/*

* This file is part of vis-o-mex.

*

* Copyright (C) 2010-2011 Greg Horn <ghorn@stanford.edu>

*

* 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; either version 2

* of the License, or (at your option) any later version.

*

* 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*/

/*

* imagery_manager.c

* cache satellite imagery from the web for display in visualizer

*/

#include <stdio.h>

#include <Imlib2.h>

#include <inttypes.h>

#include <stdlib.h>

#include <math.h>

#include <GL/gl.h>

#include "imagery_manager.h"

#include "imagery_drawer.h"

#include "imagery_prober.h"

#include <ap_types.h>

#define MAX_ZOOM_LEVEL 16 // must be <= 21

#define NUM_SQUARE_RINGS 3

#define NUM_IMAGE_TILES ( 2*(2*NUM_SQUARE_RINGS-1)*(2*NUM_SQUARE_RINGS-1) )

// 2*(2*rings-1)^2: { 1 -> 2, 2 -> 18, 3 -> 50, 4 -> 98}

#define MAX_STRING_LENGTH 3000

#define EARTH_RADIUS 6371000.0

#define MAX_FILENAME_LENGTH 100

// don't compile if trying to draw more than a hard limit of image tiles

// this is here to stay off the blacklist :)

#define MAX_NUM_IMAGE_TILES 50

#if (NUM_IMAGE_TILES > MAX_NUM_IMAGE_TILES)

#error too many layers of tiles requested in imagery_magager.c

#endif

int test_for_blank_image( const uint32_t ix, const uint32_t iy, const uint8_t zoom_level);

int imagery_in_memory(const uint32_t ix, const uint32_t iy, const uint8_t zoom_level);

int imagery_cached( image_tile_t * image_tile);

void load_tile_from_cache(image_tile_t * image_tile);

int imagery_downloading(const uint32_t ix, const uint32_t iy, const uint8_t zoom_level);

void start_tile_download(image_tile_t * image_tile);

void lat_lon_centered_from_ix_iy_zoom( double * lat, double * lon, const uint32_t ix, const uint32_t iy, const uint8_t zoom_level);

void set_tiles();

void ix_iy_from_lat_lon_zoom( uint32_t * ix, uint32_t * iy, const double lat, const double lon, const uint8_t zoom_level);

void set_north_east_bounds_from_ix_iy_zoom( image_tile_t * image_tile);

// the origin according to joby gnss

double lat0 = 0;

double lon0 = 0;

double alt0 = 0;

// the closest indeces to the origin

uint32_t ix0,iy0;

// array of image_tiles

image_tile_t image_tiles[NUM_IMAGE_TILES];

// don't start looking for imagery until we know what imagery to pull

int got_lla_origin = 0;

// highest zoom level where there is still imagery available

int zoom_level;

void

init_imagery()

{

reset_probe( MAX_ZOOM_LEVEL);

// clear all times and assign all texture numbers

for (int k=0; k<NUM_IMAGE_TILES; k++){

image_tiles[k].status = TILE_UNINITIALIZED;

glGenTextures( 1, &(image_tiles[k].texture) );

}

}

void

reset_imagery()

{

reset_probe( MAX_ZOOM_LEVEL );

// clear all tiles from memory

for (int k=0; k<NUM_IMAGE_TILES; k++){

// unallocate memory if allocated

if (image_tiles[k].status == TILE_READY){

imlib_context_set_image(image_tiles[k].image);

imlib_free_image();

}

image_tiles[k].status = TILE_UNINITIALIZED;

}

}

#define EPSILON 1e-8

// get the lat0/lon0/alt0 ned origin from gps

// if the origin changes, re-initialize imagery

void

update_imagery_origin(const gpsPhys_t * const gpsPhys)

{

if (gpsPhys->solution_valid == 0)

return;

double dlat = fabs(lat0 - gpsPhys->lla0.lat);

double dlon = fabs(lon0 - gpsPhys->lla0.lon);

double dalt = fabs(alt0 - gpsPhys->lla0.alt);

double originnorm = sqrt(dlat*dlat + dlon*dlon + dalt*dalt);

if (originnorm > EPSILON) {

lat0 = gpsPhys->lla0.lat;

lon0 = gpsPhys->lla0.lon;

alt0 = gpsPhys->lla0.alt;

printf("gps origin lat0: %.9f, lon0: %.9f, alt0: %.2f\n", lat0, lon0, alt0);

if (got_lla_origin == 1){

printf("gps lla origin changed by %lf (2-norm{rad,rad,m}),"

