def create_objects(self):
if not self.isValid():
self.invalid_count += 1
print 'Radarwidget: Context not valid in create_objects, count=%d' % self.invalid_count
QTimer.singleShot(100, self.create_objects)
return
# Make the radarwidget context current, necessary when create_objects is not called from initializeGL
self.makeCurrent()
# Initialize font for radar view with specified settings
self.font = Font()
self.font.create_font_array(char_height=text_texture_size,
font_family=font_family,
font_weight=font_weight)
self.font.init_shader(self.text_shader)
# Load and bind world texture
max_texture_size = gl.glGetIntegerv(gl.GL_MAX_TEXTURE_SIZE)
print 'Maximum supported texture size: %d' % max_texture_size
for i in [16384, 8192, 4096]:
if max_texture_size >= i:
fname = 'data/graphics/world.%dx%d.dds' % (i, i / 2)
print 'Loading texture ' + fname
self.map_texture = self.bindTexture(fname)
break
# Create initial empty buffers for aircraft position, orientation, label, and color
self.achdgbuf = create_empty_buffer(MAX_NAIRCRAFT * 4,
usage=gl.GL_STREAM_DRAW)
self.aclatbuf = create_empty_buffer(MAX_NAIRCRAFT * 4,
usage=gl.GL_STREAM_DRAW)
self.aclonbuf = create_empty_buffer(MAX_NAIRCRAFT * 4,
usage=gl.GL_STREAM_DRAW)
self.acaltbuf = create_empty_buffer(MAX_NAIRCRAFT * 4,
usage=gl.GL_STREAM_DRAW)
self.actasbuf = create_empty_buffer(MAX_NAIRCRAFT * 4,
usage=gl.GL_STREAM_DRAW)
self.accolorbuf = create_empty_buffer(MAX_NAIRCRAFT * 3,
usage=gl.GL_STREAM_DRAW)
self.aclblbuf = create_empty_buffer(MAX_NAIRCRAFT * 24,
usage=gl.GL_STREAM_DRAW)
self.confcpabuf = create_empty_buffer(MAX_NCONFLICTS * 16,
usage=gl.GL_STREAM_DRAW)
self.polyprevbuf = create_empty_buffer(MAX_POLYPREV_SEGMENTS * 8,
usage=gl.GL_DYNAMIC_DRAW)
self.allpolysbuf = create_empty_buffer(MAX_ALLPOLYS_SEGMENTS * 16,
usage=gl.GL_DYNAMIC_DRAW)
self.routebuf = create_empty_buffer(MAX_ROUTE_LENGTH * 8,
usage=gl.GL_DYNAMIC_DRAW)
self.routewplatbuf = create_empty_buffer(MAX_ROUTE_LENGTH * 4,
usage=gl.GL_DYNAMIC_DRAW)
self.routewplonbuf = create_empty_buffer(MAX_ROUTE_LENGTH * 4,
usage=gl.GL_DYNAMIC_DRAW)
self.routelblbuf = create_empty_buffer(MAX_ROUTE_LENGTH * 12,
usage=gl.GL_DYNAMIC_DRAW)
# ------- Map ------------------------------------
self.map = RenderObject(gl.GL_TRIANGLE_FAN, vertex_count=4)
mapvertices = np.array([(-90.0, 540.0), (-90.0, -540.0),
(90.0, -540.0), (90.0, 540.0)],
dtype=np.float32)
texcoords = np.array([(1, 3), (1, 0), (0, 0), (0, 3)],
dtype=np.float32)
self.map.bind_attrib(ATTRIB_VERTEX, 2, mapvertices)
self.map.bind_attrib(ATTRIB_TEXCOORDS, 2, texcoords)
# ------- Coastlines -----------------------------
self.coastlines = RenderObject(gl.GL_LINES)
coastvertices, coastindices = load_coastlines()
self.coastlines.bind_attrib(ATTRIB_VERTEX, 2, coastvertices)
self.coastlines.bind_attrib(ATTRIB_COLOR,
3,
np.array(lightblue2, dtype=np.uint8),
datatype=gl.GL_UNSIGNED_BYTE,
normalize=True,
instance_divisor=1)
self.vcount_coast = len(coastvertices)
self.coastindices = coastindices
del coastvertices
