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// Copyright (c) 2019, the Dart project authors. Please see the AUTHORS file | |
// for details. All rights reserved. Use of this source code is governed by a | |
// BSD-style license that can be found in the LICENSE file. | |
import 'dart:convert'; | |
import 'dart:typed_data'; | |
import 'dart:ui'; | |
import 'package:flutter/material.dart'; | |
import 'package:http/http.dart' as http; | |
Offset convertMapToPixelSystem(Offset point, ProscenicMap proscenicMap) { | |
final world = convertMapToWorldSystem(point, proscenicMap); | |
final map_x = (world.dx - proscenicMap.data!.xmin) / proscenicMap.data!.resolution; | |
final map_y = (world.dy - proscenicMap.data!.ymin) / proscenicMap.data!.resolution; | |
return Offset(map_x, map_y); | |
} | |
// official | |
Offset convertMapToWorldSystem(Offset point, ProscenicMap proscenicMap) { | |
final x = point.dx * proscenicMap.data!.resolution + proscenicMap.data!.xmin; | |
final y = point.dy * proscenicMap.data!.resolution + proscenicMap.data!.ymin; | |
return Offset(x, y); | |
} | |
void main() async { | |
runApp(MyApp()); | |
} | |
class MyApp extends StatelessWidget { | |
const MyApp({Key? key}) : super(key: key); | |
@override | |
Widget build(BuildContext context) { | |
return MaterialApp( | |
title: 'Proscenic Map Demo', | |
debugShowCheckedModeBanner: false, | |
theme: ThemeData( | |
primarySwatch: Colors.blue, | |
), | |
home: Scaffold( | |
appBar: AppBar( | |
title: const Text('Test'), | |
), | |
body: Center( | |
child: FutureBuilder<String>( | |
future: http.read(Uri.parse( | |
'https://gist.githubusercontent.com/jonasbark/ff4f8d66ac4e30d3e5560896cfbc6dc6/raw/6cac80a3c91806d6a7aa8f11564c21992e6630f0/map.json')), | |
builder: (context, snapshot) { | |
if (snapshot.hasData) { | |
final map = ProscenicMap.fromJson(jsonDecode(snapshot.data!)); | |
return ProscenicMapView( | |
proscenicMap: map, | |
height: map.data!.height.toDouble(), | |
); | |
} else if (snapshot.hasError) { | |
return Text('${snapshot.error}'); | |
} else { | |
return const CircularProgressIndicator(); | |
} | |
}), | |
), | |
), | |
); | |
} | |
} | |
class ProscenicMapView extends StatelessWidget { | |
final ProscenicMap? proscenicMap; | |
final double height; | |
ProscenicMapView({ | |
Key? key, | |
required this.proscenicMap, | |
required this.height, | |
}) : super(key: key); | |
@override | |
Widget build(BuildContext context) { | |
return Container( | |
height: height, | |
child: Builder( | |
builder: (context) { | |
final firstMap = proscenicMap!.data!; | |
final resolution = firstMap.resolution; | |
final decoded = base64Decode(firstMap.map); | |
final pixelsByRow = List.generate( | |
firstMap.height, (index) => decoded.sublist(index * firstMap.width, (index + 1) * firstMap.width)); | |
final List<Offset> walls = []; | |
final List<Offset> noclue = []; | |
final List<Offset> unknown = []; | |
final Map<int, List<Offset>> partitions = {}; | |
for (int y = 0; y < pixelsByRow.length; y++) { | |
final row = pixelsByRow[y]; | |
for (int x = 0; x < row.length; x++) { | |
final pixel = row[x]; | |
switch (pixel) { | |
case 127: // 127: Unknown District City | |
unknown.add(Offset(x.toDouble(), y.toDouble())); | |
break; | |
case 255: // Jidancheng District | |
noclue.add(Offset(x.toDouble(), y.toDouble())); | |
break; | |
case 0: // unknown | |
walls.add(Offset(x.toDouble(), y.toDouble())); | |
break; | |
default: | |
(partitions[pixel] ??= []).add(Offset(x.toDouble(), y.toDouble())); | |
break; | |
} | |
} | |
} | |
