QG4/src/ui/HUD.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 Head Up Display (HUD)
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QDebug>
#include <cmath>

#include "UASManager.h"
#include "HUD.h"
#include "MG.h"

// Fix for some platforms, e.g. windows
#ifndef GL_MULTISAMPLE
#define GL_MULTISAMPLE  0x809D
#endif

/**
 * @warning The HUD widget will not start painting its content automatically
 *          to update the view, start the auto-update by calling HUD::start().
 *
 * @param width
 * @param height
 * @param parent
 */
HUD::HUD(int width, int height, QWidget* parent)
        : QGLWidget(parent),
        uas(NULL),
        values(QMap<QString, float>()),
        valuesDot(QMap<QString, float>()),
        valuesMean(QMap<QString, float>()),
        valuesCount(QMap<QString, int>()),
        lastUpdate(QMap<QString, quint64>()),
        yawInt(0.0f),
        mode(tr("UNKNOWN MODE")),
        state(tr("UNKNOWN STATE")),
        fuelStatus(tr("00.0V (00m:00s)")),
        xCenterOffset(0.0f),
        yCenterOffset(0.0f),
        vwidth(200.0f),
        vheight(150.0f),
        vGaugeSpacing(50.0f),
        vPitchPerDeg(6.0f), ///< 4 mm y translation per degree)
        rawBuffer1(NULL),
        rawBuffer2(NULL),
        rawImage(NULL),
        rawLastIndex(0),
        rawExpectedBytes(0),
        bytesPerLine(1),
        imageStarted(false),
        receivedDepth(8),
        receivedChannels(1),
        receivedWidth(640),
        receivedHeight(480),
        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)),
        noCamera(true),
        hardwareAcceleration(true),
        strongStrokeWidth(1.5f),
        normalStrokeWidth(1.0f),
        fineStrokeWidth(0.5f),
        waypointName("")
{
    // Set auto fill to false
    setAutoFillBackground(false);

    // Fill with black background
    QImage fill = QImage(width, height, QImage::Format_Indexed8);
    fill.setNumColors(3);
    fill.setColor(0, qRgb(0, 0, 0));
    fill.setColor(1, qRgb(0, 0, 0));
    fill.setColor(2, qRgb(0, 0, 0));
    fill.fill(0);

    //QString imagePath = MG::DIR::getIconDirectory() + "hud-template.png";
    //qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
    //fill = QImage(imagePath);

    glImage = QGLWidget::convertToGLFormat(fill);

    // Refresh timer
    refreshTimer->setInterval(40); // 25 Hz
    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(updateGL()));

    // Resize to correct size and fill with image
    resize(fill.size());
    glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());

    // Set size once
    //setFixedSize(fill.size());
    //setMinimumSize(fill.size());
    //setMaximumSize(fill.size());
    // Lock down the size
    //setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));

    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", (int)(10*scalingFactor*1.2f+0.5f));
    if (font.family() != fontFamilyName) qDebug() << "ERROR! Font not loaded: " << fontFamilyName;

    // Connect with UAS
    UASManager* manager = UASManager::instance();
    connect(manager, SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
}

HUD::~HUD()
{

}

void HUD::start()
{
    refreshTimer->start();
}

void HUD::stop()
{
    refreshTimer->stop();
}

void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 msec)
{
   // if (this->uas == uas)
    //{
        // 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);
        // Two-value sliding average
        valuesDot.insert(name, (valuesDot.value(name) + (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f))/2.0f);
        values.insert(name, value);
        lastUpdate.insert(name, msec);
    //}
}

