From 8d6190b4870622610b98530581da33bb4da7be6c Mon Sep 17 00:00:00 2001
From: edouard <edouard>
Date: Wed, 23 Jun 2010 15:08:46 +0000
Subject: [PATCH] OP-82: PFD widget now also indicates heading. The PFD-2.svg
 master is updated accordingly. Note that the location of the indicator can be
 configured simply by moving the location of the compass on the PFD master
 SVG. Going from 360 degree to 0 degree still does not look nice, but I'll fix
 this later. Will update the wiki with notes on how to draw a PFD master, if
 anyone is interested to contribute?

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@874 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 artwork/Dials/PFD-2.svg                    | 2225 +++++++++++++-------
 ground/src/plugins/pfd/pfdgadgetwidget.cpp |  134 +-
 ground/src/plugins/pfd/pfdgadgetwidget.h   |   14 +-
 3 files changed, 1555 insertions(+), 818 deletions(-)

diff --git a/artwork/Dials/PFD-2.svg b/artwork/Dials/PFD-2.svg
index e5ae4d325..d4dc5b4ab 100644
--- a/artwork/Dials/PFD-2.svg
+++ b/artwork/Dials/PFD-2.svg
@@ -10,8 +10,8 @@
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    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   width="600"
-   height="800"
+   width="1038.8931"
+   height="707.56323"
    id="svg2"
    version="1.1"
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@@ -119,7 +119,7 @@
        xlink:href="#linearGradient3774"
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        gradientUnits="userSpaceOnUse"
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+       gradientTransform="matrix(1,0,0,2.0069652,1.0784651e-5,-517.448)"
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        y1="512.13574"
        x2="380.38251"
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        id="linearGradient4286"
        gradientUnits="userSpaceOnUse"
-       gradientTransform="matrix(1,0,0,1.6720097,0,-513.56761)"
+       gradientTransform="matrix(1,0,0,1.6738023,1.0784651e-5,-514.72728)"
        x1="376.34192"
        y1="484.50259"
        x2="376.34192"
        y2="745.59497" />
+    <inkscape:perspective
+       id="perspective4640"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective4814"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
   </defs>
   <sodipodi:namedview
      id="base"
@@ -142,57 +156,65 @@
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      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.7"
-     inkscape:cx="273.69807"
-     inkscape:cy="434.35142"
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+     inkscape:cx="1125.1162"
+     inkscape:cy="699.41147"
      inkscape:document-units="px"
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+     inkscape:current-layer="g5008"
      showgrid="false"
      inkscape:window-width="1280"
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+     inkscape:window-height="998"
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      inkscape:window-y="-4"
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      showguides="true"
      inkscape:guide-bbox="true"
-     inkscape:snap-grids="false"
-     inkscape:snap-to-guides="false">
+     inkscape:snap-grids="true"
+     inkscape:snap-to-guides="true">
     <sodipodi:guide
        orientation="0,1"
-       position="830.34539,1012.1728"
+       position="1060.7625,922.28538"
        id="guide5941" />
     <sodipodi:guide
        orientation="0,1"
-       position="286.88333,444.46711"
+       position="519.447,353.69582"
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     <sodipodi:guide
        orientation="1,0"
-       position="70.710678,573.76665"
+       position="255.4171,542.96972"
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        orientation="1,0"
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+       position="834.70281,592.96972"
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        orientation="-0.70710678,0.70710678"
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+       position="519.447,353.69582"
        id="guide6897" />
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        orientation="0.70710678,0.70710678"
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+       position="519.447,353.69582"
        id="guide6899" />
     <sodipodi:guide
        orientation="0.70710678,0.70710678"
-       position="177.14286,74.285714"
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        orientation="-0.70710678,0.70710678"
-       position="502.04581,181.42857"
+       position="732.46291,91.541146"
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     <sodipodi:guide
        orientation="0,1"
-       position="111.11678,108.08632"
+       position="341.53388,18.198896"
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+    <sodipodi:guide
+       orientation="0,1"
+       position="519.70281,477.96972"
+       id="guide4338" />
+    <sodipodi:guide
+       orientation="1,0"
+       position="519.447,353.69582"
+       id="guide4372" />
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@@ -202,7 +224,7 @@
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         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
+        <dc:title />
       </cc:Work>
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     <text
        xml:space="preserve"
        style="font-size:40px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;font-family:Bitstream Vera Sans"
@@ -1339,13 +1968,16 @@
      inkscape:groupmode="layer"
      id="layer9"
      inkscape:label="Radar"
-     style="display:inline">
+     style="display:none"
+     transform="translate(230.4171,-2.5493479)"
+     sodipodi:insensitive="true">
     <g
        id="homewaypoint"
-       inkscape:label="#g5033">
+       inkscape:label="#g5033"
+       transform="translate(-8.5714286,-24.285714)">
       <path
          transform="translate(0.06314146,9.609375e-6)"
-         d="m 415.17269,306.0354 a 7.0710678,7.0710678 0 1 1 -14.14213,0 7.0710678,7.0710678 0 1 1 14.14213,0 z"
+         d="m 415.17269,306.0354 c 0,3.90524 -3.16582,7.07107 -7.07107,7.07107 -3.90524,0 -7.07106,-3.16583 -7.07106,-7.07107 0,-3.90524 3.16582,-7.07107 7.07106,-7.07107 3.90525,0 7.07107,3.16583 7.07107,7.07107 z"
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          sodipodi:rx="7.0710678"
          sodipodi:cy="306.0354"
@@ -1364,7 +1996,7 @@
     </g>
     <g
        id="nextwaypoint"
-       transform="translate(0,30)"
+       transform="translate(18.571429,60)"
        inkscape:label="#g5040">
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@@ -1374,7 +2006,7 @@
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          sodipodi:rx="7.0710678"
          sodipodi:ry="7.0710678"
-         d="m 415.17269,306.0354 a 7.0710678,7.0710678 0 1 1 -14.14213,0 7.0710678,7.0710678 0 1 1 14.14213,0 z"
+         d="m 415.17269,306.0354 c 0,3.90524 -3.16582,7.07107 -7.07107,7.07107 -3.90524,0 -7.07106,-3.16583 -7.07106,-7.07107 0,-3.90524 3.16582,-7.07107 7.07106,-7.07107 3.90525,0 7.07107,3.16583 7.07107,7.07107 z"
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@@ -1390,7 +2022,9 @@
      inkscape:groupmode="layer"
      id="layer5"
      inkscape:label="Speed"
-     style="display:inline">
+     style="display:none"
+     transform="translate(230.4171,-2.5493479)"
+     sodipodi:insensitive="true">
     <rect
        y="88.852608"
        x="620.20844"
@@ -1463,7 +2097,8 @@
      id="layer2"
      inkscape:label="Foreground"
      style="display:none"
-     sodipodi:insensitive="true">
+     sodipodi:insensitive="true"
+     transform="translate(230.4171,-2.5493479)">
     <path
        style="fill:#453e3e;fill-opacity:1;stroke:#000000;stroke-width:4.08031273;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
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diff --git a/ground/src/plugins/pfd/pfdgadgetwidget.cpp b/ground/src/plugins/pfd/pfdgadgetwidget.cpp
index f7dec8e00..16c6b550c 100644
--- a/ground/src/plugins/pfd/pfdgadgetwidget.cpp
+++ b/ground/src/plugins/pfd/pfdgadgetwidget.cpp
@@ -42,6 +42,8 @@ PFDGadgetWidget::PFDGadgetWidget(QWidget *parent) : QGraphicsView(parent)
     m_renderer = new QSvgRenderer();
 
