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

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

// Fix for some platforms, e.g. windows
#ifndef GL_MULTISAMPLE
#define GL_MULTISAMPLE  0x809D
#endif

template<typename T>
inline bool isnan(T value)
{
    return value != value;

}

// requires #include <limits>
template<typename T>
inline bool isinf(T value)
{
    return std::numeric_limits<T>::has_infinity && (value == std::numeric_limits<T>::infinity() || (-1*value) == std::numeric_limits<T>::infinity());
}

/**
 * @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)
    : QGLWidget(QGLFormat(QGL::SampleBuffers), parent),
      u(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(50.0f),
      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),
      defaultColor(QColor(70, 200, 70)),
      setPointColor(QColor(200, 20, 200)),
      warningColor(Qt::yellow),
      criticalColor(Qt::red),
      infoColor(QColor(20, 200, 20)),
      fuelColor(criticalColor),
      warningBlinkRate(5),
      refreshTimer(new QTimer(this)),
      imageTimer(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(true),
      videoEnabled(false),
      xImageFactor(1.0),
      yImageFactor(1.0)
      imageRequested(false),
{
    // Set auto fill to false
    setAutoFillBackground(false);

    // Set minimum size
    setMinimumSize(80, 60);
    // Set preferred size
    setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);

    // Fill with black background
    QImage fill = QImage(width, height, QImage::Format_Indexed8);
    fill.setNumColors(3);
    fill.setColor(0, qRgb(0, 0, 0));
    fill.setColor(1, qRgb(0, 0, 0));
    fill.setColor(2, qRgb(0, 0, 0));
    fill.fill(0);

    //QString imagePath = "/Users/user/Desktop/frame0000.png";
    //qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
    //fill = QImage(imagePath);

    //glImage = QGLWidget::convertToGLFormat(fill);

    // Refresh timer
    refreshTimer->setInterval(updateInterval);
    imageTimer->setInterval(1);
    //connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));
    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
    connect(imageTimer, SIGNAL(timeout()), this, SLOT(requestNewImage()));

    // Resize to correct size and fill with image
    //glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());

    // Set size once
    //setFixedSize(fill.size());
    //setMinimumSize(fill.size());
    //setMaximumSize(fill.size());
    // Lock down the size
    //setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));

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

    createActions();