ardupilot/Tools/ArdupilotMegaPlanner/hudold.cs

1149 lines
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C#
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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Text;
using System.Windows.Forms;
using System.IO;
using System.Drawing.Imaging;
using System.Threading;
using System.Drawing.Drawing2D;
using OpenTK;
using OpenTK.Graphics.OpenGL;
// Control written by Michael Oborne 2011
namespace hud
{
public partial class HUD : MyUserControl //GLControl
{
object paintlock = new object();
object streamlock = new object();
MemoryStream _streamjpg = new MemoryStream();
public MemoryStream streamjpg { get { lock (streamlock) { return _streamjpg; } } set { lock (streamlock) { _streamjpg = value; } } }
/// <summary>
/// this is to reduce cpu usage
/// </summary>
public bool streamjpgenable = false;
int huddrawtime = 0;
public HUD()
{
InitializeComponent();
//graphicsObject = this;
graphicsObject = Graphics.FromImage(objBitmap);
}
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(HUD));
this.SuspendLayout();
//
// HUD
//
this.BackColor = System.Drawing.Color.Black;
this.Name = "HUD";
resources.ApplyResources(this, "$this");
this.ResumeLayout(false);
}
float _roll;
float _navroll;
float _pitch;
float _navpitch;
float _heading;
float _targetheading;
float _alt;
float _targetalt;
float _groundspeed;
float _airspeed;
float _targetspeed;
float _batterylevel;
float _batteryremaining;
float _gpsfix;
float _gpshdop;
float _disttowp;
float _groundcourse;
float _xtrack_error;
float _turnrate;
float _verticalspeed;
string _mode = "Manual";
int _wpno;
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float roll { get { return _roll; } set { if (_roll != value) { _roll = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float navroll { get { return _navroll; } set { if (_navroll != value) { _navroll = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float pitch { get { return _pitch; } set { if (_pitch != value) { _pitch = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float navpitch { get { return _navpitch; } set { if (_navpitch != value) { _navpitch = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float heading { get { return _heading; } set { if (_heading != value) { _heading = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float targetheading { get { return _targetheading; } set { if (_targetheading != value) { _targetheading = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float alt { get { return _alt; } set { if (_alt != value) { _alt = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float targetalt { get { return _targetalt; } set { if (_targetalt != value) { _targetalt = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float groundspeed { get { return _groundspeed; } set { if (_groundspeed != value) { _groundspeed = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float airspeed { get { return _airspeed; } set { if (_airspeed != value) { _airspeed = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float targetspeed { get { return _targetspeed; } set { if (_targetspeed != value) { _targetspeed = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float batterylevel { get { return _batterylevel; } set { if (_batterylevel != value) { _batterylevel = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float batteryremaining { get { return _batteryremaining; } set { if (_batteryremaining != value) { _batteryremaining = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float gpsfix { get { return _gpsfix; } set { if (_gpsfix != value) { _gpsfix = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float gpshdop { get { return _gpshdop; } set { if (_gpshdop != value) { _gpshdop = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float disttowp { get { return _disttowp; } set { if (_disttowp != value) { _disttowp = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public string mode { get { return _mode; } set { if (_mode != value) { _mode = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public int wpno { get { return _wpno; } set { if (_wpno != value) { _wpno = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float groundcourse { get { return _groundcourse; } set { if (_groundcourse != value) { _groundcourse = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float xtrack_error { get { return _xtrack_error; } set { if (_xtrack_error != value) { _xtrack_error = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float turnrate { get { return _turnrate; } set { if (_turnrate != value) { _turnrate = value; this.Invalidate(); } } }
