New branch of visualizer for osi-2.2.1 maintenance

CMakeLists.txt

@@ -31,6 +31,8 @@ set(SOURCES
     src/gltrafficsign.cpp
     src/qrc_resources.cpp
     src/osiparser.cpp
+    src/glfieldofview.cpp
+    src/fmureceiver.cpp
 )
 
 set(HEADERS
@@ -55,9 +57,20 @@ set(HEADERS
     include/glpoint.h
     include/gltrafficsign.h
     include/osiparser.h
+    include/glfieldofview.h
+    include/fmureceiver.h
+)
+
+
+include_directories(
+    /usr/local/include/fmi-library
+    ${CMAKE_CURRENT_LIST_DIR}/include
+)
+
+link_directories(
+    /usr/local/lib/fmi-library
 )
 
-include_directories(include)
 
 add_executable(${PROJECT_NAME}
     ${HEADERS}
@@ -72,7 +85,9 @@ target_link_libraries(${PROJECT_NAME}
     Qt5::OpenGL
     Qt5::Network
 
-    open_simulation_interface_pic
+    open_simulation_interface
+    fmilib_shared
     protobuf
     zmq
 )
+

include/appconfig.h

@@ -21,20 +21,39 @@ class AppConfig
         QString  ch1IPAddress_;
         QString  ch1PortNum_;
         DataType ch1DataType_;
+        bool     ch1FMURxCheck_;
+        QString  ch1LoadFMURx_;
         QString  ch1LoadFile_;
         DataType ch1PlaybackDataType_;
         int      ch1DeltaDelay_;
         bool     ch1EnableSendOut_;
         QString  ch1SendOutPortNum_;
+        bool     ch1FMUTxCheck_;
+        QString  ch1LoadFMUTx_;
+        bool     ch1ShowFOV_;
+        float    ch1MinRadius_;
+        float    ch1MaxRadius_;
+        float    ch1AzimuthPos_;
+        float    ch1AzimuthNeg_;
+
 
         QString  ch2IPAddress_;
         QString  ch2PortNum_;
         DataType ch2DataType_;
+        bool     ch2FMURxCheck_;
+        QString  ch2LoadFMURx_;
         QString  ch2LoadFile_;
         DataType ch2PlaybackDataType_;
         int      ch2DeltaDelay_;
         bool     ch2EnableSendOut_;
         QString  ch2SendOutPortNum_;
+        bool     ch2FMUTxCheck_;
+        QString  ch2LoadFMUTx_;
+        bool     ch2ShowFOV_;
+        float    ch2MinRadius_;
+        float    ch2MaxRadius_;
+        float    ch2AzimuthPos_;
+        float    ch2AzimuthNeg_;
 
         bool combineChannel_;
         bool showGrid_;