/**
 *
 * @param uas the UAS/MAV to monitor/display with the HUD
 */
void HUD::setActiveUAS(UASInterface* uas)
{
    qDebug() << "ATTEMPTING TO SET UAS";
    if (this->uas != NULL && this->uas != uas)
    {
        // Disconnect any previously connected active MAV
        disconnect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
        disconnect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
        disconnect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
        disconnect(uas, SIGNAL(thrustChanged(UASInterface*, double)), this, SLOT(updateThrust(UASInterface*, double)));
        disconnect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
        disconnect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
        disconnect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
        disconnect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
        disconnect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
        disconnect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeThrustSetPoint(UASInterface*,double,double,double,double,quint64)));
        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(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
    //connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
    //connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
    //connect(uas, SIGNAL(thrustChanged(UASInterface*, double)), this, SLOT(updateThrust(UASInterface*, double)));
    //connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
    //connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
    //connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
    //connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
    //connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
    //connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeThrustSetPoint(UASInterface*,double,double,double,double,quint64)));
    //connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
    //}
}

void HUD::updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
{
    updateValue(uas, "roll desired", rollDesired, msec);
    updateValue(uas, "pitch desired", pitchDesired, msec);
    updateValue(uas, "yaw desired", yawDesired, msec);
    updateValue(uas, "thrust desired", thrustDesired, msec);
}

void HUD::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp)
{
    updateValue(uas, "roll", roll, timestamp);
    updateValue(uas, "pitch", pitch, timestamp);
    updateValue(uas, "yaw", yaw, timestamp);
}

void HUD::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
{
    updateValue(uas, "voltage", voltage, MG::TIME::getGroundTimeNow());
    updateValue(uas, "time remaining", seconds, MG::TIME::getGroundTimeNow());
    updateValue(uas, "charge level", percent, MG::TIME::getGroundTimeNow());

    if (percent < 20.0f)
    {
        fuelColor = warningColor;
    }
    else if (percent < 10.0f)
    {
        fuelColor = criticalColor;
    }
    else
    {
        fuelColor = infoColor;
    }
}

void HUD::receiveHeartbeat(UASInterface*)
{
}

void HUD::updateThrust(UASInterface*, double thrust)
{
    updateValue(uas, "thrust", thrust, MG::TIME::getGroundTimeNow());
}

void HUD::updateLocalPosition(UASInterface* uas,double x,double y,double z,quint64 timestamp)
{
    updateValue(uas, "x", x, timestamp);
    updateValue(uas, "y", y, timestamp);
    updateValue(uas, "z", z, timestamp);
}

void HUD::updateGlobalPosition(UASInterface*,double lat, double lon, double altitude, quint64 timestamp)
{
    updateValue(uas, "lat", lat, timestamp);
    updateValue(uas, "lon", lon, timestamp);
    updateValue(uas, "altitude", altitude, timestamp);
}

void HUD::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 timestamp)
{
    updateValue(uas, "xSpeed", x, timestamp);
    updateValue(uas, "ySpeed", y, timestamp);
    updateValue(uas, "zSpeed", z, timestamp);
}

/**
 * Updates the current system state, but only if the uas matches the currently monitored uas.
 *
 * @param uas the system the state message originates from
 * @param state short state text, displayed in HUD
 * @param description longer state text, currently unused
 */
void HUD::updateState(UASInterface* uas,QString state, QString description)
{
    if (this->uas == uas)
    {
        this->state = state;
    }
}

void HUD::updateLoad(UASInterface* uas, double load)
{
    updateValue(uas, "load", load, MG::TIME::getGroundTimeNow());
}

/**
 * @param y coordinate in pixels to be converted to reference mm units
 * @return the screen coordinate relative to the QGLWindow origin
 */
float HUD::refToScreenX(float x)
{
    //qDebug() << "sX: " << (scalingFactor * 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 HUD::refToScreenY(float y)
{
    //qDebug() << "sY: " << (scalingFactor * y);
    return (scalingFactor * y);
}

/**
 * This functions works in the OpenGL view, which is already translated by
 * the x and y center offsets.
 *
 */
void HUD::paintCenterBackground(float roll, float pitch, float yaw)
{

    // Center indicator is 100 mm wide
    float referenceWidth = 70.0;
    float referenceHeight = 70.0;

    // HUD is assumed to be 200 x 150 mm
    // so that positions can be hardcoded
    // but can of course be scaled.

    double referencePositionX = vwidth / 2.0 - referenceWidth/2.0;
    double referencePositionY = vheight / 2.0 - referenceHeight/2.0;

    //this->width()/2.0+(xCenterOffset*scalingFactor), this->height()/2.0+(yCenterOffset*scalingFactor);

    setupGLView(referencePositionX, referencePositionY, referenceWidth, referenceHeight);

