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Commit 84badf33 authored by dongfang's avatar dongfang
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PFD crash on start bugfix and rename to .cc

parent e0d9b8fb
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qgroundcontrol.pro
View file @ 84badf33
......@@ -568,7 +568,7 @@ SOURCES += src/main.cc \
src/ui/designer/QGCRadioChannelDisplay.cpp \
src/ui/QGCTabbedInfoView.cpp \
src/ui/UASRawStatusView.cpp \
src/ui/PrimaryFlightDisplay.cpp \
src/ui/PrimaryFlightDisplay.cc \
src/ui/uas/QGCMessageView.cc
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
......
src/ui/PrimaryFlightDisplay.cpp → src/ui/PrimaryFlightDisplay.cc
View file @ 84badf33
......@@ -12,97 +12,84 @@
#include <QtCore/qmath.h>
//#include <cmath>
#define SEPARATE_COMPASS_ASPECTRATIO (3.0f/4.0f)
static const float SEPARATE_COMPASS_ASPECTRATIO = 3.0f/4.0f;
static const float LINEWIDTH = 0.0036f;
static const float SMALL_TEXT_SIZE = 0.028f;
static const float MEDIUM_TEXT_SIZE = SMALL_TEXT_SIZE*1.2f;
static const float LARGE_TEXT_SIZE = MEDIUM_TEXT_SIZE*1.2f;
#define LINEWIDTH 0.0036f
//#define TAPES_TEXT_SIZE 0.028
//#define AI_TEXT_SIZE 0.040
//#define AI_TEXT_MIN_PIXELS 12
//#define AI_TEXT_MAX_PIXELS 36
//#define PANELS_TEXT_SIZE 0.030
//#define COMPASS_SCALE_TEXT_SIZE 0.16
#define SMALL_TEXT_SIZE 0.03f
#define MEDIUM_TEXT_SIZE (SMALL_TEXT_SIZE*1.2f)
#define LARGE_TEXT_SIZE (MEDIUM_TEXT_SIZE*1.2f)
#define SHOW_ZERO_ON_SCALES true
static const bool SHOW_ZERO_ON_SCALES = true;
// all in units of display height
#define ROLL_SCALE_RADIUS 0.42f
#define ROLL_SCALE_TICKMARKLENGTH 0.04f
#define ROLL_SCALE_MARKERWIDTH 0.06f
#define ROLL_SCALE_MARKERHEIGHT 0.04f
static const float ROLL_SCALE_RADIUS = 0.42f;
static const float ROLL_SCALE_TICKMARKLENGTH = 0.04f;
static const float ROLL_SCALE_MARKERWIDTH = 0.06f;
static const float ROLL_SCALE_MARKERHEIGHT = 0.04f;
// scale max. degrees
#define ROLL_SCALE_RANGE 60
static const int ROLL_SCALE_RANGE = 60;
// fraction of height to translate for each degree of pitch.
#define PITCHTRANSLATION 65.0
// 10 degrees for each line
#define PITCH_SCALE_RESOLUTION 5
#define PITCH_SCALE_MAJORWIDTH 0.1
#define PITCH_SCALE_MINORWIDTH 0.066
static const float PITCHTRANSLATION = 65;
// 5 degrees for each line
static const int PITCH_SCALE_RESOLUTION = 5;
static const float PITCH_SCALE_MAJORWIDTH = 0.1f;
static const float PITCH_SCALE_MINORWIDTH = 0.066;
// Beginning from PITCH_SCALE_WIDTHREDUCTION_FROM degrees of +/- pitch, the
// width of the lines is reduced, down to PITCH_SCALE_WIDTHREDUCTION times
// the normal width. This helps keep orientation in extreme attitudes.
#define PITCH_SCALE_WIDTHREDUCTION_FROM 30
#define PITCH_SCALE_WIDTHREDUCTION 0.3
static const int PITCH_SCALE_WIDTHREDUCTION_FROM = 30;
static const float PITCH_SCALE_WIDTHREDUCTION = 0.3f;
#define PITCH_SCALE_HALFRANGE 15
static const int PITCH_SCALE_HALFRANGE = 15;
// The number of degrees to either side of the heading to draw the compass disk.
// 180 is valid, this will draw a complete disk. If the disk is partly clipped
// away, less will do.
