Added Qt text painting to 3D widget, removed thus the dependency to FTGL

src/ui/HUD.cc

@@ -448,7 +448,7 @@ void HUD::paintText(QString text, QColor color, float fontSize, float refX, floa
 
     QFont font("Bitstream Vera Sans");
     // Enforce minimum font size of 5 pixels
-    int fSize = qMax(1, (int)(fontSize*scalingFactor*1.26f));
+    int fSize = qMax(5, (int)(fontSize*scalingFactor*1.26f));
     font.setPixelSize(fSize);
 
     QFontMetrics metrics = QFontMetrics(font);

src/ui/map3D/Q3DWidget.cc

@@ -481,6 +481,18 @@ Q3DWidget::initializeGL(void)
     glEnable(GL_LIGHT0);
     glDisable(GL_LIGHTING);
     glEnable(GL_NORMALIZE);
+
+    // TODO: Added these, please check
+    glEnable(GL_MULTISAMPLE);
+    glEnable(GL_BLEND);
+
+    glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
+
+    glEnable(GL_POINT_SMOOTH);
+    glEnable(GL_LINE_SMOOTH);
+
+    glHint(GL_POINT_SMOOTH_HINT, GL_NICEST);
+    glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
 }
 
 void

src/ui/map3D/QMap3DWidget.cc

@@ -55,8 +55,8 @@ QMap3DWidget::buildLayout(void)
     lockCameraCheckBox->setText("Lock Camera");
     lockCameraCheckBox->setChecked(lockCamera);
 
-    positionLabel = new QLabel(this);
-    positionLabel->setText(tr("Waiting for first position update.. "));
+    //positionLabel = new QLabel(this);
+    //positionLabel->setText(tr("Waiting for first position update.. "));
 
     QGridLayout* layout = new QGridLayout(this);
     layout->setMargin(0);
@@ -66,7 +66,7 @@ QMap3DWidget::buildLayout(void)
     layout->addWidget(trailCheckBox, 1, 1);
     layout->addWidget(recenterButton, 1, 2);
     layout->addWidget(lockCameraCheckBox, 1, 3);
-    layout->addWidget(positionLabel, 1, 4);
+    // layout->addWidget(positionLabel, 1, 4);
     layout->setRowStretch(0, 100);
     layout->setRowStretch(1, 1);
     layout->setColumnStretch(0, 1);
@@ -147,29 +147,43 @@ QMap3DWidget::displayHandler(void)
     glVertex2f(getWindowWidth(), 0.0f);
     glEnd();
 
+    // QT QPAINTER OPENGL PAINTING
+
+    QPainter painter;
+    painter.begin(this);
+    painter.setRenderHint(QPainter::Antialiasing, true);
+    painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
+    paintText(QString("x = %1 y = %2 z = %3 r = %4 p = %5 y = %6").arg(robotX, 0, 'f', 2).arg(robotY, 0, 'f', 2).arg(robotZ, 0, 'f', 2).arg(robotRoll, 0, 'f', 2).arg(robotPitch, 0, 'f', 2).arg(robotYaw, 0, 'f', 2),
+              QColor(255, 255, 255),
+              12,
+              5,
+              5,
+              &painter);
+}
 
