map_draw.c

机器人仿真软件

/**************************************************************************
 * Desc: Local map GUI functions
 * Author: Andrew Howard
 * Date: 18 Jan 2003
 * CVS: $Id: map_draw.c,v 1.5 2003/06/02 15:33:45 inspectorg Exp $
**************************************************************************/

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#ifdef INCLUDE_RTKGUI

#include <errno.h>
#include <math.h>
#include <stdlib.h>
#include <string.h>

#include <rtk.h>
#include "map.h"


////////////////////////////////////////////////////////////////////////////
// Draw the occupancy map
void map_draw_occ(map_t *map, rtk_fig_t *fig)
{
  int i, j;
  int col;
  map_cell_t *cell;
  uint16_t *image;
  uint16_t *pixel;

  image = malloc(map->size_x * map->size_y * sizeof(image[0]));

  // Draw occupancy
  for (j = 0; j < map->size_y; j++)
  {
    for (i =  0; i < map->size_x; i++)
    {
      cell = map->cells + MAP_INDEX(map, i, j);
      pixel = image + (j * map->size_x + i);

      col = 127 - 127 * cell->occ_state;
      *pixel = RTK_RGB16(col, col, col);
    }
  }

  // Draw the entire occupancy map as an image
  rtk_fig_image(fig, map->origin_x, map->origin_y, 0,
                map->scale, map->size_x, map->size_y, 16, image, NULL);

  free(image);
  
  return;
}


////////////////////////////////////////////////////////////////////////////
// Draw the cspace map
void map_draw_cspace(map_t *map, rtk_fig_t *fig)
{
  int i, j;
  int col;
  map_cell_t *cell;
  uint16_t *image;
  uint16_t *pixel;

  image = malloc(map->size_x * map->size_y * sizeof(image[0]));

  // Draw occupancy
  for (j = 0; j < map->size_y; j++)
  {
    for (i =  0; i < map->size_x; i++)
    {
      cell = map->cells + MAP_INDEX(map, i, j);
      pixel = image + (j * map->size_x + i);

      col = 255 * cell->occ_dist / map->max_occ_dist;

      *pixel = RTK_RGB16(col, col, col);
    }
  }

  // Draw the entire occupancy map as an image
  rtk_fig_image(fig, map->origin_x, map->origin_y, 0,
                map->scale, map->size_x, map->size_y, 16, image, NULL);

  free(image);
  
  return;
}


////////////////////////////////////////////////////////////////////////////
// Draw a wifi map
void map_draw_wifi(map_t *map, rtk_fig_t *fig, int index)
{
  int i, j;
  int level, col;
  map_cell_t *cell;
  uint16_t *image, *mask;
  uint16_t *ipix, *mpix;

  image = malloc(map->size_x * map->size_y * sizeof(image[0]));
  mask = malloc(map->size_x * map->size_y * sizeof(mask[0]));

  // Draw wifi levels
  for (j = 0; j < map->size_y; j++)
  {
    for (i =  0; i < map->size_x; i++)
    {
      cell = map->cells + MAP_INDEX(map, i, j);
      ipix = image + (j * map->size_x + i);
      mpix = mask + (j * map->size_x + i);

      level = cell->wifi_levels[index];

      if (cell->occ_state == -1 && level != 0)
      {
        col = 255 * (100 + level) / 100;
        *ipix = RTK_RGB16(col, col, col);
        *mpix = 1;
      }
      else
      {
        *mpix = 0;
      }
    }
  }

  // Draw the entire occupancy map as an image
  rtk_fig_image(fig, map->origin_x, map->origin_y, 0,
                map->scale, map->size_x, map->size_y, 16, image, mask);

  free(mask);
  free(image);
  
  return;
}


#endif