HDDisplay.cc 21 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33
/*=====================================================================

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 Implementation of Head Down Display (HDD)
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QFile>
#include <QGLWidget>
pixhawk's avatar
pixhawk committed
34
#include <QStringList>
pixhawk's avatar
pixhawk committed
35 36 37
#include "UASManager.h"
#include "HDDisplay.h"
#include "ui_HDDisplay.h"
38
#include "MG.h"
pixhawk's avatar
pixhawk committed
39 40 41

#include <QDebug>

pixhawk's avatar
pixhawk committed
42
HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) :
pixhawk's avatar
pixhawk committed
43 44 45 46 47 48 49
        QWidget(parent),
        uas(NULL),
        values(QMap<QString, float>()),
        valuesDot(QMap<QString, float>()),
        valuesMean(QMap<QString, float>()),
        valuesCount(QMap<QString, int>()),
        lastUpdate(QMap<QString, quint64>()),
pixhawk's avatar
pixhawk committed
50 51 52 53
        minValues(),
        maxValues(),
        goodRanges(),
        critRanges(),
pixhawk's avatar
pixhawk committed
54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70
        xCenterOffset(0.0f),
        yCenterOffset(0.0f),
        vwidth(80.0f),
        vheight(80.0f),
        backgroundColor(QColor(0, 0, 0)),
        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)),
        hardwareAcceleration(true),
        strongStrokeWidth(1.5f),
        normalStrokeWidth(1.0f),
        fineStrokeWidth(0.5f),
pixhawk's avatar
pixhawk committed
71
        acceptList(plotList),
72
        lastPaintTime(0),
pixhawk's avatar
pixhawk committed
73 74 75 76
        m_ui(new Ui::HDDisplay)
{
    //m_ui->setupUi(this);

77 78
    this->setMinimumHeight(125);
    this->setMinimumWidth(100);
pixhawk's avatar
pixhawk committed
79 80

    // Refresh timer
81 82
    refreshTimer->setInterval(150); // 200 Hz/5 ms
    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(triggerUpdate()));
pixhawk's avatar
pixhawk committed
83 84 85 86 87 88 89 90 91 92 93 94
    //connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintGL()));

    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", (int)(10*scalingFactor*1.2f+0.5f));
    if (font.family() != fontFamilyName) qDebug() << "ERROR! Font not loaded: " << fontFamilyName;

    // Connect with UAS
pixhawk's avatar
pixhawk committed
95
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
pixhawk's avatar
pixhawk committed
96 97 98 99 100 101 102 103
    //start();
}

HDDisplay::~HDDisplay()
{
    delete m_ui;
}

104 105 106 107 108 109 110
void HDDisplay::triggerUpdate()
{
    // Only repaint the regions necessary
    QRect r = geometry();
    update(r);
}

pixhawk's avatar
pixhawk committed
111 112
void HDDisplay::paintEvent(QPaintEvent * event)
{
113
    Q_UNUSED(event);
114 115
    //paintGL();
    static quint64 interval = 0;
116
    qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
117 118
    interval = MG::TIME::getGroundTimeNow();
    paintDisplay();
pixhawk's avatar
pixhawk committed
119 120 121 122
}

void HDDisplay::paintGL()
{
123 124 125 126
}

void HDDisplay::paintDisplay()
{
127
    quint64 refreshInterval = 100;
128 129 130 131 132 133 134
    quint64 currTime = MG::TIME::getGroundTimeNow();
    if (currTime - lastPaintTime < refreshInterval)
    {
        // FIXME Need to find the source of the spurious paint events
        //return;
    }
    lastPaintTime = currTime;
pixhawk's avatar
pixhawk committed
135 136 137 138 139 140 141 142 143
    // Draw instruments
    // TESTING THIS SHOULD BE MOVED INTO A QGRAPHICSVIEW
    // Update scaling factor
    // adjust scaling to fit both horizontally and vertically
    scalingFactor = this->width()/vwidth;
    double scalingFactorH = this->height()/vheight;
    if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;