     attitudeObj = NULL;
+    headingObj = NULL;
+    compassBandWidth = 0;
 /*
     obj2 = NULL;
     obj3 = NULL;
@@ -66,6 +68,10 @@ PFDGadgetWidget::~PFDGadgetWidget()
 void PFDGadgetWidget::connectNeedles() {
     if (attitudeObj != NULL)
         disconnect(attitudeObj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(updateAttitude(UAVObject*)));
+
+    if (headingObj != NULL)
+        disconnect(headingObj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(updateHeading(UAVObject*)));
+
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
 
@@ -76,10 +82,18 @@ void PFDGadgetWidget::connectNeedles() {
         std::cout << "Error: Object is unknown (AttitudeActual)." << std::endl;
    }
 
+   headingObj = dynamic_cast<UAVDataObject*>(objManager->getObject("PositionActual"));
+   if (headingObj != NULL ) {
+       connect(headingObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateHeading(UAVObject*)));
+   } else {
+        std::cout << "Error: Object is unknown (PositionActual)." << std::endl;
+   }
+
+
 }
 
 /*!
-  \brief Called by the UAVObject which got updated
+  \brief Reads the updated attitude and computes the new display position
   */
 void PFDGadgetWidget::updateAttitude(UAVObject *object1) {
     // Double check that the field exists:
@@ -104,7 +118,20 @@ void PFDGadgetWidget::updateAttitude(UAVObject *object1) {
 /*!
   \brief Called by the UAVObject which got updated
   */
-void PFDGadgetWidget::updateHeading(UAVObject *object2) {
+void PFDGadgetWidget::updateHeading(UAVObject *object1) {
+    // Double check that the field exists:
+    QString heading = QString("Heading");
+    UAVObjectField* field = object1->getField(heading);
+    if (field) {
+        // These factors assume some things about the PFD SVG, namely:
+        // - Heading value in degrees
+        // - Scale is 540 degrees large
+        headingTarget = field->getDouble()*compassBandWidth/(-540);
+        if (!dialTimer.isActive())
+            dialTimer.start(); // Rearm the dial Timer which might be stopped.
+    } else {
+        std::cout << "UpdateHeading: Wrong field, maybe an issue with object disconnection ?" << std::endl;
+    }
 }
 
