improve map performance [CPP-916]

console_backend/src/process_messages.rs

@@ -43,7 +43,8 @@ use crate::log_panel;
 use crate::shared_state::{EventType, SharedState, TabName};
 use crate::tabs::{settings_tab, update_tab};
 use crate::types::{
-    BaselineNED, Dops, GpsTime, MsgSender, ObservationMsg, PosLLH, Specan, UartState, VelNED,
+    BaselineNED, Dops, GpsTime, MsgSender, ObservationMsg, PosLLH, ProtectionLevel, Specan,
+    UartState, VelNED,
 };
 use crate::Tabs;
 
@@ -220,6 +221,9 @@ fn register_events(link: sbp::link::Link<Tabs>) {
     link.register(|tabs: &Tabs, msg: Dops| {
         tabs.solution_position.lock().unwrap().handle_dops(msg);
     });
+    link.register(|tabs: &Tabs, msg: ProtectionLevel| {
+        tabs.solution_position.lock().unwrap().handle_prot_lvl(msg);
+    });
     link.register(|tabs: &Tabs, msg: GpsTime| {
         tabs.baseline.lock().unwrap().handle_gps_time(msg.clone());
         tabs.solution_position.lock().unwrap().handle_gps_time(msg);

console_backend/src/tabs/solution_tab/solution_position_tab.rs

@@ -32,7 +32,9 @@ use crate::output::{PosLLHLog, VelLog};
 use crate::piksi_tools_constants::EMPTY_STR;
 use crate::shared_state::SharedState;
 use crate::tabs::solution_tab::LatLonUnits;
-use crate::types::{Dops, GnssModes, GpsTime, PosLLH, RingBuffer, UtcDateTime, VelNED};
+use crate::types::{
+    Dops, GnssModes, GpsTime, PosLLH, ProtectionLevel, RingBuffer, UtcDateTime, VelNED,
+};
 use crate::utils::{date_conv::*, *};
 
 #[derive(Debug)]
@@ -420,6 +422,19 @@ impl SolutionPositionTab {
         };
     }
 
+    pub fn handle_prot_lvl(&mut self, msg: ProtectionLevel) {
+        let fields = msg.fields();
+        // Send protection level
+        let mut builder = Builder::new_default();
+        let msg = builder.init_root::<crate::console_backend_capnp::message::Builder>();
+        let mut solution_protection_level = msg.init_solution_protection_level();
+        solution_protection_level.set_lat(fields.lat);
+        solution_protection_level.set_lon(fields.lon);
+        solution_protection_level.set_hpl(fields.hpl);
+        self.client_sender
+            .send_data(serialize_capnproto_builder(builder));
+    }
+
     /// Handle PosLLH / PosLLHDepA messages.
     ///
     /// TODO(johnmichael.burke@) <https://swift-nav.atlassian.net/browse/CPP-95>

console_backend/src/types.rs

@@ -42,7 +42,8 @@ use sbp::link::Event;
 use sbp::messages::{
     navigation::{
         MsgBaselineNed, MsgBaselineNedDepA, MsgDops, MsgDopsDepA, MsgGpsTime, MsgGpsTimeDepA,
-        MsgPosLlh, MsgPosLlhDepA, MsgVelNed, MsgVelNedDepA,
+        MsgPosLlh, MsgPosLlhDepA, MsgProtectionLevel, MsgProtectionLevelDepA, MsgVelNed,
+        MsgVelNedDepA,
     },
     observation::{
         MsgObs, MsgObsDepB, MsgObsDepC, MsgOsr, PackedObsContent, PackedObsContentDepB,
@@ -1201,6 +1202,55 @@ impl Event for PosLLH {
     }
 }
 