return Container( | |
height: height, | |
width: height, | |
child: CustomPaint( | |
size: Size(height, height), | |
painter: _MapPainter( | |
context: context, | |
proscenicMap: proscenicMap!, | |
walls: walls, | |
outside: unknown, | |
noclue: noclue, | |
decodedMap: decoded, | |
partitions: partitions, | |
bounds: Rect.fromPoints(Offset.zero, Offset(firstMap.width.toDouble(), firstMap.height.toDouble())), | |
), | |
), | |
); | |
}, | |
), | |
); | |
} | |
} | |
class _MapPainter extends CustomPainter { | |
final ProscenicMap proscenicMap; | |
final Rect bounds; | |
final Uint8List decodedMap; | |
final BuildContext context; | |
final List<Offset> walls; | |
final List<Offset> outside; | |
final List<Offset> noclue; | |
final Map<int, List<Offset>> partitions; | |
_MapPainter({ | |
required this.proscenicMap, | |
required this.decodedMap, | |
required this.bounds, | |
required this.walls, | |
required this.outside, | |
required this.noclue, | |
required this.partitions, | |
required this.context, | |
}); | |
@override | |
void paint(Canvas canvas, Size size) { | |
if (walls.isNotEmpty) { | |
canvas.drawPoints( | |
PointMode.points, | |
walls, | |
Paint() | |
..color = Colors.black54 | |
..strokeWidth = 1, | |
); | |
} | |
if (noclue.isNotEmpty) { | |
canvas.drawPoints( | |
PointMode.points, | |
noclue, | |
Paint() | |
..color = Colors.black | |
..strokeWidth = 1, | |
); | |
} | |
canvas.drawPoints( | |
PointMode.points, | |
outside, | |
Paint() | |
..color = Colors.black12 | |
..strokeWidth = 1, | |
); | |
if (partitions.isNotEmpty) { | |
partitions.forEach((key, value) { | |
final regions = proscenicMap.data!.autoAreaValue?.where((element) => element.id == key); | |
final region = regions?.isNotEmpty == true ? regions!.first : null; | |
canvas.drawPoints( | |
PointMode.points, | |
value, | |
Paint() | |
..color = colorFromText(key.toString()) | |
..strokeWidth = 1, | |
); | |
if (region != null) { | |
final points = value; | |
final path = Path()..addPolygon(points, true); | |
final TextPainter textPainter = TextPainter( | |
text: TextSpan( | |
text: region.name, | |
style: TextStyle( | |
color: Colors.black87, | |
fontSize: 8, | |
), | |
), | |
textAlign: TextAlign.center, | |
textDirection: TextDirection.ltr) | |
..layout(maxWidth: 60); | |
final center = path.getBounds().center; | |
final rrect = RRect.fromRectAndRadius( | |
Rect.fromCenter(center: center, width: textPainter.width + 5, height: textPainter.height + 3), | |
Radius.circular(4), | |
); | |
canvas.drawRRect( | |
rrect, | |
Paint()..color = Colors.white, | |
); | |
canvas.drawRRect( | |
rrect, | |
Paint() | |
..color = Colors.black26 | |
..strokeWidth = 1 | |
..style = PaintingStyle.stroke, | |
); | |
textPainter.paint( | |
canvas, | |
center.translate(-textPainter.width / 2, -textPainter.height / 2), | |
); | |
} | |
}); | |
} | |
// charger location | |
canvas.drawCircle( | |
convertMapToPixelSystem( | |
Offset(proscenicMap.data!.chargeHandlePos[0].toDouble(), proscenicMap.data!.chargeHandlePos[1].toDouble()), | |
proscenicMap), | |
5, | |
Paint() | |
..style = PaintingStyle.fill | |
..color = Colors.redAccent | |
..strokeWidth = 1); | |
if (proscenicMap.data!.position != null) { | |
// robot location | |
canvas.drawCircle( | |
convertMapToPixelSystem( | |
Offset(proscenicMap.data!.position![0].toDouble(), proscenicMap.data!.position![1].toDouble()), | |
proscenicMap), | |
5, | |
Paint() | |
..style = PaintingStyle.fill | |
..color = Colors.lightBlueAccent | |
..strokeWidth = 1); | |
} | |
// coverages | |