#define COMPASS_DISK_MAJORTICK 10
#define COMPASS_DISK_ARROWTICK 45
#define COMPASS_DISK_MAJORLINEWIDTH 0.006
#define COMPASS_DISK_MINORLINEWIDTH 0.004
#define COMPASS_DISK_RESOLUTION 10
#define COMPASS_SEPARATE_DISK_RESOLUTION 5
#define COMPASS_DISK_MARKERWIDTH 0.2
#define COMPASS_DISK_MARKERHEIGHT 0.133
static const int COMPASS_DISK_MAJORTICK = 10;
static const int COMPASS_DISK_ARROWTICK = 45;
static const float COMPASS_DISK_MAJORLINEWIDTH = 0.006;
static const float COMPASS_DISK_MINORLINEWIDTH = 0.004;
static const int COMPASS_DISK_RESOLUTION = 10;
static const float COMPASS_SEPARATE_DISK_RESOLUTION = 5;
static const float COMPASS_DISK_MARKERWIDTH = 0.2;
static const float COMPASS_DISK_MARKERHEIGHT = 0.133;
#define CROSSTRACK_MAX 1000
#define CROSSTRACK_RADIUS 0.6
static const int CROSSTRACK_MAX = 1000;
static const float CROSSTRACK_RADIUS = 0.6;
#define TAPE_GAUGES_TICKWIDTH_MAJOR 0.25
#define TAPE_GAUGES_TICKWIDTH_MINOR 0.15
static const float TAPE_GAUGES_TICKWIDTH_MAJOR = 0.25;
static const float TAPE_GAUGES_TICKWIDTH_MINOR = 0.15;
// The altitude difference between top and bottom of scale
#define ALTIMETER_LINEAR_SPAN 50
static const int ALTIMETER_LINEAR_SPAN = 50;
// every 5 meters there is a tick mark
#define ALTIMETER_LINEAR_RESOLUTION 5
static const int ALTIMETER_LINEAR_RESOLUTION = 5;
// every 10 meters there is a number
#define ALTIMETER_LINEAR_MAJOR_RESOLUTION 10
static const int ALTIMETER_LINEAR_MAJOR_RESOLUTION = 10;
// Projected: An experiment. Make tape appear projected from a cylinder, like a French "drum" style gauge.
// The altitude difference between top and bottom of scale
#define ALTIMETER_PROJECTED_SPAN 50
static const int ALTIMETER_PROJECTED_SPAN = 50;
// every 5 meters there is a tick mark
#define ALTIMETER_PROJECTED_RESOLUTION 5
static const int ALTIMETER_PROJECTED_RESOLUTION = 5;
// every 10 meters there is a number
#define ALTIMETER_PROJECTED_MAJOR_RESOLUTION 10
static const int ALTIMETER_PROJECTED_MAJOR_RESOLUTION = 10;
// min. and max. vertical velocity
//#define ALTIMETER_PROJECTED
// min. and max. vertical velocity
#define ALTIMETER_VVI_SPAN 5
#define ALTIMETER_VVI_WIDTH 0.2
static const int ALTIMETER_VVI_SPAN = 5;
static const float ALTIMETER_VVI_WIDTH = 0.2f;
// Now the same thing for airspeed!
#define AIRSPEED_LINEAR_SPAN 15
#define AIRSPEED_LINEAR_RESOLUTION 1
#define AIRSPEED_LINEAR_MAJOR_RESOLUTION 5
static const int AIRSPEED_LINEAR_SPAN = 15;
static const int AIRSPEED_LINEAR_RESOLUTION = 1;
static const int AIRSPEED_LINEAR_MAJOR_RESOLUTION = 5;
#define UNKNOWN_BATTERY -1
#define UNKNOWN_ATTITUDE 0
#define UNKNOWN_ALTITUDE -1000
#define UNKNOWN_SPEED -1
#define UNKNOWN_COUNT -1
#define UNKNOWN_GPSFIXTYPE -1
static const int UNKNOWN_ATTITUDE = -1000;
static const int UNKNOWN_ALTITUDE = -1000;
static const int UNKNOWN_SPEED = -1;
/*
*@TODO:
......@@ -115,6 +102,12 @@ double PrimaryFlightDisplay_round(double value, int digits=0)
return floor(value * pow(10, digits) + 0.5) / pow(10, digits);
}
qreal PrimaryFlightDisplay_constrain(qreal value, qreal min, qreal max) {
if (value<min) value=min;
else if(value>max) value=max;
return value;
}
const int PrimaryFlightDisplay::tickValues[] = {10, 20, 30, 45, 60};
const QString PrimaryFlightDisplay::compassWindNames[] = {
QString("N"),
......@@ -132,24 +125,24 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
uas(NULL),
/*
altimeterMode(GPS_MAIN),
altimeterFrame(ASL),
speedMode(GROUND_MAIN),
*/
roll(UNKNOWN_ATTITUDE),
pitch(UNKNOWN_ATTITUDE),
// heading(NAN),
heading(UNKNOWN_ATTITUDE),
primaryAltitude(UNKNOWN_ALTITUDE),
GPSAltitude(UNKNOWN_ALTITUDE),
aboveHomeAltitude(UNKNOWN_ALTITUDE),
primarySpeed(UNKNOWN_SPEED),