+/// Struct with shared fields for various Protection Level Message types.
+#[allow(clippy::upper_case_acronyms)]
+pub struct ProtectionLevelFields {
+    pub lat: f64,
+    pub lon: f64,
+    pub hpl: u16,
+}
+
+impl ProtectionLevelFields {
+    pub fn new(lat: f64, lon: f64, hpl: u16) -> Self {
+        Self { lat, lon, hpl }
+    }
+}
+
+/// Enum wrapping around various Protection Level Message types.
+#[derive(Debug, Clone)]
+#[allow(clippy::upper_case_acronyms)]
+pub enum ProtectionLevel {
+    MsgProtLvl(MsgProtectionLevel),
+    MsgProtLvlDepA(MsgProtectionLevelDepA),
+}
+
+impl ProtectionLevel {
+    /// Return protection level fields
+    pub fn fields(&self) -> ProtectionLevelFields {
+        match self {
+            Self::MsgProtLvl(MsgProtectionLevel { lat, lon, hpl, .. })
+            | Self::MsgProtLvlDepA(MsgProtectionLevelDepA { lat, lon, hpl, .. }) => {
+                ProtectionLevelFields::new(*lat, *lon, *hpl)
+            }
+        }
+    }
+}
+
+impl Event for ProtectionLevel {
+    const MESSAGE_TYPES: &'static [u16] = &[
+        MsgProtectionLevel::MESSAGE_TYPE,
+        MsgProtectionLevelDepA::MESSAGE_TYPE,
+    ];
+
+    fn from_sbp(msg: Sbp) -> Self {
+        match msg {
+            Sbp::MsgProtectionLevel(m) => Self::MsgProtLvl(m),
+            Sbp::MsgProtectionLevelDepA(m) => Self::MsgProtLvlDepA(m),
+            _ => unreachable!(),
+        }
+    }
+}
+
 /// Struct with shared fields for various Dops Message types.
 pub struct DopsFields {
     pub pdop: u16,

resources/SolutionTabComponents/SolutionMapTab.qml

@@ -16,6 +16,7 @@ Item {
         id: solutionMap
         WebChannel.id: "currPos"
         signal recvPos(int id, double lat, double lng, double hAcc)
+        signal protPos(double lat, double lng, int hpl)
         signal clearPos
     }
 
@@ -29,6 +30,6 @@ Item {
         webChannel: solutionMapChannel
         url: Constants.solutionMap.pageURL
         onCertificateError: error.ignoreCertificateError()
-        onJavaScriptConsoleMessage: (level, message, lineNumber, sourceID) => console.log("[MAP LOG] " + message)
+        onJavaScriptConsoleMessage: (level, message, lineNumber, sourceID) => console.log("[MAP LOG] @" + lineNumber + ": " + message)
     }
 }

resources/web/map/js/trajectory_raw.js

@@ -1,19 +1,22 @@
 import mapboxGlStyleSwitcher from 'https://cdn.skypack.dev/mapbox-gl-style-switcher';
 
 const lines = ["#FF0000", "#FF00FF", "#00FFFF", "#0000FF", "#00FF00", "#000000"];
+const LNG_KM = 111.320, LAT_KM = 110.574;
 
 function decode(r){var n=r,t=[0,10,13,34,38,92],e=new Uint8Array(1.75*n.length|0),f=0,o=0,a=0;function i(r){o|=(r<<=1)>>>a,8<=(a+=7)&&(e[f++]=o,o=r<<7-(a-=8)&255)}for(var u=0;u<n.length;u++){var c,d=n.charCodeAt(u);127<d?(7!=(c=d>>>8&7)&&i(t[c]),i(127&d)):i(d)}r=new Uint8Array(e,0,f);var s=new TextDecoder().decode(r);while (s.slice(-1)=="\x00") s=s.slice(0,-1); return s;}
 
 mapboxgl.accessToken = decode("@ACCESS_TOKEN@");
 var map = new mapboxgl.Map({
     container: 'map',
-    style: "mapbox://styles/mapbox/light-v11",
+    style: "mapbox://styles/mapbox/light-v11?optimize=true",
     center: [-122.486052, 37.830348],  // Initial focus coordinate
-    zoom: 16
+    zoom: 16,
+    performanceMetricsCollection: false,
 });
 
