def __init__(self, parent, hz=30):
super(AttitudeIndicator, self).__init__(parent)
self.roll = 0
self.pitch = 0
self.yaw = 0
self.hover = -1
self.hoverASL = 0.0
self.hoverTargetASL = 0.0
self.motors = (-1.0,-1.0,-1.0,-1.0)
self.thrust = 0.0
self.power = -1
self.temp = -1
self.pressure = -1
self.aslLong = -1
self.bat = -1
self.cpu = -1
self.calib = -1
self.pktsIn = -1
self.pktsOut = -1
self.link = -1
self.connection = STATE.DISCONNECTED
self.autoReconnectOn = False
self.hzDisplay = HzDisplay()
self.pixmap = None # Background camera image
self.needUpdate = True
self.killswitch = False # killswitch active
self.recovery = False # recovery mode active
self.msg = ""
self.hz = hz
self.freefall = 0
self.crashed = 0
self.ff_acc = 0
self.ff_m = 0
self.ff_v = 0
self.setMinimumSize(30, 30)
# self.setMaximumSize(240,240)
# Update self at 30hz
self.updateTimer = QtCore.QTimer(self)
self.updateTimer.timeout.connect(self.updateAI)
self.updateTimer.start(1000/self.hz)
self.msgRemove = 0
# Camera Related Stuff
self.cam = VideoPyGame(self)
self.cam.sigPixmap.connect(self.setPixmap)
self.cam.sigPlaying.connect(self.setVideo)
class AttitudeIndicator(QtGui.QWidget):
"""Widget for showing attitude"""
sigDoubleClick = pyqtSignal()
def __init__(self, parent, hz=30):
super(AttitudeIndicator, self).__init__(parent)
self.roll = 0
self.pitch = 0
self.yaw = 0
self.hover = -1
self.hoverASL = 0.0
self.hoverTargetASL = 0.0
self.motors = (-1.0,-1.0,-1.0,-1.0)
self.thrust = 0.0
self.power = -1
self.temp = -1
self.pressure = -1
self.aslLong = -1
self.bat = -1
self.cpu = -1
self.calib = -1
self.pktsIn = -1
self.pktsOut = -1
self.link = -1
self.connection = STATE.DISCONNECTED
self.autoReconnectOn = False
self.hzDisplay = HzDisplay()
self.pixmap = None # Background camera image
self.needUpdate = True
self.killswitch = False # killswitch active
self.recovery = False # recovery mode active
self.msg = ""
self.hz = hz
self.freefall = 0
self.crashed = 0
self.ff_acc = 0
self.ff_m = 0
self.ff_v = 0
self.setMinimumSize(30, 30)
# self.setMaximumSize(240,240)
# Update self at 30hz
self.updateTimer = QtCore.QTimer(self)
self.updateTimer.timeout.connect(self.updateAI)
self.updateTimer.start(1000/self.hz)
self.msgRemove = 0
# Camera Related Stuff
self.cam = VideoPyGame(self)
self.cam.sigPixmap.connect(self.setPixmap)
self.cam.sigPlaying.connect(self.setVideo)
@pyqtSlot(str, float)
def updateHz(self, name, val):
self.hzDisplay.updateHZ(name, val)
@pyqtSlot(str, float)
def updateHzTarget(self, name, target):
self.hzDisplay.updateTarget(name, target)
def setAutoReconnect(self, on):
self.autoReconnectOn = on
def drawModeBox(self, qp, xy, col, txt):
#qp = QtGui.QPainter()
qp.save()
qp.translate(xy)
qp.setBrush(col.dark())
qp.setPen(QPen(col, 0.5, Qt.SolidLine))
qp.setFont(QFont('Monospace', 14, QFont.Monospace))
rh = 11
rw = 20
r=QRectF(-rw,-rh, 2*rw, 2*rh)
qp.drawRect(r)
qp.drawText(r, Qt.AlignCenter, txt)
qp.restore()
def mouseDoubleClickEvent (self, e):
self.showFullScreen()
def contextMenuEvent(self, event):
menu = QtGui.QMenu(self)
# Generate menu for ros topics with images
submenuRos = QtGui.QMenu(menu)
submenuRos.setTitle("ROS")
a = submenuRos.addAction("Not Implemented")
menu.addMenu(submenuRos)
# Scan /dev/video/X
submenuVid = QtGui.QMenu(menu)
submenuVid.setTitle("Camera")
for i,device in enumerate(self.cam.getDevices()):
a = submenuVid.addAction(device)
a.triggered.connect(lambda: self.startCam(device))
menu.addMenu(submenuVid)
action = menu.addAction("No Video")
action.triggered.connect(lambda: self.cam.stop())
menu.exec_(event.globalPos())
def startCam(self, device):
self.cam.start(device=device)
def startRosImg(self):
self.cam.stop()
@pyqtSlot(int, str, str)
def setFlieState(self, state, uri, msg):
""" Function that receives all the state updates from the flie.
