"""
v7.map_widget — Embedded Leaflet.js map widget for the PLFM Radar GUI V7.
Classes:
- MapBridge — QObject exposed to JavaScript via QWebChannel
- RadarMapWidget — QWidget wrapping QWebEngineView with Leaflet map
The full HTML/CSS/JS for Leaflet is generated inline (no external files).
Supports: OSM, Google, Google Sat, Google Hybrid, ESRI Sat tile servers;
coverage circle, target trails, velocity-based color coding, popups, legend.
"""
import json
import logging
from PyQt6.QtWidgets import (
QWidget, QVBoxLayout, QHBoxLayout, QFrame,
QComboBox, QCheckBox, QPushButton, QLabel,
)
from PyQt6.QtCore import Qt, QUrl, pyqtSignal, pyqtSlot, QObject
from PyQt6.QtWebEngineCore import QWebEngineSettings
from PyQt6.QtWebEngineWidgets import QWebEngineView
from PyQt6.QtWebChannel import QWebChannel
from .models import (
GPSData, RadarTarget, TileServer,
DARK_BG, DARK_FG, DARK_ACCENT, DARK_BORDER,
DARK_TEXT, DARK_BUTTON, DARK_BUTTON_HOVER,
DARK_SUCCESS, DARK_INFO,
)
logger = logging.getLogger(__name__)
# =============================================================================
# MapBridge — Python <-> JavaScript
# =============================================================================
class MapBridge(QObject):
"""Bridge object registered with QWebChannel for JS ↔ Python calls."""
mapClicked = pyqtSignal(float, float) # lat, lon
markerClicked = pyqtSignal(int) # target_id
mapReady = pyqtSignal()
def __init__(self, parent=None):
super().__init__(parent)
self._map_ready = False
@pyqtSlot(float, float)
def onMapClick(self, lat: float, lon: float):
logger.debug(f"Map clicked: {lat}, {lon}")
self.mapClicked.emit(lat, lon)
@pyqtSlot(int)
def onMarkerClick(self, target_id: int):
logger.debug(f"Marker clicked: #{target_id}")
self.markerClicked.emit(target_id)
@pyqtSlot()
def onMapReady(self):
logger.info("Leaflet map ready")
self._map_ready = True
self.mapReady.emit()
@pyqtSlot(str)
def logFromJS(self, message: str):
logger.info(f"[JS] {message}")
@property
def is_ready(self) -> bool:
return self._map_ready
# =============================================================================
# RadarMapWidget
# =============================================================================
class RadarMapWidget(QWidget):
"""
Embeds a Leaflet.js interactive map inside a QWebEngineView.
Public methods mirror the V6 map API:
set_radar_position(gps), set_targets(list), set_coverage_radius(r),
set_zoom(level)
"""
targetSelected = pyqtSignal(int)
def __init__(self, radar_lat: float = 41.9028, radar_lon: float = 12.4964,
parent=None):
super().__init__(parent)
# State
self._radar_position = GPSData(
latitude=radar_lat, longitude=radar_lon,
altitude=0.0, pitch=0.0, heading=0.0,
)
self._targets: list[RadarTarget] = []
self._pending_targets: list[RadarTarget] | None = None
self._coverage_radius = 1_536 # metres (64 bins x 24 m, 3 km mode)
self._tile_server = TileServer.OPENSTREETMAP
self._show_coverage = True
self._show_trails = False
# Build UI
self._setup_ui()
# Bridge + channel
self._bridge = MapBridge(self)
self._bridge.mapReady.connect(self._on_map_ready)
self._bridge.markerClicked.connect(self._on_marker_clicked)
self._channel = QWebChannel()
self._channel.registerObject("bridge", self._bridge)
self._web_view.page().setWebChannel(self._channel)
# Load the Leaflet map
self._load_map()
# ---- UI setup ----------------------------------------------------------
def _setup_ui(self):
layout = QVBoxLayout(self)
layout.setContentsMargins(0, 0, 0, 0)
# Control bar
bar = QFrame()
bar.setStyleSheet(f"background-color: {DARK_ACCENT}; border-radius: 4px;")
bar_layout = QHBoxLayout(bar)
bar_layout.setContentsMargins(8, 4, 8, 4)
# Tile selector
self._tile_combo = QComboBox()
self._tile_combo.addItem("OpenStreetMap", TileServer.OPENSTREETMAP)
self._tile_combo.addItem("Google Maps", TileServer.GOOGLE_MAPS)
self._tile_combo.addItem("Google Satellite", TileServer.GOOGLE_SATELLITE)
self._tile_combo.addItem("Google Hybrid", TileServer.GOOGLE_HYBRID)
self._tile_combo.addItem("ESRI Satellite", TileServer.ESRI_SATELLITE)
self._tile_combo.currentIndexChanged.connect(self._on_tile_changed)
self._tile_combo.setStyleSheet(f"""
QComboBox {{
background-color: {DARK_BUTTON}; color: {DARK_FG};
border: 1px solid {DARK_BORDER}; padding: 4px 8px; border-radius: 4px;
}}
""")
bar_layout.addWidget(QLabel("Tiles:"))
bar_layout.addWidget(self._tile_combo)
# Toggles
self._coverage_check = QCheckBox("Coverage")
self._coverage_check.setChecked(True)
self._coverage_check.stateChanged.connect(self._on_coverage_toggled)
bar_layout.addWidget(self._coverage_check)
self._trails_check = QCheckBox("Trails")
self._trails_check.setChecked(False)
self._trails_check.stateChanged.connect(self._on_trails_toggled)
bar_layout.addWidget(self._trails_check)
btn_style = f"""
QPushButton {{
background-color: {DARK_BUTTON}; color: {DARK_FG};
border: 1px solid {DARK_BORDER}; padding: 4px 12px; border-radius: 4px;
}}
QPushButton:hover {{ background-color: {DARK_BUTTON_HOVER}; }}
"""
center_btn = QPushButton("Center")
center_btn.clicked.connect(self._center_on_radar)
center_btn.setStyleSheet(btn_style)
bar_layout.addWidget(center_btn)
fit_btn = QPushButton("Fit All")
fit_btn.clicked.connect(self._fit_all)
fit_btn.setStyleSheet(btn_style)
bar_layout.addWidget(fit_btn)
bar_layout.addStretch()
self._status_label = QLabel("Loading map...")
