void AerialMapDisplay::loadImagery() {
if (loader_) {
// cancel current imagery, if any
loader_->abort();
delete loader_;
loader_ = 0;
}
if (!received_msg_) {
// no message received from publisher
return;
}
if (object_uri_.empty()) {
setStatus(StatusProperty::Error, "Message",
"Received message but object URI is not set");
}
const std::string service = object_uri_;
try {
loader_ = new TileLoader(service, ref_lat_, ref_lon_, zoom_, blocks_, this);
}
catch (std::exception &e) {
setStatus(StatusProperty::Error, "Message", QString(e.what()));
return;
}
QObject::connect(loader_, SIGNAL(errorOcurred(QString)), this,
SLOT(errorOcurred(QString)));
QObject::connect(loader_, SIGNAL(finishedLoading()), this,
SLOT(finishedLoading()));
QObject::connect(loader_, SIGNAL(initiatedRequest(QNetworkRequest)), this,
SLOT(initiatedRequest(QNetworkRequest)));
QObject::connect(loader_, SIGNAL(receivedImage(QNetworkRequest)), this,
SLOT(receivedImage(QNetworkRequest)));
// start loading images
loader_->start();
}
void TileLoader::start() {
// discard previous set of tiles and all pending requests
abort();
qnam_ = new QNetworkAccessManager(this);
QObject::connect(qnam_, SIGNAL(finished(QNetworkReply *)), this,
SLOT(finishedRequest(QNetworkReply *)));
// determine what range of tiles we can load
const int min_x = std::max(0, tile_x_ - blocks_);
const int min_y = std::max(0, tile_y_ - blocks_);
const int max_x = std::min(maxTiles(), tile_x_ + blocks_);
const int max_y = std::min(maxTiles(), tile_y_ + blocks_);
// initiate requests
for (int y = min_y; y <= max_y; y++) {
for (int x = min_x; x <= max_x; x++) {
const QUrl uri = uriForTile(x, y);
// send request
const QNetworkRequest request = QNetworkRequest(uri);
QNetworkReply *rep = qnam_->get(request);
emit initiatedRequest(request);
tiles_.push_back(MapTile(x, y, rep));
}
}
}
void TileLoader::start() {
// discard previous set of tiles and all pending requests
abort();
ROS_INFO("loading %d blocks around tile=(%d,%d)", blocks_, center_tile_x_, center_tile_y_ );
qnam_.reset( new QNetworkAccessManager(this) );
QObject::connect(qnam_.get(), SIGNAL(finished(QNetworkReply *)), this,
SLOT(finishedRequest(QNetworkReply *)));
// determine what range of tiles we can load
const int min_x = std::max(0, center_tile_x_ - blocks_);
const int min_y = std::max(0, center_tile_y_ - blocks_);
const int max_x = std::min(maxTiles(), center_tile_x_ + blocks_);
const int max_y = std::min(maxTiles(), center_tile_y_ + blocks_);
// initiate requests
for (int y = min_y; y <= max_y; y++) {
for (int x = min_x; x <= max_x; x++) {
// Generate filename
const QString full_path = cachedPathForTile(x, y, zoom_);
// Check if tile is already in the cache
QFile tile(full_path);
if (tile.exists()) {
QImage image(full_path);
tiles_.push_back(MapTile(x, y, zoom_, image));
} else {
const QUrl uri = uriForTile(x, y, zoom_);
// send request
const QNetworkRequest request = QNetworkRequest(uri);
QNetworkReply *rep = qnam_->get(request);
emit initiatedRequest(request);
tiles_.push_back(MapTile(x, y, zoom_, rep));
}
}
}
checkIfLoadingComplete();
}
