class RadarWidget(QGLWidget):
vcount_circle = 36
width = height = 600
viewport = (0, 0, width, height)
panlat = 0.0
panlon = 0.0
zoom = 1.0
ar = 1.0
flat_earth = 1.0
wraplon = int(-999)
wrapdir = int(0)
max_texture_size = 0
do_text = True
invalid_count = 0
def __init__(self, navdb, shareWidget=None):
super(RadarWidget, self).__init__(shareWidget=shareWidget)
self.setAttribute(Qt.WA_AcceptTouchEvents, True)
self.grabGesture(Qt.PanGesture)
self.grabGesture(Qt.PinchGesture)
# self.grabGesture(Qt.SwipeGesture)
# The number of aircraft in the simulation
self.map_texture = 0
self.naircraft = 0
self.nwaypoints = 0
self.nairports = 0
self.route_acid = ""
self.ssd_ownship = np.array([], dtype=np.uint16)
self.apt_inrange = np.array([])
self.ssd_all = False
self.navdb = navdb
self.iactconn = 0
self.nodedata = list()
# Display flags
self.show_map = True
self.show_coast = True
self.show_traf = True
self.show_pz = False
self.show_lbl = True
self.show_wpt = True
self.show_apt = True
self.initialized = False
# Connect to manager's nodelist changed and activenode changed signal
manager.instance.nodes_changed.connect(self.nodesChanged)
manager.instance.activenode_changed.connect(self.actnodeChanged)
# Load vertex data
self.vbuf_asphalt, self.vbuf_concrete, self.vbuf_runways, self.vbuf_rwythr, \
self.apt_ctrlat, self.apt_ctrlon, self.apt_indices = load_aptsurface()
@pyqtSlot(str, tuple, int)
def nodesChanged(self, address, nodeid, connidx):
# For each node we have to keep data such as the visible polygons, etc.
self.nodedata.append(nodeData())
@pyqtSlot(tuple, int)
def actnodeChanged(self, nodeid, connidx):
self.iactconn = connidx
nact = self.nodedata[connidx]
if len(nact.polydata) > 0:
update_buffer(self.allpolysbuf, nact.polydata)
self.allpolys.set_vertex_count(len(nact.polydata) / 2)
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 initializeGL(self):
"""Initialize OpenGL, VBOs, upload data on the GPU, etc."""
# First check for supported GL version
gl_version = float(gl.glGetString(gl.GL_VERSION)[:3])
if gl_version < 3.3:
print('OpenGL context created with GL version %.1f' % gl_version)
qCritical(
"""Your system reports that it supports OpenGL up to version %.1f. The minimum requirement for BlueSky is OpenGL 3.3.
Generally, AMD/ATI/nVidia cards from 2008 and newer support OpenGL 3.3, and Intel integrated graphics from the Haswell
generation and newer. If you think your graphics system should be able to support GL>=3.3 please open an issue report
on the BlueSky Github page (https://github.com/ProfHoekstra/bluesky/issues)"""
% gl_version)
return
# background color
gl.glClearColor(0, 0, 0, 0)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
self.globaldata = radarUBO()
try:
# Compile shaders and link color shader program
self.color_shader = BlueSkyProgram(
'data/graphics/shaders/radarwidget-normal.vert',
'data/graphics/shaders/radarwidget-color.frag')
self.color_shader.bind_uniform_buffer('global_data',
self.globaldata)
# Compile shaders and link texture shader program
self.texture_shader = BlueSkyProgram(
'data/graphics/shaders/radarwidget-normal.vert',
'data/graphics/shaders/radarwidget-texture.frag')
self.texture_shader.bind_uniform_buffer('global_data',
self.globaldata)
# Compile shaders and link text shader program
self.text_shader = BlueSkyProgram(
'data/graphics/shaders/radarwidget-text.vert',
'data/graphics/shaders/radarwidget-text.frag')
self.text_shader.bind_uniform_buffer('global_data',
self.globaldata)
self.ssd_shader = BlueSkyProgram('data/graphics/shaders/ssd.vert',
'data/graphics/shaders/ssd.frag',
'data/graphics/shaders/ssd.geom')
self.ssd_shader.bind_uniform_buffer('global_data', self.globaldata)
self.ssd_shader.loc_vlimits = gl.glGetUniformLocation(
self.ssd_shader.program, 'Vlimits')
self.ssd_shader.loc_nac = gl.glGetUniformLocation(
self.ssd_shader.program, 'n_ac')
except RuntimeError as e:
qCritical('Error compiling shaders in radarwidget: ' + e.args[0])
return
# create all vertex array objects
self.create_objects()
def paintGL(self):
"""Paint the scene."""
