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
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
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
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
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
319
320
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
410
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
470
471
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
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
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
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
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
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
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
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
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
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
/*=====================================================================
======================================================================*/
/**
* @file
* @brief Implementation of Head Down Display (HDD)
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QFile>
#include <QGLWidget>
#include <QStringList>
#include <QGraphicsTextItem>
#include <QDockWidget>
#include <QInputDialog>
#include <QMouseEvent>
#include <QMenu>
#include <QSettings>
#include <qmath.h>
#include "UASManager.h"
#include "HDDisplay.h"
#include "ui_HDDisplay.h"
#include "MG.h"
#include "QGC.h"
#include "MainWindow.h"
#include <QDebug>
HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
QGraphicsView(parent),
uas(NULL),
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),
acceptList(new QStringList()),
acceptUnitList(new QStringList()),
lastPaintTime(0),
columns(3),
valuesChanged(true),
m_ui(NULL)
{
setWindowTitle(title);
//m_ui->setupUi(this);
setAutoFillBackground(true);
// Add all items in accept list to gauge
if (plotList) {
for(int i = 0; i < plotList->length(); ++i) {
addGauge(plotList->at(i));
}
}
restoreState();
// Set preferred size
setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
createActions();
// setBackgroundBrush(QBrush(backgroundColor));
// setDragMode(QGraphicsView::ScrollHandDrag);
// setCacheMode(QGraphicsView::CacheBackground);
// // FIXME Handle full update with care - ressource intensive
// setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
//
// setRenderHints(QPainter::Antialiasing | QPainter::SmoothPixmapTransform);
//
// //Set-up the scene
// QGraphicsScene* Scene = new QGraphicsScene(this);
// setScene(Scene);
//
// //Populate the scene
// for(int x = 0; x < 1000; x = x + 25) {
// for(int y = 0; y < 1000; y = y + 25) {
//
// if(x % 100 == 0 && y % 100 == 0) {
// Scene->addRect(x, y, 2, 2);
//
// QString pointString;
// QTextStream stream(&pointString);
// stream << "(" << x << "," << y << ")";
// QGraphicsTextItem* item = Scene->addText(pointString);
// item->setPos(x, y);
// } else {
// Scene->addRect(x, y, 1, 1);
// }
// }
// }
//
// //Set-up the view
// setSceneRect(0, 0, 1000, 1000);
// setCenter(QPointF(500.0, 500.0)); //A modified version of centerOn(), handles special cases
// setCursor(Qt::OpenHandCursor);
// Set minimum size
this->setMinimumHeight(125);
this->setMinimumWidth(100);
scalingFactor = this->width()/vwidth;
// Refresh timer
refreshTimer->setInterval(180); //
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(triggerUpdate()));
//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", qMax(5, (int)(10*scalingFactor*1.2f+0.5f)));
if (font.family() != fontFamilyName) qDebug() << "ERROR! Font not loaded: " << fontFamilyName;
// Connect with UAS
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)), Qt::UniqueConnection);
setActiveUAS(UASManager::instance()->getActiveUAS());
}
HDDisplay::~HDDisplay()
{
saveState();
if(this->refreshTimer)
{
delete this->refreshTimer;
}
if(this->acceptList)
{
delete this->acceptList;
}
if(this->acceptUnitList)
{
delete this->acceptUnitList;
}
if(this->m_ui)
{
delete m_ui;
}
}
QSize HDDisplay::sizeHint() const
{
return QSize(400, 400.0f*(vwidth/vheight)*1.2f);
}
void HDDisplay::enableGLRendering(bool enable)
{
Q_UNUSED(enable);
}
void HDDisplay::triggerUpdate()
{
// Only repaint the regions necessary
update(this->geometry());
}
//void HDDisplay::updateValue(UASInterface* uas, const QString& name, const QString& unit, double value, quint64 msec)
//{
// // UAS is not needed
// Q_UNUSED(uas);
// if (!isnan(value) && !isinf(value))
// {
// // Update mean
// const float oldMean = valuesMean.value(name, 0.0f);
// const int meanCount = valuesCount.value(name, 0);
// double mean = (oldMean * meanCount + value) / (meanCount + 1);
// if (isnan(mean) || isinf(mean)) mean = 0.0;
// valuesMean.insert(name, mean);
// valuesCount.insert(name, meanCount + 1);
// // Two-value sliding average
// double dot = (valuesDot.value(name) + (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f))/2.0f;
// if (isnan(dot) || isinf(dot))
// {
// dot = 0.0;
// }
// valuesDot.insert(name, dot);
// values.insert(name, value);
// lastUpdate.insert(name, msec);
// //}
// //qDebug() << __FILE__ << __LINE__ << "VALUE:" << value << "MEAN:" << mean << "DOT:" << dot << "COUNT:" << meanCount;
// }
//}
void HDDisplay::paintEvent(QPaintEvent * event)
{
Q_UNUSED(event);
//qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
renderOverlay();
}
void HDDisplay::contextMenuEvent (QContextMenuEvent* event)
{
QMenu menu(this);
menu.addAction(addGaugeAction);
menu.addActions(getItemRemoveActions());
menu.addSeparator();
menu.addAction(setColumnsAction);
// Title change would ruin settings
// this can only be allowed once
// HDDisplays are instantiated
// by a factory method based on
// QSettings
//menu.addAction(setTitleAction);
menu.exec(event->globalPos());
}
void HDDisplay::saveState()
{
QSettings settings;
QString instruments;
// Restore instrument settings
for (int i = 0; i < acceptList->count(); i++) {
QString key = acceptList->at(i);
instruments += "|" + QString::number(minValues.value(key, -1.0))+","+key+","+acceptUnitList->at(i)+","+QString::number(maxValues.value(key, +1.0))+","+customNames.value(key, "")+","+((symmetric.value(key, false)) ? "s" : "");
}
// qDebug() << "Saving" << instruments;
settings.setValue(windowTitle()+"_gauges", instruments);
settings.sync();
}
void HDDisplay::restoreState()
{
QSettings settings;
settings.sync();
acceptList->clear();
QStringList instruments = settings.value(windowTitle()+"_gauges").toString().split('|');
for (int i = 0; i < instruments.count(); i++) {
addGauge(instruments.at(i));
}
}
QList<QAction*> HDDisplay::getItemRemoveActions()
{
QList<QAction*> actions;
for(int i = 0; i < acceptList->length(); ++i) {
QString gauge = acceptList->at(i);
QAction* remove = new QAction(tr("Remove %1 gauge").arg(gauge), this);
remove->setStatusTip(tr("Removes the %1 gauge from the view.").arg(gauge));
remove->setData(gauge);
connect(remove, SIGNAL(triggered()), this, SLOT(removeItemByAction()));
actions.append(remove);
}
return actions;
}
void HDDisplay::removeItemByAction()
{
QAction* trigger = qobject_cast<QAction*>(QObject::sender());
if (trigger) {
QString item = trigger->data().toString();
int index = acceptList->indexOf(item);
acceptList->removeAt(index);
minValues.remove(item);
maxValues.remove(item);
symmetric.remove(item);
adjustGaugeAspectRatio();
}
}
void HDDisplay::addGauge()
{
QStringList items;
for (int i = 0; i < values.count(); ++i) {
QString key = values.keys().at(i);
QString label = key;
QStringList keySplit = key.split(".");
if (keySplit.size() > 1)
{
keySplit.removeFirst();
label = keySplit.join(".");
}
QString unit = units.value(key);
if (unit.contains("deg") || unit.contains("rad")) {
items.append(QString("%1,%2,%3,%4,%5,s").arg("-180").arg(key).arg(unit).arg("+180").arg(label));
} else {
items.append(QString("%1,%2,%3,%4,%5").arg("0").arg(key).arg(unit).arg("+100").arg(label));
}
}
bool ok;
QString item = QInputDialog::getItem(this, tr("Add Gauge Instrument"),
tr("Format: min, data name, unit, max, label [,s]"), items, 0, true, &ok);
if (ok && !item.isEmpty()) {
addGauge(item);
}
}
void HDDisplay::addGauge(const QString& gauge)
{
if (gauge.length() > 0) {
QStringList parts = gauge.split(',');
if (parts.count() > 2) {
double val;
bool ok;
bool success = true;
QString key = parts.at(1);
QString unit = parts.at(2);
if (!acceptList->contains(key)) {
// Convert min to double number
val = parts.first().toDouble(&ok);
success &= ok;
if (ok) minValues.insert(key, val);
// Convert max to double number
val = parts.at(3).toDouble(&ok);
success &= ok;
if (ok) maxValues.insert(key, val);
// Convert name
if (parts.length() >= 5)
{
if (parts.at(4).length() > 0)
{
customNames.insert(key, parts.at(4));
}
}
// Convert symmetric flag
if (parts.length() >= 6)
{
if (parts.at(5).contains("s"))
{
symmetric.insert(key, true);
}
}
if (success) {
// Add value to acceptlist
acceptList->append(key);
acceptUnitList->append(unit);
}
}
} else if (parts.count() > 1) {
if (!acceptList->contains(gauge)) {
acceptList->append(parts.at(0));
acceptUnitList->append(parts.at(1));
}
}
}
adjustGaugeAspectRatio();
}
void HDDisplay::createActions()
{
addGaugeAction = new QAction(tr("New &Gauge"), this);
addGaugeAction->setStatusTip(tr("Add a new gauge to the view by adding its name from the linechart"));
connect(addGaugeAction, SIGNAL(triggered()), this, SLOT(addGauge()));
setTitleAction = new QAction(tr("Set Widget Title"), this);
setTitleAction->setStatusTip(tr("Set the title caption of this tool widget"));
connect(setTitleAction, SIGNAL(triggered()), this, SLOT(setTitle()));
setColumnsAction = new QAction(tr("Set Number of Instrument Columns"), this);
setColumnsAction->setStatusTip(tr("Set number of columns to draw"));
connect(setColumnsAction, SIGNAL(triggered()), this, SLOT(setColumns()));
}
void HDDisplay::setColumns()
{
bool ok;
int i = QInputDialog::getInt(this, tr("Number of Instrument Columns"),
tr("Columns:"), columns, 1, 15, 1, &ok);
if (ok) {
columns = i;
}
}
void HDDisplay::setColumns(int cols)
{
columns = cols;
adjustGaugeAspectRatio();
}
void HDDisplay::adjustGaugeAspectRatio()
{
// Adjust vheight dynamically according to the number of rows
float vColWidth = vwidth / columns;
int vRows = ceil(acceptList->length()/(float)columns);
// Assuming square instruments, vheight is column width*row count
vheight = vColWidth * vRows;
}
void HDDisplay::setTitle()
{
QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());
if (parent) {
bool ok;
QString text = QInputDialog::getText(this, tr("New title"),
tr("Widget title:"), QLineEdit::Normal,
parent->windowTitle(), &ok);
if (ok && !text.isEmpty())
parent->setWindowTitle(text);
this->setWindowTitle(text);
}
}
void HDDisplay::renderOverlay()
{
if (!valuesChanged || !isVisible()) return;
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
quint64 refreshInterval = 100;
quint64 currTime = MG::TIME::getGroundTimeNow();
if (currTime - lastPaintTime < refreshInterval) {
// FIXME Need to find the source of the spurious paint events
//return;
}
lastPaintTime = currTime;
// 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(viewport());
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
//painter.fillRect(QRect(0, 0, width(), height()), backgroundColor);
const float spacing = 0.4f; // 40% of width
const float gaugeWidth = vwidth / (((float)columns) + (((float)columns+1) * spacing + spacing * 0.5f));
QColor gaugeColor;
if (MainWindow::instance()->getStyle() == MainWindow::QGC_MAINWINDOW_STYLE_LIGHT)
{
gaugeColor = QColor(0, 0, 0);
}
else
{
gaugeColor = QColor(255, 255, 255);
}
//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);
QString label = customNames.value(value);
drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), label, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, symmetric.value(value, false), goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
xCoord += gaugeWidth + leftSpacing;
// Move one row down if necessary
if (xCoord + gaugeWidth*0.9f > vwidth)
{
yCoord += topSpacing + gaugeWidth;
xCoord = leftSpacing + gaugeWidth/2.0f;
}
}
}
/**
*
* @param uas the UAS/MAV to monitor/display with the HUD
*/
void HDDisplay::setActiveUAS(UASInterface* uas)
{
if (!uas)
return;
// Disconnect any previously connected active UAS
if (this->uas != NULL) {
removeSource(this->uas);
}
// Now connect the new UAS
addSource(uas);
this->uas = uas;
}
/**
* 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, bool symmetric, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid)
{
// Select color scheme based on light or dark theme.
QColor valueColor;
QColor backgroundColor;
if (MainWindow::instance()->getStyle() == MainWindow::QGC_MAINWINDOW_STYLE_LIGHT)
{
valueColor = QColor(26, 75, 95);
backgroundColor = QColor(246, 246, 246);
}
else
{
valueColor = QGC::colorCyan;
backgroundColor = QColor(34, 34, 34);
}
// Draw the circle
QPen circlePen(Qt::SolidLine);
// Rotate the whole gauge with this angle (in radians) for the zero position
float zeroRotation;
if (symmetric) {
zeroRotation = 1.35f;
} else {
zeroRotation = 0.49f;
}
// Scale the rotation so that the gauge does one revolution
// per max. change
float rangeScale;
if (symmetric) {
rangeScale = ((2.0f * M_PI) / (max - min)) * 0.57f;
} else {
rangeScale = ((2.0f * M_PI) / (max - min)) * 0.72f;
}
const float scaledValue = (value-min)*rangeScale;
float nameHeight = radius / 2.6f;
paintText(name.toUpper(), color, nameHeight*0.7f, xRef-radius, yRef-radius, painter);
// Ensure some space
nameHeight *= 1.2f;
if (!solid) {
circlePen.setStyle(Qt::DotLine);
}
circlePen.setWidth(refLineWidthToPen(radius/12.0f));
circlePen.setColor(color);
if (symmetric) {
circlePen.setStyle(Qt::DashLine);
}
painter->setBrush(Qt::NoBrush);
painter->setPen(circlePen);
drawCircle(xRef, yRef+nameHeight, radius, 0.0f, color, painter);
//drawCircle(xRef, yRef+nameHeight, radius, 0.0f, 170.0f, 1.0f, color, painter);
QString label;
// Show integer values without decimal places
if (intValues.contains(name)) {
label.sprintf("% 05d", (int)value);
} else {
label.sprintf("% 06.1f", value);
}
// Text
// height
const float textHeight = radius/2.1f;
const float textX = xRef-radius/3.0f;
const float textY = yRef+radius/2.0f;
// Draw background rectangle
QBrush brush(backgroundColor, Qt::SolidPattern);
painter->setBrush(brush);
painter->setPen(Qt::NoPen);
if (symmetric) {
painter->drawRect(refToScreenX(xRef-radius), refToScreenY(yRef+nameHeight+radius/4.0f), refToScreenX(radius+radius), refToScreenY((radius - radius/4.0f)*1.2f));
} else {
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, valueColor, 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 * 0.89f));
p.replace(2, QPointF(xRef+minWidth/2.0f, yRef+nameHeight+radius * 0.89f));
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, scaledValue+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, double> 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;
while (value.hasNext() && i < maxNum && x < maxWidth && y < maxHeight) {
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);
drawCircle(xRef, yRef, radius, 200.0f, color, painter);
//drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter);
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);
QFont font("Bitstream Vera Sans");
// Enforce minimum font size of 5 pixels
int fSize = qMax(5, (int)(fontSize*scalingFactor*1.26f));
font.setPixelSize(fSize);
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;
}
// Connect a generic source
void HDDisplay::addSource(QObject* obj)
{
//genericSources.append(obj);
// FIXME XXX HACK
// if (plots.size() > 0)
// {
connect(obj, SIGNAL(valueChanged(int,QString,QString,qint8,quint64)), this, SLOT(updateValue(int,QString,QString,qint8,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,quint8,quint64)), this, SLOT(updateValue(int,QString,QString,quint8,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,qint16,quint64)), this, SLOT(updateValue(int,QString,QString,qint16,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,quint16,quint64)), this, SLOT(updateValue(int,QString,QString,quint16,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,qint32,quint64)), this, SLOT(updateValue(int,QString,QString,qint32,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,quint32,quint64)), this, SLOT(updateValue(int,QString,QString,quint32,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,quint64,quint64)), this, SLOT(updateValue(int,QString,QString,quint64,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,qint64,quint64)), this, SLOT(updateValue(int,QString,QString,qint64,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,double,quint64)), this, SLOT(updateValue(int,QString,QString,double,quint64)));
// }
}
// Disconnect a generic source
void HDDisplay::removeSource(QObject* obj)
{
//genericSources.append(obj);
// FIXME XXX HACK
// if (plots.size() > 0)
// {
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,qint8,quint64)), this, SLOT(updateValue(int,QString,QString,qint8,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,quint8,quint64)), this, SLOT(updateValue(int,QString,QString,quint8,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,qint16,quint64)), this, SLOT(updateValue(int,QString,QString,qint16,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,quint16,quint64)), this, SLOT(updateValue(int,QString,QString,quint16,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,qint32,quint64)), this, SLOT(updateValue(int,QString,QString,qint32,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,quint32,quint64)), this, SLOT(updateValue(int,QString,QString,quint32,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,quint64,quint64)), this, SLOT(updateValue(int,QString,QString,quint64,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,qint64,quint64)), this, SLOT(updateValue(int,QString,QString,qint64,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,double,quint64)), this, SLOT(updateValue(int,QString,QString,double,quint64)));
// }
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const qint8 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const quint8 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const qint16 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const quint16 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const qint32 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const quint32 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const qint64 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const quint64 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec)
{
Q_UNUSED(uasId);
Q_UNUSED(unit);
// 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));
if (values.value(name, 0.0) != value) valuesChanged = true;
values.insert(name, value);
units.insert(name, unit);
lastUpdate.insert(name, msec);
}
/**
* @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);
}
float HDDisplay::screenToRefX(float x)
{
return x/scalingFactor;
}
float HDDisplay::screenToRefY(float y)
{
return y/scalingFactor;
}
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)));
}
void HDDisplay::drawEllipse(float refX, float refY, float radiusX, float radiusY, float lineWidth, const QColor& color, QPainter* painter)
{
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 HDDisplay::drawCircle(float refX, float refY, float radius, float lineWidth, const QColor& color, QPainter* painter)
{
drawEllipse(refX, refY, radius, radius, lineWidth, color, painter);
}
void HDDisplay::changeEvent(QEvent *e)
{
QWidget::changeEvent(e);
switch (e->type()) {
case QEvent::LanguageChange:
m_ui->retranslateUi(this);
break;
default:
break;
}
}
void HDDisplay::showEvent(QShowEvent* event)
{
// React only to internal (pre-display)
// events
Q_UNUSED(event);
refreshTimer->start(updateInterval);
}
void HDDisplay::hideEvent(QHideEvent* event)
{
// React only to internal (pre-display)
// events
Q_UNUSED(event);
refreshTimer->stop();
saveState();
}
///**
// * Sets the current centerpoint. Also updates the scene's center point.
// * Unlike centerOn, which has no way of getting the floating point center
// * back, SetCenter() stores the center point. It also handles the special
// * sidebar case. This function will claim the centerPoint to sceneRec ie.
// * the centerPoint must be within the sceneRec.