    // Store current position in the model view
    // the position will be restored after drawing
    glMatrixMode(GL_MODELVIEW);
    glPushMatrix();

    // Move to the center of the window
    glTranslatef(referenceWidth/2.0f,referenceHeight/2.0f,0);
    // Rotate based on the bank
    glRotatef((roll/M_PI)*180.0f, 0, 0, 1);

    // Translate in the direction of the rotation based
    // on the pitch. On the 777, a pitch of 1 degree = 2 mm
    glTranslatef(0, ((-pitch/M_PI)*180.0f * vPitchPerDeg), 0);

    // Ground
    glColor3ub(179,102,0);

    glBegin(GL_POLYGON);
    glVertex2f(-300,-300);
    glVertex2f(-300,0);
    glVertex2f(300,0);
    glVertex2f(300,-300);
    glVertex2f(-300,-300);
    glEnd();

    // Sky
    glColor3ub(0,153,204);

    glBegin(GL_POLYGON);
    glVertex2f(-300,0);
    glVertex2f(-300,300);
    glVertex2f(300,300);
    glVertex2f(300,0);
    glVertex2f(-300,0);

    glEnd();

}

/**
 * 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 HUD::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");
    font.setPixelSize((int)(fontSize*scalingFactor*1.26f));

    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);
}

void HUD::initializeGL()
{
    glEnable(GL_MULTISAMPLE);

    bool antialiasing = true;

    // Antialiasing setup
    if(antialiasing)
    {
        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);
    }
    else
    {
        glDisable(GL_BLEND);
        glDisable(GL_POINT_SMOOTH);
        glDisable(GL_LINE_SMOOTH);
    }
}

/**
 * @param referencePositionX horizontal position in the reference mm-unit space
 * @param referencePositionY horizontal position in the reference mm-unit space
 * @param referenceWidth width in the reference mm-unit space
 * @param referenceHeight width in the reference mm-unit space
 */
void HUD::setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight)
{
    int pixelWidth  = (int)(referenceWidth * scalingFactor);
    int pixelHeight = (int)(referenceHeight * scalingFactor);
    // Translate and scale the GL view in the virtual reference coordinate units on the screen
    int pixelPositionX = (int)((referencePositionX * scalingFactor) + xCenterOffset);
    int pixelPositionY = this->height() - (referencePositionY * scalingFactor) + yCenterOffset - pixelHeight;

    //qDebug() << "Pixel x" << pixelPositionX << "pixelY" << pixelPositionY;
    //qDebug() << "xCenterOffset:" << xCenterOffset << "yCenterOffest" << yCenterOffset


    //The viewport is established at the correct pixel position and clips everything
    // out of the desired instrument location
    glViewport(pixelPositionX, pixelPositionY, pixelWidth, pixelHeight);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();

    // The ortho projection is setup in a way that so that the drawing is done in the
    // reference coordinate space
    glOrtho(0, referenceWidth, 0, referenceHeight, -1, 1);
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
    //glScalef(scaleX, scaleY, 1.0f);
}

void HUD::paintRollPitchStrips()
{
}


void HUD::paintGL()
{
    // Read out most important values to limit hash table lookups
    const float roll = values.value("roll", 0.0f);
    const float pitch = values.value("pitch", 0.0f);
    const float yaw = values.value("yaw", 0.0f);

    //qDebug() << __FILE__ << __LINE__ << "ROLL:" << roll << "PITCH:" << pitch << "YAW:" << yaw;


    // 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;

    makeCurrent();
    glClear(GL_COLOR_BUFFER_BIT);
    //if(!noCamera) glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
    glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits()); // FIXME Remove after testing


    // Blue / Brown background
    if (noCamera) paintCenterBackground(roll, pitch, yaw);

    glFlush();

