HUD.cc 53.3 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

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

/**
 * @file
 *   @brief Head Up Display (HUD)
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

32
#include <QShowEvent>
33 34 35 36
#include <QContextMenuEvent>
#include <QMenu>
#include <QDesktopServices>
#include <QFileDialog>
37

pixhawk's avatar
pixhawk committed
38 39
#include <QDebug>
#include <cmath>
pixhawk's avatar
pixhawk committed
40
#include <qmath.h>
pixhawk's avatar
pixhawk committed
41
#include <limits>
pixhawk's avatar
pixhawk committed
42 43

#include "UASManager.h"
44
#include "UAS.h"
pixhawk's avatar
pixhawk committed
45 46
#include "HUD.h"
#include "MG.h"
47
#include "QGC.h"
pixhawk's avatar
pixhawk committed
48 49 50 51 52 53 54 55 56 57 58 59 60 61 62

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

/**
 * @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)
63
    : QGLWidget(QGLFormat(QGL::SampleBuffers), parent),
64 65 66 67 68 69 70 71 72
      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),
73
      vGaugeSpacing(65.0f),
74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124
      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),
      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),
125
      yImageFactor(1.0),
126 127
      imageRequested(false),
      imageLoggingEnabled(false)
pixhawk's avatar
pixhawk committed
128 129 130 131
{
    // Set auto fill to false
    setAutoFillBackground(false);

132 133
    // Set minimum size
    setMinimumSize(80, 60);
134 135
    // Set preferred size
    setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
LM's avatar
LM committed
136
    scalingFactor = this->width()/vwidth;
137

pixhawk's avatar
pixhawk committed
138 139 140 141 142 143 144 145
    // 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);

146 147 148
    //QString imagePath = "/Users/user/Desktop/frame0000.png";
    //qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
    //fill = QImage(imagePath);
pixhawk's avatar
pixhawk committed
149

LM's avatar
LM committed
150
    glImage = QGLWidget::convertToGLFormat(fill);
pixhawk's avatar
pixhawk committed
151 152

    // Refresh timer
153
    refreshTimer->setInterval(updateInterval);
154
    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
pixhawk's avatar
pixhawk committed
155 156

    // Resize to correct size and fill with image
pixhawk's avatar
pixhawk committed
157
    resize(this->width(), this->height());
158
    //glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
pixhawk's avatar
pixhawk committed
159 160 161 162 163 164 165 166 167 168 169 170 171 172

    // 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);
173 174
    font = fontDatabase.font(fontFamilyName, "Roman", qMax(5,(int)(10.0f*scalingFactor*1.2f+0.5f)));
    QFont* fontPtr = &font;
175
    if (!fontPtr) {
176
        qDebug() << "ERROR! FONT NOT LOADED!";
177
    } else {
178 179
        if (font.family() != fontFamilyName) qDebug() << "ERROR! WRONG FONT LOADED: " << fontFamilyName;
    }
pixhawk's avatar
pixhawk committed
180 181

    // Connect with UAS
182 183
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));

184 185 186
    createActions();

    if (UASManager::instance()->getActiveUAS() != NULL) setActiveUAS(UASManager::instance()->getActiveUAS());
pixhawk's avatar
pixhawk committed
187 188 189 190
}

HUD::~HUD()
{
191
    refreshTimer->stop();
pixhawk's avatar
pixhawk committed
192 193
}

194 195
QSize HUD::sizeHint() const
{
196
    return QSize(width(), (width()*3.0f)/4);
197 198
}

199 200
void HUD::showEvent(QShowEvent* event)
{
201 202
    // React only to internal (pre-display)
    // events
203
    QGLWidget::showEvent(event);
204
    refreshTimer->start(updateInterval);
LM's avatar
LM committed
205
    emit visibilityChanged(true);
206 207 208 209 210 211
}

void HUD::hideEvent(QHideEvent* event)
{
    // React only to internal (pre-display)
    // events
212
    refreshTimer->stop();
LM's avatar
LM committed
213 214
    QGLWidget::hideEvent(event);
    emit visibilityChanged(false);
pixhawk's avatar
pixhawk committed
215 216
}

217 218 219
void HUD::contextMenuEvent (QContextMenuEvent* event)
{
    QMenu menu(this);
220 221 222 223
    // Update actions
    enableHUDAction->setChecked(hudInstrumentsEnabled);
    enableVideoAction->setChecked(videoEnabled);

224 225 226 227
    menu.addAction(enableHUDAction);
    //menu.addAction(selectHUDColorAction);
    menu.addAction(enableVideoAction);
    menu.addAction(selectOfflineDirectoryAction);
228
    menu.addAction(selectSaveDirectoryAction);
229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245
    menu.exec(event->globalPos());
}

void HUD::createActions()
{
    enableHUDAction = new QAction(tr("Enable HUD"), this);
    enableHUDAction->setStatusTip(tr("Show the HUD instruments in this window"));
    enableHUDAction->setCheckable(true);
    enableHUDAction->setChecked(hudInstrumentsEnabled);
    connect(enableHUDAction, SIGNAL(triggered(bool)), this, SLOT(enableHUDInstruments(bool)));

    enableVideoAction = new QAction(tr("Enable Video Live feed"), this);
    enableVideoAction->setStatusTip(tr("Show the video live feed"));
    enableVideoAction->setCheckable(true);
    enableVideoAction->setChecked(videoEnabled);
    connect(enableVideoAction, SIGNAL(triggered(bool)), this, SLOT(enableVideo(bool)));

246
    selectOfflineDirectoryAction = new QAction(tr("Load image log"), this);
247 248
    selectOfflineDirectoryAction->setStatusTip(tr("Load previously logged images into simulation / replay"));
    connect(selectOfflineDirectoryAction, SIGNAL(triggered()), this, SLOT(selectOfflineDirectory()));
249 250 251 252 253

    selectSaveDirectoryAction = new QAction(tr("Save images to directory"), this);
    selectSaveDirectoryAction->setStatusTip(tr("Save images from image stream to a directory"));
    selectSaveDirectoryAction->setCheckable(true);
    connect(selectSaveDirectoryAction, SIGNAL(triggered(bool)), this, SLOT(saveImages(bool)));
254 255
}

pixhawk's avatar
pixhawk committed
256 257 258 259 260 261
/**
 *
 * @param uas the UAS/MAV to monitor/display with the HUD
 */
void HUD::setActiveUAS(UASInterface* uas)
{
262
    if (this->uas != NULL) {
pixhawk's avatar
pixhawk committed
263
        // Disconnect any previously connected active MAV
264
        disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
265
        disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
266 267 268 269
        disconnect(this->uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
        disconnect(this->uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
        disconnect(this->uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
        disconnect(this->uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
270

