void MapDisplay::incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg)
{
current_map_ = *msg;
// updated via signal in case ros spinner is in a different thread
Q_EMIT mapUpdated();
loaded_ = true;
}
void MapDisplay::incomingUpdate(const map_msgs::OccupancyGridUpdate::ConstPtr& update)
{
// Only update the map if we have gotten a full one first.
if( !loaded_ )
{
return;
}
// Reject updates which have any out-of-bounds data.
if( update->x < 0 ||
update->y < 0 ||
current_map_.info.width < update->x + update->width ||
current_map_.info.height < update->y + update->height )
{
setStatus( StatusProperty::Error, "Update", "Update area outside of original map area." );
return;
}
// Copy the incoming data into current_map_'s data.
for( size_t y = 0; y < update->height; y++ )
{
memcpy( ¤t_map_.data[ (update->y + y) * current_map_.info.width + update->x ],
&update->data[ y * update->width ],
update->width );
}
// updated via signal in case ros spinner is in a different thread
Q_EMIT mapUpdated();
}
MapDisplay::MapDisplay()
: Display()
, manual_object_( NULL )
, loaded_( false )
, resolution_( 0.0f )
, width_( 0 )
, height_( 0 )
{
connect(this, SIGNAL( mapUpdated() ), this, SLOT( showMap() ));
topic_property_ = new RosTopicProperty( "Topic", "",
QString::fromStdString( ros::message_traits::datatype<nav_msgs::OccupancyGrid>() ),
"nav_msgs::OccupancyGrid topic to subscribe to.",
this, SLOT( updateTopic() ));
alpha_property_ = new FloatProperty( "Alpha", 0.7,
"Amount of transparency to apply to the map.",
this, SLOT( updateAlpha() ));
alpha_property_->setMin( 0 );
alpha_property_->setMax( 1 );
color_scheme_property_ = new EnumProperty( "Color Scheme", "map", "How to color the occupancy values.",
this, SLOT( updatePalette() ));
// Option values here must correspond to indices in palette_textures_ array in onInitialize() below.
color_scheme_property_->addOption( "map", 0 );
color_scheme_property_->addOption( "costmap", 1 );
draw_under_property_ = new Property( "Draw Behind", false,
"Rendering option, controls whether or not the map is always"
" drawn behind everything else.",
this, SLOT( updateDrawUnder() ));
resolution_property_ = new FloatProperty( "Resolution", 0,
"Resolution of the map. (not editable)", this );
resolution_property_->setReadOnly( true );
width_property_ = new IntProperty( "Width", 0,
"Width of the map, in meters. (not editable)", this );
width_property_->setReadOnly( true );
height_property_ = new IntProperty( "Height", 0,
"Height of the map, in meters. (not editable)", this );
height_property_->setReadOnly( true );
position_property_ = new VectorProperty( "Position", Ogre::Vector3::ZERO,
"Position of the bottom left corner of the map, in meters. (not editable)",
this );
position_property_->setReadOnly( true );
orientation_property_ = new QuaternionProperty( "Orientation", Ogre::Quaternion::IDENTITY,
"Orientation of the map. (not editable)",
this );
orientation_property_->setReadOnly( true );
}
void GoogleMapLoader::onManagerFinished(QNetworkReply* reply)
{
QByteArray bufByteArray(reply->readAll());
if (bufByteArray.size() != 0)
{
byteArray.clear();
byteArray.append(bufByteArray);
qDebug ("loaded picture size: %d", bufByteArray.size());
emit mapUpdated(byteArray);
}
}
void Bus::mapSystem(Slot _slot, u8 data) {
switch ( slot[_slot].type ) {
case Cart::STANDARD:
case Cart::BIOS:
if (page0update) {
map(0x00, 0x03, *slot[_slot].access); //first k of rom
map(0x04, 0x3f, *slot[_slot].access, calcSwift(_slot, slot[_slot].page0bank) * 0x4000 + 0x400); //15k slot 0
}
if (page1update) map(0x40, 0x7F, *slot[_slot].access, calcSwift(_slot, slot[_slot].page1bank) * 0x4000); //16k slot 1
if (page2update) {
if (slot[_slot].ramSelector & 0x8) { //map sram
mapSram(0x80, 0xbf, _slot, slot[_slot].ramSelector & 0x4 ? 16 * 1024 : 0);
} else {
map(0x80, 0xbf, *slot[_slot].access, calcSwift(_slot, slot[_slot].page2bank) * 0x4000); //16k slot 2
}
}
break;
case Cart::CUSTOM_4_PAK:
if (page0update) map(0x00, 0x3F, *slot[_slot].access, slot[_slot].page0bank * 0x4000); //16k slot 0
if (page1update) map(0x40, 0x7F, *slot[_slot].access, slot[_slot].page1bank * 0x4000); //16k slot 1
if (page2update) map(0x80, 0xBF, *slot[_slot].access, slot[_slot].page2bank * 0x4000); //16k slot 2
break;
case Cart::CODEMASTERS:
if (page0update) {
map(0x00, 0x3F, *slot[_slot].access, slot[_slot].page0bank * 0x4000); //16k slot 0
} if (page1update) {
map(0x40, 0x7F, *slot[_slot].access, slot[_slot].page1bank * 0x4000); //16k slot 1
if ((data & 0x80) && (cartWram.size() != 0)) map(0xa0, 0xbf, cartWram);
} if (page2update) {
map(0x80, 0xBF, *slot[_slot].access, slot[_slot].page2bank * 0x4000); //16k slot 2
if ((data & 0x80) && (cartWram.size() != 0)) map(0xa0, 0xbf, cartWram);
}
break;
case Cart::NO_BANK_SWITCHING:
map(0x00, 0x3F, *slot[_slot].access); //16k slot 0
map(0x40, 0x7F, *slot[_slot].access, 0x4000); //16k slot 1
map(0x80, 0xbf, *slot[_slot].access, 2 * 0x4000); //16k slot 2
if (cartWram.size() != 0) {//the castle, othello, kings valley have additional cart wram
map(cart.getCartWramMapStart(), cart.getCartWramMapEnd(), cartWram);
}
break;
case Cart::KOREAN:
if (page0update) map(0x00, 0x3F, *slot[_slot].access); //16k slot 0
if (page1update) map(0x40, 0x7F, *slot[_slot].access, 0x4000); //16k slot 1
if (page2update) map(0x80, 0xBF, *slot[_slot].access, slot[_slot].page2bank * 0x4000); //16k slot 2
break;
case Cart::KOREAN_8K:
case Cart::KOREAN_8K_NEMESIS:
case Cart::CUSTOM_JANGGUN:
if (page0update) map(0x00, 0x3F, *slot[_slot].access, slot[_slot].page0bank * 0x4000); //16k slot 0
if (page1update) {
map(0x40, 0x5F, *slot[_slot].access, slot[_slot].page1bank * 0x2000); //8k slot 1
map(0x60, 0x7F, *slot[_slot].access, slot[_slot].page2bank * 0x2000); //8k slot 2
}
if (page2update) {
map(0x80, 0x9F, *slot[_slot].access, slot[_slot].page3bank * 0x2000); //8k slot 3
map(0xA0, 0xBF, *slot[_slot].access, slot[_slot].page4bank * 0x2000); //8k slot 4
}
break;
}
mapUpdated();
}