 var focusCurrent = false;
 var startMarker = null;
+var currentMarker = null;
 
 class FocusToggle {
     onAdd(map) {
@@ -43,6 +46,7 @@ map.addControl(new mapboxgl.NavigationControl());
 
 
 var data = [];
+var crumbCoords = [];
 
 function setupData() {
     data = [];
@@ -52,6 +56,7 @@ function setupData() {
             features: []
         });
     }
+    crumbCoords = [];
 }
 
 setupData();
@@ -73,34 +78,94 @@ function setupLayers() {
             source: `route${i}`,
             paint: {
                 'fill-color': lines[i],
-                'fill-opacity': 0.2
+                'fill-opacity': 0.3,
+                'fill-outline-color': '#000000'
             }
         });
     }
+    if (map.getSource('prot') == null) {
+        map.addSource('prot', {
+            type: 'geojson',
+            cluster: false,
+            data: {
+                type: 'FeatureCollection',
+                features: []
+            }
+        })
+        map.addLayer({
+            id: 'prot',
+            type: 'fill',
+            source: 'prot',
+            paint: {
+                'fill-color': "#00FF00",
+                'fill-opacity': 0.5
+            }
+        });
+    }
+    if (map.getSource('breadcrumb') == null) {
+        map.addSource('breadcrumb', {
+            type: 'geojson',
+            data: {
+                type: 'Feature',
+                geometry: {
+                    type: "LineString",
+                    coordinates: []
+                }
+            }
+        })
+        map.addLayer({
+            id: 'breadcrumb',
+            type: 'line',
+            source: 'breadcrumb',
+            layout: {
+                'line-join': 'round',
+                'line-cap': 'round'
+            },
+            paint: {
+                'line-color': '#888',
+                'line-width': 1
+            }
+        })
+    }
+}
+
+function syncCrumbCoords(){
+    map.getSource('breadcrumb').setData({
+        type: 'Feature',
+        geometry: {
+            type: 'LineString',
+            coordinates: crumbCoords
+        }
+    })
 }
 
 function syncLayers() {
+    // sync route datas with stored points
     for (let i = 0; i < lines.length; i++) {
         map.getSource(`route${i}`).setData(data[i]);
     }
+    // clear protection, since its only one point and temporary
+    map.getSource('prot').setData({
+        type: 'FeatureCollection',
+        features: []
+    });
+    syncCrumbCoords();
 }
 
-const LNG_KM = 111.320, LAT_KM = 110.574;
-
 /**
  * Helper method to create elliptical geojson data
  * @param center {[lng: number, lat: number]}
  * @param rX horizontal radius in kilometers of ellipse
  * @param rY vertical radius in kilometers of ellipse
- * @param points optional number of points to render ellipse, higher for smoothness
  * @return {{geometry: {coordinates: [][], type: string}, type: string}}
  */
-function createGeoJsonEllipse(center, rX, rY, points = 32) {
+function createGeoJsonEllipse(center, rX, rY) {
     let coords = {latitude: center[1], longitude: center[0]};
     let ret = [];
     let dX = rX / (LNG_KM * Math.cos(coords.latitude * Math.PI / 180));
     let dY = rY / LAT_KM;
 
+    let points = 16;
     let theta, x, y;
     for (let i = 0; i < points; i++) {
         theta = (i / points) * (2 * Math.PI);
@@ -131,19 +196,37 @@ new QWebChannel(qt.webChannelTransport, (channel) => {
             startMarker.remove();
             startMarker = null;
         }
+        if (currentMarker) {
+            currentMarker.remove();
+            currentMarker = null;
+        }
     });
 