include/fmureceiver.h

@@ -0,0 +1,108 @@
+///
+/// @file
+/// @copyright Copyright (C) 2017, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+///
+/// @brief
+///
+
+
+
+#pragma once
+
+#include <QtConcurrent/QtConcurrent>
+
+#include <string>
+
+#include "osi_sensordata.pb.h"
+#include "imessagesource.h"
+#include "types.h"
+
+
+extern "C" {
+#include <JM/jm_portability.h>
+#include <fmilib.h>
+}
+
+#define FMI_INTEGER_SENSORDATA_IN_BASELO_IDX 0
+#define FMI_INTEGER_SENSORDATA_IN_BASEHI_IDX 1
+#define FMI_INTEGER_SENSORDATA_IN_SIZE_IDX 2
+#define FMI_INTEGER_SENSORDATA_OUT_BASELO_IDX 3
+#define FMI_INTEGER_SENSORDATA_OUT_BASEHI_IDX 4
+#define FMI_INTEGER_SENSORDATA_OUT_SIZE_IDX 5
+#define FMI_INTEGER_LAST_IDX FMI_INTEGER_SENSORDATA_OUT_SIZE_IDX
+#define FMI_INTEGER_VARS (FMI_INTEGER_LAST_IDX + 1)
+
+
+
+
+class FMUReceiver: public QObject, public IMessageSource
+{
+    Q_OBJECT
+
+    public:
+        FMUReceiver();
+
+        signals:
+            void Connected(DataType dataType);
+            void Disconnected(const QString& message = "");
+            void MessageReceived(const osi::SensorData& sensorData,
+                                 const DataType datatype);
+
+    public slots:
+            void DisconnectRequested();
+            void ConnectRequested(const QString& ipAddress,
+                                  const QString& port,
+                                  const QString& fmuPath,
+                                  DataType dataType);
+
+    private:
+
+        void ReceiveLoop();
+
+
+        bool isRunning_;
+        bool isThreadTerminated_;
+        DataType currentDataType_;
+
+
+        // FMU interface
+        fmi2_import_t* fmu_;
+        fmi2_callback_functions_t callBackFunctions_;
+        jm_callbacks callbacks_;
+        fmi_import_context_t* context_;
+
+        jm_status_enu_t jmStatus_;
+        fmi2_status_t fmiStatus_;
+
+        fmi2_real_t tStart_;
+        fmi2_real_t tEnd_;
+        fmi2_real_t tCurrent_;
+        fmi2_real_t hStep_;
+
+        std::string ip_;
+        std::string port_;
+        std::string FMUPath_;
+        std::string tmpPath_;
+        enum class LogLevel
+        {
+            Warn,
+            Debug
+        };
+        LogLevel logLevel_;
+
+        std::string currentBuffer_;
+
+        fmi2_value_reference_t vr_[FMI_INTEGER_VARS];
+        fmi2_integer_t integerVars_[FMI_INTEGER_VARS];
+
+        // initialize fmu wrapper specific logger, create fmi import context and check fmi version
+        bool initializeFMUWrapper();
+        // import fmu binary file
+        bool importFMU();
+        // setup and initialize FMU
+        bool initializeFMU();
+        // protobuf accessors
+        bool get_fmi_sensor_data_in(osi::SensorData& data);
+};
+
+

include/glfieldofview.h

@@ -0,0 +1,23 @@
+
+
+
+
+#pragma once
+#include "globject.h"
+
+class GLFieldOfView : public GLObject
+{
+    public:
+        GLFieldOfView(QOpenGLFunctions_4_3_Core* functions,
+                      const float minRadius,
+                      const float maxRadius,
+                      const float azimuthPosAngle,
+                      const float azimuthNegAngle);
+
+        void UpdateParameter(const float minRadius,
+                             const float maxRadius,
+                             const float azimuthPosAngle,
+                             const float azimuthNegAngle);
+};
+
+

include/glvehicle.h

@@ -12,4 +12,11 @@ class GLVehicle : public GLObject
 {
     public:
         GLVehicle(QOpenGLFunctions_4_3_Core* functions, QString id, float xExtend, float zExtend);
+
+        GLVehicle(QOpenGLFunctions_4_3_Core* functions,
+                  QString id,
+                  QVector3D v0,
+                  QVector3D v1,
+                  QVector3D v2,
+                  QVector3D v3);
 };

include/glwidget.h

@@ -14,6 +14,8 @@
 #include "lane.h"
 #include "imessagesource.h"
 
+#include "glfieldofview.h"
+
 #include <QOpenGLWidget>
 #include <QTreeWidgetItem>
 #include <QOpenGLFunctions>
@@ -35,6 +37,13 @@ class GLWidget : public QOpenGLWidget, protected QOpenGLFunctions_4_3_Core
 
         void UpdateIMessageSource(IMessageSource* msgSource);
 
+        void UpdateFOVPaint(const bool showFOV);
+
+        void UpdateFOVParam(const float minRadius,
+                            const float maxRadius,
+                            const float azimuthPosAngle,
+                            const float azimuthNegAngle);
+
     signals:
         void DisplayObjectInformation(GLObject* object);
         void SetTrackingEnabled(bool enable);
@@ -87,4 +96,7 @@ class GLWidget : public QOpenGLWidget, protected QOpenGLFunctions_4_3_Core
         QOpenGLShaderProgram shaderProgram_;
         QMap<ObjectType, QTreeWidgetItem*>& treeNodes_;
 