271
        disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
pixhawk's avatar
pixhawk committed
272
        disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
273 274
        disconnect(this->uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
        disconnect(this->uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
pixhawk's avatar
pixhawk committed
275

276
        // Try to disconnect the image link
277
        UAS* u = dynamic_cast<UAS*>(this->uas);
278
        if (u) {
279
            disconnect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
LM's avatar
LM committed
280
            disconnect(u, SIGNAL(imageReady(UASInterface*)), this, SLOT(copyImage()));
281 282
        }
    }
283

284
    if (uas) {
285 286 287
        // Now connect the new UAS
        // Setup communication
        connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
288
        connect(uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
289 290 291 292 293 294
        connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
        connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
        connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
        connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));

        connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
pixhawk's avatar
pixhawk committed
295
        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
296 297 298 299 300
        connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
        connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));

        // Try to connect the image link
        UAS* u = dynamic_cast<UAS*>(uas);
301
        if (u) {
302
            connect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
LM's avatar
LM committed
303
            connect(u, SIGNAL(imageReady(UASInterface*)), this, SLOT(copyImage()));
304
        }
305

306 307 308
        // Set new UAS
        this->uas = uas;
    }
pixhawk's avatar
pixhawk committed
309 310
}

311 312 313 314 315 316 317
//void HUD::updateAttitudeThrustSetPoint(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
//{
////    updateValue(uas, "roll desired", rollDesired, msec);
////    updateValue(uas, "pitch desired", pitchDesired, msec);
////    updateValue(uas, "yaw desired", yawDesired, msec);
////    updateValue(uas, "thrust desired", thrustDesired, msec);
//}
pixhawk's avatar
pixhawk committed
318 319 320

void HUD::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp)
{
321 322
    Q_UNUSED(uas);
    Q_UNUSED(timestamp);
323 324 325 326 327 328
    if (!isnan(roll) && !isinf(roll) && !isnan(pitch) && !isinf(pitch) && !isnan(yaw) && !isinf(yaw))
    {
        this->roll = roll;
        this->pitch = pitch*3.35f; // Constant here is the 'focal length' of the projection onto the plane
        this->yaw = yaw;
    }
pixhawk's avatar
pixhawk committed
329 330
}

331 332 333 334
void HUD::updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp)
{
    Q_UNUSED(uas);
    Q_UNUSED(timestamp);
335 336 337 338
    if (!isnan(roll) && !isinf(roll) && !isnan(pitch) && !isinf(pitch) && !isnan(yaw) && !isinf(yaw))
    {
        attitudes.insert(component, QVector3D(roll, pitch*3.35f, yaw)); // Constant here is the 'focal length' of the projection onto the plane
    }
339 340
}

pixhawk's avatar
pixhawk committed
341 342
void HUD::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
{
343
    Q_UNUSED(uas);
344
    Q_UNUSED(seconds);
345
    fuelStatus = tr("BAT [%1% | %2V]").arg(percent, 2, 'f', 0, QChar('0')).arg(voltage, 4, 'f', 1, QChar('0'));
346
    if (percent < 20.0f) {
pixhawk's avatar
pixhawk committed
347
        fuelColor = warningColor;
348
    } else if (percent < 10.0f) {
pixhawk's avatar
pixhawk committed
349
        fuelColor = criticalColor;
350
    } else {
pixhawk's avatar
pixhawk committed
351 352 353 354 355 356 357 358
        fuelColor = infoColor;
    }
}

void HUD::receiveHeartbeat(UASInterface*)
{
}

359
void HUD::updateThrust(UASInterface* uas, double thrust)
pixhawk's avatar
pixhawk committed
360
{
361 362 363
    Q_UNUSED(uas);
    Q_UNUSED(thrust);
//    updateValue(uas, "thrust", thrust, MG::TIME::getGroundTimeNow());
pixhawk's avatar
pixhawk committed
364 365 366 367
}

void HUD::updateLocalPosition(UASInterface* uas,double x,double y,double z,quint64 timestamp)
{
368 369 370 371 372
    Q_UNUSED(uas);
    Q_UNUSED(timestamp);
    this->xPos = x;
    this->yPos = y;
    this->zPos = z;
pixhawk's avatar
pixhawk committed
373 374
}

375
void HUD::updateGlobalPosition(UASInterface* uas,double lat, double lon, double altitude, quint64 timestamp)
pixhawk's avatar
pixhawk committed
376
{
377 378 379 380 381
    Q_UNUSED(uas);
    Q_UNUSED(timestamp);
    this->lat = lat;
    this->lon = lon;
    this->alt = altitude;
pixhawk's avatar
pixhawk committed
382 383 384 385
}

void HUD::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 timestamp)
{
386 387 388 389 390
    Q_UNUSED(uas);
    Q_UNUSED(timestamp);
    this->xSpeed = x;
    this->ySpeed = y;
    this->zSpeed = z;
pixhawk's avatar
pixhawk committed
391 392 393
    double newTotalSpeed = sqrt(xSpeed*xSpeed + ySpeed*ySpeed + zSpeed*zSpeed);
    totalAcc = (newTotalSpeed - totalSpeed) / ((double)(lastSpeedUpdate - timestamp)/1000.0);
    totalSpeed = newTotalSpeed;
pixhawk's avatar
pixhawk committed
394 395 396 397 398 399 400 401
}

/**
 * Updates the current system state, but only if the uas matches the currently monitored uas.
 *
 * @param uas the system the state message originates from
 * @param state short state text, displayed in HUD
 */
402
void HUD::updateState(UASInterface* uas,QString state)
pixhawk's avatar
pixhawk committed
403
{
404 405
    // Only one UAS is connected at a time
    Q_UNUSED(uas);
406 407 408 409 410 411 412 413 414
    this->state = state;
}