groundspeed(UNKNOWN_SPEED),
verticalVelocity(UNKNOWN_ALTITUDE),
font("Bitstream Vera Sans"),
refreshTimer(new QTimer(this)),
navigationCrosstrackError(0),
navigationTargetBearing(UNKNOWN_ATTITUDE),
......@@ -164,11 +157,15 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
fineLineWidth(1),
instrumentEdgePen(QColor::fromHsvF(0, 0, 0.65, 0.5)),
// AIEdgePen(QColor::fromHsvF(0, 0, 0.65, 0.5)),
instrumentBackground(QColor::fromHsvF(0, 0, 0.3, 0.3)),
instrumentOpagueBackground(QColor::fromHsvF(0, 0, 0.3, 1.0))
instrumentOpagueBackground(QColor::fromHsvF(0, 0, 0.3, 1.0)),
font("Bitstream Vera Sans"),
refreshTimer(new QTimer(this))
{
Q_UNUSED(width)
Q_UNUSED(height)
setMinimumSize(120, 80);
setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
......@@ -211,25 +208,19 @@ void PrimaryFlightDisplay::hideEvent(QHideEvent* event)
emit visibilityChanged(false);
}
qreal constrain(qreal value, qreal min, qreal max) {
if (value<min) value=min;
else if(value>max) value=max;
return value;
}
void PrimaryFlightDisplay::resizeEvent(QResizeEvent *e) {
QWidget::resizeEvent(e);
qreal size = e->size().width();
//if(e->size().height()<size) size = e->size().height();
lineWidth = constrain(size*LINEWIDTH, 1, 6);
fineLineWidth = constrain(size*LINEWIDTH*2/3, 1, 2);
lineWidth = PrimaryFlightDisplay_constrain(size*LINEWIDTH, 1, 6);
fineLineWidth = PrimaryFlightDisplay_constrain(size*LINEWIDTH*2/3, 1, 2);
instrumentEdgePen.setWidthF(fineLineWidth);
//AIEdgePen.setWidthF(fineLineWidth);
smallTestSize = size * SMALL_TEXT_SIZE;
smallTextSize = size * SMALL_TEXT_SIZE;
mediumTextSize = size * MEDIUM_TEXT_SIZE;
largeTextSize = size * LARGE_TEXT_SIZE;
......@@ -246,11 +237,7 @@ void PrimaryFlightDisplay::resizeEvent(QResizeEvent *e) {
void PrimaryFlightDisplay::paintEvent(QPaintEvent *event)
{
// Event is not needed
// the event is ignored as this widget
// is refreshed automatically
Q_UNUSED(event);
//makeDummyData();
doPaint();
}
......@@ -316,45 +303,34 @@ void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, double roll, double
{
Q_UNUSED(uas);
Q_UNUSED(timestamp);
if (!isnan(roll) && !isinf(roll) && !isnan(pitch) && !isinf(pitch) && !isnan(yaw) && !isinf(yaw))
{
// TODO: Units conversion? // Called from UAS.cc l. 646
this->roll = roll * (180.0 / M_PI);
this->pitch = pitch * (180.0 / M_PI);
yaw = yaw * (180.0 / M_PI);
if (yaw<0) yaw+=360;
this->heading = yaw;
}
// TODO: Else-part. We really should have an "attitude bad or unknown" indication instead of just freezing.
// Called from UAS.cc l. 616
if (isnan(roll) || isinf(roll)) {
this->roll = UNKNOWN_ATTITUDE;
} else {
this->roll = roll * (180.0 / M_PI);
}
//qDebug("r,p,y: %f,%f,%f", roll, pitch, yaw);
if (isnan(pitch) || isinf(pitch)) {
this->pitch = UNKNOWN_ATTITUDE;
} else {
this->pitch = pitch * (180.0 / M_PI);
}
if (isnan(yaw) || isinf(yaw)) {
this->heading = UNKNOWN_ATTITUDE;
} else {
yaw = yaw * (180.0 / M_PI);
if (yaw<0) yaw+=360;
this->heading = yaw;
}
}
/*
* TODO! Implementation or removal of this.
* Currently a dummy.
*/
void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp)
{
Q_UNUSED(uas);
Q_UNUSED(component);
Q_UNUSED(timestamp);
// Called from UAS.cc l. 616
if (!isnan(roll) && !isinf(roll) && !isnan(pitch) && !isinf(pitch) && !isnan(yaw) && !isinf(yaw)) {
this->roll = roll * (180.0 / M_PI);
this->pitch = pitch * (180.0 / M_PI);
yaw = yaw * (180.0 / M_PI);
if (yaw<0) yaw+=360;
this->heading = yaw;
}
// qDebug("(2) r,p,y: %f,%f,%f", roll, pitch, yaw);
this->updateAttitude(uas, roll, pitch, yaw, timestamp);
}
/*
* TODO! Examine what data comes with this call, should we consider it airspeed, ground speed or
* should we not consider it at all?