# pass if the framebuffer isn't complete yet or if not initialized
if not (gl.glCheckFramebufferStatus(
gl.GL_FRAMEBUFFER) == gl.GL_FRAMEBUFFER_COMPLETE
and self.initialized and self.isVisible()):
return
# Set the viewport and clear the framebuffer
gl.glViewport(*self.viewport)
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
# Send the (possibly) updated global uniforms to the buffer
self.globaldata.set_vertex_scale_type(VERTEX_IS_LATLON)
# --- DRAW THE MAP AND COASTLINES ---------------------------------------------
# Map and coastlines: don't wrap around in the shader
self.globaldata.enable_wrap(False)
if self.show_map:
# Select the texture shader
self.texture_shader.use()
# Draw map texture
gl.glActiveTexture(gl.GL_TEXTURE0 + 0)
gl.glBindTexture(gl.GL_TEXTURE_2D, self.map_texture)
self.map.draw()
# Select the non-textured shader
self.color_shader.use()
# Draw coastlines
if self.show_coast:
if self.wrapdir == 0:
# Normal case, no wrap around
self.coastlines.draw(first_vertex=0,
vertex_count=self.vcount_coast)
else:
self.coastlines.bind()
wrapindex = np.uint32(self.coastindices[int(self.wraplon) +
180])
if self.wrapdir == 1:
gl.glVertexAttrib1f(ATTRIB_LON, 360.0)
self.coastlines.draw(first_vertex=0,
vertex_count=wrapindex)
gl.glVertexAttrib1f(ATTRIB_LON, 0.0)
self.coastlines.draw(first_vertex=wrapindex,
vertex_count=self.vcount_coast -
wrapindex)
else:
gl.glVertexAttrib1f(ATTRIB_LON, -360.0)
self.coastlines.draw(first_vertex=wrapindex,
vertex_count=self.vcount_coast -
wrapindex)
gl.glVertexAttrib1f(ATTRIB_LON, 0.0)
self.coastlines.draw(first_vertex=0,
vertex_count=wrapindex)
# --- DRAW PREVIEW SHAPE (WHEN AVAILABLE) -----------------------------
self.polyprev.draw()
# --- DRAW CUSTOM SHAPES (WHEN AVAILABLE) -----------------------------
self.allpolys.draw()
# --- DRAW THE SELECTED AIRCRAFT ROUTE (WHEN AVAILABLE) ---------------
if self.show_traf:
self.route.draw()
self.cpalines.draw()
# --- DRAW AIRPORT DETAILS (RUNWAYS, TAXIWAYS, PAVEMENTS) -------------
self.runways.draw()
self.thresholds.draw()
if self.zoom >= 1.0:
for idx in self.apt_inrange:
self.taxiways.draw(first_vertex=idx[0], vertex_count=idx[1])
self.pavement.draw(first_vertex=idx[2], vertex_count=idx[3])
# --- DRAW THE INSTANCED AIRCRAFT SHAPES ------------------------------
# update wrap longitude and direction for the instanced objects
self.globaldata.enable_wrap(True)
# PZ circles only when they are bigger than the A/C symbols
if self.naircraft > 0 and self.show_traf and self.show_pz and self.zoom >= 0.15:
self.globaldata.set_vertex_scale_type(VERTEX_IS_METERS)
self.protectedzone.draw(n_instances=self.naircraft)
self.globaldata.set_vertex_scale_type(VERTEX_IS_SCREEN)
# Draw traffic symbols
if self.naircraft > 0 and self.show_traf:
self.ac_symbol.draw(n_instances=self.naircraft)
if self.zoom >= 0.5:
nairports = self.nairports[2]
elif self.zoom >= 0.25:
nairports = self.nairports[1]
else:
nairports = self.nairports[0]
if self.zoom >= 3:
nwaypoints = self.nwaypoints
else:
nwaypoints = self.nnavaids
# Draw waypoint symbols
if self.show_wpt:
self.waypoints.bind()
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(lightblue3 + (255, )))
self.waypoints.draw(n_instances=nwaypoints)
# Draw airport symbols
if self.show_apt:
self.airports.bind()
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(lightblue3 + (255, )))
self.airports.draw(n_instances=nairports)
if self.do_text:
self.text_shader.use()
self.font.use()
if self.show_apt:
self.font.set_char_size(self.aptlabels.char_size)
self.font.set_block_size(self.aptlabels.block_size)
self.aptlabels.bind()
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(lightblue4 + (255, )))
self.aptlabels.draw(n_instances=nairports)
if self.show_wpt:
self.font.set_char_size(self.wptlabels.char_size)
self.font.set_block_size(self.wptlabels.block_size)
self.wptlabels.bind()
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(lightblue4 + (255, )))
self.wptlabels.draw(n_instances=nwaypoints)
if self.show_traf and self.route.vertex_count > 1:
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(magenta + (255, )))
self.font.set_char_size(self.routelbl.char_size)
self.font.set_block_size(self.routelbl.block_size)
self.routelbl.draw()
if self.naircraft > 0 and self.show_traf and self.show_lbl:
self.font.set_char_size(self.aclabels.char_size)
self.font.set_block_size(self.aclabels.block_size)
self.aclabels.draw(n_instances=self.naircraft)
# SSD
if self.ssd_all or len(self.ssd_ownship) > 0:
self.ssd_shader.use()
gl.glUniform3f(self.ssd_shader.loc_vlimits, 4e4, 25e4, 500.0)
gl.glUniform1i(self.ssd_shader.loc_nac, self.naircraft)
if self.ssd_all:
self.ssd.draw(first_vertex=0,
vertex_count=self.naircraft,
n_instances=self.naircraft)
else:
self.ssd.draw(first_vertex=self.ssd_ownship[-1],
vertex_count=1,
n_instances=self.naircraft)
# Unbind everything
RenderObject.unbind_all()
gl.glUseProgram(0)
def resizeGL(self, width, height):
"""Called upon window resizing: reinitialize the viewport."""
