/
HDDisplay.cc
1155 lines (1014 loc) · 39.9 KB
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HDDisplay.cc
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/*=====================================================================
======================================================================*/
/**
* @file
* @brief Implementation of Head Down Display (HDD)
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QFile>
#include <QGLWidget>
#include <QStringList>
#include <QGraphicsTextItem>
#include <QDockWidget>
#include <QInputDialog>
#include <QMouseEvent>
#include <QMenu>
#include <QSettings>
#include <qmath.h>
#include "UASManager.h"
#include "HDDisplay.h"
#include "ui_HDDisplay.h"
#include "MG.h"
#include "QGC.h"
#include <QDebug>
HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
QGraphicsView(parent),
uas(NULL),
xCenterOffset(0.0f),
yCenterOffset(0.0f),
vwidth(80.0f),
vheight(80.0f),
backgroundColor(QColor(0, 0, 0)),
defaultColor(QColor(70, 200, 70)),
setPointColor(QColor(200, 20, 200)),
warningColor(Qt::yellow),
criticalColor(Qt::red),
infoColor(QColor(20, 200, 20)),
fuelColor(criticalColor),
warningBlinkRate(5),
refreshTimer(new QTimer(this)),
hardwareAcceleration(true),
strongStrokeWidth(1.5f),
normalStrokeWidth(1.0f),
fineStrokeWidth(0.5f),
acceptList(new QStringList()),
acceptUnitList(new QStringList()),
lastPaintTime(0),
columns(3),
valuesChanged(true),
m_ui(NULL)
{
setWindowTitle(title);
//m_ui->setupUi(this);
setAutoFillBackground(true);
// Add all items in accept list to gauge
if (plotList) {
for(int i = 0; i < plotList->length(); ++i) {
addGauge(plotList->at(i));
}
}
restoreState();
// Set preferred size
setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
createActions();
// setBackgroundBrush(QBrush(backgroundColor));
// setDragMode(QGraphicsView::ScrollHandDrag);
// setCacheMode(QGraphicsView::CacheBackground);
// // FIXME Handle full update with care - ressource intensive
// setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
//
// setRenderHints(QPainter::Antialiasing | QPainter::SmoothPixmapTransform);
//
// //Set-up the scene
// QGraphicsScene* Scene = new QGraphicsScene(this);
// setScene(Scene);
//
// //Populate the scene
// for(int x = 0; x < 1000; x = x + 25) {
// for(int y = 0; y < 1000; y = y + 25) {
//
// if(x % 100 == 0 && y % 100 == 0) {
// Scene->addRect(x, y, 2, 2);
//
// QString pointString;
// QTextStream stream(&pointString);
// stream << "(" << x << "," << y << ")";
// QGraphicsTextItem* item = Scene->addText(pointString);
// item->setPos(x, y);
// } else {
// Scene->addRect(x, y, 1, 1);
// }
// }
// }
//
// //Set-up the view
// setSceneRect(0, 0, 1000, 1000);
// setCenter(QPointF(500.0, 500.0)); //A modified version of centerOn(), handles special cases
// setCursor(Qt::OpenHandCursor);
// Set minimum size
this->setMinimumHeight(125);
this->setMinimumWidth(100);
scalingFactor = this->width()/vwidth;
// Refresh timer
refreshTimer->setInterval(180); //
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(triggerUpdate()));
//connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintGL()));
fontDatabase = QFontDatabase();
const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
const QString fontFamilyName = "Bitstream Vera Sans";
if(!QFile::exists(fontFileName)) qDebug() << "ERROR! font file: " << fontFileName << " DOES NOT EXIST!";
fontDatabase.addApplicationFont(fontFileName);
font = fontDatabase.font(fontFamilyName, "Roman", qMax(5, (int)(10*scalingFactor*1.2f+0.5f)));
if (font.family() != fontFamilyName) qDebug() << "ERROR! Font not loaded: " << fontFamilyName;
// Connect with UAS
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
//start();
}
HDDisplay::~HDDisplay()
{
saveState();
