public ImageLayer(
String name, BufferedImage img, LocationType topLeft, LocationType bottomRight) {
this.name = name;
this.topLeft = new LocationType(topLeft);
this.image = img;
this.zoom = topLeft.getOffsetFrom(bottomRight)[0] / img.getHeight();
}
@Override
public void mouseClicked(MouseEvent event, StateRenderer2D source) {
if (event.getButton() == MouseEvent.BUTTON3) {
JPopupMenu popup = new JPopupMenu();
popup
.add("Generate plans locally")
.addActionListener(
new ActionListener() {
@Override
public void actionPerformed(ActionEvent arg0) {
solve();
}
});
popup
.add("Clear polygon")
.addActionListener(
new ActionListener() {
@Override
public void actionPerformed(ActionEvent arg0) {
pe = null;
vertexCount = 0;
}
});
popup
.add("Settings")
.addActionListener(
new ActionListener() {
@Override
public void actionPerformed(ActionEvent arg0) {
PropertiesEditor.editProperties(AreaCoveragePlanner.this, getConsole(), true);
}
});
popup.show(source, event.getX(), event.getY());
} else if (pe == null) {
LocationType l = source.getRealWorldLocation(event.getPoint());
pe =
new PathElement(
MapGroup.getMapGroupInstance(getConsole().getMission()), new MapType(), l);
pe.setMyColor(Color.green.brighter());
pe.setShape(true);
pe.setFinished(true);
pe.setStroke(new BasicStroke(2.0f));
pe.addPoint(0, 0, 0, false);
vertexCount = 1;
} else {
LocationType l = source.getRealWorldLocation(event.getPoint());
double[] offsets = l.getOffsetFrom(pe.getCenterLocation());
pe.addPoint(offsets[1], offsets[0], 0, false);
vertexCount++;
}
}
private DataDiscretizer parseLog(String entity) {
DataDiscretizer dd = new DataDiscretizer(10);
IMraLog parser = logSource.getLog(messageName);
IMraLog stateParser = logSource.getLog("EstimatedState");
if (parser == null || stateParser == null) {
return dd;
}
IMCMessage entry = parser.nextLogEntry();
IMCMessage stateEntry = stateParser.nextLogEntry();
LocationType ref = IMCUtils.getLocation(stateEntry).convertToAbsoluteLatLonDepth();
entityList.clear();
entityList.add("ALL");
while (entry != null) {
parser.advance(1);
entry = parser.getCurrentEntry();
if (entry != null) {
String entName = logSource.getEntityName(entry.getSrc(), entry.getSrcEnt());
if (!entityList.contains(entName)) entityList.add(entName);
if (!entity.equalsIgnoreCase("ALL") && !entName.equalsIgnoreCase(entity)) continue;
stateEntry = stateParser.getEntryAtOrAfter(parser.currentTimeMillis());
LocationType loc = new LocationType();
loc.setLatitudeRads(stateEntry.getDouble("lat"));
loc.setLongitudeRads(stateEntry.getDouble("lon"));
loc.translatePosition(
stateEntry.getDouble("x"), stateEntry.getDouble("y"), stateEntry.getDouble("z"));
double[] offsets = loc.getOffsetFrom(ref);
double[] vals = new double[4];
vals[0] = Double.NaN;
if (stateEntry != null) {
vals[0] = entry.getDouble(varName);
dd.addPoint(offsets[1], -offsets[0], vals);
}
}
}
entCombo.setModel(new DefaultComboBoxModel<>(entityList));
return dd;
}
private void drawPath(
Graphics2D g, double scaleX, double scaleY, double minX, double minY, double timeStep) {
g.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
g.setTransform(new AffineTransform());
g.setColor(new Color(0, 0, 0, 10));
// IMraLog stateParser = logSource.getLog("EstimatedState");
// IMCMessage stateEntry;
LsfIterator<EstimatedState> iterator =
logSource.getLsfIndex().getIterator(EstimatedState.class);
if (timeStep > 0)
iterator =
logSource.getLsfIndex().getIterator(EstimatedState.class, (long) (timeStep * 1000));
Point2D lastPt = null;
EstimatedState state = iterator.next();
if (state == null) {
NeptusLog.pub().error("No estimatedstate messages in the log");
return;
}
LocationType ref = IMCUtils.getLocation(state).convertToAbsoluteLatLonDepth();
LinkedHashMap<Integer, Point2D> lastStates = new LinkedHashMap<>();
while (state != null) {
LocationType loc = IMCUtils.getLocation(state).convertToAbsoluteLatLonDepth();
double[] offsets = loc.getOffsetFrom(ref);
Point2D pt = new Point2D.Double((offsets[1] - minY) * scaleY, (-minX - offsets[0]) * scaleX);
if (timeStep == 0) g.setColor(new Color(0, 0, 0, 20));
else g.setColor(Color.black);
lastPt = lastStates.get(state.getSrc());
if (lastPt != null && pt != null) g.draw(new Line2D.Double(lastPt, pt));
lastStates.put(state.getSrc(), pt);
state = iterator.next();
}
}
