  675. nXPos = nXPos + nSpace;
  676. pCB = new QComboBox(pGroup);
  677. pCB->setGeometry(nXPos,nYPos,nLEWidth*2,nLEHeight);
  678. mpCBRoadShowPre = pCB;
  679. nXPos = 10;
  680. nYPos = nYPos + mnFontHeight * 2;
  681. pLabel = new QLabel(pGroup);
  682. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  683. pLabel->setText("Successor:");
  684. nXPos = nXPos + nSpace;
  685. pLabel = new QLabel(pGroup);
  686. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  687. pLabel->setText("road");
  688. mpLabelRoadShowNxtType1 = pLabel;
  689. nXPos = nXPos + nSpace;
  690. pLabel = new QLabel(pGroup);
  691. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  692. pLabel->setText("10010");
  693. mpLabelRoadShowNxtID = pLabel;
  694. nXPos = nXPos + nSpace;
  695. nXPos = 10;
  696. nYPos = nYPos + mnFontHeight * 2;
  697. pLabel = new QLabel(pGroup);
  698. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  699. pLabel->setText("start");
  700. mpLabelRoadShowNxtType2 = pLabel;
  701. nXPos = nXPos + nSpace;
  702. pCB = new QComboBox(pGroup);
  703. pCB->setGeometry(nXPos,nYPos,nLEWidth*2,nLEHeight);
  704. mpCBRoadShowNext = pCB;
  705. // nXPos = 10;
  706. // nYPos = nYPos + mnFontHeight * 2;
  707. // pCB = new QComboBox(pGroup);
  708. // pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  709. // nXPos = nXPos + nSpace;
  710. // mpCBPreNxtCurLane = pCB;
  711. nXPos = 10;
  712. nYPos = nYPos + mnFontHeight * 2;
  713. pCB = new QComboBox(pGroup);
  714. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  715. nXPos = nXPos + nSpace;
  716. mpCBPreNxtRoad = pCB;
  717. connect(pCB,SIGNAL(currentIndexChanged(int)),this,SLOT(onClickPreNxtRoadChange(int)));
  718. pCB = new QComboBox(pGroup);
  719. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  720. nXPos = nXPos + nSpace;
  721. mpCBPreNxtRelLane = pCB;
  722. pCB = new QComboBox(pGroup);
  723. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  724. nXPos = nXPos + nSpace;
  725. mpCBPreNxtConatact = pCB;
  726. pCB->addItem("start");
  727. pCB->addItem("end");
  728. nXPos = 10;
  729. nYPos = nYPos + mnFontHeight * 2;
  730. pPB = new QPushButton(pGroup);
  731. pPB->setGeometry(nXPos,nYPos,nLEWidth*15/10,nLEHeight);
  732. nXPos = nXPos + nSpace*15/10;
  733. pPB->setText("Set Predecessor");
  734. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickSetRoadPredecessor()));
  735. pPB = new QPushButton(pGroup);
  736. pPB->setGeometry(nXPos,nYPos,nLEWidth*15/10,nLEHeight);
  737. nXPos = nXPos + nSpace*15/10;
  738. pPB->setText("Set Successor");
  739. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickSetRoadSuccessor()));
  740. nXPos = 10;
  741. nYPos = nYPos + mnFontHeight * 2;
  742. pPB = new QPushButton(pGroup);
  743. pPB->setGeometry(nXPos,nYPos,nLEWidth*15/10,nLEHeight);
  744. nXPos = nXPos + nSpace*15/10;
  745. pPB->setText("Del Predecessor");
  746. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickDelRoadPredecessor()));
  747. pPB = new QPushButton(pGroup);
  748. pPB->setGeometry(nXPos,nYPos,nLEWidth*15/10,nLEHeight);
  749. nXPos = nXPos + nSpace*15/10;
  750. pPB->setText("Del Successor");
  751. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickDelRoadSuccessor()));
  752. nXPos = 10;
  753. nYPos = nYPos + mnFontHeight * 4;
  754. pCB = new QComboBox(pGroup);
  755. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  756. nXPos = nXPos + nSpace;
  757. mpCBRoad1 = pCB;
  758. pCB = new QComboBox(pGroup);
  759. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  760. nXPos = nXPos + nSpace;
  761. pCB->addItem("start");
  762. pCB->addItem("end");
  763. mpCBRC1 = pCB;
  764. QCheckBox * pCheck = new QCheckBox(pGroup);
  765. pCheck->setText("act");
  766. pCheck->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  767. mpCheckFromSel = pCheck;
  768. mpCheckFromSel->setChecked(false);
  769. nXPos = 10;
  770. nYPos = nYPos + mnFontHeight * 2;
  771. pCB = new QComboBox(pGroup);
  772. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  773. nXPos = nXPos + nSpace;
  774. mpCBRoad2 = pCB;
  775. pCB = new QComboBox(pGroup);
  776. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  777. nXPos = nXPos + nSpace;
  778. pCB->addItem("start");
  779. pCB->addItem("end");
  780. mpCBRC2 = pCB;
  781. pCheck = new QCheckBox(pGroup);
  782. pCheck->setText("act");
  783. pCheck->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  784. mpCheckToSel = pCheck;
  785. mpCheckToSel->setChecked(false);
  786. nXPos = 10;
  787. nYPos = nYPos + mnFontHeight * 2;
  788. pPB = new QPushButton(pGroup);
  789. pPB->setText("Road Contact");
  790. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  791. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickRoadContact()));
  792. nXPos = 10;
  793. nYPos = nYPos + mnFontHeight * 4;
  794. pCB = new QComboBox(pGroup);
  795. pCB->setGeometry(nXPos,nYPos,nLEWidth*2,nLEHeight);
  796. nXPos = nXPos + nSpace;
  797. mpCBRoadCon = pCB;
  798. nXPos = 10;
  799. nYPos = nYPos + mnFontHeight * 2;
  800. pCB = new QComboBox(pGroup);
  801. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  802. nXPos = nXPos + nSpace;
  803. mpCBLane1 = pCB;
  804. pCB = new QComboBox(pGroup);
  805. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  806. nXPos = nXPos + nSpace;
  807. mpCBLane2 = pCB;
  808. nXPos = 10;
  809. nYPos = nYPos + mnFontHeight * 2;
  810. pPB = new QPushButton(pGroup);
  811. pPB->setText("Lane Contact");
  812. pPB->setGeometry(nXPos,nYPos,nLEWidth*15/10,nLEHeight);
  813. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickLaneContact()));
  814. nXPos = nXPos + nSpace*15/10;
  815. pCB = new QComboBox(pGroup);
  816. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  817. nXPos = nXPos + nSpace;
  818. mpCBLane1Lane2 = pCB;
  819. nXPos = 10;
  820. nYPos = nYPos + mnFontHeight * 2;
  821. pPB = new QPushButton(pGroup);
  822. pPB->setText("OpLane Contact");
  823. pPB->setGeometry(nXPos,nYPos,nLEWidth*15/10,nLEHeight);
  824. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickOpLaneContact()));
  825. nXPos = nXPos + nSpace*15/10;
  826. pCB = new QComboBox(pGroup);
  827. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  828. nXPos = nXPos + nSpace;
  829. mpCBLane1Lane2op = pCB;
  830. nXPos = 10;
  831. nYPos = nYPos + mnFontHeight * 2;
  832. pPB = new QPushButton(pGroup);
  833. pPB->setText("Clear");
  834. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  835. nXPos = nXPos + nSpace;
  836. pPB = new QPushButton(pGroup);
  837. pPB->setText("Create Road");
  838. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  839. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickCreateRoad()));
  840. nXPos = 10;
  841. nYPos = nYPos + mnFontHeight * 2;
  842. pCB = new QComboBox(pGroup);
  843. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  844. nXPos = nXPos + nSpace;
  845. mpCBRoadType = pCB;
  846. pCB->addItem("Turn");
  847. pCB->addItem("Straight");
  848. pCB->addItem("U-Turn");
  849. connect(pCB,SIGNAL(currentIndexChanged(int)),this,SLOT(onChangeRoadType(int)));
  850. pLabel = new QLabel(pGroup);
  851. pLabel->setText("Radius:");
  852. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  853. nXPos = nXPos + nSpace;
  854. mpLBRoadType = pLabel;
  855. pLE = new QLineEdit(pGroup);
  856. pLE->setText("6.0");
  857. pLE->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  858. mpLERoadType = pLE;
  859. mpCBRoadType->setCurrentIndex(0);
  860. mpLBRoadType->setVisible(true);
  861. mpLERoadType->setVisible(true);
  862. nXPos = 10;
  863. nYPos = nYPos + mnFontHeight * 4;
  864. pPB = new QPushButton(pGroup);
  865. pPB->setText("Create Junction");
  866. pPB->setGeometry(nXPos,nYPos,nLEWidth*15/10,nLEHeight);
  867. nXPos = nXPos + nSpace*15/10;
  868. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickCreateJunction()));
  869. pCB = new QComboBox(pGroup);
  870. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  871. nXPos = nXPos + nSpace;
  872. mpCBJunction = pCB;
  873. connect(pCB,SIGNAL(currentIndexChanged(int)),this,SLOT(onClickCBJunctionChange(int)));
  874. pCB = new QComboBox(pGroup);
  875. pCB->setGeometry(nXPos,nYPos,nLEWidth*5/10,nLEHeight);
  876. mpCBJunctionConnection = pCB;
  877. connect(pCB,SIGNAL(currentIndexChanged(int)),this,SLOT(onClickCBJunctionConnectionChange(int)));
  878. nXPos = 10;
  879. nYPos = nYPos + mnFontHeight * 2;
  880. pLabel = new QLabel(pGroup);
  881. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  882. nXPos = nXPos + nSpace;
  883. mpLabelJunctionIncommingRoad = pLabel;
  884. pLabel = new QLabel(pGroup);
  885. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  886. nXPos = nXPos + nSpace;
  887. mpLabelJunctionContactPoint = pLabel;
  888. pLabel = new QLabel(pGroup);
  889. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  890. nXPos = nXPos + nSpace;
  891. mpLabelJunctionConnectingRoad = pLabel;
  892. nXPos = 10;
  893. nYPos = nYPos + mnFontHeight * 2;
  894. pCB = new QComboBox(pGroup);
  895. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  896. mpCBJunctionFromTo = pCB;
  897. nXPos = 10;
  898. nYPos = nYPos + mnFontHeight * 2;
  899. pLabel = new QLabel(pGroup);
  900. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  901. nXPos = nXPos + nSpace;
  902. pLabel->setText("Incomming");
  903. pCB = new QComboBox(pGroup);
  904. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  905. nXPos = nXPos + nSpace;
  906. mpCBJunctionIncommingRoad = pCB;
  907. connect(pCB,SIGNAL(currentIndexChanged(int)),this,SLOT(onClickCBJunctionIncommingChange(int)));
  908. nXPos = 10;
  909. nYPos = nYPos + mnFontHeight * 2;
  910. pLabel = new QLabel(pGroup);
  911. pLabel->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  912. nXPos = nXPos + nSpace;
  913. pLabel->setText("Connecting");
  914. pCB = new QComboBox(pGroup);
  915. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  916. nXPos = nXPos + nSpace;
  917. mpCBJunctionConnectingRoad= pCB;
  918. connect(pCB,SIGNAL(currentIndexChanged(int)),this,SLOT(onClickCBJunctionConnectionroadChange(int)));
  919. pCB = new QComboBox(pGroup);
  920. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  921. nXPos = nXPos + nSpace;
  922. pCB->addItem("start");
  923. pCB->addItem("end");
  924. mpCBJunctionContactPoint = pCB;
  925. nXPos = 10;
  926. nYPos = nYPos + mnFontHeight * 2;
  927. pCB = new QComboBox(pGroup);
  928. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  929. nXPos = nXPos + nSpace;
  930. mpCBJunctionFromLane = pCB;
  931. pCB = new QComboBox(pGroup);
  932. pCB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  933. nXPos = nXPos + nSpace;
  934. mpCBJunctionToLane = pCB;
  935. nXPos = 10;
  936. nYPos = nYPos + mnFontHeight * 2;
  937. pPB = new QPushButton(pGroup);
  938. pPB->setText("Create Lane Link");
  939. pPB->setGeometry(nXPos,nYPos,nLEWidth*15/10,nLEHeight);
  940. nXPos = nXPos + nSpace*15/10;
  941. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickCreateJunctionLaneLink()));
  942. pPB = new QPushButton(pGroup);
  943. pPB->setText("Delete Lane Link");
  944. pPB->setGeometry(nXPos,nYPos,nLEWidth*15/10,nLEHeight);
  945. nXPos = nXPos + nSpace*15/10;
  946. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickDeleteJunctionLaneLink()));
  947. nXPos = 10;
  948. nYPos = nYPos + mnFontHeight * 4;
  949. pPB = new QPushButton(pGroup);
  950. pPB->setText("Auto Connect Road");
  951. pPB->setGeometry(nXPos,nYPos,nLEWidth*15/10,nLEHeight);
  952. nXPos = nXPos + nSpace*15/10;
  953. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickAutoConnect()));
  954. nXPos = 10;
  955. nYPos = nYPos + mnFontHeight * 4;
  956. pPB = new QPushButton(pGroup);
  957. pPB->setText("Save");
  958. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  959. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickSave()));
  960. nXPos = nXPos + nSpace;
  961. pPB = new QPushButton(pGroup);
  962. pPB->setText("Load");
  963. pPB->setGeometry(nXPos,nYPos,nLEWidth,nLEHeight);
  964. connect(pPB,SIGNAL(clicked(bool)),this,SLOT(onClickLoad()));
  965. nXPos = nXPos + nSpace;
  966. QScrollArea * pScroll = new QScrollArea();
  967. pScroll->setWidget(pGroup);
  968. p->addTab(pScroll,"Calculate");
  969. }
  970. void MainWindow::onClickXY(double x, double y)
  971. {
  972. mClickX = x - mnMoveX;
  973. mClickY = y - mnMoveY;
  974. mbClick = true;
  975. mbRefresh = true;
  976. double selx,sely;
  977. double lon,lat;
  978. selx = mClickX;
  979. sely = mClickY * (-1);
  980. if(mnViewMode == 0)
  981. {
  982. selx = selx/((double )mnfac);
  983. sely = sely/((double)mnfac);
  984. }
  985. mpLE_SelX->setText(QString::number(selx,'f',3));
  986. mpLE_SelY->setText(QString::number(sely,'f',3));
  987. double x0,y0;
  988. GaussProjCal(glon0,glat0,&x0,&y0);
  989. GaussProjInvCal(x0+selx,y0+sely,&lon,&lat);
  990. double rel_x,rel_y;
  991. rel_x = selx - mfViewMoveX;
  992. rel_y = sely - mfViewMoveY;
  993. Road * pRoad = 0;
  994. GeometryBlock * pgeob;
  995. double fdis,nearx,neary,hdg;
  996. double fs;
  997. int nlane;
  998. if(xodrfunc::GetNearPoint(rel_x,rel_y,&mxodr,&pRoad,&pgeob,fdis,nearx,neary,hdg,50,&fs,&nlane) == 0)
  999. {
  1000. qDebug("s:%f dis is %f nlane is %d",fs,fdis,nlane);
  1001. char strout[1000];
  1002. snprintf(strout,1000,"Road:%s s:%f dis:%f nlane:%d",pRoad->GetRoadId().data(),fs,fdis,nlane);
  1003. mpLabel_Status->setText(strout);
  1004. ui->statusBar->showMessage(strout,3000);
  1005. int i;
  1006. int nsize = mpCBRoad->count();
  1007. for(i=0;i<nsize;i++)
  1008. {
  1009. if(mpCBRoad->itemText(i).toStdString() == pRoad->GetRoadId())
  1010. {
  1011. break;
  1012. }
  1013. }
  1014. if(i<nsize)
  1015. {
  1016. if(i != mpCBRoad->currentIndex())
  1017. mpCBRoad->setCurrentIndex(i);
  1018. }
  1019. }
  1020. if(mpCheckFromSel->isChecked())
  1021. {
  1022. if(pRoad != 0)ComboToString(pRoad->GetRoadId(),mpCBRoad1);
  1023. mpCheckFromSel->setChecked(false);
  1024. }
  1025. if(mpCheckToSel->isChecked())
  1026. {
  1027. if(pRoad != 0)ComboToString(pRoad->GetRoadId(),mpCBRoad2);
  1028. mpCheckToSel->setChecked(false);
  1029. }
  1030. mpLE_SelLon->setText(QString::number(lon,'f',7));
  1031. mpLE_SelLat->setText(QString::number(lat,'f',7));
  1032. update();
  1033. }
  1034. void MainWindow::ComboToString(std::string strroadid,QComboBox * pCB)
  1035. {
  1036. int i;
  1037. int nsize = pCB->count();
  1038. for(i=0;i<nsize;i++)
  1039. {
  1040. if(pCB->itemText(i).toStdString() == strroadid)
  1041. {
  1042. break;
  1043. }
  1044. }
  1045. if(i<nsize)
  1046. {
  1047. if(i != pCB->currentIndex())
  1048. pCB->setCurrentIndex(i);
  1049. }
  1050. }
  1051. void MainWindow::onChangeScale(int scale)
  1052. {
  1053. mnfac = scale;
  1054. mpLE_Scale->setText(QString::number(scale));
  1055. mbRefresh = true;
  1056. update();
  1057. }
  1058. void MainWindow::onChangeMoveX(int scale)
  1059. {
  1060. mnMoveX = VIEW_WIDTH * scale/100;
  1061. mpLE_MoveX->setText(QString::number(scale));
  1062. mbRefresh = true;
  1063. update();
  1064. }
  1065. void MainWindow::onChangeMoveY(int scale)
  1066. {
  1067. mnMoveY = VIEW_HEIGHT * scale/100;
  1068. mpLE_MoveY->setText(QString::number(scale));
  1069. mbRefresh = true;
  1070. update();
  1071. }
  1072. void MainWindow::onChangeMark(int scale)
  1073. {
  1074. mnMarkSize = scale;
  1075. mpLE_Mark->setText(QString::number(scale));
  1076. mbRefresh = true;
  1077. update();
  1078. }
  1079. void MainWindow::onClickDefView()
  1080. {
  1081. mnfac = mnDefmnfac;
  1082. mnMoveX = mnDefMoveX;
  1083. mnMoveY = mnDefMoveY;
  1084. mpSlider_Scale->setValue(mnfac);
  1085. // mpSlider_MoveX->setValue(mnMoveX*100/VIEW_WIDTH);
  1086. // mpSlider_MoveY->setValue(mnMoveY*100/VIEW_HEIGHT);
  1087. // mbRefresh = true;
  1088. update();
  1089. }
  1090. void MainWindow::onClickZoomOne()
