Prepared horizontal situation indicator display

src/ui/HSIDisplay.cc

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    PIXHAWK is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of Horizontal Situation Indicator class
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#include <QFile>
+#include <QStringList>
+#include "UASManager.h"
+#include "HSIDisplay.h"
+#include "MG.h"
+
+#include <QDebug>
+
+HSIDisplay::HSIDisplay(QStringList* plotList, QWidget *parent) :
+        HDDisplay(plotList, parent),
+{
+    
+}
+
+void HSIDisplay::paintDisplay()
+{
+    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(this);
+    painter.setRenderHint(QPainter::Antialiasing, true);
+    painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
+    painter.fillRect(QRect(0, 0, width(), height()), backgroundColor);
+    const int columns = 3;
+    const float spacing = 0.4f; // 40% of width
+    const float gaugeWidth = vwidth / (((float)columns) + (((float)columns+1) * spacing + spacing * 0.1f));
+    const QColor gaugeColor = QColor(200, 200, 200);
+    //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);
+//        drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, 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 > vwidth)
+//        {
+//            yCoord += topSpacing + gaugeWidth;
+//            xCoord = leftSpacing + gaugeWidth/2.0f;
+//        }
+//    }
+}
+
+/**
+ *
+ * @param uas the UAS/MAV to monitor/display with the HUD
+ */
+void HSIDisplay::setActiveUAS(UASInterface* uas)
+{
+	HDDisplay::setActiveUAS(uas);
+    //qDebug() << "ATTEMPTING TO SET UAS";
+    if (this->uas != NULL && this->uas != uas)
+    {
+        // Disconnect any previously connected active MAV
+        //disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
+    }
+
+    // Now connect the new UAS
+
+    //if (this->uas != uas)
+    // {
+    //qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
+    // Setup communication
+    //connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
+    //}
+}
+
+void HSIDisplay::drawGPS()
+{
+	
+}
+
+void HSIDisplay::drawObjects()
+{
+	
+}
+
+void HSIDisplay::drawBaseLines(float xRef, float yRef, float radius, float yaw, 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);
+    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, yaw*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);
+}
+
+void HDDisplay::changeEvent(QEvent *e)
+{
+    QWidget::changeEvent(e);
+    switch (e->type()) {
+    case QEvent::LanguageChange:
+        m_ui->retranslateUi(this);
+        break;
+    default:
+        break;
+    }
+}

src/ui/HSIDisplay.h

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    PIXHAWK is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of of Horizontal Situation Indicator class
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef HSIDISPLAY_H
+#define HSIDISPLAY_H
+
+#include <QtGui/QWidget>
+#include <QColor>
+#include <QTimer>
+#include <QMap>
+#include <QPair>
+#include <cmath>
+
+#include "HDDisplay.h"
+
+class HSIDisplay : public HDDisplay {
+    Q_OBJECT
+public:
+    HSIDisplay(QStringList* plotList, QWidget *parent = 0);
+    ~HSIDisplay();
+
+public slots:
+    void setActiveUAS(UASInterface* uas);
+
+protected slots:
+    void paintDisplay();
+	void drawGPS();
+	void drawObjects();
+	void drawBaseLines(float xRef, float yRef, float radius, float yaw, const QColor& color, QPainter* painter, bool solid);
+	
+
+protected:
+
+private:
+};
+
+#endif // HSIDISPLAY_H