import java.awt.geom.Line2D;
public class AltosSiteMap extends JScrollPane implements AltosFlightDisplay {
+ // max vertical step in a tile in naut. miles
+ static final double tile_size_nmi = 1.0;
+
+ static final int px_size = 512;
+
+ 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);
+ }
+
+ AltosSiteMapTile [] mapTiles = new AltosSiteMapTile[9];
+ Point2D.Double [] tileOffset = new Point2D.Double[9];
+
+ 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/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
}
- public void show(AltosState state, int crc_errors) {
- for (int x = 0; x < mapTiles.length; x++) {
- mapTiles[x].show(state, crc_errors);
+
+ private void bgLoadMap(final int i,
+ final File pngfile, final String pngurl)
+ {
+ Thread thread = new Thread() {
+ public void run() {
+ ImageIcon res;
+ res = AltosSiteMapCache.fetchAndLoadMap(pngfile, pngurl);
+ if (res != null) {
+ mapTiles[i].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);
+ Point2D.Double c = 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(
+ -c.x + x*px_size + px_size/2,
+ -c.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);
+ }
+ }
}
}
-
- AltosSiteMapTile [] mapTiles = new AltosSiteMapTile[9];
- class GrabNDrag extends MouseInputAdapter {
- private JComponent scroll;
- private Point startPt = new Point();
+ private void initMaps(double lat, double lng) {
+ Point2D.Double c = getBaseLocation(lat, lng);
+ Point2D.Double p = new Point2D.Double();
+
+ for (int i = 0; i < 9; i++) {
+ int x = i%3 - 1, y = i/3 - 1;
- public GrabNDrag(JComponent parent) {
- scroll = parent;
+ tileOffset[i] = new Point2D.Double(
+ c.x - x*px_size, p.y = c.y - y*px_size);
+ LatLng map_latlng = latlng(
+ -tileOffset[i].x+px_size/2,
+ -tileOffset[i].y+px_size/2);
+
+ File pngfile = MapFile(map_latlng.lat, map_latlng.lng);
+ String pngurl = MapURL(map_latlng.lat, map_latlng.lng);
+ bgLoadMap(i, pngfile, pngurl);
+ }
+ }
+
+ 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;
+ public void show(AltosState state, int crc_errors) {
+ // if insufficient gps data, nothing to update
+ if (!state.gps_ready) {
+ if (state.pad_lat == 0 && state.pad_lon == 0)
+ return;
+ if (state.ngps < 3)
+ return;
+ }
+
+ if (!initialised) {
+ initMaps(state.pad_lat, state.pad_lon);
+ initialised = true;
}
- public void mousePressed(MouseEvent e) {
- startPt.setLocation(e.getPoint());
+ Point2D.Double pt = pt(state.gps.lat, state.gps.lon);
+ for (int x = 0; x < mapTiles.length; x++) {
+ mapTiles[x].show(state, crc_errors,
+ translatePoint(pt, tileOffset[x]));
}
- public void mouseDragged(MouseEvent e) {
- int xd = e.getX() - startPt.x;
- int yd = e.getY() - startPt.y;
-
- Rectangle r = scroll.getVisibleRect();
- r.x -= xd;
- r.y -= yd;
- scroll.scrollRectToVisible(r);
+ }
+
+ private AltosSiteMap(boolean knowWhatYouAreDoing) {
+ if (!knowWhatYouAreDoing) {
+ throw new RuntimeException("Arggh.");
}
}
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);
for (int x = 0; x < 9; x++) {
c.gridx = x % 3; c.gridy = x / 3;
- mapTiles[x] = new AltosSiteMapTile((x%3)-1, (x/3)-1);
+ mapTiles[x] = new AltosSiteMapTile(px_size);
layout.setConstraints(mapTiles[x], c);
comp.add(mapTiles[x]);
}
--- /dev/null
+/*
+ * Copyright © 2010 Anthony Towns <aj@erisian.com.au>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.image.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.imageio.ImageIO;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.net.URL;
+import java.net.URLConnection;
+
+public class AltosSiteMapCache extends JLabel {
+ public static boolean fetchMap(File file, String url) {
+ URL u;
+ try {
+ u = new URL(url);
+ } catch (java.net.MalformedURLException e) {
+ return false;
+ }
+
+ byte[] data;
+ try {
+ URLConnection uc = u.openConnection();
+ int contentLength = uc.getContentLength();
+ InputStream in = new BufferedInputStream(uc.getInputStream());
+ int bytesRead = 0;
+ int offset = 0;
+ data = new byte[contentLength];
+ while (offset < contentLength) {
+ bytesRead = in.read(data, offset, data.length - offset);
+ if (bytesRead == -1)
+ break;
+ offset += bytesRead;
+ }
+ in.close();
+
+ if (offset != contentLength) {
+ return false;
