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 <QDebug>
#include <cmath>
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#include <limits>

#include "UASManager.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),
    uas(NULL),
    values(QMap<QString, float>()),
    valuesDot(QMap<QString, float>()),
    valuesMean(QMap<QString, float>()),
    valuesCount(QMap<QString, int>()),
    lastUpdate(QMap<QString, quint64>()),
    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)),
    noCamera(true),
    hardwareAcceleration(true),
    strongStrokeWidth(1.5f),
    normalStrokeWidth(1.0f),
    fineStrokeWidth(0.5f),
    waypointName(""),
    roll(0.0f),
    pitch(0.0f),
    yaw(0.0f)
{
    // 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 = MG::DIR::getIconDirectory() + "hud-template.png";
    //qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
    //fill = QImage(imagePath);

    glImage = QGLWidget::convertToGLFormat(fill);

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

    // Resize to correct size and fill with image
    resize(fill.size());
    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
    UASManager* manager = UASManager::instance();
    connect(manager, SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
}

HUD::~HUD()
{

}

QSize HUD::sizeHint() const
{
    return QSize(800, 600);
}

void HUD::showEvent(QShowEvent* event)
{
    // React only to internal (pre-display)
    // events
    Q_UNUSED(event)
    {
        refreshTimer->start(updateInterval);
    }
}

void HUD::hideEvent(QHideEvent* event)