/**
 * Updates the current system mode, but only if the uas matches the currently monitored uas.
 *
 * @param uas the system the state message originates from
 * @param mode short mode text, displayed in HUD
 */
415
void HUD::updateMode(int id,QString mode, QString description)
416
{
417
    // Only one UAS is connected at a time
418 419
    Q_UNUSED(id);
    Q_UNUSED(description);
420
    this->mode = mode;
pixhawk's avatar
pixhawk committed
421 422 423 424
}

void HUD::updateLoad(UASInterface* uas, double load)
{
425 426 427
    Q_UNUSED(uas);
    this->load = load;
    //updateValue(uas, "load", load, MG::TIME::getGroundTimeNow());
pixhawk's avatar
pixhawk committed
428 429 430 431 432 433 434 435
}

/**
 * @param y coordinate in pixels to be converted to reference mm units
 * @return the screen coordinate relative to the QGLWindow origin
 */
float HUD::refToScreenX(float x)
{
436
    //qDebug() << "sX: " << (scalingFactor * x) << "Orig:" << x;
pixhawk's avatar
pixhawk committed
437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455
    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 HUD::refToScreenY(float y)
{
    //qDebug() << "sY: " << (scalingFactor * y);
    return (scalingFactor * y);
}

/**
 * This functions works in the OpenGL view, which is already translated by
 * the x and y center offsets.
 *
 */
void HUD::paintCenterBackground(float roll, float pitch, float yaw)
{
456 457
    Q_UNUSED(yaw);

pixhawk's avatar
pixhawk committed
458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479
    // Center indicator is 100 mm wide
    float referenceWidth = 70.0;
    float referenceHeight = 70.0;

    // HUD is assumed to be 200 x 150 mm
    // so that positions can be hardcoded
    // but can of course be scaled.

    double referencePositionX = vwidth / 2.0 - referenceWidth/2.0;
    double referencePositionY = vheight / 2.0 - referenceHeight/2.0;

    //this->width()/2.0+(xCenterOffset*scalingFactor), this->height()/2.0+(yCenterOffset*scalingFactor);

    setupGLView(referencePositionX, referencePositionY, referenceWidth, referenceHeight);

    // Store current position in the model view
    // the position will be restored after drawing
    glMatrixMode(GL_MODELVIEW);
    glPushMatrix();

    // Move to the center of the window
    glTranslatef(referenceWidth/2.0f,referenceHeight/2.0f,0);
480 481

    // Move based on the yaw difference
482
    //glTranslatef(yaw, 0.0f, 0.0f);
483

pixhawk's avatar
pixhawk committed
484
    // Rotate based on the bank
485
    glRotatef((roll/M_PI)*180.0f, 0.0f, 0.0f, 1.0f);
pixhawk's avatar
pixhawk committed
486 487 488

    // Translate in the direction of the rotation based
    // on the pitch. On the 777, a pitch of 1 degree = 2 mm
489
    //glTranslatef(0, ((-pitch/M_PI)*180.0f * vPitchPerDeg), 0);
490
    glTranslatef(0.0f, (-pitch * vPitchPerDeg * 16.5f), 0.0f);
pixhawk's avatar
pixhawk committed
491 492 493 494 495

    // Ground
    glColor3ub(179,102,0);

    glBegin(GL_POLYGON);
496
    glVertex2f(-300,-900);
pixhawk's avatar
pixhawk committed
497 498
    glVertex2f(-300,0);
    glVertex2f(300,0);
499 500
    glVertex2f(300,-900);
    glVertex2f(-300,-900);
pixhawk's avatar
pixhawk committed
501 502 503 504 505 506 507
    glEnd();

    // Sky
    glColor3ub(0,153,204);

    glBegin(GL_POLYGON);
    glVertex2f(-300,0);
508 509
    glVertex2f(-300,900);
    glVertex2f(300,900);
pixhawk's avatar
pixhawk committed
510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530
    glVertex2f(300,0);
    glVertex2f(-300,0);

    glEnd();
}

/**
 * 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 HUD::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);

531 532
    QFont font("Bitstream Vera Sans");
    // Enforce minimum font size of 5 pixels
533
    int fSize = qMax(5, (int)(fontSize*scalingFactor*1.26f));
534
    font.setPixelSize(fSize);
pixhawk's avatar
pixhawk committed
535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553

    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);
}

void HUD::initializeGL()
{
    bool antialiasing = true;

    // Antialiasing setup
554
    if(antialiasing) {
pixhawk's avatar
pixhawk committed
555
        glEnable(GL_MULTISAMPLE);
pixhawk's avatar
pixhawk committed
556 557 558 559 560 561 562 563 564
        glEnable(GL_BLEND);

        glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);

        glEnable(GL_POINT_SMOOTH);
        glEnable(GL_LINE_SMOOTH);

        glHint(GL_POINT_SMOOTH_HINT, GL_NICEST);
        glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
565
    } else {
566 567 568
        glDisable(GL_BLEND);
        glDisable(GL_POINT_SMOOTH);
        glDisable(GL_LINE_SMOOTH);
pixhawk's avatar
pixhawk committed
569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608
    }
}

/**
 * @param referencePositionX horizontal position in the reference mm-unit space
 * @param referencePositionY horizontal position in the reference mm-unit space
 * @param referenceWidth width in the reference mm-unit space
 * @param referenceHeight width in the reference mm-unit space
 */
void HUD::setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight)
{
    int pixelWidth  = (int)(referenceWidth * scalingFactor);
    int pixelHeight = (int)(referenceHeight * scalingFactor);
    // Translate and scale the GL view in the virtual reference coordinate units on the screen
    int pixelPositionX = (int)((referencePositionX * scalingFactor) + xCenterOffset);
    int pixelPositionY = this->height() - (referencePositionY * scalingFactor) + yCenterOffset - pixelHeight;

    //qDebug() << "Pixel x" << pixelPositionX << "pixelY" << pixelPositionY;
    //qDebug() << "xCenterOffset:" << xCenterOffset << "yCenterOffest" << yCenterOffset


    //The viewport is established at the correct pixel position and clips everything
    // out of the desired instrument location
    glViewport(pixelPositionX, pixelPositionY, pixelWidth, pixelHeight);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();

