First PrimaryFlightDisplay integration that will even compile. Non functionalgit status

qgroundcontrol.pro

@@ -376,7 +376,8 @@ HEADERS += src/MG.h \
     src/ui/submainwindow.h \
     src/ui/dockwidgettitlebareventfilter.h \
     src/ui/uas/UASQuickView.h \
-    src/ui/uas/UASQuickViewItem.h
+    src/ui/uas/UASQuickViewItem.h \
+    src/ui/PrimaryFlightDisplay.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -544,7 +545,8 @@ SOURCES += src/main.cc \
     src/ui/submainwindow.cpp \
     src/ui/dockwidgettitlebareventfilter.cpp \
     src/ui/uas/UASQuickViewItem.cc \
-    src/ui/uas/UASQuickView.cc
+    src/ui/uas/UASQuickView.cc \
+    src/ui/PrimaryFlightDisplay.cpp
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/ui/HUD.h

@@ -29,8 +29,8 @@ This file is part of the QGROUNDCONTROL project
  *
  */
 
-#ifndef HUD_H
-#define HUD_H
+#ifndef HUD_old_H
+#define HUD_old_H
 
 #include <QImage>
 #include <QGLWidget>
@@ -41,18 +41,18 @@ This file is part of the QGROUNDCONTROL project
 #include "UASInterface.h"
 
 /**
- * @brief Displays a Head Up Display (HUD)
+ * @brief Displays a Head Up Display (HUD_old)
  *
- * This class represents a head up display (HUD) and draws this HUD in an OpenGL widget (QGLWidget).
- * It can superimpose the HUD over the current live image stream (any arriving image stream will be auto-
+ * This class represents a head up display (HUD_old) and draws this HUD_old in an OpenGL widget (QGLWidget).
+ * It can superimpose the HUD_old over the current live image stream (any arriving image stream will be auto-
  * matically used as background), or it draws the classic blue-brown background known from instruments.
  */
-class HUD : public QGLWidget
+class HUD_old : public QGLWidget
 {
     Q_OBJECT
 public:
-    HUD(int width = 640, int height = 480, QWidget* parent = NULL);
-    ~HUD();
+    HUD_old(int width = 640, int height = 480, QWidget* parent = NULL);
+    ~HUD_old();
 
     void setImageSize(int width, int height, int depth, int channels);
     void resizeGL(int w, int h);
@@ -90,7 +90,7 @@ public slots:
     /** @brief Select directory where to load the offline files from */
     void selectOfflineDirectory();
     /** @brief Enable the HUD instruments */
-    void enableHUDInstruments(bool enabled);
+    void enableHUD_oldInstruments(bool enabled);
     /** @brief Enable Video */
     void enableVideo(bool enabled);
     /** @brief Copy an image from the current active UAS */
@@ -103,9 +103,9 @@ protected slots:
     void paintPitchLines(float pitch, QPainter* painter);
     /** @brief Paint text on top of the image and OpenGL drawings */
     void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
-    /** @brief Setup the OpenGL view for drawing a sub-component of the HUD */
+    /** @brief Setup the OpenGL view for drawing a sub-component of the HUD_old */
     void setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight);
-    void paintHUD();
+    void paintHUD_old();
     void paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter);
     void paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter);
 
@@ -156,8 +156,8 @@ protected:
     float vGaugeSpacing; ///< Virtual spacing of the gauges from the center, 50 mm per default
     float vPitchPerDeg; ///< Virtual pitch to mm conversion. Currently one degree is 3 mm up/down in the pitch markings
 
-    int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
-    int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
+    int xCenter; ///< Center of the HUD_old instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
+    int yCenter; ///< Center of the HUD_old instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
 
     // Image buffers
     unsigned char* rawBuffer1; ///< Double buffer 1 for the image
@@ -172,8 +172,8 @@ protected:
     int receivedWidth;         ///< Width in pixels of the current image
     int receivedHeight;        ///< Height in pixels of the current image
 
-    // HUD colors
-    QColor defaultColor;       ///< Color for most HUD elements, e.g. pitch lines, center cross, change rate gauges
+    // HUD_old colors
+    QColor defaultColor;       ///< Color for most HUD_old elements, e.g. pitch lines, center cross, change rate gauges
     QColor setPointColor;      ///< Color for the current control set point, e.g. yaw desired
     QColor warningColor;       ///< Color for warning messages
     QColor criticalColor;      ///< Color for caution messages
@@ -184,17 +184,17 @@ protected:
     int warningBlinkRate;      ///< Blink rate of warning messages, will be rounded to the refresh rate
 
