| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | /// @file PositionInput.hpp | ||
| 10 | /// @brief Position Input GUI widgets | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2023-08-14 | ||
| 13 | |||
| 14 | #include "PositionInput.hpp" | ||
| 15 | |||
| 16 | #include <imgui.h> | ||
| 17 | #include <fmt/core.h> | ||
| 18 | |||
| 19 | #include "internal/gui/widgets/imgui_ex.hpp" | ||
| 20 | #include "internal/gui/widgets/EnumCombo.hpp" | ||
| 21 | |||
| 22 | namespace NAV | ||
| 23 | { | ||
| 24 | |||
| 25 | ✗ | const char* to_string(gui::widgets::PositionWithFrame::ReferenceFrame refFrame) | |
| 26 | { | ||
| 27 | ✗ | switch (refFrame) | |
| 28 | { | ||
| 29 | ✗ | case gui::widgets::PositionWithFrame::ReferenceFrame::ECEF: | |
| 30 | ✗ | return "ECEF"; | |
| 31 | ✗ | case gui::widgets::PositionWithFrame::ReferenceFrame::LLA: | |
| 32 | ✗ | return "LLA"; | |
| 33 | ✗ | case gui::widgets::PositionWithFrame::ReferenceFrame::COUNT: | |
| 34 | ✗ | break; | |
| 35 | } | ||
| 36 | ✗ | return ""; | |
| 37 | } | ||
| 38 | |||
| 39 | namespace gui::widgets | ||
| 40 | { | ||
| 41 | namespace | ||
| 42 | { | ||
| 43 | /// @brief Shows a ComboBox to select the position input reference frame | ||
| 44 | /// @param[in] label Label to show beside the combo box. This has to be a unique id for ImGui. | ||
| 45 | /// @param[in] refFrame Reference to the frame to select | ||
| 46 | ✗ | bool ComboPositionInputReferenceFrame(const char* label, PositionWithFrame::ReferenceFrame& refFrame) | |
| 47 | { | ||
| 48 | ✗ | return gui::widgets::EnumCombo(label, refFrame); | |
| 49 | } | ||
| 50 | } // namespace | ||
| 51 | } // namespace gui::widgets | ||
| 52 | |||
| 53 | } // namespace NAV | ||
| 54 | |||
| 55 | ✗ | bool NAV::gui::widgets::PositionInput(const char* str, PositionWithFrame& position, PositionInputLayout layout, float itemWidth) | |
| 56 | { | ||
| 57 | ✗ | bool changes = false; | |
| 58 | ✗ | bool edited = false; | |
| 59 | |||
| 60 | ✗ | ImGui::BeginGroup(); | |
| 61 | |||
| 62 | ✗ | if (layout == PositionInputLayout::SINGLE_ROW) | |
| 63 | { | ||
| 64 | ✗ | std::string txt = str; | |
| 65 | ✗ | txt = txt.substr(0, txt.find_first_of('#')); | |
| 66 | ✗ | ImGui::TextUnformatted(txt.c_str()); | |
| 67 | ✗ | ImGui::SameLine(); | |
| 68 | ✗ | } | |
| 69 | |||
| 70 | ✗ | if (layout == PositionInputLayout::SINGLE_ROW) { ImGui::SetNextItemWidth(80.0F); } | |
| 71 | ✗ | else { ImGui::SetNextItemWidth(itemWidth); } | |
| 72 | ✗ | if (ComboPositionInputReferenceFrame(fmt::format("{}##ComboPositionInputReferenceFrame {}", layout != PositionInputLayout::SINGLE_ROW ? str : "", str).c_str(), position.frame)) | |
| 73 | { | ||
| 74 | ✗ | changes = true; | |
| 75 | } | ||
| 76 | ✗ | if (layout == PositionInputLayout::SINGLE_ROW) { ImGui::SameLine(); } | |
| 77 | |||
| 78 | ✗ | if (position.frame == PositionWithFrame::ReferenceFrame::ECEF) | |
| 79 | { | ||
| 80 | ✗ | ImGui::SetNextItemWidth(itemWidth); | |
| 81 | ✗ | if (ImGui::InputDouble(fmt::format("{}##X {}", layout != PositionInputLayout::TWO_ROWS ? "X" : "", str).c_str(), &position.e_position(0), 0.0, 0.0, "%.4fm")) { changes = true; } | |
