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Merge branch 'pfd'
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@flixr
flixr committed Jul 7, 2011
2 parents 3f641b0 + a875330 commit 7cadaea
Showing 1 changed file with 56 additions and 49 deletions.
105 changes: 56 additions & 49 deletions sw/ground_segment/cockpit/horizon.ml
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Expand Up @@ -2,8 +2,8 @@
* $Id$
*
* Multi aircrafts map display and flight plan editor
*
* Copyright (C) 2004-2006 ENAC, Pascal Brisset, Antoine Drouin
*
* Copyright (C) 2004-2006 ENAC, Pascal Brisset, Antoine Drouin / 2011 Tobias Muench, Rolf Noellenburg
*
* This file is part of paparazzi.
*
Expand All @@ -20,7 +20,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*)

Expand All @@ -30,7 +30,8 @@ open Latlong
let affine_pos_and_angle xw yw angle =
let cos_a = cos angle in
let sin_a = sin angle in
[| cos_a ; sin_a ; ~-. sin_a; cos_a; xw ; yw |]
[| cos_a ; sin_a ; ~-. sin_a; cos_a; xw; yw |]


let affine_pos xw yw = affine_pos_and_angle xw yw 0.

Expand Down Expand Up @@ -72,13 +73,13 @@ let ruler = fun ?(index_on_right=false) ~text_props ~max ~scale ~w ~index_width
let v = truncate v / step in
for i = Pervasives.max 0 (v - 5) to min (v + 5) (Array.length tab - 1) do (* FIXME *)
if not tab.(i) then begin
tab.(i) <- true;
draw i
tab.(i) <- true;
draw i
end
done in

(** Yellow index *)
let _ = GnoCanvas.line ~points:[|0.;0.;w;0.|] ~fill_color:"yellow" root in
let _ = GnoCanvas.line ~points:[|0.;0.;w;0.|] ~props:[`WIDTH_PIXELS 2] ~fill_color:"yellow" root in
let s = index_width in
let idx = GnoCanvas.polygon ~points:[|0.;0.;-.s;s/.2.;-.s;-.s/.2.|] ~fill_color:"yellow" root in
if index_on_right then
Expand All @@ -88,11 +89,11 @@ let ruler = fun ?(index_on_right=false) ~text_props ~max ~scale ~w ~index_width
let _ = GnoCanvas.rect ~x1:0. ~y1:(-.height) ~x2:w ~y2:(-.h) ~fill_color:"black" root in
let _ = GnoCanvas.rect ~x1:0. ~y1:height ~x2:w ~y2:h ~fill_color:"black" root in
r, lazy_drawer


class h = fun ?packing size ->
let canvas = GnoCanvas.canvas ~aa:true ~width:size ~height:size ?packing () in
let _ =
let _ =
canvas#set_center_scroll_region false;
in

Expand All @@ -103,20 +104,20 @@ class h = fun ?packing size ->
let pitch_scale = fun pitch -> pitch *. size2 *. 2. in
let speed_scale = size2 /. 10. in
let alt_scale = size2 /. 50. in
let speed_width = size2/.5. in
let alt_width = size2/.2.5 in
let index_width = size2 /. 15. in
let speed_width = size2/.3. in
let alt_width = size2/.2.25 in
let index_width = size2 /. 10. in

let xc = left_margin +. speed_width +. size2
and yc = size2*.1.1 in
and yc = size2*.1.25 in

