modularization/src/tool/view_radar/ivradarview.cpp

#include "ivradarview.h"

#include <QColor>
#include <iostream>

#define VIEW_WIDTH 2000
#define VIEW_HEIGHT 2000


QColor selradarcolor[] = {Qt::red,Qt::green,Qt::blue,Qt::cyan,Qt::magenta,Qt::yellow};

IVRadarView::IVRadarView()
{
    int i;
    for(i=0;i<NUM_MAX_RADAR;i++)
    {
        mnNotDataCount[i] = NOTDATACOUNTMAX;
        mbCheck[i] = true;
    }

    for(i=0;i<NUM_MAX_MSG;i++)
        if(i==0||i==1||i==4) msgCheck[i]=true;
    else msgCheck[i]=false;

    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
    mimagepaint = new QImage(VIEW_WIDTH, VIEW_HEIGHT, QImage::Format_RGB32);
    painter = new QPainter(image);
    painter->end();


}

void IVRadarView::run()
{
    while(!QThread::isInterruptionRequested())
    {
        if(mnReadIndex != mnWriteIndex)
        {
            paint();
            mnReadIndex = mnWriteIndex;
            mbImageUpdate = true;
        }
        else
        {
            msleep(1);
        }
    }
}


void IVRadarView::paint()
{

    iv::radar::radarobjectarray xobj;






    painter->begin(image);

    image->fill(QColor(255, 255, 255));//对画布进行填充
//    std::vector<iv::GPSData> navigation_data = brain->navigation_data;
    painter->setRenderHint(QPainter::Antialiasing, true);//设置反锯齿模式，好看一点

    painter->translate(1000,1000);

    painter->setPen(Qt::black);

    painter->drawLine(-1000,0,1000,0);
    painter->drawLine(0,-1000,0,1000);

    int i;
    for(i=-9;i<=9;i++)
    {
        painter->drawLine(i*100,0,i*100,-20);

//        painter->drawText(i*100-20,-50,40,20,Qt::AlignHCenter | Qt::AlignTop,QString::number(i*10));
    }

//     std::cout<<"enter paint."<<std::endl;

    painter->save();
    painter->rotate(90);
    for(i=-9;i<=9;i++)
    {
        painter->drawLine(i*100,0,i*100,-20);
//        painter->drawText(i*100-20,-50,40,20,Qt::AlignHCenter | Qt::AlignTop,QString::number(i*(-10)));
    }
    painter->restore();

    painter->setPen(QPen(Qt::black, 2));
    painter->setBrush(Qt::blue);
    QFont esr_font("Microsoft YaHei", 10, 60); //第一个属性是字体（微软雅黑），第二个是大小，第三个是加粗（权重是75）
    painter->setFont(esr_font);

    int k;
    for(k=0;k<NUM_MAX_RADAR;k++)
    {
        mMutex.lock();
        xobj.CopyFrom(mradar[k]);
        mMutex.unlock();

        if(mbCheck[k] == false)continue;

        QColor xcolor = Qt::gray;

        if(mnNotDataCount[k] < NOTDATACOUNTMAX)
        {
            if(k<6)
            {
                xcolor = selradarcolor[k];
            }
            else
            {
                xcolor = Qt::black;
            }
        }

        //根据类型改变颜色
        if(xobj.has_acc_sta_obj_id())
            xcolor = selradarcolor[0];
        if(xobj.has_acc_mov_obj_id())
            xcolor = selradarcolor[1];
        if(xobj.has_cmbb_sta_obj_id())
            xcolor = selradarcolor[2];
        if(xobj.has_cmbb_mov_obj_id())
            xcolor = selradarcolor[3];
        if(xobj.has_fcw_sta_obj_id())
            xcolor = selradarcolor[4];
        if(xobj.has_fcw_mov_obj_id())
            xcolor = selradarcolor[5];

        painter->setBrush(xcolor);

        for(i=0;i<xobj.obj_size();i++)
        {
            iv::radar::radarobject xr = xobj.obj(i);

            if(xr.bvalid())
            {
                int x;
                int y;
                x = (int)(xr.x()*10.0);
                y = (int)(xr.y()*(-10.0));

                painter->drawEllipse(x, y, 10, 10);
//                char strradar[1000];
//                sprintf(strradar,"(%6.1f %6.1f %6.1f)",xr.x(),xr.y(),xr.vel());
//                painter->drawText(x,y,strradar);
//                //            sprintf(coordinate_ear, "(%d, %d)", (int)ServiceCarStatus.obs_radar[a].nomal_x, (int)ServiceCarStatus.obs_radar[a].nomal_y);
//                //           painter->drawText(((ServiceCarStatus.obs_radar)[a].nomal_x) * 10 + 450, -(ServiceCarStatus.obs_radar)[a].nomal_y * 10 + 700, QString(coordinate_ear));