if(this->refreshTimer)
{
delete this->refreshTimer;
}
if(this->acceptList)
{
delete this->acceptList;
}
if(this->acceptUnitList)
{
delete this->acceptUnitList;
}
if(this->m_ui)
{
delete m_ui;
}
}
QSize HDDisplay::sizeHint() const
{
return QSize(400, 400.0f*(vwidth/vheight)*1.2f);
}
void HDDisplay::enableGLRendering(bool enable)
{
Q_UNUSED(enable);
}
void HDDisplay::triggerUpdate()
{
// Only repaint the regions necessary
update(this->geometry());
}
//void HDDisplay::updateValue(UASInterface* uas, const QString& name, const QString& unit, double value, quint64 msec)
//{
// // UAS is not needed
// Q_UNUSED(uas);
// if (!isnan(value) && !isinf(value))
// {
// // Update mean
// const float oldMean = valuesMean.value(name, 0.0f);
// const int meanCount = valuesCount.value(name, 0);
// double mean = (oldMean * meanCount + value) / (meanCount + 1);
// if (isnan(mean) || isinf(mean)) mean = 0.0;
// valuesMean.insert(name, mean);
// valuesCount.insert(name, meanCount + 1);
// // Two-value sliding average
// double dot = (valuesDot.value(name) + (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f))/2.0f;
// if (isnan(dot) || isinf(dot))
// {
// dot = 0.0;
// }
// valuesDot.insert(name, dot);
// values.insert(name, value);
// lastUpdate.insert(name, msec);
// //}
// //qDebug() << __FILE__ << __LINE__ << "VALUE:" << value << "MEAN:" << mean << "DOT:" << dot << "COUNT:" << meanCount;
// }
//}
void HDDisplay::paintEvent(QPaintEvent * event)
{
Q_UNUSED(event);
quint64 interval = 0;
//qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
interval = QGC::groundTimeMilliseconds();
renderOverlay();
}
void HDDisplay::contextMenuEvent (QContextMenuEvent* event)
{
QMenu menu(this);
menu.addAction(addGaugeAction);
menu.addActions(getItemRemoveActions());
menu.addSeparator();
menu.addAction(setColumnsAction);
// Title change would ruin settings
// this can only be allowed once
// HDDisplays are instantiated
// by a factory method based on
// QSettings
//menu.addAction(setTitleAction);
menu.exec(event->globalPos());
}
void HDDisplay::saveState()
{
QSettings settings;
QString instruments;
// Restore instrument settings
for (int i = 0; i < acceptList->count(); i++) {
QString key = acceptList->at(i);
instruments += "|" + QString::number(minValues.value(key, -1.0))+","+key+","+acceptUnitList->at(i)+","+QString::number(maxValues.value(key, +1.0))+","+customNames.value(key, "")+","+((symmetric.value(key, false)) ? "s" : "");
}
// qDebug() << "Saving" << instruments;
settings.setValue(windowTitle()+"_gauges", instruments);
settings.sync();
}
void HDDisplay::restoreState()
{
QSettings settings;
settings.sync();
acceptList->clear();
QStringList instruments = settings.value(windowTitle()+"_gauges").toString().split('|');
for (int i = 0; i < instruments.count(); i++) {
addGauge(instruments.at(i));
}
}
QList<QAction*> HDDisplay::getItemRemoveActions()
{
QList<QAction*> actions;
for(int i = 0; i < acceptList->length(); ++i) {
QString gauge = acceptList->at(i);
QAction* remove = new QAction(tr("Remove %1 gauge").arg(gauge), this);
remove->setStatusTip(tr("Removes the %1 gauge from the view.").arg(gauge));
remove->setData(gauge);
connect(remove, SIGNAL(triggered()), this, SLOT(removeItemByAction()));
actions.append(remove);
}
return actions;
}
void HDDisplay::removeItemByAction()
{
QAction* trigger = qobject_cast<QAction*>(QObject::sender());
if (trigger) {
QString item = trigger->data().toString();
int index = acceptList->indexOf(item);
acceptList->removeAt(index);
minValues.remove(item);
maxValues.remove(item);
symmetric.remove(item);
adjustGaugeAspectRatio();
}
}
void HDDisplay::addGauge()
{
QStringList items;
for (int i = 0; i < values.count(); ++i) {
QString key = values.keys().at(i);
QString label = key;