 /*!
@@ -138,18 +165,18 @@ void PFDGadgetWidget::setDialFile(QString dfn)
       m_renderer->load(dfn);
       if(m_renderer->isValid())
       {
-          /* The PFD element IDs are fixed, not like with the analog dial.
+/* The PFD element IDs are fixed, not like with the analog dial.
      - Background: background
      - Foreground: foreground (contains all fixed elements, including plane)
      - earth/sky : world
-     - red pointer: needle3
+     - Roll scale: rollscale
      - compass frame: compass (part of the foreground)
      - compass band : compass-band
      - Home point: homewaypoint
      - Next point: nextwaypoint
      - Home point bearing: homewaypoint-bearing
      - Next point bearing: nextwaypoint-bearing
-          */
+ */
          QGraphicsScene *l_scene = scene();
          l_scene->clear(); // Deletes all items contained in the scene as well.
          m_background = new QGraphicsSvgItem();
@@ -166,15 +193,12 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          m_world->setElementId("world");
          l_scene->addItem(m_world);
 
-         // red pointer: redpointer
-         m_redpointer = new QGraphicsSvgItem();
-         // Compass band:
-         // Get the location of the Compass:
-         QMatrix compassMatrix = m_renderer->matrixForElement("compass");
-         // Then once we have the initial location, we can put it
-         // into a QGraphicsSvgItem which we will display at the same
-         // place:
-         m_compassband = new QGraphicsSvgItem();
+         // red Roll scale: rollscale
+         m_rollscale = new QGraphicsSvgItem();
+         m_rollscale->setSharedRenderer(m_renderer);
+         m_rollscale->setElementId("rollscale");
+         l_scene->addItem(m_rollscale);
+
          // Home point:
          m_homewaypoint = new QGraphicsSvgItem();
          // Next point:
@@ -190,17 +214,61 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          m_foreground->setElementId("foreground");
          l_scene->addItem(m_foreground);
 
+         // Compass:
+         // Get the default location of the Compass:
+         QMatrix compassMatrix = m_renderer->matrixForElement("compass");
+         qreal startX = compassMatrix.mapRect(m_renderer->boundsOnElement("compass")).x();
+         qreal startY = compassMatrix.mapRect(m_renderer->boundsOnElement("compass")).y();
+         // Then once we have the initial location, we can put it
+         // into a QGraphicsSvgItem which we will display at the same
+         // place: we do this so that the heading scale can be clipped to
+         // the compass dial region.
+         m_compass = new QGraphicsSvgItem();
+         m_compass->setSharedRenderer(m_renderer);
+         m_compass->setElementId("compass");
+         m_compass->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
+                             QGraphicsItem::ItemClipsToShape);
+         l_scene->addItem(m_compass);
+         QTransform matrix;
+         matrix.translate(startX,startY);
+         m_compass->setTransform(matrix,false);
+
+         // Now place the compass scale inside:
+         m_compassband = new QGraphicsSvgItem();
+         m_compassband->setSharedRenderer(m_renderer);
+         m_compassband->setElementId("compass-band");
+         m_compassband->setParentItem(m_compass);
+         l_scene->addItem(m_compassband);
+         matrix.reset();
+         // Note: the compass band has to be a path, which means all text elements have to be
+         // converted, ortherwise boundsOnElement does not compute the height correctly
+         // if the highest element is a text element. This is a Qt Bug as far as I can tell.
+
+         // compass-scale is the while bottom line inside the band: using the band's width
+         // includes half the width of the letters, which causes errors:
+         compassBandWidth = m_renderer->boundsOnElement("compass-scale").width();
+
         l_scene->setSceneRect(m_background->boundingRect());
 
-        // Now Initialize the center for all transforms of the dial needles to the
+        // Now Initialize the center for all transforms of the relevant elements to the
         // center of the background:
-        // - Move the center of the needle to the center of the background.
+
+        // 1) Move the center of the needle to the center of the background.
         QRectF rectB = m_background->boundingRect();
         QRectF rectN = m_world->boundingRect();
         m_world->setPos(rectB.width()/2-rectN.width()/2,rectB.height()/2-rectN.height()/2);
-        // - Put the transform origin point of the needle at its center.
+        // 2) Put the transform origin point of the needle at its center.
         m_world->setTransformOriginPoint(rectN.width()/2,rectN.height()/2);
 