  1091. {
  1092. myview->zoomone();
  1093. }
  1094. void MainWindow::onClickAsStart()
  1095. {
  1096. }
  1097. void MainWindow::onClickAsDst()
  1098. {
  1099. double lon,lat;
  1100. lon = mpLE_SelLon->text().toDouble();
  1101. lat = mpLE_SelLat->text().toDouble();
  1102. mpLE_DstLon->setText(QString::number(lon,'f',7));
  1103. mpLE_DstLat->setText(QString::number(lat,'f',7));
  1104. double x,y;
  1105. x = mpLE_SelX->text().toDouble();
  1106. y = mpLE_SelY->text().toDouble();
  1107. mfObjX = x;
  1108. mfObjY = y;
  1109. mbSetObj = true;
  1110. mbRefresh = true;
  1111. update();
  1112. }
  1113. void MainWindow::onClickSetDst()
  1114. {
  1115. }
  1116. void MainWindow::onClickPlan()
  1117. {
  1118. }
  1119. void MainWindow::onClickSetStart()
  1120. {
  1121. }
  1122. /**
  1123. * @brief ADCIntelligentVehicle::UpdateMap
  1124. * @param strdata
  1125. * @param nSize
  1126. * @param index
  1127. * @param dt
  1128. * @param strmemname
  1129. */
  1130. void MainWindow::UpdateMap(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
  1131. {
  1132. // std::cout<<"update map "<<std::endl;
  1133. int gpsunitsize = sizeof(iv::GPS_INS);
  1134. int nMapSize = nSize/gpsunitsize;
  1135. // std::cout<<"map size is "<<nMapSize<<std::endl;
  1136. if(nMapSize < 1)return;
  1137. int i;
  1138. mMutexNavi.lock();
  1139. m_navigation_data.clear();
  1140. for(i=0;i<nMapSize;i++)
  1141. {
  1142. iv::GPS_INS x;
  1143. memcpy(&x,strdata + i*gpsunitsize,gpsunitsize);
  1144. iv::GPSData data(new iv::GPS_INS);
  1145. *data = x;
  1146. m_navigation_data.push_back(data);
  1147. }
  1148. mMutexNavi.unlock();
  1149. mbRefresh = true;
  1150. update();
  1151. }
  1152. /**
  1153. * @brief MainWindow::UpdateGPSIMU
  1154. * @param strdata
  1155. * @param nSize
  1156. * @param index
  1157. * @param dt
  1158. * @param strmemname
  1159. */
  1160. void MainWindow::UpdateGPSIMU(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
  1161. {
  1162. iv::gps::gpsimu xgpsimu;
  1163. if(!xgpsimu.ParseFromArray(strdata,nSize))
  1164. {
  1165. // gIvlog->warn("ADCIntelligentVehicle::UpdateGPSIMU parse error. nSize is %d",nSize);
  1166. return;
  1167. }
  1168. double flat,flon,fhead;
  1169. flat = xgpsimu.lat();
  1170. flon = xgpsimu.lon();
  1171. fhead = xgpsimu.heading();
  1172. double x,y;
  1173. GaussProjCal(flon,flat,&x,&y);
  1174. mfNowX = x - mx0;
  1175. mfNowY = y- my0;
  1176. mfNowHdg = (90- fhead)*M_PI/180.0;
  1177. mbGPSUpdate = true;
  1178. mbGPSViewUpdate = true;
  1179. }
  1180. void MainWindow::onClickLoadLane()
  1181. {
  1182. QString str = QFileDialog::getOpenFileName(this,tr("Open Lane Info file"),"",tr("Lane File(*.txt)"));
  1183. if(str.isEmpty())return;
  1184. QFile xFile;
  1185. xFile.setFileName(str);
  1186. QFileInfo fi(str);
  1187. QString filename = fi.fileName();
  1188. double fLastLat = 39;
  1189. double fLastLon = 117;
  1190. if(filename.contains(".txt"))
  1191. {
  1192. filename = filename.left(filename.length() -4);
  1193. }
  1194. if(xFile.open(QIODevice::ReadWrite))
  1195. {
  1196. iv::lpunit lpu;
  1197. strncpy(lpu.strlanename,filename.toLatin1().data(),filename.size());
  1198. QByteArray ba;
  1199. ba = xFile.read(xFile.size());
  1200. QString strdata = ba;
  1201. QStringList strlinedata= strdata.split("\n",QString::SkipEmptyParts);
  1202. int i;
  1203. int nsize = strlinedata.size();
  1204. // qDebug("line is %d",nsize);
  1205. for(i=0;i<nsize;i++)
  1206. {
  1207. QString strline = strlinedata.at(i);
  1208. QStringList strvaluedata = strline.split(" ",QString::SkipEmptyParts);
  1209. // qDebug("%d value size is %d ",i,strvaluedata.size());
  1210. iv::lanepoint lpleft,lpright;
  1211. if(strvaluedata.size() == 12)
  1212. {
  1213. int j;
  1214. QString strx[12];
  1215. for(j=0;j<12;j++)strx[j] = strvaluedata.at(j);
  1216. lpleft.mfLon = strx[0].toDouble();
  1217. lpleft.mfLat = strx[1].toDouble();
  1218. lpleft.mfHeight = strx[2].toDouble();
  1219. lpleft.nLaneType = strx[3].toInt();
  1220. lpleft.mfHeading = strx[4].toDouble();
  1221. lpleft.mfDis = strx[5].toDouble();
  1222. lpright.mfLon = strx[6].toDouble();
  1223. lpright.mfLat = strx[7].toDouble();
  1224. lpright.mfHeight = strx[8].toDouble();
  1225. lpright.nLaneType = strx[9].toInt();
  1226. lpright.mfHeading = strx[10].toDouble();
  1227. lpright.mfDis = strx[11].toDouble();
  1228. lpleft.mfHdg = (90-lpleft.mfHeading) * M_PI/180.0;
  1229. if(lpleft.mfHdg < 0)lpleft.mfHdg = lpleft.mfHdg + 2.0*M_PI;
  1230. lpright.mfHdg = (90-lpright.mfHeading) * M_PI/180.0;
  1231. if(lpright.mfHdg < 0)lpright.mfHdg = lpright.mfHdg + 2.0*M_PI;
  1232. double x,y;
  1233. double xlast,ylast;
  1234. GaussProjCal(lpleft.mfLon,lpleft.mfLat,&x,&y);
  1235. GaussProjCal(fLastLon,fLastLat,&xlast,&ylast);
  1236. if(sqrt(pow(xlast -x ,2)+pow(ylast -y,2))> 0.1)
  1237. {
  1238. lpu.mvectorlpleft.push_back(lpleft);
  1239. lpu.mvectorlpright.push_back(lpright);
  1240. fLastLat = lpleft.mfLat;
  1241. fLastLon = lpleft.mfLon;
  1242. }
  1243. else
  1244. {
  1245. // qDebug("no use this point");
  1246. }
  1247. }
  1248. }
  1249. if((mbSetOrigin == false)&&(lpu.mvectorlpleft.size() > 0))
  1250. {
  1251. glat0 = lpu.mvectorlpleft[0].mfLat;
  1252. glon0 = lpu.mvectorlpright[0].mfLon;
  1253. mpLELat0->setText(QString::number(glat0,'f',7));
  1254. mpLELon0->setText(QString::number(glon0,'f',7));
  1255. mbSetOrigin = true;
  1256. }
  1257. double x0,y0;
  1258. GaussProjCal(glon0,glat0,&x0,&y0);
  1259. int j;
  1260. for(j=0;j<lpu.mvectorlpleft.size();j++)
  1261. {
  1262. double x,y;
  1263. GaussProjCal(lpu.mvectorlpleft[j].mfLon,lpu.mvectorlpleft[j].mfLat,&x,&y);
  1264. lpu.mvectorlpleft[j].mfX = x - x0;
  1265. lpu.mvectorlpleft[j].mfY = y- y0;
  1266. GaussProjCal(lpu.mvectorlpright[j].mfLon,lpu.mvectorlpright[j].mfLat,&x,&y);
  1267. lpu.mvectorlpright[j].mfX = x - x0;
  1268. lpu.mvectorlpright[j].mfY = y- y0;
  1269. }
  1270. if(lpu.mvectorlpleft.size() > 0)
  1271. {
  1272. mvectorlp.push_back(lpu);
  1273. mpCBLane->addItem(filename);
  1274. int N = lpu.mvectorlpleft.size();
  1275. VectorXd x_veh(N);
  1276. VectorXd y_veh(N);
  1277. int j;
  1278. int ntype = 0;
  1279. int ntypecount = 1;
  1280. for(j=0;j<N;j++)
  1281. {
  1282. double x,y;
  1283. GaussProjCal(glon0,glat0,&x0,&y0);
  1284. GaussProjCal(lpu.mvectorlpleft[j].mfLon,lpu.mvectorlpleft[j].mfLat,&x,&y);
  1285. x_veh[j] = x - x0;
  1286. y_veh[j] = y - y0;
  1287. if(lpu.mvectorlpright[j].nLaneType != ntype)
  1288. {
  1289. ntype = lpu.mvectorlpright[j].nLaneType;
  1290. ntypecount++;
  1291. }
  1292. }
  1293. // CreateRoad(x_veh,y_veh);
  1294. // auto coeffs = polyfit(x_veh, y_veh, 1);
  1295. // double dismax = 0;
  1296. // for(j=0;j<N;j++)
  1297. // {
  1298. // double A = coeffs[1];
  1299. // double B = -1;
  1300. // double C = coeffs[0];
  1301. // double dis = fabs(A*x_veh[j] + B*y_veh[j] +C )/sqrt(pow(A,2)+pow(B,2));
  1302. // if(dis>dismax)dismax = dis;
  1303. // }
  1304. // int nxxx = coeffs.size();
  1305. }
  1306. }
  1307. xFile.close();
  1308. mbRefresh = true;
  1309. update();
  1310. }
  1311. /**
  1312. * @brief MainWindow::CreateRoad
  1313. * Create Road Geometry
  1314. * @param xvals
  1315. * @param yvals
  1316. * @return
  1317. */
  1318. Road MainWindow::CreateRoad(VectorXd xvals, VectorXd yvals)
  1319. {
  1320. // Road xRoad;
  1321. // double LINE_ERROR = 0.15;
  1322. // int nsize = xvals.size();
  1323. // int nnotfit = nsize;
  1324. // int ncurpos = 0;
  1325. // int nrange = nsize;
  1326. // while(ncurpos < nsize)
  1327. // {
  1328. // // int N = nrange - ncurpos;
  1329. // VectorXd x_veh(nrange);
  1330. // VectorXd y_veh(nrange);
  1331. // int j;
  1332. // for(j=ncurpos;j<(ncurpos +nrange);j++)
  1333. // {
  1334. // x_veh[j-ncurpos] = xvals[j];
  1335. // y_veh[j - ncurpos] = yvals[j];
  1336. // }
  1337. // auto coeffs = polyfit(x_veh, y_veh, 1);
  1338. // double dismax = 0;
  1339. // for(j=ncurpos;j<(ncurpos +nrange);j++)
  1340. // {
  1341. // double A = coeffs[1];
  1342. // double B = -1;
  1343. // double C = coeffs[0];
  1344. // double dis = fabs(A*x_veh[j-ncurpos] + B*y_veh[j-ncurpos] +C )/sqrt(pow(A,2)+pow(B,2));
  1345. // if(dis>dismax)dismax = dis;
  1346. // }
  1347. // std::cout<<"dis is "<<dismax<<std::endl;
  1348. // if((dismax > LINE_ERROR)&&((nsize -(nrange+ncurpos))>50))
  1349. // {
  1350. // nrange = nrange/2;
  1351. // }
  1352. // else
  1353. // {
  1354. // std::cout<<"nrange is "<<nrange<<std::endl;
  1355. // xRoad.AddGeometryBlock();
  1356. // GeometryBlock * pgb = xRoad.GetGeometryBlock(xRoad.GetGeometryBlockCount()-1);
  1357. // // pgb->AddGeometryLine(1.0,x,y,len);
  1358. // ncurpos = ncurpos + nrange;
  1359. // nrange = nsize - ncurpos;
  1360. // std::cout<<"add a geo."<<std::endl;
  1361. // }
  1362. // }
  1363. // return xRoad;
  1364. }
  1365. void MainWindow::onClickMarkLane()
  1366. {
  1367. mnMarkLane = mpCBLane->currentIndex();
  1368. mbRefresh = true;
  1369. update();
  1370. }
  1371. void MainWindow::onClickRemoveLane()
  1372. {
  1373. int i = mpCBLane->currentIndex();
  1374. if((i>=0) && (i<mvectorlp.size()))
  1375. {
  1376. int j;
  1377. for(j=0;j<mvectorroadlane.size();j++)
  1378. {
  1379. if(mvectorroadlane[j] == i)
  1380. {
  1381. mvectorroadlane.erase(mvectorroadlane.begin() + j);
  1382. mpCBSelLane->removeItem(j);
  1383. break;
  1384. }
  1385. }
  1386. mvectorlp.erase(mvectorlp.begin() + i);
  1387. mpCBLane->removeItem(i);
  1388. mbRefresh = true;
  1389. update();
  1390. }
  1391. }
  1392. void MainWindow::onClickToRoad()
  1393. {
  1394. int i = mpCBLane->currentIndex();
  1395. if((i>=0) && (i<mvectorlp.size()))
  1396. {
  1397. int j;
  1398. bool bHave = false;
  1399. for(j=0;j<mvectorroadlane.size();j++)
  1400. {
  1401. if(mvectorroadlane[j] == i)
  1402. {
  1403. bHave = true;
  1404. break;
  1405. }
  1406. }
  1407. if(bHave == false)
  1408. {
  1409. mvectorroadlane.push_back(i);
  1410. mpCBSelLane->addItem(mvectorlp.at(i).strlanename);
  1411. }
  1412. }
  1413. }
  1414. void MainWindow::onClickToOpposite()
  1415. {
  1416. int i = mpCBLane->currentIndex();
  1417. if((i>=0) && (i<mvectorlp.size()))
  1418. {
  1419. int j;
  1420. bool bHave = false;
  1421. for(j=0;j<mvectorroadopposite.size();j++)
  1422. {
  1423. if(mvectorroadopposite[j] == i)
  1424. {
  1425. bHave = true;
  1426. break;
  1427. }
  1428. }
  1429. if(bHave == false)
  1430. {
  1431. mvectorroadopposite.push_back(i);
  1432. mpCBSelOpLane->addItem(mvectorlp.at(i).strlanename);
  1433. }
  1434. }
  1435. }
  1436. void MainWindow::onClickClearRoadLane()
  1437. {
  1438. mvectorroadlane.clear();
  1439. mvectorroadopposite.clear();
  1440. mpCBSelLane->clear();
  1441. mpCBSelOpLane->clear();
  1442. }
  1443. void MainWindow::onClickAddRoad()
  1444. {
  1445. int nrtn;
  1446. std::string strrtn = " ";
  1447. std::string strroadname = mpLE_RoadName->text().toStdString();
  1448. nrtn = ServiceXODRMake.AddRoadFromeLanePoint(mvectorlp,mvectorroadlane,mvectorroadopposite,glon0,
  1449. glat0,mxodr,strroadname,strrtn);
  1450. mpCBSelLane->clear();
  1451. mpCBSelOpLane->clear();
  1452. mvectorroadlane.clear();
  1453. mvectorroadopposite.clear();
  1454. updateCBRoad();
  1455. mbRefresh = true;
  1456. update();
  1457. return;
  1458. if(mvectorroadlane.size() < 1)return;
  1459. int nlanesize = mvectorroadlane.size();
  1460. int noplanesize = mvectorroadopposite.size();
  1461. double notlinethresh = 1.0; //When heading change more than this value, is a arc.
  1462. int nsize = mvectorlp[mvectorroadlane[0]].mvectorlpleft.size();
  1463. int * pntype = new int[nsize];
  1464. std::shared_ptr<int> ppntype; ppntype.reset(pntype);
  1465. std::vector<iv::lanepoint > * pvectorlp = &(mvectorlp[mvectorroadlane[0]].mvectorlpleft);
  1466. int i;
  1467. //Go throuh point for fit type.
  1468. for(i=0;i<5;i++)pntype[i] = 0;
  1469. for(i=5;i<(nsize-5);i++)
  1470. {
  1471. double s = pvectorlp->at(i).mfDis;
  1472. double head0 = pvectorlp->at(i).mfHeading;
  1473. int j;
  1474. double xcount = 0;
  1475. double headdifftotal = 0;
  1476. double headdiffavg = 0.0;
  1477. for(j=1;j<nsize;j++)
  1478. {
  1479. if((j>1)&&((pvectorlp->at(j).mfDis - s)>1.0))
  1480. {
  1481. break;
  1482. }
  1483. double headdiff = pvectorlp->at(j).mfHeading - head0;
  1484. if(headdiff > 300)headdiff = headdiff - 360;
  1485. if(headdiff < -300)headdiff = headdiff + 360;
  1486. headdifftotal = headdifftotal + headdiff;
  1487. xcount = xcount + 1.0;
  1488. }
  1489. if(xcount > 0)headdiffavg = headdifftotal/xcount;
  1490. if(fabs(headdiffavg) > (notlinethresh*2))
  1491. {
  1492. pntype[i] = 1;
  1493. }
  1494. else
  1495. {
  1496. pntype[i] = 0;
  1497. }
  1498. }
  1499. for(i=(nsize -5);i<nsize;i++)
  1500. {
  1501. pntype[i] = 0;
  1502. }
  1503. for(i=0;i<nsize;i++) //Remove Few Not Line Point.
  1504. {
  1505. if(pntype[i] != 0)
  1506. {
  1507. int j;
  1508. int ncount = 1;
  1509. for(j=(i+1);j<nsize;j++)
  1510. {
  1511. if(pntype[i] != 0)ncount++;
  1512. else break;
  1513. }
  1514. if(ncount < 10)pntype[i] = 0;
  1515. else
  1516. {
  1517. i = i+ ncount;
  1518. }
  1519. }
  1520. }
  1521. for(i=5;i<nsize;i++)
  1522. {
  1523. if(pntype[i] != pntype[i-1])
  1524. {
  1525. int j = i-1;
  1526. double disx = pvectorlp->at(i).mfDis;
  1527. for(j=(i-2);j>5;j--)
  1528. {
  1529. if(pntype[j] == pntype[i-1])
  1530. {
  1531. pntype[j] = 2; //Besel
  1532. }
  1533. if(fabs(pvectorlp->at(j).mfDis - disx)>1) //1 m besel
  1534. {
  1535. break;
  1536. }
  1537. }
  1538. pntype[i-1] = 2;
  1539. }
  1540. }
  1541. //Calc dis to ref line
  1542. double xor0,yor0;
  1543. GaussProjCal(glon0,glat0,&xor0,&yor0);
  1544. std::vector<std::vector<iv::distogeo>> xvectordiss;
  1545. std::vector<std::vector<iv::distogeo>> xvectoropdiss;
  1546. for(i=0;i<mvectorroadlane.size();i++)
  1547. {
  1548. std::vector<iv::distogeo> xvectordistogeo;
  1549. int j;
  1550. int nsizepoint = mvectorlp[mvectorroadlane[i]].mvectorlpright.size();
  1551. bool bHaveLast = false;
  1552. int nLast = 0;
  1553. for(j=0;j<nsizepoint;j++)
  1554. {
  1555. double fdismin = 1000;
  1556. double fS = 0;
  1557. int k;
  1558. double x,y;
  1559. double x0,y0;
  1560. iv::distogeo xdistogeo;
  1561. int nLastBig = 0;
  1562. bool bFindDisMin = false;
  1563. x = mvectorlp[mvectorroadlane[i]].mvectorlpright[j].mfX;
  1564. y = mvectorlp[mvectorroadlane[i]].mvectorlpright[j].mfY;
  1565. int kstart = 0;
  1566. if(bHaveLast)
  1567. {
  1568. kstart= nLast;
  1569. }
  1570. for(k=kstart;k<mvectorlp[mvectorroadlane[0]].mvectorlpleft.size();k++)
  1571. {
  1572. x0 = mvectorlp[mvectorroadlane[0]].mvectorlpleft[k].mfX;
  1573. y0 = mvectorlp[mvectorroadlane[0]].mvectorlpleft[k].mfY;
  1574. double fdis = sqrt(pow(x-x0,2)+pow(y-y0,2));
  1575. if(fdismin > fdis)
  1576. {
  1577. fdismin = fdis;
  1578. fS = mvectorlp[mvectorroadlane[0]].mvectorlpleft[k].mfDis;
  1579. bFindDisMin = true;
  1580. nLast = k;
  1581. }
  1582. if((bFindDisMin)&&(bHaveLast))
  1583. {
  1584. if(fdis>fdismin)
  1585. {
  1586. nLastBig++;
  1587. }
  1588. else
  1589. {
  1590. nLastBig = 0;
  1591. }
  1592. }
  1593. if(nLastBig > 10)break;
  1594. }
  1595. // std::cout<<" k is "<<k<<std::endl;
  1596. if(bHaveLast == false)
  1597. {
  1598. if(fdismin<10)bHaveLast = true;
  1599. }
  1600. else
  1601. {
  1602. if(fdismin > 10)bHaveLast = false;
  1603. }
  1604. double fHdg = geofit::CalcHdg(x,y,mvectorlp[mvectorroadlane[0]].mvectorlpleft[nLast].mfX,
  1605. mvectorlp[mvectorroadlane[0]].mvectorlpleft[nLast].mfY);
  1606. double fHdgDiff = fHdg - mvectorlp[mvectorroadlane[i]].mvectorlpright[j].mfHdg;
  1607. if(fHdgDiff < 0)fHdgDiff = fHdgDiff + 2.0*M_PI;
  1608. if(fHdgDiff >= 2.0*M_PI)fHdgDiff = fHdgDiff - 2.0*M_PI;