    QPainter painter(this);
pixhawk's avatar
pixhawk committed
144 145
    painter.setRenderHint(QPainter::Antialiasing, true);
    painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
pixhawk's avatar
pixhawk committed
146
    painter.fillRect(QRect(0, 0, width(), height()), backgroundColor);
pixhawk's avatar
pixhawk committed
147 148 149
    const int columns = 3;
    const float spacing = 0.4f; // 40% of width
    const float gaugeWidth = vwidth / (((float)columns) + (((float)columns+1) * spacing + spacing * 0.1f));
pixhawk's avatar
pixhawk committed
150
    const QColor gaugeColor = QColor(200, 200, 200);
pixhawk's avatar
pixhawk committed
151 152 153 154 155 156 157 158 159 160 161 162 163 164
    //drawSystemIndicator(10.0f-gaugeWidth/2.0f, 20.0f, 10.0f, 40.0f, 15.0f, &painter);
    //drawGauge(15.0f, 15.0f, gaugeWidth/2.0f, 0, 1.0f, "thrust", values.value("thrust", 0.0f), gaugeColor, &painter, qMakePair(0.45f, 0.8f), qMakePair(0.8f, 1.0f), true);
    //drawGauge(15.0f+gaugeWidth*1.7f, 15.0f, gaugeWidth/2.0f, 0, 10.0f, "altitude", values.value("altitude", 0.0f), gaugeColor, &painter, qMakePair(1.0f, 2.5f), qMakePair(0.0f, 0.5f), true);

    // Left spacing from border / other gauges, measured from left edge to center
    float leftSpacing = gaugeWidth * spacing;
    float xCoord = leftSpacing + gaugeWidth/2.0f;

    float topSpacing = leftSpacing;
    float yCoord = topSpacing + gaugeWidth/2.0f;

    for (int i = 0; i < acceptList->size(); ++i)
    {
        QString value = acceptList->at(i);
165
        drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
pixhawk's avatar
pixhawk committed
166 167 168 169 170 171 172 173
        xCoord += gaugeWidth + leftSpacing;
        // Move one row down if necessary
        if (xCoord + gaugeWidth > vwidth)
        {
            yCoord += topSpacing + gaugeWidth;
            xCoord = leftSpacing + gaugeWidth/2.0f;
        }
    }
pixhawk's avatar
pixhawk committed
174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191
}

void HDDisplay::start()
{
    refreshTimer->start();
}

void HDDisplay::stop()
{
    refreshTimer->stop();
}

/**
 *
 * @param uas the UAS/MAV to monitor/display with the HUD
 */
void HDDisplay::setActiveUAS(UASInterface* uas)
{
pixhawk's avatar
pixhawk committed
192
    //qDebug() << "ATTEMPTING TO SET UAS";
pixhawk's avatar
pixhawk committed
193 194 195 196 197 198 199 200 201 202
    if (this->uas != NULL && this->uas != uas)
    {
        // Disconnect any previously connected active MAV
        disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
    }

    // Now connect the new UAS

    //if (this->uas != uas)
    // {
pixhawk's avatar
pixhawk committed
203
    //qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
pixhawk's avatar
pixhawk committed
204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318
    // Setup communication
    connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
    //}
}

/**
 * Rotate a polygon around a point
 *
 * @param p polygon to rotate
 * @param origin the rotation center
 * @param angle rotation angle, in radians
 * @return p Polygon p rotated by angle around the origin point
 */
void HDDisplay::rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin)
{
    // Standard 2x2 rotation matrix, counter-clockwise
    //
    //   |  cos(phi)   sin(phi) |
    //   | -sin(phi)   cos(phi) |
    //
    for (int i = 0; i < p.size(); i++)
    {
        QPointF curr = p.at(i);

        const float x = curr.x();
        const float y = curr.y();

        curr.setX(((cos(angle) * (x-origin.x())) + (-sin(angle) * (y-origin.y()))) + origin.x());
        curr.setY(((sin(angle) * (x-origin.x())) + (cos(angle) * (y-origin.y()))) + origin.y());
        p.replace(i, curr);
    }
}

void HDDisplay::drawPolygon(QPolygonF refPolygon, QPainter* painter)
{
    // Scale coordinates
    QPolygonF draw(refPolygon.size());
    for (int i = 0; i < refPolygon.size(); i++)
    {
        QPointF curr;
        curr.setX(refToScreenX(refPolygon.at(i).x()));
        curr.setY(refToScreenY(refPolygon.at(i).y()));
        draw.replace(i, curr);
    }
    painter->drawPolygon(draw);
}

void HDDisplay::drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter)
{
    QBrush brush(defaultColor, Qt::NoBrush);
    painter->setBrush(brush);
    QPen rectPen(Qt::SolidLine);
    rectPen.setWidth(0);
    rectPen.setColor(defaultColor);
    painter->setPen(rectPen);

    float scaledValue = value;

    // Saturate value
    if (value > maxRate) scaledValue = maxRate;
    if (value < minRate) scaledValue = minRate;

    //           x (Origin: xRef, yRef)
    //           -
    //           |
    //           |
    //           |
    //           =
    //           |
    //   -0.005 >|
    //           |
    //           -

    const float width = height / 8.0f;
    const float lineWidth = 0.5f;

    // Indicator lines
    // Top horizontal line
    drawLine(xRef, yRef, xRef+width, yRef, lineWidth, defaultColor, painter);
    // Vertical main line
    drawLine(xRef+width/2.0f, yRef, xRef+width/2.0f, yRef+height, lineWidth, defaultColor, painter);
    // Zero mark
    drawLine(xRef, yRef+height/2.0f, xRef+width, yRef+height/2.0f, lineWidth, defaultColor, painter);
    // Horizontal bottom line
    drawLine(xRef, yRef+height, xRef+width, yRef+height, lineWidth, defaultColor, painter);

    // Text
    QString label;
    label.sprintf("< %06.2f", value);
    paintText(label, defaultColor, 3.0f, xRef+width/2.0f, yRef+height-((scaledValue - minRate)/(maxRate-minRate))*height - 1.6f, painter);
}

void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float max, QString name, float value, const QColor& color, QPainter* painter, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid)
{
    // Draw the circle
    QPen circlePen(Qt::SolidLine);

    // Rotate the whole gauge with this angle (in radians) for the zero position
    const float zeroRotation = 0.49f;

    // Scale the rotation so that the gauge does one revolution
    // per max. change
    const float rangeScale = ((2.0f * M_PI) / (max - min)) * 0.72f;

    const float nameHeight = radius / 2.5f;
    paintText(name.toUpper(), color, nameHeight*0.7f, xRef-radius, yRef-radius, painter);

    if (!solid)
    {
        circlePen.setStyle(Qt::DotLine);
    }
    circlePen.setWidth(refLineWidthToPen(radius/12.0f));
    circlePen.setColor(color);
    painter->setBrush(Qt::NoBrush);
    painter->setPen(circlePen);
319 320
    drawCircle(xRef, yRef+nameHeight, radius, 0.0f, color, painter);
    //drawCircle(xRef, yRef+nameHeight, radius, 0.0f, 170.0f, 1.0f, color, painter);
pixhawk's avatar
pixhawk committed
321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409

    QString label;
    label.sprintf("%05.1f", value);


    // Text
    // height
    const float textHeight = radius/2.0f;
    const float textX = xRef-radius/6.0f;
    const float textY = yRef+radius/2.0f;

    // Draw background rectangle
    // FIXME add background color for use in instrument panel
    QBrush brush(QColor(0, 0, 0), Qt::SolidPattern);
    painter->setBrush(brush);
    painter->setPen(Qt::NoPen);
    painter->drawRect(refToScreenX(xRef-radius/2.5f), refToScreenY(yRef+nameHeight+radius/4.0f), refToScreenX(radius+radius/2.0f), refToScreenY((radius - radius/4.0f)*1.2f));

    // Draw good value and crit. value markers
    if (goodRange.first != goodRange.second)
    {
        QRectF rectangle(refToScreenX(xRef-radius/2.0f), refToScreenY(yRef+nameHeight-radius/2.0f), refToScreenX(radius*2.0f), refToScreenX(radius*2.0f));
        painter->setPen(Qt::green);
        //int start = ((goodRange.first*rangeScale+zeroRotation)/M_PI)*180.0f * 16.0f;// + 16.0f * 60.0f;
        //int span  = start - ((goodRange.second*rangeScale+zeroRotation)/M_PI)*180.0f * 16.0f;
        //painter->drawArc(rectangle, start, span);
    }

    if (criticalRange.first != criticalRange.second)
    {
        QRectF rectangle(refToScreenX(xRef-radius/2.0f-3.0f), refToScreenY(yRef+nameHeight-radius/2.0f-3.0f), refToScreenX(radius*2.0f), refToScreenX(radius*2.0f));
        painter->setPen(Qt::yellow);
        //int start = ((criticalRange.first*rangeScale+zeroRotation)/M_PI)*180.0f * 16.0f - 180.0f*16.0f;// + 16.0f * 60.0f;
        //int span  = start - ((criticalRange.second*rangeScale+zeroRotation)/M_PI)*180.0f * 16.0f + 180.0f*16.0f;
        //painter->drawArc(rectangle, start, span);
    }

    // Draw the value
    //painter->setPen(textColor);
    paintText(label, color, textHeight, textX, textY+nameHeight, painter);
    //paintText(label, color, ((radius - radius/3.0f)*1.1f), xRef-radius/2.5f, yRef+radius/3.0f, painter);

