import java.awt.image.*;
import java.awt.event.*;
import javax.swing.*;
+import javax.swing.event.MouseInputAdapter;
import javax.imageio.ImageIO;
import javax.swing.table.*;
import java.io.*;
import java.awt.geom.Point2D;
import java.awt.geom.Line2D;
-public class AltosSiteMap extends JComponent implements AltosFlightDisplay {
- double lat, lng;
- int zoom;
- double scale_x, scale_y;
- Point2D.Double coord_pt;
- Point2D.Double last_pt;
-
- Graphics2D g2d;
-
- private void setLocation(double new_lat, double new_lng, int new_zoom) {
- lat = new_lat;
- lng = new_lng;
- zoom = new_zoom;
- scale_x = 256/360.0 * Math.pow(2, zoom);
- scale_y = 256/(2.0*Math.PI) * Math.pow(2, zoom);
- coord_pt = pt(lat, lng, new Point2D.Double(0,0));
- coord_pt.x = 320-coord_pt.x;
- coord_pt.y = 320-coord_pt.y;
- last_pt = null;
- }
-
- private static double limit(double v, double lo, double hi) {
- if (v < lo)
- return lo;
- if (hi < v)
- return hi;
- return v;
- }
-
- // based on google js
- // http://maps.gstatic.com/intl/en_us/mapfiles/api-3/2/10/main.js
- // search for fromLatLngToPoint and fromPointToLatLng
- private Point2D.Double pt(double lat, double lng) {
- return pt(lat, lng, coord_pt);
- }
-
- private Point2D.Double pt(double lat, double lng, Point2D.Double centre) {
- Point2D.Double res = new Point2D.Double();
- double e;
-
- res.x = centre.x + lng*scale_x;
- e = limit(Math.sin(Math.toRadians(lat)),-(1-1.0E-15),1-1.0E-15);
- res.y = centre.y + 0.5*Math.log((1+e)/(1-e))*-scale_y;
- return res;
- }
-
-
- public void reset() {
- // ?
- }
-
- static Color stateColors[] = {
- Color.WHITE, // startup
- Color.WHITE, // idle
- Color.WHITE, // pad
- Color.RED, // boost
- Color.PINK, // fast
- Color.YELLOW, // coast
- Color.CYAN, // drogue
- Color.BLUE, // main
- Color.BLACK // landed
- };
-
- public void show(AltosState state, int crc_errors) {
- if (!state.gps_ready)
- return;
- Point2D.Double pt = pt(state.gps.lat, state.gps.lon);
- if (last_pt != null && pt != last_pt) {
- if (0 <= state.state && state.state < stateColors.length) {
- g2d.setColor(stateColors[state.state]);
- }
- g2d.draw(new Line2D.Double(last_pt, pt));
- }
- last_pt = pt;
- repaint();
- }
-
- public AltosSiteMap() {
- GridBagLayout layout = new GridBagLayout();
- setLayout(layout);
-
- GridBagConstraints c = new GridBagConstraints();
-
- setLocation(-27.850, 152.960, 15);
- String pngfile = "/home/aj/qrs-S27.850,W152.960-15.png";
-
- c.gridx = 0; c.gridy = 0;
- c.weightx = 1; c.weighty = 1;
- c.anchor = GridBagConstraints.CENTER;
- c.fill = GridBagConstraints.BOTH;
-
- try {
- BufferedImage myPicture = ImageIO.read(new File(pngfile));
- g2d = myPicture.createGraphics();
- JLabel picLabel = new JLabel(new ImageIcon( myPicture ));
- JScrollPane scrollPane = new JScrollPane(picLabel);
- layout.setConstraints(scrollPane, c);
- add(scrollPane);
- } catch (Exception e) {
- throw new RuntimeException(e);
- };
- }
-}
+public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay {
+ // preferred vertical step in a tile in naut. miles
+ // will actually choose a step size between x and 2x, where this
+ // is 1.5x
+ static final double tile_size_nmi = 0.75;