if not self.initialized:
return
# update the window size
# Qt5 supports getting the device pixel ratio, which can be > 1 for HiDPI displays such as Mac Retina screens
pixel_ratio = 1
if QT_VERSION >= 5:
pixel_ratio = self.devicePixelRatio()
# Calculate zoom so that the window resize doesn't affect the scale, but only enlarges or shrinks the view
zoom = float(self.width) / float(width) * pixel_ratio
origin = (width / 2, height / 2)
# Update width, height, and aspect ratio
self.width, self.height = width / pixel_ratio, height / pixel_ratio
self.ar = float(width) / max(1, float(height))
self.globaldata.set_win_width_height(self.width, self.height)
self.viewport = (0, 0, width, height)
# Update zoom
self.event(PanZoomEvent(zoom=zoom, origin=origin))
def update_route_data(self, data):
self.route_acid = data.acid
if data.acid != "" and len(data.wplat) > 0:
nsegments = len(data.wplat)
data.iactwp = min(max(0, data.iactwp), nsegments - 1)
self.routelbl.n_instances = nsegments
self.route.set_vertex_count(2 * nsegments)
routedata = np.empty(4 * nsegments, dtype=np.float32)
routedata[0:4] = [
data.aclat, data.aclon, data.wplat[data.iactwp],
data.wplon[data.iactwp]
]
routedata[4::4] = data.wplat[:-1]
routedata[5::4] = data.wplon[:-1]
routedata[6::4] = data.wplat[1:]
routedata[7::4] = data.wplon[1:]
update_buffer(self.routebuf, routedata)
update_buffer(self.routewplatbuf,
np.array(data.wplat, dtype=np.float32))
update_buffer(self.routewplonbuf,
np.array(data.wplon, dtype=np.float32))
wpname = []
for wp in data.wpname:
wpname += wp[:12].ljust(12)
update_buffer(self.routelblbuf, np.array(wpname))
else:
self.route.set_vertex_count(0)
def update_aircraft_data(self, data):
self.naircraft = len(data.lat)
if self.naircraft == 0:
self.cpalines.set_vertex_count(0)
else:
# Update data in GPU buffers
update_buffer(self.aclatbuf, np.array(data.lat, dtype=np.float32))
update_buffer(self.aclonbuf, np.array(data.lon, dtype=np.float32))
update_buffer(self.achdgbuf, np.array(data.trk, dtype=np.float32))
update_buffer(self.acaltbuf, np.array(data.alt, dtype=np.float32))
update_buffer(self.actasbuf, np.array(data.tas, dtype=np.float32))
# CPA lines to indicate conflicts
ncpalines = len(data.confcpalat)
cpalines = np.zeros(4 * ncpalines, dtype=np.float32)
self.cpalines.set_vertex_count(2 * ncpalines)
# Labels and colors
rawlabel = ''
color = np.empty((self.naircraft, 3), dtype=np.uint8)
for i in range(self.naircraft):
if np.isnan(data.tas[i]):
print 'CAS NaN in %d: %s' % (i, data.id[i])
data.cas[i] = 0.0
if np.isnan(data.alt[i]):
print 'ALT NaN in %d: %s' % (i, data.id[i])
data.alt[i] = 0.0
# Make label: 3 lines of 8 characters per aircraft
rawlabel += '%-8sFL%03d %-8d' % (data.id[i][:8],
int(data.alt[i] / ft / 100),
int(data.cas[i] / kts))
confindices = data.iconf[i]
if len(confindices) > 0:
color[i, :] = amber
for confidx in confindices:
cpalines[4 * confidx:4 * confidx + 4] = [
data.lat[i], data.lon[i], data.confcpalat[confidx],
data.confcpalon[confidx]
]
else:
color[i, :] = green
update_buffer(self.confcpabuf, cpalines)
update_buffer(self.accolorbuf, color)
update_buffer(self.aclblbuf, np.array(rawlabel, dtype=np.string_))
# If there is a visible route, update the start position
if self.route_acid != "":
if self.route_acid in data.id:
idx = data.id.index(self.route_acid)
update_buffer(
self.routebuf,
np.array([data.lat[idx], data.lon[idx]],
dtype=np.float32))
def show_ssd(self, arg):
if arg == 'ALL':
self.ssd_all = True
elif arg == 'OFF':
self.ssd_all = False
self.ssd_ownship = np.array([], dtype=np.uint16)
else:
if arg in self.ssd_ownship:
self.ssd_ownship = np.delete(
self.ssd_ownship, np.argmax(self.ssd_ownship == arg))
else:
self.ssd_ownship = np.append(self.ssd_ownship, arg)
def updatePolygon(self, name, data_in):
nact = self.nodedata[manager.sender()[0]]
if name in nact.polynames:
# We're either updating a polygon, or deleting it. In both cases
# we remove the current one.
nact.polydata = np.delete(nact.polydata,
range(*nact.polynames[name]))
del nact.polynames[name]
if data_in is not None:
nact.polynames[name] = (len(nact.polydata), 2 * len(data_in))
newbuf = np.empty(2 * len(data_in), dtype=np.float32)
newbuf[0::4] = data_in[0::2] # lat
newbuf[1::4] = data_in[1::2] # lon
newbuf[2:-2:4] = data_in[2::2] # lat
newbuf[3:-3:4] = data_in[3::2] # lon
newbuf[-2:] = data_in[0:2]
nact.polydata = np.append(nact.polydata, newbuf)
update_buffer(self.allpolysbuf, nact.polydata)
self.allpolys.set_vertex_count(len(nact.polydata) / 2)
def previewpoly(self, shape_type, data_in=None):
if shape_type is None:
self.polyprev.set_vertex_count(0)
return
if shape_type in ['BOX', 'AREA']:
# For a box (an area is a box) we need to add two additional corners
data = np.zeros(8, dtype=np.float32)
data[0:2] = data_in[0:2]
data[2:4] = data_in[2], data_in[1]
data[4:6] = data_in[2:4]
data[6:8] = data_in[0], data_in[3]
else:
data = data_in
update_buffer(self.polyprevbuf, data)
self.polyprev.set_vertex_count(len(data) / 2)
def airportsInRange(self):
ll_range = max(1.5 / self.zoom, 1.0)
indices = np.logical_and.reduce(
(self.apt_ctrlat >= self.panlat - ll_range,
self.apt_ctrlat <= self.panlat + ll_range,