    // Draw instruments
    // TESTING THIS SHOULD BE MOVED INTO A QGRAPHICSVIEW
    /*
    QPainter painter(this);
    painter.setRenderHint(QPainter::HighQualityAntialiasing);
    const float gaugeWidth = 15.0f;
    const QColor gaugeColor = QColor(200, 200, 200);
    drawSystemIndicator(vwidth+10.0f-gaugeWidth/2.0f, 20.0f, 10.0f, 40.0f, 15.0f, &painter);
    drawGauge(vwidth+10.0f, 50.0f, 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(vwidth+10.0f+gaugeWidth*1.7f, 50.0f, 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);
*/
    // END TESTING



    //    // Store current GL model view
    //    glMatrixMode(GL_MODELVIEW);
    //    glPushMatrix();
    //
    //    // Setup GL view
    //    setupGLView(0.0f, 0.0f, vwidth, vheight);
    //
    //    // Restore previous view
    //    glPopMatrix();

    // Now draw QPainter overlay

    //painter.setRenderHint(QPainter::Antialiasing);

    // Position the coordinate frame according to the setup

    QPainter painter(this);
    painter.setRenderHint(QPainter::HighQualityAntialiasing);
    painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);

    // COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET


    // Draw all fixed indicators
    // MODE
    paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
    // BATTERY
    paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
    // Waypoint
    paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);

    // YAW INDICATOR
    //
    //      .
    //    .   .
    //   .......
    //
    const float yawIndicatorWidth = 4.0f;
    const float yawIndicatorY = vheight/2.0f - 10.0f;
    QPolygon yawIndicator(4);
    yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
    yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
    yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
    yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
    painter.setPen(defaultColor);
    painter.drawPolyline(yawIndicator);

    // HEADING INDICATOR
    //
    //    __      __
    //       \/\/
    //
    const float hIndicatorWidth = 7.0f;
    const float hIndicatorY = -25.0f;
    const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f;
    const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f;
    QPolygon hIndicator(7);
    hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
    hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
    hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
    painter.setPen(defaultColor);
    painter.drawPolyline(hIndicator);


    // COMPASS
    const float compassY = -vheight/2.0f + 10.0f;
    QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
    painter.setBrush(Qt::NoBrush);
    painter.setPen(Qt::SolidLine);
    painter.setPen(defaultColor);
    painter.drawRoundedRect(compassRect, 2, 2);
    QString yawAngle;

    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
    //qDebug() << "YAW: " << yawDeg;
    yawAngle.sprintf("%03d", (int)yawDeg);
    paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);

    // CHANGE RATE STRIPS
    drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, valuesDot.value("z", 0.0f), &painter);

    // CHANGE RATE STRIPS
    drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, valuesDot.value("x", 0.0f), &painter);

    // GAUGES

    // Left altitude gauge
    drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, -values.value("z", 0.0f), defaultColor, &painter, false);

    // Right speed gauge
    drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, values.value("xSpeed", 0.0f), defaultColor, &painter, false);



    // MOVING PARTS

    painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(2.0f));

    // Translate for yaw
    const float maxYawTrans = 100.0f;
    float yawDiff = valuesDot.value("yaw", 0.0f);
    while (yawDiff > M_PI)
    {
        yawDiff = yawDiff - M_PI;
    }

    while (yawDiff < -M_PI)
    {
        yawDiff = yawDiff + M_PI;
    }

    yawInt += yawDiff;

    if (yawInt > M_PI) yawInt = M_PI;
    if (yawInt < -M_PI) yawInt = -M_PI;

    float yawTrans = yawInt * (double)maxYawTrans;
    yawInt *= 0.6f;
    //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw << "asin(yawInt)" << asinYaw;

    painter.translate(refToScreenX(yawTrans), 0);

    // Rotate view and draw all roll-dependent indicators
    painter.rotate((roll/M_PI)* -180.0f);

    // CENTER

    // SETPOINT
    const float centerWidth = 4.0f;
    painter.setPen(defaultColor);
    painter.setBrush(Qt::NoBrush);
    // TODO
    //painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));

    const float centerCrossWidth = 10.0f;
    // left
    painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
    // right
    painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
    // top
    painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));


    // PITCH

    paintPitchLines((pitch/M_PI)*180.0f, &painter);

    painter.end();

    glFlush();