"""
if state == STATE.CONNECTION_REQUESTED:
self.setMsg("Connection to [%s] requested" % uri)
elif state == STATE.LINK_ESTABLISHED:
self.setMsg("Link to [%s] established, Download TOC..." % uri)
elif state == STATE.CONNECTED:
self.setMsg("Connected to [%s]" % uri)
elif state == STATE.DISCONNECTED:
self.setMsg("Disconnected from [%s]" % uri)
elif state == STATE.CONNECTION_FAILED:
if self.autoReconnectOn:
self.setMsg("Connecting to [%s] failed: %s\nRetrying..." % (uri, msg)) # TODO YELLOW
else:
self.setMsg("Connecting to [%s] failed: %s" % (uri, msg)) # TODO YELLOW
elif state == STATE.CONNECTION_LOST:
if self.autoReconnectOn:
self.setMsg("Connected lost from [%s]: %s\nRetrying..." % (uri, msg)) # TODO YELLOW
else:
self.setMsg("Connected lost from [%s]: %s" % (uri, msg)) # TODO YELLOW
self.connection = state
self.needUpdate = True
def setUpdateSpeed(self, hz=30):
self.hz = hz
self.updateTimer.setInterval(1000/self.hz)
def reset(self):
self.setRollPitchYaw(0,0,0)
self.setHover(-1)
self.setPower(-1)
self.setBattery(-1)
self.setRoll(0)
self.setPitch(0)
self.setYaw(0)
self.setCPU(-1)
self.setTemp(-1)
self.setBaro(-10000) #baro off = <9999
self.setCalib(-1)
self.setMotors(-1,-1,-1,-1)
self.setAccZ(-1)
self.setPktsIn(-1)
self.setPktsOut(-1)
self.setLinkQuality(-1)
self.setAslLong(-1)
self.setPressure(-1)
self.setLinkQuality(-1)
#self.msg = ""
def setCalib(self, calibrated):
self.calib = calibrated
self.needUpdate = True
def updateAI(self):
if self.msgRemove>0:
self.msgRemove -= 1
if self.msgRemove <= 0:
self.msg = ""
self.needUpdate = True
if self.freefall>0:
self.freefall = self.freefall*5/6 -1
self.needUpdate = True
if self.crashed>0:
self.crashed = self.crashed*5/6 -1
self.needUpdate = True
if self.isVisible() and self.needUpdate:
self.needUpdate = False
self.repaint()
def setRoll(self, roll):
self.roll = roll
self.needUpdate = True
def setPitch(self, pitch):
self.pitch = pitch
self.needUpdate = True
def setYaw(self, yaw):
self.yaw = yaw
self.needUpdate = True
def setHover(self, target):
self.hoverTargetASL = target
if target>0:
self.hover = 1 #know we are hovering, target set
elif target<0:
self.hover = -1 #dont know
else:
self.hover = 0 #know we are not hovering
self.needUpdate = True
def setBaro(self, asl):
self.hoverASL = asl
self.needUpdate = True
def setPressure(self, pressure):
self.pressure = pressure
def setAslLong(self, asl):
self.aslLong = asl
def setRollPitchYaw(self, roll, pitch, yaw):
self.roll = roll
self.pitch = pitch
self.yaw = yaw
self.needUpdate = True
def paintEvent(self, e):
qp = QtGui.QPainter()
qp.begin(self)
self.drawWidget(qp)
qp.end()
@pyqtSlot(QtGui.QPixmap)
def setPixmap(self, pm):
self.pixmap = pm
self.needUpdate = True
@pyqtSlot(bool)
def setVideo(self, on):
if not on:
self.pixmap = None
self.needUpdate = True
@pyqtSlot(bool)
def setKillSwitch(self, on):
self.killswitch = on
self.needUpdate = True
@pyqtSlot()
def setFreefall(self):
self.setMsg("Free fall detected!")