  1609. if(((fHdgDiff>(M_PI/2.0-0.3))&&(fHdgDiff<(M_PI/2.0+0.3)))||(fdismin < 3.2))
  1610. {
  1611. xdistogeo.mfdis = fdismin;
  1612. xdistogeo.mfs = fS;
  1613. mvectorlp[mvectorroadlane[i]].mvectorlpright[j].mfRelS = fS;
  1614. }
  1615. else
  1616. {
  1617. xdistogeo.mfs = -1;
  1618. std::cout<<"point extend."<<std::endl;
  1619. mvectorlp[mvectorroadlane[i]].mvectorlpright[j].mfRelS = -1;
  1620. }
  1621. xvectordistogeo.push_back(xdistogeo);
  1622. }
  1623. xvectordiss.push_back(xvectordistogeo);
  1624. }
  1625. for(i=1;i<mvectorroadlane.size();i++)
  1626. {
  1627. std::vector<iv::distogeo> xvectordistogeo;
  1628. int j;
  1629. int nsizepoint = mvectorlp[mvectorroadlane[i]].mvectorlpleft.size();
  1630. bool bHaveLast = false;
  1631. int nLast = 0;
  1632. for(j=0;j<nsizepoint;j++)
  1633. {
  1634. double fdismin = 1000;
  1635. double fS = 0;
  1636. int k;
  1637. double x,y;
  1638. double x0,y0;
  1639. iv::distogeo xdistogeo;
  1640. int nLastBig = 0;
  1641. bool bFindDisMin = false;
  1642. x = mvectorlp[mvectorroadlane[i]].mvectorlpleft[j].mfX;
  1643. y = mvectorlp[mvectorroadlane[i]].mvectorlpleft[j].mfY;
  1644. int kstart = 0;
  1645. if(bHaveLast)
  1646. {
  1647. kstart= nLast;
  1648. }
  1649. for(k=kstart;k<mvectorlp[mvectorroadlane[0]].mvectorlpleft.size();k++)
  1650. {
  1651. x0 = mvectorlp[mvectorroadlane[0]].mvectorlpleft[k].mfX;
  1652. y0 = mvectorlp[mvectorroadlane[0]].mvectorlpleft[k].mfY;
  1653. double fdis = sqrt(pow(x-x0,2)+pow(y-y0,2));
  1654. if(fdismin > fdis)
  1655. {
  1656. fdismin = fdis;
  1657. fS = mvectorlp[mvectorroadlane[0]].mvectorlpleft[k].mfDis;
  1658. bFindDisMin = true;
  1659. nLast = k;
  1660. }
  1661. if((bFindDisMin)&&(bHaveLast))
  1662. {
  1663. if(fdis>fdismin)
  1664. {
  1665. nLastBig++;
  1666. }
  1667. else
  1668. {
  1669. nLastBig = 0;
  1670. }
  1671. }
  1672. if(nLastBig > 10)break;
  1673. }
  1674. // std::cout<<" k is "<<k<<std::endl;
  1675. if(bHaveLast == false)
  1676. {
  1677. if(fdismin<10)bHaveLast = true;
  1678. }
  1679. else
  1680. {
  1681. if(fdismin > 10)bHaveLast = false;
  1682. }
  1683. double fHdg = geofit::CalcHdg(x,y,mvectorlp[mvectorroadlane[0]].mvectorlpleft[nLast].mfX,
  1684. mvectorlp[mvectorroadlane[0]].mvectorlpleft[nLast].mfY);
  1685. double fHdgDiff = fHdg - mvectorlp[mvectorroadlane[i]].mvectorlpleft[j].mfHdg;
  1686. if(fHdgDiff < 0)fHdgDiff = fHdgDiff + 2.0*M_PI;
  1687. if(fHdgDiff >= 2.0*M_PI)fHdgDiff = fHdgDiff - 2.0*M_PI;
  1688. if(((fHdgDiff>(M_PI/2.0-0.3))&&(fHdgDiff<(M_PI/2.0+0.3)))||(fdismin < 3.2))
  1689. {
  1690. xdistogeo.mfdis = fdismin;
  1691. xdistogeo.mfs = fS;
  1692. mvectorlp[mvectorroadlane[i]].mvectorlpleft[j].mfRelS = fS;
  1693. }
  1694. else
  1695. {
  1696. xdistogeo.mfs = -1;
  1697. std::cout<<"point extend."<<std::endl;
  1698. mvectorlp[mvectorroadlane[i]].mvectorlpleft[j].mfRelS = -1;
  1699. }
  1700. xvectordistogeo.push_back(xdistogeo);
  1701. }
  1702. xvectordiss.push_back(xvectordistogeo);
  1703. }
  1704. for(i=0;i<mvectorroadopposite.size();i++)
  1705. {
  1706. std::vector<iv::distogeo> xvectordistogeo;
  1707. int j;
  1708. int nsizepoint = mvectorlp[mvectorroadopposite[i]].mvectorlpleft.size();
  1709. bool bHaveLast = false;
  1710. int nLast = 0;
  1711. for(j=0;j<nsizepoint;j++)
  1712. {
  1713. double fdismin = 1000;
  1714. double fS = 0;
  1715. int k;
  1716. double x,y;
  1717. double x0,y0;
  1718. iv::distogeo xdistogeo;
  1719. int nLastBig = 0;
  1720. bool bFindDisMin = false;
  1721. x = mvectorlp[mvectorroadopposite[i]].mvectorlpleft[j].mfX;
  1722. y = mvectorlp[mvectorroadopposite[i]].mvectorlpleft[j].mfY;
  1723. int nrefsize = mvectorlp[mvectorroadlane[0]].mvectorlpleft.size();
  1724. int kstart = nrefsize-1;
  1725. if(bHaveLast)
  1726. {
  1727. kstart= nLast;
  1728. }
  1729. for(k=kstart;k>=0;k--)
  1730. {
  1731. x0 = mvectorlp[mvectorroadlane[0]].mvectorlpleft[k].mfX;
  1732. y0 = mvectorlp[mvectorroadlane[0]].mvectorlpleft[k].mfY;
  1733. double fdis = sqrt(pow(x-x0,2)+pow(y-y0,2));
  1734. if(fdismin > fdis)
  1735. {
  1736. fdismin = fdis;
  1737. fS = mvectorlp[mvectorroadlane[0]].mvectorlpleft[k].mfDis;
  1738. bFindDisMin = true;
  1739. nLast = k;
  1740. }
  1741. if((bFindDisMin)&&(bHaveLast))
  1742. {
  1743. if(fdis>fdismin)
  1744. {
  1745. nLastBig++;
  1746. }
  1747. else
  1748. {
  1749. nLastBig = 0;
  1750. }
  1751. }
  1752. if(nLastBig > 10)break;
  1753. }
  1754. // std::cout<<" k is "<<k<<std::endl;
  1755. if(bHaveLast == false)
  1756. {
  1757. if(fdismin<10)bHaveLast = true;
  1758. }
  1759. else
  1760. {
  1761. if(fdismin > 10)bHaveLast = false;
  1762. }
  1763. double fHdg = geofit::CalcHdg(x,y,mvectorlp[mvectorroadlane[0]].mvectorlpleft[nLast].mfX,
  1764. mvectorlp[mvectorroadlane[0]].mvectorlpleft[nLast].mfY);
  1765. double fHdgDiff = fHdg - mvectorlp[mvectorroadopposite[i]].mvectorlpleft[j].mfHdg;
  1766. if(fHdgDiff < 0)fHdgDiff = fHdgDiff + 2.0*M_PI;
  1767. if(fHdgDiff >= 2.0*M_PI)fHdgDiff = fHdgDiff - 2.0*M_PI;
  1768. if(((fHdgDiff>(M_PI/2.0-0.3))&&(fHdgDiff<(M_PI/2.0+0.3)))||(fdismin < 0.5))
  1769. {
  1770. xdistogeo.mfdis = fdismin;
  1771. xdistogeo.mfs = fS;
  1772. mvectorlp[mvectorroadopposite[i]].mvectorlpleft[j].mfRelS = fS;
  1773. }
  1774. else
  1775. {
  1776. xdistogeo.mfs = -1;
  1777. std::cout<<"point extend."<<std::endl;
  1778. mvectorlp[mvectorroadopposite[i]].mvectorlpleft[j].mfRelS = -1;
  1779. }
  1780. xvectordistogeo.push_back(xdistogeo);
  1781. }
  1782. xvectoropdiss.push_back(xvectordistogeo);
  1783. }
  1784. for(i=0;i<mvectorroadopposite.size();i++)
  1785. {
  1786. std::vector<iv::distogeo> xvectordistogeo;
  1787. int j;
  1788. int nsizepoint = mvectorlp[mvectorroadopposite[i]].mvectorlpright.size();
  1789. bool bHaveLast = false;
  1790. int nLast = 0;
  1791. for(j=0;j<nsizepoint;j++)
  1792. {
  1793. double fdismin = 1000;
  1794. double fS = 0;
  1795. int k;
  1796. double x,y;
  1797. double x0,y0;
  1798. iv::distogeo xdistogeo;
  1799. int nLastBig = 0;
  1800. bool bFindDisMin = false;
  1801. x = mvectorlp[mvectorroadopposite[i]].mvectorlpright[j].mfX;
  1802. y = mvectorlp[mvectorroadopposite[i]].mvectorlpright[j].mfY;
  1803. int nrefsize = mvectorlp[mvectorroadlane[0]].mvectorlpleft.size();
  1804. int kstart = nrefsize-1;
  1805. if(bHaveLast)
  1806. {
  1807. kstart= nLast;
  1808. }
  1809. for(k=kstart;k>=0;k--)
  1810. {
  1811. x0 = mvectorlp[mvectorroadlane[0]].mvectorlpleft[k].mfX;
  1812. y0 = mvectorlp[mvectorroadlane[0]].mvectorlpleft[k].mfY;
  1813. double fdis = sqrt(pow(x-x0,2)+pow(y-y0,2));
  1814. if(fdismin > fdis)
  1815. {
  1816. fdismin = fdis;
  1817. fS = mvectorlp[mvectorroadlane[0]].mvectorlpleft[k].mfDis;
  1818. bFindDisMin = true;
  1819. nLast = k;
  1820. }
  1821. if((bFindDisMin)&&(bHaveLast))
  1822. {
  1823. if(fdis>fdismin)
  1824. {
  1825. nLastBig++;
  1826. }
  1827. else
  1828. {
  1829. nLastBig = 0;
  1830. }
  1831. }
  1832. if(nLastBig > 10)break;
  1833. }
  1834. // std::cout<<" k is "<<k<<std::endl;
  1835. if(bHaveLast == false)
  1836. {
  1837. if(fdismin<10)bHaveLast = true;
  1838. }
  1839. else
  1840. {
  1841. if(fdismin > 10)bHaveLast = false;
  1842. }
  1843. double fHdg = geofit::CalcHdg(x,y,mvectorlp[mvectorroadlane[0]].mvectorlpleft[nLast].mfX,
  1844. mvectorlp[mvectorroadlane[0]].mvectorlpleft[nLast].mfY);
  1845. double fHdgDiff = fHdg - mvectorlp[mvectorroadopposite[i]].mvectorlpright[j].mfHdg;
  1846. if(fHdgDiff < 0)fHdgDiff = fHdgDiff + 2.0*M_PI;
  1847. if(fHdgDiff >= 2.0*M_PI)fHdgDiff = fHdgDiff - 2.0*M_PI;
  1848. if(((fHdgDiff>(M_PI/2.0-0.3))&&(fHdgDiff<(M_PI/2.0+0.3)))||(fdismin < 0.5))
  1849. {
  1850. xdistogeo.mfdis = fdismin;
  1851. xdistogeo.mfs = fS;
  1852. mvectorlp[mvectorroadopposite[i]].mvectorlpright[j].mfRelS = fS;
  1853. }
  1854. else
  1855. {
  1856. xdistogeo.mfs = -1;
  1857. std::cout<<"point extend."<<std::endl;
  1858. mvectorlp[mvectorroadopposite[i]].mvectorlpright[j].mfRelS = -1;
  1859. }
  1860. xvectordistogeo.push_back(xdistogeo);
  1861. }
  1862. xvectoropdiss.push_back(xvectordistogeo);
  1863. }
  1864. //Get Lane Type
  1865. std::vector<std::vector<iv::lanetype>> xvevelanetype;
  1866. std::vector<std::vector<iv::lanetype>> xvectoroplanetype;
  1867. for(i=0;i<nlanesize;i++)
  1868. {
  1869. std::vector<iv::lanetype> xvelanetype;
  1870. int j;
  1871. int nlasttype;
  1872. iv::lanetype xlt;
  1873. xlt.s = 0;
  1874. xlt.ntype = 0;
  1875. int nsizelp = mvectorlp[mvectorroadlane[i]].mvectorlpright.size();
  1876. if(nsizelp > 0)
  1877. {
  1878. xlt.ntype = mvectorlp[mvectorroadlane[i]].mvectorlpright[0].nLaneType;
  1879. nlasttype = xlt.ntype;
  1880. }
  1881. for(j=1;j<nsizelp;j++)
  1882. {
  1883. int nlt = mvectorlp[mvectorroadlane[i]].mvectorlpright[j].nLaneType;
  1884. if((nlt != nlasttype)&&(mvectorlp[mvectorroadlane[i]].mvectorlpright[j].mfRelS != -1))
  1885. {
  1886. xvelanetype.push_back(xlt);
  1887. xlt.ntype = nlt;
  1888. xlt.s = mvectorlp[mvectorroadlane[i]].mvectorlpright[j].mfRelS;
  1889. }
  1890. nlasttype = nlt;
  1891. }
  1892. xvelanetype.push_back(xlt);
  1893. xvevelanetype.push_back(xvelanetype);
  1894. }
  1895. for(i=0;i<noplanesize;i++)
  1896. {
  1897. std::vector<iv::lanetype> xvelanetype;
  1898. int j;
  1899. int nlasttype;
  1900. iv::lanetype xlt;
  1901. xlt.s = 0;
  1902. xlt.ntype = 0;
  1903. int nsizelp = mvectorlp[mvectorroadopposite[i]].mvectorlpright.size();
  1904. if(nsizelp > 0)
  1905. {
  1906. xlt.ntype = mvectorlp[mvectorroadopposite[i]].mvectorlpright[nsizelp-1].nLaneType;
  1907. nlasttype = xlt.ntype;
  1908. }
  1909. for(j=(nsizelp-2);j>=0;j--)
  1910. {
  1911. int nlt = mvectorlp[mvectorroadopposite[i]].mvectorlpright[j].nLaneType;
  1912. if((nlt != nlasttype)&&(mvectorlp[mvectorroadopposite[i]].mvectorlpright[j].mfRelS != -1))
  1913. {
  1914. xvelanetype.push_back(xlt);
  1915. xlt.ntype = nlt;
  1916. xlt.s = mvectorlp[mvectorroadopposite[i]].mvectorlpright[j].mfRelS;
  1917. }
  1918. nlasttype = nlt;
  1919. }
  1920. xvelanetype.push_back(xlt);
  1921. xvectoroplanetype.push_back(xvelanetype);
  1922. }
  1923. //Get Lane Mark Width
  1924. std::vector<double> xvectormarkwidth;
  1925. std::vector<double> xvectoravgdis;
  1926. for(i=0;i<xvectordiss.size();i++)
  1927. {
  1928. double fdis = 0;
  1929. int j;
  1930. int ncount = 0;
  1931. for(j=0;j<xvectordiss[i].size();j++)
  1932. {
  1933. if(xvectordiss[i].at(j).mfs != -1)
  1934. {
  1935. fdis = fdis + xvectordiss[i].at(j).mfdis;
  1936. ncount++;
  1937. }
  1938. }
  1939. if(ncount>0)fdis = fdis/ncount;
  1940. xvectoravgdis.push_back(fdis);
  1941. }
  1942. for(i=1;i<mvectorroadlane.size();i++)
  1943. {
  1944. xvectormarkwidth.push_back(xvectoravgdis[mvectorroadlane.size()+i-1] - xvectoravgdis[i-1]);
  1945. }
  1946. std::vector<double> xvectoropmarkwidth;
  1947. std::vector<double> xvectoropavgdis;
  1948. for(i=0;i<xvectoropdiss.size();i++)
  1949. {
  1950. double fdis = 0;
  1951. int j;
  1952. int ncount = 0;
  1953. int nsize = xvectoropdiss[i].size();
  1954. for(j=0;j<nsize;j++)
  1955. {
  1956. if(xvectoropdiss[i].at(j).mfs != -1)
  1957. {
  1958. fdis = fdis + xvectoropdiss[i].at(j).mfdis;
  1959. ncount++;
  1960. }
  1961. }
  1962. if(ncount>0)fdis = fdis/ncount;
  1963. xvectoropavgdis.push_back(fdis);
  1964. }
  1965. if(xvectoropavgdis.size()>0)xvectoropmarkwidth.push_back(xvectoropavgdis[0]);
  1966. for(i=1;i<mvectorroadopposite.size();i++)
  1967. {
  1968. xvectoropmarkwidth.push_back(xvectoropavgdis[i] - xvectoropavgdis[i+mvectorroadopposite.size()-1]);
  1969. }
  1970. //Get Lane Width
  1971. std::vector<std::vector<iv::distogeo>> xvectorlanewidth;
  1972. std::vector<std::vector<iv::distogeo>> xvectoroplanewidth;
  1973. std::vector<iv::distogeo> xlanewidth;
  1974. xlanewidth.clear();
  1975. int j;
  1976. for(j=0;j<xvectordiss[0].size();j++)
  1977. {
  1978. if(xvectordiss[0].at(j).mfs != -1)xlanewidth.push_back(xvectordiss[0].at(j));
  1979. }
  1980. xvectorlanewidth.push_back(xlanewidth);
  1981. for(i=1;i<mvectorroadlane.size();i++)
  1982. {
  1983. xlanewidth.clear();
  1984. for(j=0;j<xvectordiss[i].size();j++)
  1985. {
  1986. if((xvectordiss[i].at(j).mfs!=-1)&&(xvectordiss[i-1+nlanesize].at(j).mfs!=-1))
  1987. {
  1988. iv::distogeo xdisg;
  1989. xdisg = xvectordiss[i].at(j);
  1990. xdisg.mfdis = xdisg.mfdis - xvectordiss[i-1+nlanesize].at(j).mfdis + xvectormarkwidth[i-1];
  1991. xlanewidth.push_back(xdisg);
  1992. }
  1993. }
  1994. xvectorlanewidth.push_back(xlanewidth);
  1995. }
  1996. xlanewidth.clear();
  1997. if(xvectoropmarkwidth.size()>0)
  1998. {
  1999. if(xvectoropmarkwidth[0] > 0.4)
  2000. {
  2001. int nsize = xvectoropdiss[0].size();
  2002. for(j=0;j<nsize;j++)
  2003. {
  2004. if(xvectoropdiss[0].at(j).mfs != -1)xlanewidth.push_back(xvectoropdiss[0].at(j));
  2005. }
  2006. xvectoroplanewidth.push_back(xlanewidth);
  2007. xlanewidth.clear();
  2008. nsize = xvectoropdiss[noplanesize].size();
  2009. for(j=0;j<nsize;j++)
  2010. {
  2011. if((xvectoropdiss[noplanesize].at(j).mfs!=-1)&&(xvectoropdiss[0].at(j).mfs!=-1))
  2012. {
  2013. iv::distogeo xdisg;
  2014. xdisg = xvectoropdiss[noplanesize].at(j);
  2015. xdisg.mfdis = xdisg.mfdis - xvectoropdiss[0].at(j).mfdis ;
  2016. xlanewidth.push_back(xdisg);
  2017. }
  2018. }
  2019. xvectoroplanewidth.push_back(xlanewidth);
  2020. }
  2021. else
  2022. {
  2023. nsize = xvectoropdiss[noplanesize].size();
  2024. for(j=0;j<nsize;j++)
  2025. {
  2026. if((xvectoropdiss[noplanesize].at(j).mfs!=-1)&&(xvectoropdiss[0].at(j).mfs!=-1))
  2027. {
  2028. iv::distogeo xdisg;
  2029. xdisg = xvectoropdiss[noplanesize].at(j);
  2030. xdisg.mfdis = xdisg.mfdis - xvectoropdiss[0].at(j).mfdis + xvectoropmarkwidth[0];
  2031. xlanewidth.push_back(xdisg);
  2032. }
  2033. }
  2034. xvectoroplanewidth.push_back(xlanewidth);
  2035. }
  2036. for(i=1;i<noplanesize;i++)
  2037. {
  2038. xlanewidth.clear();
  2039. nsize = xvectoropdiss[noplanesize+i].size();
  2040. for(j=0;j<nsize;j++)
  2041. {
  2042. if((xvectoropdiss[noplanesize+i].at(j).mfs != -1)&&(xvectoropdiss[i].at(j).mfs != -1))
  2043. {
  2044. iv::distogeo xdisg;
  2045. xdisg = xvectoropdiss[noplanesize+i].at(j);
  2046. xdisg.mfdis = xdisg.mfdis - xvectoropdiss[i].at(j).mfdis + xvectoropmarkwidth[i];
  2047. xlanewidth.push_back(xdisg);
  2048. }
  2049. }
  2050. xvectoroplanewidth.push_back(xlanewidth);
  2051. }
  2052. }
  2053. std::vector<iv::lanecoff> xvectorlanecoff;
  2054. std::vector<iv::lanecoff> xvectoroplanecoff;
  2055. for(i=0;i<nlanesize;i++)
  2056. {
  2057. int N = xvectorlanewidth[i].size();
  2058. VectorXd x_veh(N);
  2059. VectorXd y_veh(N);
  2060. for(j=0;j<N;j++)
  2061. {
  2062. x_veh[j] = xvectorlanewidth[i].at(j).mfs;
  2063. y_veh[j] =xvectorlanewidth[i].at(j).mfdis;
  2064. }
  2065. VectorXd coeffs = polyfit(x_veh, y_veh, 3);
  2066. iv::lanecoff xlanecoff;
  2067. xlanecoff.A = coeffs[0];
  2068. xlanecoff.B = coeffs[1];
  2069. xlanecoff.C = coeffs[2];
  2070. xlanecoff.D = coeffs[3];
  2071. xvectorlanecoff.push_back(xlanecoff);
  2072. }
  2073. for(i=0;i<xvectoroplanewidth.size();i++)
  2074. {
  2075. int N = xvectoroplanewidth[i].size();
  2076. VectorXd x_veh(N);
  2077. VectorXd y_veh(N);
  2078. for(j=0;j<N;j++)
  2079. {
  2080. x_veh[j] = xvectoroplanewidth[i].at(j).mfs;
  2081. y_veh[j] =xvectoroplanewidth[i].at(j).mfdis;
  2082. }
  2083. VectorXd coeffs = polyfit(x_veh, y_veh, 3);
  2084. iv::lanecoff xlanecoff;
  2085. xlanecoff.A = coeffs[0];
  2086. xlanecoff.B = coeffs[1];
  2087. xlanecoff.C = coeffs[2];
  2088. xlanecoff.D = coeffs[3];
  2089. xvectoroplanecoff.push_back(xlanecoff);
  2090. }
  2091. iv::lanecoff xlaneheightcoff;
  2092. int M = mvectorlp[0].mvectorlpleft.size();
  2093. VectorXd x_vehhg(M);
  2094. VectorXd y_vehhg(M);
  2095. for(j=0;j<M;j++)
  2096. {
