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These use OpenGL implementation which prevented moving to ANGLE support. Since they are rarely used they are being remove instead of being upgrade.QGC4.4
Don Gagne
10 years ago
12 changed files with 0 additions and 5369 deletions
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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/**
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* @file |
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* @brief Definition of Head Down Display (HDD) |
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* |
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* @author Lorenz Meier <mavteam@student.ethz.ch> |
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* |
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*/ |
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#ifndef HDDISPLAY_H |
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#define HDDISPLAY_H |
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#include <QGraphicsView> |
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#include <QColor> |
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#include <QTimer> |
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#include <QFontDatabase> |
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#include <QMap> |
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#include <QContextMenuEvent> |
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#include <QPair> |
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#include <cmath> |
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#include "UASInterface.h" |
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#include "Vehicle.h" |
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namespace Ui |
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{ |
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class HDDisplay; |
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} |
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/**
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* @brief Head Down Display Widget |
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* |
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* This widget is used for any head down display as base widget. It handles the basic widget setup |
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* each head down instrument has a virtual screen size in millimeters as base coordinate system |
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* this virtual screen size is then scaled to pixels on the screen. |
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* When the pixel per millimeter ratio is known, a 1:1 representation is possible on the screen |
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*/ |
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class HDDisplay : public QGraphicsView |
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{ |
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Q_OBJECT |
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public: |
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HDDisplay(const QStringList& plotList, QString title="", QWidget *parent = 0); |
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~HDDisplay(); |
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public slots: |
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/** @brief Update the HDD with new data */ |
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void updateValue(const int uasId, const QString& name, const QString& unit, const QVariant &value, const quint64 msec); |
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/** @brief Connects a source to the updateValue() signals */ |
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void addSource(QObject* obj); |
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/** @brief Disconnects a source to the updateValue() signals */ |
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void removeSource(QObject* obj); |
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/** @brief Removes a plot item by the action data */ |
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void removeItemByAction(); |
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/** @brief Bring up the menu to add a gauge */ |
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void addGauge(); |
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/** @brief Add a gauge using this spec string */ |
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void addGauge(const QString& gauge); |
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/** @brief Set the title of this widget and any existing parent dock widget */ |
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void setTitle(); |
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/** @brief Set the number of colums via popup */ |
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void setColumns(); |
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/** @brief Set the number of colums */ |
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void setColumns(int cols); |
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/** @brief Save the current layout and state to disk */ |
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void saveState(); |
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/** @brief Restore the last layout and state from disk */ |
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void restoreState(); |
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protected slots: |
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void enableGLRendering(bool enable); |
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//void render(QPainter* painter, const QRectF& target = QRectF(), const QRect& source = QRect(), Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
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void renderOverlay(); |
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void triggerUpdate(); |
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/** @brief Adjust the size hint for the current gauge layout */ |
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void adjustGaugeAspectRatio(); |
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protected: |
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QSize sizeHint() const; |
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void changeEvent(QEvent* e); |
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void paintEvent(QPaintEvent* event); |
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void showEvent(QShowEvent* event); |
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void hideEvent(QHideEvent* event); |
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void contextMenuEvent(QContextMenuEvent* event); |
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QList<QAction*> getItemRemoveActions(); |
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void createActions(); |
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float refLineWidthToPen(float line); |
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float refToScreenX(float x); |
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float refToScreenY(float y); |
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float screenToRefX(float x); |
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float screenToRefY(float y); |
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void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin); |
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void drawPolygon(QPolygonF refPolygon, QPainter* painter); |
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void drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter); |
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void drawEllipse(float refX, float refY, float radiusX, float radiusY, float lineWidth, const QColor& color, QPainter* painter); |
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void drawCircle(float refX, float refY, float radius, float lineWidth, const QColor& color, QPainter* painter); |
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void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter); |
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void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true); |
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void drawGauge(float xRef, float yRef, float radius, float min, float max, const QString name, float value, const QColor& color, QPainter* painter, bool symmetric, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid=true); |
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void drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter); |
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void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter); |
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// //Holds the current centerpoint for the view, used for panning and zooming
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// QPointF currentCenterPoint;
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//
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// //From panning the view
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// QPoint lastPanPoint;
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//
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// //Set the current centerpoint in the
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// void setCenter(const QPointF& centerPoint);
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// QPointF getCenter() { return currentCenterPoint; }
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//
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// //Take over the interaction
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// virtual void mousePressEvent(QMouseEvent* event);
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// virtual void mouseReleaseEvent(QMouseEvent* event);
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// virtual void mouseMoveEvent(QMouseEvent* event);
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// virtual void wheelEvent(QWheelEvent* event);
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// virtual void resizeEvent(QResizeEvent* event);
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UASInterface* uas; ///< The uas currently monitored
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QMap<QString, double> values; ///< The variables this HUD displays
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QMap<QString, QString> units; ///< The units
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QMap<QString, float> valuesDot; ///< First derivative of the variable
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QMap<QString, float> valuesMean; ///< Mean since system startup for this variable
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QMap<QString, int> valuesCount; ///< Number of values received so far
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QMap<QString, quint64> lastUpdate; ///< The last update time for this variable
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QMap<QString, float> minValues; ///< The minimum value this variable is assumed to have
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QMap<QString, float> maxValues; ///< The maximum value this variable is assumed to have
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QMap<QString, bool> symmetric; ///< Draw the gauge / dial symmetric bool = yes
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QMap<QString, bool> intValues; ///< Is the gauge value an integer?
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QMap<QString, QString> customNames; ///< Custom names for the data names
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QMap<QString, QPair<float, float> > goodRanges; ///< The range of good values
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QMap<QString, QPair<float, float> > critRanges; ///< The range of critical values
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double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates
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float xCenterOffset, yCenterOffset; ///< Offset from center of window in mm coordinates
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float vwidth; ///< Virtual width of this window, 200 mm per default. This allows to hardcode positions and aspect ratios. This virtual image plane is then scaled to the window size.