[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
public float verticalspeed { get { return _verticalspeed; } set { if (_verticalspeed != value) { _verticalspeed = value; this.Invalidate(); } } }
public bool bgon = true;
public bool hudon = true;
[System.ComponentModel.Browsable(true),
System.ComponentModel.Category("Values")]
public Color hudcolor { get { return whitePen.Color; } set { whitePen = new Pen(value, 2); } }
Pen whitePen = new Pen(Color.White, 2);
public Image bgimage { set { _bgimage = value; this.Invalidate(); } }
Image _bgimage;
// move these global as they rarely change - reduce GC
Font font = new Font("Arial", 10);
Bitmap objBitmap = new Bitmap(640, 480);
int count = 0;
DateTime countdate = DateTime.Now;
Graphics graphicsObject; // Graphics
DateTime starttime = DateTime.MinValue;
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(HUD));
public override void Refresh()
{
base.Refresh();
OnPaint(new PaintEventArgs(this.CreateGraphics(),this.ClientRectangle));
}
protected override void OnLoad(EventArgs e)
{
base.OnLoad(e);
/*
GL.MatrixMode(MatrixMode.Projection);
GL.LoadIdentity();
GL.Ortho(0, Width, Height, 0, -1, 1);
GL.MatrixMode(MatrixMode.Modelview);
GL.LoadIdentity();
GL.Disable(EnableCap.DepthTest);
*/
//GL.Viewport(0, 0, Width, Height);
}
protected override void OnPaint(PaintEventArgs e)
{
//GL.Enable(EnableCap.AlphaTest);
// GL.ClearColor(Color.Red);
// GL.Clear(ClearBufferMask.ColorBufferBit);
//GL.LoadIdentity();
// GL.Viewport(0, 0, Width, Height);
doPaint(e);
//this.SwapBuffers();
//MakeCurrent();
}
void Clear(Color color)
{
GL.ClearColor(color);
}
const float rad2deg = (float)(180 / Math.PI);
const float deg2rad = (float)(1.0 / rad2deg);
//graphicsObject.DrawArc(whitePen, arcrect, 180 + 45, 90);
void DrawArc(Pen penn,RectangleF rect, float start,float degrees)
{
GL.Begin(BeginMode.Lines);
GL.LineWidth(penn.Width);
GL.Color4(penn.Color);
start -= 90;
float x, y;
for (int i = (int)start; i <= start + degrees; i++)
{
x = (float)Math.Sin(i * deg2rad) * rect.Width / 2;
y = (float)Math.Cos(i * deg2rad) * rect.Height / 2;
x = x + rect.X + rect.Width / 2;
y = y + rect.Y + rect.Height / 2;
GL.Vertex2(x, y);
}
GL.End();
}
void DrawEllipse(Pen penn, Rectangle rect)
{
GL.Begin(BeginMode.LineLoop);
GL.LineWidth(penn.Width);
GL.Color4(penn.Color);
float x, y;
for (float i = 0; i < 360; i+=1)
{
x = (float)Math.Sin(i * deg2rad) * rect.Width / 2;
y = (float)Math.Cos(i * deg2rad) * rect.Height / 2;
x = x + rect.X + rect.Width / 2;
y = y + rect.Y + rect.Height / 2;
GL.Vertex2(x, y);
}
GL.End();
}
//graphicsObject.DrawImage(_bgimage, 0, 0, this.Width, this.Height);
void DrawImage(Image img, int x, int y, int width, int height)
{
Bitmap bitmap = (Bitmap)img;
int texture;
GL.GenTextures(1, out texture);
GL.BindTexture(TextureTarget.Texture2D, texture);
BitmapData data = bitmap.LockBits(new System.Drawing.Rectangle(0, 0, bitmap.Width, bitmap.Height),
ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
GL.TexImage2D(TextureTarget.Texture2D, 0, PixelInternalFormat.Rgba, data.Width, data.Height, 0,
OpenTK.Graphics.OpenGL.PixelFormat.Bgra, PixelType.UnsignedByte, data.Scan0);
bitmap.UnlockBits(data);
GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMinFilter, (int)TextureMinFilter.Linear);
GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMagFilter, (int)TextureMagFilter.Linear);
GL.MatrixMode(MatrixMode.Modelview);
GL.LoadIdentity();
GL.BindTexture(TextureTarget.Texture2D, texture);
GL.Begin(BeginMode.Quads);
GL.TexCoord2(0.0f, 1.0f); GL.Vertex2(-0.6f, -0.4f);
GL.TexCoord2(1.0f, 1.0f); GL.Vertex2(0.6f, -0.4f);
GL.TexCoord2(1.0f, 0.0f); GL.Vertex2(0.6f, 0.4f);
GL.TexCoord2(0.0f, 0.0f); GL.Vertex2(-0.6f, 0.4f);
GL.End();
}