self.freefall = 250
self.needUpdate = True
@pyqtSlot(float)
def setCrash(self, badness=1.):
""" a bad crash has badnees = 1, severe = badness = 2, and everything between landing softly and a crash between 0 and 1"""
self.crashed = 128+badness*128
self.needUpdate = True
@pyqtSlot(float, float, float)
def setFFAccMeanVar(self, a, m ,v):
self.setAccZ(a)
self.ff_m = m
self.ff_v = v
self.needUpdate = True
@pyqtSlot(float)
def setAccZ(self, a):
self.ff_acc = a
self.needUpdate = True
def setRecovery(self, on, msg=""):
""" Set the AUTO caption """
self.recovery = on
self.needUpdate = True
self.setMsg(msg)
@pyqtSlot(str)
def setMsg(self, msg, duration=2):
""" Set a message to display at the bottom of the AI for duration seconds """
self.msg = msg
self.msgRemove = duration * self.hz
@pyqtSlot(float, float, float, float)
def setMotors(self, m0, m1,m2,m3):
self.motors = (m2, m1,m0,m3) # f, r, b,l
self.needUpdate = True
@pyqtSlot(int)
def setPower(self, power):
self.power = power
self.needUpdate = True
@pyqtSlot(int)
def setBattery(self, bat):
self.bat = bat
self.needUpdate = True
def setPktsIn(self, pk):
if self.connection==STATE.LINK_ESTABLISHED or self.connection==STATE.CONNECTED or pk<0:
self.pktsIn = pk
self.needUpdate = True
def setPktsOut(self, pk):
if self.connection==STATE.LINK_ESTABLISHED or self.connection==STATE.CONNECTED or pk<0:
self.pktsOut = pk
self.needUpdate = True
def setLinkQuality(self, l):
self.link = l
@pyqtSlot(float)
def setCPU(self, cpu):
self.cpu = cpu
self.needUpdate = True
@pyqtSlot(float)
def setTemp(self, temp):
self.temp = temp
self.needUpdate = True
def drawHZ(self,qp):
qp.resetTransform()
w = self.width()
h = self.height()
defaultCol = QColor(0,255,0, 200)
top = 50
bottom = h-50
width, height = w*0.2, 22
dist = 10
space = height+dist
pos = width/4
for i,k in enumerate(self.hzDisplay.hz.keys()):
t = self.hzDisplay.hz[k][1]
v = self.hzDisplay.hz[k][0]
if t<0:
self.drawBar(qp, QRectF(pos, top+space*(6+i), width,height), QColor(128,128,128,200), k+' OFF', 0, 0, 1)
else:
self.drawBar(qp, QRectF(pos, top+space*(6+i), width,height), defaultCol, k+': %5.1fhz'%v, v, 0, t)
def drawState(self, qp):
qp.resetTransform()
w = self.width()
h = self.height()
# USB vs BAT
posBat = QPointF(w*0.2, 30)
posUsb = QPointF(w*0.3, 30)
if self.power == BAT_STATE.BATTERY:
col = QColor(0,255,0, 200)
if self.bat > 0:
col = QColor(int(255-powerToPercentage(self.bat)/100.*255.),255,0, 200)
self.drawModeBox(qp, posBat, col, 'BAT')
elif self.power == BAT_STATE.CHARGING:
self.drawModeBox(qp, posUsb, QColor(255,255,0, 200), 'USB')
elif self.power == BAT_STATE.CHARGED:
self.drawModeBox(qp, posUsb, QColor(0,255,0, 200), 'USB')
elif self.power == BAT_STATE.LOWPOWER:
self.drawModeBox(qp, posBat, QColor(0,0,255, 200), 'BAT')
elif self.power == BAT_STATE.SHUTDOWN: #what is this?