    // The ortho projection is setup in a way that so that the drawing is done in the
    // reference coordinate space
    glOrtho(0, referenceWidth, 0, referenceHeight, -1, 1);
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
    //glScalef(scaleX, scaleY, 1.0f);
}

void HUD::paintRollPitchStrips()
{
}


pixhawk's avatar
pixhawk committed
609
void HUD::paintEvent(QPaintEvent *event)
pixhawk's avatar
pixhawk committed
610
{
611
    // Event is not needed
612 613
    // the event is ignored as this widget
    // is refreshed automatically
614
    Q_UNUSED(event);
615 616 617 618
}

void HUD::paintHUD()
{
619
    if (isVisible()) {
620 621 622
        //    static quint64 interval = 0;
        //    qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
        //    interval = MG::TIME::getGroundTimeNow();
lm's avatar
lm committed
623

624
#if (QGC_EVENTLOOP_DEBUG)
625
        qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
626 627
#endif

628 629
        // Read out most important values to limit hash table lookups
        // Low-pass roll, pitch and yaw
630 631
        rollLP = roll;//rollLP * 0.2f + 0.8f * roll;
        pitchLP = pitch;//pitchLP * 0.2f + 0.8f * pitch;
632
        yawLP = (!isinf(yaw) && !isnan(yaw)) ? yaw : yawLP;//yawLP * 0.2f + 0.8f * yaw;
pixhawk's avatar
pixhawk committed
633

634 635
        // Translate for yaw
        const float maxYawTrans = 60.0f;
636

637 638 639
        float newYawDiff = yawDiff;
        if (isinf(newYawDiff)) newYawDiff = yawDiff;
        if (newYawDiff > M_PI) newYawDiff = newYawDiff - M_PI;
640

641
        if (newYawDiff < -M_PI) newYawDiff = newYawDiff + M_PI;
642

643
        newYawDiff = yawDiff * 0.8 + newYawDiff * 0.2;
644

645
        yawDiff = newYawDiff;
646

647
        yawInt += newYawDiff;
648

649 650
        if (yawInt > M_PI) yawInt = (float)M_PI;
        if (yawInt < -M_PI) yawInt = (float)-M_PI;
651

652
        float yawTrans = yawInt * (float)maxYawTrans;
653
        yawInt *= 0.6f;
lm's avatar
lm committed
654

655
        if ((yawTrans < 5.0) && (yawTrans > -5.0)) yawTrans = 0;
lm's avatar
lm committed
656

657 658
        // Negate to correct direction
        yawTrans = -yawTrans;
lm's avatar
lm committed
659

660 661
        yawTrans = 0;

662
        //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw;
663

664 665 666 667 668
        // 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;
pixhawk's avatar
pixhawk committed
669 670 671



672 673 674 675 676 677 678 679
        // OPEN GL PAINTING
        // Store model view matrix to be able to reset it to the previous state
        makeCurrent();
        glMatrixMode(GL_MODELVIEW);
        glPushMatrix();
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

        // Fill with black background
680 681
        if (videoEnabled) {
            if (nextOfflineImage != "" && QFileInfo(nextOfflineImage).exists()) {
682 683
                qDebug() << __FILE__ << __LINE__ << "template image:" << nextOfflineImage;
                QImage fill = QImage(nextOfflineImage);
684

685
                glImage = QGLWidget::convertToGLFormat(fill);
686

687 688 689
                // Reset to save load efforts
                nextOfflineImage = "";
            }
690

691 692 693 694
        }

        if (dataStreamEnabled || videoEnabled)
        {
pixhawk's avatar
pixhawk committed
695 696
            glRasterPos2i(0, 0);

LM's avatar
LM committed
697 698 699 700
            xImageFactor = width() / (float)glImage.width();
            yImageFactor = height() / (float)glImage.height();
            float imageFactor = qMin(xImageFactor, yImageFactor);
            glPixelZoom(imageFactor, imageFactor);
701 702
            // Resize to correct size and fill with image
            glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
LM's avatar
LM committed
703
            //qDebug() << "DRAWING GL IMAGE";
704
        } else {
705 706
            // Blue / brown background
            paintCenterBackground(roll, pitch, yawTrans);
707 708 709 710 711 712 713
        }

        glMatrixMode(GL_MODELVIEW);
        glPopMatrix();

        // END OF OPENGL PAINTING

714
        if (hudInstrumentsEnabled) {
715

716 717 718 719 720 721 722 723 724 725 726 727 728 729 730
            //glEnable(GL_MULTISAMPLE);

            // QT PAINTING
            //makeCurrent();
            QPainter painter;
            painter.begin(this);
            painter.setRenderHint(QPainter::Antialiasing, true);
            painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
            painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);

            // COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET


            // Draw all fixed indicators
            // BATTERY
731
            paintText(fuelStatus, fuelColor, 6.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 6, &painter);
732
            // Waypoint
733 734 735 736 737 738 739
            paintText(waypointName, defaultColor, 6.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);

            QPen linePen(Qt::SolidLine);
            linePen.setWidth(refLineWidthToPen(1.0f));
            linePen.setColor(defaultColor);
            painter.setBrush(Qt::NoBrush);
            painter.setPen(linePen);
740

741 742 743 744 745 746
            // YAW INDICATOR
            //
            //      .
            //    .   .
            //   .......
            //
747 748
            const float yawIndicatorWidth = 12.0f;
            const float yawIndicatorY = vheight/2.0f - 15.0f;
749 750 751 752 753 754
            QPolygon yawIndicator(4);
            yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
            yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
            yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
            yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
            painter.drawPolyline(yawIndicator);
755
            painter.setPen(linePen);
pixhawk's avatar
pixhawk committed
756

757
            // CENTER
pixhawk's avatar
pixhawk committed
758

759 760 761 762 763
            // HEADING INDICATOR
            //
            //    __      __
            //       \/\/
            //
764
            const float hIndicatorWidth = 20.0f;
765 766 767 768 769 770 771 772 773 774 775 776
            const float hIndicatorY = -25.0f;
            const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f;
            const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f;
            QPolygon hIndicator(7);
            hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
            hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
            hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
            hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY)));
            hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
            hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
            hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
            painter.drawPolyline(hIndicator);
pixhawk's avatar
pixhawk committed
777 778


779
            // SETPOINT
780
            const float centerWidth = 8.0f;
781 782
            // TODO
            //painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));
pixhawk's avatar
pixhawk committed
783

784
            const float centerCrossWidth = 20.0f;
785 786 787 788 789 790
            // left
            painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
            // right
            painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
            // top
            painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));
pixhawk's avatar
pixhawk committed
791