void DrawPath(Pen penn,GraphicsPath gp)
{
try
{
DrawPolygon(penn, gp.PathPoints);
}
catch { }
}
void FillPath(Brush brushh,GraphicsPath gp)
{
try
{
FillPolygon(brushh, gp.PathPoints);
}
catch { }
}
SmoothingMode SmoothingMode;
void SetClip(Rectangle rect)
{
}
void ResetClip()
{
}
void ResetTransform()
{
GL.LoadIdentity();
}
void RotateTransform(float angle)
{
GL.Rotate(angle,0,0,1);
}
void TranslateTransform(float x, float y)
{
GL.Translate(x, y, 0f);
}
void FillPolygon(Brush brushh, Point[] list)
{
GL.Begin(BeginMode.TriangleFan);
GL.Color4(((SolidBrush)brushh).Color);
foreach (Point pnt in list)
{
GL.Vertex2(pnt.X, pnt.Y);
}
GL.Vertex2(list[list.Length - 1].X, list[list.Length - 1].Y);
GL.End();
}
void FillPolygon(Brush brushh, PointF[] list)
{
GL.Begin(BeginMode.Quads);
GL.Color4(((SolidBrush)brushh).Color);
foreach (PointF pnt in list)
{
GL.Vertex2(pnt.X, pnt.Y);
}
GL.Vertex2(list[0].X, list[0].Y);
GL.End();
}
//graphicsObject.DrawPolygon(redPen, pointlist);
void DrawPolygon(Pen penn, Point[] list)
{
GL.Begin(BeginMode.LineLoop);
GL.LineWidth(penn.Width);
GL.Color4(penn.Color);
foreach (Point pnt in list)
{
GL.Vertex2(pnt.X,pnt.Y);
}
GL.End();
}
void DrawPolygon(Pen penn, PointF[] list)
{
GL.Begin(BeginMode.LineLoop);
GL.LineWidth(penn.Width);
GL.Color4(penn.Color);
foreach (PointF pnt in list)
{
GL.Vertex2(pnt.X, pnt.Y);
}
//GL.Vertex2(list[0].X, list[0].Y);
GL.End();
}
//graphicsObject.FillRectangle(linearBrush, bg);
void FillRectangle(Brush brushh,RectangleF rectf)
{
float x1 = rectf.X;
float y1 = rectf.Y;
float width = rectf.Width;
float height = rectf.Height;
GL.Begin(BeginMode.Quads);
if (((Type)brushh.GetType()) == typeof(LinearGradientBrush))
{
LinearGradientBrush temp = (LinearGradientBrush)brushh;
GL.Color4(temp.LinearColors[0]);
}
else
{
GL.Color4(((SolidBrush)brushh).Color);
}
GL.Vertex2(x1, y1);
GL.Vertex2(x1 + width, y1);
if (((Type)brushh.GetType()) == typeof(LinearGradientBrush))
{
LinearGradientBrush temp = (LinearGradientBrush)brushh;
GL.Color4(temp.LinearColors[1]);
}
else
{
GL.Color4(((SolidBrush)brushh).Color);
}
GL.Vertex2(x1 + width, y1 + height);
GL.Vertex2(x1, y1 + height);
GL.End();
}
//graphicsObject.DrawRectangle(transPen, bg.X,bg.Y,bg.Width,bg.Height);
void DrawRectangle(Pen penn, RectangleF rect)
{
DrawRectangle(penn, rect.X, rect.Y, rect.Width, rect.Height);
}
void DrawRectangle(Pen penn,double x1,double y1, double width,double height)
{
GL.Begin(BeginMode.LineLoop);
GL.LineWidth(penn.Width);
GL.Color4(penn.Color);
GL.Vertex2(x1, y1);
GL.Vertex2(x1+width, y1);
GL.Vertex2(x1+width, y1+height);
GL.Vertex2(x1, y1+height);
GL.End();
}
void DrawLine(Pen penn,double x1,double y1, double x2,double y2)
{
GL.Begin(BeginMode.Lines);
GL.Color4(penn.Color);
GL.LineWidth(penn.Width);
GL.Vertex2(x1, y1);
GL.Vertex2(x2, y2);
GL.End();
}
void doPaint(object o)
{
PaintEventArgs e = (PaintEventArgs)o;
try
{
// limit to 10hz ish
if ((DateTime.Now - starttime).TotalMilliseconds < 75 && (_bgimage == null))
{
e.Graphics.DrawImageUnscaled(objBitmap, 0, 0);
return;
}
starttime = DateTime.Now;
base.OnPaint(e);
if (objBitmap.Width != this.Width || objBitmap.Height != this.Height)
{
objBitmap = new Bitmap(this.Width, this.Height);
graphicsObject = Graphics.FromImage(objBitmap);
graphicsObject.SmoothingMode = SmoothingMode.AntiAlias;
graphicsObject.InterpolationMode = InterpolationMode.NearestNeighbor;
graphicsObject.CompositingMode = CompositingMode.SourceOver;
graphicsObject.CompositingQuality = CompositingQuality.HighSpeed;
graphicsObject.PixelOffsetMode = PixelOffsetMode.HighSpeed;
graphicsObject.TextRenderingHint = System.Drawing.Text.TextRenderingHint.SystemDefault;
}
if (huddrawtime < 100)
{
graphicsObject.TextRenderingHint = System.Drawing.Text.TextRenderingHint.SystemDefault;
graphicsObject.SmoothingMode = SmoothingMode.AntiAlias;
}
else
{
graphicsObject.SmoothingMode = SmoothingMode.HighSpeed;
}
graphicsObject.Clear(Color.Gray);
if (_bgimage != null)
{
bgon = false;
graphicsObject.DrawImage(_bgimage, 0, 0, this.Width, this.Height);
if (hudon == false)
{
e.Graphics.DrawImageUnscaled(objBitmap, 0, 0);
return;
}
}
else
{
bgon = true;
}
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