+
+ static final int px_size = 512;
+
+ static final int MAX_TILE_DELTA = 100;
+
+ private static Point2D.Double translatePoint(Point2D.Double p,
+ Point2D.Double d)
+ {
+ return new Point2D.Double(p.x + d.x, p.y + d.y);
+ }
+
+ static class LatLng {
+ public double lat, lng;
+ public LatLng(double lat, double lng) {
+ this.lat = lat;
+ this.lng = lng;
+ }
+ }
+
+ // based on google js
+ // http://maps.gstatic.com/intl/en_us/mapfiles/api-3/2/10/main.js
+ // search for fromLatLngToPoint and fromPointToLatLng
+ private static Point2D.Double pt(LatLng latlng, int zoom) {
+ double scale_x = 256/360.0 * Math.pow(2, zoom);
+ double scale_y = 256/(2.0*Math.PI) * Math.pow(2, zoom);
+ return pt(latlng, scale_x, scale_y);
+ }
+
+ private static Point2D.Double pt(LatLng latlng,
+ double scale_x, double scale_y)
+ {
+ Point2D.Double res = new Point2D.Double();
+ double e;
+
+ res.x = latlng.lng * scale_x;
+
+ e = Math.sin(Math.toRadians(latlng.lat));
+ e = Math.max(e,-(1-1.0E-15));
+ e = Math.min(e, 1-1.0E-15 );
+
+ res.y = 0.5*Math.log((1+e)/(1-e))*-scale_y;
+ return res;
+ }
+
+ static private LatLng latlng(Point2D.Double pt,
+ double scale_x, double scale_y)
+ {
+ double lat, lng;
+ double rads;
+
+ lng = pt.x/scale_x;
+ rads = 2 * Math.atan(Math.exp(-pt.y/scale_y));
+ lat = Math.toDegrees(rads - Math.PI/2);
+
+ return new LatLng(lat,lng);
+ }
+
+ int zoom;
+ double scale_x, scale_y;
+
+ private Point2D.Double pt(double lat, double lng) {
+ return pt(new LatLng(lat, lng), scale_x, scale_y);
+ }
+
+ private LatLng latlng(double x, double y) {
+ return latlng(new Point2D.Double(x,y), scale_x, scale_y);
+ }
+ private LatLng latlng(Point2D.Double pt) {
+ return latlng(pt, scale_x, scale_y);
+ }
+
+ HashMap<Point,AltosSiteMapTile> mapTiles = new HashMap<Point,AltosSiteMapTile>();
+ Point2D.Double centre;
+
+ private Point2D.Double tileCoordOffset(Point p) {
+ return new Point2D.Double(centre.x - p.x*px_size,
+ centre.y - p.y * px_size);
+ }
+
+ private Point tileOffset(Point2D.Double p) {
+ return new Point((int)Math.floor((centre.x+p.x)/px_size),
+ (int)Math.floor((centre.y+p.y)/px_size));
+ }
+
+ private Point2D.Double getBaseLocation(double lat, double lng) {
+ Point2D.Double locn, north_step;
+
+ zoom = 2;
+ // stupid loop structure to please Java's control flow analysis
+ do {
+ zoom++;
+ scale_x = 256/360.0 * Math.pow(2, zoom);
+ scale_y = 256/(2.0*Math.PI) * Math.pow(2, zoom);
+ locn = pt(lat, lng);
+ north_step = pt(lat+tile_size_nmi*4/3/60.0, lng);
+ if (locn.y - north_step.y > px_size)
+ break;
+ } while (zoom < 22);
+ locn.x = -px_size * Math.floor(locn.x/px_size);
+ locn.y = -px_size * Math.floor(locn.y/px_size);
+ return locn;
+ }
+
+ public void reset() {
+ // nothing
+ }
+
+ private void bgLoadMap(final AltosSiteMapTile tile,
+ final File pngfile, final String pngurl)
+ {
+ //System.out.printf("Loading/fetching map %s\n", pngfile);
+ Thread thread = new Thread() {
+ public void run() {
+ ImageIcon res;
+ res = AltosSiteMapCache.fetchAndLoadMap(pngfile, pngurl);
+ if (res != null) {
+ tile.loadMap(res);
+ } else {
+ System.out.printf("# Failed to fetch file %s\n", pngfile);