  2097. x_vehhg[j] = mvectorlp[0].mvectorlpleft.at(j).mfDis;
  2098. y_vehhg[j] =mvectorlp[0].mvectorlpleft.at(j).mfHeight;
  2099. }
  2100. VectorXd coeffs = polyfit(x_vehhg, y_vehhg, 3);
  2101. xlaneheightcoff.A = coeffs[0];
  2102. xlaneheightcoff.B = coeffs[1];
  2103. xlaneheightcoff.C = coeffs[2];
  2104. xlaneheightcoff.D = coeffs[3];
  2105. geofit xgeofit;
  2106. int N = pvectorlp->size();
  2107. VectorXd x_veh(N);
  2108. VectorXd y_veh(N);
  2109. VectorXi t_veh(N);
  2110. double x0,y0;
  2111. GaussProjCal(glon0,glat0,&x0,&y0);
  2112. for(j=0;j<N;j++)
  2113. {
  2114. double x,y;
  2115. GaussProjCal(pvectorlp->at(j).mfLon,pvectorlp->at(j).mfLat,&x,&y);
  2116. x_veh[j] = x - x0;
  2117. y_veh[j] = y - y0;
  2118. t_veh[j] = pntype[j];
  2119. }
  2120. std::vector<geobase> xvectorgeo = xgeofit.getgeo(x_veh,y_veh,t_veh);
  2121. // OpenDrive od;
  2122. // std::string mapx = "map";
  2123. // od.SetHeader(1,1,mapx,1.1,QDateTime::currentDateTime().toString("yyyy-MM-dd").toLatin1().data(),0,0,0,0,glat0,glon0,ghdg0);
  2124. j= 0;
  2125. double xroadlen = 0;
  2126. for(j=0;j<xvectorgeo.size();j++)
  2127. {
  2128. xroadlen = xroadlen + xvectorgeo[j].mfLen;
  2129. }
  2130. mxodr.AddRoad(mpLE_RoadName->text().toLatin1().data(),xroadlen, QString::number(CreateRoadID()).toStdString(),"-1");
  2131. Road * p = mxodr.GetRoad(mxodr.GetRoadCount() - 1);
  2132. p->AddElevation(0,xlaneheightcoff.A,xlaneheightcoff.B,xlaneheightcoff.C,xlaneheightcoff.D);
  2133. double s = 0;
  2134. j= 0;
  2135. // for(j=0;j<4;j++)
  2136. for(j=0;j<xvectorgeo.size();j++)
  2137. {
  2138. p->AddGeometryBlock();
  2139. GeometryBlock * pgb = p->GetGeometryBlock(j);
  2140. geobase * pline;
  2141. geobase * pbez;
  2142. geobase * parc;
  2143. switch(xvectorgeo[j].mnType)
  2144. {
  2145. case 0:
  2146. pline = &xvectorgeo[j];
  2147. pgb->AddGeometryLine(s,pline->mfX,pline->mfY,pline->mfHdg,pline->mfLen);
  2148. break;
  2149. case 1:
  2150. parc = &xvectorgeo[j];
  2151. pgb->AddGeometryArc(s,parc->mfX,parc->mfY,parc->mfHdgStart,parc->mfLen,1.0/parc->mR);
  2152. break;
  2153. case 2:
  2154. pbez = &xvectorgeo[j];
  2155. std::cout<<"u0:"<<pbez->mfu[0]<<std::endl;
  2156. pgb->AddGeometryParamPoly3(s,pbez->mfX,pbez->mfY,
  2157. pbez->mfHdg,pbez->mfLen,pbez->mfu[0],
  2158. pbez->mfu[1],pbez->mfu[2],pbez->mfu[3],pbez->mfv[0],
  2159. pbez->mfv[1],pbez->mfv[2],pbez->mfv[3]);
  2160. break;
  2161. }
  2162. s = s + xvectorgeo[j].mfLen;
  2163. }
  2164. p->AddLaneSection(0);
  2165. LaneSection * pLS = p->GetLaneSection(0);
  2166. Lane * pLL;
  2167. pLS->SetS(0);
  2168. pLS->AddLane(0,0,"none",false);
  2169. pLL = pLS->GetLane(0);
  2170. if(noplanesize != xvectoroplanewidth.size())
  2171. {
  2172. pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
  2173. }
  2174. for(i=0;i<nlanesize;i++)
  2175. {
  2176. pLS->AddLane(-1,(i+1)*(-1),"driving",false,false);
  2177. pLL = pLS->GetLane(pLS->GetLaneCount() - 1);
  2178. pLL->AddWidthRecord(0,xvectorlanecoff[i].A,xvectorlanecoff[i].B,
  2179. xvectorlanecoff[i].C,xvectorlanecoff[i].D);
  2180. int j;
  2181. for(j=0;j<xvevelanetype[i].size();j++)
  2182. {
  2183. std::string strlanetype = "broken";
  2184. if(xvevelanetype[i].at(j).ntype != 0)
  2185. {
  2186. strlanetype = "solid";
  2187. }
  2188. pLL->AddRoadMarkRecord(xvevelanetype[i].at(j).s,strlanetype,"standard","standard",0.15,"false");
  2189. }
  2190. }
  2191. for(i=0;i<xvectoroplanewidth.size();i++)
  2192. {
  2193. pLS->AddLane(1,(i+1)*(1),"driving",false,false);
  2194. pLL = pLS->GetLane(pLS->GetLaneCount() - 1);
  2195. if((i==0)&&(noplanesize != xvectoroplanewidth.size()))
  2196. {
  2197. pLL->SetType("shoulder");
  2198. pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
  2199. }
  2200. pLL->AddWidthRecord(0,xvectoroplanecoff[i].A,xvectoroplanecoff[i].B,
  2201. xvectoroplanecoff[i].C,xvectoroplanecoff[i].D);
  2202. int j;
  2203. int index = i;
  2204. if((i==0)&&(noplanesize != xvectoroplanewidth.size()))
  2205. {
  2206. continue;
  2207. }
  2208. if(noplanesize != xvectoroplanewidth.size())
  2209. {
  2210. index = i-1;
  2211. }
  2212. else
  2213. index = i;
  2214. for(j=0;j<xvectoroplanetype[index].size();j++)
  2215. {
  2216. std::string strlanetype = "broken";
  2217. if(xvectoroplanetype[index].at(j).ntype != 0)
  2218. {
  2219. strlanetype = "solid";
  2220. }
  2221. pLL->AddRoadMarkRecord(xvectoroplanetype[index].at(j).s,strlanetype,"standard","standard",0.15,"false");
  2222. }
  2223. }
  2224. mpCBSelLane->clear();
  2225. mpCBSelOpLane->clear();
  2226. mvectorroadlane.clear();
  2227. mvectorroadopposite.clear();
  2228. updateCBRoad();
  2229. mbRefresh = true;
  2230. update();
  2231. // OpenDriveXmlWriter x(&mxodr);
  2232. // x.WriteFile("/home/nvidia/text.xodr");
  2233. }
  2234. int MainWindow::CreateRoadID(int ntype)
  2235. {
  2236. int i;
  2237. bool bUsed = false;
  2238. int nroadidstart = 10000;
  2239. if(ntype == 1) //not create by lane roaid
  2240. {
  2241. nroadidstart = 20000;
  2242. }
  2243. int nroadcount = mxodr.GetRoadCount();
  2244. if(nroadcount == 0)return nroadidstart;
  2245. int * proadid = new int[nroadcount];
  2246. for(i=0;i<nroadcount;i++)
  2247. {
  2248. proadid[i]=atoi(mxodr.GetRoad(i)->GetRoadId().data());
  2249. }
  2250. do
  2251. {
  2252. bUsed = false;
  2253. for(i=0;i<nroadcount;i++)
  2254. {
  2255. if(proadid[i] == nroadidstart)
  2256. {
  2257. nroadidstart++;
  2258. bUsed = true;
  2259. }
  2260. }
  2261. }while(bUsed);
  2262. delete proadid;
  2263. return nroadidstart;
  2264. }
  2265. int MainWindow::CreateJunctionID()
  2266. {
  2267. int i;
  2268. bool bUsed = false;
  2269. int njunctionidstart = 800000;
  2270. int njunctioncount = mxodr.GetJunctionCount();
  2271. if(njunctioncount == 0)return njunctionidstart;
  2272. int * pjunctionid = new int[njunctioncount];
  2273. for(i=0;i<njunctioncount;i++)
  2274. {
  2275. pjunctionid[i]=atoi(mxodr.GetJunction(i)->GetId().data());
  2276. }
  2277. do
  2278. {
  2279. bUsed = false;
  2280. for(i=0;i<njunctioncount;i++)
  2281. {
  2282. if(pjunctionid[i] == njunctionidstart)
  2283. {
  2284. njunctionidstart++;
  2285. bUsed = true;
  2286. }
  2287. }
  2288. }while(bUsed);
  2289. delete pjunctionid;
  2290. return njunctionidstart;
  2291. }
  2292. static bool IsNaN(double dat)
  2293. {
  2294. qint64 & ref=*(qint64 *)&dat;
  2295. return (ref&0x7FF0000000000000) == 0x7FF0000000000000 && (ref&0xfffffffffffff)!=0;
  2296. }
  2297. void MainWindow::onClickLoad()
  2298. {
  2299. QString str = QFileDialog::getOpenFileName(this,"Load XODR",".","*.xodr");
  2300. if(str.isEmpty())return;
  2301. OpenDrive * pxodr = new OpenDrive(); //because add to xodr,so don't delete
  2302. OpenDriveXmlParser x(pxodr);
  2303. if(!x.ReadFile(str.toStdString()))
  2304. {
  2305. QMessageBox::warning(this,"warn","Can't load xodr file.");
  2306. return;
  2307. }
  2308. int nroadnum = pxodr->GetRoadCount();
  2309. int i;
  2310. for(i=0;i<nroadnum;i++)
  2311. {
  2312. Road * pRoad = pxodr->GetRoad(i);
  2313. if(IsNaN(pRoad->GetRoadLength()))
  2314. {
  2315. pxodr->DeleteRoad(i);
  2316. i--;
  2317. nroadnum--;
  2318. qDebug("delete road %s because length is NaN",pRoad->GetRoadId().data());
  2319. }
  2320. }
  2321. bool bNeedMove = false;
  2322. bool bNeedAjustID = false;
  2323. unsigned short int revMajor,revMinor;
  2324. std::string name,date;
  2325. float version;
  2326. double north,south,east,west,lat0,lon0,hdg0;
  2327. if(pxodr->GetHeader() != 0)
  2328. {
  2329. pxodr->GetHeader()->GetAllParams(revMajor,revMinor,name,version,date,north,south,east,west,lat0,lon0,hdg0);
  2330. // mxodr.SetHeader(revMajor,revMinor,name,version,date,north,south,east,west,lat0,lon0,hdg0);
  2331. // std::string strgeoref;
  2332. // std::string struserData;
  2333. // pxodr->GetHeader()->GetgeoReference(strgeoref);
  2334. // pxodr->GetHeader()->GetuserData(struserData);
  2335. // mxodr.GetHeader()->SetgeoReference(strgeoref);
  2336. // mxodr.GetHeader()->SetuserData(struserData);
  2337. }
  2338. double xMoveX = 0;
  2339. double xMoveY = 0;
  2340. if(mxodr.GetRoadCount() > 0)
  2341. {
  2342. bNeedAjustID = true;
  2343. }
  2344. if(mbSetOrigin == false)
  2345. {
  2346. bNeedMove = false;
  2347. glat0 = lat0;
  2348. glon0 = lon0;
  2349. mpLELon0->setText(QString::number(glon0,'f',7));
  2350. mpLELat0->setText(QString::number(glat0,'f',7));
  2351. mbSetOrigin = true;
  2352. }
  2353. else
  2354. {
  2355. if((glat0 == lat0)&&(glon0 == lon0))
  2356. {
  2357. bNeedMove = false;
  2358. }
  2359. else
  2360. {
  2361. bNeedMove = true;
  2362. double x0,y0,x1,y1;
  2363. GaussProjCal(glon0,glat0,&x0,&y0);
  2364. GaussProjCal(lon0,lat0,&x1,&y1);
  2365. xMoveX = x1 - x0;
  2366. xMoveY = y1 - y0;
  2367. }
  2368. }
  2369. if(bNeedMove)
  2370. {
  2371. MoveXODR(pxodr,xMoveX,xMoveY);
  2372. }
  2373. int noldroadcount = mxodr.GetRoadCount();
  2374. int noldjunctioncount = mxodr.GetJunctionCount();
  2375. int nnewcount = pxodr->GetRoadCount();
  2376. int nnewjunctioncount = pxodr->GetJunctionCount();
  2377. // int i;
  2378. if(bNeedAjustID)
  2379. {
  2380. for(i=0;i<nnewcount;i++)
  2381. {
  2382. int nid = atoi(pxodr->GetRoad(i)->GetRoadId().data());
  2383. int j;
  2384. bool bNeedChange = false;
  2385. for(j=0;j<noldroadcount;j++)
  2386. {
  2387. if(nid == atoi(mxodr.GetRoad(j)->GetRoadId().data()))
  2388. {
  2389. bNeedChange = true;
  2390. break;
  2391. }
  2392. }
  2393. if(bNeedChange)
  2394. {
  2395. int nnewid = FindNewRoadID(&mxodr,pxodr);
  2396. ChangeXODRRoadID(pxodr,i,nnewid);
  2397. }
  2398. }
  2399. for(i=0;i<nnewjunctioncount;i++)
  2400. {
  2401. int nid = atoi(pxodr->GetJunction(i)->GetId().data());
  2402. int j;
  2403. bool bNeedChange = false;
  2404. for(j=0;j<noldjunctioncount;j++)
  2405. {
  2406. if(nid == atoi(mxodr.GetJunction(j)->GetId().data()))
  2407. {
  2408. bNeedChange = true;
  2409. break;
  2410. }
  2411. }
  2412. if(bNeedChange)
  2413. {
  2414. int nnewid = FindNewJunctionID(&mxodr,pxodr);
  2415. ChangeXODRJunctionID(pxodr,i,nnewid);
  2416. }
  2417. }
  2418. }
  2419. for(i=0;i<nnewcount;i++)
  2420. {
  2421. mxodr.GetRoadVector()->push_back(pxodr->GetRoadVector()->at(i));
  2422. // OpenDrive * px = &mxodr;
  2423. }
  2424. for(i=0;i<nnewjunctioncount;i++)
  2425. {
  2426. mxodr.GetJunctionVector()->push_back(pxodr->GetJunctionVector()->at(i));
  2427. }
  2428. if((mxodr.GetRoadCount()>0)&&(mxodr.GetHeader() == 0))
  2429. mxodr.SetHeader(1,1,"adcmap",1.1,QDateTime::currentDateTime().toString("yyyy-MM-dd").toLatin1().data(),0,0,0,0,glat0,glon0,ghdg0);
  2430. updateCBRoad();
  2431. updateJunction();
  2432. mbRefresh = true;
  2433. update();
  2434. }
  2435. void MainWindow::onClickSave()
  2436. {
  2437. QString str = QFileDialog::getSaveFileName(this,"Save XODR",".","*.xodr");
  2438. if(str.isEmpty())return;
  2439. if(str.indexOf(".xodr")<0)str = str + ".xodr";
  2440. if(mxodr.GetHeader() == NULL)
  2441. {
  2442. mxodr.SetHeader(1,1,"adcmap",1.1,QDateTime::currentDateTime().toString("yyyy-MM-dd").toLatin1().data(),0,0,0,0,glat0,glon0,ghdg0);
  2443. mxodr.GetHeader()->SetVendor("adc");
  2444. }
  2445. else
  2446. {
  2447. mxodr.GetHeader()->SetVendor("adc");
  2448. }
  2449. OpenDriveXmlWriter x(&mxodr);
  2450. x.WriteFile(str.toStdString());
  2451. }
  2452. void MainWindow::onClickRoadContact()
  2453. {
  2454. int ch1,ch2;
  2455. ch1 = mpCBRoad1->currentIndex();
  2456. ch2 = mpCBRoad2->currentIndex();
  2457. if((ch1 == -1)||(ch2 == -1))
  2458. {
  2459. return;
  2460. }
  2461. // if(ch1 == ch2)
  2462. // {
  2463. // QMessageBox::warning(this,"warn","road same");
  2464. // return;
  2465. // }
  2466. int ntype1,ntype2;
  2467. ntype1 = mpCBRC1->currentIndex();
  2468. ntype2 = mpCBRC2->currentIndex();
  2469. Road * p1 = mxodr.GetRoad(ch1);
  2470. Road * p2 = mxodr.GetRoad(ch2);
  2471. iv::roadcontact rc;
  2472. rc.mnroad1id = atoi(p1->GetRoadId().data());
  2473. rc.mnroad2id = atoi(p2->GetRoadId().data());
  2474. rc.mncon1 = ntype1;
  2475. rc.mncon2 = ntype2;
  2476. char strname[256];
  2477. snprintf(strname,256,"%s_%s_%s_%s",p1->GetRoadId().data(),mpCBRC1->currentText().toLatin1().data(),
  2478. p2->GetRoadId().data(),mpCBRC2->currentText().toLatin1().data());
  2479. mpCBRoadCon->clear();
  2480. mpCBRoadCon->addItem(strname);
  2481. mpCBLane1->clear();
  2482. mpCBLane2->clear();
  2483. mpCBLane1Lane2->clear();
  2484. mpCBLane1Lane2op->clear();
  2485. if(p1->GetLaneSectionCount()>0)
  2486. {
  2487. LaneSection * pLS;
  2488. if(ntype1 == 0)
  2489. pLS = p1->GetLaneSection(0);
  2490. else
  2491. pLS = p1->GetLaneSection(p1->GetLaneSectionCount()-1);
  2492. int i;
  2493. for(i=0;i<pLS->GetLaneCount();i++)
  2494. {
  2495. Lane * pL = pLS->GetLane(i);
  2496. // if((pL->GetId() != 0)&&(strncmp(pL->GetType().data(),"driving",255)==0))
  2497. if(pL->GetId() != 0)
  2498. mpCBLane1->addItem(QString::number(pL->GetId()));
  2499. }
  2500. }
  2501. if(p2->GetLaneSectionCount()>0)
  2502. {
  2503. LaneSection * pLS;
  2504. if(ntype1 == 0)
  2505. pLS = p2->GetLaneSection(0);
  2506. else
  2507. pLS = p2->GetLaneSection(p1->GetLaneSectionCount()-1);
  2508. int i;
  2509. for(i=0;i<pLS->GetLaneCount();i++)
  2510. {
  2511. Lane * pL = pLS->GetLane(i);
  2512. // if((pL->GetId() != 0)&&(strncmp(pL->GetType().data(),"driving",255)==0))
  2513. if(pL->GetId() != 0)
  2514. mpCBLane2->addItem(QString::number(pL->GetId()));
  2515. }
  2516. }
  2517. mvectorrc.clear();
  2518. mvectorrc.push_back(rc);
  2519. }
  2520. void MainWindow::onClickLaneContact()
  2521. {
  2522. int n1,n2;
  2523. n1 = mpCBLane1->currentText().toInt();
  2524. n2 = mpCBLane2->currentText().toInt();
  2525. iv::lanecontact xlc;
  2526. xlc.ml1 = n1;
  2527. xlc.ml2 = n2;
  2528. if(mvectorrc.size() < 1)return;
  2529. mvectorrc[0].mvectorlc.push_back(xlc);
  2530. char strname[256];
  2531. snprintf(strname,255,"%dto%d",n1,n2);
  2532. mpCBLane1Lane2->addItem(strname);
  2533. }
  2534. void MainWindow::onClickOpLaneContact()
  2535. {
  2536. int n1,n2;
  2537. n1 = mpCBLane1->currentText().toInt();
  2538. n2 = mpCBLane2->currentText().toInt();
  2539. iv::lanecontact xlc;
  2540. xlc.ml1 = n1;
  2541. xlc.ml2 = n2;
  2542. if(mvectorrc.size() < 1)return;
  2543. mvectorrc[0].mvectorlcop.push_back(xlc);
  2544. char strname[256];
  2545. snprintf(strname,255,"%dto%d",n1,n2);
  2546. mpCBLane1Lane2op->addItem(strname);
  2547. }
  2548. void MainWindow::onClickCreateRoad()
  2549. {
  2550. if(mvectorrc.size()<1)return;
  2551. SaveBack();
  2552. Road * p1, *p2;
  2553. int nroad1index;
  2554. int nroad2index;
  2555. // p1 = mvectorrc[0].mp1;
  2556. // p2 = mvectorrc[0].mp2;
  2557. int i;
  2558. bool bhavep1 = false;
  2559. bool bhavep2 = false;
  2560. for(i=0;i<mxodr.GetRoadCount();i++)
  2561. {
  2562. if(mvectorrc[0].mnroad1id == atoi(mxodr.GetRoad(i)->GetRoadId().data()))
  2563. {
  2564. bhavep1 = true;
  2565. p1 = mxodr.GetRoad(i);
  2566. nroad1index = i;
  2567. break;
  2568. }
  2569. }
  2570. if(bhavep1 == false)
  2571. {
  2572. QMessageBox::warning(this,"Warn","Road not found.");
  2573. return;
  2574. }
  2575. double off1,off2;
  2576. for(i=0;i<mxodr.GetRoadCount();i++)
  2577. {
  2578. if(mvectorrc[0].mnroad2id == atoi(mxodr.GetRoad(i)->GetRoadId().data()))
  2579. {
  2580. bhavep2 = true;
  2581. p2 = mxodr.GetRoad(i);
  2582. nroad2index = i;
  2583. break;
  2584. }
  2585. }
  2586. if(bhavep2 == false)
  2587. {
  2588. QMessageBox::warning(this,"Warn","Road not found.");
  2589. return;
  2590. }
  2591. if(mvectorrc[0].mvectorlc.size()<1)
  2592. {
  2593. QMessageBox::warning(this,"warn","No Lane Contact.");
  2594. return;
  2595. }
  2596. double startx,starty,starthdg;
  2597. double endx,endy,endhdg;
  2598. double startheight,endheight;