graphicsObject.RotateTransform(-roll);
int fontsize = this.Height / 30; // = 10
int fontoffset = fontsize - 10;
float every5deg = -this.Height / 60;
float pitchoffset = -pitch * every5deg;
int halfwidth = this.Width / 2;
int halfheight = this.Height / 2;
SolidBrush whiteBrush = new SolidBrush(whitePen.Color);
Pen blackPen = new Pen(Color.Black, 2);
Pen greenPen = new Pen(Color.Green, 2);
Pen redPen = new Pen(Color.Red, 2);
// draw sky
if (bgon == true)
{
RectangleF bg = new RectangleF(-halfwidth * 2, -halfheight * 2, this.Width * 2, halfheight * 2 + pitchoffset);
if (bg.Height != 0)
{
LinearGradientBrush linearBrush = new LinearGradientBrush(bg, Color.Blue,
Color.LightBlue, LinearGradientMode.Vertical);
Pen transPen = new Pen(Color.Transparent, 0);
graphicsObject.DrawRectangle(transPen, bg.X,bg.Y,bg.Width,bg.Height);
graphicsObject.FillRectangle(linearBrush, bg);
}
// draw ground
bg = new RectangleF(-halfwidth * 2, pitchoffset, this.Width * 2, halfheight * 2 - pitchoffset);
if (bg.Height != 0)
{
LinearGradientBrush linearBrush = new LinearGradientBrush(bg, Color.FromArgb(0x9b, 0xb8, 0x24),
Color.FromArgb(0x41, 0x4f, 0x07), LinearGradientMode.Vertical);
Pen transPen = new Pen(Color.Transparent, 0);
graphicsObject.DrawRectangle(transPen, bg.X, bg.Y, bg.Width, bg.Height);
graphicsObject.FillRectangle(linearBrush, bg);
}
//draw centerline
graphicsObject.DrawLine(whitePen, -halfwidth * 2, pitchoffset + 0, halfwidth * 2, pitchoffset + 0);
}
graphicsObject.ResetTransform();
graphicsObject.SetClip(new Rectangle(0, this.Height / 14, this.Width, this.Height - this.Height / 14));
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
graphicsObject.RotateTransform(-roll);
//draw pitch
int lengthshort = this.Width / 12;
int lengthlong = this.Width / 8;
for (int a = -90; a <= 90; a += 5)
{
// limit to 40 degrees
if (a >= pitch - 34 && a <= pitch + 29)
{
if (a % 10 == 0)
{
if (a == 0)
{
graphicsObject.DrawLine(greenPen, this.Width / 2 - lengthlong - halfwidth, pitchoffset + a * every5deg, this.Width / 2 + lengthlong - halfwidth, pitchoffset + a * every5deg);
}
else
{
graphicsObject.DrawLine(whitePen, this.Width / 2 - lengthlong - halfwidth, pitchoffset + a * every5deg, this.Width / 2 + lengthlong - halfwidth, pitchoffset + a * every5deg);
}
drawstring(graphicsObject, a.ToString(), font, fontsize + 2, whiteBrush, this.Width / 2 - lengthlong - 30 - halfwidth - (int)(fontoffset * 1.7), pitchoffset + a * every5deg - 8 - fontoffset);
}
else
{
graphicsObject.DrawLine(whitePen, this.Width / 2 - lengthshort - halfwidth, pitchoffset + a * every5deg, this.Width / 2 + lengthshort - halfwidth, pitchoffset + a * every5deg);
//drawstring(e,a.ToString(), new Font("Arial", 10), whiteBrush, this.Width / 2 - lengthshort - 20 - halfwidth, this.Height / 2 + pitchoffset + a * every5deg - 8);
}
}
}
graphicsObject.ResetTransform();
// draw roll ind needle
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2 + this.Height / 14);
graphicsObject.RotateTransform(-roll);
Point[] pointlist = new Point[3];
lengthlong = this.Height / 66;
int extra = this.Height / 15 * 7;
pointlist[0] = new Point(0, -lengthlong * 2 - extra);
pointlist[1] = new Point(-lengthlong, -lengthlong - extra);
pointlist[2] = new Point(lengthlong, -lengthlong - extra);
if (Math.Abs(roll) > 45)
{
redPen.Width = 10;
}
graphicsObject.DrawPolygon(redPen, pointlist);
redPen.Width = 2;
for (int a = -45; a <= 45; a += 15)
{
graphicsObject.ResetTransform();
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2 + this.Height / 14);
graphicsObject.RotateTransform(a);
drawstring(graphicsObject, Math.Abs(a).ToString("##"), font, fontsize, whiteBrush, 0 - 6 - fontoffset, -lengthlong * 2 - extra);
graphicsObject.DrawLine(whitePen, 0, -halfheight, 0, -halfheight - 10);
}
graphicsObject.ResetTransform();
//draw centre / current att
Rectangle centercircle = new Rectangle(halfwidth - 10, halfheight - 10, 20, 20);
graphicsObject.DrawEllipse(redPen, centercircle);
graphicsObject.DrawLine(redPen, centercircle.Left - 10, halfheight, centercircle.Left, halfheight);
graphicsObject.DrawLine(redPen, centercircle.Right, halfheight, centercircle.Right + 10, halfheight);