*/
void PrimaryFlightDisplay::updatePrimarySpeed(UASInterface* uas, double speed, quint64 timestamp)
{
Q_UNUSED(uas);
......@@ -529,6 +505,8 @@ void PrimaryFlightDisplay::fillInstrumentOpagueBackground(QPainter& painter, QRe
}
qreal pitchAngleToTranslation(qreal viewHeight, float pitch) {
if (pitch == UNKNOWN_ATTITUDE)
return 0;
return pitch * viewHeight / PITCHTRANSLATION;
}
......@@ -588,6 +566,10 @@ void PrimaryFlightDisplay::drawAIGlobalFeatures(
QRectF mainArea,
QRectF paintArea) {
float displayRoll = this->roll;
if(displayRoll == UNKNOWN_ATTITUDE)
displayRoll = 0;
painter.resetTransform();
painter.translate(mainArea.center());
......@@ -599,7 +581,7 @@ void PrimaryFlightDisplay::drawAIGlobalFeatures(
// QTransform forwardTransform;
//forwardTransform.translate(mainArea.center().x(), mainArea.center().y());
painter.rotate(-roll);
painter.rotate(-displayRoll);
painter.translate(0, pitchPixels);
// Calculate the radius of area we need to paint to cover all.
......@@ -624,7 +606,6 @@ void PrimaryFlightDisplay::drawAIGlobalFeatures(
skyPath.lineTo(hzonRight);
skyPath.closeSubpath();
// TODO: The gradient is wrong now.
QLinearGradient skyGradient(0, -gradientEnd, 0, 0);
skyGradient.setColorAt(0, QColor::fromHsvF(0.6, 1.0, 0.7));
skyGradient.setColorAt(1, QColor::fromHsvF(0.6, 0.25, 0.9));
......@@ -661,6 +642,10 @@ void PrimaryFlightDisplay::drawPitchScale(
bool drawNumbersRight
) {
float displayPitch = this->pitch;
if (displayPitch == UNKNOWN_ATTITUDE)
displayPitch = 0;
// The area should be quadratic but if not width is the major size.
qreal w = area.width();
if (w<area.height()) w = area.height();
......@@ -673,7 +658,7 @@ void PrimaryFlightDisplay::drawPitchScale(
QTransform savedTransform = painter.transform();
// find the mark nearest center
int snap = qRound((double)(pitch/PITCH_SCALE_RESOLUTION))*PITCH_SCALE_RESOLUTION;
int snap = qRound((double)(displayPitch/PITCH_SCALE_RESOLUTION))*PITCH_SCALE_RESOLUTION;
int _min = snap-PITCH_SCALE_HALFRANGE;
int _max = snap+PITCH_SCALE_HALFRANGE;
for (int degrees=_min; degrees<=_max; degrees+=PITCH_SCALE_RESOLUTION) {
......@@ -691,7 +676,7 @@ void PrimaryFlightDisplay::drawPitchScale(
linewidth *= (PITCH_SCALE_WIDTHREDUCTION * (1-temp) + temp);
}
float shift = pitchAngleToTranslation(w, pitch-degrees);
float shift = pitchAngleToTranslation(w, displayPitch-degrees);
// TODO: Intrusion detection and evasion. That is, don't draw
// where the compass has intruded.
