HUD.cc

/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    QGROUNDCONTROL is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

/**
 * @file
 *   @brief Head Up Display (HUD)
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QShowEvent>
#include <QContextMenuEvent>
#include <QMenu>
#include <QDesktopServices>
#include <QFileDialog>
#include <QPaintEvent>
#include <QDebug>

#include <cmath>
#include <qmath.h>
#include <limits>

#include "UASManager.h"
#include "UAS.h"
#include "HUD.h"
#include "QGC.h"
#include "MainWindow.h"

/**
 * @warning The HUD widget will not start painting its content automatically
 *          to update the view, start the auto-update by calling HUD::start().
 *
 * @param width
 * @param height
 * @param parent
 */
HUD::HUD(int width, int height, QWidget* parent)
    : QLabel(parent),
      image(NULL),
      uas(NULL),
      yawInt(0.0f),
      mode(tr("UNKNOWN MODE")),
      state(tr("UNKNOWN STATE")),
      fuelStatus(tr("00.0V (00m:00s)")),
      xCenterOffset(0.0f),
      yCenterOffset(0.0f),
      vwidth(200.0f),
      vheight(150.0f),
      vGaugeSpacing(65.0f),
      vPitchPerDeg(6.0f), ///< 4 mm y translation per degree)
      rawBuffer1(NULL),
      rawBuffer2(NULL),
      rawImage(NULL),
      rawLastIndex(0),
      rawExpectedBytes(0),
      bytesPerLine(1),
      imageStarted(false),
      receivedDepth(8),
      receivedChannels(1),
      receivedWidth(640),
      receivedHeight(480),
      warningBlinkRate(5),
      refreshTimer(new QTimer(this)),
      noCamera(true),
      hardwareAcceleration(true),
      strongStrokeWidth(1.5f),
      normalStrokeWidth(1.0f),
      fineStrokeWidth(0.5f),
      waypointName(""),
      roll(0.0f),
      pitch(0.0f),
      yaw(0.0f),
      rollLP(0.0f),
      pitchLP(0.0f),
      yawLP(0.0f),
      yawDiff(0.0f),
      xPos(0.0),
      yPos(0.0),
      zPos(0.0),
      xSpeed(0.0),
      ySpeed(0.0),
      zSpeed(0.0),
      lastSpeedUpdate(0),
      totalSpeed(0.0),
      totalAcc(0.0),
      lat(0.0),
      lon(0.0),
      alt(0.0),
      load(0.0f),
      offlineDirectory(""),
      nextOfflineImage(""),
      HUDInstrumentsEnabled(false),
      videoEnabled(true),
      imageLoggingEnabled(false),
      xImageFactor(1.0),
      yImageFactor(1.0),
      imageRequested(false)
{
    Q_UNUSED(width);
    Q_UNUSED(height);
    
    // Set auto fill to false
    setAutoFillBackground(false);

    // Set minimum size
    setMinimumSize(80, 60);
    // Set preferred size
    setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
    scalingFactor = this->width()/vwidth;

    // Set up the initial color theme. This can be updated by a styleChanged
    // signal from MainWindow.
    styleChanged(((MainWindow*)parent)->getStyle());

    // Refresh timer
    refreshTimer->setInterval(updateInterval);
    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(repaint()));

    // Resize to correct size and fill with image
    QWidget::resize(this->width(), this->height());

    fontDatabase = QFontDatabase();
    const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
    const QString fontFamilyName = "Bitstream Vera Sans";
    if(!QFile::exists(fontFileName)) qDebug() << "ERROR! font file: " << fontFileName << " DOES NOT EXIST!";

    fontDatabase.addApplicationFont(fontFileName);
    font = fontDatabase.font(fontFamilyName, "Roman", qMax(5,(int)(10.0f*scalingFactor*1.2f+0.5f)));
    QFont* fontPtr = &font;
    if (!fontPtr) {
        qDebug() << "ERROR! FONT NOT LOADED!";
    } else {
        if (font.family() != fontFamilyName) qDebug() << "ERROR! WRONG FONT LOADED: " << fontFamilyName;
    }

    // Connect the themeChanged signal from the MainWindow to this widget, so it
    // can change it's styling accordingly.
    connect((MainWindow*)parent, SIGNAL(styleChanged(MainWindow::QGC_MAINWINDOW_STYLE)),
            this, SLOT(styleChanged(MainWindow::QGC_MAINWINDOW_STYLE)));

    // Connect with UAS
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));

    createActions();

    if (UASManager::instance()->getActiveUAS() != NULL) setActiveUAS(UASManager::instance()->getActiveUAS());
}

HUD::~HUD()
{
    refreshTimer->stop();
}

QSize HUD::sizeHint() const
{
    return QSize(width(), (width()*3.0f)/4);
}

void HUD::styleChanged(MainWindow::QGC_MAINWINDOW_STYLE newTheme)
{
    // Generate a background image that's dependent on the current color scheme.
    QImage fill = QImage(width(), height(), QImage::Format_Indexed8);
    if (newTheme == MainWindow::QGC_MAINWINDOW_STYLE_LIGHT)
    {
        fill.fill(255);
    }
    else
    {
        fill.fill(0);
    }
    glImage = QGLWidget::convertToGLFormat(fill);

    // Now set the other default colors based on the current color scheme.
    if (newTheme == MainWindow::QGC_MAINWINDOW_STYLE_LIGHT)
    {
        defaultColor = QColor(0x01, 0x47, 0x01);
        setPointColor = QColor(0x82, 0x17, 0x82);
        warningColor = Qt::darkYellow;
        criticalColor = Qt::darkRed;