792

pixhawk's avatar
pixhawk committed
793

794
            // COMPASS
795 796
            const float compassY = -vheight/2.0f + 6.0f;
            QRectF compassRect(QPointF(refToScreenX(-12.0f), refToScreenY(compassY)), QSizeF(refToScreenX(24.0f), refToScreenY(12.0f)));
797
            painter.setBrush(Qt::NoBrush);
798 799
            painter.setPen(linePen);
            painter.drawRoundedRect(compassRect, 3, 3);
800
            QString yawAngle;
pixhawk's avatar
pixhawk committed
801

802
            //    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
pixhawk's avatar
pixhawk committed
803

804
            // YAW is in compass-human readable format, so 0 .. 360 deg.
barthess's avatar
barthess committed
805
            float yawDeg = (yawLP / M_PI) * 180.0f;
806 807 808
            if (yawDeg < 0) yawDeg += 360;
            if (yawDeg > 360) yawDeg -= 360;
            /* final safeguard for really stupid systems */
809 810
            int yawCompass = static_cast<int>(yawDeg) % 360;
            yawAngle.sprintf("%03d", yawCompass);
811 812 813 814
            paintText(yawAngle, defaultColor,8.5f, -9.8f, compassY+ 1.7f, &painter);

            painter.setBrush(Qt::NoBrush);
            painter.setPen(linePen);
pixhawk's avatar
pixhawk committed
815

816
            // CHANGE RATE STRIPS
817
            drawChangeRateStrip(-95.0f, -60.0f, 40.0f, -10.0f, 10.0f, -zSpeed, &painter);
pixhawk's avatar
pixhawk committed
818

819
            // CHANGE RATE STRIPS
820
            drawChangeRateStrip(95.0f, -60.0f, 40.0f, -10.0f, 10.0f, totalAcc, &painter,true);
821 822

            // GAUGES
pixhawk's avatar
pixhawk committed
823

824
            // Left altitude gauge
pixhawk's avatar
pixhawk committed
825 826
            float gaugeAltitude;

827
            if (this->alt != 0) {
pixhawk's avatar
pixhawk committed
828
                gaugeAltitude = alt;
829
            } else {
pixhawk's avatar
pixhawk committed
830 831 832
                gaugeAltitude = -zPos;
            }

833 834 835
            painter.setBrush(Qt::NoBrush);
            painter.setPen(linePen);

836
            drawChangeIndicatorGauge(-vGaugeSpacing, 35.0f, 15.0f, 10.0f, gaugeAltitude, defaultColor, &painter, false);
837
            paintText("alt m", defaultColor, 5.5f, -73.0f, 50, &painter);
838

839
            // Right speed gauge
840
            drawChangeIndicatorGauge(vGaugeSpacing, 35.0f, 15.0f, 10.0f, totalSpeed, defaultColor, &painter, false);
841
            paintText("v m/s", defaultColor, 5.5f, 55.0f, 50, &painter);
pixhawk's avatar
pixhawk committed
842 843


844 845 846 847 848 849 850 851
            // Waypoint name
            if (waypointName != "") paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);

            // MOVING PARTS


            painter.translate(refToScreenX(yawTrans), 0);

852 853 854 855 856 857 858
            // Old single-component pitch drawing
//            // Rotate view and draw all roll-dependent indicators
//            painter.rotate((rollLP/M_PI)* -180.0f);

//            painter.translate(0, (-pitchLP/(float)M_PI)* -180.0f * refToScreenY(1.8f));

//            //qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
859

860
//            // PITCH
861

862
//            paintPitchLines(pitchLP, &painter);
863

864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880
            QColor attColor = painter.pen().color();

            // Draw multi-component attitude
            foreach (QVector3D att, attitudes.values())
            {
                attColor = attColor.darker(200);
                painter.setPen(attColor);
                // Rotate view and draw all roll-dependent indicators
                painter.rotate((att.x()/M_PI)* -180.0f);

                painter.translate(0, (-att.y()/(float)M_PI)* -180.0f * refToScreenY(1.8f));

                //qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);

                // PITCH

                paintPitchLines(att.y(), &painter);
881 882
                painter.translate(0, -(-att.y()/(float)M_PI)* -180.0f * refToScreenY(1.8f));
                painter.rotate(-(att.x()/M_PI)* -180.0f);
883
            }
884

885
            painter.end();
886
        } else {
887 888 889 890
            QPainter painter;
            painter.begin(this);
            painter.end();
        }
891 892
        //glDisable(GL_MULTISAMPLE);

893 894


895 896
        //glFlush();
    }
pixhawk's avatar
pixhawk committed
897 898
}

pixhawk's avatar
pixhawk committed
899 900 901 902 903 904 905 906 907 908 909 910

/**
 * @param pitch pitch angle in degrees (-180 to 180)
 */
void HUD::paintPitchLines(float pitch, QPainter* painter)
{
    QString label;

    const float yDeg = vPitchPerDeg;
    const float lineDistance = 5.0f; ///< One pitch line every 10 degrees
    const float posIncrement = yDeg * lineDistance;
    float posY = posIncrement;
911
    const float posLimit = sqrt(pow(vwidth, 2.0f) + pow(vheight, 2.0f))*3.0f;
pixhawk's avatar
pixhawk committed
912 913 914 915 916 917

    const float offsetAbs = pitch * yDeg;

    float offset = pitch;
    if (offset < 0) offset = -offset;
    int offsetCount = 0;
918 919 920 921
    while (offset > lineDistance) {
        offset -= lineDistance;
        offsetCount++;
    }
pixhawk's avatar
pixhawk committed
922 923 924 925 926 927 928 929 930 931 932

    int iPos = (int)(0.5f + lineDistance); ///< The first line
    int iNeg = (int)(-0.5f - lineDistance); ///< The first line

    offset *= yDeg;


    painter->setPen(defaultColor);

    posY = -offsetAbs + posIncrement; //+ 100;// + lineDistance;

933
    while (posY < posLimit) {
pixhawk's avatar
pixhawk committed
934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962
        paintPitchLinePos(label.sprintf("%3d", iPos), 0.0f, -posY, painter);
        posY += posIncrement;
        iPos += (int)lineDistance;
    }



    // HORIZON
    //
    //    ------------    ------------
    //
    const float pitchWidth = 30.0f;
    const float pitchGap = pitchWidth / 2.5f;
    const QColor horizonColor = defaultColor;
    const float diagonal = sqrt(pow(vwidth, 2.0f) + pow(vheight, 2.0f));
    const float lineWidth = refLineWidthToPen(0.5f);