// */
////Set the current centerpoint in the
//void HDDisplay::setCenter(const QPointF& centerPoint) {
// //Get the rectangle of the visible area in scene coords
// QRectF visibleArea = mapToScene(rect()).boundingRect();
//
// //Get the scene area
// QRectF sceneBounds = sceneRect();
//
// double boundX = visibleArea.width() / 2.0;
// double boundY = visibleArea.height() / 2.0;
// double boundWidth = sceneBounds.width() - 2.0 * boundX;
// double boundHeight = sceneBounds.height() - 2.0 * boundY;
//
// //The max boundary that the centerPoint can be to
// QRectF bounds(boundX, boundY, boundWidth, boundHeight);
//
// if(bounds.contains(centerPoint)) {
// //We are within the bounds
// currentCenterPoint = centerPoint;
// } else {
// //We need to clamp or use the center of the screen
// if(visibleArea.contains(sceneBounds)) {
// //Use the center of scene ie. we can see the whole scene
// currentCenterPoint = sceneBounds.center();
// } else {
//
// currentCenterPoint = centerPoint;
//
// //We need to clamp the center. The centerPoint is too large
// if(centerPoint.x() > bounds.x() + bounds.width()) {
// currentCenterPoint.setX(bounds.x() + bounds.width());
// } else if(centerPoint.x() < bounds.x()) {
// currentCenterPoint.setX(bounds.x());
// }
//
// if(centerPoint.y() > bounds.y() + bounds.height()) {
// currentCenterPoint.setY(bounds.y() + bounds.height());
// } else if(centerPoint.y() < bounds.y()) {
// currentCenterPoint.setY(bounds.y());
// }
//
// }
// }
//
// //Update the scrollbars
// centerOn(currentCenterPoint);
//}
//
///**
// * Handles when the mouse button is pressed
// */
//void HDDisplay::mousePressEvent(QMouseEvent* event) {
// //For panning the view
// lastPanPoint = event->pos();
// setCursor(Qt::ClosedHandCursor);
//}
//
///**
// * Handles when the mouse button is released
// */
//void HDDisplay::mouseReleaseEvent(QMouseEvent* event) {
// setCursor(Qt::OpenHandCursor);
// lastPanPoint = QPoint();
//}
//
///**
//*Handles the mouse move event
//*/
//void HDDisplay::mouseMoveEvent(QMouseEvent* event) {
// if(!lastPanPoint.isNull()) {
// //Get how much we panned
// QPointF delta = mapToScene(lastPanPoint) - mapToScene(event->pos());
// lastPanPoint = event->pos();
//
// //Update the center ie. do the pan
// setCenter(getCenter() + delta);
// }
//}
//
///**
// * Zoom the view in and out.
// */
//void HDDisplay::wheelEvent(QWheelEvent* event) {
//
// //Get the position of the mouse before scaling, in scene coords
// QPointF pointBeforeScale(mapToScene(event->pos()));
//
// //Get the original screen centerpoint
// QPointF screenCenter = getCenter(); //CurrentCenterPoint; //(visRect.center());
//
// //Scale the view ie. do the zoom
// double scaleFactor = 1.15; //How fast we zoom
// if(event->delta() > 0) {
// //Zoom in
// scale(scaleFactor, scaleFactor);
// } else {
// //Zooming out
// scale(1.0 / scaleFactor, 1.0 / scaleFactor);
// }
//
// //Get the position after scaling, in scene coords
// QPointF pointAfterScale(mapToScene(event->pos()));
//
// //Get the offset of how the screen moved
// QPointF offset = pointBeforeScale - pointAfterScale;
//
// //Adjust to the new center for correct zooming
// QPointF newCenter = screenCenter + offset;
// setCenter(newCenter);
//}
//
///**
// * Need to update the center so there is no jolt in the
// * interaction after resizing the widget.
// */
//void HDDisplay::resizeEvent(QResizeEvent* event) {
// //Get the rectangle of the visible area in scene coords
// QRectF visibleArea = mapToScene(rect()).boundingRect();
// setCenter(visibleArea.center());
//
// //Call the subclass resize so the scrollbars are updated correctly
// QGraphicsView::resizeEvent(event);
//}