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Commit 5795eb6b authored by pixhawk's avatar pixhawk
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Adjusted minor paths and destructors

parent 8e3ebca8
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src/ui/HUD.cc
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...@@ -142,11 +142,11 @@ HUD::HUD(int width, int height, QWidget* parent) ...@@ -142,11 +142,11 @@ HUD::HUD(int width, int height, QWidget* parent)
fill.setColor(2, qRgb(0, 0, 0)); fill.setColor(2, qRgb(0, 0, 0));
fill.fill(0); fill.fill(0);
QString imagePath = "/Users/user/Desktop/frame0000.png"; //QString imagePath = "/Users/user/Desktop/frame0000.png";
qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath; //qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
fill = QImage(imagePath); //fill = QImage(imagePath);
glImage = QGLWidget::convertToGLFormat(fill); //glImage = QGLWidget::convertToGLFormat(fill);
// Refresh timer // Refresh timer
refreshTimer->setInterval(updateInterval); refreshTimer->setInterval(updateInterval);
...@@ -154,8 +154,7 @@ HUD::HUD(int width, int height, QWidget* parent) ...@@ -154,8 +154,7 @@ HUD::HUD(int width, int height, QWidget* parent)
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD())); connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
// Resize to correct size and fill with image // Resize to correct size and fill with image
resize(fill.size()); //glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
// Set size once // Set size once
//setFixedSize(fill.size()); //setFixedSize(fill.size());
...@@ -189,7 +188,7 @@ HUD::HUD(int width, int height, QWidget* parent) ...@@ -189,7 +188,7 @@ HUD::HUD(int width, int height, QWidget* parent)
HUD::~HUD() HUD::~HUD()
{ {
refreshTimer->stop();
} }
QSize HUD::sizeHint() const QSize HUD::sizeHint() const
...@@ -551,206 +550,235 @@ void HUD::paintEvent(QPaintEvent *event) ...@@ -551,206 +550,235 @@ void HUD::paintEvent(QPaintEvent *event)
void HUD::paintHUD() void HUD::paintHUD()
{ {
// static quint64 interval = 0; if (isVisible())
// qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__; {
// interval = MG::TIME::getGroundTimeNow(); // static quint64 interval = 0;
// qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
// interval = MG::TIME::getGroundTimeNow();
#if (QGC_EVENTLOOP_DEBUG) #if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__; qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif #endif
// Read out most important values to limit hash table lookups // Read out most important values to limit hash table lookups
// Low-pass roll, pitch and yaw // Low-pass roll, pitch and yaw
rollLP = rollLP * 0.2f + 0.8f * roll; rollLP = rollLP * 0.2f + 0.8f * roll;
pitchLP = pitchLP * 0.2f + 0.8f * pitch; pitchLP = pitchLP * 0.2f + 0.8f * pitch;
yawLP = yawLP * 0.2f + 0.8f * yaw; yawLP = yawLP * 0.2f + 0.8f * yaw;
// Translate for yaw
const float maxYawTrans = 60.0f;
float newYawDiff = yawDiff;
if (isinf(newYawDiff)) newYawDiff = yawDiff;
if (newYawDiff > M_PI) newYawDiff = newYawDiff - M_PI;
if (newYawDiff < -M_PI) newYawDiff = newYawDiff + M_PI;
newYawDiff = yawDiff * 0.8 + newYawDiff * 0.2;
yawDiff = newYawDiff;
yawInt += newYawDiff;
if (yawInt > M_PI) yawInt = M_PI;
if (yawInt < -M_PI) yawInt = -M_PI;
float yawTrans = yawInt * (double)maxYawTrans;
yawInt *= 0.6f;
if ((yawTrans < 5.0) && (yawTrans > -5.0)) yawTrans = 0; // Translate for yaw
const float maxYawTrans = 60.0f;
// Negate to correct direction float newYawDiff = yawDiff;
yawTrans = -yawTrans; if (isinf(newYawDiff)) newYawDiff = yawDiff;
if (newYawDiff > M_PI) newYawDiff = newYawDiff - M_PI;
//qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw; if (newYawDiff < -M_PI) newYawDiff = newYawDiff + M_PI;
// Update scaling factor newYawDiff = yawDiff * 0.8 + newYawDiff * 0.2;
// adjust scaling to fit both horizontally and vertically
scalingFactor = this->width()/vwidth;
double scalingFactorH = this->height()/vheight;
if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;
yawDiff = newYawDiff;
yawInt += newYawDiff;
// OPEN GL PAINTING if (yawInt > M_PI) yawInt = M_PI;
// Store model view matrix to be able to reset it to the previous state if (yawInt < -M_PI) yawInt = -M_PI;
makeCurrent();
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Blue / Brown background float yawTrans = yawInt * (double)maxYawTrans;
if (noCamera) paintCenterBackground(roll, pitch, yawTrans); yawInt *= 0.6f;
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
// END OF OPENGL PAINTING if ((yawTrans < 5.0) && (yawTrans > -5.0)) yawTrans = 0;
