VisualizationHandler.h

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#ifndef VISUALIZATIONHANDLER_H
#define VISUALIZATIONHANDLER_H
 
#include "../handlers/LiDARHandler.h"
#include "../interfaces/AutonomyThread.hpp"
#include "../util/GeospatialOperations.hpp"
#include "../util/handlers/SimpleWebServer.h"
 
#include <atomic>
#include <mutex>
#include <string>
#include <vector>
 
 
 
class VisualizationHandler : public AutonomyThread<void>
{
    public:
        // Declare class methods.
        VisualizationHandler(int nPort = 8080);
        ~VisualizationHandler();
        void SaveVisualization(const std::string& szFilename);
 
    private:
        // Declare and define private structs
 
 
        struct DisplayPoint
        {
            public:
                float fX, fY, fZ;    // RELATIVE to m_stOriginUTM.
                float fScore;        // Traversal Score.
                int nState;          // Robot State at this point.
        };
 
 
        struct DisplayWaypoint
        {
            public:
                float fX, fY, fZ;    // RELATIVE to m_stOriginUTM.
                int nType;           // Type of waypoint/obstacle.
        };
 
 
        struct DisplayDetection
        {
            public:
                float fX, fY, fZ;    // RELATIVE to m_stOriginUTM.
                int nType;           // 10=Tag, 11=Mallet, 12=Bottle, 13=Pick
        };
 
        // Private Methods
        void UpdatePathHistory(const geoops::UTMCoordinate& stRoverUTM);
        void UpdatePlannedPath();
        void UpdateWaypoints();
        void UpdateGoalBeacons(const geoops::UTMCoordinate& stRoverUTM);
        void UpdateDetections();
 
        // API.
        std::vector<char> OnRequestTelemetry(const std::string& szQuery);
        std::vector<char> OnRequestMap(const std::string& szQuery);
        std::vector<char> OnRequestPlannedPath(const std::string& szQuery);
        std::vector<char> OnRequestWaypoints(const std::string& szQuery);
        std::vector<char> OnRequestDetections(const std::string& szQuery);
        std::vector<char> OnRequestDetectionList(const std::string& szQuery);
 
        // Local Asset API.
        std::vector<char> OnRequestLibThree(const std::string& szQuery);
        std::vector<char> OnRequestLibOrbit(const std::string& szQuery);
 
        // Utilities.
        std::vector<char> LoadFileToBuffer(const std::string& szPath);
        std::string Base64Encode(const std::vector<char>& vData);
 
        // HTML Generators.
        std::string GetEmbeddedHtml();
        std::string GenerateStaticHtml(const std::vector<LiDARHandler::PointRow>& vLidar);
 
        // Internals
        void ThreadedContinuousCode() override;
        void PooledLinearCode() override;
 
        // Private Members
 
        // Web Server.
        std::unique_ptr<SimpleWebServer> m_pWebServer;
        int m_nPort;
        // Origin.
        geoops::UTMCoordinate m_stOriginUTM;
        bool m_bOriginSet;
        // Path History.
        std::vector<DisplayPoint> m_vPathHistory;
        std::mutex m_muPathMutex;
        // Planned Path.
        std::vector<DisplayPoint> m_vPlannedPath;
        std::mutex m_muPlannedPathMutex;
        // Waypoints and Obstacles.
        std::vector<DisplayWaypoint> m_vWaypoints;
        std::mutex m_muWaypointMutex;
        // Goal Beacons.
        std::vector<DisplayWaypoint> m_vGoalBeacons;
        std::mutex m_muGoalBeaconMutex;
        // Detections.
        std::vector<DisplayDetection> m_vDetections;
        std::mutex m_muDetectionMutex;
};
#endif