self.apt_ctrlon >= self.panlon - ll_range,
self.apt_ctrlon <= self.panlon + ll_range))
self.apt_inrange = self.apt_indices[indices]
def pixelCoordsToGLxy(self, x, y):
"""Convert screen pixel coordinates to GL projection coordinates (x, y range -1 -- 1)
"""
# GL coordinates (x, y range -1 -- 1)
glx = (float(2.0 * x) / self.width - 1.0)
gly = -(float(2.0 * y) / self.height - 1.0)
return glx, gly
def pixelCoordsToLatLon(self, x, y):
"""Convert screen pixel coordinates to lat/lon coordinates
"""
glx, gly = self.pixelCoordsToGLxy(x, y)
# glxy = zoom * (latlon - pan)
# latlon = pan + glxy / zoom
lat = self.panlat + gly / (self.zoom * self.ar)
lon = self.panlon + glx / (self.zoom * self.flat_earth)
return lat, lon
def event(self, event):
if event.type() == PanZoomEventType:
if event.pan is not None:
# Absolute pan operation
if event.absolute:
self.panlat = event.pan[0]
self.panlon = event.pan[1]
# Relative pan operation
else:
self.panlat += event.pan[0]
self.panlon += event.pan[1]
# Don't pan further than the poles in y-direction
self.panlat = min(
max(self.panlat, -90.0 + 1.0 / (self.zoom * self.ar)),
90.0 - 1.0 / (self.zoom * self.ar))
# Update flat-earth factor and possibly zoom in case of very wide windows (> 2:1)
self.flat_earth = np.cos(np.deg2rad(self.panlat))
self.zoom = max(self.zoom, 1.0 / (180.0 * self.flat_earth))
if event.zoom is not None:
if event.absolute:
# Limit zoom extents in x-direction to [-180:180], and in y-direction to [-90:90]
self.zoom = max(
event.zoom,
1.0 / min(90.0 * self.ar, 180.0 * self.flat_earth))
else:
prevzoom = self.zoom
glx, gly = self.pixelCoordsToGLxy(event.origin[0],
event.origin[1])
self.zoom *= event.zoom
# Limit zoom extents in x-direction to [-180:180], and in y-direction to [-90:90]
self.zoom = max(
self.zoom,
1.0 / min(90.0 * self.ar, 180.0 * self.flat_earth))
# Correct pan so that zoom actions are around the mouse position, not around 0, 0
# glxy / zoom1 - pan1 = glxy / zoom2 - pan2
# pan2 = pan1 + glxy (1/zoom2 - 1/zoom1)
self.panlon = self.panlon - glx * (
1.0 / self.zoom - 1.0 / prevzoom) / self.flat_earth
self.panlat = self.panlat - gly * (
1.0 / self.zoom - 1.0 / prevzoom) / self.ar
# Don't pan further than the poles in y-direction
self.panlat = min(
max(self.panlat, -90.0 + 1.0 / (self.zoom * self.ar)),
90.0 - 1.0 / (self.zoom * self.ar))
# Update flat-earth factor
self.flat_earth = np.cos(np.deg2rad(self.panlat))
if self.zoom >= 1.0:
self.airportsInRange()
event.accept()
# Check for necessity wrap-around in x-direction
self.wraplon = -999.9
self.wrapdir = 0
if self.panlon + 1.0 / (self.zoom * self.flat_earth) < -180.0:
# The left edge of the map has passed the right edge of the screen: we can just change the pan position
self.panlon += 360.0
elif self.panlon - 1.0 / (self.zoom * self.flat_earth) < -180.0:
# The left edge of the map has passed the left edge of the screen: we need to wrap around to the left
self.wraplon = float(
np.ceil(360.0 + self.panlon - 1.0 /
(self.zoom * self.flat_earth)))
self.wrapdir = -1
elif self.panlon - 1.0 / (self.zoom * self.flat_earth) > 180.0:
# The right edge of the map has passed the left edge of the screen: we can just change the pan position
self.panlon -= 360.0
elif self.panlon + 1.0 / (self.zoom * self.flat_earth) > 180.0:
# The right edge of the map has passed the right edge of the screen: we need to wrap around to the right
self.wraplon = float(
np.floor(-360.0 + self.panlon + 1.0 /
(self.zoom * self.flat_earth)))
self.wrapdir = 1
self.globaldata.set_wrap(self.wraplon, self.wrapdir)
# update pan and zoom on GPU for all shaders
self.globaldata.set_pan_and_zoom(self.panlat, self.panlon,
self.zoom)
return True
else:
return super(RadarWidget, self).event(event)
class RadarWidget(QGLWidget):
vcount_circle = 36
width = height = 600
viewport = (0, 0, width, height)
panlat = 0.0
panlon = 0.0
zoom = 1.0
ar = 1.0
flat_earth = 1.0
wraplon = int(-999)
wrapdir = int(0)
max_texture_size = 0
do_text = True
invalid_count = 0
def __init__(self, navdb, shareWidget=None):
super(RadarWidget, self).__init__(shareWidget=shareWidget)
self.setAttribute(Qt.WA_AcceptTouchEvents, True)
self.grabGesture(Qt.PanGesture)
self.grabGesture(Qt.PinchGesture)
# self.grabGesture(Qt.SwipeGesture)
# The number of aircraft in the simulation
self.map_texture = 0
self.naircraft = 0
self.nwaypoints = 0
self.nairports = 0
self.route_acid = ""
self.ssd_ownship = np.array([], dtype=np.uint16)
self.apt_inrange = np.array([])
self.ssd_all = False
self.navdb = navdb
self.iactconn = 0
self.nodedata = list()
# Display flags
self.show_map = True
self.show_coast = True
self.show_traf = True
self.show_pz = False
self.show_lbl = True
self.show_wpt = True
self.show_apt = True
self.initialized = False
# Connect to manager's nodelist changed and activenode changed signal
manager.instance.nodes_changed.connect(self.nodesChanged)
manager.instance.activenode_changed.connect(self.actnodeChanged)
# Load vertex data
self.vbuf_asphalt, self.vbuf_concrete, self.vbuf_runways, self.vbuf_rwythr, \
self.apt_ctrlat, self.apt_ctrlon, self.apt_indices = load_aptsurface()
@pyqtSlot(str, int)
def nodesChanged(self, address, nodeid, connidx):