......@@ -706,8 +691,11 @@ void PrimaryFlightDisplay::drawPitchScale(
if(displayDegrees>90) displayDegrees = 180-displayDegrees;
else if (displayDegrees<-90) displayDegrees = -180 - displayDegrees;
if (SHOW_ZERO_ON_SCALES || degrees) {
QString s_number; //= QString("%d").arg(degrees);
s_number.sprintf("%d", displayDegrees);
QString s_number;
if (this->pitch == UNKNOWN_ATTITUDE)
s_number.sprintf("-");
else
s_number.sprintf("%d", displayDegrees);
if (drawNumbersLeft) drawTextRightCenter(painter, s_number, mediumTextSize, -PITCH_SCALE_MAJORWIDTH * w-10, 0);
if (drawNumbersRight) drawTextLeftCenter(painter, s_number, mediumTextSize, PITCH_SCALE_MAJORWIDTH * w+10, 0);
}
......@@ -770,10 +758,13 @@ void PrimaryFlightDisplay::drawAIAttitudeScales(
QRectF area,
float intrusion
) {
float displayRoll = this->roll;
if (displayRoll == UNKNOWN_ATTITUDE)
displayRoll = 0;
// To save computations, we do these transformations once for both scales:
painter.resetTransform();
painter.translate(area.center());
painter.rotate(-roll);
painter.rotate(-displayRoll);
QTransform saved = painter.transform();
drawRollScale(painter, area, true, true);
......@@ -782,8 +773,12 @@ void PrimaryFlightDisplay::drawAIAttitudeScales(
}
void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area, float halfspan) {
float start = heading - halfspan;
float end = heading + halfspan;
float displayHeading = this->heading;
if(displayHeading == UNKNOWN_ATTITUDE)
displayHeading = 0;
float start = displayHeading - halfspan;
float end = displayHeading + halfspan;
int firstTick = ceil(start / COMPASS_DISK_RESOLUTION) * COMPASS_DISK_RESOLUTION;
int lastTick = floor(end / COMPASS_DISK_RESOLUTION) * COMPASS_DISK_RESOLUTION;
......@@ -805,7 +800,7 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area, flo
else if (displayTick>=360) displayTick-=360;
// yaw is in center.
float off = tickYaw - heading;
float off = tickYaw - displayHeading;
// wrap that to ]-180..180]
if (off<=-180) off+= 360; else if (off>180) off -= 360;
......@@ -814,15 +809,18 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area, flo
bool drewArrow = false;
bool isMajor = displayTick % COMPASS_DISK_MAJORTICK == 0;
if (displayTick==30 || displayTick==60 ||
// If heading unknown, still draw marks but no numbers.
if (this->heading != UNKNOWN_ATTITUDE &&
(displayTick==30 || displayTick==60 ||
displayTick==120 || displayTick==150 ||
displayTick==210 || displayTick==240 ||
displayTick==300 || displayTick==330) {
displayTick==300 || displayTick==330)
) {
// draw a number
QString s_number;
s_number.sprintf("%d", displayTick/10);
painter.setPen(scalePen);
drawTextCenter(painter, s_number, /*COMPASS_SCALE_TEXT_SIZE*radius*/ smallTestSize, 0, -innerRadius*0.75);
drawTextCenter(painter, s_number, smallTextSize, 0, -innerRadius*0.75);
} else {
if (displayTick % COMPASS_DISK_ARROWTICK == 0) {
if (displayTick!=0) {
......@@ -836,7 +834,8 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area, flo
painter.setBrush(Qt::NoBrush);
drewArrow = true;
}
if (displayTick%90 == 0) {
// If heading unknown, still draw marks but no N S E W.
if (this->heading != UNKNOWN_ATTITUDE && displayTick%90 == 0) {
// Also draw a label
QString name = compassWindNames[displayTick / 45];
painter.setPen(scalePen);
......@@ -875,11 +874,15 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area, flo
painter.setPen(instrumentEdgePen);
painter.drawRoundedRect(digitalCompassRect, instrumentEdgePen.widthF()*2/3, instrumentEdgePen.widthF()*2/3);
/* final safeguard for really stupid systems */
int digitalCompassValue = static_cast<int>(qRound((double)heading)) % 360;
QString s_digitalCompass;
s_digitalCompass.sprintf("%03d", digitalCompassValue);
if (this->heading == UNKNOWN_ATTITUDE)
s_digitalCompass.sprintf("---");
else {
/* final safeguard for really stupid systems */
int digitalCompassValue = static_cast<int>(qRound((double)heading)) % 360;
s_digitalCompass.sprintf("%03d", digitalCompassValue);
}
QPen pen;
pen.setWidthF(lineWidth);
......@@ -915,106 +918,15 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area, flo
QPen pen;
pen.setWidthF(lineWidth);
pen.setColor(Qt::black);
if(errorBeyondRadius) {
pen.setStyle(Qt::DotLine);
}
painter.setPen(pen);
painter.drawLine(QPointF(x, y), QPointF(x, -y));
}
}
/*
void PrimaryFlightDisplay::drawSeparateCompassDisk(QPainter& painter, QRectF area) {
float radius = area.width()/2;
float innerRadius = radius * 0.96;
painter.resetTransform();
painter.setBrush(instrumentOpagueBackground);
painter.setPen(instrumentEdgePen);
painter.drawEllipse(area);
painter.setBrush(Qt::NoBrush);
QPen scalePen(Qt::white);
scalePen.setWidthF(fineLineWidth);
for (int displayTick=0; displayTick<360; displayTick+=COMPASS_SEPARATE_DISK_RESOLUTION) {
// yaw is in center.