graphicsObject.DrawLine(redPen, centercircle.Left + centercircle.Width / 2, centercircle.Top, centercircle.Left + centercircle.Width / 2, centercircle.Top - 10);
// draw roll ind
Rectangle arcrect = new Rectangle(this.Width / 2 - this.Height / 2, this.Height / 14, this.Height, this.Height);
graphicsObject.DrawArc(whitePen, arcrect, 180 + 45, 90);
//draw heading ind
graphicsObject.ResetClip();
Rectangle headbg = new Rectangle(0, 0, this.Width - 0, this.Height / 14);
graphicsObject.DrawRectangle(blackPen, headbg);
SolidBrush solidBrush = new SolidBrush(Color.FromArgb(0x55, 0xff, 0xff, 0xff));
graphicsObject.FillRectangle(solidBrush, headbg);
// center
graphicsObject.DrawLine(redPen, headbg.Width / 2, headbg.Bottom, headbg.Width / 2, headbg.Top);
//bottom line
graphicsObject.DrawLine(whitePen, headbg.Left + 5, headbg.Bottom - 5, headbg.Width - 5, headbg.Bottom - 5);
float space = (headbg.Width - 10) / 60.0f;
int start = ((int)heading - 30);
// draw for outside the 60 deg
if (targetheading < start)
{
greenPen.Width = 6;
graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * 0, headbg.Bottom, headbg.Left + 5 + space * (0), headbg.Top);
}
if (targetheading > heading + 30)
{
greenPen.Width = 6;
graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * 60, headbg.Bottom, headbg.Left + 5 + space * (60), headbg.Top);
}
for (int a = start; a <= heading + 30; a += 1)
{
// target heading
if (((a + 360) % 360) == targetheading)
{
greenPen.Width = 6;
graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * (a - start), headbg.Bottom, headbg.Left + 5 + space * (a - start), headbg.Top);
}
if (((a + 360) % 360) == (int)groundcourse)
{
blackPen.Width = 6;
graphicsObject.DrawLine(blackPen, headbg.Left + 5 + space * (a - start), headbg.Bottom, headbg.Left + 5 + space * (a - start), headbg.Top);
blackPen.Width = 2;
}
if (a % 5 == 0)
{
//Console.WriteLine(space +" " + a +" "+ (headbg.Left + 5 + space * (a - start)));
graphicsObject.DrawLine(whitePen, headbg.Left + 5 + space * (a - start), headbg.Bottom - 5, headbg.Left + 5 + space * (a - start), headbg.Bottom - 10);
int disp = a;
if (disp < 0)
disp += 360;
disp = disp % 360;
if (disp == 0)
{
drawstring(graphicsObject, "N".PadLeft(2), font, fontsize + 4, whiteBrush, headbg.Left - 5 + space * (a - start) - fontoffset, headbg.Bottom - 24 - (int)(fontoffset * 1.7));
}
else if (disp == 90)
{
drawstring(graphicsObject, "E".PadLeft(2), font, fontsize + 4, whiteBrush, headbg.Left - 5 + space * (a - start) - fontoffset, headbg.Bottom - 24 - (int)(fontoffset * 1.7));
}
else if (disp == 180)
{
drawstring(graphicsObject, "S".PadLeft(2), font, fontsize + 4, whiteBrush, headbg.Left - 5 + space * (a - start) - fontoffset, headbg.Bottom - 24 - (int)(fontoffset * 1.7));
}
else if (disp == 270)
{
drawstring(graphicsObject, "W".PadLeft(2), font, fontsize + 4, whiteBrush, headbg.Left - 5 + space * (a - start) - fontoffset, headbg.Bottom - 24 - (int)(fontoffset * 1.7));
}
else
{
drawstring(graphicsObject, (disp % 360).ToString().PadLeft(3), font, fontsize, whiteBrush, headbg.Left - 5 + space * (a - start) - fontoffset, headbg.Bottom - 24 - (int)(fontoffset * 1.7));
}
}
}
// Console.WriteLine("HUD 0 " + (DateTime.Now - starttime).TotalMilliseconds + " " + DateTime.Now.Millisecond);
// xtrack error
// center
float xtspace = this.Width / 10.0f / 3.0f;
int pad = 10;
float myxtrack_error = xtrack_error;
myxtrack_error = Math.Min(myxtrack_error, 40);
myxtrack_error = Math.Max(myxtrack_error, -40);
// xtrack - distance scale - space
float loc = myxtrack_error / 20.0f * xtspace;
// current xtrack
if (Math.Abs(myxtrack_error) == 40)
{
greenPen.Color = Color.FromArgb(128, greenPen.Color);
}
graphicsObject.DrawLine(greenPen, this.Width / 10 + loc, headbg.Bottom + 5, this.Width / 10 + loc, headbg.Bottom + this.Height / 10);
greenPen.Color = Color.FromArgb(255, greenPen.Color);
graphicsObject.DrawLine(whitePen, this.Width / 10, headbg.Bottom + 5, this.Width / 10, headbg.Bottom + this.Height / 10);
graphicsObject.DrawLine(whitePen, this.Width / 10 - xtspace, headbg.Bottom + 5 + pad, this.Width / 10 - xtspace, headbg.Bottom + this.Height / 10 - pad);