" re-setting gps lla origin and reallocating tiles\n", originnorm);

}

reset_imagery(MAX_ZOOM_LEVEL);

}

got_lla_origin = 1;

}

// main image handler: probe for best zoom level, then get and draw tiles

void

manage_imagery()

{

// return if we don't know what imagery to get

if (got_lla_origin == 0)

return;

// if zoom level unknown, keep probing

if (zoom_level_known() == 0){

int ret = run_probe(lat0, lon0);

// return if zoom level still unknown

if (ret == -1)

return;

// if zoom level figured out, set zoom level and init tiles

zoom_level = ret;

ix_iy_from_lat_lon_zoom( &ix0, &iy0, lat0, lon0, zoom_level );

printf("Imagery available at zoom level: %d\n", zoom_level);

set_tiles();

}

// if zoom level is know, get/load tiles if they're not already gotten

for ( int k=0; k < NUM_IMAGE_TILES; k++){

get_imagery( &(image_tiles[k]));

draw_tile( &(image_tiles[k]) );

}

// finally, display a message when all tiles are fetched/loaded

for ( int k=0; k < NUM_IMAGE_TILES; k++)

if (image_tiles[k].status != TILE_READY)

return;

static int last_tile_loaded = 0;

if ( last_tile_loaded == 0 ){

last_tile_loaded = 1;

printf("Imagery finished downloading and/or loading from cache.\n"

"%d image tiles loaded at zoom level %d\n", NUM_IMAGE_TILES, zoom_level);

}

}

// figure out which tiles to draw

void

set_tiles()

{

uint32_t ix,iy;

uint32_t ix_list[NUM_IMAGE_TILES];

uint32_t iy_list[NUM_IMAGE_TILES];

int num_tiles = 0;

int dix_min = - 2*NUM_SQUARE_RINGS + 2;

int dix_max = 2*NUM_SQUARE_RINGS - 1;

int diy_min = - NUM_SQUARE_RINGS + 1;

int diy_max = NUM_SQUARE_RINGS - 1;

for ( ix = ix0 + dix_min; ix <= ix0 + dix_max; ix++){

for ( iy = iy0 + diy_min; iy <=iy0 + diy_max; iy++){

ix_list[num_tiles] = ix;

iy_list[num_tiles] = iy;

num_tiles++;

}

}

// now we know which tiles to draw, load this information into the tile array

for (int k=0; k<NUM_IMAGE_TILES; k++)

{

image_tiles[k].status = TILE_UNINITIALIZED;

image_tiles[k].ix = ix_list[k];

image_tiles[k].iy = iy_list[k];

image_tiles[k].zoom_level = zoom_level;

set_north_east_bounds_from_ix_iy_zoom( &(image_tiles[k]) );

}

}

void

get_imagery(image_tile_t * image_tile)

{

// if tile is already in memory, do nothing

if ( image_tile->status == TILE_READY)

return;

// if tile isn't in memory but it is cached, then load it and set status to TILE_READY

if (imagery_cached(image_tile) == 1 ){

load_tile_from_cache( image_tile );

return;

}

// if image is neither in memory nor cached, but it is downloading, do nothing

if ( image_tile->status == TILE_DOWNLOADING )

return;

// if tile is not in memory, cached, or downloading, then download it

printf("start image downloading\n");

start_tile_download( image_tile);

}

// check and see if the image is cached

// if so, change it's status to TILE_UNINITIALIZED (to handle downloading tiles) and return 1

int imagery_cached( image_tile_t * image_tile)

{

char filename[MAX_FILENAME_LENGTH];

filename_of_ix_iy_zoom(filename, image_tile->ix, image_tile->iy, image_tile->zoom_level);

FILE * imagefile;

if ((imagefile = fopen(filename,"r")) == NULL){

return 0;

}

fclose(imagefile);

return 1;

}

void

load_tile_from_cache( image_tile_t * image_tile)