     QTimer* refreshTimer;      ///< The main timer, controls the update rate
-    QPainter* hudPainter;
-    QFont font;                ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts
-    QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system)
+    QPainter* HUD_oldPainter;
+    QFont font;                ///< The HUD_old font, per default the free Bitstream Vera SANS, which is very close to actual HUD_old fonts
+    QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD_old font is directly loaded from file rather than from the system)
     bool noCamera;             ///< No camera images available, draw the ground/sky box to indicate the horizon
     bool hardwareAcceleration; ///< Enable hardware acceleration
 
-    float strongStrokeWidth;   ///< Strong line stroke width, used throughout the HUD
-    float normalStrokeWidth;   ///< Normal line stroke width, used throughout the HUD
-    float fineStrokeWidth;     ///< Fine line stroke width, used throughout the HUD
+    float strongStrokeWidth;   ///< Strong line stroke width, used throughout the HUD_old
+    float normalStrokeWidth;   ///< Normal line stroke width, used throughout the HUD_old
+    float fineStrokeWidth;     ///< Fine line stroke width, used throughout the HUD_old
 
-    QString waypointName;      ///< Waypoint name displayed in HUD
+    QString waypointName;      ///< Waypoint name displayed in HUD_old
     float roll;
     float pitch;
     float yaw;
@@ -218,7 +218,7 @@ protected:
     float load;
     QString offlineDirectory;
     QString nextOfflineImage;
-    bool hudInstrumentsEnabled;
+    bool HUDInstrumentsEnabled;
     bool videoEnabled;
     bool dataStreamEnabled;
     bool imageLoggingEnabled;
@@ -235,4 +235,4 @@ protected:
     unsigned int imageLogCounter;
 };
 
-#endif // HUD_H
+#endif // HUD_old_H

src/ui/MainWindow.cc

@@ -59,6 +59,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCFirmwareUpdate.h"
 #include "QGCStatusBar.h"
 #include "UASQuickView.h"
+#include "PrimaryFlightDisplay.h"
 
 #ifdef QGC_OSG_ENABLED
 #include "Q3DWidgetFactory.h"
@@ -566,11 +567,14 @@ void MainWindow::buildCommonWidgets()
     connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
     }
 
-
-    createDockWidget(simView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
+    // createDockWidget(simView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
+    createDockWidget(simView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
 
     createDockWidget(pilotView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
-    createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+
+    //createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+    createDockWidget(pilotView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+
     createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
     createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
     pilotView->setTabPosition(Qt::LeftDockWidgetArea,QTabWidget::North);
@@ -780,9 +784,10 @@ void MainWindow::loadDockWidget(QString name)
         qDebug() << "Error loading window:" << name << "Unknown window type";
         //createDockWidget(centerStack->currentWidget(),hddisplay,tr("Actuator Status"),"HEADS_DOWN_DISPLAY_2_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
-    else if (name == "HEAD_UP_DISPLAY_DOCKWIDGET")
+    else if (name == "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET")
     {
-        createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
+        // createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
+        createDockWidget(centerStack->currentWidget(),new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
     else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET")
     {