if (proscenicMap.data!.posArray?.isNotEmpty == true) { | |
canvas.drawPoints( | |
PointMode.polygon, | |
proscenicMap.data!.posArray! | |
.map((pos) => convertMapToPixelSystem(Offset(pos[0].toDouble(), pos[1].toDouble()), proscenicMap)) | |
.toList(), | |
Paint() | |
..style = PaintingStyle.fill | |
..color = Colors.blue | |
..strokeWidth = 1, | |
); | |
} | |
// regions | |
if (proscenicMap.data!.area.isNotEmpty) { | |
// doors | |
for (final door in proscenicMap.data!.area.where((element) => element.isWall == true)) { | |
final points = door.vertexs! | |
.map((e) => convertMapToPixelSystem(Offset(e[0].toDouble(), e[1].toDouble()), proscenicMap)) | |
.toList(); | |
canvas.drawPoints( | |
PointMode.polygon, | |
points, | |
Paint() | |
..color = Colors.pinkAccent | |
..strokeWidth = 1, | |
); | |
} | |
final zones = [ | |
...proscenicMap.data!.area.where((element) => element.isWall == false), | |
]; | |
// keep out | |
for (final zone in zones) { | |
final points = zone.vertexs! | |
.map((e) => convertMapToPixelSystem(Offset(e[0].toDouble(), e[1].toDouble()), proscenicMap)) | |
.toList(); | |
canvas.drawPath( | |
Path()..addPolygon(points, true), | |
Paint() | |
..style = PaintingStyle.stroke | |
..color = Colors.red | |
..strokeWidth = 15, | |
); | |
} | |
} | |
} | |
@override | |
bool shouldRepaint(covariant CustomPainter oldDelegate) { | |
return true; | |
} | |
} | |
Color colorFromText(String text) { | |
const colors = [ | |
Color(0xFF44D7B6), | |
Color(0xFF6236FF), | |
Color(0xFFead014), | |
Color(0xFF89c212), | |
Color(0xFFcd1719), | |
]; | |
final charCodes = text | |
.split('') // => [ | |
.take(2) // "A", "A"] | |
.map((char) => char.codeUnits.first) // => [65, 65] | |
.join(); // => "6565" | |
final color = int.parse(charCodes, radix: 10); | |
return colors[color % colors.length]; | |
} | |
class ProscenicMap { | |
ProscenicMap({ | |
required this.data, | |
required this.infoType, | |
}); | |
late final Data? data; | |
late final int infoType; | |
ProscenicMap.fromJson(Map<String, dynamic> json) { | |
data = json['data'] != null ? Data.fromJson(json['data']) : null; | |
infoType = json['infoType']; | |
} | |
Map<String, dynamic> toJson() { | |
final _data = <String, dynamic>{}; | |
_data['data'] = data?.toJson(); | |
_data['infoType'] = infoType; | |
return _data; | |
} | |
} | |
class AutoAreaValue { | |
final String? active; | |
final String? cleanType; | |
final int? id; | |
final String? mode; | |
final String? name; | |
final String? tag; | |
final List<dynamic>? vertexs; | |
final String? workNoisy; | |
AutoAreaValue({ | |
this.active, | |
this.cleanType, | |
this.id, | |
this.mode, | |
this.name, | |
this.tag, | |
this.vertexs, | |
this.workNoisy, | |
}); | |
AutoAreaValue.fromJson(Map<String, dynamic> json) | |
: active = json['active'] as String?, | |
cleanType = json['cleanType'] as String?, | |
id = json['id'] as int?, | |
mode = json['mode'] as String?, | |
name = json['name'] as String?, | |
tag = json['tag'] as String?, | |
vertexs = json['vertexs'] as List?, | |
workNoisy = json['workNoisy'] as String?; | |
Map<String, dynamic> toJson() => { | |
'active': active, | |
'cleanType': cleanType, | |
'id': id, | |
'mode': mode, | |
'name': name, | |
'tag': tag, | |
'vertexs': vertexs, | |
'workNoisy': workNoisy | |
}; | |
} | |
class Value { | |
final String? active; | |
final String? forbidType; | |
final int? id; | |
final bool? isWall; | |
final String? tag; | |
List<List<int>>? vertexs; | |
Value({ | |
this.active, | |
this.forbidType, | |
this.id, | |
this.isWall, | |
this.tag, | |
this.vertexs, | |