     chn.recvPos.connect((id, lat, lng, hAcc) => {
-        const pos = [lat, lng],
-            rX = hAcc / 1000;
+        const pos = [lat, lng], rX = hAcc / 1000;
         data[id].features.push(createGeoJsonEllipse(pos, rX, rX));
+        crumbCoords.push(pos);
         if (!map) return;
+        if (!currentMarker) currentMarker = new mapboxgl.Marker().setLngLat(pos).addTo(map);
+        else currentMarker.setLngLat(pos);
         if (!startMarker) {
             startMarker = new mapboxgl.Marker().setLngLat(pos).addTo(map);
             map.panTo(pos);
         } else if (focusCurrent) map.panTo(pos);
         let src = map.getSource(`route${id}`);
-        if (src != null) src.setData(data[id]);
+        if (src) src.setData(data[id]);
+
+        if (map.getSource('breadcrumb')) syncCrumbCoords();
+    })
+
+    chn.protPos.connect((lat, lng, hpl) => {
+        const pos = [lng, lat], rX = hpl / 100_000; // hpl in cm, convert to km
+        if (!map) return;
+        let src = map.getSource(`prot`);
+        if (src) src.setData({
+            type: 'FeatureCollection',
+            features: [createGeoJsonEllipse(pos, rX, rX)]
+        });
     })
 });
 

src/main/resources/base/console_backend.capnp

@@ -448,6 +448,12 @@ struct LoggingBarRecordingSize {
     size @0 :UInt16;
 }
 
+struct SolutionProtectionLevel {
+    lat @0: Float64;
+    lon @1: Float64;
+    hpl @2: UInt16;
+}
+
 struct Message {
     union {
         solutionVelocityStatus @0 :SolutionVelocityStatus;
@@ -507,5 +513,6 @@ struct Message {
         onTabChangeEvent @54 :TabChangeEvent;
         loggingBarStartRecording @55 : LoggingBarStartRecording;
         loggingBarRecordingSize @56 : LoggingBarRecordingSize;
+        solutionProtectionLevel @57: SolutionProtectionLevel;
     }
 }

swiftnav_console/main.py

@@ -369,6 +369,8 @@ def _process_message_buffer(self, buffer):
                 data[Keys.SOLUTION_LINE] = m.solutionPositionStatus.lineData
                 SolutionMap.send_pos(m.solutionPositionStatus)
                 SolutionPositionPoints.post_data_update(data)
+            elif m.which == Message.Union.SolutionProtectionLevel:
+                SolutionMap.send_prot_lvl(m.solutionProtectionLevel)
             elif m.which == Message.Union.SolutionTableStatus:
                 data = solution_table_update()
                 data[Keys.ENTRIES][:] = [[entry.key, entry.val] for entry in m.solutionTableStatus.data]
@@ -754,6 +756,7 @@ def main(passed_args: Optional[Tuple[str, ...]] = None) -> int:
         sys.argv.append("-qmljsdebugger=port:10002,block")
         debug = QQmlDebuggingEnabler()  # pylint: disable=unused-variable
     QtCore.QCoreApplication.setAttribute(QtCore.Qt.ApplicationAttribute.AA_ShareOpenGLContexts)
+    QtCore.QCoreApplication.setAttribute(QtCore.Qt.ApplicationAttribute.AA_UseDesktopOpenGL)
     QtWebEngineQuick.initialize()
     app = QApplication(sys.argv)
     app.setWindowIcon(QIcon(":/images/icon.ico"))

swiftnav_console/solution_map.py

@@ -24,7 +24,11 @@
 
 class SolutionMap(QObject):
     _instance: "SolutionMap"
+    # signal used to communicate (id, lat, lon, accuracy) points to map
     recvPos: "Signal"
+    # signal used to communicate (lat, lon, hpl) to map
+    protPos: "Signal"
+    # signal used to reset map when disconnected
     clearPos: "Signal"
 
     def __init__(self):
@@ -38,6 +42,10 @@ def send_pos(cls, status) -> None:
             for pos in data:
                 cls._instance.recvPos.emit(idx, pos.x, pos.y, status.hAcc)
 
+    @classmethod
+    def send_prot_lvl(cls, status) -> None:
+        cls._instance.protPos.emit(status.lat, status.lon, status.hpl)
+
     @classmethod
     def clear(cls) -> None:
         cls._instance.clearPos.emit()