# For each node we have to keep data such as the visible polygons, etc.
self.nodedata.append(nodeData())
@pyqtSlot(int)
def actnodeChanged(self, nodeid, connidx):
self.iactconn = connidx
nact = self.nodedata[connidx]
if len(nact.polydata) > 0:
update_buffer(self.allpolysbuf, nact.polydata)
self.allpolys.set_vertex_count(len(nact.polydata) / 2)
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)
self.ssd.bind_attrib(ATTRIB_LON0, 1, self.aclonbuf)
self.ssd.bind_attrib(ATTRIB_ALT0, 1, self.acaltbuf)
self.ssd.bind_attrib(ATTRIB_TAS0, 1, self.actasbuf)
self.ssd.bind_attrib(ATTRIB_TRK0, 1, self.achdgbuf)
self.ssd.bind_attrib(ATTRIB_LAT1, 1, self.aclatbuf, instance_divisor=1)
self.ssd.bind_attrib(ATTRIB_LON1, 1, self.aclonbuf, instance_divisor=1)
self.ssd.bind_attrib(ATTRIB_ALT1, 1, self.acaltbuf, instance_divisor=1)
self.ssd.bind_attrib(ATTRIB_TAS1, 1, self.actasbuf, instance_divisor=1)
self.ssd.bind_attrib(ATTRIB_TRK1, 1, self.achdgbuf, instance_divisor=1)
# ------- 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((5.0 * nm * np.cos(np.linspace(0.0, 2.0 * np.pi, self.vcount_circle)), 5.0 * 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.aplat)
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.aplat[indices], dtype=np.float32)
aplon = np.array(self.navdb.aplon[indices], dtype=np.float32)
aptypes = self.navdb.aptype[indices]
apnames = np.array(self.navdb.apid)
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 initializeGL(self):
"""Initialize OpenGL, VBOs, upload data on the GPU, etc."""
# First check for supported GL version
gl_version = float(gl.glGetString(gl.GL_VERSION)[:3])
if gl_version < 3.3:
print('OpenGL context created with GL version %.1f' % gl_version)
qCritical("""Your system reports that it supports OpenGL up to version %.1f. The minimum requirement for BlueSky is OpenGL 3.3.
Generally, AMD/ATI/nVidia cards from 2008 and newer support OpenGL 3.3, and Intel integrated graphics from the Haswell
generation and newer. If you think your graphics system should be able to support GL>=3.3 please open an issue report
on the BlueSky Github page (https://github.com/ProfHoekstra/bluesky/issues)""" % gl_version)
return
# background color
gl.glClearColor(0, 0, 0, 0)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
self.globaldata = radarUBO()
try:
# Compile shaders and link color shader program
self.color_shader = BlueSkyProgram('data/graphics/shaders/radarwidget-normal.vert', 'data/graphics/shaders/radarwidget-color.frag')
self.color_shader.bind_uniform_buffer('global_data', self.globaldata)
# Compile shaders and link texture shader program
self.texture_shader = BlueSkyProgram('data/graphics/shaders/radarwidget-normal.vert', 'data/graphics/shaders/radarwidget-texture.frag')
self.texture_shader.bind_uniform_buffer('global_data', self.globaldata)
# Compile shaders and link text shader program
self.text_shader = BlueSkyProgram('data/graphics/shaders/radarwidget-text.vert', 'data/graphics/shaders/radarwidget-text.frag')
self.text_shader.bind_uniform_buffer('global_data', self.globaldata)
self.ssd_shader = BlueSkyProgram('data/graphics/shaders/ssd.vert', 'data/graphics/shaders/ssd.frag', 'data/graphics/shaders/ssd.geom')
self.ssd_shader.bind_uniform_buffer('global_data', self.globaldata)
self.ssd_shader.loc_vlimits = gl.glGetUniformLocation(self.ssd_shader.program, 'Vlimits')
except RuntimeError as e:
qCritical('Error compiling shaders in radarwidget: ' + e.args[0])
return
# create all vertex array objects
self.create_objects()
def paintGL(self):
"""Paint the scene."""