| 82 | |||
| 83 | ✗ | if (layout == PositionInputLayout::SINGLE_ROW || layout == PositionInputLayout::TWO_ROWS) { ImGui::SameLine(); } | |
| 84 | ✗ | ImGui::SetNextItemWidth(itemWidth); | |
| 85 | ✗ | if (ImGui::InputDouble(fmt::format("{}##Y {}", layout != PositionInputLayout::TWO_ROWS ? "Y" : "", str).c_str(), &position.e_position(1), 0.0, 0.0, "%.4fm")) { changes = true; } | |
| 86 | |||
| 87 | ✗ | if (layout == PositionInputLayout::SINGLE_ROW || layout == PositionInputLayout::TWO_ROWS) { ImGui::SameLine(); } | |
| 88 | ✗ | ImGui::SetNextItemWidth(itemWidth); | |
| 89 | ✗ | if (ImGui::InputDouble(fmt::format("{}##Z {}", layout != PositionInputLayout::TWO_ROWS ? "Z" : "", str).c_str(), &position.e_position(2), 0.0, 0.0, "%.4fm")) { changes = true; } | |
| 90 | |||
| 91 | ✗ | if (layout == PositionInputLayout::TWO_ROWS) | |
| 92 | { | ||
| 93 | ✗ | ImGui::SameLine(); | |
| 94 | ✗ | ImGui::SetCursorPosX(ImGui::GetCursorPosX() - ImGui::GetStyle().ItemSpacing.x + ImGui::GetStyle().ItemInnerSpacing.x); | |
| 95 | ✗ | ImGui::TextUnformatted("XYZ"); | |
| 96 | } | ||
| 97 | } | ||
| 98 | ✗ | else if (position.frame == PositionWithFrame::ReferenceFrame::LLA) | |
| 99 | { | ||
| 100 | ✗ | auto lla_position = trafo::ecef2lla_WGS84(position.e_position); | |
| 101 | ✗ | lla_position(0) = rad2deg(lla_position(0)); | |
| 102 | ✗ | lla_position(1) = rad2deg(lla_position(1)); | |
| 103 | ✗ | if (lla_position.hasNaN()) | |
| 104 | { | ||
| 105 | ✗ | lla_position = Eigen::Vector3d(0, 0, 0); | |
| 106 | ✗ | position.e_position = trafo::lla2ecef_WGS84(lla_position); | |
| 107 | } | ||
| 108 | |||
| 109 | ✗ | ImGui::SetNextItemWidth(itemWidth); | |
| 110 | ✗ | if (ImGui::InputDoubleL(fmt::format("{}##Lat {}", layout != PositionInputLayout::TWO_ROWS ? "Latitude" : "", str).c_str(), &lla_position(0), -90.0, 90.0, 0.0, 0.0, "%.9f°")) { edited = true; } | |
| 111 | ✗ | if (ImGui::IsItemDeactivatedAfterEdit()) { changes = true; } | |
| 112 | |||
| 113 | ✗ | if (layout == PositionInputLayout::SINGLE_ROW || layout == PositionInputLayout::TWO_ROWS) { ImGui::SameLine(); } | |
| 114 | ✗ | ImGui::SetNextItemWidth(itemWidth); | |
| 115 | ✗ | if (ImGui::InputDoubleL(fmt::format("{}##Lon {}", layout != PositionInputLayout::TWO_ROWS ? "Longitude" : "", str).c_str(), &lla_position(1), -180.0, 180.0, 0.0, 0.0, "%.9f°")) { edited = true; } | |
| 116 | ✗ | if (ImGui::IsItemDeactivatedAfterEdit()) { changes = true; } | |
| 117 | |||
| 118 | ✗ | if (layout == PositionInputLayout::SINGLE_ROW || layout == PositionInputLayout::TWO_ROWS) { ImGui::SameLine(); } | |
| 119 | ✗ | ImGui::SetNextItemWidth(itemWidth); | |
| 120 | ✗ | if (ImGui::InputDouble(fmt::format("{}##Alt {}", layout != PositionInputLayout::TWO_ROWS ? "Altitude" : "", str).c_str(), &lla_position(2), 0.0, 0.0, "%.4fm")) { edited = true; } | |
| 121 | ✗ | if (ImGui::IsItemDeactivatedAfterEdit()) { changes = true; } | |
| 122 | |||
| 123 | ✗ | if (layout == PositionInputLayout::TWO_ROWS) | |
| 124 | { | ||
| 125 | ✗ | ImGui::SameLine(); | |