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float vheight; ///< Virtual height of this window, 150 mm per default
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int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
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int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
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// HUD colors
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QColor backgroundColor; ///< Background color
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QColor defaultColor; ///< Color for most HUD elements, e.g. pitch lines, center cross, change rate gauges
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QColor setPointColor; ///< Color for the current control set point, e.g. yaw desired
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QColor warningColor; ///< Color for warning messages
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QColor criticalColor; ///< Color for caution messages
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QColor infoColor; ///< Color for normal/default messages
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QColor fuelColor; ///< Current color for the fuel message, can be info, warning or critical color
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// Blink rates
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int warningBlinkRate; ///< Blink rate of warning messages, will be rounded to the refresh rate
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QTimer* refreshTimer; ///< The main timer, controls the update rate
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static const int updateInterval = 300; ///< Update interval in milliseconds
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QPainter* hudPainter; |
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QFont font; ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts
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QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system)
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bool hardwareAcceleration; ///< Enable hardware acceleration
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float strongStrokeWidth; ///< Strong line stroke width, used throughout the HUD
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float normalStrokeWidth; ///< Normal line stroke width, used throughout the HUD
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float fineStrokeWidth; ///< Fine line stroke width, used throughout the HUD
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QStringList* acceptList; ///< Variable names to plot
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QStringList* acceptUnitList; ///< Unit names to plot
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quint64 lastPaintTime; ///< Last time this widget was refreshed
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int columns; ///< Number of instrument columns
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QAction* addGaugeAction; ///< Action adding a gauge
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QAction* setTitleAction; ///< Action setting the title
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QAction* setColumnsAction; ///< Action setting the number of columns
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bool valuesChanged; |
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private slots: |
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void _activeVehicleChanged(Vehicle* vehicle); |
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private: |
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Ui::HDDisplay *m_ui; |
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}; |
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#endif // HDDISPLAY_H
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<?xml version="1.0" encoding="UTF-8"?> |
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<ui version="4.0"> |
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<class>HDDisplay</class> |
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<widget class="QWidget" name="HDDisplay"> |
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<property name="geometry"> |
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<rect> |
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<x>0</x> |
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<y>0</y> |
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<width>400</width> |
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<height>300</height> |
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</rect> |
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</property> |
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<property name="windowTitle"> |
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<string>Form</string> |
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</property> |
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<layout class="QHBoxLayout" name="horizontalLayout"> |
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<property name="margin"> |
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<number>0</number> |
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</property> |
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<item> |
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<widget class="QGraphicsView" name="view"/> |
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</item> |
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</layout> |
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</widget> |
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<resources/> |
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<connections/> |
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</ui> |
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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/**
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* @file |
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* @brief Definition of of Horizontal Situation Indicator class |
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* |
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* @author Lorenz Meier <mavteam@student.ethz.ch> |
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* |
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*/ |
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#ifndef HSIDISPLAY_H |
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#define HSIDISPLAY_H |
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#include <QWidget> |
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#include <QColor> |
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#include <QTimer> |
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#include <QMap> |
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#include <QPair> |
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#include <QMouseEvent> |
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#include <cmath> |
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#include "HDDisplay.h" |
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#include "MG.h" |
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#include "Vehicle.h" |
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class HSIDisplay : public HDDisplay |
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{ |
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Q_OBJECT |
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public: |
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HSIDisplay(QWidget *parent = 0); |
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~HSIDisplay(); |
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public slots: |
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/** @brief Set the width in meters this widget shows from top */ |
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void setMetricWidth(double width); |
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void updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used); |
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void updateAttitudeSetpoints(UASInterface*, float rollDesired, float pitchDesired, float yawDesired, float thrustDesired, quint64 usec); |
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void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 time); |
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void updateUserPositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired); |
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void updatePositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec); |
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void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec); |
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void updateGlobalPosition(UASInterface*, double lat, double lon, double altAMSL, double altWGS84, quint64 usec); |
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void updateSpeed(UASInterface* uas, double vx, double vy, double vz, quint64 time); |
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void UpdateNavErrors(UASInterface *uas, double altitudeError, double airspeedError, double crosstrackError); |