graphicsObject.DrawLine(whitePen, this.Width / 10 - xtspace * 2, headbg.Bottom + 5 + pad, this.Width / 10 - xtspace * 2, headbg.Bottom + this.Height / 10 - pad);
graphicsObject.DrawLine(whitePen, this.Width / 10 + xtspace, headbg.Bottom + 5 + pad, this.Width / 10 + xtspace, headbg.Bottom + this.Height / 10 - pad);
graphicsObject.DrawLine(whitePen, this.Width / 10 + xtspace * 2, headbg.Bottom + 5 + pad, this.Width / 10 + xtspace * 2, headbg.Bottom + this.Height / 10 - pad);
// rate of turn
whitePen.Width = 4;
graphicsObject.DrawLine(whitePen, this.Width / 10 - xtspace * 2 - xtspace / 2, headbg.Bottom + this.Height / 10 + 10, this.Width / 10 - xtspace * 2 - xtspace / 2 + xtspace, headbg.Bottom + this.Height / 10 + 10);
graphicsObject.DrawLine(whitePen, this.Width / 10 - xtspace * 0 - xtspace / 2, headbg.Bottom + this.Height / 10 + 10, this.Width / 10 - xtspace * 0 - xtspace / 2 + xtspace, headbg.Bottom + this.Height / 10 + 10);
graphicsObject.DrawLine(whitePen, this.Width / 10 + xtspace * 2 - xtspace / 2, headbg.Bottom + this.Height / 10 + 10, this.Width / 10 + xtspace * 2 - xtspace / 2 + xtspace, headbg.Bottom + this.Height / 10 + 10);
float myturnrate = turnrate;
float trwidth = (this.Width / 10 + xtspace * 2 - xtspace / 2) - (this.Width / 10 - xtspace * 2 - xtspace / 2);
float range = 12;
myturnrate = Math.Min(myturnrate, range / 2);
myturnrate = Math.Max(myturnrate, (range / 2) * -1.0f);
loc = myturnrate / range * trwidth;
greenPen.Width = 4;
if (Math.Abs(myturnrate) == (range / 2))
{
greenPen.Color = Color.FromArgb(128, greenPen.Color);
}
graphicsObject.DrawLine(greenPen, this.Width / 10 + loc - xtspace / 2, headbg.Bottom + this.Height / 10 + 10 + 3, this.Width / 10 + loc + xtspace / 2, headbg.Bottom + this.Height / 10 + 10 + 3);
graphicsObject.DrawLine(greenPen, this.Width / 10 + loc, headbg.Bottom + this.Height / 10 + 10 + 3, this.Width / 10 + loc, headbg.Bottom + this.Height / 10 + 10 + 10);
greenPen.Color = Color.FromArgb(255, greenPen.Color);
whitePen.Width = 2;
// left scroller
Rectangle scrollbg = new Rectangle(0, halfheight - halfheight / 2, this.Width / 10, this.Height / 2);
graphicsObject.DrawRectangle(whitePen, scrollbg);
graphicsObject.FillRectangle(solidBrush, scrollbg);
Point[] arrow = new Point[5];
arrow[0] = new Point(0, -10);
arrow[1] = new Point(scrollbg.Width - 10, -10);
arrow[2] = new Point(scrollbg.Width - 5, 0);
arrow[3] = new Point(scrollbg.Width - 10, 10);
arrow[4] = new Point(0, 10);
graphicsObject.TranslateTransform(0, this.Height / 2);
int viewrange = 26;
float speed = airspeed;
if (speed == 0)
speed = groundspeed;
space = (scrollbg.Height) / (float)viewrange;
start = ((int)speed - viewrange / 2);
if (start > targetspeed)
{
greenPen.Color = Color.FromArgb(128, greenPen.Color);
greenPen.Width = 6;
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top, scrollbg.Left + scrollbg.Width, scrollbg.Top);
greenPen.Color = Color.FromArgb(255, greenPen.Color);
}
if ((speed + viewrange / 2) < targetspeed)
{
greenPen.Color = Color.FromArgb(128, greenPen.Color);
greenPen.Width = 6;
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * viewrange, scrollbg.Left + scrollbg.Width, scrollbg.Top - space * viewrange);
greenPen.Color = Color.FromArgb(255, greenPen.Color);
}
for (int a = start; a <= (speed + viewrange / 2); a += 1)
{
if (a == (int)targetspeed && targetspeed != 0)
{
greenPen.Width = 6;
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * (a - start), scrollbg.Left + scrollbg.Width, scrollbg.Top - space * (a - start));
}
if (a % 5 == 0)
{
//Console.WriteLine(a + " " + scrollbg.Right + " " + (scrollbg.Top - space * (a - start)) + " " + (scrollbg.Right - 20) + " " + (scrollbg.Top - space * (a - start)));
graphicsObject.DrawLine(whitePen, scrollbg.Right, scrollbg.Top - space * (a - start), scrollbg.Right - 10, scrollbg.Top - space * (a - start));
drawstring(graphicsObject, a.ToString().PadLeft(5), font, fontsize, whiteBrush, scrollbg.Right - 50 - 4 * fontoffset, scrollbg.Top - space * (a - start) - 6 - fontoffset);
}
}
graphicsObject.DrawPolygon(blackPen, arrow);
graphicsObject.FillPolygon(Brushes.Black, arrow);
drawstring(graphicsObject, ((int)speed).ToString("0"), font, 10, Brushes.AliceBlue, 0, -9);