# pass if the framebuffer isn't complete yet or if not initialized
if not (gl.glCheckFramebufferStatus(gl.GL_FRAMEBUFFER) == gl.GL_FRAMEBUFFER_COMPLETE and self.initialized and self.isVisible()):
return
# Set the viewport and clear the framebuffer
gl.glViewport(*self.viewport)
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
# Send the (possibly) updated global uniforms to the buffer
self.globaldata.set_vertex_scale_type(VERTEX_IS_LATLON)
# --- DRAW THE MAP AND COASTLINES ---------------------------------------------
# Map and coastlines: don't wrap around in the shader
self.globaldata.enable_wrap(False)
if self.show_map:
# Select the texture shader
self.texture_shader.use()
# Draw map texture
gl.glActiveTexture(gl.GL_TEXTURE0 + 0)
gl.glBindTexture(gl.GL_TEXTURE_2D, self.map_texture)
self.map.draw()
# Select the non-textured shader
self.color_shader.use()
# Draw coastlines
if self.show_coast:
if self.wrapdir == 0:
# Normal case, no wrap around
self.coastlines.draw(first_vertex=0, vertex_count=self.vcount_coast)
else:
self.coastlines.bind()
wrapindex = np.uint32(self.coastindices[int(self.wraplon) + 180])
if self.wrapdir == 1:
gl.glVertexAttrib1f(ATTRIB_LON, 360.0)
self.coastlines.draw(first_vertex=0, vertex_count=wrapindex)
gl.glVertexAttrib1f(ATTRIB_LON, 0.0)
self.coastlines.draw(first_vertex=wrapindex, vertex_count=self.vcount_coast - wrapindex)
else:
gl.glVertexAttrib1f(ATTRIB_LON, -360.0)
self.coastlines.draw(first_vertex=wrapindex, vertex_count=self.vcount_coast - wrapindex)
gl.glVertexAttrib1f(ATTRIB_LON, 0.0)
self.coastlines.draw(first_vertex=0, vertex_count=wrapindex)
# --- DRAW PREVIEW SHAPE (WHEN AVAILABLE) -----------------------------
self.polyprev.draw()
# --- DRAW CUSTOM SHAPES (WHEN AVAILABLE) -----------------------------
self.allpolys.draw()
# --- DRAW THE SELECTED AIRCRAFT ROUTE (WHEN AVAILABLE) ---------------
if self.show_traf:
self.route.draw()
self.cpalines.draw()
# --- DRAW AIRPORT DETAILS (RUNWAYS, TAXIWAYS, PAVEMENTS) -------------
self.runways.draw()
self.thresholds.draw()
if self.zoom >= 1.0:
for idx in self.apt_inrange:
self.taxiways.draw(first_vertex=idx[0], vertex_count=idx[1])
self.pavement.draw(first_vertex=idx[2], vertex_count=idx[3])
# --- DRAW THE INSTANCED AIRCRAFT SHAPES ------------------------------
# update wrap longitude and direction for the instanced objects
self.globaldata.enable_wrap(True)
# PZ circles only when they are bigger than the A/C symbols
if self.naircraft > 0 and self.show_traf and self.show_pz and self.zoom >= 0.15:
self.globaldata.set_vertex_scale_type(VERTEX_IS_METERS)
self.protectedzone.draw(n_instances=self.naircraft)
self.globaldata.set_vertex_scale_type(VERTEX_IS_SCREEN)
# Draw traffic symbols
if self.naircraft > 0 and self.show_traf:
self.ac_symbol.draw(n_instances=self.naircraft)
if self.zoom >= 0.5:
nairports = self.nairports[2]
elif self.zoom >= 0.25:
nairports = self.nairports[1]
else:
nairports = self.nairports[0]
if self.zoom >= 3:
nwaypoints = self.nwaypoints
else:
nwaypoints = self.nnavaids
# Draw waypoint symbols
if self.show_wpt:
self.waypoints.bind()
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(lightblue3 + (255,)))
self.waypoints.draw(n_instances=nwaypoints)
# Draw airport symbols
if self.show_apt:
self.airports.bind()
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(lightblue3 + (255,)))
self.airports.draw(n_instances=nairports)
if self.do_text:
self.text_shader.use()
self.font.use()
if self.show_apt:
self.font.set_char_size(self.aptlabels.char_size)
self.font.set_block_size(self.aptlabels.block_size)
self.aptlabels.bind()
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(lightblue4 + (255,)))
self.aptlabels.draw(n_instances=nairports)
if self.show_wpt:
self.font.set_char_size(self.wptlabels.char_size)
self.font.set_block_size(self.wptlabels.block_size)
self.wptlabels.bind()
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(lightblue4 + (255,)))
self.wptlabels.draw(n_instances=nwaypoints)
if self.show_traf and self.route.vertex_count > 1:
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(magenta + (255,)))
self.font.set_char_size(self.routelbl.char_size)
self.font.set_block_size(self.routelbl.block_size)
self.routelbl.draw()
if self.naircraft > 0 and self.show_traf and self.show_lbl:
self.font.set_char_size(self.aclabels.char_size)
self.font.set_block_size(self.aclabels.block_size)
self.aclabels.draw(n_instances=self.naircraft)
# SSD
if self.ssd_all or len(self.ssd_ownship) > 0:
self.ssd_shader.use()
gl.glUniform3f(self.ssd_shader.loc_vlimits, 1e4, 4e4, 200.0)
if self.ssd_all:
self.ssd.draw(first_vertex=0, vertex_count=self.naircraft, n_instances=self.naircraft)
else:
self.ssd.draw(first_vertex=self.ssd_ownship[-1], vertex_count=1, n_instances=self.naircraft)
# Unbind everything
RenderObject.unbind_all()
gl.glUseProgram(0)
def resizeGL(self, width, height):
"""Called upon window resizing: reinitialize the viewport."""
