/// Reset to peripheral projector setup (discards previous projectorsetup)
void Tuning::resetToPeripheralSetup() {
if (!tuning()) return;
tuning()->projector().setSetup(Projector::PERIPHERAL);
sessionModeChange();
emit projectorSetupChanged();
}
QSize TuningLayout::calculateSize(SizeType sizeType) const
{
int _border = 2;
int _width = 0;
int _height = _border;
auto _parent = static_cast<Tuning*>(parent());
for (auto& _item : items_)
{
switch (_item.role_)
{
case Role::PARAMETER:
case Role::TITLE:
_height += 24 / _parent->devicePixelRatio();
break;
case Role::PREVIEW:
if (!tuning()) continue;
/// Increase height by aspect ratio
_height += _parent->width() /
float(tuning()->width()) * tuning()->height();
break;
}
}
_height += _border;
return QSize(_width,_height);
}
void TuningLayout::setGeometry(QRect const& _rect)
{
if (!tuning()) return;
const int _border = 2;
int _height = _border;
auto _parent = static_cast<Tuning *>(parent());
/// Adjust geometry for each widget
for (auto& _item : items_)
{
auto _widget = _item.widget();
/// Widget height is constant except for preview
int _widgetHeight = _item.role_ == Role::PREVIEW ? _parent->width() /
float(tuning()->width()) * tuning()->height() :
36 / _parent->devicePixelRatio();
_widget->setGeometry(_border, _height,
_parent->width() - _border * 2, _widgetHeight);
_widget->show();
/// Increase height
_height += _widgetHeight;
}
}
/// Reset to free projector setup (discards previous projector setup)
void Tuning::resetToFreeSetup() {
if (!tuning()) return;
tuning()->projector().setSetup(Projector::FREE);
sessionModeChange();
emit projectorSetupChanged();
}
void Tuning::updateParameters()
{
if (!tuning() || signalsBlocked()) return;
auto& _p = tuning()->projector();
_p.setYaw(getParamAsFloat("Yaw"));
_p.setPitch(getParamAsFloat("Pitch"));
_p.setRoll(getParamAsFloat("Roll"));
switch(_p.setup()) {
/// Handle free projector setup
case Projector::FREE:
_p.setPos(
getParamAsFloat("X"),
getParamAsFloat("Y"),
getParamAsFloat("Z"));
break;
/// Handle Peripheral projector setup
case Projector::PERIPHERAL:
_p.setDeltaYaw(getParamAsFloat("Delta Yaw"));
_p.setDistanceCenter(getParamAsFloat("Distance"));
_p.setTowerHeight(getParamAsFloat("Tower Height"));
_p.setShift(getParamAsFloat("Shift"));
break;
}
tuning()->setColor(titleBar_->color());
glView_->update();
updateViews();
emit projectorSetupChanged();
}
void Tuning::sessionModeChange()
{
if (!dataModel()) return;
QSignalBlocker blocker(this);
if (windowState_ == NO_DISPLAY)
{
setGroup("Minimized");
return;
}
if (windowState_ == DISPLAY_ONLY)
{
setGroup("PreviewOnly");
return;
}
auto _mode = dataModel()->mode();
// Show close button only in screen- and projection setup
titleBar_->setCloseButtonVisible(
_mode == Session::Mode::SCREENSETUP ||
_mode == Session::Mode::ARRANGE);
switch (_mode)
{
case Session::Mode::SCREENSETUP:
setGroup("FOVSliders");
break;
case Session::Mode::ARRANGE:
if (windowState_ ==
ADJUSTMENT_SLIDERS) setGroup(
tuning()->projector().setup() == Projector::FREE ?