+ }
+ } catch (IOException e) {
+ return false;
+ }
+
+ try {
+ FileOutputStream out = new FileOutputStream(file);
+ out.write(data);
+ out.flush();
+ out.close();
+ } catch (FileNotFoundException e) {
+ return false;
+ } catch (IOException e) {
+ if (file.exists()) {
+ file.delete();
+ }
+ return false;
+ }
+ return true;
+ }
+
+ public static ImageIcon fetchAndLoadMap(File pngfile, String url) {
+ if (!pngfile.exists()) {
+ if (!fetchMap(pngfile, url)) {
+ return null;
+ }
+ }
+ return loadMap(pngfile, url);
+ }
+
+ public static ImageIcon loadMap(File pngfile, String url) {
+ if (!pngfile.exists()) {
+ return null;
+ }
+
+ try {
+ return new ImageIcon(ImageIO.read(pngfile));
+ } catch (IOException e) {
+ System.out.printf("# IO error trying to load %s\n", pngfile);
+ return null;
+ }
+ }
+}
+
+++ /dev/null
-/*
- * Copyright © 2010 Anthony Towns <aj@erisian.com.au>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-package altosui;
-
-import java.awt.*;
-import java.awt.image.*;
-import java.awt.event.*;
-import javax.swing.*;
-import javax.imageio.ImageIO;
-import javax.swing.table.*;
-import java.io.*;
-import java.util.*;
-import java.text.*;
-import java.util.prefs.*;
-import java.net.URL;
-import java.net.URLConnection;
-
-public class AltosSiteMapLabel extends JLabel {
- public static boolean fetchMap(File file, String url) {
- URL u;
- try {
- u = new URL(url);
- } catch (java.net.MalformedURLException e) {
- return false;
- }
-
- byte[] data;
- try {
- URLConnection uc = u.openConnection();
- int contentLength = uc.getContentLength();
- InputStream in = new BufferedInputStream(uc.getInputStream());
- int bytesRead = 0;
- int offset = 0;
- data = new byte[contentLength];
- while (offset < contentLength) {
- bytesRead = in.read(data, offset, data.length - offset);
- if (bytesRead == -1)
- break;
- offset += bytesRead;
- }
- in.close();
-
- if (offset != contentLength) {
- return false;
- }
- } catch (IOException e) {
- return false;
- }
-
- try {
- FileOutputStream out = new FileOutputStream(file);
- out.write(data);
- out.flush();
- out.close();
- } catch (FileNotFoundException e) {
- return false;
- } catch (IOException e) {
- if (file.exists()) {
- file.delete();
- }
- return false;
- }
- return true;
- }
-
- public void fetchAndLoadMap(final File pngfile, final String url) {
- System.out.printf("# Trying to fetch %s...\n", pngfile);
-
- Thread thread = new Thread() {
- public void run() {
- try {
- if (fetchMap(pngfile, url)) {
- setIcon(new ImageIcon(ImageIO.read(pngfile)));
- }
- } catch (Exception e) {
- System.out.printf("# Failed to fetch file %s\n", pngfile);
- System.out.printf(" wget -O '%s' ''\n", pngfile, url);
- }
- }
- };
- thread.start();
- }
-
- public void fetchMap(double lat, double lng, int zoom, int px_size) {
- File pngfile = MapFile(lat, lng, zoom);
- String url = MapURL(lat, lng, zoom, px_size);
-
- if (!pngfile.exists()) {
- fetchMap(pngfile, url);
- }
- }
-
- public void loadMap(double lat, double lng, int zoom, int px_size) {
- File pngfile = MapFile(lat, lng, zoom);
- String url = MapURL(lat, lng, zoom, px_size);
-
- if (!pngfile.exists()) {
- fetchAndLoadMap(pngfile, url);
- return;
- }
-
- try {
- setIcon(new ImageIcon(ImageIO.read(pngfile)));
- return;
- } catch (IOException e) {
- System.out.printf("# IO error trying to load %s\n", pngfile);
- return;
- }
- }
-
- private static File MapFile(double lat, double lng, int zoom) {
- 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 static String MapURL(double lat, double lng,
- int zoom, int px_size)
- {
- 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);
- }
-}
-
import java.awt.geom.Line2D;
public class AltosSiteMapTile extends JLayeredPane {
- int zoom;
- double scale_x, scale_y;
Point2D.Double coord_pt;
Point2D.Double last_pt;
- AltosSiteMapLabel mapLabel;
+ JLabel mapLabel;
JLabel draw;
Graphics2D g2d;
- int off_x;
- int off_y;
-
- static final int px_size = 512;
-
- private void loadMap() {
- Point2D.Double map_latlng = latlng(px_size/2, px_size/2);
- mapLabel.loadMap(map_latlng.x, map_latlng.y, zoom, px_size);
- }
-
- private boolean setLocation(double lat, double lng) {
- Point2D.Double north_step;