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void updatePositionLock(UASInterface* uas, bool lock); |
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void updateAttitudeControllerEnabled(bool enabled); |
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void updatePositionXYControllerEnabled(bool enabled); |
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void updatePositionZControllerEnabled(bool enabled); |
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/** @brief Optical flow status changed */ |
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void updateOpticalFlowStatus(bool supported, bool enabled, bool ok) { |
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if (supported && enabled && ok) { |
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visionFix = true; |
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} else { |
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visionFix = false; |
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} |
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} |
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/** @brief Vision based localization status changed */ |
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void updateVisionLocalizationStatus(bool supported, bool enabled, bool ok) { |
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if (enabled && ok) { |
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visionFix = true; |
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} else { |
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visionFix = false; |
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} |
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visionFixKnown = supported; |
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} |
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/** @brief Infrared / Ultrasound status changed */ |
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void updateDistanceSensorStatus(bool supported, bool enabled, bool ok) { |
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if (enabled && ok) { |
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iruFix = true; |
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} else { |
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iruFix = false; |
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} |
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iruFixKnown = supported; |
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} |
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/** @brief Gyroscope status changed */ |
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void updateGyroStatus(bool supported, bool enabled, bool ok) { |
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gyroKnown = supported; |
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gyroON = enabled; |
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gyroOK = ok; |
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} |
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/** @brief Accelerometer status changed */ |
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void updateAccelStatus(bool supported, bool enabled, bool ok) { |
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accelKnown = supported; |
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accelON = enabled; |
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accelOK = ok; |
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} |
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/** @brief Magnetometer status changed */ |
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void updateMagSensorStatus(bool supported, bool enabled, bool ok) { |
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magKnown = supported; |
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magON = enabled; |
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magOK = ok; |
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} |
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/** @brief Barometer status changed */ |
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void updateBaroStatus(bool supported, bool enabled, bool ok) { |
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pressureKnown = supported; |
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pressureON = enabled; |
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pressureOK = ok; |
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} |
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/** @brief Differential pressure / airspeed status changed */ |
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void updateAirspeedStatus(bool supported, bool enabled, bool ok) { |
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diffPressureKnown = supported; |
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diffPressureON = enabled; |
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diffPressureOK = ok; |
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} |
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/** @brief Actuator status changed */ |
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void updateActuatorStatus(bool supported, bool enabled, bool ok) { |
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actuatorsKnown = supported; |
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actuatorsON = enabled; |
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actuatorsOK = ok; |
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} |
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/** @brief Laser scanner status changed */ |
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void updateLaserStatus(bool supported, bool enabled, bool ok) { |
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laserKnown = supported; |
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laserON = enabled; |
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laserOK = ok; |
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} |
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/** @brief Vicon / Leica Geotracker status changed */ |
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void updateGroundTruthSensorStatus(bool supported, bool enabled, bool ok) { |
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viconKnown = supported; |
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viconON = enabled; |
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viconOK = ok; |
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} |
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void updateObjectPosition(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance); |
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/** @brief Heading control enabled/disabled */ |
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void updatePositionYawControllerEnabled(bool enabled); |
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/** @brief Localization quality changed */ |
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void updateLocalization(UASInterface* uas, int localization); |
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/** @brief GPS localization quality changed */ |
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void updateGpsLocalization(UASInterface* uas, int localization); |
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/** @brief Vision localization quality changed */ |
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void updateVisionLocalization(UASInterface* uas, int localization); |
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/** @brief Ultrasound/Infrared localization changed */ |
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void updateInfraredUltrasoundLocalization(UASInterface* uas, int fix); |
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/** @brief Repaint the widget */ |
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void paintEvent(QPaintEvent * event); |
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/** @brief Update state from joystick */ |
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void updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat); |
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void pressKey(int key); |
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/** @brief Reset the state of the view */ |
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void resetMAVState(); |
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/** @brief Clear the status message */ |
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void clearStatusMessage() |
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{ |
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statusMessage = ""; |
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if (actionPending) statusMessage = "TIMED OUT, NO ACTION"; |
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statusClearTimer.start(); |
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userSetPointSet = false; |
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actionPending = false; |
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} |
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signals: |