}

/**
 * @param pitch pitch angle in degrees (-180 to 180)
 */
void HUD::paintPitchLines(float pitch, QPainter* painter)
{
    QString label;

    const float yDeg = vPitchPerDeg;
    const float lineDistance = 5.0f; ///< One pitch line every 10 degrees
    const float posIncrement = yDeg * lineDistance;
    float posY = posIncrement;
    const float posLimit = sqrt(pow(vwidth, 2.0f) + pow(vheight, 2.0f));

    const float offsetAbs = pitch * yDeg;

    float offset = pitch;
    if (offset < 0) offset = -offset;
    int offsetCount = 0;
    while (offset > lineDistance)
    {
        offset -= lineDistance;
        offsetCount++;
    }

    int iPos = (int)(0.5f + lineDistance); ///< The first line
    int iNeg = (int)(-0.5f - lineDistance); ///< The first line

    offset *= yDeg;


    painter->setPen(defaultColor);

    posY = -offsetAbs + posIncrement; //+ 100;// + lineDistance;

    while (posY < posLimit)
    {
        paintPitchLinePos(label.sprintf("%3d", iPos), 0.0f, -posY, painter);
        posY += posIncrement;
        iPos += (int)lineDistance;
    }



    // HORIZON
    //
    //    ------------    ------------
    //
    const float pitchWidth = 30.0f;
    const float pitchGap = pitchWidth / 2.5f;
    const QColor horizonColor = defaultColor;
    const float diagonal = sqrt(pow(vwidth, 2.0f) + pow(vheight, 2.0f));
    const float lineWidth = refLineWidthToPen(0.5f);

    // Left horizon
    drawLine(0.0f-diagonal, offsetAbs, 0.0f-pitchGap/2.0f, offsetAbs, lineWidth, horizonColor, painter);
    // Right horizon
    drawLine(0.0f+pitchGap/2.0f, offsetAbs, 0.0f+diagonal, offsetAbs, lineWidth, horizonColor, painter);



    label.clear();

    posY = offsetAbs  + posIncrement;


    while (posY < posLimit)
    {
        paintPitchLineNeg(label.sprintf("%3d", iNeg), 0.0f, posY, painter);
        posY += posIncrement;
        iNeg -= (int)lineDistance;
    }
}

void HUD::paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter)
{
    //painter->setPen(QPen(QBrush, normalStrokeWidth));

    const float pitchWidth = 30.0f;
    const float pitchGap = pitchWidth / 2.5f;
    const float pitchHeight = pitchWidth / 12.0f;
    const float textSize = pitchHeight * 1.1f;
    const float lineWidth = 0.5f;

    // Positive pitch indicator:
    //
    //      _______      _______
    //     |10                  |
    //

    // Left vertical line
    drawLine(refPosX-pitchWidth/2.0f, refPosY, refPosX-pitchWidth/2.0f, refPosY+pitchHeight, lineWidth, defaultColor, painter);
    // Left horizontal line
    drawLine(refPosX-pitchWidth/2.0f, refPosY, refPosX-pitchGap/2.0f, refPosY, lineWidth, defaultColor, painter);
    // Text left
    paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0 + 0.75f, refPosY + pitchHeight - 1.75f, painter);

    // Right vertical line
    drawLine(refPosX+pitchWidth/2.0f, refPosY, refPosX+pitchWidth/2.0f, refPosY+pitchHeight, lineWidth, defaultColor, painter);
    // Right horizontal line
    drawLine(refPosX+pitchWidth/2.0f, refPosY, refPosX+pitchGap/2.0f, refPosY, lineWidth, defaultColor, painter);
}

void HUD::paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter)
{
    const float pitchWidth = 30.0f;
    const float pitchGap = pitchWidth / 2.5f;
    const float pitchHeight = pitchWidth / 12.0f;
    const float textSize = pitchHeight * 1.1f;
    const float segmentWidth = ((pitchWidth - pitchGap)/2.0f) / 7.0f; ///< Four lines and three gaps -> 7 segments

    const float lineWidth = 0.1f;

    // Negative pitch indicator:
    //
    //      -10
    //     _ _ _ _|     |_ _ _ _
    //
    //