QStringList keySplit = key.split(".");
if (keySplit.size() > 1)
{
keySplit.removeFirst();
label = keySplit.join(".");
}
QString unit = units.value(key);
if (unit.contains("deg") || unit.contains("rad")) {
items.append(QString("%1,%2,%3,%4,%5,s").arg("-180").arg(key).arg(unit).arg("+180").arg(label));
} else {
items.append(QString("%1,%2,%3,%4,%5").arg("0").arg(key).arg(unit).arg("+100").arg(label));
}
}
bool ok;
QString item = QInputDialog::getItem(this, tr("Add Gauge Instrument"),
tr("Format: min, data name, unit, max, label [,s]"), items, 0, true, &ok);
if (ok && !item.isEmpty()) {
addGauge(item);
}
}
void HDDisplay::addGauge(const QString& gauge)
{
if (gauge.length() > 0) {
QStringList parts = gauge.split(',');
if (parts.count() > 2) {
double val;
bool ok;
bool success = true;
QString key = parts.at(1);
QString unit = parts.at(2);
if (!acceptList->contains(key)) {
// Convert min to double number
val = parts.first().toDouble(&ok);
success &= ok;
if (ok) minValues.insert(key, val);
// Convert max to double number
val = parts.at(3).toDouble(&ok);
success &= ok;
if (ok) maxValues.insert(key, val);
// Convert name
if (parts.length() >= 5)
{
if (parts.at(4).length() > 0)
{
customNames.insert(key, parts.at(4));
}
}
// Convert symmetric flag
if (parts.length() >= 6)
{
if (parts.at(5).contains("s"))
{
symmetric.insert(key, true);
}
}
if (success) {
// Add value to acceptlist
acceptList->append(key);
acceptUnitList->append(unit);
}
}
} else if (parts.count() > 1) {
if (!acceptList->contains(gauge)) {
acceptList->append(parts.at(0));
acceptUnitList->append(parts.at(1));
}
}
}
adjustGaugeAspectRatio();
}
void HDDisplay::createActions()
{
addGaugeAction = new QAction(tr("New &Gauge"), this);
addGaugeAction->setStatusTip(tr("Add a new gauge to the view by adding its name from the linechart"));
connect(addGaugeAction, SIGNAL(triggered()), this, SLOT(addGauge()));
setTitleAction = new QAction(tr("Set Widget Title"), this);
setTitleAction->setStatusTip(tr("Set the title caption of this tool widget"));
connect(setTitleAction, SIGNAL(triggered()), this, SLOT(setTitle()));
setColumnsAction = new QAction(tr("Set Number of Instrument Columns"), this);
setColumnsAction->setStatusTip(tr("Set number of columns to draw"));
connect(setColumnsAction, SIGNAL(triggered()), this, SLOT(setColumns()));
}
void HDDisplay::setColumns()
{
bool ok;
int i = QInputDialog::getInt(this, tr("Number of Instrument Columns"),
tr("Columns:"), columns, 1, 15, 1, &ok);
if (ok) {
columns = i;
}
}
void HDDisplay::setColumns(int cols)
{
columns = cols;
adjustGaugeAspectRatio();
}
void HDDisplay::adjustGaugeAspectRatio()
{
// Adjust vheight dynamically according to the number of rows
float vColWidth = vwidth / columns;
int vRows = ceil(acceptList->length()/(float)columns);
// Assuming square instruments, vheight is column width*row count
vheight = vColWidth * vRows;
}
void HDDisplay::setTitle()
{
QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());
if (parent) {
bool ok;
QString text = QInputDialog::getText(this, tr("New title"),
tr("Widget title:"), QLineEdit::Normal,
parent->windowTitle(), &ok);
if (ok && !text.isEmpty())
parent->setWindowTitle(text);
this->setWindowTitle(text);
}
}
void HDDisplay::renderOverlay()
{
if (!valuesChanged || !isVisible()) return;
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
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(viewport());
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
//painter.fillRect(QRect(0, 0, width(), height()), backgroundColor);
const float spacing = 0.4f; // 40% of width
const float gaugeWidth = vwidth / (((float)columns) + (((float)columns+1) * spacing + spacing * 0.5f));
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);