"FreeSetup" : "PeripheralSetup");
if (windowState_ == FOV_SLIDERS) setGroup("FOVSliders");
break;
case Session::Mode::BLEND:
case Session::Mode::WARP:
case Session::Mode::COLORCORRECTION:
case Session::Mode::EXPORT:
setGroup("PreviewOnly");
break;
case Session::Mode::LIVE:
/// Generate calibration data for visualizer when switching to live
// mode
tuning()->visualizer()->generateCalibrationData();
setGroup("PreviewOnly");
break;
default:
break;
}
}
void Tuning::setKeyStone() {
if (!tuning() || signalsBlocked()) return;
tuning()->projector().setKeystone(getParamAsFloat("Keystone"));
updateViews();
emit projectorSetupChanged();
}
/// Set Throw Ratio to projector from slider
void Tuning::setThrowRatio()
{
if (!tuning() || signalsBlocked()) return;
tuning()->projector().setThrowRatio(getParamAsFloat("Throw Ratio"));
setParamAsFloat("FOV", tuning()->projector().fov().degrees());
updateViews();
emit projectorSetupChanged();
}
void Tuning::setFov()
{
if (!tuning() || isLocked()) return;
tuning()->projector().setFov(getParamAsFloat("FOV"));
setParamAsFloat("Throw Ratio",tuning()->projector().throwRatio());
updateViews();
emit projectorSetupChanged();
}
void Tuning::updateColor()
{
/// Widget color has the same color as tuning
for (auto& _widget : this->parameters_)
{
QColor _color = isSelected_ ? titleBar_->color().name() : "#cccccc";
_widget->setStyleSheet("selection-background-color : "+_color.name());
if (tuning() && isSelected_)
tuning()->setColor(_color);
}
update();
}
// three_hz_loop - 3.3hz loop
void Sub::three_hz_loop()
{
set_leak_status(leak_detector.update());
failsafe_internal_pressure_check();
failsafe_internal_temperature_check();
// check if we've lost contact with the ground station
failsafe_gcs_check();
// check if we've lost terrain data
failsafe_terrain_check();
#if AC_FENCE == ENABLED
// check if we have breached a fence
fence_check();
#endif // AC_FENCE_ENABLED
update_events();
#if CH6_TUNE_ENABLED == ENABLED
// update ch6 in flight tuning
tuning();
#endif
}
void Tuning::startDrag()
{
if (!dataModel()) return;
if (dataModel()->mode() != Session::Mode::SCREENSETUP) return;
QDrag *drag = new QDrag(this);
QMimeData *mimeData = new QMimeData;
// Generate pixmap for projector
QPixmap _pixmap(128, 128);
{
_pixmap.fill(tuning()->color());
QPainter _p(&_pixmap);
QRect _rect(0, 0, 128, 128);
QFont _font("Helvetica", 32);
_p.setFont(_font);
_p.drawRect(_rect.adjusted(1, 1, -2, -2));
_p.drawText(_rect, Qt::AlignCenter,
QString("%1").arg(index() + 1));
_p.end();
}
drag->setPixmap(_pixmap);
mimeData->setText(QString("%1").arg(index()));
drag->setMimeData(mimeData);
drag->exec();
}
void Tuning::setTuning(int _index, omni::Session* _session)
{
bool _newTuning = (session_ != _session) || (index_ != _index);
index_=_index;
session_ = _session;
if (_newTuning)
{
glView_->setSession(session_);
glView_->setTuningIndex(index_);
fullscreen_->setSession(session_);
fullscreen_->setTuningIndex(index_);
titleBar_->setColor(tuning()->color());
setParamAsFloat("FOV",tuning()->projector().fov().degrees());
setParamAsFloat("Throw Ratio",tuning()->projector().throwRatio());
auto _projSetup = tuning()->projector().setup();
if (_projSetup->getTypeId() == "FreeSetup")
{
auto* _p = static_cast<omni::proj::FreeSetup*>(_projSetup);
setParamAsFloat("Yaw",_p->yaw().degrees());
setParamAsFloat("Pitch",_p->pitch().degrees());
setParamAsFloat("Roll",_p->roll().degrees());
setParamAsFloat("X",_p->pos().x());