float off = displayTick - heading;
// wrap that to ]-180..180]
if (off<=-180) off+= 360; else if (off>180) off -= 360;
painter.translate(area.center());
painter.rotate(off);
bool drewArrow = false;
bool isMajor = displayTick % COMPASS_DISK_MAJORTICK == 0;
if (displayTick==30 || displayTick==60 ||
displayTick==120 || displayTick==150 ||
displayTick==210 || displayTick==240 ||
displayTick==300 || displayTick==330) {
// draw a number
QString s_number;
s_number.sprintf("%d", displayTick/10);
painter.setPen(scalePen);
drawTextCenter(painter, s_number, mediumTextSize, 0, -innerRadius*0.75);
} else {
if (displayTick % COMPASS_DISK_ARROWTICK == 0) {
if (displayTick!=0) {
QPainterPath markerPath(QPointF(0, -innerRadius*(1-COMPASS_DISK_MARKERHEIGHT/2)));
markerPath.lineTo(innerRadius*COMPASS_DISK_MARKERWIDTH/4, -innerRadius);
markerPath.lineTo(-innerRadius*COMPASS_DISK_MARKERWIDTH/4, -innerRadius);
markerPath.closeSubpath();
painter.setPen(scalePen);
painter.setBrush(Qt::SolidPattern);
painter.drawPath(markerPath);
painter.setBrush(Qt::NoBrush);
drewArrow = true;
}
if (displayTick%90 == 0) {
// Also draw a label
QString name = compassWindNames[displayTick / 45];
painter.setPen(scalePen);
drawTextCenter(painter, name, mediumTextSize, 0, -innerRadius*0.75);
}
}
}
// draw the scale lines. If an arrow was drawn, stay off from it.
QPointF p_start = drewArrow ? QPoint(0, -innerRadius*0.94) : QPoint(0, -innerRadius);
QPoint p_end = isMajor ? QPoint(0, -innerRadius*0.86) : QPoint(0, -innerRadius*0.90);
painter.setPen(scalePen);
painter.drawLine(p_start, p_end);
painter.resetTransform();
}
painter.setPen(scalePen);
//painter.setBrush(Qt::SolidPattern);
painter.translate(area.center());
QPainterPath markerPath(QPointF(0, -radius-2));
markerPath.lineTo(radius*COMPASS_DISK_MARKERWIDTH/2, -radius-radius*COMPASS_DISK_MARKERHEIGHT-2);
markerPath.lineTo(-radius*COMPASS_DISK_MARKERWIDTH/2, -radius-radius*COMPASS_DISK_MARKERHEIGHT-2);
markerPath.closeSubpath();
painter.drawPath(markerPath);
QRectF headingNumberRect(-radius/3, radius*0.12, radius*2/3, radius*0.28);
painter.setPen(instrumentEdgePen);
painter.drawRoundedRect(headingNumberRect, instrumentEdgePen.widthF()*2/3, instrumentEdgePen.widthF()*2/3);
// if (heading < 0) heading += 360;
// else if (heading >= 360) heading -= 360;
int yawCompass = static_cast<int>(heading) % 360;
QString yawAngle;
yawAngle.sprintf("%03d", yawCompass);
QPen pen;
pen.setWidthF(lineWidth);
pen.setColor(Qt::white);
painter.setPen(pen);
drawTextCenter(painter, yawAngle, largeTextSize, 0, radius/4);
}
*/
void PrimaryFlightDisplay::drawAltimeter(
QPainter& painter,
QRectF area, // the area where to draw the tape.
......@@ -1039,8 +951,9 @@ void PrimaryFlightDisplay::drawAltimeter(
float effectiveHalfHeight = h*0.45;
// not yet implemented: Display of secondary altitude.
// if (isAirplane())
// effectiveHalfHeight-= secondaryAltitudeBoxHeight;
if (secondaryAltitude != UNKNOWN_ALTITUDE) {
effectiveHalfHeight-= secondaryAltitudeBoxHeight;
}
float markerHalfHeight = mediumTextSize*0.8;
float leftEdge = instrumentEdgePen.widthF()*2;
......@@ -1053,20 +966,6 @@ void PrimaryFlightDisplay::drawAltimeter(
float scaleCenterAltitude = primaryAltitude == UNKNOWN_ALTITUDE ? 0 : primaryAltitude;
// altitude scale
#ifdef ALTIMETER_PROJECTED
float range = 1.2;
float start = scaleCenterAltitude - ALTIMETER_PROJECTED_SPAN/2;
float end = scaleCenterAltitude + ALTIMETER_PROJECTED_SPAN/2;
int firstTick = ceil(start / ALTIMETER_PROJECTED_RESOLUTION) * ALTIMETER_PROJECTED_RESOLUTION;
int lastTick = floor(end / ALTIMETER_PROJECTED_RESOLUTION) * ALTIMETER_PROJECTED_RESOLUTION;
for (int tickAlt = firstTick; tickAlt <= lastTick; tickAlt += ALTIMETER_PROJECTED_RESOLUTION) {
// a number between 0 and 1. Use as radians directly.