- double step_nm = 0.5;
- for (zoom = 3; zoom < 22; zoom++) {
- coord_pt = pt(lat, lng, new Point2D.Double(0,0), zoom);
- north_step = pt(lat+step_nm/60.0, lng,
- new Point2D.Double(0,0), zoom);
- if (coord_pt.y - north_step.y > px_size/2)
- break;
- }
- coord_pt.x = -px_size * Math.floor(coord_pt.x/px_size + off_x);
- coord_pt.y = -px_size * Math.floor(coord_pt.y/px_size + off_y);
-
- scale_x = 256/360.0 * Math.pow(2, zoom);
- scale_y = 256/(2.0*Math.PI) * Math.pow(2, zoom);
-
- last_pt = null;
-
- return true;
- }
-
- 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, scale_x, scale_y);
- }
-
- private static Point2D.Double pt(double lat, double lng,
- Point2D.Double centre, 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(lat, lng, centre, scale_x, scale_y);
- }
-
- private static Point2D.Double pt(double lat, double lng,
- Point2D.Double centre, double scale_x, double scale_y)
- {
- 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;
- }
-
- private Point2D.Double latlng(double x, double y) {
- return latlng(new Point2D.Double(x,y), coord_pt);
- }
- private Point2D.Double latlng(Point2D.Double pt) {
- return latlng(pt, coord_pt);
- }
- private Point2D.Double latlng(Point2D.Double pt, Point2D.Double centre) {
- double lat, lng;
- double rads;
-
- lng = (pt.x - centre.x)/scale_x;
- rads = 2 * Math.atan(Math.exp((pt.y-centre.y)/-scale_y));
- lat = Math.toDegrees(rads - Math.PI/2);
-
- return new Point2D.Double(lat,lng);
+ public void loadMap(ImageIcon icn) {
+ mapLabel.setIcon(icn);
}
static Color stateColors[] = {
boolean drawn_landed_circle = false;
boolean drawn_boost_circle = false;
- public void show(AltosState state, int crc_errors) {
- if (!state.gps_ready) {
- if (state.pad_lat == 0 && state.pad_lon == 0)
- return;
- if (state.ngps < 3)
- return;
- }
-
+ public void show(AltosState state, int crc_errors, Point2D.Double pt) {
if (last_pt == null) {
- setLocation(state.pad_lat, state.pad_lon);
- loadMap();
- last_pt = pt(state.pad_lat, state.pad_lon);
+ // setLocation(state.pad_lat, state.pad_lon);
+ // loadMap();
+ last_pt = pt;
}
- Point2D.Double pt = pt(state.gps.lat, state.gps.lon);
if (pt != last_pt) {
if (0 <= state.state && state.state < stateColors.length) {
g2d.setColor(stateColors[state.state]);
g2d.draw(new Line2D.Double(last_pt, pt));
}
+ int px_size = getWidth();
if (0 <= pt.x && pt.x < px_size) {
if (0 <= pt.y && pt.y < px_size) {
int dx = 500, dy = 250;
repaint();
}
- public static Graphics2D fillLabel(JLabel l, Color c) {
+ public static Graphics2D fillLabel(JLabel l, Color c, int px_size) {
BufferedImage img = new BufferedImage(px_size, px_size,
BufferedImage.TYPE_INT_ARGB);
Graphics2D g = img.createGraphics();
return g;
}
- public AltosSiteMapTile(int x_tile_offset, int y_tile_offset) {
+ public AltosSiteMapTile(int px_size) {
setPreferredSize(new Dimension(px_size, px_size));
- mapLabel = new AltosSiteMapLabel();
- fillLabel(mapLabel, Color.GRAY);
+ mapLabel = new JLabel();
+ fillLabel(mapLabel, Color.GRAY, px_size);
mapLabel.setOpaque(true);
mapLabel.setBounds(0, 0, px_size, px_size);
add(mapLabel, new Integer(0));
draw = new JLabel();
- g2d = fillLabel(draw, new Color(127, 127, 127, 0));
+ g2d = fillLabel(draw, new Color(127, 127, 127, 0), px_size);
draw.setBounds(0, 0, px_size, px_size);
draw.setOpaque(false);
add(draw, new Integer(1));
-
- off_x = x_tile_offset;
- off_y = y_tile_offset;
}
}
public static void main(final String[] args) {
int process = 0;
/* Handle batch-mode */
- if (args.length == 2 && args[0].equals("--replay")) {
+ if (args.length == 3 && args[0].equals("--fetchmaps")) {
+ double lat = Double.parseDouble(args[1]);
+ double lon = Double.parseDouble(args[2]);
+ AltosSiteMap.prefetchMaps(lat, lon, 5, 5);
+ } else if (args.length == 2 && args[0].equals("--replay")) {
String filename = args[1];
FileInputStream in;
try {
bin_SCRIPTS=altosui
altosui_JAVA = \
+ GrabNDrag.java \
AltosAscent.java \
AltosChannelMenu.java \
AltosConfig.java \
AltosSerialInUseException.java \
AltosSerialMonitor.java \
AltosSiteMap.java \
- AltosSiteMapLabel.java \
+ AltosSiteMapCache.java \
AltosSiteMapTile.java \
AltosState.java \
AltosTelemetry.java \