pixhawk
15 years ago
2 changed files with 251 additions and 0 deletions
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/*=====================================================================
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PIXHAWK Micro Air Vehicle Flying Robotics Toolkit |
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(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
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This file is part of the PIXHAWK project |
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PIXHAWK 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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PIXHAWK 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 PIXHAWK. 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 Implementation 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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#include <QFile> |
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#include <QStringList> |
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#include "UASManager.h" |
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#include "HSIDisplay.h" |
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#include "MG.h" |
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#include <QDebug> |
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HSIDisplay::HSIDisplay(QStringList* plotList, QWidget *parent) : |
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HDDisplay(plotList, parent), |
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{ |
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} |
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void HSIDisplay::paintDisplay() |
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{ |
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quint64 refreshInterval = 100; |
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quint64 currTime = MG::TIME::getGroundTimeNow(); |
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if (currTime - lastPaintTime < refreshInterval) |
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{ |
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// FIXME Need to find the source of the spurious paint events
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//return;
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} |
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lastPaintTime = currTime; |
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// Draw instruments
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// TESTING THIS SHOULD BE MOVED INTO A QGRAPHICSVIEW
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// Update scaling factor
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// adjust scaling to fit both horizontally and vertically
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scalingFactor = this->width()/vwidth; |
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double scalingFactorH = this->height()/vheight; |
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if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH; |
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QPainter painter(this); |
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painter.setRenderHint(QPainter::Antialiasing, true); |
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painter.setRenderHint(QPainter::HighQualityAntialiasing, true); |
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painter.fillRect(QRect(0, 0, width(), height()), backgroundColor); |
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const int columns = 3; |
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const float spacing = 0.4f; // 40% of width
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const float gaugeWidth = vwidth / (((float)columns) + (((float)columns+1) * spacing + spacing * 0.1f)); |
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const QColor gaugeColor = QColor(200, 200, 200); |
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//drawSystemIndicator(10.0f-gaugeWidth/2.0f, 20.0f, 10.0f, 40.0f, 15.0f, &painter);
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//drawGauge(15.0f, 15.0f, gaugeWidth/2.0f, 0, 1.0f, "thrust", values.value("thrust", 0.0f), gaugeColor, &painter, qMakePair(0.45f, 0.8f), qMakePair(0.8f, 1.0f), true);
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//drawGauge(15.0f+gaugeWidth*1.7f, 15.0f, gaugeWidth/2.0f, 0, 10.0f, "altitude", values.value("altitude", 0.0f), gaugeColor, &painter, qMakePair(1.0f, 2.5f), qMakePair(0.0f, 0.5f), true);
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// Left spacing from border / other gauges, measured from left edge to center
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// float leftSpacing = gaugeWidth * spacing;
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// float xCoord = leftSpacing + gaugeWidth/2.0f;
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//
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// float topSpacing = leftSpacing;
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// float yCoord = topSpacing + gaugeWidth/2.0f;
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//
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// for (int i = 0; i < acceptList->size(); ++i)
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// {
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// QString value = acceptList->at(i);
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// drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
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// xCoord += gaugeWidth + leftSpacing;
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// // Move one row down if necessary
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// if (xCoord + gaugeWidth > vwidth)
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// {
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// yCoord += topSpacing + gaugeWidth;
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// xCoord = leftSpacing + gaugeWidth/2.0f;
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// }
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// }
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} |
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/**
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* |
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* @param uas the UAS/MAV to monitor/display with the HUD |
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*/ |
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void HSIDisplay::setActiveUAS(UASInterface* uas) |
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{ |
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HDDisplay::setActiveUAS(uas); |
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//qDebug() << "ATTEMPTING TO SET UAS";
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if (this->uas != NULL && this->uas != uas) |
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{ |
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// Disconnect any previously connected active MAV
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//disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
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} |
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// Now connect the new UAS
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//if (this->uas != uas)
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// {
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//qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
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// Setup communication
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//connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
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//}
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} |
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void HSIDisplay::drawGPS() |
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{ |
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} |
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void HSIDisplay::drawObjects() |
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{ |
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} |
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void HSIDisplay::drawBaseLines(float xRef, float yRef, float radius, float yaw, const QColor& color, QPainter* painter, bool solid) |
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{ |
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// Draw the circle
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QPen circlePen(Qt::SolidLine); |
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if (!solid) circlePen.setStyle(Qt::DotLine); |
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circlePen.setWidth(refLineWidthToPen(0.5f)); |
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circlePen.setColor(defaultColor); |
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painter->setBrush(Qt::NoBrush); |
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painter->setPen(circlePen); |
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drawCircle(xRef, yRef, radius, 200.0f, color, painter); |
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//drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter);
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QString label; |
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label.sprintf("%05.1f", value); |
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// Draw the value
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paintText(label, color, 4.5f, xRef-7.5f, yRef-2.0f, painter); |
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// Draw the needle
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// Scale the rotation so that the gauge does one revolution
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// per max. change
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const float rangeScale = (2.0f * M_PI); |
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const float maxWidth = radius / 10.0f; |
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const float minWidth = maxWidth * 0.3f; |
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QPolygonF p(6); |
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p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f)); |
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p.replace(1, QPointF(xRef-minWidth/2.0f, yRef-radius * 0.9f)); |
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p.replace(2, QPointF(xRef+minWidth/2.0f, yRef-radius * 0.9f)); |
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p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef-radius * 0.5f)); |
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p.replace(4, QPointF(xRef, yRef-radius * 0.46f)); |
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p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f)); |
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rotatePolygonClockWiseRad(p, yaw*rangeScale, QPointF(xRef, yRef)); |
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QBrush indexBrush; |
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indexBrush.setColor(defaultColor); |
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indexBrush.setStyle(Qt::SolidPattern); |
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painter->setPen(Qt::SolidLine); |
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painter->setPen(defaultColor); |
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painter->setBrush(indexBrush); |
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drawPolygon(p, painter); |
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} |
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void HDDisplay::changeEvent(QEvent *e) |
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{ |
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QWidget::changeEvent(e); |
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switch (e->type()) { |
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case QEvent::LanguageChange: |
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m_ui->retranslateUi(this); |
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break; |
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default: |
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break; |
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} |
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} |
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@ -0,0 +1,65 @@ |
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/*=====================================================================
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PIXHAWK Micro Air Vehicle Flying Robotics Toolkit |
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(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
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This file is part of the PIXHAWK project |
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PIXHAWK 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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PIXHAWK 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 PIXHAWK. 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 <QtGui/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 <cmath> |
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#include "HDDisplay.h" |
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class HSIDisplay : public HDDisplay { |
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Q_OBJECT |
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public: |
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HSIDisplay(QStringList* plotList, QWidget *parent = 0); |
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~HSIDisplay(); |
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public slots: |
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void setActiveUAS(UASInterface* uas); |
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protected slots: |
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void paintDisplay(); |
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void drawGPS(); |
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void drawObjects(); |
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void drawBaseLines(float xRef, float yRef, float radius, float yaw, const QColor& color, QPainter* painter, bool solid); |
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protected: |
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private: |
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}; |
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#endif // HSIDISPLAY_H
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