    // Left horizon
    drawLine(0.0f-diagonal, offsetAbs, 0.0f-pitchGap/2.0f, offsetAbs, lineWidth, horizonColor, painter);
    // Right horizon
    drawLine(0.0f+pitchGap/2.0f, offsetAbs, 0.0f+diagonal, offsetAbs, lineWidth, horizonColor, painter);



    label.clear();

    posY = offsetAbs  + posIncrement;


963
    while (posY < posLimit) {
pixhawk's avatar
pixhawk committed
964 965 966 967 968 969 970 971 972 973 974 975 976
        paintPitchLineNeg(label.sprintf("%3d", iNeg), 0.0f, posY, painter);
        posY += posIncrement;
        iNeg -= (int)lineDistance;
    }
}

void HUD::paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter)
{
    //painter->setPen(QPen(QBrush, normalStrokeWidth));

    const float pitchWidth = 30.0f;
    const float pitchGap = pitchWidth / 2.5f;
    const float pitchHeight = pitchWidth / 12.0f;
977 978
    const float textSize = pitchHeight * 1.6f;
    const float lineWidth = 1.5f;
pixhawk's avatar
pixhawk committed
979 980 981 982 983 984 985 986 987 988 989 990

    // Positive pitch indicator:
    //
    //      _______      _______
    //     |10                  |
    //

    // Left vertical line
    drawLine(refPosX-pitchWidth/2.0f, refPosY, refPosX-pitchWidth/2.0f, refPosY+pitchHeight, lineWidth, defaultColor, painter);
    // Left horizontal line
    drawLine(refPosX-pitchWidth/2.0f, refPosY, refPosX-pitchGap/2.0f, refPosY, lineWidth, defaultColor, painter);
    // Text left
991
    paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0 + 0.75f, refPosY + pitchHeight - 1.3f, painter);
pixhawk's avatar
pixhawk committed
992 993 994 995 996 997 998 999 1000 1001 1002 1003

    // Right vertical line
    drawLine(refPosX+pitchWidth/2.0f, refPosY, refPosX+pitchWidth/2.0f, refPosY+pitchHeight, lineWidth, defaultColor, painter);
    // Right horizontal line
    drawLine(refPosX+pitchWidth/2.0f, refPosY, refPosX+pitchGap/2.0f, refPosY, lineWidth, defaultColor, painter);
}

void HUD::paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter)
{
    const float pitchWidth = 30.0f;
    const float pitchGap = pitchWidth / 2.5f;
    const float pitchHeight = pitchWidth / 12.0f;
1004
    const float textSize = pitchHeight * 1.6f;
pixhawk's avatar
pixhawk committed
1005 1006
    const float segmentWidth = ((pitchWidth - pitchGap)/2.0f) / 7.0f; ///< Four lines and three gaps -> 7 segments

1007
    const float lineWidth = 1.5f;
pixhawk's avatar
pixhawk committed
1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018

    // Negative pitch indicator:
    //
    //      -10
    //     _ _ _ _|     |_ _ _ _
    //
    //

    // Left vertical line
    drawLine(refPosX-pitchGap/2.0, refPosY, refPosX-pitchGap/2.0, refPosY-pitchHeight, lineWidth, defaultColor, painter);
    // Left horizontal line with four segments
1019
    for (int i = 0; i < 7; i+=2) {
pixhawk's avatar
pixhawk committed
1020 1021 1022
        drawLine(refPosX-pitchWidth/2.0+(i*segmentWidth), refPosY, refPosX-pitchWidth/2.0+(i*segmentWidth)+segmentWidth, refPosY, lineWidth, defaultColor, painter);
    }
    // Text left
1023
    paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0f + 0.75f, refPosY + pitchHeight - 1.3f, painter);
pixhawk's avatar
pixhawk committed
1024 1025 1026 1027

    // Right vertical line
    drawLine(refPosX+pitchGap/2.0, refPosY, refPosX+pitchGap/2.0, refPosY-pitchHeight, lineWidth, defaultColor, painter);
    // Right horizontal line with four segments
1028
    for (int i = 0; i < 7; i+=2) {
pixhawk's avatar
pixhawk committed
1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068
        drawLine(refPosX+pitchWidth/2.0f-(i*segmentWidth), refPosY, refPosX+pitchWidth/2.0f-(i*segmentWidth)-segmentWidth, refPosY, lineWidth, defaultColor, painter);
    }
}

void rotatePointClockWise(QPointF& p, float angle)
{
    // Standard 2x2 rotation matrix, counter-clockwise
    //
    //   |  cos(phi)   sin(phi) |
    //   | -sin(phi)   cos(phi) |
    //

    //p.setX(cos(angle) * p.x() + sin(angle) * p.y());
    //p.setY(-sin(angle) * p.x() + cos(angle) * p.y());


    p.setX(cos(angle) * p.x() + sin(angle)* p.y());
    p.setY((-1.0f * sin(angle) * p.x()) + cos(angle) * p.y());
}

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

/**
 * 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 HUD::rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin)
{
    // Standard 2x2 rotation matrix, counter-clockwise
    //
    //   |  cos(phi)   sin(phi) |
    //   | -sin(phi)   cos(phi) |
    //
1069
    for (int i = 0; i < p.size(); i++) {
pixhawk's avatar
pixhawk committed
1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084
        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 HUD::drawPolygon(QPolygonF refPolygon, QPainter* painter)
{
    // Scale coordinates
    QPolygonF draw(refPolygon.size());
1085
    for (int i = 0; i < refPolygon.size(); i++) {
pixhawk's avatar
pixhawk committed
1086 1087 1088 1089 1090 1091 1092 1093
        QPointF curr;
        curr.setX(refToScreenX(refPolygon.at(i).x()));
        curr.setY(refToScreenY(refPolygon.at(i).y()));
        draw.replace(i, curr);
    }
    painter->drawPolygon(draw);
}

1094
void HUD::drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter,bool reverse)
pixhawk's avatar
pixhawk committed
1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113
{
    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;
1114
    const float lineWidth = 1.5f;
pixhawk's avatar
pixhawk committed
1115 1116 1117

    // Indicator lines
    // Top horizontal line
1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154
    if (reverse)
    {
        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);