{

char filename[MAX_FILENAME_LENGTH];

filename_of_ix_iy_zoom(filename, image_tile->ix, image_tile->iy, image_tile->zoom_level);

FILE * imagefile;

if ((imagefile = fopen(filename,"r")) == NULL){

printf("this file was supposed to be available but it's not\n");

fclose(imagefile);

exit(1);

}

fclose(imagefile);

if ( ( image_tile->image = imlib_load_image(filename) ) != 0){

image_tile->status = TILE_READY;

setup_texture( image_tile );

} else {

printf("imlib_load_image fail\n");

exit(1);

}

}

void

filename_of_ix_iy_zoom(char * filename, const uint32_t ix, const uint32_t iy, const uint8_t zoom_level_)

{

sprintf(filename, "image_cache/satellite_imagery_zoom_%d_ix_%d_iy_%d.png", zoom_level_, ix, iy);

}

void

start_tile_download( image_tile_t * image_tile)

{

image_tile->status = TILE_DOWNLOADING;

double lat,lon;

lat_lon_centered_from_ix_iy_zoom( &lat, &lon, image_tile->ix, image_tile->iy, image_tile->zoom_level);

char filename[MAX_FILENAME_LENGTH];

filename_of_ix_iy_zoom( filename, image_tile->ix, image_tile->iy, image_tile->zoom_level );

printf("downloading %s\n", filename);

char system_call[1024];

sprintf(system_call, "sh shake_n_bake.sh 'http://maps.google.com/maps/api/staticmap?center=%.6f,%.6f&zoom=%d&size=256x256&maptype=satellite&format=png32&sensor=false' %s &", lat, lon, zoom_level, filename);

int ret = system(system_call);

if (ret == 10)

return;

return;

}

void

ix_iy_from_lat_lon_zoom( uint32_t * ix, uint32_t * iy, const double lat, const double lon, const uint8_t zoom_level_)

{

*ix = (lat + 90.0) / 180.0 * (1 << zoom_level_ );

*iy = (lon + 180.0) / 360.0 * (1 << zoom_level_ );

}

void

lat_lon_centered_from_ix_iy_zoom( double * lat, double * lon, const uint32_t ix, const uint32_t iy, const uint8_t zoom_level_)

{

int num_segments = (1 << zoom_level_);

double lat_degrees_per_segment = 180.0/num_segments;

*lat = lat_degrees_per_segment*(ix + 0.5) - 90.0;

double lon_degrees_per_segment = 360.0/num_segments;

*lon = lon_degrees_per_segment*(iy + 0.5) - 180.0;

}

void

set_north_east_bounds_from_ix_iy_zoom( image_tile_t * image_tile)

{

double lat_center,lon_center;

lat_lon_centered_from_ix_iy_zoom( &lat_center, &lon_center, image_tile->ix, image_tile->iy, image_tile->zoom_level);

int num_segments = (1 << image_tile->zoom_level);

double lat_degrees_per_segment = 360.0/num_segments;

double lon_degrees_per_segment = 360.0/num_segments;

double lat_min = lat_center - 0.5*lat_degrees_per_segment;

double lat_max = lat_center + 0.5*lat_degrees_per_segment;

double lon_min = lon_center - 0.5*lon_degrees_per_segment;

double lon_max = lon_center + 0.5*lon_degrees_per_segment;

image_tile->x_min = (lat_min - lat0)*M_PI*EARTH_RADIUS/180.0*cos(lat0*M_PI/180.0);

image_tile->x_max = (lat_max - lat0)*M_PI*EARTH_RADIUS/180.0*cos(lat0*M_PI/180.0);

image_tile->y_min = (lon_min - lon0)*M_PI*EARTH_RADIUS/180.0*cos(lat0*M_PI/180.0);

image_tile->y_max = (lon_max - lon0)*M_PI*EARTH_RADIUS/180.0*cos(lat0*M_PI/180.0);

double x_mean = 0.5*(image_tile->x_max + image_tile->x_min);

image_tile->x_max = x_mean + 0.5*(image_tile->y_max - image_tile->y_min);

image_tile->x_min = x_mean - 0.5*(image_tile->y_max - image_tile->y_min);

}