+        bool showFOV_;
+        GLFieldOfView* objFOV_;
+
 };

include/mainwindow.h

@@ -18,6 +18,7 @@
 
 class GLWidget;
 class TCPReceiver;
+class FMUReceiver;
 class AppConfig;
 class OsiParser;
 class OsiReader;
@@ -35,6 +36,8 @@ class MainWindow : public QMainWindow
         explicit MainWindow(QWidget* parent = nullptr);
         ~MainWindow();
 
+        void LocalUpdate();
+
     signals:
         void UpdateGrid();
         void UpdateLane();
@@ -47,11 +50,23 @@ class MainWindow : public QMainWindow
                                const QString& port,
                                const DataType dataType);
 
+        void FMUConnectRequested(const QString& ipAddress,
+                                 const QString& port,
+                                 const QString& fmuPath,
+                                 const DataType dataType);
+
+        void FMUConnectRequested2(const QString& ipAddress,
+                                  const QString& port,
+                                  const QString& fmuPath,
+                                  const DataType dataType);
+
         void StartPlaybackRequested(const QString& fileName,
-                                    const DataType dataType);
+                                    const DataType dataType,
+                                    const QString& fmuPath);
 
         void StartPlaybackRequested2(const QString& fileName,
-                                     const DataType dataType);
+                                     const DataType dataType,
+                                     const QString& fmuPath);
 
     public slots:
         void EnableExport(bool enable);
@@ -91,9 +106,29 @@ class MainWindow : public QMainWindow
         void RBPlayback();
         void RBPlayback2();
 
+        void CBDataTypeCon(int index);
+        void CBDataTypePlay(int index);
+        void CBDataTypeCon2(int index);
+        void CBDataTypePlay2(int index);
+        void ToggleShowFOV();
+        void ToggleShowFOV2();
+
+        void CheckBoxFMURx();
+        void CheckBoxFMURx2();
+        void LoadFMURxEdited(const QString& text);
+        void LoadFMURxBrowse();
+        void LoadFMURxEdited2(const QString& text);
+        void LoadFMURxBrowse2();
+
+        void CheckBoxFMUTx();
+        void CheckBoxFMUTx2();
+        void LoadFMUTxEdited(const QString& text);
+        void LoadFMUTxBrowse();
+        void LoadFMUTxEdited2(const QString& text);
+        void LoadFMUTxBrowse2();
+
         void LoadFileEdited(const QString& text);
         void LoadFileBrowse();
-
         void LoadFileEdited2(const QString& text);
         void LoadFileBrowse2();
 
@@ -112,6 +147,9 @@ class MainWindow : public QMainWindow
 
         void CombineChannels();
 
+        void ShowFOV();
+        void ShowFOV2();
+
 
     private:
 
@@ -184,6 +222,9 @@ class MainWindow : public QMainWindow
 
         void ShowErrorMessage(const QString& errMsg);
 
+        void EnableShowFOV(const bool enable);
+        void EnableShowFOV2(const bool enable);
+
 
         // Configurations
         AppConfig config_;
@@ -211,12 +252,14 @@ class MainWindow : public QMainWindow
         Ui::MainWindow *ui_;
 
         GLWidget*    glWidget_;
-        TCPReceiver* receiver_;
+        TCPReceiver* tcpReceiver_;
+        FMUReceiver* fmuReceiver_;
         OsiReader*   reader_;
         OsiParser*   osiparser_;
 
         GLWidget*    glWidget2_;
-        TCPReceiver* receiver2_;
+        TCPReceiver* tcpReceiver2_;
+        FMUReceiver* fmuReceiver2_;
         OsiReader*   reader2_;
         OsiParser*   osiparser2_;