self.drawModeBox(qp, QPointF(w*0.4, 30), QColor(0,0,0, 128), 'WTF')
# HOV vs MANUAL # TODO PID
if self.hover == 0:
self.drawModeBox(qp, QPointF(w*0.8, 30), QColor(0,255,0, 200), 'MAN')
elif self.hover >0:
self.drawModeBox(qp, QPointF(w*0.8, 30), QColor(0,255,0, 200), 'HOV')
# connection state
if self.connection == STATE.CONNECTED:
self.drawModeBox(qp, QPointF(w*0.9, 30), QColor(0,255,0, 200), 'CON')
elif self.connection == STATE.CONNECTION_REQUESTED:
self.drawModeBox(qp, QPointF(w*0.9, 30), QColor(255,255,0, 200), 'CON')
elif self.connection == STATE.LINK_ESTABLISHED:
self.drawModeBox(qp, QPointF(w*0.9, 30), QColor(30,200,204, 200), 'CON')
elif self.connection == STATE.DISCONNECTED:
self.drawModeBox(qp, QPointF(w*0.9, 30), QColor(128,128,128, 200), 'CON')
elif self.connection == STATE.CONNECTION_FAILED:
self.drawModeBox(qp, QPointF(w*0.9, 30), QColor(255,0,0, 200), 'CON')
elif self.connection == STATE.CONNECTION_LOST:
self.drawModeBox(qp, QPointF(w*0.9, 30), QColor(255,9,0, 200), 'CON')
elif self.connection == STATE.CONNECTION_RETRYWAIT:
self.drawModeBox(qp, QPointF(w*0.9, 30), QColor(255,128,0, 200), 'CON')
# Calibrated
if self.calib == 0:
self.drawModeBox(qp, QPointF(w*0.1, 30), QColor(255,0,0, 200), 'CAL')
self.setMsg('NOT CALIBRATED',1./2.2)
elif self.calib == 1:
self.drawModeBox(qp, QPointF(w*0.1, 30), QColor(0,255,0, 200), 'CAL')
if self.temp>50:
self.drawModeBox(qp, QPointF(w*0.7, 30), QColor(255,0,0, 200), 'TMP')
elif self.temp>40:
self.drawModeBox(qp, QPointF(w*0.7, 30), QColor(255,255,0, 200), 'TMP')
if self.cpu>90:
self.drawModeBox(qp, QPointF(w*0.6, 30), QColor(255,0,0, 200), 'CPU')
elif self.cpu>80:
self.drawModeBox(qp, QPointF(w*0.6, 30), QColor(255,255,0, 200), 'CPU')
# HOV vs MAN vs CTR
def drawBar(self, qp, rect, col, txt, val, minVal=0, maxVal=100):
valN = (float(val)-minVal)/(maxVal-minVal)*100.
percent = min(max(valN,0),100)
#qp = QtGui.QPainter()
qp.setBrush(QColor(0,0,0,0))
qp.setPen(col)
qp.drawRect(rect)
qp.setBrush(col.light())
qp.drawText(rect, Qt.AlignCenter, txt)
qp.setBrush(col.dark())
qp.drawRect(QRectF(rect.left(), rect.top(), rect.width()/100.*percent, rect.height()))
def drawStats(self, qp):
defaultCol = QColor(0,255,0, 200)
#qp = QtGui.QPainter()
qp.resetTransform()
w = self.width()
h = self.height()
top = 50
bottom = h-50
width, height = w*0.2, 22
dist = 10
space = height+dist
pos = width/4
# DRAW PROGRESS BAGS (left)
if self.bat>-1:
self.drawBar(qp, QRectF(pos, top+space*0, width,height), defaultCol, 'BAT %4.2fV'%(self.bat/1000.), self.bat, 3000, 4150)
if self.link>-1:
self.drawBar(qp, QRectF(pos, top+space*1, width,height), defaultCol, 'SIG %03d%%'%self.link, self.link)
if self.cpu>-1:
self.drawBar(qp, QRectF(pos, top+space*2, width,height), defaultCol, 'CPU %03d%%'%self.cpu, self.cpu)
# DRAW RAW STATS( right)
pos = w-width/4-width/2
space = height+2
if self.pktsOut>-1:
qp.drawText(QRectF(pos, top+space*0, width,height), Qt.AlignLeft, '%04d kb/s'%self.pktsOut)
if self.pktsIn>-1:
qp.drawText(QRectF(pos, top+space*1, width,height), Qt.AlignLeft, '%04d kb/s'%self.pktsIn)
if self.pressure>-1:
qp.drawText(QRectF(pos, top+space*3, width,height), Qt.AlignLeft, '%06.2f hPa'%self.pressure)
if self.temp>-1:
qp.drawText(QRectF(pos, top+space*4, width,height), Qt.AlignLeft, QString('%05.2f'%self.temp)+QChar(0260)+QString("C"))
if self.aslLong>-1:
qp.drawText(QRectF(pos, top+space*5, width,height), Qt.AlignLeft, '%4.2f m'%self.aslLong)
def drawMotors(self, qp):
# TODO Check if motor update is recent
if (self.motors[0]<0):
return
defaultCol = QColor(0,255,0, 200)
#qp = QtGui.QPainter()
qp.resetTransform()
w = self.width()
h = self.height()
maxSize = min(w,h)*0.175
minSize = maxSize/10.