let text_props = [`FONT "Sans 8"; `ANCHOR `CENTER; `FILL_COLOR "white"] in

let disc = GnoCanvas.group canvas#root in
let _top = GnoCanvas.rect ~x1:(-.size) ~y1:(-.size2*.5.) ~x2:size ~y2:0. ~fill_color:"#0099cb" disc
and _bottom = GnoCanvas.rect ~x1:(-.size) ~y1:0. ~x2:size ~y2:(size2*.5.) ~fill_color:"#986701" disc
and _line = GnoCanvas.line ~props:[`WIDTH_PIXELS 4] ~points:[|-.size;0.;size;0.|] ~fill_color:"white" disc
and _ = GnoCanvas.line ~points:[|0.;-.size2;0.;size2|] ~fill_color:"white" disc
and _ = GnoCanvas.line ~points:[|0.;-.size;0.;size|] ~fill_color:"white" disc
in
let grads = fun ?(text=false) n s a b ->
for i = 0 to n do
Expand All @@ -125,15 +126,16 @@ class h = fun ?packing size ->
ignore (GnoCanvas.line ~points:[|-.s; y; s; y|] ~fill_color:"white" disc);
ignore (GnoCanvas.line ~points:[|-.s; -.y; s; -.y|] ~fill_color:"white" disc);
if text then
let text = Printf.sprintf "%d" (truncate deg)
and x = 2.*.s in
ignore (GnoCanvas.text ~props:text_props ~text ~y:(-.y) ~x disc);
ignore (GnoCanvas.text ~props:text_props ~text ~y:(-.y) ~x:(-.x) disc);
let text = "-"^text in
ignore (GnoCanvas.text ~props:text_props ~text ~y ~x disc);
ignore (GnoCanvas.text ~props:text_props ~text ~y ~x:(-.x) disc);
let text = Printf.sprintf "%d" (truncate deg)
and x = 2.*.s in
ignore (GnoCanvas.text ~props:text_props ~text ~y:(-.y) ~x disc);
ignore (GnoCanvas.text ~props:text_props ~text ~y:(-.y) ~x:(-.x) disc);
let text = "-"^text in
ignore (GnoCanvas.text ~props:text_props ~text ~y ~x disc);
ignore (GnoCanvas.text ~props:text_props ~text ~y ~x:(-.x) disc);
done in
let _ =

let _ =
grads 10 (size2/.10.) 5. 2.5;
grads 5 (size2/.7.) 10. 5.;
grads ~text:true 5 (size2/.5.) 10. 10. in
Expand All @@ -146,74 +148,81 @@ class h = fun ?packing size ->
let (x, _y) = arc_above.(n-1) in
let rest = [|(x, 0.);(10.*.size, 0.); (10.*.size, 10.*.size); (-.size, 10.*.size);(-.size,0.);(-.x,0.)|] in
let points = floats_of_points (Array.append arc_above rest) in
let _ =
let _ =
ignore (GnoCanvas.polygon ~fill_color:"black" ~points mask);
for i = 0 to Array.length points / 2 - 1 do
points.(2*i+1) <- -. points.(2*i+1)
points.(2*i+1) <- -. points.(2*i+1)
done;
ignore (GnoCanvas.polygon ~fill_color:"black" ~points mask);
let s = size2/. 5. in
ignore (GnoCanvas.line ~props:[`WIDTH_PIXELS 4] ~points:[|-.x;0.;-.x-.s;0.;-.x-.s;s|] ~fill_color:"black" mask);
ignore (GnoCanvas.line ~props:[`WIDTH_PIXELS 4] ~points:[|x;0.;x+.s;0.;x+.s;s|] ~fill_color:"black" mask);

(* Top and bottom graduations *)
let g = fun a ->
let l = GnoCanvas.line~props:[`WIDTH_PIXELS 2] ~fill_color:"white" ~points:[|0.;-.size2;0.;-.1.2*.size2|] mask in
let g = fun a ->
let l = GnoCanvas.line~props:[`WIDTH_PIXELS 1] ~fill_color:"white" ~points:[|0.;-.size2;0.;-.1.07*.size2|] mask in
l#affine_relative (affine_pos_and_angle 0. 0. ((Deg>>Rad)a)) in
for i = 0 to 4 do
for i = 1 to 5 do
let a = float (i*10) in
g a; g (-.a)
done;
let _30 = fun a ->
let t = GnoCanvas.text ~text:"30" ~props:text_props ~x:0. ~y:(-1.1*.size2) mask in

let gg = fun a ->
let l = GnoCanvas.line~props:[`WIDTH_PIXELS 2] ~fill_color:"white" ~points:[|0.;-.size2;0.;-.1.15*.size2|] mask in
l#affine_relative (affine_pos_and_angle 0. 0. ((Deg>>Rad)a)) in
gg 30.; gg (-30.);
gg 0.; gg 0.;

let _30 = fun a ->
let t = GnoCanvas.text ~text:"30" ~props:text_props ~x:0. ~y:(-1.28*.size2) mask in
t#affine_relative (affine_pos_and_angle 0. 0. ((Deg>>Rad)a)) in
_30 30.; _30 (-30.)
_30 30.; _30 (-30.)
in