setParamAsFloat("Y",_p->pos().y());
setParamAsFloat("Z",_p->pos().z());
}
else if (_projSetup->getTypeId() == "PeripheralSetup")
{
auto* _p = static_cast<omni::proj::PeripheralSetup*>(_projSetup);
setParamAsFloat("Yaw",_p->yaw().degrees());
setParamAsFloat("Pitch",_p->pitch().degrees());
setParamAsFloat("Roll",_p->roll().degrees());
setParamAsFloat("Delta Yaw",_p->deltaYaw().degrees());
setParamAsFloat("Distance",_p->distanceCenter());
setParamAsFloat("Tower Height",_p->towerHeight());
setParamAsFloat("Shift",_p->shift());
}
sessionModeChange();
updateParameters();
}
}
void Tuning::updateParameters()
{
if (!tuning() || isLocked()) return;
auto* _projSetup = tuning()->projector().setup();
if (!_projSetup) return;
/// Handle free projector setup
if (_projSetup->getTypeId() == "FreeSetup")
{
auto* _p = static_cast<omni::proj::FreeSetup*>(_projSetup);
_p->setYaw(getParamAsFloat("Yaw"));
_p->setPitch(getParamAsFloat("Pitch"));
_p->setRoll(getParamAsFloat("Roll"));
_p->setPos(
getParamAsFloat("X"),
getParamAsFloat("Y"),
getParamAsFloat("Z"));
}
/// Handle Peripheral projector setup
if (_projSetup->getTypeId() == "PeripheralSetup")
{
auto* _p = static_cast<omni::proj::PeripheralSetup*>(_projSetup);
_p->setYaw(getParamAsFloat("Yaw"));
_p->setPitch(getParamAsFloat("Pitch"));
_p->setRoll(getParamAsFloat("Roll"));
_p->setDeltaYaw(getParamAsFloat("Delta Yaw"));
_p->setDistanceCenter(getParamAsFloat("Distance"));
_p->setTowerHeight(getParamAsFloat("Tower Height"));
_p->setShift(getParamAsFloat("Shift"));
}
tuning()->projector().setup();
updateViews();
emit projectorSetupChanged();
}
// three_hz_loop - 3.3hz loop
void Copter::three_hz_loop()
{
// check if we've lost contact with the ground station
failsafe_gcs_check();
// check if we've lost terrain data
failsafe_terrain_check();
#if AC_FENCE == ENABLED
// check if we have breached a fence
fence_check();
#endif // AC_FENCE_ENABLED
// update ch6 in flight tuning
tuning();
}
void Tuning::sessionModeChange()
{
if (!session()) return;
if (windowState_ == NO_DISPLAY)
{
setGroup("Minimized");
return;
}
if (windowState_ == DISPLAY_ONLY)
{
setGroup("PreviewOnly");
return;
}
auto _mode = session()->mode();
// Show close button only in screen- and projection setup
titleBar_->setCloseButtonVisible(
_mode == Session::Mode::SCREENSETUP ||
_mode == Session::Mode::PROJECTIONSETUP);
switch (_mode)
{
case Session::Mode::SCREENSETUP:
setGroup("FOVSliders");
break;
case Session::Mode::PROJECTIONSETUP:
if (windowState_ == ADJUSTMENT_SLIDERS)
setGroup(tuning()->projector().setup()->getTypeId().str());
if (windowState_ == FOV_SLIDERS)
setGroup("FOVSliders");
break;
case Session::Mode::WARP:
case Session::Mode::BLEND:
case Session::Mode::EXPORT:
setGroup("PreviewOnly");
break;
default:
break;
}
fullscreen_->update();
}
// three_hz_loop - 3.3hz loop
void Copter::three_hz_loop()
{
// check if we've lost contact with the ground station
failsafe_gcs_check();
#if AC_FENCE == ENABLED
// check if we have breached a fence
fence_check();
#endif // AC_FENCE_ENABLED
#if SPRAYER == ENABLED
sprayer.update();
#endif
update_events();
// update ch6 in flight tuning
tuning();
}
void Tuning::detachScreen()
{
tuning()->setScreen(nullptr, 0);
emit projectorSetupChanged();
layout()->update();
}
void Tuning::attachScreen(QScreen const *_screen, int _subScreenIndex)
{
tuning()->setScreen(_screen, _subScreenIndex);
emit projectorSetupChanged();
layout()->update();
}