float r = range*(tickAlt-altitude)/(ALTIMETER_PROJECTED_SPAN/2);
float y = effectiveHalfHeight * sin(r);
scale = cos(r);
if (scale<0) scale = -scale;
bool hasText = tickAlt % ALTIMETER_PROJECTED_MAJOR_RESOLUTION == 0;
#else
float start = scaleCenterAltitude - ALTIMETER_LINEAR_SPAN/2;
float end = scaleCenterAltitude + ALTIMETER_LINEAR_SPAN/2;
int firstTick = ceil(start / ALTIMETER_LINEAR_RESOLUTION) * ALTIMETER_LINEAR_RESOLUTION;
......@@ -1074,7 +973,7 @@ void PrimaryFlightDisplay::drawAltimeter(
for (int tickAlt = firstTick; tickAlt <= lastTick; tickAlt += ALTIMETER_LINEAR_RESOLUTION) {
float y = (tickAlt-scaleCenterAltitude)*effectiveHalfHeight/(ALTIMETER_LINEAR_SPAN/2);
bool isMajor = tickAlt % ALTIMETER_LINEAR_MAJOR_RESOLUTION == 0;
#endif
painter.resetTransform();
painter.translate(area.left(), area.center().y() - y);
pen.setColor(tickAlt<0 ? redColor : Qt::white);
......@@ -1117,9 +1016,10 @@ void PrimaryFlightDisplay::drawAltimeter(
s_alt.sprintf("%3.0f", primaryAltitude);
float xCenter = (markerTip+rightEdge)/2;
drawTextCenter(painter, s_alt, /* TAPES_TEXT_SIZE*width()*/ mediumTextSize, xCenter, 0);
drawTextCenter(painter, s_alt, mediumTextSize, xCenter, 0);
if (vv == UNKNOWN_ALTITUDE) return;
// draw simple in-tape VVI.
if (vv != UNKNOWN_ALTITUDE) {
float vvPixHeight = -vv/ALTIMETER_VVI_SPAN * effectiveHalfHeight;
if (abs (vvPixHeight)<markerHalfHeight) return; // hidden behind marker.
......@@ -1141,6 +1041,19 @@ void PrimaryFlightDisplay::drawAltimeter(
vvArrowHead = QPointF(xcenter-vvArowHeadSize, vvPixHeight - vvSign * vvArowHeadSize);
painter.drawLine(vvArrowHead, vvArrowEnd);
}
// print secondary altitude
if (secondaryAltitude != UNKNOWN_ALTITUDE) {
QRectF saBox(area.x(), area.y()-secondaryAltitudeBoxHeight, w, secondaryAltitudeBoxHeight);
painter.resetTransform();
painter.translate(saBox.center());
QString s_salt;
s_salt.sprintf("%3.0f", secondaryAltitude);
drawTextCenter(painter, s_salt, mediumTextSize, 0, 0);
}
// print target altitude (if applicable)
}
void PrimaryFlightDisplay::drawVelocityMeter(
......@@ -1226,16 +1139,15 @@ void PrimaryFlightDisplay::drawVelocityMeter(
drawTextCenter(painter, s_alt, /* TAPES_TEXT_SIZE*width()*/ mediumTextSize, xCenter, 0);
}
static const int TOP = (1<<0);
static const int BOTTOM = (1<<1);
static const int LEFT = (1<<2);
static const int RIGHT = (1<<3);
#define TOP (1<<0)
#define BOTTOM (1<<1)
#define LEFT (1<<2)
#define RIGHT (1<<3)
#define TOP_2 (1<<4)
#define BOTTOM_2 (1<<5)
#define LEFT_2 (1<<6)
#define RIGHT_2 (1<<7)
static const int TOP_HALF = (1<<4);
static const int BOTTOM_HALF = (1<<5);
static const int LEFT_HALF = (1<<6);
static const int RIGHT_HALF = (1<<7);
void applyMargin(QRectF& area, float margin, int where) {
if (margin < 0.01) return;
......@@ -1245,7 +1157,7 @@ void applyMargin(QRectF& area, float margin, int where) {
if (where & LEFT) {
area.setX(save.x() + (consumed = margin));
} else if (where & LEFT_2) {
} else if (where & LEFT_HALF) {
area.setX(save.x() + (consumed = margin/2));
} else {
consumed = 0;
......@@ -1253,7 +1165,7 @@ void applyMargin(QRectF& area, float margin, int where) {
if (where & RIGHT) {
area.setWidth(save.width()-consumed-margin);
} else if (where & RIGHT_2) {
} else if (where & RIGHT_HALF) {
area.setWidth(save.width()-consumed-margin/2);
} else {
area.setWidth(save.width()-consumed);