}); | |
Value.fromJson(Map<String, dynamic> json) | |
: active = json['active'] as String?, | |
forbidType = json['forbidType'] as String?, | |
id = json['id'] as int?, | |
isWall = json['isWall'] as bool?, | |
tag = json['tag'] as String?, | |
vertexs = ((json['vertexs'] as List<dynamic>).map((e) => (e as List<dynamic>).map((e) => e as int).toList())) | |
.toList(); | |
Map<String, dynamic> toJson() => | |
{'active': active, 'forbidType': forbidType, 'id': id, 'isWall': isWall, 'tag': tag, 'vertexs': vertexs}; | |
} | |
class Data { | |
Data({ | |
required this.AllowForbidArea, | |
required this.area, | |
required this.autoAreaId, | |
required this.base64Len, | |
required this.chargeHandlePhi, | |
required this.chargeHandlePos, | |
required this.chargeHandleState, | |
required this.height, | |
required this.lz4Len, | |
required this.map, | |
required this.mapId, | |
required this.pathId, | |
required this.resolution, | |
required this.width, | |
required this.xmin, | |
required this.ymin, | |
}); | |
late final bool AllowForbidArea; | |
late final List<Value> area; | |
late final List<AutoAreaValue>? autoAreaValue; | |
late final int autoAreaId; | |
late final int base64Len; | |
late final int chargeHandlePhi; | |
late final List<int> chargeHandlePos; | |
late final List<int>? position; | |
late final List<List<int>>? posArray; | |
late final String chargeHandleState; | |
late final int height; | |
late final int lz4Len; | |
late final String map; | |
late final int mapId; | |
late final int pathId; | |
late final double resolution; | |
late final int width; | |
late final double xmin; | |
late final double ymin; | |
Data.fromJson(Map<String, dynamic> json) { | |
AllowForbidArea = json['AllowForbidArea']; | |
area = json['area'] != null | |
? (json['area'] as List).map((dynamic e) => Value.fromJson(e as Map<String, dynamic>)).toList() | |
: []; | |
autoAreaValue = json['autoAreaValue'] != null | |
? (json['autoAreaValue'] as List).map((dynamic e) => AutoAreaValue.fromJson(e as Map<String, dynamic>)).toList() | |
: null; | |
posArray = json['posArray'] != null | |
? (json['posArray'] as List).map((dynamic e) => (e as List<dynamic>).map((e) => e as int).toList()).toList() | |
: null; | |
autoAreaId = json['autoAreaId']; | |
base64Len = json['base64_len']; | |
chargeHandlePhi = json['chargeHandlePhi']; | |
chargeHandlePos = List.castFrom<dynamic, int>(json['chargeHandlePos']); | |
position = json['position'] != null ? List.castFrom<dynamic, int>(json['position']) : null; | |
chargeHandleState = json['chargeHandleState']; | |
height = json['height']; | |
lz4Len = json['lz4_len']; | |
map = json['map']; | |
mapId = json['mapId'] ?? json['mapID']; | |
pathId = json['pathId']; | |
resolution = json['resolution']; | |
width = json['width']; | |
xmin = json['xmin']; | |
ymin = json['ymin']; | |
} | |
Map<String, dynamic> toJson() { | |
final _data = <String, dynamic>{}; | |
_data['AllowForbidArea'] = AllowForbidArea; | |
_data['area'] = area; | |
_data['autoAreaId'] = autoAreaId; | |
_data['base64_len'] = base64Len; | |
_data['chargeHandlePhi'] = chargeHandlePhi; | |
_data['chargeHandlePos'] = chargeHandlePos; | |
_data['chargeHandleState'] = chargeHandleState; | |
_data['height'] = height; | |
_data['lz4_len'] = lz4Len; | |
_data['map'] = map; | |
_data['mapId'] = mapId; | |
_data['pathId'] = pathId; | |
_data['resolution'] = resolution; | |
_data['width'] = width; | |
_data['xmin'] = xmin; | |
_data['ymin'] = ymin; | |
return _data; | |
} | |
} |
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