# ------- Runways --------------------------------
self.runways = RenderObject(gl.GL_TRIANGLES)
self.runways.bind_attrib(ATTRIB_VERTEX, 2, self.vbuf_runways)
self.runways.bind_attrib(ATTRIB_COLOR,
3,
np.array(grey, dtype=np.uint8),
datatype=gl.GL_UNSIGNED_BYTE,
normalize=True,
instance_divisor=1)
self.runways.set_vertex_count(len(self.vbuf_runways) / 2)
#---------Runway Thresholds-----------------------
self.thresholds = RenderObject(gl.GL_TRIANGLES)
self.thresholds.bind_attrib(ATTRIB_VERTEX, 2, self.vbuf_rwythr)
self.thresholds.bind_attrib(ATTRIB_COLOR,
3,
np.array(white, dtype=np.uint8),
datatype=gl.GL_UNSIGNED_BYTE,
normalize=True,
instance_divisor=1)
self.thresholds.set_vertex_count(len(self.vbuf_rwythr) / 2)
# ------- Taxiways -------------------------------
self.taxiways = RenderObject(gl.GL_TRIANGLES)
self.taxiways.bind_attrib(ATTRIB_VERTEX, 2, self.vbuf_asphalt)
self.taxiways.bind_attrib(ATTRIB_COLOR,
3,
np.array(grey, dtype=np.uint8),
datatype=gl.GL_UNSIGNED_BYTE,
normalize=True,
instance_divisor=1)
self.taxiways.set_vertex_count(len(self.vbuf_asphalt) / 2)
# ------- Pavement -------------------------------
self.pavement = RenderObject(gl.GL_TRIANGLES)
self.pavement.bind_attrib(ATTRIB_VERTEX, 2, self.vbuf_concrete)
self.pavement.bind_attrib(ATTRIB_COLOR,
3,
np.array(lightgrey, dtype=np.uint8),
datatype=gl.GL_UNSIGNED_BYTE,
normalize=True,
instance_divisor=1)
self.pavement.set_vertex_count(len(self.vbuf_concrete) / 2)
# Polygon preview object
self.polyprev = RenderObject(gl.GL_LINE_LOOP)
self.polyprev.bind_attrib(ATTRIB_VERTEX, 2, self.polyprevbuf)
self.polyprev.bind_attrib(ATTRIB_COLOR,
3,
np.array(lightblue, dtype=np.uint8),
datatype=gl.GL_UNSIGNED_BYTE,
normalize=True,
instance_divisor=1)
# Fixed polygons
self.allpolys = RenderObject(gl.GL_LINES)
self.allpolys.bind_attrib(ATTRIB_VERTEX, 2, self.allpolysbuf)
self.allpolys.bind_attrib(ATTRIB_COLOR,
3,
np.array(blue, dtype=np.uint8),
datatype=gl.GL_UNSIGNED_BYTE,
normalize=True,
instance_divisor=1)
# ------- SSD object -----------------------------
self.ssd = RenderObject(gl.GL_POINTS)
self.ssd.bind_attrib(ATTRIB_LAT0, 1, self.aclatbuf, instance_divisor=1)
self.ssd.bind_attrib(ATTRIB_LON0, 1, self.aclonbuf, instance_divisor=1)
self.ssd.bind_attrib(ATTRIB_ALT0, 1, self.acaltbuf, instance_divisor=1)
self.ssd.bind_attrib(ATTRIB_TAS0, 1, self.actasbuf, instance_divisor=1)
self.ssd.bind_attrib(ATTRIB_TRK0, 1, self.achdgbuf, instance_divisor=1)
self.ssd.bind_attrib(ATTRIB_LAT1, 1, self.aclatbuf)
self.ssd.bind_attrib(ATTRIB_LON1, 1, self.aclonbuf)
self.ssd.bind_attrib(ATTRIB_ALT1, 1, self.acaltbuf)
self.ssd.bind_attrib(ATTRIB_TAS1, 1, self.actasbuf)
self.ssd.bind_attrib(ATTRIB_TRK1, 1, self.achdgbuf)
# ------- Circle ---------------------------------
# Create a new VAO (Vertex Array Object) and bind it
self.protectedzone = RenderObject(gl.GL_LINE_LOOP,
vertex_count=self.vcount_circle)
circlevertices = np.transpose(
np.array(
(2.5 * nm *
np.cos(np.linspace(0.0, 2.0 * np.pi, self.vcount_circle)),
2.5 * nm *
np.sin(np.linspace(0.0, 2.0 * np.pi, self.vcount_circle))),