graphicsObject.ResetTransform();
// extra text data
drawstring(graphicsObject, "AS " + airspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + 5);
drawstring(graphicsObject, "GS " + groundspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);
//drawstring(e,, new Font("Arial", fontsize + 2), whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);
// right scroller
scrollbg = new Rectangle(this.Width - this.Width / 10, halfheight - halfheight / 2, this.Width / 10, this.Height / 2);
graphicsObject.DrawRectangle(whitePen, scrollbg);
graphicsObject.FillRectangle(solidBrush, scrollbg);
arrow = new Point[5];
arrow[0] = new Point(0, -10);
arrow[1] = new Point(scrollbg.Width - 10, -10);
arrow[2] = new Point(scrollbg.Width - 5, 0);
arrow[3] = new Point(scrollbg.Width - 10, 10);
arrow[4] = new Point(0, 10);
graphicsObject.TranslateTransform(0, this.Height / 2);
viewrange = 26;
space = (scrollbg.Height) / (float)viewrange;
start = ((int)alt - viewrange / 2);
if (start > targetalt)
{
greenPen.Color = Color.FromArgb(128, greenPen.Color);
greenPen.Width = 6;
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top, scrollbg.Left + scrollbg.Width, scrollbg.Top);
greenPen.Color = Color.FromArgb(255, greenPen.Color);
}
if ((alt + viewrange / 2) < targetalt)
{
greenPen.Color = Color.FromArgb(128, greenPen.Color);
greenPen.Width = 6;
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * viewrange, scrollbg.Left + scrollbg.Width, scrollbg.Top - space * viewrange);
greenPen.Color = Color.FromArgb(255, greenPen.Color);
}
for (int a = start; a <= (alt + viewrange / 2); a += 1)
{
if (a == Math.Round(targetalt) && targetalt != 0)
{
greenPen.Width = 6;
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * (a - start), scrollbg.Left + scrollbg.Width, scrollbg.Top - space * (a - start));
}
if (a % 5 == 0)
{
//Console.WriteLine(a + " " + scrollbg.Left + " " + (scrollbg.Top - space * (a - start)) + " " + (scrollbg.Left + 20) + " " + (scrollbg.Top - space * (a - start)));
graphicsObject.DrawLine(whitePen, scrollbg.Left, scrollbg.Top - space * (a - start), scrollbg.Left + 10, scrollbg.Top - space * (a - start));
drawstring(graphicsObject, a.ToString().PadLeft(5), font, fontsize, whiteBrush, scrollbg.Left + 7 + (int)(0 * fontoffset), scrollbg.Top - space * (a - start) - 6 - fontoffset);
}
}
// vsi
graphicsObject.ResetTransform();
PointF[] poly = new PointF[4];
poly[0] = new PointF(scrollbg.Left, scrollbg.Top);
poly[1] = new PointF(scrollbg.Left - scrollbg.Width / 4, scrollbg.Top + scrollbg.Width / 4);
poly[2] = new PointF(scrollbg.Left - scrollbg.Width / 4, scrollbg.Bottom - scrollbg.Width / 4);
poly[3] = new PointF(scrollbg.Left, scrollbg.Bottom);
//verticalspeed
viewrange = 12;
verticalspeed = Math.Min(viewrange / 2, verticalspeed);
verticalspeed = Math.Max(viewrange / -2, verticalspeed);
float scaledvalue = verticalspeed / -viewrange * (scrollbg.Bottom - scrollbg.Top);
float linespace = (float)1 / -viewrange * (scrollbg.Bottom - scrollbg.Top);
PointF[] polyn = new PointF[4];
polyn[0] = new PointF(scrollbg.Left, scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2);
polyn[1] = new PointF(scrollbg.Left - scrollbg.Width / 4, scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2);
polyn[2] = polyn[1];
float peak = 0;
if (scaledvalue > 0)
{
peak = -scrollbg.Width / 4;
if (scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2 + scaledvalue + peak < scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2)
peak = -scaledvalue;
}
else if (scaledvalue < 0)
{
peak = +scrollbg.Width / 4;
if (scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2 + scaledvalue + peak > scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2)
peak = -scaledvalue;
}
polyn[2] = new PointF(scrollbg.Left - scrollbg.Width / 4, scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2 + scaledvalue + peak);
polyn[3] = new PointF(scrollbg.Left, scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2 + scaledvalue);
//graphicsObject.DrawPolygon(redPen, poly);
graphicsObject.FillPolygon(Brushes.Blue, polyn);
// draw outsidebox
graphicsObject.DrawPolygon(whitePen, poly);
for (int a = 1; a < viewrange; a++)
{