self._status_label.setStyleSheet(f"color: {DARK_INFO};")
bar_layout.addWidget(self._status_label)
layout.addWidget(bar)
# Web view
self._web_view = QWebEngineView()
self._web_view.setMinimumSize(400, 300)
layout.addWidget(self._web_view, stretch=1)
# ---- HTML generation ---------------------------------------------------
def _get_map_html(self) -> str:
lat = self._radar_position.latitude
lon = self._radar_position.longitude
cov = self._coverage_radius
# Using {{ / }} for literal braces inside the f-string
return f'''
Radar Map
'''
# ---- load / helpers ----------------------------------------------------
def _load_map(self):
# Enable remote resource access so Leaflet CDN scripts/tiles can load.
settings = self._web_view.page().settings()
settings.setAttribute(
QWebEngineSettings.WebAttribute.LocalContentCanAccessRemoteUrls,
True,
)
# Provide an HTTP base URL so the page has a proper origin;
# without this, setHtml() defaults to about:blank which blocks
# external resource loading in modern Chromium.
self._web_view.setHtml(
self._get_map_html(),
QUrl("http://localhost/radar_map"),
)
logger.info("Leaflet map HTML loaded (with HTTP base URL)")
def _on_map_ready(self):
self._status_label.setText(f"Map ready - {len(self._targets)} targets")
self._status_label.setStyleSheet(f"color: {DARK_SUCCESS};")
# Flush any targets that arrived before the map was ready
if self._pending_targets is not None:
self.set_targets(self._pending_targets)
self._pending_targets = None
def _on_marker_clicked(self, tid: int):
self.targetSelected.emit(tid)
def _run_js(self, script: str):
def _js_callback(result):
if result is not None:
logger.info("JS result: %s", result)
self._web_view.page().runJavaScript(script, 0, _js_callback)
# ---- control bar callbacks ---------------------------------------------
def _on_tile_changed(self, _index: int):
server = self._tile_combo.currentData()
if server:
self._tile_server = server
self._run_js(f"setTileServer('{server.value}')")
def _on_coverage_toggled(self, state: int):
vis = state == Qt.CheckState.Checked.value
self._show_coverage = vis
self._run_js(f"setCoverageVisible({str(vis).lower()})")
def _on_trails_toggled(self, state: int):
vis = state == Qt.CheckState.Checked.value
self._show_trails = vis
self._run_js(f"setTrailsVisible({str(vis).lower()})")
def _center_on_radar(self):
self._run_js("centerOnRadar()")
def _fit_all(self):
self._run_js("fitAllTargets()")
# ---- public API --------------------------------------------------------
def set_radar_position(self, gps: GPSData):
self._radar_position = gps
self._run_js(
f"updateRadarPosition({gps.latitude},{gps.longitude},"
f"{gps.altitude},{gps.pitch},{gps.heading})"
)
def set_targets(self, targets: list[RadarTarget]):
self._targets = targets
if not self._bridge.is_ready:
logger.info("Map not ready yet — queuing %d targets", len(targets))
self._pending_targets = targets
return
data = [t.to_dict() for t in targets]
js_payload = json.dumps(data).replace("\\", "\\\\").replace("'", "\\'")
logger.info(
"set_targets: %d targets, JSON len=%d, first 200 chars: %s",
len(targets), len(js_payload), js_payload[:200],
)
self._status_label.setText(f"{len(targets)} targets tracked")
self._run_js(f"updateTargets('{js_payload}')")
def set_coverage_radius(self, radius_m: float):
self._coverage_radius = radius_m
self._run_js(f"setCoverageRadius({radius_m})")
def set_zoom(self, level: int):
level = max(0, min(22, level))
self._run_js(f"setZoom({level})")