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void metricWidthChanged(double width); |
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protected slots: |
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void renderOverlay(); |
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void drawGPS(QPainter &painter); |
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void drawObjects(QPainter &painter); |
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void drawPositionDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter); |
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void drawAttitudeDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter); |
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void drawAltitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter); |
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/** @brief Draw a status flag indicator */ |
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void drawStatusFlag(float x, float y, QString label, bool status, bool known, QPainter& painter); |
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void drawStatusFlag(float x, float y, QString label, bool status, bool known, bool ok, QPainter& painter); |
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/** @brief Draw a position lock indicator */ |
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void drawPositionLock(float x, float y, QString label, int status, bool known, QPainter& painter); |
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void setBodySetpointCoordinateXY(double x, double y); |
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void setBodySetpointCoordinateYaw(double yaw); |
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void setBodySetpointCoordinateZ(double z); |
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/** @brief Send the current ui setpoint coordinates as new setpoint to the MAV */ |
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void sendBodySetPointCoordinates(); |
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/** @brief Draw one setpoint */ |
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void drawSetpointXYZYaw(float x, float y, float z, float yaw, const QColor &color, QPainter &painter); |
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/** @brief Draw waypoints of this system */ |
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void drawWaypoints(QPainter& painter); |
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/** @brief Draw one waypoint */ |
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void drawWaypoint(QPainter& painter, const QColor& color, float width, const MissionItem *w, const QPointF& p); |
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/** @brief Draw the limiting safety area */ |
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void drawSafetyArea(const QPointF &topLeft, const QPointF &bottomRight, const QColor &color, QPainter &painter); |
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/** @brief Receive mouse clicks */ |
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void mouseDoubleClickEvent(QMouseEvent* event); |
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void mousePressEvent(QMouseEvent * event); |
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void mouseReleaseEvent(QMouseEvent * event); |
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void mouseMoveEvent(QMouseEvent * event); |
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/** @brief Receive mouse wheel events */ |
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void wheelEvent(QWheelEvent* event); |
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/** @brief Read out send keys */ |
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void keyPressEvent(QKeyEvent* event); |
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/** @brief Ignore context menu event */ |
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void contextMenuEvent (QContextMenuEvent* event); |
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/** @brief Set status message on screen */ |
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void setStatusMessage(const QString& message) |
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{ |
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statusMessage = message; |
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statusClearTimer.start(); |
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} |
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protected: |
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void showEvent(QShowEvent* event); |
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void hideEvent(QHideEvent* event); |
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/** @brief Get color from GPS signal-to-noise colormap */ |
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static QColor getColorForSNR(float snr); |
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/** @brief Metric world coordinates to metric body coordinates */ |
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QPointF metricWorldToBody(QPointF world); |
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/** @brief Metric body coordinates to metric world coordinates */ |
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QPointF metricBodyToWorld(QPointF body); |
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/** @brief Screen coordinates of widget to metric coordinates in body frame */ |
||||
QPointF screenToMetricBody(QPointF ref); |
||||
/** @brief Reference coordinates to metric coordinates */ |
||||
QPointF refToMetricBody(QPointF &ref); |
||||
/** @brief Metric coordinates to reference coordinates */ |
||||
QPointF metricBodyToRef(QPointF &metric); |
||||
/** @brief Metric length to reference coordinates */ |
||||
double metricToRef(double metric); |
||||
/** @bried Reference coordinates to metric length */ |
||||
double refToMetric(double ref); |
||||
/** @brief Metric body coordinates to screen coordinates */ |
||||
QPointF metricBodyToScreen(QPointF metric); |
||||
|
||||
/**
|
||||
* @brief Private data container class to be used within the HSI widget |
||||
*/ |
||||
class GPSSatellite |
||||
{ |
||||
public: |
||||
GPSSatellite(int id, float elevation, float azimuth, float snr, bool used) : |
||||
id(id), |
||||
elevation(elevation), |
||||
azimuth(azimuth), |
||||
snr(snr), |
||||
used(used), |
||||
lastUpdate(MG::TIME::getGroundTimeNowUsecs()) { |
||||
|
||||
} |
||||
|
||||
void update(int id, float elevation, float azimuth, float snr, bool used) { |
||||
this->id = id; |
||||
this->elevation = elevation; |
||||
this->azimuth = azimuth; |
||||
this->snr = snr; |
||||
this->used = used; |
||||
this->lastUpdate = MG::TIME::getGroundTimeNowUsecs(); |
||||
} |
||||
|
||||
int id; |
||||
float elevation; |
||||
float azimuth; |
||||
float snr; |
||||
bool used; |
||||
quint64 lastUpdate; |
||||
|
||||
friend class HSIDisplay; |
||||
}; |
||||
|
||||
QMap<int, QString> objectNames; |
||||
QMap<int, int> objectTypes; |
||||
QMap<int, float> objectQualities; |
||||
QMap<int, float> objectBearings; |
||||
QMap<int, float> objectDistances; |
||||
bool dragStarted; |
||||
bool leftDragStarted; |
||||
bool mouseHasMoved; |
||||
float startX; |
||||
float startY; |
||||
QTimer statusClearTimer; |
||||
QString statusMessage; |
||||
bool actionPending; |
||||
bool directSending; |
||||
|
||||
QMap<int, GPSSatellite*> gpsSatellites; |
||||
unsigned int satellitesUsed; |
||||
|
||||
// Current controller values
|
||||
float attXSet; |
||||
float attYSet; |
||||
float attYawSet; |
||||
float altitudeSet; |
||||
|
||||
float posXSet; |
||||
float posYSet; |
||||
float posZSet; |
||||
|
||||
// Controller saturation values
|
||||
float attXSaturation; |
||||
float attYSaturation; |
||||
float attYawSaturation; |
||||
|
||||
float posXSaturation; |
||||
float posYSaturation; |
||||
float altitudeSaturation; |
||||
|
||||
// Position
|
||||
float lat; |
||||
float lon; |
||||
float alt; |
||||
quint64 globalAvailable; ///< Last global position update time
|
||||
float x; |
||||
float y; |
||||
float z; |
||||
float vx; |
||||
float vy; |
||||
float vz; |
||||
float speed; |
||||
quint64 localAvailable; ///< Last local position update time
|
||||
float roll; |
||||
float pitch; |
||||
float yaw; |
||||
float bodyXSetCoordinate; ///< X Setpoint coordinate active on the MAV
|
||||
float bodyYSetCoordinate; ///< Y Setpoint coordinate active on the MAV
|
||||
float bodyZSetCoordinate; ///< Z Setpoint coordinate active on the MAV
|
||||
float bodyYawSet; ///< Yaw setpoint coordinate active on the MAV
|
||||
float uiXSetCoordinate; ///< X Setpoint coordinate wanted by the UI
|
||||
float uiYSetCoordinate; ///< Y Setpoint coordinate wanted by the UI
|
||||
float uiZSetCoordinate; ///< Z Setpoint coordinate wanted by the UI
|
||||
float uiYawSet; ///< Yaw Setpoint wanted by the UI
|
||||
double metricWidth; ///< Width the instrument represents in meters (the width of the ground shown by the widget)
|
||||
|
||||
// Navigation parameters
|
||||
double crosstrackError; ///< The crosstrack error (m) reported by the UAS
|
||||
|
||||
//
|
||||
float xCenterPos; ///< X center of instrument in virtual coordinates