+ System.out.printf(" wget -O '%s' ''\n", pngfile, pngurl);
+ }
+ }
+ };
+ thread.start();
+ }
+
+ public static void prefetchMaps(double lat, double lng, int w, int h) {
+ AltosPreferences.init(null);
+
+ AltosSiteMap asm = new AltosSiteMap(true);
+ asm.centre = asm.getBaseLocation(lat, lng);
+
+ Point2D.Double p = new Point2D.Double();
+ Point2D.Double p2;
+ int dx = -w/2, dy = -h/2;
+ for (int y = dy; y < h+dy; y++) {
+ for (int x = dx; x < w+dx; x++) {
+ LatLng map_latlng = asm.latlng(
+ -asm.centre.x + x*px_size + px_size/2,
+ -asm.centre.y + y*px_size + px_size/2);
+ File pngfile = asm.MapFile(map_latlng.lat, map_latlng.lng);
+ String pngurl = asm.MapURL(map_latlng.lat, map_latlng.lng);
+ if (pngfile.exists()) {
+ System.out.printf("Already have %s\n", pngfile);
+ } else if (AltosSiteMapCache.fetchMap(pngfile, pngurl)) {
+ System.out.printf("Fetched map %s\n", pngfile);
+ } else {
+ System.out.printf("# Failed to fetch file %s\n", pngfile);
+ System.out.printf(" wget -O '%s' ''\n", pngfile, pngurl);
+ }
+ }
+ }
+ }
+
+ private void initMap(AltosSiteMapTile tile, Point offset) {
+ Point2D.Double coord = tileCoordOffset(offset);
+ LatLng map_latlng = latlng(px_size/2-coord.x, px_size/2-coord.y);
+
+ File pngfile = MapFile(map_latlng.lat, map_latlng.lng);
+ String pngurl = MapURL(map_latlng.lat, map_latlng.lng);
+ bgLoadMap(tile, pngfile, pngurl);
+ }
+
+ private void initMaps(double lat, double lng) {
+ centre = getBaseLocation(lat, lng);
+
+ for (Point k : mapTiles.keySet()) {
+ initMap(mapTiles.get(k), k);
+ }
+ }
+
+ private File MapFile(double lat, double lng) {
+ char chlat = lat < 0 ? 'S' : 'N';
+ char chlng = lng < 0 ? 'E' : 'W';
+ if (lat < 0) lat = -lat;
+ if (lng < 0) lng = -lng;
+ return new File(AltosPreferences.logdir(),
+ String.format("map-%c%.6f,%c%.6f-%d.png",
+ chlat, lat, chlng, lng, zoom));
+ }
+
+ private String MapURL(double lat, double lng) {
+ return String.format("http://maps.google.com/maps/api/staticmap?center=%.6f,%.6f&zoom=%d&size=%dx%d&sensor=false&maptype=hybrid&format=png32", lat, lng, zoom, px_size, px_size);
+ }
+
+ boolean initialised = false;
+ Point2D.Double last_pt = null;
+ int last_state = -1;
+ public void show(final AltosState state, final int crc_errors) {
+ // if insufficient gps data, nothing to update
+ if (state.gps == null)
+ return;
+ if (state.pad_lat == 0 && state.pad_lon == 0)
+ return;
+ if (!state.gps.locked) {
+ if (state.gps.nsat < 4)
+ return;
+ }
+
+ if (!initialised) {
+ initMaps(state.pad_lat, state.pad_lon);
+ initialised = true;
+ }
+
+ final Point2D.Double pt = pt(state.gps.lat, state.gps.lon);
+ if (last_pt == pt && last_state == state.state)
+ return;
+
+ if (last_pt == null) {
+ last_pt = pt;
+ }
+ boolean in_any = false;
+ for (Point offset : mapTiles.keySet()) {
+ AltosSiteMapTile tile = mapTiles.get(offset);
+ Point2D.Double ref, lref;
+ ref = translatePoint(pt, tileCoordOffset(offset));
+ lref = translatePoint(last_pt, tileCoordOffset(offset));
+ tile.show(state, crc_errors, lref, ref);
+ if (0 <= ref.x && ref.x < px_size)
+ if (0 <= ref.y && ref.y < px_size)
+ in_any = true;
+ }
+
+ Point offset = tileOffset(pt);
+ if (!in_any) {
+ Point2D.Double ref, lref;