        QFont font("Bitstream Vera Sans");
        // Enforce minimum font size of 5 pixels
        //int fSize = qMax(5, (int)(6.0f*scalingFactor*1.26f));
        font.setPixelSize(6.0f * 1.26f);

        QFontMetrics metrics = QFontMetrics(font);
        paintText(label, defaultColor, 6.0f, (xRef-width) - metrics.width(label), yRef+height-((scaledValue - minRate)/(maxRate-minRate))*height - 1.6f, painter);
    }
    else
    {
        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, 6.0f, xRef+width/2.0f, yRef+height-((scaledValue - minRate)/(maxRate-minRate))*height - 1.6f, painter);
    }
pixhawk's avatar
pixhawk committed
1155 1156
}

1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232
//void HUD::drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter)
//{
//    Q_UNUSED(maxWidth);
//    Q_UNUSED(maxHeight);
//    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;

//        // TODO ensure that instrument stays smaller than maxWidth and maxHeight


//        int i = 0;
//        while (value.hasNext() && i < maxNum)
//        {
//            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);
//    }
//}
pixhawk's avatar
pixhawk committed
1233 1234 1235 1236 1237 1238 1239

void HUD::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.setColor(defaultColor);
1240
    circlePen.setWidth(refLineWidthToPen(2.0f));
pixhawk's avatar
pixhawk committed
1241 1242
    painter->setBrush(Qt::NoBrush);
    painter->setPen(circlePen);
1243
    drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.5f, color, painter);
pixhawk's avatar
pixhawk committed
1244 1245 1246 1247

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

1248 1249
    float textSize = radius / 2.5;

pixhawk's avatar
pixhawk committed
1250
    // Draw the value
1251
    paintText(label, color, textSize, xRef-textSize*1.7f, yRef-textSize*0.4f, painter);
pixhawk's avatar
pixhawk committed
1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290

    // 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);
}

void HUD::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)));
}

void HUD::drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter)
{
lm's avatar
lm committed
1291 1292
    Q_UNUSED(startDeg);
    Q_UNUSED(endDeg);
pixhawk's avatar
pixhawk committed
1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306
    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));
}

void HUD::drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter)
{
    drawEllipse(refX, refY, radius, radius, startDeg, endDeg, lineWidth, color, painter);
}

void HUD::resizeGL(int w, int h)
{
Lorenz Meier's avatar
Lorenz Meier committed
1307 1308 1309 1310 1311 1312 1313 1314 1315 1316
    if (isVisible()) {
        glViewport(0, 0, w, h);
        glMatrixMode(GL_PROJECTION);
        glLoadIdentity();
        glOrtho(0, w, 0, h, -1, 1);
        glMatrixMode(GL_MODELVIEW);
        glPolygonMode(GL_FRONT, GL_FILL);
        //FIXME
        paintHUD();
    }
pixhawk's avatar
pixhawk committed
1317 1318
}

1319
void HUD::selectWaypoint(int uasId, int id)
pixhawk's avatar
pixhawk committed
1320
{
1321 1322
    Q_UNUSED(uasId);
    waypointName = tr("WP") + QString::number(id);
pixhawk's avatar
pixhawk committed
1323 1324 1325 1326 1327
}

void HUD::setImageSize(int width, int height, int depth, int channels)
{
    // Allocate raw image in correct size
1328
    if (width != receivedWidth || height != receivedHeight || depth != receivedDepth || channels != receivedChannels || image == NULL) {
pixhawk's avatar
pixhawk committed
1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348
        // Set new size
        if (width > 0) receivedWidth  = width;
        if (height > 0) receivedHeight = height;
        if (depth > 1) receivedDepth = depth;
        if (channels > 1) receivedChannels = channels;

        rawExpectedBytes = (receivedWidth * receivedHeight * receivedDepth * receivedChannels) / 8;
        bytesPerLine = rawExpectedBytes / receivedHeight;
        // Delete old buffers if necessary
        rawImage = NULL;
        if (rawBuffer1 != NULL) delete rawBuffer1;
        if (rawBuffer2 != NULL) delete rawBuffer2;

        rawBuffer1 = (unsigned char*)malloc(rawExpectedBytes);
        rawBuffer2 = (unsigned char*)malloc(rawExpectedBytes);
        rawImage = rawBuffer1;
        // TODO check if old image should be deleted

        // Set image format
        // 8 BIT GREYSCALE IMAGE
1349
        if (depth <= 8 && channels == 1) {
pixhawk's avatar
pixhawk committed
1350 1351 1352
            image = new QImage(receivedWidth, receivedHeight, QImage::Format_Indexed8);
            // Create matching color table
            image->setNumColors(256);
1353
            for (int i = 0; i < 256; i++) {
pixhawk's avatar
pixhawk committed
1354 1355 1356 1357 1358 1359
                image->setColor(i, qRgb(i, i, i));
                //qDebug() << __FILE__ << __LINE__ << std::hex << i;
            }

        }
        // 32 BIT COLOR IMAGE WITH ALPHA VALUES (#ARGB)
1360
        else {
pixhawk's avatar
pixhawk committed
1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382
            image = new QImage(receivedWidth, receivedHeight, QImage::Format_ARGB32);
        }

        // Fill first channel of image with black pixels
        image->fill(0);
        glImage = QGLWidget::convertToGLFormat(*image);

        qDebug() << __FILE__ << __LINE__ << "Setting up image";

        // Set size once
        setFixedSize(receivedWidth, receivedHeight);
        setMinimumSize(receivedWidth, receivedHeight);
        setMaximumSize(receivedWidth, receivedHeight);
        // Lock down the size
        //setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
        //resize(receivedWidth, receivedHeight);
    }

}

void HUD::startImage(int imgid, int width, int height, int depth, int channels)
{
1383
    Q_UNUSED(imgid);
pixhawk's avatar
pixhawk committed
1384 1385 1386 1387 1388 1389 1390 1391 1392 1393 1394 1395
    //qDebug() << "HUD: starting image (" << width << "x" << height << ", " << depth << "bits) with " << channels << "channels";

    // Copy previous image to screen if it hasn't been finished properly
    finishImage();