|
||||
float yCenterPos; ///< Y center of instrument in virtual coordinates
|
||||
|
||||
bool positionLock; |
||||
bool rateControlEnabled; ///< Rate control enabled
|
||||
bool attControlEnabled; ///< Attitude control enabled
|
||||
bool xyControlEnabled; ///< Horizontal control enabled
|
||||
bool zControlEnabled; ///< Vertical control enabled
|
||||
bool yawControlEnabled; ///< Yaw angle position control enabled
|
||||
int positionFix; ///< Total dimensions the MAV is localizaed in
|
||||
int gpsFix; ///< Localization dimensions based on GPS
|
||||
int visionFix; ///< Localizaiton dimensions based on computer vision
|
||||
int laserFix; ///< Localization dimensions based on laser
|
||||
int iruFix; ///< Localization dimensions based on ultrasound
|
||||
|
||||
bool mavInitialized; ///< The MAV is initialized once the setpoint has been received
|
||||
float topMargin; ///< Margin on top of the page, in virtual coordinates
|
||||
float bottomMargin; ///< Margin on the bottom of the page, in virtual coordinates
|
||||
|
||||
bool rateControlKnown; ///< Rate control status known flag
|
||||
bool attControlKnown; ///< Attitude control status known flag
|
||||
bool xyControlKnown; ///< XY control status known flag
|
||||
bool zControlKnown; ///< Z control status known flag
|
||||
bool yawControlKnown; ///< Yaw control status known flag
|
||||
|
||||
// Position lock indicators
|
||||
bool positionFixKnown; ///< Position fix status known flag
|
||||
bool visionFixKnown; ///< Vision fix status known flag
|
||||
bool gpsFixKnown; ///< GPS fix status known flag
|
||||
bool iruFixKnown; ///< Infrared/Ultrasound fix status known flag
|
||||
|
||||
// System state indicators
|
||||
bool gyroKnown; |
||||
bool gyroON; |
||||
bool gyroOK; |
||||
|
||||
bool accelKnown; |
||||
bool accelON; |
||||
bool accelOK; |
||||
|
||||
bool magKnown; |
||||
bool magON; |
||||
bool magOK; |
||||
|
||||
bool pressureKnown; |
||||
bool pressureON; |
||||
bool pressureOK; |
||||
|
||||
bool diffPressureKnown; |
||||
bool diffPressureON; |
||||
bool diffPressureOK; |
||||
|
||||
bool flowKnown; |
||||
bool flowON; |
||||
bool flowOK; |
||||
|
||||
bool laserKnown; |
||||
bool laserON; |
||||
bool laserOK; |
||||
|
||||
bool viconKnown; |
||||
bool viconON; |
||||
bool viconOK; |
||||
|
||||
bool actuatorsKnown; |
||||
bool actuatorsON; |
||||
bool actuatorsOK; |
||||
|
||||
// Data indicators
|
||||
bool setPointKnown; ///< Controller setpoint known status flag
|
||||
bool positionSetPointKnown; ///< Position setpoint known status flag
|
||||
bool userSetPointSet; ///< User set X, Y and Z
|
||||
bool userXYSetPointSet; ///< User set the X/Y position already
|
||||
bool userZSetPointSet; ///< User set the Z position already
|
||||
bool userYawSetPointSet; ///< User set the YAW position already
|
||||
|
||||
private slots: |
||||
void _activeVehicleChanged(Vehicle* vehicle); |
||||
}; |
||||
|
||||
#endif // HSIDISPLAY_H
|
||||
@ -1,236 +0,0 @@
@@ -1,236 +0,0 @@
|
||||
/*=====================================================================
|
||||
|
||||
QGroundControl Open Source Ground Control Station |
||||
|
||||
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
|
||||
|
||||
This file is part of the QGROUNDCONTROL project |
||||
|
||||
QGROUNDCONTROL 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. |
||||
|
||||
QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
======================================================================*/ |
||||
|
||||
/**
|
||||
* @file |
||||
* @brief Definition of Head up display |
||||
* |
||||
* @author Lorenz Meier <mavteam@student.ethz.ch> |
||||
* |
||||
*/ |
||||
|
||||
#ifndef HUD_H |
||||
#define HUD_H |
||||
|
||||
#include <QImage> |
||||
#include <QWidget> |
||||
#include <QLabel> |
||||
#include <QPainter> |
||||
#include <QFontDatabase> |
||||
#include <QTimer> |
||||
#include <QVector3D> |
||||
|
||||
#include "UASInterface.h" |
||||
#include "MainWindow.h" |
||||
#include "Vehicle.h" |
||||
|
||||
/**
|
||||
* @brief Displays a Head Up Display (HUD) |
||||
* |
||||
* This class represents a head up display (HUD) and draws this HUD in an OpenGL widget (QGLWidget). |
||||
* It can superimpose the HUD over the current live image stream (any arriving image stream will be auto- |
||||
* matically used as background), or it draws the classic blue-brown background known from instruments. |
||||
*/ |
||||
class HUD : public QLabel |
||||
{ |
||||
Q_OBJECT |
||||
public: |
||||
HUD(int width = 640, int height = 480, QWidget* parent = NULL); |
||||
~HUD(); |
||||
|
||||
void setImageSize(int width, int height, int depth, int channels); |
||||
void resize(int w, int h); |
||||
|
||||
public slots: |
||||
void styleChanged(bool styleIsDark); |
||||
|
||||
/** @brief Attitude from main autopilot / system state */ |
||||
void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp); |
||||
/** @brief Attitude from one specific component / redundant autopilot */ |
||||
void updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp); |
||||
// void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
|
||||
void updateBattery(UASInterface*, double, double, double, int); |
||||
void receiveHeartbeat(UASInterface*); |
||||
void updateThrust(UASInterface*, double); |
||||
void updateLocalPosition(UASInterface*,double,double,double,quint64); |
||||
void updateGlobalPosition(UASInterface*,double,double,double,double,quint64); |
||||
void updateSpeed(UASInterface*,double,double,double,quint64); |
||||
void updateState(UASInterface*,QString); |
||||
void updateMode(int id,QString mode, QString description); |
||||
void updateLoad(UASInterface*, double); |
||||
void selectWaypoint(int uasId, int id); |
||||
|
||||
void startImage(int imgid, int width, int height, int depth, int channels); |
||||
void setPixels(int imgid, const unsigned char* imageData, int length, int startIndex); |
||||
void finishImage(); |
||||
void saveImage(); |
||||
void saveImage(QString fileName); |
||||
void saveImages(bool save); |
||||
/** @brief Select directory where to load the offline files from */ |
||||
void selectOfflineDirectory(); |
||||
/** @brief Enable the HUD instruments */ |
||||
void enableHUDInstruments(bool enabled); |
||||
/** @brief Enable Video */ |
||||
void enableVideo(bool enabled); |
||||
/** @brief Copy an image from the current active UAS */ |
||||
void copyImage(UASInterface* uas); |
||||
|
||||
|
||||
protected slots: |
||||
void _activeVehicleChanged(Vehicle* vehicle); |
||||
void paintRollPitchStrips(); |
||||
void paintPitchLines(float pitch, QPainter* painter); |
||||
/** @brief Paint text on top of the image and OpenGL drawings */ |
||||
void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter); |
||||
/** @brief Setup the OpenGL view for drawing a sub-component of the HUD */ |
||||
void setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight); |
||||
void paintHUD(); |
||||
void paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter); |
||||
void paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter); |
||||
|
||||
void drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter); |
||||
void drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter); |
||||
void drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter); |
||||
|
||||
void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter,bool reverse = false); |
||||
void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true); |
||||
|
||||
void drawPolygon(QPolygonF refPolygon, QPainter* painter); |
||||
|
||||
signals: |
||||
void visibilityChanged(bool visible); |
||||
|
||||
protected: |
||||
void commitRawDataToGL(); |
||||
/** @brief Convert reference coordinates to screen coordinates */ |
||||
float refToScreenX(float x); |
||||
/** @brief Convert reference coordinates to screen coordinates */ |
||||
float refToScreenY(float y); |
||||
/** @brief Convert mm line widths to QPen line widths */ |
||||
float refLineWidthToPen(float line); |
||||
/** @brief Rotate a polygon around a point clockwise */ |
||||
void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin); |
||||
/** @brief Preferred Size */ |
||||
QSize sizeHint() const; |
||||
/** @brief Start updating widget */ |
||||
void showEvent(QShowEvent* event); |
||||
/** @brief Stop updating widget */ |
||||
void hideEvent(QHideEvent* event); |
||||
void contextMenuEvent (QContextMenuEvent* event); |
||||
void createActions(); |
||||
|
||||
static const int updateInterval = 100; |
||||
|
||||
QImage* image; ///< Double buffer image
|
||||
QImage glImage; ///< The background / camera image
|
||||
UASInterface* uas; ///< The uas currently monitored
|
||||
float yawInt; ///< The yaw integral. Used to damp the yaw indication.
|
||||
QString mode; ///< The current vehicle mode
|
||||
QString state; ///< The current vehicle state
|
||||
QString fuelStatus; ///< Current fuel level / battery voltage
|
||||
double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates
|
||||
float xCenterOffset, yCenterOffset; ///< Offset from center of window in mm coordinates
|
||||
float vwidth; ///< Virtual width of this window, 200 mm per default. This allows to hardcode positions and aspect ratios. This virtual image plane is then scaled to the window size.