-//    char buffer[6][255];
-//
-//    sprintf(buffer[0], "x = %.2f", robotX);
-//    sprintf(buffer[1], "y = %.2f", robotY);
-//    sprintf(buffer[2], "z = %.2f", robotZ);
-//    sprintf(buffer[3], "r = %.2f", robotRoll);
-//    sprintf(buffer[4], "p = %.2f", robotPitch);
-//    sprintf(buffer[5], "y = %.2f", robotYaw);
-
-    positionLabel->setText(QString("x = %1 y = %2 z = %3 r = %4 p = %5 y = %6").arg(robotX).arg(robotY).arg(robotZ).arg(robotRoll).arg(robotPitch).arg(robotYaw));
-
-//    font->FaceSize(10);
-//    glColor3f(1.0f, 1.0f, 1.0f);
-//    glPushMatrix();
-//
-//    glTranslatef(0.0f, 30.0f, 0.0f);
-//    for (int32_t i = 0; i < 6; ++i)
-//    {
-//        glTranslatef(60.0f, 0.0f, 0.0f);
-//        font->Render(buffer[i]);
-//    }
-//    glPopMatrix();
+void QMap3DWidget::paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter)
+{
+    QPen prevPen = painter->pen();
+
+    float pPositionX = refX;
+    float pPositionY = refY;
+
+    QFont font("Bitstream Vera Sans");
+    // Enforce minimum font size of 5 pixels
+    int fSize = qMax(5, (int)(fontSize));
+    font.setPixelSize(fSize);
+
+    QFontMetrics metrics = QFontMetrics(font);
+    int border = qMax(4, metrics.leading());
+    QRect rect = metrics.boundingRect(0, 0, width() - 2*border, int(height()*0.125),
+                                      Qt::AlignLeft | Qt::TextWordWrap, text);
+    painter->setPen(color);
+    painter->setFont(font);
+    painter->setRenderHint(QPainter::TextAntialiasing);
+    painter->drawText(pPositionX, pPositionY,
+                      rect.width(), rect.height(),
+                      Qt::AlignCenter | Qt::TextWordWrap, text);
+    painter->setPen(prevPen);
 }
 
 /**

src/ui/map3D/QMap3DWidget.h

@@ -37,7 +37,7 @@ private slots:
 
 protected:
     UASInterface* uas;
-    QLabel* positionLabel;
+    void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
 
 private:
     void drawPlatform(float roll, float pitch, float yaw);

src/ui/uas/UASView.cc

@@ -109,7 +109,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     // Heartbeat fade
     refreshTimer = new QTimer(this);
     connect(refreshTimer, SIGNAL(timeout()), this, SLOT(refresh()));
-    refreshTimer->start(180);
+    refreshTimer->start(updateInterval);
 }
 
 UASView::~UASView()
@@ -195,7 +195,7 @@ void UASView::receiveHeartbeat(UASInterface* uas)
         m_ui->heartbeatIcon->setStyleSheet(colorstyle);
         m_ui->heartbeatIcon->setAutoFillBackground(true);
         refreshTimer->stop();
-        refreshTimer->start(100);
+        refreshTimer->start(updateInterval);
     }
 }
 
@@ -330,6 +330,20 @@ void UASView::updateLoad(UASInterface* uas, double load)
 
 void UASView::refresh()
 {
+    //setUpdatesEnabled(false);
+    setUpdatesEnabled(true);
+
+    static quint64 lastupdate = 0;
+    qDebug() << "UASVIEW update diff: " << MG::TIME::getGroundTimeNow() - lastupdate;
+    lastupdate = MG::TIME::getGroundTimeNow();
+
+    // FIXME
+    static int generalUpdateCount = 0;
+
+    if (generalUpdateCount == 4)
+    {
+        generalUpdateCount = 0;
+        qDebug() << "UPDATING EVERYTHING";
     // State
     m_ui->stateLabel->setText(state);
     m_ui->statusTextLabel->setText(stateDesc);
@@ -411,6 +425,8 @@ void UASView::refresh()
     QString timeText;
     timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
     m_ui->timeElapsedLabel->setText(timeText);
+}
+    generalUpdateCount++;
 
     // Fade heartbeat icon
     // Make color darker
@@ -421,6 +437,9 @@ void UASView::refresh()
                                     heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
     m_ui->heartbeatIcon->setStyleSheet(colorstyle);
     m_ui->heartbeatIcon->setAutoFillBackground(true);
+    //setUpdatesEnabled(true);
+    repaint();
+    setUpdatesEnabled(false);
 }
 
 void UASView::changeEvent(QEvent *e)

src/ui/uas/UASView.h

@@ -99,6 +99,7 @@ protected:
     float lon;
     float alt;
     float groundDistance;
+    static const int updateInterval = 180;
 
 
     void mouseDoubleClickEvent (QMouseEvent * event);