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Commit 1c1f5379 authored by pixhawk's avatar pixhawk
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Fixed Windows HUD issues

parent a420adc3
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Showing with 201 additions and 9 deletions
src/ui/HUD.cc
View file @ 1c1f5379
......@@ -127,7 +127,7 @@ HUD::HUD(int width, int height, QWidget* parent)
// Refresh timer
refreshTimer->setInterval(40); // 25 Hz
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(updateGL()));
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(repaint()));
// Resize to correct size and fill with image
resize(fill.size());
......@@ -511,12 +511,200 @@ void HUD::paintRollPitchStrips()
void HUD::paintGL()
{
}
void HUD::paintEvent(QPaintEvent *event)
{
static float roll = 0.0;
static float pitch = 0.0;
static float yaw = 0.0;
// Read out most important values to limit hash table lookups
float roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
float pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
float yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
// 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;
// OPEN GL PAINTING
makeCurrent();
//setupViewport(width(), height());
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Blue / Brown background
if (noCamera) paintCenterBackground(roll, pitch, yaw);
// QT PAINTING
QPainter painter;
painter.begin(this);
painter.setRenderHint(QPainter::Antialiasing);
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
// MODE
paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
// STATE
paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
// BATTERY
paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
// Waypoint
paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
// YAW INDICATOR
//
// .
// . .
// .......
//
const float yawIndicatorWidth = 4.0f;
const float yawIndicatorY = vheight/2.0f - 10.0f;
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.setPen(defaultColor);
painter.drawPolyline(yawIndicator);
// CENTER
// HEADING INDICATOR
//
// __ __
// \/\/
//
const float hIndicatorWidth = 7.0f;
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.setPen(defaultColor);
painter.drawPolyline(hIndicator);
// SETPOINT
const float centerWidth = 4.0f;
painter.setPen(defaultColor);
painter.setBrush(Qt::NoBrush);
// 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));
const float centerCrossWidth = 10.0f;
// 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)));
// COMPASS
const float compassY = -vheight/2.0f + 10.0f;
QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
painter.setBrush(Qt::NoBrush);
painter.setPen(Qt::SolidLine);
painter.setPen(defaultColor);
painter.drawRoundedRect(compassRect, 2, 2);
QString yawAngle;
const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
//qDebug() << "YAW: " << yawDeg;
yawAngle.sprintf("%03d", (int)yawDeg);
paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);
// CHANGE RATE STRIPS
drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, valuesDot.value("z", 0.0f), &painter);
// CHANGE RATE STRIPS
drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, valuesDot.value("x", 0.0f), &painter);
// GAUGES
// Left altitude gauge
drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, -values.value("z", 0.0f), defaultColor, &painter, false);
// Right speed gauge
drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, values.value("xSpeed", 0.0f), defaultColor, &painter, false);
// MOVING PARTS
// Translate for yaw
const float maxYawTrans = 60.0f;
float yawDiff = valuesDot.value("yaw", 0.0f);
if (isinf(yawDiff)) yawDiff = 0.0f;
if (yawDiff > M_PI) yawDiff = yawDiff - M_PI;
if (yawDiff < -M_PI) yawDiff = yawDiff + M_PI;
yawInt += yawDiff;
if (yawInt > M_PI) yawInt = M_PI;
if (yawInt < -M_PI) yawInt = -M_PI;
float yawTrans = yawInt * (double)maxYawTrans;
yawInt *= 0.6f;
//qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw << "asin(yawInt)" << asinYaw;
painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(1.8));
painter.translate(refToScreenX(yawTrans), 0);
// Rotate view and draw all roll-dependent indicators
painter.rotate((roll/M_PI)* -180.0f);
//qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
// PITCH
paintPitchLines((pitch/M_PI)*180.0f, &painter);
painter.end();
glFlush();
}
/*
void HUD::paintGL()
{
static float roll = 0.0;
static float pitch = 0.0;
static float yaw = 0.0;
// Read out most important values to limit hash table lookups
roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
//qDebug() << __FILE__ << __LINE__ << "ROLL:" << roll << "PITCH:" << pitch << "YAW:" << yaw;
......@@ -527,16 +715,16 @@ void HUD::paintGL()
double scalingFactorH = this->height()/vheight;
if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;
//makeCurrent();
makeCurrent();
glClear(GL_COLOR_BUFFER_BIT);
//if(!noCamera) glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits()); // FIXME Remove after testing
//glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits()); // FIXME Remove after testing
// Blue / Brown background
if (noCamera) paintCenterBackground(roll, pitch, yaw);
//glFlush();
glFlush();
// // Store current GL model view
// glMatrixMode(GL_MODELVIEW);
......@@ -554,8 +742,9 @@ void HUD::paintGL()
// Position the coordinate frame according to the setup
makeOverlayCurrent();
QPainter painter(this);
painter.setRenderHint(QPainter::Antialiasing, true);
//painter.setRenderHint(QPainter::Antialiasing, true);
//painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
......@@ -656,6 +845,7 @@ void HUD::paintGL()
// Right speed gauge
drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, values.value("xSpeed", 0.0f), defaultColor, &painter, false);
glFlush();
// MOVING PARTS
......@@ -697,7 +887,8 @@ void HUD::paintGL()
glFlush();
}
}*/
/**
* @param pitch pitch angle in degrees (-180 to 180)
......
src/ui/HUD.h
View file @ 1c1f5379
......@@ -181,6 +181,7 @@ protected:
float fineStrokeWidth; ///< Fine line stroke width, used throughout the HUD
QString waypointName; ///< Waypoint name displayed in HUD
void paintEvent(QPaintEvent *event);
};
......
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