Fixed Windows HUD issues

src/ui/HUD.cc

@@ -127,7 +127,7 @@ HUD::HUD(int width, int height, QWidget* parent)
 
     // Refresh timer
     refreshTimer->setInterval(40); // 25 Hz
-    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(updateGL()));
+    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(repaint()));
 
     // Resize to correct size and fill with image
     resize(fill.size());
@@ -512,11 +512,199 @@ void HUD::paintRollPitchStrips()
 
 void HUD::paintGL()
 {
+}
+
+void HUD::paintEvent(QPaintEvent *event)
+{
+
+    static float roll = 0.0;
+    static float pitch = 0.0;
+    static float yaw = 0.0;
 
     // Read out most important values to limit hash table lookups
-    float roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
-    float pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
-    float yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
+    roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
+    pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
+    yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
+
+
+    // 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;
+
+
+
+    // OPEN GL PAINTING
+    makeCurrent();
+    //setupViewport(width(), height());
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+    // Blue / Brown background
+    if (noCamera) paintCenterBackground(roll, pitch, yaw);
+
+
+
+    // QT PAINTING
+    QPainter painter;
+    painter.begin(this);
+    painter.setRenderHint(QPainter::Antialiasing);
+
+    painter.setRenderHint(QPainter::Antialiasing, true);
+    painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
+    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);
+    // STATE
+    paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
+    // BATTERY
+    paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &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);
+
+    // CENTER
+
+    // 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);
+
+
+    // 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)));
+
+
+
+    // 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
+
+    // Translate for yaw
+    const float maxYawTrans = 60.0f;
+    float yawDiff = valuesDot.value("yaw", 0.0f);
+    if (isinf(yawDiff)) yawDiff = 0.0f;
+    if (yawDiff > M_PI) yawDiff = yawDiff - M_PI;
+
+    if (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(0, (pitch/M_PI)* -180.0f * refToScreenY(1.8));
+
+    painter.translate(refToScreenX(yawTrans), 0);
+
+
+
+    // Rotate view and draw all roll-dependent indicators
+    painter.rotate((roll/M_PI)* -180.0f);
+
+    //qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
+
+    // PITCH
+
+    paintPitchLines((pitch/M_PI)*180.0f, &painter);
+
+    painter.end();
+
+
+    glFlush();
+}
+
+/*
+void HUD::paintGL()
+{
+    static float roll = 0.0;
+    static float pitch = 0.0;
+    static float yaw = 0.0;
+
+    // Read out most important values to limit hash table lookups
+    roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
+    pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
+    yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
 
     //qDebug() << __FILE__ << __LINE__ << "ROLL:" << roll << "PITCH:" << pitch << "YAW:" << yaw;
 
@@ -527,16 +715,16 @@ void HUD::paintGL()
     double scalingFactorH = this->height()/vheight;
     if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;
 
-    //makeCurrent();
+    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
+    //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();
+    glFlush();
 
     //    // Store current GL model view
     //    glMatrixMode(GL_MODELVIEW);
@@ -554,8 +742,9 @@ void HUD::paintGL()
 
     // Position the coordinate frame according to the setup
 
+    makeOverlayCurrent();
     QPainter painter(this);
-    painter.setRenderHint(QPainter::Antialiasing, true);
+    //painter.setRenderHint(QPainter::Antialiasing, true);
     //painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
     painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
 
@@ -656,6 +845,7 @@ void HUD::paintGL()
     // Right speed gauge
     drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, values.value("xSpeed", 0.0f), defaultColor, &painter, false);
 
+    glFlush();
 
 
     // MOVING PARTS
@@ -697,7 +887,8 @@ void HUD::paintGL()
     glFlush();
 
 
-}
+}*/
+
 
 /**
  * @param pitch pitch angle in degrees (-180 to 180)

src/ui/HUD.h

@@ -181,6 +181,7 @@ protected:
     float fineStrokeWidth;     ///< Fine line stroke width, used throughout the HUD
 
     QString waypointName;      ///< Waypoint name displayed in HUD
+    void paintEvent(QPaintEvent *event);
 
 };