dtype=np.float32))
self.protectedzone.bind_attrib(ATTRIB_VERTEX, 2, circlevertices)
self.protectedzone.bind_attrib(ATTRIB_LAT,
1,
self.aclatbuf,
instance_divisor=1)
self.protectedzone.bind_attrib(ATTRIB_LON,
1,
self.aclonbuf,
instance_divisor=1)
self.protectedzone.bind_attrib(ATTRIB_COLOR,
3,
self.accolorbuf,
datatype=gl.GL_UNSIGNED_BYTE,
normalize=True,
instance_divisor=1)
# ------- A/C symbol -----------------------------
self.ac_symbol = RenderObject(gl.GL_TRIANGLE_FAN, vertex_count=4)
acvertices = np.array([(0.0, 0.5 * ac_size),
(-0.5 * ac_size, -0.5 * ac_size),
(0.0, -0.25 * ac_size),
(0.5 * ac_size, -0.5 * ac_size)],
dtype=np.float32)
self.ac_symbol.bind_attrib(ATTRIB_VERTEX, 2, acvertices)
self.ac_symbol.bind_attrib(ATTRIB_LAT,
1,
self.aclatbuf,
instance_divisor=1)
self.ac_symbol.bind_attrib(ATTRIB_LON,
1,
self.aclonbuf,
instance_divisor=1)
self.ac_symbol.bind_attrib(ATTRIB_ORIENTATION,
1,
self.achdgbuf,
instance_divisor=1)
self.ac_symbol.bind_attrib(ATTRIB_COLOR,
3,
self.accolorbuf,
datatype=gl.GL_UNSIGNED_BYTE,
normalize=True,
instance_divisor=1)
self.aclabels = self.font.prepare_text_instanced(
self.aclblbuf, (8, 3),
self.aclatbuf,
self.aclonbuf,
self.accolorbuf,
char_size=text_size,
vertex_offset=(ac_size, -0.5 * ac_size))
# ------- Conflict CPA lines ---------------------
self.cpalines = RenderObject(gl.GL_LINES)
self.cpalines.bind_attrib(ATTRIB_VERTEX, 2, self.confcpabuf)
self.cpalines.bind_attrib(ATTRIB_COLOR,
3,
np.array(amber, dtype=np.uint8),
datatype=gl.GL_UNSIGNED_BYTE,
normalize=True,
instance_divisor=1)
# ------- Aircraft Route -------------------------
self.route = RenderObject(gl.GL_LINES)
self.route.bind_attrib(ATTRIB_VERTEX, 2, self.routebuf)
self.route.bind_attrib(ATTRIB_COLOR,
3,
np.array(magenta, dtype=np.uint8),
datatype=gl.GL_UNSIGNED_BYTE,
normalize=True,
instance_divisor=1)
self.routelbl = self.font.prepare_text_instanced(
self.routelblbuf, (12, 1),
self.routewplatbuf,
self.routewplonbuf,
char_size=text_size,
vertex_offset=(wpt_size, 0.5 * wpt_size))
# ------- Waypoints ------------------------------
self.nwaypoints = len(self.navdb.wplat)
self.waypoints = RenderObject(gl.GL_LINE_LOOP,
vertex_count=3,
n_instances=self.nwaypoints)
wptvertices = np.array([(0.0, 0.5 * wpt_size),
(-0.5 * wpt_size, -0.5 * wpt_size),
(0.5 * wpt_size, -0.5 * wpt_size)],
dtype=np.float32) # a triangle
self.waypoints.bind_attrib(ATTRIB_VERTEX, 2, wptvertices)
# Sort based on id string length
llid = sorted(zip(self.navdb.wpid, self.navdb.wplat, self.navdb.wplon),
key=lambda i: len(i[0]) > 3)
wplat = [lat for (wpid, lat, lon) in llid]
wplon = [lon for (wpid, lon, lon) in llid]
self.wptlatbuf = self.waypoints.bind_attrib(ATTRIB_LAT,
1,
np.array(wplat,
dtype=np.float32),
instance_divisor=1)
self.wptlonbuf = self.waypoints.bind_attrib(ATTRIB_LON,
1,
np.array(wplon,
dtype=np.float32),
instance_divisor=1)
wptids = ''
self.nnavaids = 0
for wptid in llid:
if len(wptid[0]) <= 3:
self.nnavaids += 1
wptids += wptid[0].ljust(5)
self.wptlabels = self.font.prepare_text_instanced(