if not self.initialized:
return
# update the window size
# Qt5 supports getting the device pixel ratio, which can be > 1 for HiDPI displays such as Mac Retina screens
pixel_ratio = 1
if QT_VERSION >= 5:
pixel_ratio = self.devicePixelRatio()
# Calculate zoom so that the window resize doesn't affect the scale, but only enlarges or shrinks the view
zoom = float(self.width) / float(width) * pixel_ratio
origin = (width / 2, height / 2)
# Update width, height, and aspect ratio
self.width, self.height = width / pixel_ratio, height / pixel_ratio
self.ar = float(width) / max(1, float(height))
self.globaldata.set_win_width_height(self.width, self.height)
self.viewport = (0, 0, width, height)
# Update zoom
self.event(PanZoomEvent(zoom=zoom, origin=origin))
def update_route_data(self, data):
self.route_acid = data.acid
if data.acid != "" and len(data.lat) > 0:
nsegments = len(data.lat)
data.iactwp = max(0, data.iactwp)
self.routelbl.n_instances = nsegments
self.route.set_vertex_count(2 * nsegments)
routedata = np.empty(4 * nsegments, dtype=np.float32)
routedata[0:4] = [data.aclat, data.aclon,
data.lat[data.iactwp], data.lon[data.iactwp]]
routedata[4::4] = data.lat[:-1]
routedata[5::4] = data.lon[:-1]
routedata[6::4] = data.lat[1:]
routedata[7::4] = data.lon[1:]
update_buffer(self.routebuf, routedata)
update_buffer(self.routewplatbuf, np.array(data.lat, dtype=np.float32))
update_buffer(self.routewplonbuf, np.array(data.lon, dtype=np.float32))
wptlabels = []
for wp in data.wptlabels:
wptlabels += wp[:12].ljust(12)
update_buffer(self.routelblbuf, np.array(wptlabels))
else:
self.route.set_vertex_count(0)
def update_aircraft_data(self, data):
self.naircraft = len(data.lat)
if self.naircraft == 0:
self.cpalines.set_vertex_count(0)
else:
# Update data in GPU buffers
update_buffer(self.aclatbuf, np.array(data.lat, dtype=np.float32))
update_buffer(self.aclonbuf, np.array(data.lon, dtype=np.float32))
update_buffer(self.achdgbuf, np.array(data.trk, dtype=np.float32))
update_buffer(self.acaltbuf, np.array(data.alt, dtype=np.float32))
update_buffer(self.actasbuf, np.array(data.tas, dtype=np.float32))
# CPA lines to indicate conflicts
ncpalines = len(data.confcpalat)
cpalines = np.zeros(4 * ncpalines, dtype=np.float32)
self.cpalines.set_vertex_count(2 * ncpalines)
# Labels and colors
rawlabel = ''
color = np.empty((self.naircraft, 3), dtype=np.uint8)
for i in range(self.naircraft):
if np.isnan(data.tas[i]):
print 'CAS NaN in %d: %s' % (i, data.id[i])
data.cas[i] = 0.0
if np.isnan(data.alt[i]):
print 'ALT NaN in %d: %s' % (i, data.id[i])
data.alt[i] = 0.0
# Make label: 3 lines of 8 characters per aircraft
rawlabel += '%-8sFL%03d %-8d' % (data.id[i][:8], int(data.alt[i] / ft / 100), int(data.cas[i] / kts))
confindices = data.iconf[i]
if len(confindices) > 0:
color[i, :] = amber
for confidx in confindices:
cpalines[4 * confidx : 4 * confidx + 4] = [ data.lat[i], data.lon[i],
data.confcpalat[confidx], data.confcpalon[confidx]]
else:
color[i, :] = green
update_buffer(self.confcpabuf, cpalines)
update_buffer(self.accolorbuf, color)
update_buffer(self.aclblbuf, np.array(rawlabel, dtype=np.string_))
# If there is a visible route, update the start position
if self.route_acid != "":
if self.route_acid in data.id:
idx = data.id.index(self.route_acid)
update_buffer(self.routebuf,
np.array([data.lat[idx], data.lon[idx]], dtype=np.float32))
def show_ssd(self, arg):
if arg == 'ALL':
self.ssd_all = True
elif arg == 'OFF':
self.ssd_all = False
self.ssd_ownship = np.array([], dtype=np.uint16)
else:
if arg in self.ssd_ownship:
self.ssd_ownship = np.delete(self.ssd_ownship, np.argmax(self.ssd_ownship == arg))
else:
self.ssd_ownship = np.append(self.ssd_ownship, arg)
def updatePolygon(self, name, data_in):
nact = self.nodedata[manager.sender()[0]]
if name in nact.polynames:
# We're either updating a polygon, or deleting it. In both cases
# we remove the current one.
nact.polydata = np.delete(nact.polydata, range(*nact.polynames[name]))
del nact.polynames[name]
if data_in is not None:
nact.polynames[name] = (len(nact.polydata), 2*len(data_in))
newbuf = np.empty(2 * len(data_in), dtype=np.float32)
newbuf[0::4] = data_in[0::2] # lat
newbuf[1::4] = data_in[1::2] # lon
newbuf[2:-2:4] = data_in[2::2] # lat
newbuf[3:-3:4] = data_in[3::2] # lon
newbuf[-2:] = data_in[0:2]
nact.polydata = np.append(nact.polydata, newbuf)
update_buffer(self.allpolysbuf, nact.polydata)
self.allpolys.set_vertex_count(len(nact.polydata)/2)
def previewpoly(self, shape_type, data_in=None):
if shape_type is None:
self.polyprev.set_vertex_count(0)
return
if shape_type in ['BOX', 'AREA']:
# For a box (an area is a box) we need to add two additional corners
data = np.zeros(8, dtype=np.float32)
data[0:2] = data_in[0:2]
data[2:4] = data_in[2], data_in[1]
data[4:6] = data_in[2:4]
data[6:8] = data_in[0], data_in[3]
else:
data = data_in
update_buffer(self.polyprevbuf, data)
self.polyprev.set_vertex_count(len(data)/2)
def airportsInRange(self):
ll_range = max(1.5 / self.zoom, 1.0)
indices = np.logical_and.reduce((self.apt_ctrlat >= self.panlat - ll_range, self.apt_ctrlat <= self.panlat + ll_range,
self.apt_ctrlon >= self.panlon - ll_range, self.apt_ctrlon <= self.panlon + ll_range))