  2599. bool bFromstart,bTostart;
  2600. if(mvectorrc[0].mncon1 == 0)
  2601. {
  2602. bFromstart = true;
  2603. starthdg = p1->GetGeometryBlock(0)->GetGeometryAt(0)->GetHdg();
  2604. off1 = getoff(p1,mvectorrc[0].mvectorlc[0].ml1,true);
  2605. startx = p1->GetGeometryBlock(0)->GetGeometryAt(0)->GetX();
  2606. starty = p1->GetGeometryBlock(0)->GetGeometryAt(0)->GetY();
  2607. if(p1->GetLaneOffsetCount()>0)
  2608. {
  2609. off1 = off1 - p1->GetLaneOffset(0)->Geta();
  2610. }
  2611. startx = startx + off1 * cos(starthdg -M_PI/2.0);
  2612. starty = starty + off1 * sin(starthdg -M_PI/2.0);
  2613. startheight = 0;
  2614. if(p1->GetElevationCount()>0)
  2615. {
  2616. startheight = p1->GetElevation(0)->GetA();
  2617. }
  2618. // if(mvectorrc[0].mvectorlc[0].ml1<0)
  2619. starthdg = starthdg +M_PI;if(starthdg >=2.0*M_PI)starthdg = starthdg -2.0*M_PI;
  2620. }
  2621. else
  2622. {
  2623. bFromstart = false;
  2624. if(GetEndPoint(p1,startx,starty,starthdg) != 0)
  2625. {
  2626. QMessageBox::warning(this,"warn","get start error.");
  2627. return;
  2628. }
  2629. off1 = getoff(p1,mvectorrc[0].mvectorlc[0].ml1,false);
  2630. if(p1->GetLaneOffsetCount()>0)
  2631. {
  2632. LaneOffset * pLO = p1->GetLaneOffset(p1->GetLaneOffsetCount()-1);
  2633. double froadlen = p1->GetRoadLength();
  2634. double sdis = froadlen - pLO->GetS();
  2635. double foffset = pLO->Geta() + pLO->Getb()*(sdis) + pLO->Getc() * sdis * sdis
  2636. +pLO->Getd() * sdis * sdis * sdis;
  2637. off1 = off1 - foffset;
  2638. }
  2639. startx = startx + off1 * cos(starthdg -M_PI/2.0);
  2640. starty = starty + off1 * sin(starthdg -M_PI/2.0);
  2641. startheight = 0;
  2642. if(p1->GetElevationCount()>0)
  2643. {
  2644. startheight = p1->GetElevation(0)->GetA()
  2645. +p1->GetElevation(0)->GetB() * pow(p1->GetRoadLength(),1)
  2646. +p1->GetElevation(0)->GetC() * pow(p1->GetRoadLength(),2)
  2647. +p1->GetElevation(0)->GetD() * pow(p1->GetRoadLength(),3);
  2648. }
  2649. }
  2650. if(mvectorrc[0].mncon2 == 0)
  2651. {
  2652. bTostart = true;
  2653. off2 = getoff(p2,mvectorrc[0].mvectorlc[0].ml2,true);
  2654. endx = p2->GetGeometryBlock(0)->GetGeometryAt(0)->GetX();
  2655. endy = p2->GetGeometryBlock(0)->GetGeometryAt(0)->GetY();
  2656. endhdg = p2->GetGeometryBlock(0)->GetGeometryAt(0)->GetHdg();
  2657. if(p2->GetLaneOffsetCount()>0)
  2658. {
  2659. off2 = off2 - p2->GetLaneOffset(0)->Geta();
  2660. }
  2661. endx = endx + off2 * cos(endhdg -M_PI/2.0);
  2662. endy = endy + off2 * sin(endhdg -M_PI/2.0);
  2663. endheight = 0;
  2664. if(p2->GetElevationCount()>0)
  2665. {
  2666. endheight = p2->GetElevation(0)->GetA();
  2667. }
  2668. }
  2669. else
  2670. {
  2671. bTostart = false;
  2672. off2 = getoff(p2,mvectorrc[0].mvectorlc[0].ml2,false);
  2673. if(GetEndPoint(p2,endx,endy,endhdg) != 0)
  2674. {
  2675. QMessageBox::warning(this,"warn","get end error.");
  2676. return;
  2677. }
  2678. if(p2->GetLaneOffsetCount()>0)
  2679. {
  2680. LaneOffset * pLO = p2->GetLaneOffset(p2->GetLaneOffsetCount()-1);
  2681. double froadlen = p2->GetRoadLength();
  2682. double sdis = froadlen - pLO->GetS();
  2683. double foffset = pLO->Geta() + pLO->Getb()*(sdis) + pLO->Getc() * sdis * sdis
  2684. +pLO->Getd() * sdis * sdis * sdis;
  2685. off2 = off2 - foffset;
  2686. }
  2687. endx = endx + off2 * cos(endhdg -M_PI/2.0);
  2688. endy = endy + off2 * sin(endhdg -M_PI/2.0);
  2689. endhdg = endhdg +M_PI;if(endhdg >=2.0*M_PI)endhdg = endhdg -2.0*M_PI;
  2690. endheight = 0;
  2691. if(p2->GetElevationCount()>0)
  2692. {
  2693. endheight = p2->GetElevation(0)->GetA()
  2694. +p2->GetElevation(0)->GetB() * pow(p2->GetRoadLength(),1)
  2695. +p2->GetElevation(0)->GetC() * pow(p2->GetRoadLength(),2)
  2696. +p2->GetElevation(0)->GetD() * pow(p2->GetRoadLength(),3);
  2697. }
  2698. }
  2699. //Create Geo
  2700. double R = mpLERoadType->text().toDouble();
  2701. std::vector<geobase> xvectorgeo;
  2702. std::vector<geobase> xvectorgeo1,xvectorgeo2;
  2703. switch(mpCBRoadType->currentIndex())
  2704. {
  2705. case 0:
  2706. xvectorgeo = CreateTurnGeo(startx,starty,starthdg,endx,endy,endhdg,R);
  2707. break;
  2708. case 1:
  2709. xvectorgeo = CreateLineGeo(startx,starty,starthdg,endx,endy,endhdg);
  2710. break;
  2711. case 2:
  2712. xvectorgeo = CreateUTurnGeo(startx,starty,starthdg,endx,endy,endhdg,R);
  2713. break;
  2714. default:
  2715. break;
  2716. }
  2717. if(mpCBRoadType->currentIndex() == 2)
  2718. {
  2719. for(i=0;i<xvectorgeo.size()/2;i++)
  2720. {
  2721. xvectorgeo1.push_back(xvectorgeo.at(i));
  2722. }
  2723. for(i=xvectorgeo.size()/2;i<xvectorgeo.size();i++)
  2724. {
  2725. xvectorgeo2.push_back(xvectorgeo.at(i));
  2726. }
  2727. }
  2728. if(xvectorgeo.size() == 0)
  2729. {
  2730. QMessageBox::warning(this,"warn","Create Road Fail.");
  2731. return;
  2732. }
  2733. double xroadlen = 0;
  2734. if(mpCBRoadType->currentIndex() != 2)
  2735. {
  2736. for(i=0;i<xvectorgeo.size();i++)xroadlen = xroadlen + xvectorgeo[i].mfLen;
  2737. mxodr.AddRoad("",xroadlen, QString::number(CreateRoadID()).toStdString(),"-1");
  2738. Road * p = mxodr.GetRoad(mxodr.GetRoadCount() - 1);
  2739. p->AddElevation(0,startheight,(endheight-startheight)/xroadlen,0,0);
  2740. p1 = mxodr.GetRoad(nroad1index);
  2741. p2 = mxodr.GetRoad(nroad2index);
  2742. double s = 0;
  2743. int j;
  2744. j= 0;
  2745. for(j=0;j<xvectorgeo.size();j++)
  2746. {
  2747. p->AddGeometryBlock();
  2748. GeometryBlock * pgb = p->GetGeometryBlock(j);
  2749. geobase * pline;
  2750. geobase * pbez;
  2751. geobase * parc;
  2752. switch(xvectorgeo[j].mnType)
  2753. {
  2754. case 0:
  2755. pline = &xvectorgeo[j];
  2756. pgb->AddGeometryLine(s,pline->mfX,pline->mfY,pline->mfHdg,pline->mfLen);
  2757. break;
  2758. case 1:
  2759. parc = &xvectorgeo[j];
  2760. pgb->AddGeometryArc(s,parc->mfX,parc->mfY,parc->mfHdgStart,parc->mfLen,1.0/parc->mR);
  2761. break;
  2762. case 2:
  2763. pbez = &xvectorgeo[j];
  2764. std::cout<<"u0:"<<pbez->mfu[0]<<std::endl;
  2765. pgb->AddGeometryParamPoly3(s,pbez->mfX,pbez->mfY,
  2766. pbez->mfHdg,pbez->mfLen,pbez->mfu[0],
  2767. pbez->mfu[1],pbez->mfu[2],pbez->mfu[3],pbez->mfv[0],
  2768. pbez->mfv[1],pbez->mfv[2],pbez->mfv[3]);
  2769. break;
  2770. }
  2771. s = s + xvectorgeo[j].mfLen;
  2772. }
  2773. p->AddLaneSection(0);
  2774. LaneSection * pLS = p->GetLaneSection(0);
  2775. pLS->SetS(0);
  2776. pLS->AddLane(0,0,"none",false);
  2777. double * pswidth,*pewidth;
  2778. std::vector<std::string> strvectorlanetype;
  2779. int nlanecount = mvectorrc[0].mvectorlc.size();
  2780. pswidth = new double[nlanecount];
  2781. pewidth = new double[nlanecount];
  2782. std::shared_ptr<double> ppswidth,ppewidth;
  2783. ppswidth.reset(pswidth);
  2784. ppewidth.reset(pewidth);
  2785. for(i=0;i<nlanecount;i++)
  2786. {
  2787. pswidth[i] = getlanewidth(p1,mvectorrc[0].mvectorlc.at(i).ml1,bFromstart);
  2788. strvectorlanetype.push_back(getlanetype(p1,mvectorrc[0].mvectorlc.at(i).ml1,bFromstart));
  2789. }
  2790. for(i=0;i<nlanecount;i++)
  2791. {
  2792. pewidth[i] = getlanewidth(p2,mvectorrc[0].mvectorlc.at(i).ml2,bTostart);
  2793. }
  2794. double * pa,*pb;
  2795. pa = new double[nlanecount];
  2796. pb = new double[nlanecount];
  2797. std::shared_ptr<double> ppa,ppb;
  2798. ppa.reset(pa);
  2799. ppb.reset(pb);
  2800. for(i=0;i<nlanecount;i++)
  2801. {
  2802. pa[i] = pswidth[i];
  2803. pb[i] = (pewidth[i] - pa[i])/xroadlen;
  2804. }
  2805. for(i=0;i<nlanecount;i++)
  2806. {
  2807. pLS->AddLane(-1,(i+1)*(-1),strvectorlanetype[i],false,false);
  2808. Lane * pLL = pLS->GetLane(pLS->GetLaneCount() - 1);
  2809. pLL->AddWidthRecord(0,pa[i],pb[i],
  2810. 0,0);
  2811. pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
  2812. }
  2813. int noplanecount = mvectorrc[0].mvectorlcop.size();
  2814. if(noplanecount > 0)
  2815. {
  2816. pswidth = new double[noplanecount];
  2817. pewidth = new double[noplanecount];
  2818. ppswidth.reset(pswidth);
  2819. ppewidth.reset(pewidth);
  2820. strvectorlanetype.clear();
  2821. for(i=0;i<noplanecount;i++)
  2822. {
  2823. pswidth[i] = getlanewidth(p1,mvectorrc[0].mvectorlcop.at(i).ml1,bFromstart);
  2824. strvectorlanetype.push_back(getlanetype(p1,mvectorrc[0].mvectorlcop.at(i).ml1,bFromstart));
  2825. }
  2826. for(i=0;i<noplanecount;i++)
  2827. {
  2828. pewidth[i] = getlanewidth(p2,mvectorrc[0].mvectorlcop.at(i).ml2,bTostart);
  2829. }
  2830. pa = new double[noplanecount];
  2831. pb = new double[noplanecount];
  2832. ppa.reset(pa);
  2833. ppb.reset(pb);
  2834. for(i=0;i<noplanecount;i++)
  2835. {
  2836. pa[i] = pswidth[i];
  2837. pb[i] = (pewidth[i] - pa[i])/xroadlen;
  2838. }
  2839. for(i=0;i<noplanecount;i++)
  2840. {
  2841. pLS->AddLane(1,(i+1),strvectorlanetype[i],false,false);
  2842. Lane * pLL = pLS->GetLane(pLS->GetLaneCount() - 1);
  2843. pLL->AddWidthRecord(0,pa[i],pb[i],
  2844. 0,0);
  2845. pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
  2846. }
  2847. }
  2848. }
  2849. else
  2850. {
  2851. double xroadlen1 = 0;
  2852. double xroadlen2 = 0;
  2853. for(i=0;i<xvectorgeo1.size();i++)xroadlen1 = xroadlen1 + xvectorgeo1[i].mfLen;
  2854. for(i=0;i<xvectorgeo2.size();i++)xroadlen2 = xroadlen2 + xvectorgeo2[i].mfLen;
  2855. int index1 = mxodr.AddRoad("",xroadlen1, QString::number(CreateRoadID()).toStdString(),"-1");
  2856. int index2 = mxodr.AddRoad("",xroadlen2, QString::number(CreateRoadID()).toStdString(),"-1");
  2857. Road * proad2 = mxodr.GetRoad(index2);
  2858. Road * proad1 = mxodr.GetRoad(index1);
  2859. proad1->AddElevation(0,startheight,(endheight-startheight)/(xroadlen1+xroadlen2),0,0);
  2860. proad2->AddElevation(0,startheight+xroadlen1*(endheight-startheight)/(xroadlen1+xroadlen2),
  2861. (endheight-startheight)/(xroadlen1+xroadlen2),
  2862. 0,0);
  2863. p1 = mxodr.GetRoad(nroad1index);
  2864. p2 = mxodr.GetRoad(nroad2index);
  2865. // OpenDrive * px = &mxodr;
  2866. double s = 0;
  2867. int j;
  2868. j= 0;
  2869. for(j=0;j<xvectorgeo1.size();j++)
  2870. {
  2871. proad1->AddGeometryBlock();
  2872. GeometryBlock * pgb = proad1->GetGeometryBlock(j);
  2873. geobase * pline;
  2874. geobase * pbez;
  2875. geobase * parc;
  2876. switch(xvectorgeo1[j].mnType)
  2877. {
  2878. case 0:
  2879. pline = &xvectorgeo1[j];
  2880. pgb->AddGeometryLine(s,pline->mfX,pline->mfY,pline->mfHdg,pline->mfLen);
  2881. break;
  2882. case 1:
  2883. parc = &xvectorgeo1[j];
  2884. pgb->AddGeometryArc(s,parc->mfX,parc->mfY,parc->mfHdgStart,parc->mfLen,1.0/parc->mR);
  2885. break;
  2886. case 2:
  2887. pbez = &xvectorgeo1[j];
  2888. std::cout<<"u0:"<<pbez->mfu[0]<<std::endl;
  2889. pgb->AddGeometryParamPoly3(s,pbez->mfX,pbez->mfY,
  2890. pbez->mfHdg,pbez->mfLen,pbez->mfu[0],
  2891. pbez->mfu[1],pbez->mfu[2],pbez->mfu[3],pbez->mfv[0],
  2892. pbez->mfv[1],pbez->mfv[2],pbez->mfv[3]);
  2893. break;
  2894. }
  2895. s = s + xvectorgeo1[j].mfLen;
  2896. }
  2897. for(j=0;j<xvectorgeo2.size();j++)
  2898. {
  2899. proad2->AddGeometryBlock();
  2900. GeometryBlock * pgb = proad2->GetGeometryBlock(j);
  2901. geobase * pline;
  2902. geobase * pbez;
  2903. geobase * parc;
  2904. switch(xvectorgeo2[j].mnType)
  2905. {
  2906. case 0:
  2907. pline = &xvectorgeo2[j];
  2908. pgb->AddGeometryLine(s,pline->mfX,pline->mfY,pline->mfHdg,pline->mfLen);
  2909. break;
  2910. case 1:
  2911. parc = &xvectorgeo2[j];
  2912. pgb->AddGeometryArc(s,parc->mfX,parc->mfY,parc->mfHdgStart,parc->mfLen,1.0/parc->mR);
  2913. break;
  2914. case 2:
  2915. pbez = &xvectorgeo2[j];
  2916. std::cout<<"u0:"<<pbez->mfu[0]<<std::endl;
  2917. pgb->AddGeometryParamPoly3(s,pbez->mfX,pbez->mfY,
  2918. pbez->mfHdg,pbez->mfLen,pbez->mfu[0],
  2919. pbez->mfu[1],pbez->mfu[2],pbez->mfu[3],pbez->mfv[0],
  2920. pbez->mfv[1],pbez->mfv[2],pbez->mfv[3]);
  2921. break;
  2922. }
  2923. s = s + xvectorgeo2[j].mfLen;
  2924. }
  2925. proad1->AddLaneSection(0);
  2926. LaneSection * pLS1 = proad1->GetLaneSection(0);
  2927. pLS1->SetS(0);
  2928. pLS1->AddLane(0,0,"none",false);
  2929. proad2->AddLaneSection(0);
  2930. LaneSection * pLS2 = proad2->GetLaneSection(0);
  2931. pLS2->SetS(0);
  2932. pLS2->AddLane(0,0,"none",false);
  2933. double * pswidth,*pewidth;
  2934. int nlanecount = mvectorrc[0].mvectorlc.size();
  2935. std::vector<std::string> strvectorlanetype;
  2936. pswidth = new double[nlanecount];
  2937. pewidth = new double[nlanecount];
  2938. std::shared_ptr<double> ppswidth,ppewidth;
  2939. ppswidth.reset(pswidth);
  2940. ppewidth.reset(pewidth);
  2941. for(i=0;i<nlanecount;i++)
  2942. {
  2943. pswidth[i] = getlanewidth(p1,mvectorrc[0].mvectorlc.at(i).ml1,bFromstart);
  2944. strvectorlanetype.push_back(getlanetype(p1,mvectorrc[0].mvectorlc.at(i).ml1,bFromstart));
  2945. }
  2946. for(i=0;i<nlanecount;i++)
  2947. {
  2948. pewidth[i] = getlanewidth(p2,mvectorrc[0].mvectorlc.at(i).ml2,bTostart);
  2949. }
  2950. double * pa,*pb;
  2951. pa = new double[nlanecount];
  2952. pb = new double[nlanecount];
  2953. std::shared_ptr<double> ppa,ppb;
  2954. ppa.reset(pa);
  2955. ppb.reset(pb);
  2956. for(i=0;i<nlanecount;i++)
  2957. {
  2958. pa[i] = pswidth[i];
  2959. pb[i] = (pewidth[i] - pa[i])/(xroadlen1+xroadlen2);
  2960. }
  2961. for(i=0;i<nlanecount;i++)
  2962. {
  2963. pLS1->AddLane(-1,(i+1)*(-1),strvectorlanetype[i],false,false);
  2964. Lane * pLL = pLS1->GetLane(pLS1->GetLaneCount() - 1);
  2965. pLL->AddWidthRecord(0,pa[i],pb[i],
  2966. 0,0);
  2967. pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
  2968. pLS2->AddLane(-1,(i+1)*(-1),strvectorlanetype[i],false,false);
  2969. pLL = pLS2->GetLane(pLS2->GetLaneCount() - 1);
  2970. pLL->AddWidthRecord(0,pa[i]+pb[i]*xroadlen1 ,pb[i],
  2971. 0,0);
  2972. pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
  2973. }
  2974. int noplanecount = mvectorrc[0].mvectorlcop.size();
  2975. if(noplanecount > 0)
  2976. {
  2977. pswidth = new double[noplanecount];
  2978. pewidth = new double[noplanecount];
  2979. ppswidth.reset(pswidth);
  2980. ppewidth.reset(pewidth);
  2981. strvectorlanetype.clear();
  2982. for(i=0;i<noplanecount;i++)
  2983. {
  2984. pswidth[i] = getlanewidth(p1,mvectorrc[0].mvectorlcop.at(i).ml1,bFromstart);
  2985. strvectorlanetype.push_back(getlanetype(p1,mvectorrc[0].mvectorlcop.at(i).ml1,bFromstart));
  2986. }
  2987. for(i=0;i<noplanecount;i++)
  2988. {
  2989. pewidth[i] = getlanewidth(p2,mvectorrc[0].mvectorlcop.at(i).ml2,bTostart);
  2990. }
  2991. pa = new double[noplanecount];
  2992. pb = new double[noplanecount];
  2993. ppa.reset(pa);
  2994. ppb.reset(pb);
  2995. for(i=0;i<noplanecount;i++)
  2996. {
  2997. pa[i] = pswidth[i];
  2998. pb[i] = (pewidth[i] - pa[i])/xroadlen;
  2999. }
  3000. for(i=0;i<noplanecount;i++)
  3001. {
  3002. pLS1->AddLane(1,(i+1),strvectorlanetype[i],false,false);
  3003. Lane * pLL = pLS1->GetLane(pLS1->GetLaneCount() - 1);
  3004. pLL->AddWidthRecord(0,pa[i],pb[i],
  3005. 0,0);
  3006. pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
  3007. pLS2->AddLane(1,(i+1),strvectorlanetype[i],false,false);
  3008. pLL = pLS2->GetLane(pLS2->GetLaneCount() - 1);
  3009. pLL->AddWidthRecord(0,pa[i]+pb[i]*xroadlen1 ,pb[i],
  3010. 0,0);
  3011. pLL->AddRoadMarkRecord(0,"solid","standard","standard",0.15,"false");
  3012. }
  3013. }
  3014. }
  3015. updateCBRoad();
  3016. mbRefresh = true;
  3017. update();
  3018. }
  3019. int MainWindow::GetEndPoint(Road *proad, double &x, double &y, double &hdg)
  3020. {
  3021. GeometryBlock * pblock = proad->GetLastGeometryBlock();
  3022. RoadGeometry * pgeo = pblock->GetLastGeometry();
  3023. //0-line, 1-arc, 2-spiral 3-poly3 4-parampoly3
  3024. switch (pgeo->GetGeomType()) {
  3025. case 0:
  3026. {
  3027. GeometryLine * pline = (GeometryLine *)pgeo;
  3028. x = pline->GetX() + pline->GetLength() * cos(pline->GetHdg());