|
||||
float vheight; ///< Virtual height of this window, 150 mm per default
|
||||
float vGaugeSpacing; ///< Virtual spacing of the gauges from the center, 50 mm per default
|
||||
float vPitchPerDeg; ///< Virtual pitch to mm conversion. Currently one degree is 3 mm up/down in the pitch markings
|
||||
|
||||
int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
|
||||
int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
|
||||
|
||||
// Image buffers
|
||||
unsigned char* rawBuffer1; ///< Double buffer 1 for the image
|
||||
unsigned char* rawBuffer2; ///< Double buffer 2 for the image
|
||||
unsigned char* rawImage; ///< Pointer to current complete image
|
||||
int rawLastIndex; ///< The last byte index received of the image
|
||||
int rawExpectedBytes; ///< Number of raw image bytes expected. Calculated by: image depth * channels * widht * height / 8
|
||||
int bytesPerLine; ///< Bytes per image line. Is calculated as: image depth * channels * width / 8
|
||||
bool imageStarted; ///< If an image is currently in transmission
|
||||
int receivedDepth; ///< Image depth in bit for the current image
|
||||
int receivedChannels; ///< Number of color channels
|
||||
int receivedWidth; ///< Width in pixels of the current image
|
||||
int receivedHeight; ///< Height in pixels of the current image
|
||||
|
||||
// HUD colors
|
||||
QColor defaultColor; ///< Color for most HUD elements, e.g. pitch lines, center cross, change rate gauges
|
||||
QColor setPointColor; ///< Color for the current control set point, e.g. yaw desired
|
||||
QColor warningColor; ///< Color for warning messages
|
||||
QColor criticalColor; ///< Color for caution messages
|
||||
QColor infoColor; ///< Color for normal/default messages
|
||||
QColor fuelColor; ///< Current color for the fuel message, can be info, warning or critical color
|
||||
|
||||
// Blink rates
|
||||
int warningBlinkRate; ///< Blink rate of warning messages, will be rounded to the refresh rate
|
||||
|
||||
QTimer* refreshTimer; ///< The main timer, controls the update rate
|
||||
QPainter* HUDPainter; |
||||
QFont font; ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts
|
||||
QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system)
|
||||
bool noCamera; ///< No camera images available, draw the ground/sky box to indicate the horizon
|
||||
bool hardwareAcceleration; ///< Enable hardware acceleration
|
||||
|
||||
float strongStrokeWidth; ///< Strong line stroke width, used throughout the HUD
|
||||
float normalStrokeWidth; ///< Normal line stroke width, used throughout the HUD
|
||||
float fineStrokeWidth; ///< Fine line stroke width, used throughout the HUD
|
||||
|
||||
QString waypointName; ///< Waypoint name displayed in HUD
|
||||
float roll; |
||||
float pitch; |
||||
float yaw; |
||||
QMap<uint8_t, QVector3D> attitudes; |
||||
float rollLP; |
||||
float pitchLP; |
||||
float yawLP; |
||||
double yawDiff; |
||||
double xPos; |
||||
double yPos; |
||||
double zPos; |
||||
double xSpeed; |
||||
double ySpeed; |
||||
double zSpeed; |
||||
quint64 lastSpeedUpdate; |
||||
double totalSpeed; |
||||
double totalAcc; |
||||
double lat; |
||||
double lon; |
||||
double alt; |
||||
float load; |
||||
QString offlineDirectory; |
||||
QString nextOfflineImage; |
||||
bool HUDInstrumentsEnabled; |
||||
bool videoEnabled; |
||||
bool imageLoggingEnabled; |
||||
float xImageFactor; |
||||
float yImageFactor; |
||||
QAction* enableHUDAction; |
||||
QAction* enableVideoAction; |
||||
QAction* selectOfflineDirectoryAction; |
||||
QAction* selectVideoChannelAction; |
||||
QAction* selectSaveDirectoryAction; |
||||
void paintEvent(QPaintEvent *event); |
||||
bool imageRequested; |
||||
QString imageLogDirectory; |
||||
unsigned int imageLogCounter; |
||||
}; |
||||
|
||||
#endif // HUD_H
|
||||
@ -1,249 +0,0 @@
@@ -1,249 +0,0 @@
|
||||
#include <QMenu> |
||||
#include <QContextMenuEvent> |
||||
#include <QSettings> |
||||
|
||||
#include "QGCRGBDView.h" |
||||
#include "MultiVehicleManager.h" |
||||
|
||||
QGCRGBDView::QGCRGBDView(int width, int height, QWidget *parent) : |
||||
HUD(width, height, parent), |
||||
rgbEnabled(false), |
||||
depthEnabled(false) |
||||
{ |
||||
enableRGBAction = new QAction(tr("Enable RGB Image"), this); |