src/ui/PrimaryFlightDisplay.h

+#ifndef PRIMARYFLIGHTDISPLAY_H
+#define PRIMARYFLIGHTDISPLAY_H
+
+#include <QWidget>
+#include <QPen>
+#include "UASInterface.h"
+
+#define SEPARATE_LAYOUT
+#define LINEWIDTH 0.007
+
+// all in units of display height
+#define ROLL_SCALE_RADIUS 0.42
+#define ROLL_SCALE_TICKMARKLENGTH 0.04
+#define ROLL_SCALE_MARKERWIDTH 0.06
+#define ROLL_SCALE_MARKERHEIGHT 0.04
+// scale max. degrees
+#define 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_MAJORLENGTH 0.08
+#define PITCH_SCALE_MINORLENGTH 0.04
+#define PITCH_SCALE_HALFRANGE 20
+
+//#define USE_TAPE_COMPASS
+//#define USE_DISK_COMPASS
+#define USE_DISK2_COMPASS
+
+// We want no numbers on the scale, just principal winds or half-winds and ticks.
+// With whole winds there are 45 deg per wind, with half-winds 22.5
+#define COMPASS_TAPE_RESOLUTION 15
+// number of degrees side to side
+#define COMPASS_TAPE_SPAN 120
+
+// 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_SPAN 180
+#define COMPASS_DISK_RESOLUTION 15
+#define COMPASS_DISK_MARKERWIDTH 0.2
+#define COMPASS_DISK_MARKERHEIGHT 0.133
+
+#define COMPASS_DISK2_SPAN 180
+#define COMPASS_DISK2_RESOLUTION 5
+#define COMPASS_DISK2_MAJORTICK 10
+#define COMPASS_DISK2_ARROWTICK 45
+#define COMPASS_DISK2_MAJORLINEWIDTH 0.006
+#define COMPASS_DISK2_MINORLINEWIDTH 0.004
+#define COMPASS_SCALE_TEXT_SIZE 0.03
+
+// The altitude difference between top and bottom of scale
+#define ALTIMETER_LINEAR_SPAN 35
+// every 5 meters there is a tick mark
+#define ALTIMETER_LINEAR_RESOLUTION 5
+// every 10 meters there is a number
+#define ALTIMETER_LINEAR_MAJOR_RESOLUTION 10
+// min. and max. vertical velocity
+
+// The altitude difference between top and bottom of scale
+#define ALTIMETER_PROJECTED_SPAN 50
+// every 5 meters there is a tick mark
+#define ALTIMETER_PROJECTED_RESOLUTION 5
+// every 10 meters there is a number
+#define ALTIMETER_PROJECTED_MAJOR_RESOLUTION 10
+// min. and max. vertical velocity
+
+//#define ALTIMETER_PROJECTED
+
+#define ALTIMETER_VVI_SPAN 10
+#define ALTIMETER_VVI_LOGARITHMIC true
+
+#define SHOW_ZERO_ON_SCALES true
+#define SCALE_TEXT_SIZE 0.042
+#define SMALL_TEXT_SIZE 0.035
+
+#define UNKNOWN_BATTERY -1
+
+class PrimaryFlightDisplay : public QWidget
+{
+    Q_OBJECT
+public:
+    PrimaryFlightDisplay(int width = 640, int height = 480, QWidget* parent = NULL);
+    ~PrimaryFlightDisplay();
+
+    /** @brief Attitude from main autopilot / system state */
+    void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
+    /** @brief Attitude from one specific component / redundant autopilot */
+    void updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
+//    void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
+    void updateBattery(UASInterface*, double, double, int);
+    void receiveHeartbeat(UASInterface*);
+    void updateThrust(UASInterface*, double);
+    void updateLocalPosition(UASInterface*,double,double,double,quint64);
+    void updateGlobalPosition(UASInterface*,double,double,double,quint64);
+    void updateSpeed(UASInterface*,double,double,double,quint64);
+    void updateState(UASInterface*,QString);
+    void updateMode(int id,QString mode, QString description);
+    void updateLoad(UASInterface*, double);
+    void selectWaypoint(int uasId, int id);
+
+    void paintEvent(QPaintEvent *event);
+    void resizeEvent(QResizeEvent *e);
+
+    // from HUD.h:
+
+    /** @brief Preferred Size */
+    QSize sizeHint() const;
+    /** @brief Start updating widget */
+    void showEvent(QShowEvent* event);
+    /** @brief Stop updating widget */
+    void hideEvent(QHideEvent* event);
+
+    // dongfang: We have no context menu. Viewonly.
+    // void contextMenuEvent (QContextMenuEvent* event);
+
+    // dongfang: What is that?
+    void createActions();
+
+    static const int updateInterval = 40;
+
+public slots:
+    /** @brief Set the currently monitored UAS */
+    virtual void setActiveUAS(UASInterface* uas);
+
+protected slots:
+    void paintOnTimer();
+
+signals:
+    void visibilityChanged(bool visible);
+
+private:
+    //void prepareTransform(QPainter& painter, qreal width, qreal height);
+    //void transformToGlobalSystem(QPainter& painter, qreal width, qreal height, float roll, float pitch);
+
+    void drawTextCenter(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawTextLeftCenter(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawTextRightCenter(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawTextCenterBottom(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawTextCenterTop(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawAIGlobalFeatures(QPainter& painter, QRectF area);
+    void drawAIAirframeFixedFeatures(QPainter& painter, QRectF area);
+    void drawPitchScale(QPainter& painter, QRectF area, bool drawNumbersLeft, bool drawNumbersRight);
+    void drawRollScale(QPainter& painter, QRectF area, bool drawTicks, bool drawNumbers);
+    void drawAIAttitudeScales(QPainter& painter, QRectF area);
+#if defined(USE_DISK_COMPASS) || defined(USE_DISK2_COMPASS)
+    void drawCompassDisk(QPainter& painter, QRectF area);
+#else
+    void drawCompassTape(QPainter& painter, QRectF area, float yaw);
+#endif
+    void drawAltimeter(QPainter& painter, QRectF area, float altitude, float maxAltitude, float vv);
+
+    void fillInstrumentBackground(QPainter& painter, QRectF edge);
+    void drawInstrumentBackground(QPainter& painter, QRectF edge);
+
+    void drawLinkStatsPanel(QPainter& painter, QRectF area);
+    void drawSysStatsPanel(QPainter& painter, QRectF area);
+    void drawMissionStatsPanel(QPainter& painter, QRectF area);
+    void drawSensorsStatsPanel(QPainter& painter, QRectF area);
+
+    void makeDummyData();
+    void doPaint();
+    void paintAllInOne();
+    void paintSeparate();
+
+    float roll;
+    float pitch;
+    float heading;
+
+    // APM: GPS and baro mix. From the GLOBAL_POSITION_INT or VFR_HUD messages.
+    float aboveASLAltitude;
+    float GPSAltitude;
+
+    // APM: GPS and baro mix above home (GPS) altitude. This value comes from the GLOBAL_POSITION_INT message.
+    // Do !!!NOT!!! ever do altitude calculations at the ground station. There are enough pitfalls already.
+    // The MP "set home altitude" button will not be repeated here if it did that.
+    float aboveHomeAltitude;
+
+    float groundSpeed;
+    float airSpeed;
+
+    QString mode;
+    QString state;
+
+    float load;
+
+    QPen whitePen;
+    QPen redPen;
+    QPen amberPen;
+    QPen greenPen;
+    QPen blackPen;
+
+    QPen instrumentEdgePen;
+    QBrush instrumentBackground;
+    QBrush HUDInstrumentBackground;
+
+    QFont font;
+
+    QTimer* refreshTimer;       ///< The main timer, controls the update rate
+
+    UASInterface* uas;          ///< The uas currently monitored
+
+    //QString energyStatus; ///< Current fuel level / battery voltage
+    double batteryVoltage;
+    double batteryCharge;
+
+    static const int tickValues[];
+    static const QString compassWindNames[];
+
+signals:
+    
+public slots:
+    
+};
+
+#endif // PRIMARYFLIGHTDISPLAY_H

