HDDisplay.h 9.53 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

5
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
6

7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

9
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
10 11 12 13
    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.

14
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
15 16 17 18 19
    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
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25 26 27 28 29 30 31 32 33 34

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

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

#ifndef HDDISPLAY_H
#define HDDISPLAY_H

35
#include <QtGui/QGraphicsView>
pixhawk's avatar
pixhawk committed
36 37 38
#include <QColor>
#include <QTimer>
#include <QFontDatabase>
pixhawk's avatar
pixhawk committed
39
#include <QMap>
40
#include <QContextMenuEvent>
pixhawk's avatar
pixhawk committed
41
#include <QPair>
pixhawk's avatar
pixhawk committed
42 43 44 45
#include <cmath>

#include "UASInterface.h"

46 47 48
namespace Ui
{
class HDDisplay;
pixhawk's avatar
pixhawk committed
49 50
}

51 52 53 54 55 56 57 58 59 60
/**
 * @brief Head Down Display Widget
 *
 * This widget is used for any head down display as base widget. It handles the basic widget setup
 * each head down instrument has a virtual screen size in millimeters as base coordinate system
 * this virtual screen size is then scaled to pixels on the screen.
 * When the pixel per millimeter ratio is known, a 1:1 representation is possible on the screen
 */
class HDDisplay : public QGraphicsView
{
pixhawk's avatar
pixhawk committed
61 62
    Q_OBJECT
public:
63
    HDDisplay(QStringList* plotList, QString title="", QWidget *parent = 0);
pixhawk's avatar
pixhawk committed
64 65 66
    ~HDDisplay();

public slots:
67
    /** @brief Update a HDD double value */
lm's avatar
lm committed
68
    void updateValue(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
69 70
    /** @brief Update a HDD integer value */
    void updateValue(const int uasId, const QString& name, const QString& unit, const int value, const quint64 msec);
71
    virtual void setActiveUAS(UASInterface* uas);
pixhawk's avatar
pixhawk committed
72

73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89
    /** @brief Removes a plot item by the action data */
    void removeItemByAction();
    /** @brief Bring up the menu to add a gauge */
    void addGauge();
    /** @brief Add a gauge using this spec string */
    void addGauge(const QString& gauge);
    /** @brief Set the title of this widget and any existing parent dock widget */
    void setTitle();
    /** @brief Set the number of colums via popup */
    void setColumns();
    /** @brief Set the number of colums */
    void setColumns(int cols);
    /** @brief Save the current layout and state to disk */
    void saveState();
    /** @brief Restore the last layout and state from disk */
    void restoreState();

90
protected slots:
91 92 93
    void enableGLRendering(bool enable);
    //void render(QPainter* painter, const QRectF& target = QRectF(), const QRect& source = QRect(), Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
    void renderOverlay();
94
    void triggerUpdate();
95 96
    /** @brief Adjust the size hint for the current gauge layout */
    void adjustGaugeAspectRatio();
pixhawk's avatar
pixhawk committed
97 98

protected:
99
    QSize sizeHint() const;
100 101
    void changeEvent(QEvent* e);
    void paintEvent(QPaintEvent* event);
102
    void showEvent(QShowEvent* event);
103
    void hideEvent(QHideEvent* event);
104 105 106
    void contextMenuEvent(QContextMenuEvent* event);
    QList<QAction*> getItemRemoveActions();
    void createActions();
pixhawk's avatar
pixhawk committed
107 108 109
    float refLineWidthToPen(float line);
    float refToScreenX(float x);
    float refToScreenY(float y);
110 111
    float screenToRefX(float x);
    float screenToRefY(float y);
pixhawk's avatar
pixhawk committed
112 113 114
    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);
115 116
    void drawEllipse(float refX, float refY, float radiusX, float radiusY, float lineWidth, const QColor& color, QPainter* painter);
    void drawCircle(float refX, float refY, float radius, float lineWidth, const QColor& color, QPainter* painter);
pixhawk's avatar
pixhawk committed
117 118 119

    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);
120
    void drawGauge(float xRef, float yRef, float radius, float min, float max, const QString name, float value, const QColor& color, QPainter* painter, bool symmetric, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid=true);
pixhawk's avatar
pixhawk committed
121 122 123
    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);

124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140
//    //Holds the current centerpoint for the view, used for panning and zooming
//     QPointF currentCenterPoint;
//
//     //From panning the view
//     QPoint lastPanPoint;
//
//     //Set the current centerpoint in the
//     void setCenter(const QPointF& centerPoint);
//     QPointF getCenter() { return currentCenterPoint; }
//
//     //Take over the interaction
//     virtual void mousePressEvent(QMouseEvent* event);
//     virtual void mouseReleaseEvent(QMouseEvent* event);
//     virtual void mouseMoveEvent(QMouseEvent* event);
//     virtual void wheelEvent(QWheelEvent* event);
//     virtual void resizeEvent(QResizeEvent* event);

141
    UASInterface* uas;                 ///< The uas currently monitored
142
    QMap<QString, double> values;       ///< The variables this HUD displays
143
    QMap<QString, QString> units;      ///< The units
144 145 146
    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
pixhawk's avatar
pixhawk committed
147
    QMap<QString, quint64> lastUpdate; ///< The last update time for this variable
148 149
    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
150 151
    QMap<QString, bool> symmetric;     ///< Draw the gauge / dial symmetric bool = yes
    QMap<QString, bool> intValues;     ///< Is the gauge value an integer?
pixhawk's avatar
pixhawk committed
152 153
    QMap<QString, QPair<float, float> > goodRanges; ///< The range of good values
    QMap<QString, QPair<float, float> > critRanges; ///< The range of critical values
154
    double scalingFactor;      ///< Factor used to scale all absolute values to screen coordinates
pixhawk's avatar
pixhawk committed
155
    float xCenterOffset, yCenterOffset; ///< Offset from center of window in mm coordinates
156 157
    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
pixhawk's avatar
pixhawk committed
158

159 160
    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
pixhawk's avatar
pixhawk committed
161 162 163 164 165 166 167 168 169 170 171 172 173 174

    // 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
175
    static const int updateInterval = 300; ///< Update interval in milliseconds
pixhawk's avatar
pixhawk committed
176 177 178 179 180 181 182 183 184
    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

lm's avatar
lm committed
185 186
    QStringList* acceptList;       ///< Variable names to plot
    QStringList* acceptUnitList;   ///< Unit names to plot
pixhawk's avatar
pixhawk committed
187

188
    quint64 lastPaintTime;     ///< Last time this widget was refreshed
189 190 191 192 193
    int columns;               ///< Number of instrument columns

    QAction* addGaugeAction;   ///< Action adding a gauge
    QAction* setTitleAction;   ///< Action setting the title
    QAction* setColumnsAction; ///< Action setting the number of columns
194
    bool valuesChanged;
195

pixhawk's avatar
pixhawk committed
196 197 198 199 200
private:
    Ui::HDDisplay *m_ui;
};

#endif // HDDISPLAY_H