......@@ -1261,7 +1173,7 @@ void applyMargin(QRectF& area, float margin, int where) {
if (where & TOP) {
area.setY(save.y() + (consumed = margin));
} else if (where & TOP_2) {
} else if (where & TOP_HALF) {
area.setY(save.y() + (consumed = margin/2));
} else {
consumed = 0;
......@@ -1269,7 +1181,7 @@ void applyMargin(QRectF& area, float margin, int where) {
if (where & BOTTOM) {
area.setHeight(save.height()-consumed-margin);
} else if (where & BOTTOM_2) {
} else if (where & BOTTOM_HALF) {
area.setHeight(save.height()-consumed-margin/2);
} else {
area.setHeight(save.height()-consumed);
......@@ -1277,17 +1189,17 @@ void applyMargin(QRectF& area, float margin, int where) {
}
void setMarginsForInlineLayout(qreal margin, QRectF& panel1, QRectF& panel2, QRectF& panel3, QRectF& panel4) {
applyMargin(panel1, margin, BOTTOM|LEFT|RIGHT_2);
applyMargin(panel2, margin, BOTTOM|LEFT_2|RIGHT_2);
applyMargin(panel3, margin, BOTTOM|LEFT_2|RIGHT_2);
applyMargin(panel4, margin, BOTTOM|LEFT_2|RIGHT);
applyMargin(panel1, margin, BOTTOM|LEFT|RIGHT_HALF);
applyMargin(panel2, margin, BOTTOM|LEFT_HALF|RIGHT_HALF);
applyMargin(panel3, margin, BOTTOM|LEFT_HALF|RIGHT_HALF);
applyMargin(panel4, margin, BOTTOM|LEFT_HALF|RIGHT);
}
void setMarginsForCornerLayout(qreal margin, QRectF& panel1, QRectF& panel2, QRectF& panel3, QRectF& panel4) {
applyMargin(panel1, margin, BOTTOM|LEFT|RIGHT_2);
applyMargin(panel2, margin, BOTTOM|LEFT_2|RIGHT_2);
applyMargin(panel3, margin, BOTTOM|LEFT_2|RIGHT_2);
applyMargin(panel4, margin, BOTTOM|LEFT_2|RIGHT);
applyMargin(panel1, margin, BOTTOM|LEFT|RIGHT_HALF);
applyMargin(panel2, margin, BOTTOM|LEFT_HALF|RIGHT_HALF);
applyMargin(panel3, margin, BOTTOM|LEFT_HALF|RIGHT_HALF);
applyMargin(panel4, margin, BOTTOM|LEFT_HALF|RIGHT);
}
inline qreal tapesGaugeWidthFor(qreal containerWidth, qreal preferredAIWidth) {
......
src/ui/PrimaryFlightDisplay.h
View file @ 84badf33
......@@ -63,6 +63,7 @@ signals:
void visibilityChanged(bool visible);
private:
/*
enum AltimeterMode {
PRIMARY_MAIN_GPS_SUB, // Show the primary alt. on tape and GPS as extra info
GPS_MAIN // Show GPS on tape and no extra info
......@@ -77,6 +78,7 @@ private:
PRIMARY_MAIN_GROUND_SUB,// Show primary speed (often airspeed) on tape and groundspeed as extra
GROUND_MAIN // Show groundspeed on tape and no extra info
};
*/
/*
* There are at least these differences between airplane and copter PDF view:
......@@ -115,9 +117,11 @@ private:
UASInterface* uas; ///< The uas currently monitored
/*
AltimeterMode altimeterMode;
AltimeterFrame altimeterFrame;
SpeedMode speedMode;
*/
bool didReceivePrimaryAltitude;
bool didReceivePrimarySpeed;
......@@ -144,9 +148,9 @@ private:
float navigationTargetBearing;
Layout layout; // The display layout.
Style style; // The AI style (tapes translusent or opague)
Style style; // The AI style (tapes translucent or opague)
// TODO: Use stylesheet colors?
QColor redColor;
QColor amberColor;
QColor greenColor;
......@@ -154,7 +158,7 @@ private:
qreal lineWidth;
qreal fineLineWidth;
qreal smallTestSize;
qreal smallTextSize;
qreal mediumTextSize;
qreal largeTextSize;
......@@ -170,13 +174,7 @@ private:
static const int tickValues[];
static const QString compassWindNames[];
static const int updateInterval = 40;
signals:
public slots:
static const int updateInterval = 40;
};
#endif // PRIMARYFLIGHTDISPLAY_H
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