QString label = customNames.value(value);
drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), label, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, symmetric.value(value, false), 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*0.9f > vwidth)
{
yCoord += topSpacing + gaugeWidth;
xCoord = leftSpacing + gaugeWidth/2.0f;
}
}
}
/**
*
* @param uas the UAS/MAV to monitor/display with the HUD
*/
void HDDisplay::setActiveUAS(UASInterface* uas)
{
// Disconnect any previously connected active UAS
if (this->uas != NULL) {
removeSource(this->uas);
}
// Now connect the new UAS
addSource(uas);
this->uas = uas;
}
/**
* Rotate a polygon around a point
*
* @param p polygon to rotate
* @param origin the rotation center
* @param angle rotation angle, in radians
* @return p Polygon p rotated by angle around the origin point
*/
void HDDisplay::rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin)
{
// Standard 2x2 rotation matrix, counter-clockwise
//
// | cos(phi) sin(phi) |
// | -sin(phi) cos(phi) |
//
for (int i = 0; i < p.size(); i++) {
QPointF curr = p.at(i);
const float x = curr.x();
const float y = curr.y();
curr.setX(((cos(angle) * (x-origin.x())) + (-sin(angle) * (y-origin.y()))) + origin.x());
curr.setY(((sin(angle) * (x-origin.x())) + (cos(angle) * (y-origin.y()))) + origin.y());
p.replace(i, curr);
}
}
void HDDisplay::drawPolygon(QPolygonF refPolygon, QPainter* painter)
{
// Scale coordinates
QPolygonF draw(refPolygon.size());
for (int i = 0; i < refPolygon.size(); i++) {
QPointF curr;
curr.setX(refToScreenX(refPolygon.at(i).x()));
curr.setY(refToScreenY(refPolygon.at(i).y()));
draw.replace(i, curr);
}
painter->drawPolygon(draw);
}
void HDDisplay::drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter)
{
QBrush brush(defaultColor, Qt::NoBrush);
painter->setBrush(brush);
QPen rectPen(Qt::SolidLine);
rectPen.setWidth(0);
rectPen.setColor(defaultColor);
painter->setPen(rectPen);
float scaledValue = value;
// Saturate value
if (value > maxRate) scaledValue = maxRate;
if (value < minRate) scaledValue = minRate;
// x (Origin: xRef, yRef)
// -
// |
// |
// |
// =
// |
// -0.005 >|
// |
// -
const float width = height / 8.0f;
const float lineWidth = 0.5f;
// Indicator lines
// Top horizontal line
drawLine(xRef, yRef, xRef+width, yRef, lineWidth, defaultColor, painter);
// Vertical main line
drawLine(xRef+width/2.0f, yRef, xRef+width/2.0f, yRef+height, lineWidth, defaultColor, painter);
// Zero mark
drawLine(xRef, yRef+height/2.0f, xRef+width, yRef+height/2.0f, lineWidth, defaultColor, painter);
// Horizontal bottom line
drawLine(xRef, yRef+height, xRef+width, yRef+height, lineWidth, defaultColor, painter);
// Text
QString label;
label.sprintf("< %06.2f", value);
paintText(label, defaultColor, 3.0f, xRef+width/2.0f, yRef+height-((scaledValue - minRate)/(maxRate-minRate))*height - 1.6f, painter);
}
void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float max, QString name, float value, const QColor& color, QPainter* painter, bool symmetric, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid)
{
// Draw the circle
QPen circlePen(Qt::SolidLine);
// Rotate the whole gauge with this angle (in radians) for the zero position
float zeroRotation;
if (symmetric) {
zeroRotation = 1.35f;
} else {
zeroRotation = 0.49f;
}
// Scale the rotation so that the gauge does one revolution
// per max. change
float rangeScale;
if (symmetric) {
rangeScale = ((2.0f * M_PI) / (max - min)) * 0.57f;
} else {
rangeScale = ((2.0f * M_PI) / (max - min)) * 0.72f;
}
const float scaledValue = (value-min)*rangeScale;
float nameHeight = radius / 2.6f;
paintText(name.toUpper(), color, nameHeight*0.7f, xRef-radius, yRef-radius, painter);
// Ensure some space
nameHeight *= 1.2f;
if (!solid) {