    // Left vertical line
    drawLine(refPosX-pitchGap/2.0, refPosY, refPosX-pitchGap/2.0, refPosY-pitchHeight, lineWidth, defaultColor, painter);
    // Left horizontal line with four segments
    for (int i = 0; i < 7; i+=2)
    {
        drawLine(refPosX-pitchWidth/2.0+(i*segmentWidth), refPosY, refPosX-pitchWidth/2.0+(i*segmentWidth)+segmentWidth, refPosY, lineWidth, defaultColor, painter);
    }
    // Text left
    paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0f + 0.75f, refPosY + pitchHeight - 1.75f, painter);

    // Right vertical line
    drawLine(refPosX+pitchGap/2.0, refPosY, refPosX+pitchGap/2.0, refPosY-pitchHeight, lineWidth, defaultColor, painter);
    // Right horizontal line with four segments
    for (int i = 0; i < 7; i+=2)
    {
        drawLine(refPosX+pitchWidth/2.0f-(i*segmentWidth), refPosY, refPosX+pitchWidth/2.0f-(i*segmentWidth)-segmentWidth, refPosY, lineWidth, defaultColor, painter);
    }
}

void rotatePointClockWise(QPointF& p, float angle)
{
    // Standard 2x2 rotation matrix, counter-clockwise
    //
    //   |  cos(phi)   sin(phi) |
    //   | -sin(phi)   cos(phi) |
    //

    //p.setX(cos(angle) * p.x() + sin(angle) * p.y());
    //p.setY(-sin(angle) * p.x() + cos(angle) * p.y());


    p.setX(cos(angle) * p.x() + sin(angle)* p.y());
    p.setY((-1.0f * sin(angle) * p.x()) + cos(angle) * p.y());
}

float HUD::refLineWidthToPen(float line)
{
    return line * 2.50f;
}

/**
 * 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 HUD::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 HUD::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 HUD::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 HUD::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, float> 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;

        // TODO ensure that instrument stays smaller than maxWidth and maxHeight


        int i = 0;
        while (value.hasNext() && i < maxNum)
        {
            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 HUD::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, 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);
}

void HUD::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 HUD::drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, 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 HUD::drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter)
{
    drawEllipse(refX, refY, radius, radius, startDeg, endDeg, lineWidth, color, painter);
}

void HUD::resizeGL(int w, int h)
{
    glViewport(0, 0, w, h);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    glOrtho(0, w, 0, h, -1, 1);
    glMatrixMode(GL_MODELVIEW);
    glPolygonMode(GL_FRONT, GL_FILL);
}

void HUD::selectWaypoint(UASInterface* uas, int id)
{
    if (uas == this->uas)
    {
        waypointName = tr("WP") + QString::number(id);
    }
}

void HUD::setImageSize(int width, int height, int depth, int channels)
{
    // Allocate raw image in correct size
    if (width != receivedWidth || height != receivedHeight || depth != receivedDepth || channels != receivedChannels || image == NULL)
    {
        // Set new size
        if (width > 0) receivedWidth  = width;
        if (height > 0) receivedHeight = height;
        if (depth > 1) receivedDepth = depth;
        if (channels > 1) receivedChannels = channels;

        rawExpectedBytes = (receivedWidth * receivedHeight * receivedDepth * receivedChannels) / 8;
        bytesPerLine = rawExpectedBytes / receivedHeight;
        // Delete old buffers if necessary
        rawImage = NULL;
        if (rawBuffer1 != NULL) delete rawBuffer1;
        if (rawBuffer2 != NULL) delete rawBuffer2;

        rawBuffer1 = (unsigned char*)malloc(rawExpectedBytes);
        rawBuffer2 = (unsigned char*)malloc(rawExpectedBytes);
        rawImage = rawBuffer1;
        // TODO check if old image should be deleted

        // Set image format
        // 8 BIT GREYSCALE IMAGE
        if (depth <= 8 && channels == 1)
        {
            image = new QImage(receivedWidth, receivedHeight, QImage::Format_Indexed8);
            // Create matching color table
            image->setNumColors(256);
            for (int i = 0; i < 256; i++)
            {
                image->setColor(i, qRgb(i, i, i));
                //qDebug() << __FILE__ << __LINE__ << std::hex << i;
            }