graphicsObject.DrawLine(whitePen, scrollbg.Left - scrollbg.Width / 4, scrollbg.Top - linespace * a, scrollbg.Left - scrollbg.Width / 8, scrollbg.Top - linespace * a);
}
// draw arrow and text
graphicsObject.ResetTransform();
graphicsObject.TranslateTransform(this.Width, this.Height / 2);
graphicsObject.RotateTransform(180);
graphicsObject.DrawPolygon(blackPen, arrow);
graphicsObject.FillPolygon(Brushes.Black, arrow);
graphicsObject.ResetTransform();
graphicsObject.TranslateTransform(0, this.Height / 2);
drawstring(graphicsObject, ((int)alt).ToString("0"), font, 10, Brushes.AliceBlue, scrollbg.Left + 10, -9);
graphicsObject.ResetTransform();
// mode and wp dist and wp
drawstring(graphicsObject, mode, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + 5);
drawstring(graphicsObject, (int)disttowp + ">" + wpno, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + fontsize + 2 + 10);
// battery
graphicsObject.ResetTransform();
drawstring(graphicsObject, resources.GetString("Bat"), font, fontsize + 2, whiteBrush, fontsize, this.Height - 30 - fontoffset);
drawstring(graphicsObject, batterylevel.ToString("0.00v"), font, fontsize + 2, whiteBrush, fontsize * 4, this.Height - 30 - fontoffset);
drawstring(graphicsObject, batteryremaining.ToString("0%"), font, fontsize + 2, whiteBrush, fontsize * 9, this.Height - 30 - fontoffset);
// gps
string gps = "";
if (gpsfix == 0)
{
gps = resources.GetString("GPS: No Fix.Text");
}
else if (gpsfix == 1)
{
gps = resources.GetString("GPS: No Fix.Text");
}
else if (gpsfix == 2)
{
gps = resources.GetString("GPS: 2D Fix.Text");
}
else if (gpsfix == 3)
{
gps = resources.GetString("GPS: 3D Fix.Text");
}
drawstring(graphicsObject, gps, font, fontsize + 2, whiteBrush, this.Width - 10 * fontsize, this.Height - 30 - fontoffset);
e.Graphics.DrawImageUnscaled(objBitmap, 0, 0);
if (DesignMode)
{
return;
}
// Console.WriteLine("HUD 1 " + (DateTime.Now - starttime).TotalMilliseconds + " " + DateTime.Now.Millisecond);
ImageCodecInfo ici = GetImageCodec("image/jpeg");
EncoderParameters eps = new EncoderParameters(1);
eps.Param[0] = new EncoderParameter(System.Drawing.Imaging.Encoder.Quality, 50L); // or whatever other quality value you want
lock (streamlock)
{
if (streamjpgenable || streamjpg == null) // init image and only update when needed
{
streamjpg = new MemoryStream();
objBitmap.Save(streamjpg, ici, eps);
//objBitmap.Save(streamjpg,ImageFormat.Bmp);
}
}
}
catch (Exception ex)
{
Console.WriteLine("hud error "+ex.ToString());
//MessageBox.Show(ex.ToString());
}
count++;
if (DateTime.Now.Second != countdate.Second)
{
countdate = DateTime.Now;
//Console.WriteLine("HUD " + count + " hz");
count = 0;
}
huddrawtime = (int)(DateTime.Now - starttime).TotalMilliseconds;
#if DEBUG
// Console.WriteLine("HUD e " + (DateTime.Now - starttime).TotalMilliseconds + " " + DateTime.Now.Millisecond);
#endif
}
protected override void OnPaintBackground(PaintEventArgs e)
{
//base.OnPaintBackground(e);
}
ImageCodecInfo GetImageCodec(string mimetype)
{
foreach (ImageCodecInfo ici in ImageCodecInfo.GetImageEncoders())
{
if (ici.MimeType == mimetype) return ici;
}
return null;
}
float wrap360(float noin)
{
if (noin < 0)
return noin + 360;
return noin;
}
/// <summary>
/// pen for drawstring
/// </summary>
Pen P = new Pen(Color.FromArgb(0x26, 0x27, 0x28), 2f);
/// <summary>
/// pth for drawstring
/// </summary>
GraphicsPath pth = new GraphicsPath();
void drawstring(Graphics e, string text, Font font, float fontsize, Brush brush, float x, float y)
{
if (text == null || text == "")
return;
pth.Reset();
if (text != null)
pth.AddString(text, font.FontFamily, 0, fontsize + 5, new Point((int)x, (int)y), StringFormat.GenericTypographic);
//Draw the edge
// this uses lots of cpu time
//e.SmoothingMode = SmoothingMode.HighSpeed;
e.DrawPath(P, pth);
//Draw the face
e.FillPath(brush, pth);
//pth.Dispose();
}
protected override void OnResize(EventArgs e)
{
if (DesignMode)
return;
this.Height = (int)(this.Width / 1.333f);
base.OnResize(e);
/*
try
{
GL.MatrixMode(MatrixMode.Projection);
GL.LoadIdentity();
GL.Ortho(0, Width, Height, 0, -1, 1);
GL.MatrixMode(MatrixMode.Modelview);
GL.LoadIdentity();
GL.Viewport(0, 0, Width, Height);
}
catch { }
*/
}
}
}