circlePen.setStyle(Qt::DotLine);
}
circlePen.setWidth(refLineWidthToPen(radius/12.0f));
circlePen.setColor(color);
if (symmetric) {
circlePen.setStyle(Qt::DashLine);
}
painter->setBrush(Qt::NoBrush);
painter->setPen(circlePen);
drawCircle(xRef, yRef+nameHeight, radius, 0.0f, color, painter);
//drawCircle(xRef, yRef+nameHeight, radius, 0.0f, 170.0f, 1.0f, color, painter);
QString label;
// Show integer values without decimal places
if (intValues.contains(name)) {
label.sprintf("% 05d", (int)value);
} else {
label.sprintf("% 06.1f", value);
}
// Text
// height
const float textHeight = radius/2.1f;
const float textX = xRef-radius/3.0f;
const float textY = yRef+radius/2.0f;
// Draw background rectangle
QBrush brush(QGC::colorBackground, Qt::SolidPattern);
painter->setBrush(brush);
painter->setPen(Qt::NoPen);
if (symmetric) {
painter->drawRect(refToScreenX(xRef-radius), refToScreenY(yRef+nameHeight+radius/4.0f), refToScreenX(radius+radius), refToScreenY((radius - radius/4.0f)*1.2f));
} else {
painter->drawRect(refToScreenX(xRef-radius/2.5f), refToScreenY(yRef+nameHeight+radius/4.0f), refToScreenX(radius+radius/2.0f), refToScreenY((radius - radius/4.0f)*1.2f));
}
// Draw good value and crit. value markers
if (goodRange.first != goodRange.second) {
QRectF rectangle(refToScreenX(xRef-radius/2.0f), refToScreenY(yRef+nameHeight-radius/2.0f), refToScreenX(radius*2.0f), refToScreenX(radius*2.0f));
painter->setPen(Qt::green);
//int start = ((goodRange.first*rangeScale+zeroRotation)/M_PI)*180.0f * 16.0f;// + 16.0f * 60.0f;
//int span = start - ((goodRange.second*rangeScale+zeroRotation)/M_PI)*180.0f * 16.0f;
//painter->drawArc(rectangle, start, span);
}
if (criticalRange.first != criticalRange.second) {
QRectF rectangle(refToScreenX(xRef-radius/2.0f-3.0f), refToScreenY(yRef+nameHeight-radius/2.0f-3.0f), refToScreenX(radius*2.0f), refToScreenX(radius*2.0f));
painter->setPen(Qt::yellow);
//int start = ((criticalRange.first*rangeScale+zeroRotation)/M_PI)*180.0f * 16.0f - 180.0f*16.0f;// + 16.0f * 60.0f;
//int span = start - ((criticalRange.second*rangeScale+zeroRotation)/M_PI)*180.0f * 16.0f + 180.0f*16.0f;
//painter->drawArc(rectangle, start, span);
}
// Draw the value
//painter->setPen(textColor);
paintText(label, QGC::colorCyan, textHeight, textX, textY+nameHeight, painter);
//paintText(label, color, ((radius - radius/3.0f)*1.1f), xRef-radius/2.5f, yRef+radius/3.0f, painter);
// Draw the needle
const float maxWidth = radius / 6.0f;
const float minWidth = maxWidth * 0.3f;
QPolygonF p(6);
p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));
p.replace(1, QPointF(xRef-minWidth/2.0f, yRef+nameHeight+radius * 0.89f));
p.replace(2, QPointF(xRef+minWidth/2.0f, yRef+nameHeight+radius * 0.89f));
p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));
p.replace(4, QPointF(xRef, yRef+nameHeight+radius * 0.0f));
p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));
rotatePolygonClockWiseRad(p, scaledValue+zeroRotation, QPointF(xRef, yRef+nameHeight));
QBrush indexBrush;
indexBrush.setColor(color);
indexBrush.setStyle(Qt::SolidPattern);
painter->setPen(Qt::NoPen);
painter->setBrush(indexBrush);
drawPolygon(p, painter);
}
void HDDisplay::drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter)
{
if (values.size() > 0) {
QString selectedKey = values.begin().key();
// | | | | | |
// | | | | | |
// x speed: 2.54
// One column per value
QMapIterator<QString, double> value(values);
float x = xRef;
float y = yRef;
const float vspacing = 1.0f;
float width = 1.5f;
float height = 1.5f;
const float hspacing = 0.6f;
int i = 0;
while (value.hasNext() && i < maxNum && x < maxWidth && y < maxHeight) {
value.next();
QBrush brush(Qt::SolidPattern);
if (value.value() < 0.01f && value.value() > -0.01f) {