  3029. y = pline->GetY() + pline->GetLength() * sin(pline->GetHdg());
  3030. hdg = pline->GetHdg();
  3031. }
  3032. return 0;
  3033. break;
  3034. case 1:
  3035. {
  3036. GeometryArc * parc = (GeometryArc *)pgeo;
  3037. double x_center = parc->GetX() + (1.0/parc->GetCurvature()) * cos(parc->GetHdg() + M_PI/2.0);
  3038. double y_center = parc->GetY() + (1.0/parc->GetCurvature()) * sin(parc->GetHdg()+ M_PI/2.0);
  3039. x = x_center + fabs(1.0/parc->GetCurvature()) * cos(parc->GetHdg() + parc->GetLength() * parc->GetCurvature() - M_PI/2.0);
  3040. y = y_center + fabs(1.0/parc->GetCurvature()) * sin(parc->GetHdg() + parc->GetLength() * parc->GetCurvature() - M_PI/2.0);
  3041. hdg = parc->GetHdg() + parc->GetLength() * parc->GetCurvature();
  3042. return 0;
  3043. }
  3044. break;
  3045. case 2:
  3046. {
  3047. GeometrySpiral * pspiral = (GeometrySpiral *)pgeo;
  3048. pspiral->GetCoords(pspiral->GetS()+pspiral->GetLength(),x,y,hdg);
  3049. return 0;
  3050. }
  3051. break;
  3052. case 3:
  3053. QMessageBox::warning(this,"warn","type not supported.");
  3054. break;
  3055. case 4:
  3056. {
  3057. double xtem,ytem;
  3058. double xtem1,ytem1,x1,y1;
  3059. GeometryParamPoly3 * ppoly3 = (GeometryParamPoly3* )pgeo;
  3060. double s = ppoly3->GetLength();
  3061. xtem = ppoly3->GetuA() + ppoly3->GetuB() * s + ppoly3->GetuC() * s*s + ppoly3->GetuD() * s*s*s ;
  3062. ytem = ppoly3->GetvA() + ppoly3->GetvB() * s + ppoly3->GetvC() * s*s + ppoly3->GetvD() * s*s*s ;
  3063. x = xtem*cos(ppoly3->GetHdg()) - ytem * sin(ppoly3->GetHdg()) + ppoly3->GetX();
  3064. y = xtem*sin(ppoly3->GetHdg()) + ytem * cos(ppoly3->GetHdg()) + ppoly3->GetY();
  3065. s = ppoly3->GetLength()*0.99;
  3066. if(s>0)
  3067. {
  3068. xtem1 = ppoly3->GetuA() + ppoly3->GetuB() * s + ppoly3->GetuC() * s*s + ppoly3->GetuD() * s*s*s ;
  3069. ytem1 = ppoly3->GetvA() + ppoly3->GetvB() * s + ppoly3->GetvC() * s*s + ppoly3->GetvD() * s*s*s ;
  3070. x1 = xtem*cos(ppoly3->GetHdg()) - ytem * sin(ppoly3->GetHdg()) + ppoly3->GetX();
  3071. y1 = xtem*sin(ppoly3->GetHdg()) + ytem * cos(ppoly3->GetHdg()) + ppoly3->GetY();
  3072. hdg = geofit::CalcHdg(xtem1,ytem1,x1,y1);
  3073. }
  3074. else
  3075. {
  3076. hdg = 0;
  3077. }
  3078. return 0;
  3079. }
  3080. break;
  3081. default:
  3082. QMessageBox::warning(this,"warn","type not supported.");
  3083. break;
  3084. }
  3085. return -1;
  3086. }
  3087. void MainWindow::onChangeRoadType(int index)
  3088. {
  3089. if(index == 1)
  3090. {
  3091. mpLBRoadType->setVisible(false);
  3092. mpLERoadType->setVisible(false);
  3093. }
  3094. else
  3095. {
  3096. mpLBRoadType->setVisible(true);
  3097. mpLERoadType->setVisible(true);
  3098. }
  3099. if(index == 0)
  3100. {
  3101. mpLBRoadType->setText("Radius:");
  3102. mpLERoadType->setText("6.0");
  3103. }
  3104. if(index == 2)
  3105. {
  3106. mpLBRoadType->setText("Extend:");
  3107. mpLERoadType->setText("3.0");
  3108. }
  3109. }
  3110. std::vector<geobase> MainWindow::CreateLineGeo(double startx, double starty, double starthdg, double endx, double endy, double endhdg)
  3111. {
  3112. // std::vector<geobase> xvectorgeo;
  3113. // geobase xgeobezier;
  3114. // int nbtype;
  3115. // double fabc[3],fxy[2],fblen,fbhdg;
  3116. // geofit x;
  3117. // x.CreateBezier(startx,starty,starthdg,
  3118. // endx,endy,endhdg,
  3119. // 0.35,0.35,xgeobezier.mfu,xgeobezier.mfv,xgeobezier.mfLen,
  3120. // nbtype,fabc,&fbhdg,fxy,&fblen);
  3121. // if(nbtype == 2)
  3122. // {
  3123. // xgeobezier.mfHdg = starthdg;
  3124. // xgeobezier.mfX = startx;
  3125. // xgeobezier.mfY = starty;
  3126. // xgeobezier.mnType = 2;
  3127. // }
  3128. // else
  3129. // {
  3130. // xgeobezier.mnType = 0; //Line
  3131. // xgeobezier.mfHdgStart = fbhdg;
  3132. // xgeobezier.mfHdg = fbhdg;
  3133. // xgeobezier.mfX = fxy[0];
  3134. // xgeobezier.mfY = fxy[1];
  3135. // xgeobezier.mfLen = fblen;
  3136. // }
  3137. // xvectorgeo.push_back(xgeobezier);
  3138. // return xvectorgeo;
  3139. geobase linegeo;
  3140. linegeo.mnType = 0;
  3141. linegeo.mfX = startx;
  3142. linegeo.mfY = starty;
  3143. linegeo.mfHdg = geofit::CalcHdg(startx,starty,endx,endy);
  3144. linegeo.mfLen = sqrt(pow(endx - startx,2)+pow(endy - starty,2));
  3145. std::vector<geobase> xvectorgeo;
  3146. xvectorgeo.push_back(linegeo);
  3147. return xvectorgeo;
  3148. }
  3149. std::vector<geobase> MainWindow::CreateTurnGeo(double startx, double starty, double starthdg, double endx, double endy, double endhdg,double R)
  3150. {
  3151. std::vector<geobase> xvectorgeo;
  3152. xvectorgeo.clear();
  3153. if(starthdg == endhdg)
  3154. {
  3155. std::cout<<"hdg same use line contact"<<std::endl;
  3156. return CreateLineGeo(startx,starty,starthdg,endx,endy,endhdg);
  3157. }
  3158. double a1,c1,a2,c2;
  3159. double inter_x,inter_y;
  3160. if((starthdg == M_PI/2.0)||(starthdg == 3.0*M_PI/2.0))
  3161. {
  3162. a2 = tan(endhdg) *(-1);
  3163. c2 = 0-a2*endx - endy;
  3164. a1 = 1;
  3165. c1 = startx *(-1);
  3166. inter_x = startx;
  3167. inter_y = 0 - a2*inter_x-c2;
  3168. }
  3169. else
  3170. {
  3171. if((endhdg == M_PI/2.0)||(endhdg == 3.0*M_PI/2.0))
  3172. {
  3173. a1 = tan(starthdg) *(-1);
  3174. c1 = 0-a1*startx - starty;
  3175. a2 = 1;
  3176. c2 = endx *(-1);
  3177. inter_x = endx;
  3178. inter_y = 0 - a1*inter_x-c1;
  3179. }
  3180. else
  3181. {
  3182. a1 = tan(starthdg) *(-1);
  3183. a2 = tan(endhdg) *(-1);
  3184. c1 = 0-a1*startx - starty;
  3185. c2 = 0-a2*endx - endy;
  3186. inter_x = (c1-c2)/(a2-a1);
  3187. inter_y = 0 - a1*inter_x - c1;
  3188. }
  3189. }
  3190. double dis1,dis2;
  3191. dis1 =sqrt(pow(inter_x - startx,2)+pow(inter_y - starty,2));
  3192. dis2 =sqrt(pow(inter_x - endx,2)+pow(inter_y - endy,2));
  3193. if((dis1<1.0)||(dis2<1.0))
  3194. {
  3195. std::cout<<"use line connect."<<std::endl;
  3196. return CreateLineGeo(startx,starty,starthdg,endx,endy,endhdg);
  3197. }
  3198. double hdgdiff = endhdg - starthdg;
  3199. if(hdgdiff >= M_PI)hdgdiff = hdgdiff - 2.0*M_PI;
  3200. if(hdgdiff <= (-M_PI))hdgdiff = hdgdiff + 2.0*M_PI;
  3201. double slen = R*tan(fabs(hdgdiff/2.0));
  3202. if((dis1<slen)||(dis2<slen))
  3203. {
  3204. std::cout<<"radius is big. use line."<<std::endl;
  3205. return CreateLineGeo(startx,starty,starthdg,endx,endy,endhdg);
  3206. }
  3207. double p1_x,p1_y,p2_x,p2_y;
  3208. p1_x = inter_x- slen * cos(starthdg);
  3209. p1_y = inter_y- slen * sin(starthdg);
  3210. p2_x = inter_x+slen*cos(endhdg);
  3211. p2_y = inter_y+slen*sin(endhdg);
  3212. geobase linegeo;
  3213. linegeo.mnType = 0;
  3214. linegeo.mfX = startx;
  3215. linegeo.mfY = starty;
  3216. linegeo.mfHdg = starthdg;
  3217. linegeo.mfLen = sqrt(pow(p1_x - startx,2)+pow(p1_y - starty,2));
  3218. xvectorgeo.push_back(linegeo);
  3219. geobase arcgeo;
  3220. arcgeo.mnType = 1;
  3221. arcgeo.mfX = p1_x;
  3222. arcgeo.mfY = p1_y;
  3223. arcgeo.mfHdg = starthdg;
  3224. arcgeo.mfHdgStart = starthdg;
  3225. arcgeo.mfLen = R*fabs(hdgdiff);
  3226. arcgeo.mR = R*(fabs(hdgdiff)/hdgdiff);
  3227. arcgeo.mfEndX = p2_x;
  3228. arcgeo.mfEndY = p2_y;
  3229. xvectorgeo.push_back(arcgeo);
  3230. linegeo.mnType = 0;
  3231. linegeo.mfX = p2_x;
  3232. linegeo.mfY = p2_y;
  3233. linegeo.mfHdg = endhdg;
  3234. linegeo.mfLen = sqrt(pow(p2_x - endx,2)+pow(p2_y - endy,2));
  3235. xvectorgeo.push_back(linegeo);
  3236. return xvectorgeo;
  3237. }
  3238. std::string MainWindow::getlanetype(Road *p, int nlane, bool bstart)
  3239. {
  3240. Lane * plane = 0;
  3241. int i;
  3242. LaneSection * pLS;
  3243. if(bstart)
  3244. {
  3245. pLS = p->GetLaneSection(0);
  3246. }
  3247. else
  3248. {
  3249. pLS = p->GetLaneSection(p->GetLaneSectionCount() -1);
  3250. }
  3251. int nlanecount = pLS->GetLaneCount();
  3252. for(i=0;i<nlanecount;i++)
  3253. {
  3254. if(nlane == pLS->GetLane(i)->GetId())
  3255. {
  3256. plane = pLS->GetLane(i);
  3257. break;
  3258. }
  3259. }
  3260. if(plane == 0)
  3261. {
  3262. std::cout<<"MainWindow::getlanetype can't find lane : "<<nlane<<std::endl;
  3263. return "driving";
  3264. }
  3265. return plane->GetType();
  3266. }
  3267. double MainWindow::getlanewidth(Road * p, int nlane,bool bstart)
  3268. {
  3269. Lane * plane = 0;
  3270. double a,b,c,d;
  3271. double s;
  3272. if(bstart)
  3273. {
  3274. s = 0;
  3275. }
  3276. else
  3277. {
  3278. s = p->GetRoadLength();
  3279. }
  3280. int i;
  3281. LaneSection * pLS;
  3282. if(bstart)
  3283. {
  3284. pLS = p->GetLaneSection(0);
  3285. }
  3286. else
  3287. {
  3288. pLS = p->GetLaneSection(p->GetLaneSectionCount() -1);
  3289. }
  3290. int nlanecount = pLS->GetLaneCount();
  3291. for(i=0;i<nlanecount;i++)
  3292. {
  3293. if(nlane == pLS->GetLane(i)->GetId())
  3294. {
  3295. plane = pLS->GetLane(i);
  3296. break;
  3297. }
  3298. }
  3299. if(plane == 0)
  3300. {
  3301. std::cout<<"MainWindow::getlanewidth can't find lane : "<<nlane<<std::endl;
  3302. return 0;
  3303. }
  3304. if(bstart)
  3305. {
  3306. return plane->GetLaneWidth(0)->GetA();
  3307. }
  3308. else
  3309. {
  3310. s = p->GetRoadLength() - pLS->GetS();
  3311. LaneWidth * pLW = plane->GetLaneWidth(plane->GetLaneWidthCount()-1);
  3312. a = pLW->GetA();b = pLW->GetB();c = pLW->GetC();d = pLW->GetD();
  3313. return a+b*s+c*pow(s,2)+d*pow(s,3);
  3314. }
  3315. }
  3316. double MainWindow::getoff(Road *p, int nlane, bool bstart)
  3317. {
  3318. double off = 0;
  3319. int i;
  3320. if(bstart)
  3321. {
  3322. LaneSection * pLS = p->GetLaneSection(0);
  3323. if(nlane<0)
  3324. {
  3325. if(nlane == -1)return 0;
  3326. else
  3327. {
  3328. for(i=0;i<pLS->GetLaneCount();i++)
  3329. {
  3330. Lane * pL = pLS->GetLane(i);
  3331. if((pL->GetId()<0)&&(pL->GetId()>nlane))
  3332. {
  3333. off = off + pL->GetLaneWidth(0)->GetA();
  3334. }
  3335. }
  3336. }
  3337. }
  3338. else
  3339. {
  3340. if(nlane == 1)return 0;
  3341. else
  3342. {
  3343. for(i=0;i<pLS->GetLaneCount();i++)
  3344. {
  3345. Lane * pL = pLS->GetLane(i);
  3346. if((pL->GetId()>0)&&(pL->GetId()<nlane))
  3347. {
  3348. off = off - pL->GetLaneWidth(0)->GetA();
  3349. }
  3350. }
  3351. }
  3352. }
  3353. }
  3354. else
  3355. {
  3356. LaneSection * pLS = p->GetLaneSection(p->GetLaneSectionCount()-1);
  3357. if(nlane<0)
  3358. {
  3359. if(nlane == -1)return 0;
  3360. else
  3361. {
  3362. for(i=0;i<pLS->GetLaneCount();i++)
  3363. {
  3364. Lane * pL = pLS->GetLane(i);
  3365. if((pL->GetId()<0)&&(pL->GetId()>nlane))
  3366. {
  3367. double a,b,c,d;
  3368. a = pL->GetLaneWidth(pL->GetLaneWidthCount()-1)->GetA();
  3369. b = pL->GetLaneWidth(pL->GetLaneWidthCount()-1)->GetB();
  3370. c = pL->GetLaneWidth(pL->GetLaneWidthCount()-1)->GetC();
  3371. d = pL->GetLaneWidth(pL->GetLaneWidthCount()-1)->GetD();
  3372. double s = p->GetRoadLength();
  3373. off = off + a + b*s +c *s*s + d*s*s*s;
  3374. }
  3375. }
  3376. }
  3377. }
  3378. else
  3379. {
  3380. if(nlane == 1)return 0;
  3381. else
  3382. {
  3383. for(i=0;i<pLS->GetLaneCount();i++)
  3384. {
  3385. Lane * pL = pLS->GetLane(i);
  3386. if((pL->GetId()>0)&&(pL->GetId()<nlane))
  3387. {
  3388. double a,b,c,d;
  3389. a = pL->GetLaneWidth(pL->GetLaneWidthCount()-1)->GetA();
  3390. b = pL->GetLaneWidth(pL->GetLaneWidthCount()-1)->GetB();
  3391. c = pL->GetLaneWidth(pL->GetLaneWidthCount()-1)->GetC();
  3392. d = pL->GetLaneWidth(pL->GetLaneWidthCount()-1)->GetD();
  3393. double s = p->GetRoadLength();
  3394. off = off - a - b*s -c *s*s - d*s*s*s;
  3395. }
  3396. }
  3397. }
  3398. }
  3399. }
  3400. return off;
  3401. }
  3402. std::vector<geobase> MainWindow::CreateUTurnGeo(double startx, double starty, double starthdg, double endx, double endy, double endhdg, double fextend)
  3403. {
  3404. std::vector<geobase> xvectorgeo;
  3405. double p1_x,p1_y, p2_x,p2_y,p1_hdg,p2_hdg;
  3406. p1_x = fextend*cos(starthdg) + startx;
  3407. p1_y = fextend*sin(starthdg) + starty;
  3408. p2_x = fextend*cos(endhdg + M_PI) + endx;
  3409. p2_y = fextend*sin(endhdg + M_PI) + endy;
  3410. p1_hdg = starthdg;
  3411. p2_hdg = endhdg;
  3412. if(starthdg == endhdg)
  3413. {
  3414. std::cout<<" hdg is same, can't create u turn."<<std::endl;
  3415. return xvectorgeo;
  3416. }
  3417. double hdgse = geofit::CalcHdg(p1_x,p1_y,p2_x,p2_y);
  3418. double hdgdiff = hdgse - p1_hdg;
  3419. if(hdgdiff < 0)hdgdiff = hdgdiff + 2.0*M_PI;
  3420. bool bPA = true; //Positive
  3421. if(hdgdiff >=M_PI)bPA = false;
  3422. double xdiff;
  3423. if(bPA)xdiff = hdgdiff - M_PI/2.0;
  3424. else xdiff = hdgdiff - 3.0*M_PI/2.0;
  3425. double xdis = sqrt(pow(p1_x-p2_x,2)+pow(p1_y-p2_y,2));
  3426. double R = xdis/(2.0*cos(xdiff));
  3427. double x_center,y_center;
  3428. double xhdgtocenter;
  3429. if(bPA)
  3430. {
  3431. xhdgtocenter = p1_hdg + M_PI/2.0;
  3432. if(xhdgtocenter >= 2.0*M_PI)xhdgtocenter = xhdgtocenter - M_PI*2.0;
  3433. }
  3434. else
  3435. {
  3436. xhdgtocenter = p1_hdg - M_PI/2.0;
  3437. if(xhdgtocenter < 0)xhdgtocenter = xhdgtocenter + 2.0*M_PI;
  3438. }
  3439. x_center = p1_x + R*cos(xhdgtocenter);
  3440. y_center = p1_y + R*sin(xhdgtocenter);
  3441. double xhdgcentertoarc;
  3442. if(bPA)
  3443. {
  3444. xhdgcentertoarc = hdgse - M_PI/2.0;
  3445. if(xhdgcentertoarc <0)xhdgcentertoarc = xhdgcentertoarc + 2.0*M_PI;
  3446. }
  3447. else
  3448. {
  3449. xhdgcentertoarc = hdgse + M_PI/2.0;
  3450. if(xhdgcentertoarc >= M_PI*2.0)xhdgcentertoarc = xhdgcentertoarc - M_PI*2.0;
  3451. }
  3452. double p3_x,p3_y,p3_hdg;
  3453. p3_hdg = hdgse;
  3454. p3_x = x_center + R* cos(xhdgcentertoarc);
  3455. p3_y = y_center + R* sin(xhdgcentertoarc);
  3456. // pgb->AddGeometryArc(s,parc->mfX,parc->mfY,parc->mfHdgStart,parc->mfLen,1.0/parc->mR);
  3457. geobase c2,c3;
  3458. c2.mfX = p1_x;
  3459. c2.mfY = p1_y;
  3460. c2.mfHdgStart = p1_hdg;
  3461. c3.mfX = p3_x;
  3462. c3.mfY = p3_y;
  3463. c3.mfHdgStart = hdgse;
  3464. c2.mnType = 1;
  3465. c3.mnType = 1;
  3466. if(bPA)
  3467. {
  3468. c2.mfLen = hdgdiff * R;
  3469. c2.mR = R;
  3470. c3.mfLen = c2.mfLen;
  3471. c3.mR = R;
  3472. }
  3473. else
  3474. {
  3475. c2.mfLen = (2.0*M_PI - hdgdiff) * R;
  3476. c2.mR = R*(-1);
  3477. c3.mfLen = c2.mfLen;
  3478. c3.mR = R*(-1);
  3479. }
  3480. geobase l1,l2;
  3481. if(fextend != 0)
  3482. {
  3483. l1.mfX = startx;
  3484. l1.mfY = starty;
  3485. l1.mfHdg = starthdg;
  3486. l1.mfLen = fextend;
  3487. l1.mnType = 0;
  3488. l2.mfX = p2_x;
  3489. l2.mfY = p2_y;
  3490. l2.mfHdg = p2_hdg;
  3491. l2.mfLen = fextend;
  3492. l2.mnType = 0;
  3493. xvectorgeo.push_back(l1);
  3494. }
  3495. xvectorgeo.push_back(c2);
  3496. xvectorgeo.push_back(c3);
  3497. if(fextend != 0)xvectorgeo.push_back(l2);
  3498. return xvectorgeo;
  3499. }
  3500. void MainWindow::ChangeXODRRoadID(OpenDrive *pxodr, int index, int newid)
  3501. {
  3502. Road * proad;
  3503. int nsize = pxodr->GetRoadCount();
  3504. int i;
  3505. if(index<0)return;
  3506. if(index>=nsize)return;
  3507. proad = pxodr->GetRoad(index);
  3508. int noldid = atoi(proad->GetRoadId().data());
  3509. char strid[255];
  3510. snprintf(strid,255,"%d",newid);
  3511. proad->SetRoadId(strid);
  3512. for(i=0;i<nsize;i++)
  3513. {
  3514. Road * proad2 = pxodr->GetRoad(i);
  3515. if(proad2->GetPredecessor()!= 0)
  3516. {
  3517. RoadLink * plink = proad2->GetPredecessor();
  3518. if(strncmp(plink->GetElementType().data(),"road",255)== 0)
  3519. {
  3520. if(atoi(plink->GetElementId().data()) == noldid)
  3521. {
  3522. plink->SetElementId(strid);
  3523. }
  3524. }
  3525. }
  3526. if(proad2->GetSuccessor()!= 0)
  3527. {
  3528. RoadLink * plink = proad2->GetSuccessor();
  3529. if(strncmp(plink->GetElementType().data(),"road",255)== 0)
  3530. {
  3531. if(atoi(plink->GetElementId().data()) == noldid)
  3532. {
  3533. plink->SetElementId(strid);
  3534. }
  3535. }
  3536. }
  3537. }