        }
        // 32 BIT COLOR IMAGE WITH ALPHA VALUES (#ARGB)
        else
        {
            image = new QImage(receivedWidth, receivedHeight, QImage::Format_ARGB32);
        }

        // Fill first channel of image with black pixels
        image->fill(0);
        glImage = QGLWidget::convertToGLFormat(*image);

        qDebug() << __FILE__ << __LINE__ << "Setting up image";

        // Set size once
        setFixedSize(receivedWidth, receivedHeight);
        setMinimumSize(receivedWidth, receivedHeight);
        setMaximumSize(receivedWidth, receivedHeight);
        // Lock down the size
        //setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
        //resize(receivedWidth, receivedHeight);
    }

}

void HUD::startImage(int imgid, int width, int height, int depth, int channels)
{
    //qDebug() << "HUD: starting image (" << width << "x" << height << ", " << depth << "bits) with " << channels << "channels";

    // Copy previous image to screen if it hasn't been finished properly
    finishImage();

    // Reset image size if necessary
    setImageSize(width, height, depth, channels);
    imageStarted = true;
}

void HUD::finishImage()
{
    if (imageStarted)
    {
        commitRawDataToGL();
        imageStarted = false;
    }
}

void HUD::commitRawDataToGL()
{
    //qDebug() << __FILE__ << __LINE__ << "Copying raw data to GL buffer:" << rawImage << receivedWidth << receivedHeight << image->format();
    if (image != NULL)
    {
        QImage::Format format = image->format();
        QImage* newImage = new QImage(rawImage, receivedWidth, receivedHeight, format);
        if (format == QImage::Format_Indexed8)
        {
            // Create matching color table
            newImage->setNumColors(256);
            for (int i = 0; i < 256; i++)
            {
                newImage->setColor(i, qRgb(i, i, i));
                //qDebug() << __FILE__ << __LINE__ << std::hex << i;
            }
        }

        glImage = QGLWidget::convertToGLFormat(*newImage);
        delete image;
        image = newImage;
        // Switch buffers
        if (rawImage == rawBuffer1)
        {
            rawImage = rawBuffer2;
            //qDebug() << "Now buffer 2";
        }
        else
        {
            rawImage = rawBuffer1;
            //qDebug() << "Now buffer 1";
        }
    }
    updateGL();
}

void HUD::saveImage(QString fileName)
{
    image->save(fileName);
}

void HUD::saveImage()
{
    //Bring up popup
    QString fileName = "output.png";
    saveImage(fileName);
}

void HUD::setPixels(int imgid, const unsigned char* imageData, int length, int startIndex)
{
    //    qDebug() << "at" << __FILE__ << __LINE__ << ": Received startindex" << startIndex << "and length" << length << "(" << startIndex+length << "of" << rawExpectedBytes << "bytes)";

    if (imageStarted)
    {
        //if (rawLastIndex != startIndex) qDebug() << "PACKET LOSS!";

        if (startIndex+length > rawExpectedBytes)
        {
            qDebug() << "HUD: OVERFLOW! startIndex:" << startIndex << "length:" << length << "image raw size" << ((receivedWidth * receivedHeight * receivedChannels * receivedDepth) / 8) - 1;
        }
        else
        {
            memcpy(rawImage+startIndex, imageData, length);

            rawLastIndex = startIndex+length;

            // Check if we just reached the end of the image
            if (startIndex+length == rawExpectedBytes)
            {
                //qDebug() << "HUD: END OF IMAGE REACHED!";
                finishImage();
                rawLastIndex = 0;
            }
        }

        //        for (int i = 0; i < length; i++)
        //        {
        //            for (int j = 0; j < receivedChannels; j++)
        //            {
        //                unsigned int x = (startIndex+i) % receivedWidth;
        //                unsigned int y = (unsigned int)((startIndex+i) / receivedWidth);
        //                qDebug() << "Setting pixel" << x << "," << y << "to" << (unsigned int)*(rawImage+startIndex+i);
        //            }
        //        }
    }
}