qp.translate(w- maxSize, h-maxSize)
qp.translate(-12,-12)
qp.rotate(45)
lighter = defaultCol
lighter.setAlphaF(0.1)
qp.setBrush(lighter.dark())
qp.setPen(lighter)
# Draw background circle
qp.drawEllipse(QPointF(0,0),maxSize,maxSize)
# Draw Thrust Average
spread = 2
avg = sum(self.motors)/len(self.motors) /100. * (maxSize-minSize) + minSize
lighter.setAlphaF(0.5)
qp.setPen(lighter.lighter())
qp.setBrush(QColor(0,0,0,0))
qp.drawEllipse(QPointF(0,0),avg, avg)
qp.setBrush(lighter.dark())
lighter.setAlphaF(0.2)
qp.setPen(lighter)
qp.setPen(QPen(defaultCol))
qp.setBrush(QBrush(defaultCol.dark()))
for i in range(4):
m = self.motors[i]*2/100. * (maxSize-minSize) + minSize
qp.drawPie(QRectF(spread-m/2., spread-m/2., m, m), 0, -90*16)
qp.rotate(-90)
def drawWidget(self, qp):
size = self.size()
w = size.width()
h = size.height()
blue = QtGui.QColor(min(255,0+self.crashed), min(255,61+self.freefall),144, 255 if self.pixmap is None else 64)
maroon = QtGui.QColor(min(255,59+self.crashed), min(255,41+self.freefall), 39, 255 if self.pixmap is None else 64)
# Draw background image (camera)
if self.pixmap is not None:
qp.drawPixmap(0, 0, w, h, self.pixmap)
qp.translate(w / 2, h / 2)
qp.rotate(-self.roll)
qp.translate(0, (self.pitch * h) / 50)
qp.translate(-w / 2, -h / 2)
qp.setRenderHint(qp.Antialiasing)
font = QtGui.QFont('Serif', 7, QtGui.QFont.Light)
qp.setFont(font)
#Draw the blue
qp.setPen(blue)
qp.setBrush(blue)
qp.drawRect(-w, h/2, 3*w, -3*h)
#Draw the maroon
qp.setPen(maroon)
qp.setBrush(maroon)
qp.drawRect(-w, h/2, 3*w, 3*h)
pen = QtGui.QPen(QtGui.QColor(255, 255, 255), 1.5,
QtCore.Qt.SolidLine)
qp.setPen(pen)
qp.drawLine(-w, h / 2, 3 * w, h / 2)
# DRawing Horizon Compass
labels = ["E", "|", "SE", "|", "S", "|", "SW", "|", "W", "|", "NW", "|", "N", "|", "NE", "|", "E", "|", "SE", "|", "S", "|", "SW", "|", "W"]
font = QtGui.QFont('Serif', 16, QtGui.QFont.Light)
qp.setFont(font)
for i, j in enumerate(range(-540, 585, 45)):
angle = j / 2 - self.yaw
label = labels[i]
qp.drawText(w/2 + w * angle / 180 - 5 * len(label), h/2 + 8, label)
font = QtGui.QFont('Serif', 7, QtGui.QFont.Light)
qp.setFont(font)
# Drawing pitch lines
for ofset in [-180, 0, 180]:
for i in range(-900, 900, 25):
pos = (((i / 10.0) + 25 + ofset) * h / 50.0)
if i % 100 == 0:
length = 0.35 * w
if i != 0:
if ofset == 0:
qp.drawText((w / 2) + (length / 2) + (w * 0.06),
pos, "{}".format(-i / 10))
qp.drawText((w / 2) - (length / 2) - (w * 0.08),
pos, "{}".format(-i / 10))
else:
qp.drawText((w / 2) + (length / 2) + (w * 0.06),
pos, "{}".format(i / 10))