src/ui/QGCRGBDView.cc

@@ -6,7 +6,7 @@
 #include "UASManager.h"
 
 QGCRGBDView::QGCRGBDView(int width, int height, QWidget *parent) :
-    HUD(width, height, parent),
+    HUD_old(width, height, parent),
     rgbEnabled(false),
     depthEnabled(false)
 {
@@ -70,7 +70,7 @@ void QGCRGBDView::setActiveUAS(UASInterface* uas)
         connect(uas, SIGNAL(rgbdImageChanged(UASInterface*)), this, SLOT(updateData(UASInterface*)));
     }
 
-    HUD::setActiveUAS(uas);
+    HUD_old::setActiveUAS(uas);
 }
 
 void QGCRGBDView::clearData(void)
@@ -85,7 +85,7 @@ void QGCRGBDView::contextMenuEvent(QContextMenuEvent* event)
 {
     QMenu menu(this);
     // Update actions
-    enableHUDAction->setChecked(hudInstrumentsEnabled);
+    enableHUDAction->setChecked(HUDInstrumentsEnabled);
     //enableVideoAction->setChecked(videoEnabled);
     enableRGBAction->setChecked(rgbEnabled);
     enableDepthAction->setChecked(depthEnabled);

src/ui/QGCRGBDView.h

@@ -3,7 +3,7 @@
 
 #include "HUD.h"
 
-class QGCRGBDView : public HUD
+class QGCRGBDView : public HUD_old
 {
     Q_OBJECT
 public: