Map Window (GUI)
================

The Map Window provides an interactive interface for mission planning, waypoint management, and real-time visualization.

Overview
--------

The Map Window is part of the RAISIN GUI and provides:

* Interactive map display with satellite/vector layers
* Waypoint creation and editing
* Real-time robot position tracking
* Path visualization
* Point cloud overlay
* Autonomy graph visualization

Map Layers
----------

The map supports multiple visualization layers:

Satellite Layer
^^^^^^^^^^^^^^^

Displays aerial/satellite imagery from OpenStreetMap tile servers.

* Zoom levels: 1-19
* Automatic tile caching
* Multiple tile server support

Vector Graphics Layer
^^^^^^^^^^^^^^^^^^^^^

Displays vector map data including:

* Roads and paths
* Building outlines
* Terrain features
* Custom annotations

Point Cloud Layer
^^^^^^^^^^^^^^^^^

Overlays LiDAR point cloud data on the map:

* Real-time point cloud from sensors
* Saved PCD maps loaded from file
* Color-coded by height or intensity
* Adjustable point size and opacity

Tabs
----

Autonomy Tab
^^^^^^^^^^^^

The main interface for autonomous navigation control:

.. list-table::
   :header-rows: 1
   :widths: 30 70

   * - Feature
     - Description
   * - Waypoint List
     - Ordered list of navigation waypoints
   * - Add Waypoint
     - Click map to add new waypoint
   * - Add Current Pose
     - Add robot's current position as waypoint
   * - Remove Waypoint
     - Delete selected waypoint from list
   * - Reorder
     - Drag to change waypoint order
   * - Clear All
     - Remove all waypoints
   * - Start/Stop
     - Begin or halt autonomous navigation

Waypoint Management
"""""""""""""""""""

**Adding Waypoints:**

1. Select the Autonomy tab
2. Click on the map at desired location
3. Waypoint appears in the list

**Editing Waypoints:**

* Drag waypoints on the map to reposition
* Use list controls to reorder
* Click remove button to delete

**Sending Mission:**

1. Define all waypoints
2. Configure repeat/loop settings if needed
3. Click "Start" to send waypoints to Autonomy plugin

Robot Selection Tab
^^^^^^^^^^^^^^^^^^^

For multi-robot operations:

.. list-table::
   :header-rows: 1
   :widths: 30 70

   * - Feature
     - Description
   * - Robot List
     - Available robots in the system
   * - Select Robot
     - Choose which robot to control
   * - Status Display
     - Connection and operational status

Map Editor Tab
^^^^^^^^^^^^^^

For creating and editing map annotations:

.. list-table::
   :header-rows: 1
   :widths: 30 70

   * - Feature
     - Description
   * - Draw Path
     - Create path annotations
   * - Draw Area
     - Define restricted/priority areas
   * - Save/Load
     - Persist annotations to file

Controls
--------

Map Navigation
^^^^^^^^^^^^^^

* **Pan**: Click and drag
* **Zoom**: Mouse wheel or pinch gesture
* **Reset View**: Double-click or button

Display Options
^^^^^^^^^^^^^^^

* **Layer Toggle**: Show/hide individual layers
* **Coordinate System**: Switch between local/GPS frames
* **Follow Robot**: Auto-center on robot position

Configuration
-------------

Frame Selection
^^^^^^^^^^^^^^^

Choose coordinate reference:

* **Local Frame**: Robot-centric coordinates (meters)
* **GPS Frame**: Latitude/Longitude coordinates

Path Planning
-------------

Valhalla Integration
^^^^^^^^^^^^^^^^^^^^

The Map Window integrates with Valhalla routing for:

* Street-level path planning
* Multi-waypoint routing optimization
* Turn-by-turn navigation

Usage
-----

Basic Workflow
^^^^^^^^^^^^^^

1. **Launch GUI**: Start the RAISIN GUI application
2. **Open Map Window**: Select from window menu
3. **Connect to Robot**: Ensure robot is publishing odometry
4. **Add Waypoints**: Click on map to define mission
5. **Start Navigation**: Send waypoints to autonomy plugin

Tips
^^^^

* Use satellite view for outdoor environments
* Enable point cloud layer to see sensor coverage
* Set appropriate zoom level for waypoint precision
* Save waypoint lists for repeatable missions

.. note::
    The Map Window requires network connectivity for map tile downloads

Keyboard Shortcuts
^^^^^^^^^^^^^^^^^^

.. list-table::
   :header-rows: 1
   :widths: 30 70

   * - Key
     - Action
   * - +/-
     - Zoom in/out
   * - Arrow keys
     - Pan map
   * - Delete
     - Remove selected waypoint
   * - Escape
     - Cancel current operation