+        rectN = m_rollscale->boundingRect();
+        m_rollscale->setPos(rectB.width()/2-rectN.width()/2,rectB.height()/2-rectN.height()/2);
+        m_rollscale->setTransformOriginPoint(rectN.width()/2,rectN.height()/2);
+
+        // Also to the same init for the compass:
+        rectB = m_compass->boundingRect();
+        rectN = m_compassband->boundingRect();
+        m_compassband->setPos(rectB.width()/2-rectN.width()/2,rectB.height()/2-rectN.height()/2);
+        m_compassband->setTransformOriginPoint(rectN.width()/2,rectN.height()/2);
 
         // Last: we just loaded the dial file which is by default valid for a "zero" value
         // of the needles, so we have to reset the needles too upon dial file loading, otherwise
@@ -208,6 +276,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
         // is not zero at that time.
         rollValue = 0;
         pitchValue = 0;
+        headingValue = 0;
         if (!dialTimer.isActive())
             dialTimer.start(); // Rearm the dial Timer which might be stopped.
      }
@@ -249,14 +318,19 @@ void PFDGadgetWidget::resizeEvent(QResizeEvent *event)
 // to the same element.
 void PFDGadgetWidget::rotateNeedles()
 {
-    int dialCount = 2;
+    int dialCount = 3;
     if ((abs((rollValue-rollTarget)*10) > 5)) {
         double rollDiff;
         rollDiff =(rollTarget - rollValue)/5;
         m_world->setRotation(m_world->rotation()+rollDiff);
+        m_rollscale->setRotation(m_rollscale->rotation()+rollDiff);
         rollValue += rollDiff;
     } else {
+        // This avoids any sort of offset resulting from rounding
+        // errors on the dichotomy above
         rollValue = rollTarget;
+        m_world->setRotation(rollValue);
+        m_rollscale->setRotation(rollValue);
         dialCount--;
     }
 
@@ -270,9 +344,33 @@ void PFDGadgetWidget::rotateNeedles()
         pitchValue += pitchDiff;
     } else {
         pitchValue = pitchTarget;
+        // TODO: should maybe reset the transformOriginpoint here one last
+        // time with the pitchValue=pitchTarget ? To be checked later.
         dialCount--;
     }
 
+    double headingOffset = 0;
+    double headingDiff;
+    if ((abs((headingValue-headingTarget)*10) > 5)) {
+
+        headingDiff = (headingTarget - headingValue)/5;
+    } else {
+        headingDiff = headingTarget-headingValue;
+        dialCount--;
+    }
+    double threshold = -180*compassBandWidth/540;
+    // The below does not work 100% perfect yet, visually speaking...
+    if ((headingValue < threshold) && ((headingValue+headingDiff)>threshold)) {
+        // We went over 180°: activate a -360 degree offset
+        headingOffset = 2*threshold;
+    } else if ((headingValue > threshold) && ((headingValue+headingDiff)<threshold)) {
+        // We went under 180°: remove the -360 degree offset
+        headingOffset = -2*threshold;
+    }
+    QPointF opd = QPointF(headingDiff+headingOffset,0);
+    m_compassband->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), true);
+    headingValue += headingDiff;
+
    update();
    if (!dialCount)
        dialTimer.stop();
diff --git a/ground/src/plugins/pfd/pfdgadgetwidget.h b/ground/src/plugins/pfd/pfdgadgetwidget.h
index 5a32ce549..1f251fa7d 100644
--- a/ground/src/plugins/pfd/pfdgadgetwidget.h
+++ b/ground/src/plugins/pfd/pfdgadgetwidget.h
@@ -48,9 +48,6 @@ public:
    ~PFDGadgetWidget();
    void setDialFile(QString dfn);
    void paint();
-   void setN1Min(double value) {n1MinValue = value;}
-   void setN1Max(double value) {n1MaxValue = value;}
-   void setN1Factor(double value) {n1Factor = value;}
    void setN2Min(double value) {n2MinValue = value;}
    void setN2Max(double value) {n2MaxValue = value;}
    void setN2Factor(double value) {n2Factor = value;}
@@ -84,8 +81,10 @@ private:
    QGraphicsSvgItem *m_foreground;
    // earth/sky : world
    QGraphicsSvgItem *m_world;
-   // red pointer: redpointer
-   QGraphicsSvgItem *m_redpointer;
+   // Roll scale: rollscale
+   QGraphicsSvgItem *m_rollscale;
+   // Compass dial:
+   QGraphicsSvgItem *m_compass;
    // Compass band:
    QGraphicsSvgItem *m_compassband;
    // Home point:
@@ -113,9 +112,14 @@ private:
    double rollValue;
    double pitchTarget;
    double pitchValue;
+   double headingTarget;
+   double headingValue;
+
+   qreal compassBandWidth;
 
    // Name of the fields to read when an update is received:
    UAVDataObject* attitudeObj;
+   UAVDataObject* headingObj;
 
    // Rotation timer
    QTimer dialTimer;