void NET_SerialTrackingServant::
nGetRADecTargetDetails(CORBA::Double& ra_rad, CORBA::Double& dec_rad,
CORBA::Double& epoch,
CORBA::Double& offset_time_sidereal_min,
CORBA::Double& wobble_offset_rad,
CORBA::Double& wobble_direction_rad,
CORBA::String_out name,
CORBA::Boolean& use_convergent_pointing)
{
RegisterThisFunction fnguard(__PRETTY_FUNCTION__);
TelescopeController::StateElements tse = m_controller->tse();
TargetObject* object = m_controller->getTargetObject();
if(!object)throw WrongTargetType();
use_convergent_pointing = false;
#if 0
const ConvergentPointinglObject* convergent
= dynamic_cast<const ConvergentPointinglObject*>(object);
if(convergent)
{
use_convergent_pointing = true;
TargetObject* sub_object = convergent->getTargetObject();
delete object;
object = sub_object;
if(!object)throw WrongTargetType();
}
#endif
const RaDecObject* radec = dynamic_cast<const RaDecObject*>(object);
if(radec)
{
ra_rad = radec->coords().longitudeRad();
dec_rad = radec->coords().latitudeRad();
epoch = radec->epoch();
const CoordinateOffset* off = radec->offset();
const OnOffOffset* onoff = dynamic_cast<const OnOffOffset*>(off);
if(onoff)
{
offset_time_sidereal_min = onoff->getOffsetTime().hrsPM()*60;
}
const WobbleOffset* wobble = dynamic_cast<const WobbleOffset*>(off);
if(wobble)
{
Angle phi = Angle::frDeg(180) - wobble->getWobbleCoords().phiRad();
wobble_offset_rad = wobble->getWobbleCoords().thetaRad();
wobble_direction_rad = phi.rad();
}
name = CORBA::string_dup(radec->name().c_str());
delete object;
return;
};
delete object;
throw WrongTargetType();
return;
}
float Math::acos(const Angle &v)
{
return (::acos(v.rad()));
}
float Math::atan(const Angle &v)
{
return (::atan(v.rad()));
}
void StreetRenderer::drawSegment(QPainter& painter,
A2O::Segment::Ptr segment,
const PanelTransformation& panelTransform)
{
Pose2D beginPose = segment->getBeginLink()->getPose();
Pose2D endPose = Geometry::calculateArcPose(segment->getLength(), segment->getBendingAngle());
Angle bendingAngle = segment->getBendingAngle();
bool straightSegment = segment->getBendingAngle().rad() == 0;
double radius = 0;
// Set the current painting system to the begin of the segment
panelTransform.setTransform(beginPose, painter);
QPointF begin(0, 0);
QPointF end(endPose.getPosition()(0), endPose.getPosition()(1));
// Draw segment background
if (straightSegment) {
// Draw street background
if (segment->consumesDriveInstruction()) {
painter.setPen(_instructionStreetPen);
} else {
painter.setPen(_streetPen);
}
painter.drawLine(begin, end);
} else {
radius = double(segment->getLength() / bendingAngle.rad());
// Draw street background
if (segment->consumesDriveInstruction()) {
painter.setPen(_instructionStreetPen);
} else {
painter.setPen(_streetPen);
}
RenderUtil::drawArc(painter, begin, radius, bendingAngle.rad());
painter.setPen(_thinStreetPen);
RenderUtil::drawArc(painter, QPointF(0, -0.465), radius + 0.465, bendingAngle.rad());
RenderUtil::drawArc(painter, QPointF(0, 0.465), radius - 0.465, bendingAngle.rad());
}
// Draw Signs belonging to segment
std::vector<RoadSign::Ptr> signs = segment->getRoadSigns();
for(unsigned int i=0; i < signs.size(); i++) {
RoadSign::Ptr sign = signs[i];
std::stringstream fileName;
fileName << ":/res/" << sign->getName() << ".png";
std::string file = fileName.str();
QImage image(file.c_str());
Angle signAngle = sign->getPose().getAngle();
signAngle -= Angle::deg(90);
image = image.transformed(QTransform().rotate(signAngle.deg()));
image = image.mirrored(false, true);
QRectF rect(0.0, -0.25, 0.5, 0.5);
painter.drawImage(rect, image);
}
// Draw begin link and sub segments
drawSubSegments(painter, segment, panelTransform);
panelTransform.setTransform(beginPose, painter);
// Draw segment lines
if (straightSegment) {
// Draw segment lines
painter.setPen(_streetLinePen);
if (segment->isXCrossing()) {
painter.drawLine(QPointF(0, 0.465), QPointF(0.035, 0.5));
painter.drawLine(QPointF(0, -0.465), QPointF(0.035, -0.5));
painter.drawLine(QPointF(1, 0.465), QPointF(0.965, 0.5));
painter.drawLine(QPointF(1, -0.465), QPointF(0.965, -0.5));
} else if(segment->isTCrossingLS()) {
painter.drawLine(QPointF(0, 0.465), QPointF(0.035, 0.5));
painter.drawLine(QPointF(1, 0.465), QPointF(0.965, 0.5));
painter.drawLine(QPointF(0, -0.465), QPointF(1, -0.465));
} else if(segment->isTCrossingLR()) {
painter.drawLine(QPointF(0, 0.465), QPointF(0.035, 0.5));
painter.drawLine(QPointF(0, -0.465), QPointF(0.035, -0.5));
painter.drawLine(QPointF(0.965, 0.5), QPointF(0.965, -0.5));
} else if(segment->isTCrossingSR()) {
painter.drawLine(QPointF(0, 0.465), QPointF(1, 0.465));
painter.drawLine(QPointF(0, -0.465), QPointF(0.035, -0.5));
painter.drawLine(QPointF(1, -0.465), QPointF(0.965, -0.5));
} else {
painter.drawLine(QPointF(0, 0.465), QPointF(segment->getLength(), 0.465));
painter.drawLine(QPointF(0, -0.465), QPointF(segment->getLength(), -0.465));
// Draw middle line
painter.setPen(_middleLinePen);
painter.drawLine(begin, end);
}
} else {
// Draw left and right line
painter.setPen(_streetLinePen);
if (radius > 0) {
RenderUtil::drawArc(painter, QPointF(0, -0.465), radius + 0.465, bendingAngle.rad());
RenderUtil::drawArc(painter, QPointF(0, 0.465), radius - 0.465, bendingAngle.rad(), _helperLinePen);
} else {
RenderUtil::drawArc(painter, QPointF(0, -0.465), radius + 0.465, bendingAngle.rad(), _helperLinePen);
RenderUtil::drawArc(painter, QPointF(0, 0.465), radius - 0.465, bendingAngle.rad());
}
// Draw middle line
painter.setPen(_middleLinePen);
RenderUtil::drawArc(painter, begin, radius, bendingAngle.rad());
}
}
bool operator==(const Angle &lhs, const Angle &rhs) {return fcmp(lhs.rad(), rhs.rad()) == 0;}
bool operator<(const Angle &lhs, const Angle &rhs) {return fcmp(lhs.rad(), rhs.rad()) < 0;}
Angle operator-(const Angle &angle) noexcept {return Radians{-angle.rad()};}
long double operator/(const Angle &lhs, const Angle &rhs) noexcept {return lhs.rad() / rhs.rad();}