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/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Definition of Head Down Display (HDD)
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef HDDISPLAY_H
#define HDDISPLAY_H
#include <QtGui/QWidget>
#include <QColor>
#include <QTimer>
#include <QFontDatabase>
#include <cmath>
#include "UASInterface.h"
namespace Ui {
class HDDisplay;
}
class HDDisplay : public QWidget {
Q_OBJECT
public:
HDDisplay(QStringList* plotList, QWidget *parent = 0);
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~HDDisplay();
public slots:
/** @brief Update a HDD value */
void updateValue(UASInterface* uas, QString name, double value, quint64 msec);
void start();
void stop();
void setActiveUAS(UASInterface* uas);
protected slots:
void paintGL();
protected:
void changeEvent(QEvent *e);
void paintEvent(QPaintEvent * event);
float refLineWidthToPen(float line);
float refToScreenX(float x);
float refToScreenY(float y);
void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
void drawPolygon(QPolygonF refPolygon, QPainter* painter);
void drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter);
void drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter);
void drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter);
void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter);
void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true);
void drawGauge(float xRef, float yRef, float radius, float min, float max, const QString name, float value, const QColor& color, QPainter* painter, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid=true);
void drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter);
void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
UASInterface* uas; ///< The uas currently monitored
QMap<QString, float> values; ///< The variables this HUD displays
QMap<QString, float> valuesDot; ///< First derivative of the variable
QMap<QString, float> valuesMean; ///< Mean since system startup for this variable
QMap<QString, int> valuesCount; ///< Number of values received so far
QMap<QString, quint64> lastUpdate; ///< The last update time for this variable
QMap<QString, float> minValues; ///< The minimum value this variable is assumed to have
QMap<QString, float> maxValues; ///< The maximum value this variable is assumed to have
QMap<QString, QPair<float, float> > goodRanges; ///< The range of good values
QMap<QString, QPair<float, float> > critRanges; ///< The range of critical values
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double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates
float xCenterOffset, yCenterOffset; ///< Offset from center of window in mm coordinates
float vwidth; ///< Virtual width of this window, 200 mm per default. This allows to hardcode positions and aspect ratios. This virtual image plane is then scaled to the window size.
float vheight; ///< Virtual height of this window, 150 mm per default
int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
// HUD colors
QColor backgroundColor; ///< Background color
QColor defaultColor; ///< Color for most HUD elements, e.g. pitch lines, center cross, change rate gauges
QColor setPointColor; ///< Color for the current control set point, e.g. yaw desired
QColor warningColor; ///< Color for warning messages
QColor criticalColor; ///< Color for caution messages
QColor infoColor; ///< Color for normal/default messages
QColor fuelColor; ///< Current color for the fuel message, can be info, warning or critical color
// Blink rates
int warningBlinkRate; ///< Blink rate of warning messages, will be rounded to the refresh rate
QTimer* refreshTimer; ///< The main timer, controls the update rate
QPainter* hudPainter;
QFont font; ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts
QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system)
bool hardwareAcceleration; ///< Enable hardware acceleration
float strongStrokeWidth; ///< Strong line stroke width, used throughout the HUD
float normalStrokeWidth; ///< Normal line stroke width, used throughout the HUD
float fineStrokeWidth; ///< Fine line stroke width, used throughout the HUD
QStringList* acceptList; ///< Variable names to plot