brush.setColor(Qt::gray);
} else if (value.value() > 0.01f) {
brush.setColor(Qt::blue);
} else {
brush.setColor(Qt::yellow);
}
painter->setBrush(brush);
painter->setPen(Qt::NoPen);
// Draw current value colormap
painter->drawRect(refToScreenX(x), refToScreenY(y), refToScreenX(width), refToScreenY(height));
// Draw change rate colormap
painter->drawRect(refToScreenX(x), refToScreenY(y+height+hspacing), refToScreenX(width), refToScreenY(height));
// Draw mean value colormap
painter->drawRect(refToScreenX(x), refToScreenY(y+2.0f*(height+hspacing)), refToScreenX(width), refToScreenY(height));
// Add spacing
x += width+vspacing;
// Iterate
i++;
}
// Draw detail label
QString detail = "NO DATA AVAILABLE";
if (values.contains(selectedKey)) {
detail = values.find(selectedKey).key();
detail.append(": ");
detail.append(QString::number(values.find(selectedKey).value()));
}
paintText(detail, QColor(255, 255, 255), 3.0f, xRef, yRef+3.0f*(height+hspacing)+1.0f, painter);
}
}
void HDDisplay::drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, 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) / expectedMaxChange;
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, value*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);
}
/**
* Paint text on top of the image and OpenGL drawings
*
* @param text chars to write
* @param color text color
* @param fontSize text size in mm
* @param refX position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels.
* @param refY position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels.
*/
void HDDisplay::paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter)
{
QPen prevPen = painter->pen();
float pPositionX = refToScreenX(refX) - (fontSize*scalingFactor*0.072f);
float pPositionY = refToScreenY(refY) - (fontSize*scalingFactor*0.212f);
QFont font("Bitstream Vera Sans");
// Enforce minimum font size of 5 pixels
int fSize = qMax(5, (int)(fontSize*scalingFactor*1.26f));
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);
}
float HDDisplay::refLineWidthToPen(float line)
{
return line * 2.50f;
}
// Connect a generic source
void HDDisplay::addSource(QObject* obj)
{
//genericSources.append(obj);
// FIXME XXX HACK
// if (plots.size() > 0)
// {
connect(obj, SIGNAL(valueChanged(int,QString,QString,qint8,quint64)), this, SLOT(updateValue(int,QString,QString,qint8,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,quint8,quint64)), this, SLOT(updateValue(int,QString,QString,quint8,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,qint16,quint64)), this, SLOT(updateValue(int,QString,QString,qint16,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,quint16,quint64)), this, SLOT(updateValue(int,QString,QString,quint16,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,qint32,quint64)), this, SLOT(updateValue(int,QString,QString,qint32,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,quint32,quint64)), this, SLOT(updateValue(int,QString,QString,quint32,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,quint64,quint64)), this, SLOT(updateValue(int,QString,QString,quint64,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,qint64,quint64)), this, SLOT(updateValue(int,QString,QString,qint64,quint64)));
connect(obj, SIGNAL(valueChanged(int,QString,QString,double,quint64)), this, SLOT(updateValue(int,QString,QString,double,quint64)));
// }
}
// Disconnect a generic source
void HDDisplay::removeSource(QObject* obj)
{
//genericSources.append(obj);
// FIXME XXX HACK
// if (plots.size() > 0)
// {