||||
enableRGBAction->setStatusTip(tr("Show the RGB image live stream in this window")); |
||||
enableRGBAction->setCheckable(true); |
||||
enableRGBAction->setChecked(rgbEnabled); |
||||
connect(enableRGBAction, SIGNAL(triggered(bool)), this, SLOT(enableRGB(bool))); |
||||
|
||||
enableDepthAction = new QAction(tr("Enable Depthmap"), this); |
||||
enableDepthAction->setStatusTip(tr("Show the Depthmap in this window")); |
||||
enableDepthAction->setCheckable(true); |
||||
enableDepthAction->setChecked(depthEnabled); |
||||
connect(enableDepthAction, SIGNAL(triggered(bool)), this, SLOT(enableDepth(bool))); |
||||
|
||||
connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &QGCRGBDView::_activeVehicleChanged); |
||||
_activeVehicleChanged(MultiVehicleManager::instance()->activeVehicle()); |
||||
|
||||
clearData(); |
||||
loadSettings(); |
||||
} |
||||
|
||||
QGCRGBDView::~QGCRGBDView() |
||||
{ |
||||
storeSettings(); |
||||
} |
||||
|
||||
void QGCRGBDView::storeSettings() |
||||
{ |
||||
QSettings settings; |
||||
settings.beginGroup("QGC_RGBDWIDGET"); |
||||
settings.setValue("STREAM_RGB_ON", rgbEnabled); |
||||
settings.setValue("STREAM_DEPTH_ON", depthEnabled); |
||||
settings.endGroup(); |
||||
} |
||||
|
||||
void QGCRGBDView::loadSettings() |
||||
{ |
||||
QSettings settings; |
||||
settings.beginGroup("QGC_RGBDWIDGET"); |
||||
rgbEnabled = settings.value("STREAM_RGB_ON", rgbEnabled).toBool(); |
||||
// Only enable depth if RGB is not on
|
||||
if (!rgbEnabled) depthEnabled = settings.value("STREAM_DEPTH_ON", depthEnabled).toBool(); |
||||
settings.endGroup(); |
||||
} |
||||
|
||||
void QGCRGBDView::_activeVehicleChanged(Vehicle* vehicle) |
||||
{ |
||||
if (this->uas != NULL) |
||||
{ |
||||
// Disconnect any previously connected active MAV
|
||||
disconnect(this->uas, SIGNAL(rgbdImageChanged(UASInterface*)), this, SLOT(updateData(UASInterface*))); |
||||
|
||||
clearData(); |
||||
} |
||||
|
||||
if (vehicle) |
||||
{ |
||||
// Now connect the new UAS
|
||||
// Setup communication
|
||||
connect(vehicle->uas(), SIGNAL(rgbdImageChanged(UASInterface*)), this, SLOT(updateData(UASInterface*))); |
||||
} |
||||
} |
||||
|
||||
void QGCRGBDView::clearData(void) |
||||
{ |
||||
QImage offlineImg; |
||||
qDebug() << offlineImg.load(":/files/images/status/colorbars.png"); |
||||
|
||||
glImage = offlineImg; |
||||
} |
||||
|
||||
void QGCRGBDView::contextMenuEvent(QContextMenuEvent* event) |
||||
{ |
||||
QMenu menu(this); |
||||
// Update actions
|
||||
enableHUDAction->setChecked(HUDInstrumentsEnabled); |
||||
//enableVideoAction->setChecked(videoEnabled);
|
||||
enableRGBAction->setChecked(rgbEnabled); |
||||
enableDepthAction->setChecked(depthEnabled); |
||||
|
||||
menu.addAction(enableHUDAction); |
||||
menu.addAction(enableRGBAction); |
||||
menu.addAction(enableDepthAction); |
||||
//menu.addAction(selectHUDColorAction);
|
||||
//menu.addAction(enableVideoAction);
|
||||
//menu.addAction(selectOfflineDirectoryAction);
|
||||
//menu.addAction(selectVideoChannelAction);
|
||||
menu.exec(event->globalPos()); |
||||
} |
||||
|
||||
void QGCRGBDView::enableRGB(bool enabled) |
||||
{ |
||||
rgbEnabled = enabled; |
||||
videoEnabled = rgbEnabled | depthEnabled; |
||||
QWidget::resize(size().width(), size().height()); |
||||
} |
||||
|
||||
void QGCRGBDView::enableDepth(bool enabled) |
||||
{ |
||||
depthEnabled = enabled; |
||||
videoEnabled = rgbEnabled | depthEnabled; |
||||
QWidget::resize(size().width(), size().height()); |
||||
} |
||||
|
||||
float colormapJet[128][3] = { |
||||
{0.0f,0.0f,0.53125f}, |
||||
{0.0f,0.0f,0.5625f}, |
||||
{0.0f,0.0f,0.59375f}, |
||||
{0.0f,0.0f,0.625f}, |
||||
{0.0f,0.0f,0.65625f}, |
||||
{0.0f,0.0f,0.6875f}, |
||||
{0.0f,0.0f,0.71875f}, |
||||
{0.0f,0.0f,0.75f}, |
||||
{0.0f,0.0f,0.78125f}, |
||||
{0.0f,0.0f,0.8125f}, |
||||
{0.0f,0.0f,0.84375f}, |
||||
{0.0f,0.0f,0.875f}, |
||||
{0.0f,0.0f,0.90625f}, |
||||
{0.0f,0.0f,0.9375f}, |
||||
{0.0f,0.0f,0.96875f}, |
||||
{0.0f,0.0f,1.0f}, |
||||
{0.0f,0.03125f,1.0f}, |
||||
{0.0f,0.0625f,1.0f}, |
||||
{0.0f,0.09375f,1.0f}, |
||||
{0.0f,0.125f,1.0f}, |
||||
{0.0f,0.15625f,1.0f}, |
||||
{0.0f,0.1875f,1.0f}, |
||||
{0.0f,0.21875f,1.0f}, |
||||