qp.drawText((w / 2) - (length / 2) - (w * 0.08),
pos, "{}".format(i / 10))
elif i % 50 == 0:
length = 0.2 * w
else:
length = 0.1 * w
qp.drawLine((w / 2) - (length / 2), pos,
(w / 2) + (length / 2), pos)
qp.setWorldMatrixEnabled(False)
pen = QtGui.QPen(QtGui.QColor(0, 0, 0), 2,
QtCore.Qt.SolidLine)
qp.setBrush(QtGui.QColor(0, 0, 0))
qp.setPen(pen)
qp.drawLine(0, h / 2, w, h / 2)
# Draw Hover vs Target
qp.setWorldMatrixEnabled(False)
pen = QtGui.QPen(QtGui.QColor(255, 255, 255), 2,
QtCore.Qt.SolidLine)
qp.setBrush(QtGui.QColor(255, 255, 255))
qp.setPen(pen)
fh = max(7,h/50)
font = QtGui.QFont('Sans', fh, QtGui.QFont.Light)
qp.setFont(font)
qp.resetTransform()
qp.translate(0,h/2)
# not hovering
if self.hover<=0 and self.hoverASL>-9999:
qp.drawText(w-fh*10, fh/2, str(round(self.hoverASL,2))) # asl (center)
elif self.hover>0 and self.hoverASL>-9999:
qp.drawText(w-fh*10, fh/2, str(round(self.hoverTargetASL,2))) # target asl (center)
diff = round(self.hoverASL-self.hoverTargetASL,2)
pos_y = -h/6*diff
# cap to +- 2.8m
if diff<-2.8:
pos_y = -h/6*-2.8
elif diff>2.8:
pos_y= -h/6*2.8
else:
pos_y = -h/6*diff
qp.drawText(w-fh*3.8, pos_y+fh/2, str(diff)) # difference from target (moves up and down +- 2.8m)
qp.drawLine(w-fh*4.5,0,w-fh*4.5,pos_y) # vertical line
qp.drawLine(w-fh*4.7,0,w-fh*4.5,0) # left horizontal line
qp.drawLine(w-fh*4.2,pos_y,w-fh*4.5,pos_y) #right horizontal line
# FreeFall Detection
qp.resetTransform()
qp.translate(0,h/2)
qp.drawText(fh*6, fh/2, str(round(self.ff_acc+1,2))+'VG') # vertical acc
pos_y = h/6*self.ff_acc
# cap to +- 2.8m
if self.ff_acc<-2.8:
pos_y = -h/6*-2.8
elif self.ff_acc>2.8:
pos_y= -h/6*2.8
else:
pos_y = -h/6*self.ff_acc
qp.drawLine(fh*4.5,0,fh*4.5,pos_y) # vertical line
qp.drawLine(fh*4.7,0,fh*4.5,0) # left horizontal line
qp.drawLine(fh*4.2,pos_y,fh*4.5,pos_y) #right horizontal line
# Draw killswitch
qp.resetTransform()
if self.killswitch:
pen = QtGui.QPen(QtGui.QColor(255, 0, 0, 200), 8, QtCore.Qt.SolidLine)
qp.setBrush(QtGui.QColor(255, 0, 0,200))
qp.setPen(pen)
qp.drawLine(w/8., h/8., w/8.*7., h/8.*7.) # vertical line
qp.drawLine(w/8., h/8.*7., w/8.*7., h/8.) # vertical line
if self.msg != "":
qp.drawText(0,0,w,h, QtCore.Qt.AlignBottom | QtCore.Qt.AlignHCenter, self.msg)
if self.recovery:
pen = QtGui.QPen(QtGui.QColor(255, 255, 0, 170), 8, QtCore.Qt.SolidLine)
qp.setBrush(QtGui.QColor(255, 255, 0, 170))
qp.setPen(pen)
qp.setFont(QtGui.QFont('Sans', max(7,h/11), QtGui.QFont.DemiBold))
qp.drawText(0,0,w,h, QtCore.Qt.AlignCenter, 'AUTO')
self.drawMotors(qp)
self.drawState(qp)
self.drawStats(qp)
self.drawHZ(qp)