                QString str="";
                if(msgCheck[0]) str+=QString::number(xr.x(),'f',1)+",";
                if(msgCheck[1]) str+=QString::number(xr.y(),'f',1)+",";
                if(msgCheck[2]) str+=QString::number(xr.vx())+",";
                if(msgCheck[3]) str+=QString::number(xr.vy())+",";
                if(msgCheck[4]) str+=QString::number(xr.vel())+",";
                if(msgCheck[5]) str+="true,";
                if(msgCheck[6]) str+=QString::number(xr.range())+",";
                if(msgCheck[7]) str+=QString::number(xr.range_rate())+",";
                if(msgCheck[8]) str+=QString::number(xr.range_accel())+",";
                if(msgCheck[9]) str+=QString::number(xr.angle())+",";
                if(msgCheck[10]) str+=QString::number(xr.width())+",";
                if(msgCheck[11]) str+="true,";
                if(msgCheck[12]) str+="true,";
                if(msgCheck[13]) str+="true,";
                if(msgCheck[14]) str+=QString::number(xr.med_range_mode())+",";
                if(msgCheck[15]) str+=QString::number(xr.track_status())+",";
                if(msgCheck[16]) str+="true,";
                if(msgCheck[17]) str+="true,";
                if(msgCheck[18]) str+="true,";
                if(msgCheck[19]) str+="true,";
                if(msgCheck[20]) str+=QString::number(xr.power())+",";
                if(msgCheck[21]) str+=QString::number(xr.detect_valid_level())+",";
                if(msgCheck[22]) str+="true,";

                painter->drawText(x,y,str.length()>0? "("+str.mid(0,str.length()-1)+")":"");

            }//if
        }//for

        if(mnNotDataCount[k] <NOTDATACOUNTMAX)mnNotDataCount[k]++;
    }


    double lrange = xobj.valid_lr_range()*10;
    double langle = xobj.valid_lr_angle();
    double mrange = xobj.valid_mr_range()*10;
    double mangle = xobj.valid_mr_angle();

    if(msgCheck[23]){
        painter->setBrush(QBrush(QColor(255,0,0,80)));
        //lrange=60*10,langle=75;
        painter->drawPie(-lrange/2,-lrange/2,lrange,lrange,(180-langle)/2*16,langle*16);
    }
    if(msgCheck[24]){
        painter->setBrush(QBrush(QColor(0,0,255,80)));
        //mrange=40*10, mangle=100;
        painter->drawPie(-mrange/2,-mrange/2,mrange,mrange,(180-mangle)/2*16,mangle*16);
    }




    painter->end();

    mMutexPaint.lock();
//    delete mimagepaint;
//    mimagepaint = new QImage(*image);
    *mimagepaint = image->copy();
    mMutexPaint.unlock();

}

QImage IVRadarView::GetImage()
{
    mMutexPaint.lock();
//    QImage imagertn(*mimagepaint);
    QImage imagertn = mimagepaint->copy();
    mMutexPaint.unlock();
    mbImageUpdate = false;
    return imagertn;
}

bool IVRadarView::IsHaveNew()
{
    return mbImageUpdate;
}

int IVRadarView::GetType()
{
    return 3;
}

void IVRadarView::SetRADAR(iv::radar::radarobjectarray radarobj,int index)
{

    mMutex.lock();
    mnWriteIndex++;
    mradar[index].clear_obj();
    mradar[index].CopyFrom(radarobj);
    mnNotDataCount[index] = 0;
    mMutex.unlock();
}

void IVRadarView::SetCheck(int n, bool bcheck)
{
//    if((n<0)||(n>NUM_MAX_RADAR))return;
//    mbCheck[n] = bcheck;
    if(n<0||n>NUM_MAX_MSG+NUM_MAX_RADAR) return;
    else if(n<NUM_MAX_RADAR)
        mbCheck[n]=bcheck;
    else
        msgCheck[n-NUM_MAX_RADAR]=bcheck;
}