{0.0f,0.25f,1.0f}, |
||||
{0.0f,0.28125f,1.0f}, |
||||
{0.0f,0.3125f,1.0f}, |
||||
{0.0f,0.34375f,1.0f}, |
||||
{0.0f,0.375f,1.0f}, |
||||
{0.0f,0.40625f,1.0f}, |
||||
{0.0f,0.4375f,1.0f}, |
||||
{0.0f,0.46875f,1.0f}, |
||||
{0.0f,0.5f,1.0f}, |
||||
{0.0f,0.53125f,1.0f}, |
||||
{0.0f,0.5625f,1.0f}, |
||||
{0.0f,0.59375f,1.0f}, |
||||
{0.0f,0.625f,1.0f}, |
||||
{0.0f,0.65625f,1.0f}, |
||||
{0.0f,0.6875f,1.0f}, |
||||
{0.0f,0.71875f,1.0f}, |
||||
{0.0f,0.75f,1.0f}, |
||||
{0.0f,0.78125f,1.0f}, |
||||
{0.0f,0.8125f,1.0f}, |
||||
{0.0f,0.84375f,1.0f}, |
||||
{0.0f,0.875f,1.0f}, |
||||
{0.0f,0.90625f,1.0f}, |
||||
{0.0f,0.9375f,1.0f}, |
||||
{0.0f,0.96875f,1.0f}, |
||||
{0.0f,1.0f,1.0f}, |
||||
{0.03125f,1.0f,0.96875f}, |
||||
{0.0625f,1.0f,0.9375f}, |
||||
{0.09375f,1.0f,0.90625f}, |
||||
{0.125f,1.0f,0.875f}, |
||||
{0.15625f,1.0f,0.84375f}, |
||||
{0.1875f,1.0f,0.8125f}, |
||||
{0.21875f,1.0f,0.78125f}, |
||||
{0.25f,1.0f,0.75f}, |
||||
{0.28125f,1.0f,0.71875f}, |
||||
{0.3125f,1.0f,0.6875f}, |
||||
{0.34375f,1.0f,0.65625f}, |
||||
{0.375f,1.0f,0.625f}, |
||||
{0.40625f,1.0f,0.59375f}, |
||||
{0.4375f,1.0f,0.5625f}, |
||||
{0.46875f,1.0f,0.53125f}, |
||||
{0.5f,1.0f,0.5f}, |
||||
{0.53125f,1.0f,0.46875f}, |
||||
{0.5625f,1.0f,0.4375f}, |
||||
{0.59375f,1.0f,0.40625f}, |
||||
{0.625f,1.0f,0.375f}, |
||||
{0.65625f,1.0f,0.34375f}, |
||||
{0.6875f,1.0f,0.3125f}, |
||||
{0.71875f,1.0f,0.28125f}, |
||||
{0.75f,1.0f,0.25f}, |
||||
{0.78125f,1.0f,0.21875f}, |
||||
{0.8125f,1.0f,0.1875f}, |
||||
{0.84375f,1.0f,0.15625f}, |
||||
{0.875f,1.0f,0.125f}, |
||||
{0.90625f,1.0f,0.09375f}, |
||||
{0.9375f,1.0f,0.0625f}, |
||||
{0.96875f,1.0f,0.03125f}, |
||||
{1.0f,1.0f,0.0f}, |
||||
{1.0f,0.96875f,0.0f}, |
||||
{1.0f,0.9375f,0.0f}, |
||||
{1.0f,0.90625f,0.0f}, |
||||
{1.0f,0.875f,0.0f}, |
||||
{1.0f,0.84375f,0.0f}, |
||||
{1.0f,0.8125f,0.0f}, |
||||
{1.0f,0.78125f,0.0f}, |
||||
{1.0f,0.75f,0.0f}, |
||||
{1.0f,0.71875f,0.0f}, |
||||
{1.0f,0.6875f,0.0f}, |
||||
{1.0f,0.65625f,0.0f}, |
||||
{1.0f,0.625f,0.0f}, |
||||
{1.0f,0.59375f,0.0f}, |
||||
{1.0f,0.5625f,0.0f}, |
||||
{1.0f,0.53125f,0.0f}, |
||||
{1.0f,0.5f,0.0f}, |
||||
{1.0f,0.46875f,0.0f}, |
||||
{1.0f,0.4375f,0.0f}, |
||||
{1.0f,0.40625f,0.0f}, |
||||
{1.0f,0.375f,0.0f}, |
||||
{1.0f,0.34375f,0.0f}, |
||||
{1.0f,0.3125f,0.0f}, |
||||
{1.0f,0.28125f,0.0f}, |
||||
{1.0f,0.25f,0.0f}, |
||||
{1.0f,0.21875f,0.0f}, |
||||
{1.0f,0.1875f,0.0f}, |
||||
{1.0f,0.15625f,0.0f}, |
||||
{1.0f,0.125f,0.0f}, |
||||
{1.0f,0.09375f,0.0f}, |
||||
{1.0f,0.0625f,0.0f}, |
||||
{1.0f,0.03125f,0.0f}, |
||||
{1.0f,0.0f,0.0f}, |
||||
{0.96875f,0.0f,0.0f}, |
||||
{0.9375f,0.0f,0.0f}, |
||||
{0.90625f,0.0f,0.0f}, |
||||
{0.875f,0.0f,0.0f}, |
||||
{0.84375f,0.0f,0.0f}, |
||||
{0.8125f,0.0f,0.0f}, |
||||
{0.78125f,0.0f,0.0f}, |
||||
{0.75f,0.0f,0.0f}, |
||||
{0.71875f,0.0f,0.0f}, |
||||
{0.6875f,0.0f,0.0f}, |
||||
{0.65625f,0.0f,0.0f}, |
||||
{0.625f,0.0f,0.0f}, |
||||
{0.59375f,0.0f,0.0f}, |
||||
{0.5625f,0.0f,0.0f}, |
||||
{0.53125f,0.0f,0.0f}, |
||||
{0.5f,0.0f,0.0f} |
||||
}; |
||||
|
||||
void QGCRGBDView::updateData(UASInterface *uas) |
||||
{ |
||||
Q_UNUSED(uas); |
||||
} |
||||
@ -1,38 +0,0 @@
@@ -1,38 +0,0 @@
|
||||
#ifndef QGCRGBDVIEW_H |
||||
#define QGCRGBDVIEW_H |
||||
|
||||
#include "HUD.h" |
||||
#include "Vehicle.h" |
||||
|
||||
class QGCRGBDView : public HUD |
||||
{ |
||||
Q_OBJECT |
||||
public: |
||||
explicit QGCRGBDView(int width=640, int height=480, QWidget *parent = 0); |
||||
~QGCRGBDView(); |
||||
|
||||
signals: |
||||
|
||||
public slots: |
||||
void clearData(void); |
||||
void enableRGB(bool enabled); |
||||
void enableDepth(bool enabled); |
||||
void updateData(UASInterface *uas); |
||||
|
||||
protected: |
||||
bool rgbEnabled; |
||||
bool depthEnabled; |
||||
QAction* enableRGBAction; |
||||
QAction* enableDepthAction; |
||||
|
||||
void contextMenuEvent (QContextMenuEvent* event); |
||||
/** @brief Store current configuration of widget */ |
||||
void storeSettings(); |
||||
/** @brief Load configuration of widget */ |
||||
void loadSettings(); |
||||
|
||||
private slots: |
||||
void _activeVehicleChanged(Vehicle* vehicle); |
||||
}; |
||||
|
||||
#endif // QGCRGBDVIEW_H
|
||||
Loading…
Reference in new issue