    // Reset image size if necessary
    setImageSize(width, height, depth, channels);
    imageStarted = true;
}

void HUD::finishImage()
{
1396
    if (imageStarted) {
pixhawk's avatar
pixhawk committed
1397 1398 1399 1400 1401 1402 1403
        commitRawDataToGL();
        imageStarted = false;
    }
}

void HUD::commitRawDataToGL()
{
1404
    qDebug() << __FILE__ << __LINE__ << "Copying raw data to GL buffer:" << rawImage << receivedWidth << receivedHeight << image->format();
1405
    if (image != NULL) {
pixhawk's avatar
pixhawk committed
1406 1407
        QImage::Format format = image->format();
        QImage* newImage = new QImage(rawImage, receivedWidth, receivedHeight, format);
1408
        if (format == QImage::Format_Indexed8) {
pixhawk's avatar
pixhawk committed
1409 1410
            // Create matching color table
            newImage->setNumColors(256);
1411
            for (int i = 0; i < 256; i++) {
pixhawk's avatar
pixhawk committed
1412 1413 1414 1415 1416 1417 1418 1419 1420
                newImage->setColor(i, qRgb(i, i, i));
                //qDebug() << __FILE__ << __LINE__ << std::hex << i;
            }
        }

        glImage = QGLWidget::convertToGLFormat(*newImage);
        delete image;
        image = newImage;
        // Switch buffers
1421
        if (rawImage == rawBuffer1) {
pixhawk's avatar
pixhawk committed
1422 1423
            rawImage = rawBuffer2;
            //qDebug() << "Now buffer 2";
1424
        } else {
pixhawk's avatar
pixhawk committed
1425 1426 1427 1428
            rawImage = rawBuffer1;
            //qDebug() << "Now buffer 1";
        }
    }
1429
    update();
pixhawk's avatar
pixhawk committed
1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443
}

void HUD::saveImage(QString fileName)
{
    image->save(fileName);
}

void HUD::saveImage()
{
    //Bring up popup
    QString fileName = "output.png";
    saveImage(fileName);
}

1444 1445
void HUD::startImage(quint64 timestamp)
{
1446
    if (videoEnabled && offlineDirectory != "") {
1447 1448 1449 1450 1451 1452 1453 1454
        // Load and diplay image file
        nextOfflineImage = QString(offlineDirectory + "/%1.bmp").arg(timestamp);
    }
}

void HUD::selectOfflineDirectory()
{
    QString fileName = QFileDialog::getExistingDirectory(this, tr("Select image directory"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation));
1455
    if (fileName != "") {
1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469
        offlineDirectory = fileName;
    }
}

void HUD::enableHUDInstruments(bool enabled)
{
    hudInstrumentsEnabled = enabled;
}

void HUD::enableVideo(bool enabled)
{
    videoEnabled = enabled;
}

pixhawk's avatar
pixhawk committed
1470 1471
void HUD::setPixels(int imgid, const unsigned char* imageData, int length, int startIndex)
{
1472
    Q_UNUSED(imgid);
pixhawk's avatar
pixhawk committed
1473 1474
    //    qDebug() << "at" << __FILE__ << __LINE__ << ": Received startindex" << startIndex << "and length" << length << "(" << startIndex+length << "of" << rawExpectedBytes << "bytes)";

1475 1476
    if (imageStarted)
    {
pixhawk's avatar
pixhawk committed
1477 1478
        //if (rawLastIndex != startIndex) qDebug() << "PACKET LOSS!";

1479 1480
        if (startIndex+length > rawExpectedBytes)
        {
pixhawk's avatar
pixhawk committed
1481
            qDebug() << "HUD: OVERFLOW! startIndex:" << startIndex << "length:" << length << "image raw size" << ((receivedWidth * receivedHeight * receivedChannels * receivedDepth) / 8) - 1;
1482 1483 1484
        }
        else
        {
pixhawk's avatar
pixhawk committed
1485 1486 1487 1488 1489
            memcpy(rawImage+startIndex, imageData, length);

            rawLastIndex = startIndex+length;

            // Check if we just reached the end of the image
1490 1491
            if (startIndex+length == rawExpectedBytes)
            {
pixhawk's avatar
pixhawk committed
1492 1493 1494 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508
                //qDebug() << "HUD: END OF IMAGE REACHED!";
                finishImage();
                rawLastIndex = 0;
            }
        }

        //        for (int i = 0; i < length; i++)
        //        {
        //            for (int j = 0; j < receivedChannels; j++)
        //            {
        //                unsigned int x = (startIndex+i) % receivedWidth;
        //                unsigned int y = (unsigned int)((startIndex+i) / receivedWidth);
        //                qDebug() << "Setting pixel" << x << "," << y << "to" << (unsigned int)*(rawImage+startIndex+i);
        //            }
        //        }
    }
}
1509

LM's avatar
LM committed
1510
void HUD::copyImage()
1511
{
pixhawk's avatar
pixhawk committed
1512
    if (isVisible() && hudInstrumentsEnabled)
lm's avatar
lm committed
1513
    {
1514
        //qDebug() << "HUD::copyImage()";
1515 1516 1517 1518
        UAS* u = dynamic_cast<UAS*>(this->uas);
        if (u)
        {
            this->glImage = QGLWidget::convertToGLFormat(u->getImage());
1519

1520 1521 1522 1523 1524 1525
            // Save to directory if logging is enabled
            if (imageLoggingEnabled)
            {
                u->getImage().save(QString("%1/%2.png").arg(imageLogDirectory).arg(imageLogCounter));
                imageLogCounter++;
            }
1526 1527 1528 1529 1530 1531 1532 1533 1534 1535 1536
        }
    }
}

void HUD::saveImages(bool save)
{
    if (save)
    {
        QFileDialog dialog(this);
        dialog.setFileMode(QFileDialog::DirectoryOnly);

1537
        imageLogDirectory = QFileDialog::getExistingDirectory(this, tr("Select image log directory"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation));
1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549 1550 1551

        qDebug() << "Logging to:" << imageLogDirectory;

        if (imageLogDirectory != "")
        {
            imageLogCounter = 0;
            imageLoggingEnabled = true;
            qDebug() << "Logging on";
        }
        else
        {
            imageLoggingEnabled = false;
            selectSaveDirectoryAction->setChecked(false);
        }
lm's avatar
lm committed
1552
    }
1553 1554 1555 1556 1557 1558
    else
    {
        imageLoggingEnabled = false;
        selectSaveDirectoryAction->setChecked(false);
    }

1559
}