// Negate to correct direction
yawTrans = -yawTrans;
//qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw;
//glEnable(GL_MULTISAMPLE); // 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;
// 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);
// 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);
// COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET // Blue / Brown background
if (noCamera)
{
// Draw all fixed indicators paintCenterBackground(roll, pitch, yawTrans);
// MODE }
paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter); // else {
// STATE // Fill with black background
paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter); QString imagePath = "/Users/user/Desktop/frame0000.png";
// BATTERY if (QFileInfo(imagePath).exists())
paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter); {
// Waypoint //qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter); QImage fill = QImage(imagePath);
// 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 glImage = QGLWidget::convertToGLFormat(fill);
//
// __ __
// \/\/
//
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);
float xFactor;
float yFactor;
// SETPOINT xFactor = width() / (float)fill.width();
const float centerWidth = 4.0f; yFactor = height() / (float)fill.height();
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; glPixelZoom(xFactor, yFactor);
// left // Resize to correct size and fill with image
painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f))); glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
// right // FIXME Adjust viewport to scale image into view
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)));
// }
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
// END OF OPENGL PAINTING
//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
// 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);
// COMPASS // CENTER
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; // 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);
// YAW is in compass-human readable format, so 0 - 360deg. This is normal in aviation, not -180 - +180.
const float yawDeg = ((yawLP/M_PI)*180.0f)+180.0f;
yawAngle.sprintf("%03d", (int)yawDeg);
paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);
// CHANGE RATE STRIPS // SETPOINT
drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, -zSpeed, &painter); 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));
// CHANGE RATE STRIPS const float centerCrossWidth = 10.0f;
drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, xSpeed, &painter); // 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)));
// GAUGES
// Left altitude gauge
drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, -zPos, defaultColor, &painter, false);
// Right speed gauge // COMPASS
drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, xSpeed, defaultColor, &painter, false); 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;
// Waypoint name // YAW is in compass-human readable format, so 0 - 360deg. This is normal in aviation, not -180 - +180.
if (waypointName != "") paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter); const float yawDeg = ((yawLP/M_PI)*180.0f)+180.0f;
yawAngle.sprintf("%03d", (int)yawDeg);
paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);
// MOVING PARTS // CHANGE RATE STRIPS
drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, -zSpeed, &painter);
// CHANGE RATE STRIPS
drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, xSpeed, &painter);
// GAUGES
painter.translate(refToScreenX(yawTrans), 0); // Left altitude gauge
drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, -zPos, defaultColor, &painter, false);
// Rotate view and draw all roll-dependent indicators // Right speed gauge
painter.rotate((rollLP/M_PI)* -180.0f); drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, xSpeed, defaultColor, &painter, false);
painter.translate(0, (-pitchLP/M_PI)* -180.0f * refToScreenY(1.8));
//qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f); // 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);
// Rotate view and draw all roll-dependent indicators
painter.rotate((rollLP/M_PI)* -180.0f);
painter.translate(0, (-pitchLP/M_PI)* -180.0f * refToScreenY(1.8));
// PITCH //qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
// PITCH
paintPitchLines(pitchLP, &painter); paintPitchLines(pitchLP, &painter);
painter.end(); painter.end();
//glDisable(GL_MULTISAMPLE); //glDisable(GL_MULTISAMPLE);
//glFlush(); //glFlush();
}
} }
/* /*
......
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