    // Draw the needle

    const float maxWidth = radius / 6.0f;
    const float minWidth = maxWidth * 0.3f;

    QPolygonF p(6);

    p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));
    p.replace(1, QPointF(xRef-minWidth/2.0f, yRef+nameHeight+radius * 0.9f));
    p.replace(2, QPointF(xRef+minWidth/2.0f, yRef+nameHeight+radius * 0.9f));
    p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));
    p.replace(4, QPointF(xRef,               yRef+nameHeight+radius * 0.0f));
    p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));


    rotatePolygonClockWiseRad(p, value*rangeScale+zeroRotation, QPointF(xRef, yRef+nameHeight));

    QBrush indexBrush;
    indexBrush.setColor(color);
    indexBrush.setStyle(Qt::SolidPattern);
    painter->setPen(Qt::NoPen);
    painter->setBrush(indexBrush);
    drawPolygon(p, painter);
}


void HDDisplay::drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter)
{
    if (values.size() > 0)
    {
        QString selectedKey = values.begin().key();
        //   | | | | | |
        //   | | | | | |
        //   x speed: 2.54

        // One column per value
        QMapIterator<QString, float> value(values);

        float x = xRef;
        float y = yRef;

        const float vspacing = 1.0f;
        float width = 1.5f;
        float height = 1.5f;
        const float hspacing = 0.6f;

        int i = 0;
pixhawk's avatar
pixhawk committed
410
        while (value.hasNext() && i < maxNum && x < maxWidth && y < maxHeight)
pixhawk's avatar
pixhawk committed
411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469
        {
            value.next();
            QBrush brush(Qt::SolidPattern);


            if (value.value() < 0.01f && value.value() > -0.01f)
            {
                brush.setColor(Qt::gray);
            }
            else if (value.value() > 0.01f)
            {
                brush.setColor(Qt::blue);
            }
            else
            {
                brush.setColor(Qt::yellow);
            }

            painter->setBrush(brush);
            painter->setPen(Qt::NoPen);

            // Draw current value colormap
            painter->drawRect(refToScreenX(x), refToScreenY(y), refToScreenX(width), refToScreenY(height));

            // Draw change rate colormap
            painter->drawRect(refToScreenX(x), refToScreenY(y+height+hspacing), refToScreenX(width), refToScreenY(height));

            // Draw mean value colormap
            painter->drawRect(refToScreenX(x), refToScreenY(y+2.0f*(height+hspacing)), refToScreenX(width), refToScreenY(height));

            // Add spacing
            x += width+vspacing;

            // Iterate
            i++;
        }

        // Draw detail label
        QString detail = "NO DATA AVAILABLE";

        if (values.contains(selectedKey))
        {
            detail = values.find(selectedKey).key();
            detail.append(": ");
            detail.append(QString::number(values.find(selectedKey).value()));
        }
        paintText(detail, QColor(255, 255, 255), 3.0f, xRef, yRef+3.0f*(height+hspacing)+1.0f, painter);
    }
}

void HDDisplay::drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid)
{
    // Draw the circle
    QPen circlePen(Qt::SolidLine);
    if (!solid) circlePen.setStyle(Qt::DotLine);
    circlePen.setWidth(refLineWidthToPen(0.5f));
    circlePen.setColor(defaultColor);
    painter->setBrush(Qt::NoBrush);
    painter->setPen(circlePen);
470 471
    drawCircle(xRef, yRef, radius, 200.0f, color, painter);
    //drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter);
pixhawk's avatar
pixhawk committed
472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520

    QString label;
    label.sprintf("%05.1f", value);

    // Draw the value
    paintText(label, color, 4.5f, xRef-7.5f, yRef-2.0f, painter);

    // Draw the needle
    // Scale the rotation so that the gauge does one revolution
    // per max. change
    const float rangeScale = (2.0f * M_PI) / expectedMaxChange;
    const float maxWidth = radius / 10.0f;
    const float minWidth = maxWidth * 0.3f;

    QPolygonF p(6);

    p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f));
    p.replace(1, QPointF(xRef-minWidth/2.0f, yRef-radius * 0.9f));
    p.replace(2, QPointF(xRef+minWidth/2.0f, yRef-radius * 0.9f));
    p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef-radius * 0.5f));
    p.replace(4, QPointF(xRef,               yRef-radius * 0.46f));
    p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f));

    rotatePolygonClockWiseRad(p, value*rangeScale, QPointF(xRef, yRef));