  3538. nsize = pxodr->GetJunctionCount();
  3539. for(i=0;i<nsize;i++)
  3540. {
  3541. Junction * pjunction = pxodr->GetJunction(i);
  3542. int j;
  3543. for(j=0;j<pjunction->GetJunctionConnectionCount();j++)
  3544. {
  3545. JunctionConnection * pjc = pjunction->GetJunctionConnection(j);
  3546. if(atoi(pjc->GetIncomingRoad().data()) == noldid)
  3547. {
  3548. pjc->SetIncomingRoad(strid);
  3549. }
  3550. if(atoi(pjc->GetConnectingRoad().data()) == noldid)
  3551. {
  3552. pjc->SetConnectingRoad(strid);
  3553. }
  3554. }
  3555. }
  3556. }
  3557. void MainWindow::ChangeXODRJunctionID(OpenDrive *pxodr, int index, int newid)
  3558. {
  3559. Junction * pjunction;
  3560. int nsize = pxodr->GetJunctionCount();
  3561. int i;
  3562. if(index<0)return;
  3563. if(index>=nsize)return;
  3564. pjunction = pxodr->GetJunction(index);
  3565. int noldid = atoi(pjunction->GetId().data());
  3566. char strid[255];
  3567. snprintf(strid,255,"%d",newid);
  3568. pjunction->SetId(strid);
  3569. for(i=0;i<nsize;i++)
  3570. {
  3571. Road * proad2 = pxodr->GetRoad(i);
  3572. if(proad2->GetPredecessor()!= 0)
  3573. {
  3574. RoadLink * plink = proad2->GetPredecessor();
  3575. if(strncmp(plink->GetElementType().data(),"junction",255)== 0)
  3576. {
  3577. if(atoi(plink->GetElementId().data()) == noldid)
  3578. {
  3579. plink->SetElementId(strid);
  3580. }
  3581. }
  3582. }
  3583. if(proad2->GetSuccessor()!= 0)
  3584. {
  3585. RoadLink * plink = proad2->GetSuccessor();
  3586. if(strncmp(plink->GetElementType().data(),"junction",255)== 0)
  3587. {
  3588. if(atoi(plink->GetElementId().data()) == noldid)
  3589. {
  3590. plink->SetElementId(strid);
  3591. }
  3592. }
  3593. }
  3594. }
  3595. }
  3596. void MainWindow::MoveXODR(OpenDrive *pxodr, double movex, double movey)
  3597. {
  3598. int nsize = pxodr->GetRoadCount();
  3599. int i;
  3600. for(i=0;i<nsize;i++)
  3601. {
  3602. Road * pRoad = pxodr->GetRoad(i);
  3603. int nblockcount = pRoad->GetGeometryBlockCount();
  3604. int j;
  3605. for(j=0;j<nblockcount;j++)
  3606. {
  3607. GeometryBlock * pgb = pRoad->GetGeometryBlock(j);
  3608. if(pgb != 0)
  3609. {
  3610. pgb->GetGeometryAt(0)->SetX(pgb->GetGeometryAt(0)->GetX() + movex);
  3611. pgb->GetGeometryAt(0)->SetY(pgb->GetGeometryAt(0)->GetY() + movey);
  3612. }
  3613. }
  3614. }
  3615. }
  3616. int MainWindow::FindNewRoadID(OpenDrive *pxodr1, OpenDrive *pxodr2)
  3617. {
  3618. int nroadsize1,nroadsize2;
  3619. nroadsize1 = pxodr1->GetRoadCount();
  3620. nroadsize2 = pxodr2->GetRoadCount();
  3621. int i;
  3622. int * pnid = new int[nroadsize1 + nroadsize2];
  3623. std::shared_ptr<int> ppnid;ppnid.reset(pnid);
  3624. for(i=0;i<nroadsize1;i++)
  3625. {
  3626. pnid[i] = atoi(pxodr1->GetRoad(i)->GetRoadId().data());
  3627. }
  3628. for(i=0;i<nroadsize2;i++)
  3629. {
  3630. pnid[i+nroadsize1] = atoi(pxodr2->GetRoad(i)->GetRoadId().data());
  3631. }
  3632. int nstartid = 40000;
  3633. bool bUsed = true;
  3634. while(bUsed == true)
  3635. {
  3636. bUsed = false;
  3637. for(i=0;i<(nroadsize1 + nroadsize2);i++)
  3638. {
  3639. if(pnid[i] == nstartid)
  3640. {
  3641. bUsed = true;
  3642. break;
  3643. }
  3644. }
  3645. if(bUsed == false)break;
  3646. nstartid++;
  3647. }
  3648. return nstartid;
  3649. }
  3650. int MainWindow::FindNewJunctionID(OpenDrive *pxodr1, OpenDrive *pxodr2)
  3651. {
  3652. int njunctionsize1,njunctionsize2;
  3653. njunctionsize1 = pxodr1->GetJunctionCount();
  3654. njunctionsize2 = pxodr2->GetJunctionCount();
  3655. int i;
  3656. int * pnid = new int[njunctionsize1 + njunctionsize2];
  3657. std::shared_ptr<int> ppnid;ppnid.reset(pnid);
  3658. for(i=0;i<njunctionsize1;i++)
  3659. {
  3660. pnid[i] = atoi(pxodr1->GetJunction(i)->GetId().data());
  3661. }
  3662. for(i=0;i<njunctionsize2;i++)
  3663. {
  3664. pnid[i+njunctionsize1] = atoi(pxodr2->GetJunction(i)->GetId().data());
  3665. }
  3666. int nstartid = 50000;
  3667. bool bUsed = true;
  3668. while(bUsed == true)
  3669. {
  3670. bUsed = false;
  3671. for(i=0;i<(njunctionsize1 + njunctionsize2);i++)
  3672. {
  3673. if(pnid[i] == nstartid)
  3674. {
  3675. bUsed = true;
  3676. break;
  3677. }
  3678. }
  3679. if(bUsed == false)break;
  3680. nstartid++;
  3681. }
  3682. return nstartid;
  3683. }
  3684. void MainWindow::onClickRoadMark()
  3685. {
  3686. mbRefresh = true;
  3687. update();
  3688. }
  3689. void MainWindow::onClickRoadDel()
  3690. {
  3691. if(mpCBRoad->count() == 0)
  3692. {
  3693. QMessageBox::warning(this,"warn","no road to be delete");
  3694. return;
  3695. }
  3696. int nroadid = mpCBRoad->currentText().toInt();
  3697. Road * pRoad = 0;
  3698. int nroadsize = mxodr.GetRoadCount();
  3699. int i;
  3700. int index;
  3701. for(i=0;i<nroadsize;i++)
  3702. {
  3703. if(nroadid == atoi(mxodr.GetRoad(i)->GetRoadId().data()))
  3704. {
  3705. pRoad = mxodr.GetRoad(i);
  3706. index = i;
  3707. break;
  3708. }
  3709. }
  3710. if(pRoad == 0)
  3711. {
  3712. QMessageBox::warning(this,"warn","can't find road");
  3713. return;
  3714. }
  3715. SaveBack();
  3716. mxodr.DeleteRoad(index);
  3717. nroadsize = mxodr.GetRoadCount();
  3718. for(i=0;i<nroadsize;i++)
  3719. {
  3720. pRoad = mxodr.GetRoad(i);
  3721. RoadLink * ppre,* pnext;
  3722. ppre = pRoad->GetPredecessor();
  3723. pnext = pRoad->GetSuccessor();
  3724. if(ppre != 0)
  3725. {
  3726. if(strncmp(ppre->GetElementType().data(),"road",255) == 0)
  3727. {
  3728. if(atoi(ppre->GetElementId().data()) == nroadid)
  3729. {
  3730. pRoad->RemovePredecessor();
  3731. LaneSection * pLS = pRoad->GetLaneSection(0);
  3732. int nlanecount = pLS->GetLaneCount();
  3733. int j;
  3734. for(j=0;j<nlanecount;j++)
  3735. {
  3736. Lane * pLane;
  3737. pLane = pLS->GetLane(j);
  3738. pLane->RemovePredecessor();
  3739. }
  3740. }
  3741. }
  3742. }
  3743. if(pnext != 0)
  3744. {
  3745. if(strncmp(pnext->GetElementType().data(),"road",255) == 0)
  3746. {
  3747. if(atoi(pnext->GetElementId().data()) == nroadid)
  3748. {
  3749. pRoad->RemoveSuccessor();
  3750. LaneSection * pLS = pRoad->GetLaneSection(pRoad->GetLaneSectionCount()-1);
  3751. int nlanecount = pLS->GetLaneCount();
  3752. int j;
  3753. for(j=0;j<nlanecount;j++)
  3754. {
  3755. Lane * pLane;
  3756. pLane = pLS->GetLane(j);
  3757. pLane->RemoveSuccessor();
  3758. }
  3759. }
  3760. }
  3761. }
  3762. }
  3763. //remove juction connection where id = roadid
  3764. int njunctioncount = mxodr.GetJunctionCount();
  3765. Junction * pjunction;
  3766. for(i=0;i<njunctioncount;i++)
  3767. {
  3768. pjunction = mxodr.GetJunction(i);
  3769. int j;
  3770. for(j=0;j<pjunction->GetJunctionConnectionCount();j++)
  3771. {
  3772. JunctionConnection * pjc = pjunction->GetJunctionConnection(j);
  3773. int nfromid = atoi(pjc->GetIncomingRoad().data());
  3774. int ntoid = atoi(pjc->GetConnectingRoad().data());
  3775. if((nfromid == nroadid)||(ntoid == nroadid))
  3776. {
  3777. pjunction->DeleteJunctionConnection(j);
  3778. j--;
  3779. }
  3780. }
  3781. }
  3782. updateCBRoad();
  3783. mbRefresh = true;
  3784. update();
  3785. if(mpCBViewMode->currentIndex() == 1)
  3786. {
  3787. UpdateScene();
  3788. }
  3789. }
  3790. void MainWindow::updateCBRoad()
  3791. {
  3792. mpCBRoad->clear();
  3793. mpCBRoad1->clear();
  3794. mpCBRoad2->clear();
  3795. mpCBJunctionIncommingRoad->clear();
  3796. mpCBJunctionConnectingRoad->clear();
  3797. mpCBPreNxtRoad->clear();
  3798. int i;
  3799. int nroadcount = mxodr.GetRoadCount();
  3800. for(i=0;i<nroadcount;i++)
  3801. {
  3802. const char * strname = mxodr.GetRoad(i)->GetRoadId().data();
  3803. mpCBRoad->addItem(strname);
  3804. mpCBRoad1->addItem(strname);
  3805. mpCBRoad2->addItem(strname);
  3806. mpCBJunctionIncommingRoad->addItem(strname);
  3807. mpCBJunctionConnectingRoad->addItem(strname);
  3808. mpCBPreNxtRoad->addItem(strname);
  3809. }
  3810. }
  3811. void MainWindow::onClickCBRoadChange(int index)
  3812. {
  3813. Road * pRoad = mxodr.GetRoad(index);
  3814. if(pRoad == 0)
  3815. {
  3816. // QMessageBox::warning(this,"WARN","MainWindow::onClickCBRoadChange road is NULL");
  3817. return;
  3818. }
  3819. int i;
  3820. mpLabelRoadShowPreID->setText("");
  3821. mpLabelRoadShowPreType2->setText("");
  3822. mpLabelRoadShowPreType1->setText("");
  3823. mpCBRoadShowPre->clear();
  3824. mpLabelRoadShowNxtID->setText("");
  3825. mpLabelRoadShowNxtType2->setText("");
  3826. mpLabelRoadShowNxtType1->setText("");
  3827. mpCBRoadShowNext->clear();
  3828. if(pRoad->GetPredecessor() != 0)
  3829. {
  3830. RoadLink * pRL = pRoad->GetPredecessor();
  3831. mpLabelRoadShowPreID->setText(pRL->GetElementId().data());
  3832. mpLabelRoadShowPreType2->setText(pRL->GetContactPoint().data());
  3833. mpLabelRoadShowPreType1->setText(pRL->GetElementType().data());
  3834. }
  3835. if(pRoad->GetSuccessor() != 0)
  3836. {
  3837. RoadLink * pRL = pRoad->GetSuccessor();
  3838. mpLabelRoadShowNxtID->setText(pRL->GetElementId().data());
  3839. mpLabelRoadShowNxtType2->setText(pRL->GetContactPoint().data());
  3840. mpLabelRoadShowNxtType1->setText(pRL->GetElementType().data());
  3841. }
  3842. LaneSection * pLS = pRoad->GetLaneSection(0);
  3843. int nlanecount = pLS->GetLaneCount();
  3844. for(i=0;i<nlanecount;i++)
  3845. {
  3846. char strout[255];
  3847. char strtem[255];
  3848. Lane * pLane = pLS->GetLane(i);
  3849. snprintf(strout,255,"%d type:%s",pLane->GetId(),pLane->GetType().data());
  3850. if(pLane->IsPredecessorSet())
  3851. {
  3852. snprintf(strtem,255," pre:%d",pLane->GetPredecessor());
  3853. strncat(strout,strtem,255);
  3854. }
  3855. mpCBRoadShowPre->addItem(strout);
  3856. }
  3857. pLS = pRoad->GetLaneSection(pRoad->GetLaneSectionCount()-1);
  3858. nlanecount = pLS->GetLaneCount();
  3859. for(i=0;i<nlanecount;i++)
  3860. {
  3861. char strout[255];
  3862. char strtem[255];
  3863. Lane * pLane = pLS->GetLane(i);
  3864. snprintf(strout,255,"%d type:%s",pLane->GetId(),pLane->GetType().data());
  3865. if(pLane->IsSuccessorSet())
  3866. {
  3867. snprintf(strtem,255," suc:%d",pLane->GetSuccessor());
  3868. strncat(strout,strtem,255);
  3869. }
  3870. mpCBRoadShowNext->addItem(strout);
  3871. }
  3872. }
  3873. void MainWindow::updateJunction()
  3874. {
  3875. int i;
  3876. int njunctioncount = mxodr.GetJunctionCount();
  3877. mpCBJunction->clear();
  3878. for(i=0;i<njunctioncount;i++)
  3879. {
  3880. Junction * pjunction = mxodr.GetJunction(i);
  3881. mpCBJunction->addItem(pjunction->GetId().data());
  3882. }
  3883. }
  3884. void MainWindow::onClickCBJunctionChange(int index)
  3885. {
  3886. mpCBJunctionConnection->clear();
  3887. Junction * pjunction = mxodr.GetJunction(index);
  3888. if(pjunction == NULL)
  3889. {
  3890. // QMessageBox::warning(this,"warn","MainWindow::onClickCBJunctionChange can't find junction");
  3891. return;
  3892. }
  3893. int nconnectioncount = pjunction->GetJunctionConnectionCount();
  3894. int i;
  3895. for(i=0;i<nconnectioncount;i++)
  3896. {
  3897. JunctionConnection * pJC = pjunction->GetJunctionConnection(i);
  3898. mpCBJunctionConnection->addItem(pJC->GetId().data());
  3899. }
  3900. mpCBJunctionFromTo->clear();
  3901. mpLabelJunctionConnectingRoad->setText("");
  3902. mpLabelJunctionContactPoint->setText("");
  3903. mpLabelJunctionIncommingRoad->setText("");
  3904. if(pjunction->GetJunctionConnectionCount()>0)
  3905. {
  3906. mpCBJunctionConnection->setCurrentIndex(0);
  3907. onClickCBJunctionConnectionChange(0);
  3908. }
  3909. }
  3910. void MainWindow::onClickCBJunctionConnectionChange(int index)
  3911. {
  3912. // mpCBJunctionIncommingRoad->clear();
  3913. // mpCBJunctionConnectingRoad->clear();
  3914. // mpCBJunctionFromLane->clear();
  3915. // mpCBJunctionToLane->clear();
  3916. Junction * pjunction = mxodr.GetJunction(mpCBJunction->currentIndex());
  3917. if(pjunction == NULL)
  3918. {
  3919. std::cout<<"MainWindow::onClickCBJunctionConnectionChange Junction NULL"<<std::endl;
  3920. return;
  3921. }
  3922. if((index<0)||(index>= pjunction->GetJunctionConnectionCount()))
  3923. {
  3924. // std::cout<<"MainWindow::onClickCBJunctionConnectionChange out range."<<std::endl;
  3925. return;
  3926. }
  3927. JunctionConnection * pJC = pjunction->GetJunctionConnection(index);
  3928. if(pJC == NULL)
  3929. {
  3930. std::cout<<"MainWindow::onClickCBJunctionConnectionChange Junction Connection NULL"<<std::endl;
  3931. return;
  3932. }
  3933. mpLabelJunctionIncommingRoad->setText(pJC->GetIncomingRoad().data());
  3934. mpLabelJunctionContactPoint->setText(pJC->GetContactPoint().data());
  3935. mpLabelJunctionConnectingRoad->setText(pJC->GetConnectingRoad().data());
  3936. unsigned int i;
  3937. unsigned int njunctionlanelinkcount = pJC->GetJunctionLaneLinkCount();
  3938. mpCBJunctionFromTo->clear();
  3939. for(i=0;i<njunctionlanelinkcount;i++)
  3940. {
  3941. char strout[255];
  3942. JunctionLaneLink * pjll = pJC->GetJunctionLaneLink(i);
  3943. snprintf(strout,255,"%d to %d",pjll->GetFrom(),pjll->GetTo());
  3944. mpCBJunctionFromTo->addItem(strout);
  3945. }
  3946. }
  3947. void MainWindow::onClickCBJunctionIncommingChange(int index)
  3948. {
  3949. int i;
  3950. int ncount = mxodr.GetRoadCount();
  3951. if((index < 0)||(index>=ncount))
  3952. {
  3953. return;
  3954. }
  3955. Road * pRoad = mxodr.GetRoad(index);
  3956. if(pRoad == NULL)
  3957. {
  3958. return;
  3959. }
  3960. LaneSection * pLS;
  3961. if(mpCBJunctionContactPoint->currentIndex() == 0)
  3962. {
  3963. pLS = pRoad->GetLaneSection(0);
  3964. }
  3965. else
  3966. {
  3967. pLS = pRoad->GetLaneSection(pRoad->GetLaneSectionCount()-1);
  3968. }
  3969. int nlanecount = pLS->GetLaneCount();
  3970. mpCBJunctionFromLane->clear();
  3971. for(i=0;i<nlanecount;i++)
  3972. {
  3973. Lane * pLane = pLS->GetLane(i);
  3974. if(pLane->GetId() != 0)
  3975. {
  3976. mpCBJunctionFromLane->addItem(QString::number(pLane->GetId()));
  3977. }
  3978. }
  3979. }
  3980. void MainWindow::onClickCBJunctionConnectionroadChange(int index)
  3981. {
  3982. int i;
  3983. int ncount = mxodr.GetRoadCount();
  3984. if((index < 0)||(index>=ncount))
  3985. {
  3986. return;
  3987. }
  3988. Road * pRoad = mxodr.GetRoad(index);
  3989. if(pRoad == NULL)
  3990. {
  3991. return;
  3992. }
  3993. LaneSection * pLS;
  3994. pLS = pRoad->GetLaneSection(0);
  3995. int nlanecount = pLS->GetLaneCount();
  3996. mpCBJunctionToLane->clear();
  3997. for(i=0;i<nlanecount;i++)
  3998. {
  3999. Lane * pLane = pLS->GetLane(i);
  4000. if(pLane->GetId() != 0)
  4001. {
  4002. mpCBJunctionToLane->addItem(QString::number(pLane->GetId()));
  4003. }
  4004. }
  4005. }
  4006. void MainWindow::onClickCreateJunction()
  4007. {
  4008. mxodr.AddJunction("",QString::number(CreateJunctionID()).toStdString());
  4009. updateJunction();
  4010. }
  4011. void MainWindow::onClickCreateJunctionLaneLink()
  4012. {
  4013. Junction * pJunction= mxodr.GetJunction(mpCBJunction->currentIndex());
  4014. if(pJunction == NULL)
  4015. {
  4016. QMessageBox::warning(this,"warn","can't find junction");
  4017. return ;
  4018. }
  4019. Road * pFromRoad = mxodr.GetRoad(mpCBJunctionIncommingRoad->currentIndex());
  4020. if(pFromRoad == NULL)
  4021. {
  4022. QMessageBox::warning(this,"warn","can't find incomming road.");
  4023. return;
  4024. }
  4025. Road * pToRoad = mxodr.GetRoad(mpCBJunctionConnectingRoad->currentIndex());
  4026. if(pToRoad == NULL)
  4027. {
  4028. QMessageBox::warning(this,"warn","can't find connecting road.");
  4029. return;
  4030. }
  4031. string contacpoint = mpCBJunctionContactPoint->currentText().toStdString();
  4032. JunctionConnection * pJC = 0;
  4033. int njunctioncount = pJunction->GetJunctionConnectionCount();
  4034. int i;
  4035. for(i=0;i<njunctioncount;i++)
  4036. {