np.array(wptids, dtype=np.string_), (5, 1),
self.wptlatbuf,
self.wptlonbuf,
char_size=text_size,
vertex_offset=(wpt_size, 0.5 * wpt_size))
del wptids
# ------- Airports -------------------------------
self.nairports = len(self.navdb.aptlat)
self.airports = RenderObject(gl.GL_LINE_LOOP,
vertex_count=4,
n_instances=self.nairports)
aptvertices = np.array([(-0.5 * apt_size, -0.5 * apt_size),
(0.5 * apt_size, -0.5 * apt_size),
(0.5 * apt_size, 0.5 * apt_size),
(-0.5 * apt_size, 0.5 * apt_size)],
dtype=np.float32) # a square
self.airports.bind_attrib(ATTRIB_VERTEX, 2, aptvertices)
indices = self.navdb.aptype.argsort()
aplat = np.array(self.navdb.aptlat[indices], dtype=np.float32)
aplon = np.array(self.navdb.aptlon[indices], dtype=np.float32)
aptypes = self.navdb.aptype[indices]
apnames = np.array(self.navdb.aptid)
apnames = apnames[indices]
# The number of large, large+med, and large+med+small airports
self.nairports = [
aptypes.searchsorted(2),
aptypes.searchsorted(3), self.nairports
]
self.aptlatbuf = self.airports.bind_attrib(ATTRIB_LAT,
1,
aplat,
instance_divisor=1)
self.aptlonbuf = self.airports.bind_attrib(ATTRIB_LON,
1,
aplon,
instance_divisor=1)
aptids = ''
for aptid in apnames:
aptids += aptid.ljust(4)
self.aptlabels = self.font.prepare_text_instanced(
np.array(aptids, dtype=np.string_), (4, 1),
self.aptlatbuf,
self.aptlonbuf,
char_size=text_size,
vertex_offset=(apt_size, 0.5 * apt_size))
del aptids
# Unbind VAO, VBO
RenderObject.unbind_all()
# Set initial values for the global uniforms
self.globaldata.set_wrap(self.wraplon, self.wrapdir)
self.globaldata.set_pan_and_zoom(self.panlat, self.panlon, self.zoom)
# Clean up memory
del self.vbuf_asphalt, self.vbuf_concrete, self.vbuf_runways, self.vbuf_rwythr
self.initialized = True
def create_objects(self):
self.mcp = RenderObject(gl.GL_TRIANGLES,
vertex=np.array(rect(-1, -1, 2, 2),
dtype=np.float32))
self.mcp_texture = load_texture('mcp737.png')
self.btn_tex = load_texture('btn_led.png')
self.lcd_tex = load_lcd_font()
v_mcp_text = []
for pos in [
0.0, 0.03, 0.06, 0.31, 0.34, 0.37, 0.4, 0.43, 0.644, 0.674,
0.704, 0.955, 0.985, 1.015, 1.045, 1.075, 1.22, 1.25, 1.28,
1.31, 1.34, 1.69, 1.72, 1.75
]:
v, t = Font.char(-0.886 + pos, 0.45, 0.03, 0.25)
v_mcp_text += v
self.mcp_text = RenderObject(gl.GL_TRIANGLES,
vertex=np.array(v_mcp_text,
dtype=np.float32))
self.lcd_charcoords = np.zeros(24 * 6, dtype=np.float32)
self.lcdbuf = self.mcp_text.bind_attrib(1,
1,
self.lcd_charcoords,
datatype=gl.GL_FLOAT)
btn_leds = []
for pos in [(-0.74, -0.75), (-0.645, -0.75), (-0.37, -0.75),
(-0.232, -0.75), (-0.09, -0.75), (0.105, -0.75),
(0.2, -0.75), (-0.37, 0.5), (-0.09, 0.5), (-0.09, -0.125),
(0.575, 0.34), (0.575, -0.34), (0.684, 0.34),
(0.684, -0.34)]:
btn_leds += rect(pos[0], pos[1], 0.055, 0.075)
btn_color = np.zeros(14 * 6 * 4, dtype=np.uint8)
self.btn_leds = RenderObject(gl.GL_TRIANGLES,
vertex=np.array(btn_leds,
dtype=np.float32),
color=btn_color)
# Button up/down indicator
w, h, offset = 0.04, 0.16, 0.04