+ ref = translatePoint(pt, tileCoordOffset(offset));
+ lref = translatePoint(last_pt, tileCoordOffset(offset));
+
+ AltosSiteMapTile tile = createTile(offset);
+ tile.show(state, crc_errors, lref, ref);
+ initMap(tile, offset);
+ finishTileLater(tile, offset);
+ }
+
+ scrollRocketToVisible(pt);
+
+ if (offset != tileOffset(last_pt)) {
+ ensureTilesAround(offset);
+ }
+
+ last_pt = pt;
+ last_state = state.state;
+ }
+
+ private AltosSiteMapTile createTile(Point offset) {
+ AltosSiteMapTile tile = new AltosSiteMapTile(px_size);
+ mapTiles.put(offset, tile);
+ return tile;
+ }
+ private void finishTileLater(final AltosSiteMapTile tile,
+ final Point offset)
+ {
+ SwingUtilities.invokeLater( new Runnable() {
+ public void run() {
+ addTileAt(tile, offset);
+ }
+ } );
+ }
+
+ private void ensureTilesAround(Point base_offset) {
+ for (int x = -1; x <= 1; x++) {
+ for (int y = -1; y <= 1; y++) {
+ Point offset = new Point(base_offset.x + x, base_offset.y + y);
+ if (mapTiles.containsKey(offset))
+ continue;
+ AltosSiteMapTile tile = createTile(offset);
+ initMap(tile, offset);
+ finishTileLater(tile, offset);
+ }
+ }
+ }
+
+ private Point topleft = new Point(0,0);
+ private void scrollRocketToVisible(Point2D.Double pt) {
+ Rectangle r = comp.getVisibleRect();
+ Point2D.Double copt = translatePoint(pt, tileCoordOffset(topleft));
+ int dx = (int)copt.x - r.width/2 - r.x;
+ int dy = (int)copt.y - r.height/2 - r.y;
+ if (Math.abs(dx) > r.width/4 || Math.abs(dy) > r.height/4) {
+ r.x += dx;
+ r.y += dy;
+ comp.scrollRectToVisible(r);
+ }
+ }
+
+ private void addTileAt(AltosSiteMapTile tile, Point offset) {
+ if (Math.abs(offset.x) >= MAX_TILE_DELTA ||
+ Math.abs(offset.y) >= MAX_TILE_DELTA)
+ {
+ System.out.printf("Rocket too far away from pad (tile %d,%d)\n",
+ offset.x, offset.y);
+ return;
+ }
+
+ boolean review = false;
+ Rectangle r = comp.getVisibleRect();
+ if (offset.x < topleft.x) {
+ r.x += (topleft.x - offset.x) * px_size;
+ topleft.x = offset.x;
+ review = true;
+ }
+ if (offset.y < topleft.y) {
+ r.y += (topleft.y - offset.y) * px_size;
+ topleft.y = offset.y;
+ review = true;
+ }
+ GridBagConstraints c = new GridBagConstraints();
+ c.anchor = GridBagConstraints.CENTER;
+ c.fill = GridBagConstraints.BOTH;
+ // put some space between the map tiles, debugging only
+ // c.insets = new Insets(5, 5, 5, 5);
+
+ c.gridx = offset.x + MAX_TILE_DELTA;
+ c.gridy = offset.y + MAX_TILE_DELTA;
+ layout.setConstraints(tile, c);
+
+ comp.add(tile);
+ if (review) {
+ comp.scrollRectToVisible(r);
+ }
+ }
+
+ private AltosSiteMap(boolean knowWhatYouAreDoing) {
+ if (!knowWhatYouAreDoing) {
+ throw new RuntimeException("Arggh.");
+ }
+ }
+
+ JComponent comp = new JComponent() { };
+ private GridBagLayout layout = new GridBagLayout();
+
+ public AltosSiteMap() {
+ GrabNDrag scroller = new GrabNDrag(comp);
+
+ comp.setLayout(layout);
+
+ for (int x = -1; x <= 1; x++) {
+ for (int y = -1; y <= 1; y++) {
+ Point offset = new Point(x, y);
+ AltosSiteMapTile t = createTile(offset);
+ addTileAt(t, offset);
+ }
+ }
+ setViewportView(comp);
+ setPreferredSize(new Dimension(500,200));
+ }
+}
projects / fw / altos / blobdiff