  4037. JunctionConnection * pJunCon = pJunction->GetJunctionConnection(i);
  4038. if((pJunCon->GetIncomingRoad() == pFromRoad->GetRoadId())&&(pJunCon->GetContactPoint() == contacpoint)&&(pJunCon->GetConnectingRoad() == pToRoad->GetRoadId()))
  4039. {
  4040. pJC = pJunCon;
  4041. break;
  4042. }
  4043. }
  4044. bool bNewJC = false;
  4045. if(pJC == 0)
  4046. {
  4047. int nnewJCid = pJunction->GetJunctionConnectionCount();
  4048. int j;
  4049. int njccount = pJunction->GetJunctionConnectionCount();
  4050. bool bNotUse = true;
  4051. do
  4052. {
  4053. for(j=0;j<njccount;j++)
  4054. {
  4055. if(nnewJCid == atoi(pJunction->GetJunctionConnection(j)->GetId().data()))
  4056. {
  4057. bNotUse = false;
  4058. nnewJCid++;
  4059. break;
  4060. }
  4061. }
  4062. }while(bNotUse == false);
  4063. unsigned int addindex = pJunction->AddJunctionConnection(QString::number(nnewJCid).toStdString(),
  4064. pFromRoad->GetRoadId(),
  4065. pToRoad->GetRoadId(),
  4066. contacpoint);
  4067. pJC = pJunction->GetJunctionConnection(addindex);
  4068. bNewJC = true;
  4069. }
  4070. int nfrom = mpCBJunctionFromLane->currentText().toInt();
  4071. int nto = mpCBJunctionToLane->currentText().toInt();
  4072. int njlcount = pJC->GetJunctionLaneLinkCount();
  4073. for(i=0;i<njlcount;i++)
  4074. {
  4075. JunctionLaneLink * pjll = pJC->GetJunctionLaneLink(i);
  4076. if((pjll->GetFrom()== nfrom)&&(pjll->GetTo() == nto))
  4077. {
  4078. QMessageBox::warning(this,"warn","this lane link exist.");
  4079. return;
  4080. }
  4081. }
  4082. unsigned int nadd = pJC->AddJunctionLaneLink(mpCBJunctionFromLane->currentText().toInt(),
  4083. mpCBJunctionToLane->currentText().toInt());
  4084. char strout[255];
  4085. JunctionLaneLink * pjll = pJC->GetJunctionLaneLink(nadd);
  4086. snprintf(strout,255,"%d to %d",pjll->GetFrom(),pjll->GetTo());
  4087. if(bNewJC)
  4088. {
  4089. mpCBJunctionConnection->addItem(pJC->GetId().data());
  4090. }
  4091. if(strncmp(contacpoint.data(),"start",255) == 0)
  4092. {
  4093. if(nfrom*nto<0)
  4094. {
  4095. pFromRoad->SetPredecessor("junction",pJunction->GetId(),contacpoint);
  4096. }
  4097. else
  4098. {
  4099. pFromRoad->SetSuccessor("junction",pJunction->GetId(),contacpoint);
  4100. }
  4101. }
  4102. else
  4103. {
  4104. if(nfrom*nto <0)
  4105. {
  4106. pFromRoad->SetSuccessor("junction",pJunction->GetId(),contacpoint);
  4107. }
  4108. else
  4109. {
  4110. pFromRoad->SetPredecessor("junction",pJunction->GetId(),contacpoint);
  4111. }
  4112. }
  4113. pToRoad->SetRoadJunction(pJunction->GetId());
  4114. }
  4115. void MainWindow::onClickDeleteJunctionLaneLink()
  4116. {
  4117. Junction * pJunction= mxodr.GetJunction(mpCBJunction->currentIndex());
  4118. if(pJunction == NULL)
  4119. {
  4120. QMessageBox::warning(this,"warn","can't find junction");
  4121. return ;
  4122. }
  4123. if(pJunction->GetJunctionConnectionCount() == 0)
  4124. {
  4125. mxodr.DeleteJunction(mpCBJunction->currentIndex());
  4126. updateJunction();
  4127. return;
  4128. }
  4129. JunctionConnection * pJC = pJunction->GetJunctionConnection(mpCBJunctionConnection->currentIndex());
  4130. if(pJC == NULL)
  4131. {
  4132. QMessageBox::warning(this,"warn","can't find junction connetion.");
  4133. return;
  4134. }
  4135. if(pJC->GetJunctionLaneLinkCount() == 0)
  4136. {
  4137. pJunction->DeleteJunctionConnection(mpCBJunctionConnection->currentIndex());
  4138. if(pJunction->GetJunctionConnectionCount() > 0)
  4139. onClickCBJunctionChange(mpCBJunction->currentIndex());
  4140. else
  4141. {
  4142. mxodr.DeleteJunction(mpCBJunction->currentIndex());
  4143. updateJunction();
  4144. }
  4145. return;
  4146. }
  4147. // std::string strincommingroad = mpLabelJunctionIncommingRoad->text().toStdString();
  4148. // std::string strconnectionroad = mpLabelJunctionConnectingRoad->text().toStdString();
  4149. // std::string strcontact = mpLabelJunctionContactPoint->text().toStdString();
  4150. int nllindex = mpCBJunctionFromTo->currentIndex();
  4151. pJC->DeleteJunctionLaneLink(nllindex);
  4152. onClickCBJunctionConnectionChange(mpCBJunctionConnection->currentIndex());
  4153. }
  4154. void MainWindow::onClickPreNxtRoadChange(int index)
  4155. {
  4156. mpCBPreNxtRelLane->clear();
  4157. Road * pRoad = mxodr.GetRoad(index);
  4158. if(pRoad == NULL)
  4159. {
  4160. return;
  4161. }
  4162. LaneSection * pLS;
  4163. if(strncmp(mpCBPreNxtConatact->currentText().toStdString().data(),"start",255)==0)
  4164. {
  4165. pLS = pRoad->GetLaneSection(0);
  4166. }
  4167. else
  4168. {
  4169. pLS = pRoad->GetLaneSection(pRoad->GetLaneSectionCount()-1);
  4170. }
  4171. if(pLS == NULL)
  4172. {
  4173. std::cout<<"MainWindow::onClickPreNxtRoadChange can't find lanesection"<<std::endl;
  4174. return;
  4175. }
  4176. int nlanecount = pLS->GetLaneCount();
  4177. int i;
  4178. for(i=0;i<nlanecount;i++)
  4179. {
  4180. Lane * pLane = pLS->GetLane(i);
  4181. char strout[255];
  4182. snprintf(strout,255,"%d %s",pLane->GetId(),pLane->GetType().data());
  4183. mpCBPreNxtRelLane->addItem(strout);
  4184. }
  4185. }
  4186. void MainWindow::onClickSetRoadPredecessor()
  4187. {
  4188. Road * pRoad = mxodr.GetRoad(mpCBRoad->currentIndex());
  4189. if(pRoad == NULL)
  4190. {
  4191. return;
  4192. }
  4193. Road * pOtherRoad = mxodr.GetRoad(mpCBPreNxtRoad->currentIndex());
  4194. if(pOtherRoad == NULL)
  4195. {
  4196. return;
  4197. }
  4198. std::string strcontact = mpCBPreNxtConatact->currentText().toStdString();
  4199. int curlane = mpCBRoadShowPre->currentIndex();
  4200. int otherlane = mpCBPreNxtRelLane->currentIndex();
  4201. pRoad->SetPredecessor("road",pOtherRoad->GetRoadId(),strcontact);
  4202. LaneSection * pLS = pRoad->GetLaneSection(0);
  4203. Lane * pLane =pLS->GetLane(curlane);
  4204. LaneSection * pLSOther;
  4205. if(strncmp(strcontact.data(),"start",0) == 0)
  4206. {
  4207. pLSOther = pOtherRoad->GetLaneSection(0);
  4208. }
  4209. else
  4210. {
  4211. pLSOther = pOtherRoad->GetLaneSection(pOtherRoad->GetLaneSectionCount()-1);
  4212. }
  4213. Lane * pLaneOther = pLSOther->GetLane(otherlane);
  4214. if(pLaneOther == NULL)
  4215. {
  4216. QMessageBox::warning(this,"warn","no this lane.");
  4217. return;
  4218. }
  4219. pLane->SetPredecessor(pLaneOther->GetId());
  4220. onClickCBRoadChange(mpCBRoad->currentIndex());
  4221. }
  4222. void MainWindow::onClickSetRoadSuccessor()
  4223. {
  4224. Road * pRoad = mxodr.GetRoad(mpCBRoad->currentIndex());
  4225. if(pRoad == NULL)
  4226. {
  4227. return;
  4228. }
  4229. Road * pOtherRoad = mxodr.GetRoad(mpCBPreNxtRoad->currentIndex());
  4230. if(pOtherRoad == NULL)
  4231. {
  4232. return;
  4233. }
  4234. std::string strcontact = mpCBPreNxtConatact->currentText().toStdString();
  4235. int curlane = mpCBRoadShowNext->currentIndex();
  4236. int otherlane = mpCBPreNxtRelLane->currentIndex();
  4237. pRoad->SetSuccessor("road",pOtherRoad->GetRoadId(),strcontact);
  4238. LaneSection * pLS = pRoad->GetLaneSection(pRoad->GetLaneSectionCount()-1);
  4239. Lane * pLane =pLS->GetLane(curlane);
  4240. LaneSection * pLSOther;
  4241. if(strncmp(strcontact.data(),"start",0) == 0)
  4242. {
  4243. pLSOther = pOtherRoad->GetLaneSection(0);
  4244. }
  4245. else
  4246. {
  4247. pLSOther = pOtherRoad->GetLaneSection(pOtherRoad->GetLaneSectionCount()-1);
  4248. }
  4249. Lane * pLaneOther = pLSOther->GetLane(otherlane);
  4250. if(pLaneOther == NULL)
  4251. {
  4252. QMessageBox::warning(this,"warn","no this lane.");
  4253. return;
  4254. }
  4255. pLane->SetSuccessor(pLaneOther->GetId());
  4256. onClickCBRoadChange(mpCBRoad->currentIndex());
  4257. }
  4258. void MainWindow::onClickDelRoadPredecessor()
  4259. {
  4260. Road * pRoad = mxodr.GetRoad(mpCBRoad->currentIndex());
  4261. if(pRoad == NULL)
  4262. {
  4263. return;
  4264. }
  4265. int curlane = mpCBRoadShowPre->currentIndex();
  4266. LaneSection * pLS = pRoad->GetLaneSection(0);
  4267. Lane * pLane =pLS->GetLane(curlane);
  4268. if(pLane == 0)
  4269. {
  4270. return;
  4271. }
  4272. pLane->RemovePredecessor();
  4273. int i;
  4274. int nlanecount = pLS->GetLaneCount();
  4275. bool bAllNotHavePre = true;
  4276. for(i=0;i<nlanecount;i++)
  4277. {
  4278. Lane * pLa= pLS->GetLane(i);
  4279. if(pLa->IsPredecessorSet())
  4280. {
  4281. bAllNotHavePre = false;
  4282. break;
  4283. }
  4284. }
  4285. if(bAllNotHavePre)
  4286. {
  4287. pRoad->RemovePredecessor();
  4288. }
  4289. onClickCBRoadChange(mpCBRoad->currentIndex());
  4290. }
  4291. void MainWindow::onClickDelRoadSuccessor()
  4292. {
  4293. Road * pRoad = mxodr.GetRoad(mpCBRoad->currentIndex());
  4294. if(pRoad == NULL)
  4295. {
  4296. return;
  4297. }
  4298. int curlane = mpCBRoadShowNext->currentIndex();
  4299. LaneSection * pLS = pRoad->GetLaneSection(pRoad->GetLaneSectionCount()-1);
  4300. Lane * pLane =pLS->GetLane(curlane);
  4301. if(pLane == 0)
  4302. {
  4303. return;
  4304. }
  4305. pLane->RemoveSuccessor();
  4306. int i;
  4307. int nlanecount = pLS->GetLaneCount();
  4308. bool bAllNotHaveNxt = true;
  4309. for(i=0;i<nlanecount;i++)
  4310. {
  4311. Lane * pLa= pLS->GetLane(i);
  4312. if(pLa->IsSuccessorSet())
  4313. {
  4314. bAllNotHaveNxt = false;
  4315. break;
  4316. }
  4317. }
  4318. if(bAllNotHaveNxt)
  4319. {
  4320. pRoad->RemoveSuccessor();
  4321. }
  4322. onClickCBRoadChange(mpCBRoad->currentIndex());
  4323. }
  4324. void MainWindow::onClickAutoConnect()
  4325. {
  4326. if(mxodr.GetRoadCount() <= 0)
  4327. {
  4328. QMessageBox::warning(this,"Warning","OpenDrive Road Count is 0.",QMessageBox::YesAll);
  4329. return;
  4330. }
  4331. AutoConnect pAC(&mxodr);
  4332. pAC.Connect();
  4333. updateJunction();
  4334. }
  4335. void MainWindow::on_actionLoad_triggered()
  4336. {
  4337. onClickLoad();
  4338. }
  4339. void MainWindow::on_actionSave_triggered()
  4340. {
  4341. onClickSave();
  4342. }
  4343. void MainWindow::on_actionAutoConnect_triggered()
  4344. {
  4345. onClickAutoConnect();
  4346. }
  4347. void MainWindow::on_actionSet_Speed_triggered()
  4348. {
  4349. std::string strroadid = mpCBRoad->currentText().toStdString();
  4350. SpeedDialog sd(&mxodr,strroadid,this);
  4351. int res = sd.exec();
  4352. }
  4353. void MainWindow::closeEvent(QCloseEvent *event)
  4354. {
  4355. if(mxodr.GetRoadCount() == 0)
  4356. {
  4357. event->accept(); // 接受退出信号,程序退出
  4358. return;
  4359. }
  4360. QMessageBox::StandardButton button;
  4361. button=QMessageBox::question(this,tr("退出程序"),QString(tr("确认退出程序")),QMessageBox::Yes|QMessageBox::No);
  4362. if(button==QMessageBox::No)
  4363. {
  4364. event->ignore(); // 忽略退出信号,程序继续进行
  4365. }
  4366. else if(button==QMessageBox::Yes)
  4367. {
  4368. event->accept(); // 接受退出信号,程序退出
  4369. }
  4370. }
  4371. void MainWindow::on_actionSet_Traffic_Light_triggered()
  4372. {
  4373. std::string strroadid = mpCBRoad->currentText().toStdString();
  4374. TrafficLightDialog td(&mxodr,strroadid,this);
  4375. int res = td.exec();
  4376. }
  4377. void MainWindow::on_actionEdit_Road_Lane_triggered()
  4378. {
  4379. }
  4380. void MainWindow::on_actionEdit_Road_triggered()
  4381. {
  4382. SaveBack();
  4383. std::string strroadid = mpCBRoad->currentText().toStdString();
  4384. RoadEditDialog rd(&mxodr,strroadid,this);
  4385. int res = rd.exec();
  4386. updateCBRoad();
  4387. mbRefresh = true;
  4388. update();
  4389. if(mpCBViewMode->currentIndex() == 1)
  4390. {
  4391. UpdateScene();
  4392. }
  4393. }
  4394. void MainWindow::on_actionAdd_Road_From_RTK_triggered()
  4395. {
  4396. SaveBack();
  4397. DialogAddRoadFromRTK arfrd(&mxodr,glon0,glat0,this);
  4398. arfrd.exec();
  4399. mpLELat0->setText(QString::number(glat0,'f',7));
  4400. mpLELon0->setText(QString::number(glon0,'f',7));
  4401. updateCBRoad();
  4402. mbRefresh = true;
  4403. update();
  4404. }
  4405. void MainWindow::onClickSetMove()
  4406. {
  4407. double fMoveX = mpLE_SelX->text().toDouble();
  4408. double fMoveY = mpLE_SelY->text().toDouble();
  4409. mfViewMoveX = mfViewMoveX - fMoveX;
  4410. mfViewMoveY = mfViewMoveY - fMoveY;
  4411. mbRefresh = true;
  4412. update();
  4413. mpLEViewMoveX->setText(QString::number(mfViewMoveX,'f',2));
  4414. mpLEViewMoveY->setText(QString::number(mfViewMoveY,'f',2));
  4415. // updateView();
  4416. }
  4417. void MainWindow::onClickReSetMove()
  4418. {
  4419. mfViewMoveX = 0;
  4420. mfViewMoveY = 0;
  4421. mbRefresh = true;
  4422. update();
  4423. mpLEViewMoveX->setText(QString::number(mfViewMoveX,'f',2));
  4424. mpLEViewMoveY->setText(QString::number(mfViewMoveY,'f',2));
  4425. }
  4426. void MainWindow::on_actionSummary_Road_triggered()
  4427. {
  4428. int nroadnum = mxodr.GetRoadCount();
  4429. int i;
  4430. double flen = 0;
  4431. for(i=0;i<nroadnum;i++)
  4432. {
  4433. flen = flen + mxodr.GetRoad(i)->GetRoadLength();
  4434. }
  4435. char strout[256];
  4436. snprintf(strout,256,"Road Count:%d Length Total:%f",nroadnum,flen);
  4437. QMessageBox::information(this,"Summary",QString(strout),QMessageBox::YesAll);
  4438. }
  4439. void MainWindow::on_actionSplit_Road_triggered()
  4440. {
  4441. }
  4442. void MainWindow::UpdateScene()
  4443. {
  4444. int i;
  4445. int nsize = mvectorviewitem.size();
  4446. for(i=0;i<nsize;i++)
  4447. {
  4448. mpscene->removeItem(mvectorviewitem.at(i));
  4449. delete mvectorviewitem.at(i);
  4450. }
  4451. mvectorviewitem.clear();
  4452. nsize = mxodr.GetRoadCount();
  4453. std::vector<RoadDigit> xvectorrd;
  4454. for(i=0;i<nsize;i++)
  4455. {
  4456. RoadDigit xrd(mxodr.GetRoad(i),5.0);
  4457. xvectorrd.push_back(xrd);
  4458. // UpdateSceneRoad(mxodr.GetRoad(i));
  4459. // qDebug("update road %d",i);
  4460. }
  4461. for(i=0;i<nsize;i++)
  4462. {
  4463. std::vector<QGraphicsPathItem *> xvectorlanepath = xodrscenfunc::GetRoadLaneItem(&(xvectorrd[i]));
  4464. int j;
  4465. int ncount = xvectorlanepath.size();
  4466. for(j=0;j<ncount;j++)
  4467. {
  4468. QGraphicsPathItem * pitem = xvectorlanepath[j];
  4469. pitem->setPos(mfViewMoveX +VIEW_WIDTH/2,-mfViewMoveY+VIEW_HEIGHT/2);
  4470. mpscene->addItem(pitem);
  4471. mvectorviewitem.push_back(pitem);
  4472. }
  4473. }
  4474. for(i=0;i<nsize;i++)
  4475. {
  4476. std::vector<QGraphicsPathItem *> xvectormarkpath = xodrscenfunc::GetRoadMarkItem(&(xvectorrd[i]));
  4477. int j;
  4478. int ncount = xvectormarkpath.size();
  4479. for(j=0;j<ncount;j++)
  4480. {
  4481. QGraphicsPathItem * pitem = xvectormarkpath[j];
  4482. pitem->setPos(mfViewMoveX +VIEW_WIDTH/2,-mfViewMoveY+VIEW_HEIGHT/2);
  4483. mpscene->addItem(pitem);
  4484. mvectorviewitem.push_back(pitem);
  4485. }
  4486. }
  4487. mbRefresh = false;
  4488. }
  4489. void MainWindow::onViewModeChange(int index)
  4490. {
  4491. if(index == 1)
  4492. {
  4493. UpdateScene();
  4494. }
  4495. mnViewMode = index;
  4496. mbRefresh = true;
  4497. update();
  4498. }
  4499. void MainWindow::on_actionCalc_Road_S_triggered()
  4500. {
  4501. DialogCalcS calcs(&mxodr,glon0,glat0,this);
  4502. calcs.exec();
  4503. }
  4504. void MainWindow::on_actionBack_triggered()
  4505. {
  4506. if(mvectorxodrback.size()>0)
  4507. {
  4508. mxodr = mvectorxodrback.at(mvectorxodrback.size() -1);
  4509. updateCBRoad();
  4510. mbRefresh = true;
  4511. update();
  4512. if(mpCBViewMode->currentIndex() == 1)
  4513. {
  4514. UpdateScene();
  4515. }
  4516. mvectorxodrback.erase(mvectorxodrback.begin() + mvectorxodrback.size()-1);
  4517. }
  4518. else
  4519. {
  4520. QMessageBox::warning(this,"Warning","No Back Option",QMessageBox::YesAll);
  4521. }
  4522. }
  4523. void MainWindow::SaveBack()
  4524. {
  4525. if(mxodr.GetRoadCount() > 0)
  4526. {
  4527. mvectorxodrback.push_back(mxodr);
  4528. if(mvectorxodrback.size() > 10)
  4529. {
  4530. mvectorxodrback.erase(mvectorxodrback.begin());
  4531. }
  4532. }
  4533. }