triangles = np.array([
-w, offset, 0.0, offset + h, w, offset, -w, -offset, 0.0,
-offset - h, w, -offset
],
dtype=np.float32)
col_triangles = np.array(6 * [255, 255, 255, 180], dtype=np.uint8)
self.updown = RenderObject(gl.GL_TRIANGLES,
vertex=triangles,
color=col_triangles)
# Use the same font as the radarwidget
self.font = Font()
self.font.create_font_array('../../data/graphics/font/')
self.font.init_shader(self.text_shader)
edge = np.zeros(120, dtype=np.float32)
edge[0:120:2] = 1.4 * np.sin(np.radians(np.arange(-60, 60, 2)))
edge[1:120:2] = 1.4 * np.cos(np.radians(np.arange(-60, 60, 2)))
self.edge = RenderObject(gl.GL_LINE_STRIP, vertex=edge, color=white)
arcs = []
for i in range(1, 4):
for angle in range(-60, 60, max(2, 6 - 2 * i)):
arcs.append(float(i) * 0.35 * sin(radians(angle)))
arcs.append(float(i) * 0.35 * cos(radians(angle)))
if i == 4:
arcs.append(float(i) * 0.35 * sin(radians(angle + 2)))
arcs.append(float(i) * 0.35 * cos(radians(angle + 2)))
arcs = np.array(arcs, dtype=np.float32)
self.arcs = RenderObject(gl.GL_LINES, vertex=arcs, color=white)
mask = []
for angle in range(-60, 60, 2):
mask.append(1.4 * sin(radians(angle)))
mask.append(10.0)
mask.append(1.4 * sin(radians(angle)))
mask.append(1.4 * cos(radians(angle)))
mask = np.array(mask, dtype=np.float32)
self.mask = RenderObject(gl.GL_TRIANGLE_STRIP,
vertex=mask,
color=black)
ticks = np.zeros(288, dtype=np.float32)
for i in range(72):
ticktop = 1.46 if i % 6 == 0 else (1.44 if i % 2 == 0 else 1.42)
ticks[4 * i:4 * i + 2] = (1.4 * sin(radians(i * 5)),
1.4 * cos(radians(i * 5)))
ticks[4 * i + 2:4 * i + 4] = (ticktop * sin(radians(i * 5)),
ticktop * cos(radians(i * 5)))
self.ticks = RenderObject(gl.GL_LINES, vertex=ticks, color=white)
ticklbls = np.zeros(24 * 36, dtype=np.float32)
texcoords = np.zeros(36 * 36, dtype=np.float32)
for i in range(36):
if i % 3 == 0:
w, h, y = 0.045, 0.09, 1.48
else:
w, h, y = 0.035, 0.07, 1.46
tmp = [(-w, h + y), (-w, y), (0.0, h + y), (0.0, h + y), (-w, y),
(0.0, y), (0.0, h + y), (0.0, y), (w, h + y), (w, h + y),
(0.0, y), (w, y)]
# numerics start at ASCII 48
c1 = i / 10 + 48
c2 = i % 10 + 48
texcoords[36 * i:36 * i + 18] = [
0, 0, c1, 0, 1, c1, 1, 0, c1, 1, 0, c1, 0, 1, c1, 1, 1, c1
]
texcoords[36 * i + 18:36 * i + 36] = [
0, 0, c2, 0, 1, c2, 1, 0, c2, 1, 0, c2, 0, 1, c2, 1, 1, c2
]
angle = radians(10 * (36 - i))
rot = np.array([[cos(angle), -sin(angle)],
[sin(angle), cos(angle)]])
for j in range(12):
ticklbls[24 * i + 2 * j:24 * i + 2 * j + 2] = rot.dot(tmp[j])
self.ticklbls = RenderObject(gl.GL_TRIANGLES,
vertex=ticklbls,
color=white,
texcoords=texcoords)
vown = np.array([
0.0, 0.0, 0.0, -0.12, 0.065, -0.03, -0.065, -0.03, 0.022, -0.1,
-0.022, -0.1
],
dtype=np.float32)
self.ownship = RenderObject(gl.GL_LINES, vertex=vown, color=yellow)
self.spdlabel_text = self.font.prepare_text_string(
'GS TAS', 0.05, white, (-0.98, 1.6))
self.spdlabel_val = self.font.prepare_text_string(
' 000 000', 0.05, green, (-0.97, 1.6))
self.initialized = True
# Unbind everything
RenderObject.unbind_all()