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,qint8,quint64)), this, SLOT(updateValue(int,QString,QString,qint8,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,quint8,quint64)), this, SLOT(updateValue(int,QString,QString,quint8,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,qint16,quint64)), this, SLOT(updateValue(int,QString,QString,qint16,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,quint16,quint64)), this, SLOT(updateValue(int,QString,QString,quint16,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,qint32,quint64)), this, SLOT(updateValue(int,QString,QString,qint32,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,quint32,quint64)), this, SLOT(updateValue(int,QString,QString,quint32,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,quint64,quint64)), this, SLOT(updateValue(int,QString,QString,quint64,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,qint64,quint64)), this, SLOT(updateValue(int,QString,QString,qint64,quint64)));
disconnect(obj, SIGNAL(valueChanged(int,QString,QString,double,quint64)), this, SLOT(updateValue(int,QString,QString,double,quint64)));
// }
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const qint8 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const quint8 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const qint16 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const quint16 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const qint32 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const quint32 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const qint64 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const quint64 value, const quint64 msec)
{
if (!intValues.contains(name)) intValues.insert(name, true);
updateValue(uasId, name, unit, (double)value, msec);
}
void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec)
{
Q_UNUSED(uasId);
Q_UNUSED(unit);
// Update mean
const float oldMean = valuesMean.value(name, 0.0f);
const int meanCount = valuesCount.value(name, 0);
valuesMean.insert(name, (oldMean * meanCount + value) / (meanCount + 1));
valuesCount.insert(name, meanCount + 1);
valuesDot.insert(name, (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f));
if (values.value(name, 0.0) != value) valuesChanged = true;
values.insert(name, value);
units.insert(name, unit);
lastUpdate.insert(name, msec);
}
/**
* @param y coordinate in pixels to be converted to reference mm units
* @return the screen coordinate relative to the QGLWindow origin
*/
float HDDisplay::refToScreenX(float x)
{
return (scalingFactor * x);
}
/**
* @param x coordinate in pixels to be converted to reference mm units
* @return the screen coordinate relative to the QGLWindow origin
*/
float HDDisplay::refToScreenY(float y)
{
return (scalingFactor * y);
}
float HDDisplay::screenToRefX(float x)
{
return x/scalingFactor;
}
float HDDisplay::screenToRefY(float y)
{
return y/scalingFactor;
}
void HDDisplay::drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter)
{
QPen pen(Qt::SolidLine);
pen.setWidth(refLineWidthToPen(width));
pen.setColor(color);
painter->setPen(pen);
painter->drawLine(QPoint(refToScreenX(refX1), refToScreenY(refY1)), QPoint(refToScreenX(refX2), refToScreenY(refY2)));
}
void HDDisplay::drawEllipse(float refX, float refY, float radiusX, float radiusY, float lineWidth, const QColor& color, QPainter* painter)
{
QPen pen(painter->pen().style());
pen.setWidth(refLineWidthToPen(lineWidth));
pen.setColor(color);
painter->setPen(pen);
painter->drawEllipse(QPointF(refToScreenX(refX), refToScreenY(refY)), refToScreenX(radiusX), refToScreenY(radiusY));
}
void HDDisplay::drawCircle(float refX, float refY, float radius, float lineWidth, const QColor& color, QPainter* painter)
{
drawEllipse(refX, refY, radius, radius, lineWidth, color, painter);
}
void HDDisplay::changeEvent(QEvent *e)
{
QWidget::changeEvent(e);
switch (e->type()) {
case QEvent::LanguageChange:
m_ui->retranslateUi(this);