    QBrush indexBrush;
    indexBrush.setColor(defaultColor);
    indexBrush.setStyle(Qt::SolidPattern);
    painter->setPen(Qt::SolidLine);
    painter->setPen(defaultColor);
    painter->setBrush(indexBrush);
    drawPolygon(p, painter);
}

/**
 * Paint text on top of the image and OpenGL drawings
 *
 * @param text chars to write
 * @param color text color
 * @param fontSize text size in mm
 * @param refX position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels.
 * @param refY position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels.
 */
void HDDisplay::paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter)
{
    QPen prevPen = painter->pen();
    float pPositionX = refToScreenX(refX) - (fontSize*scalingFactor*0.072f);
    float pPositionY = refToScreenY(refY) - (fontSize*scalingFactor*0.212f);

521 522 523 524
    QFont font("Bitstream Vera Sans");
    // Enforce minimum font size of 5 pixels
    int fSize = qMax(5, (int)(fontSize*scalingFactor*1.26f));
    font.setPixelSize(fSize);
pixhawk's avatar
pixhawk committed
525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545

    QFontMetrics metrics = QFontMetrics(font);
    int border = qMax(4, metrics.leading());
    QRect rect = metrics.boundingRect(0, 0, width() - 2*border, int(height()*0.125),
                                      Qt::AlignLeft | Qt::TextWordWrap, text);
    painter->setPen(color);
    painter->setFont(font);
    painter->setRenderHint(QPainter::TextAntialiasing);
    painter->drawText(pPositionX, pPositionY,
                      rect.width(), rect.height(),
                      Qt::AlignCenter | Qt::TextWordWrap, text);
    painter->setPen(prevPen);
}

float HDDisplay::refLineWidthToPen(float line)
{
    return line * 2.50f;
}

void HDDisplay::updateValue(UASInterface* uas, QString name, double value, quint64 msec)
{
546
    Q_UNUSED(uas);
547 548
    //if (this->uas == uas)
    //{
pixhawk's avatar
pixhawk committed
549 550 551 552 553 554 555 556
        // Update mean
        const float oldMean = valuesMean.value(name, 0.0f);
        const int meanCount = valuesCount.value(name, 0);
        valuesMean.insert(name, (oldMean * meanCount +  value) / (meanCount + 1));
        valuesCount.insert(name, meanCount + 1);
        valuesDot.insert(name, (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f));
        values.insert(name, value);
        lastUpdate.insert(name, msec);
557
    //}
pixhawk's avatar
pixhawk committed
558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586
}

/**
 * @param y coordinate in pixels to be converted to reference mm units
 * @return the screen coordinate relative to the QGLWindow origin
 */
float HDDisplay::refToScreenX(float x)
{
    return (scalingFactor * x);
}

/**
 * @param x coordinate in pixels to be converted to reference mm units
 * @return the screen coordinate relative to the QGLWindow origin
 */
float HDDisplay::refToScreenY(float y)
{
    return (scalingFactor * y);
}

void HDDisplay::drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter)
{
    QPen pen(Qt::SolidLine);
    pen.setWidth(refLineWidthToPen(width));
    pen.setColor(color);
    painter->setPen(pen);
    painter->drawLine(QPoint(refToScreenX(refX1), refToScreenY(refY1)), QPoint(refToScreenX(refX2), refToScreenY(refY2)));
}

587
void HDDisplay::drawEllipse(float refX, float refY, float radiusX, float radiusY, float lineWidth, const QColor& color, QPainter* painter)
pixhawk's avatar
pixhawk committed
588 589 590 591 592 593 594 595
{
    QPen pen(painter->pen().style());
    pen.setWidth(refLineWidthToPen(lineWidth));
    pen.setColor(color);
    painter->setPen(pen);
    painter->drawEllipse(QPointF(refToScreenX(refX), refToScreenY(refY)), refToScreenX(radiusX), refToScreenY(radiusY));
}

596
void HDDisplay::drawCircle(float refX, float refY, float radius, float lineWidth, const QColor& color, QPainter* painter)
pixhawk's avatar
pixhawk committed
597
{
598
    drawEllipse(refX, refY, radius, radius, lineWidth, color, painter);
pixhawk's avatar
pixhawk committed
599 600 601 602 603 604 605 606 607 608 609 610 611
}

void HDDisplay::changeEvent(QEvent *e)
{
    QWidget::changeEvent(e);
    switch (e->type()) {
    case QEvent::LanguageChange:
        m_ui->retranslateUi(this);
        break;
    default:
        break;
    }
}