| 126 | ✗ | ImGui::SetCursorPosX(ImGui::GetCursorPosX() - ImGui::GetStyle().ItemSpacing.x + ImGui::GetStyle().ItemInnerSpacing.x); | |
| 127 | ✗ | ImGui::TextUnformatted("Lat, Lon, Alt"); | |
| 128 | } | ||
| 129 | |||
| 130 | ✗ | if (changes || edited) | |
| 131 | { | ||
| 132 | ✗ | lla_position(0) = deg2rad(lla_position(0)); | |
| 133 | ✗ | lla_position(1) = deg2rad(lla_position(1)); | |
| 134 | ✗ | if (!lla_position.hasNaN()) | |
| 135 | { | ||
| 136 | ✗ | position.e_position = trafo::lla2ecef_WGS84(lla_position); | |
| 137 | } | ||
| 138 | } | ||
| 139 | } | ||
| 140 | |||
| 141 | ✗ | ImGui::EndGroup(); | |
| 142 | |||
| 143 | ✗ | return changes; | |
| 144 | } | ||
| 145 | |||
| 146 | ✗ | void NAV::gui::widgets::to_json(json& j, const PositionWithFrame::ReferenceFrame& refFrame) | |
| 147 | { | ||
| 148 | ✗ | j = to_string(refFrame); | |
| 149 | ✗ | } | |
| 150 | |||
| 151 | 9 | void NAV::gui::widgets::from_json(const json& j, PositionWithFrame::ReferenceFrame& refFrame) | |
| 152 | { | ||
| 153 |
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9 | auto text = j.get<std::string>(); |
| 154 |
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9 | if (text == "ECEF") { refFrame = PositionWithFrame::ReferenceFrame::ECEF; } |
| 155 |
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9 | else if (text == "LLA") { refFrame = PositionWithFrame::ReferenceFrame::LLA; } |
| 156 | 9 | } | |
| 157 | ✗ | void NAV::gui::widgets::to_json(json& j, const PositionWithFrame& position) | |
| 158 | { | ||
| 159 | ✗ | j["frame"] = position.frame; | |
| 160 | ✗ | if (position.frame == PositionWithFrame::ReferenceFrame::ECEF) | |
| 161 | { | ||
| 162 | ✗ | j["position"] = position.e_position; | |
| 163 | } | ||
| 164 | ✗ | else if (position.frame == PositionWithFrame::ReferenceFrame::LLA) | |
| 165 | { | ||
| 166 | ✗ | auto lla = trafo::ecef2lla_WGS84(position.e_position); | |
| 167 | ✗ | j["position"] = Eigen::Vector3d(rad2deg(lla(0)), rad2deg(lla(1)), lla(2)); | |
| 168 | } | ||
| 169 | ✗ | } | |
| 170 | |||
| 171 | 9 | void NAV::gui::widgets::from_json(const json& j, PositionWithFrame& position) | |
| 172 | { | ||
| 173 |
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9 | if (j.contains("frame")) |
| 174 | { | ||
| 175 | 9 | j.at("frame").get_to(position.frame); | |
| 176 | } | ||
| 177 |
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9 | if (j.contains("position")) |
| 178 | { | ||
| 179 |
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9 | if (position.frame == PositionWithFrame::ReferenceFrame::ECEF) |
| 180 | { | ||
| 181 | ✗ | j.at("position").get_to(position.e_position); | |
| 182 | } | ||
| 183 |
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9 | else if (position.frame == PositionWithFrame::ReferenceFrame::LLA) |
| 184 | { | ||
| 185 |
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9 | auto lla = j.at("position").get<Eigen::Vector3d>(); |
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9 | position.e_position = trafo::lla2ecef_WGS84(Eigen::Vector3d(deg2rad(lla(0)), deg2rad(lla(1)), lla(2))); |
| 187 | } | ||
| 188 | } | ||
| 189 | 9 | } | |
| 190 |