mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-20 13:43:57 +08:00
5069852573
* navd: render simple map * render route * offscreen rendering * cleanup * more cleanup * render into visionIPC * rename class * split position update from route update * stop broadcast if not active * gate vipc server behind flag * add python library * faster * no vipc from python * put behind extras * only send when loaded * add glFlush just to be sure * cleanup settings into helper function * function ordering * broadcast thumbnails * put behind param * adjust zoom level * add route to python bindings * revert that freq change * add logging if map rendering is enabled * use rlogs if available * bump cereal
50 lines
1.1 KiB
C++
50 lines
1.1 KiB
C++
#pragma once
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#include <memory>
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#include <QOpenGLContext>
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#include <QMapboxGL>
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#include <QTimer>
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#include <QGeoCoordinate>
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#include <QOpenGLBuffer>
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#include <QOffscreenSurface>
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#include <QOpenGLFunctions>
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#include <QOpenGLFramebufferObject>
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#include "cereal/visionipc/visionipc_server.h"
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#include "cereal/messaging/messaging.h"
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class MapRenderer : public QObject {
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Q_OBJECT
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public:
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MapRenderer(const QMapboxGLSettings &, bool enable_vipc=true);
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uint8_t* getImage();
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void update();
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bool loaded();
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~MapRenderer();
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private:
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std::unique_ptr<QOpenGLContext> ctx;
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std::unique_ptr<QOffscreenSurface> surface;
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std::unique_ptr<QOpenGLFunctions> gl_functions;
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std::unique_ptr<QOpenGLFramebufferObject> fbo;
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std::unique_ptr<VisionIpcServer> vipc_server;
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std::unique_ptr<PubMaster> pm;
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void sendVipc();
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QMapboxGLSettings m_settings;
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QScopedPointer<QMapboxGL> m_map;
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void initLayers();
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uint32_t frame_id = 0;
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public slots:
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void updatePosition(QMapbox::Coordinate position, float bearing);
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void updateRoute(QList<QGeoCoordinate> coordinates);
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};
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