(* Speedometer on the left side *)
let speed, mi, mx, lazy_speed =
let speed, mi, mx, lazy_speed =
let g = GnoCanvas.group ~x:left_margin ~y:yc canvas#root in
let r, lazy_ruler = ruler ~text_props ~index_on_right:true ~max:50 ~scale:speed_scale ~w:speed_width ~step:2 ~index_width ~h:(0.75*.size2) g in
let mx =
GnoCanvas.text ~x:(speed_width/.2.) ~y:(-0.85*.size2) ~props:text_props g
let mx =
GnoCanvas.text ~x:(speed_width/.2.) ~y:(-0.88*.size2) ~props:text_props g
and mi =
GnoCanvas.text ~x:(speed_width/.2.) ~y:(0.80*.size2) ~props:text_props g in
GnoCanvas.text ~x:(speed_width/.2.) ~y:(0.875*.size2) ~props:text_props g in
mx#set [`FILL_COLOR "yellow"];
mi#set [`FILL_COLOR "yellow"];
lazy_ruler 0.;
r, mi, mx, lazy_ruler

(* Altimeter on the right side *)
and alt, lazy_alt =
and alt, lazy_alt =
let g = GnoCanvas.group ~x:(xc+.size2) ~y:yc canvas#root in
ruler ~text_props ~max:3000 ~scale:alt_scale ~w:alt_width ~step:10 ~index_width ~h:(0.75*.size2) g
in

object
method set_attitude = fun roll pitch ->
disc#affine_absolute (affine_pos_and_angle xc (yc+.pitch_scale pitch) (-.roll))

disc#affine_absolute (affine_pos_and_angle (xc+.((sin roll)*.(pitch_scale pitch))) (yc+.pitch_scale pitch*.(cos roll)) (-.roll))
val mutable max_speed = 0.
val mutable min_speed = max_float
method set_speed = fun (s:float) ->
speed#affine_absolute (affine_pos 0. 0.);
lazy_speed s;
speed#affine_absolute (affine_pos 0. (speed_scale*.s));
min_speed <- min min_speed s;
max_speed <- max max_speed s;
max_speed <- max max_speed s;
mi#set [`TEXT (sprintf "%.1f" min_speed)];
mx#set [`TEXT (sprintf "%.1f" max_speed)]
initializer
ignore (speed#connect#event (function
`BUTTON_PRESS _ev ->
max_speed <- 0.; min_speed <- max_float; true
| _ -> false))
`BUTTON_PRESS _ev ->
max_speed <- 0.; min_speed <- max_float; true
| _ -> false))

method set_alt = fun (s:float) ->
alt#affine_absolute (affine_pos 0. 0.);
lazy_alt s;
alt#affine_absolute (affine_pos 0. (alt_scale*.s))

end

(*****************************************************************************)
Expand All @@ -222,13 +231,11 @@ class h = fun ?packing size ->
class pfd ?(visible = fun _ -> true) (widget: GBin.frame) =
let horizon = new h ~packing: widget#add 150 in
let _lazy = fun f x -> if visible widget then f x in
object
method set_attitude roll pitch =
_lazy (horizon#set_attitude ((Deg>>Rad)roll)) ((Deg>>Rad)pitch)
_lazy (horizon#set_attitude ((Deg>>Rad)roll)) ((Deg>>Rad)pitch)
method set_alt (a:float) = _lazy horizon#set_alt a
method set_climb (_c:float) = ()
method set_speed (c:float) = _lazy horizon#set_speed c
end

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