self.apt_inrange = self.apt_indices[indices]
def pixelCoordsToGLxy(self, x, y):
"""Convert screen pixel coordinates to GL projection coordinates (x, y range -1 -- 1)
"""
# GL coordinates (x, y range -1 -- 1)
glx = (float(2.0 * x) / self.width - 1.0)
gly = -(float(2.0 * y) / self.height - 1.0)
return glx, gly
def pixelCoordsToLatLon(self, x, y):
"""Convert screen pixel coordinates to lat/lon coordinates
"""
glx, gly = self.pixelCoordsToGLxy(x, y)
# glxy = zoom * (latlon - pan)
# latlon = pan + glxy / zoom
lat = self.panlat + gly / (self.zoom * self.ar)
lon = self.panlon + glx / (self.zoom * self.flat_earth)
return lat, lon
def event(self, event):
if event.type() == PanZoomEventType:
if event.pan is not None:
# Absolute pan operation
if event.absolute:
self.panlat = event.pan[0]
self.panlon = event.pan[1]
# Relative pan operation
else:
self.panlat += event.pan[0]
self.panlon += event.pan[1]
# Don't pan further than the poles in y-direction
self.panlat = min(max(self.panlat, -90.0 + 1.0 /
(self.zoom * self.ar)), 90.0 - 1.0 / (self.zoom * self.ar))
# Update flat-earth factor and possibly zoom in case of very wide windows (> 2:1)
self.flat_earth = np.cos(np.deg2rad(self.panlat))
self.zoom = max(self.zoom, 1.0 / (180.0 * self.flat_earth))
if event.zoom is not None:
if event.absolute:
# Limit zoom extents in x-direction to [-180:180], and in y-direction to [-90:90]
self.zoom = max(event.zoom, 1.0 / min(90.0 * self.ar, 180.0 * self.flat_earth))
else:
prevzoom = self.zoom
glx, gly = self.pixelCoordsToGLxy(event.origin[0], event.origin[1])
self.zoom *= event.zoom
# Limit zoom extents in x-direction to [-180:180], and in y-direction to [-90:90]
self.zoom = max(self.zoom, 1.0 / min(90.0 * self.ar, 180.0 * self.flat_earth))
# Correct pan so that zoom actions are around the mouse position, not around 0, 0
# glxy / zoom1 - pan1 = glxy / zoom2 - pan2
# pan2 = pan1 + glxy (1/zoom2 - 1/zoom1)
self.panlon = self.panlon - glx * (1.0 / self.zoom - 1.0 / prevzoom) / self.flat_earth
self.panlat = self.panlat - gly * (1.0 / self.zoom - 1.0 / prevzoom) / self.ar
# Don't pan further than the poles in y-direction
self.panlat = min(max(self.panlat, -90.0 + 1.0 / (self.zoom * self.ar)), 90.0 - 1.0 / (self.zoom * self.ar))
# Update flat-earth factor
self.flat_earth = np.cos(np.deg2rad(self.panlat))
if self.zoom >= 1.0:
self.airportsInRange()
event.accept()
# Check for necessity wrap-around in x-direction
self.wraplon = -999.9
self.wrapdir = 0
if self.panlon + 1.0 / (self.zoom * self.flat_earth) < -180.0:
# The left edge of the map has passed the right edge of the screen: we can just change the pan position
self.panlon += 360.0
elif self.panlon - 1.0 / (self.zoom * self.flat_earth) < -180.0:
# The left edge of the map has passed the left edge of the screen: we need to wrap around to the left
self.wraplon = float(np.ceil(360.0 + self.panlon - 1.0 / (self.zoom * self.flat_earth)))
self.wrapdir = -1
elif self.panlon - 1.0 / (self.zoom * self.flat_earth) > 180.0:
# The right edge of the map has passed the left edge of the screen: we can just change the pan position
self.panlon -= 360.0
elif self.panlon + 1.0 / (self.zoom * self.flat_earth) > 180.0:
# The right edge of the map has passed the right edge of the screen: we need to wrap around to the right
self.wraplon = float(np.floor(-360.0 + self.panlon + 1.0 / (self.zoom * self.flat_earth)))
self.wrapdir = 1
self.globaldata.set_wrap(self.wraplon, self.wrapdir)
# update pan and zoom on GPU for all shaders
self.globaldata.set_pan_and_zoom(self.panlat, self.panlon, self.zoom)
return True
else:
return super(RadarWidget, self).event(event)
class ND(QGLWidget):
def __init__(self, parent=None, shareWidget=None):
super(ND, self).__init__(parent=parent, shareWidget=shareWidget)
self.shareWidget = shareWidget
self.ac_id = ''
self.n_aircraft = None
self.initialized = False
self.invalid_count = 0
# Set size
self.viewport = (0, 0, 400, 400)
self.resize(400, 400)
def setAircraftID(self, ac_id):
self.ac_id = ac_id
self.setWindowTitle(ac_id)
def update_aircraft_data(self, ownid, ownlat, ownlon, owntas, ownhdg, n_aircraft):
self.globaldata.set_owndata(ownid, ownlat, ownlon, ownhdg)
self.n_aircraft = n_aircraft
def create_objects(self):
if not (self.isValid() and self.shareWidget.initialized):
self.invalid_count += 1
print 'ND: Context not valid in create_objects, or shareWidget not yet initialized'
QTimer.singleShot(100, self.create_objects)
return
# Make the nd widget context current, necessary when create_objects is not called from initializeGL
self.makeCurrent()
# Use the same font as the radarwidget
self.font = self.shareWidget.font.copy()
self.font.init_shader(self.text_shader)
self.edge = RenderObject(gl.GL_LINE_STRIP, vertex_count=60)
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.bind_attrib(ATTRIB_VERTEX, 2, edge)
self.edge.bind_attrib(ATTRIB_COLOR, 3, np.array(white, dtype=np.uint8), datatype=gl.GL_UNSIGNED_BYTE, normalize=True, instance_divisor=1)
self.arcs = RenderObject(gl.GL_LINES)
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)))
self.arcs.bind_attrib(ATTRIB_VERTEX, 2, np.array(arcs, dtype=np.float32))
self.arcs.bind_attrib(ATTRIB_COLOR, 3, np.array(white, dtype=np.uint8), datatype=gl.GL_UNSIGNED_BYTE, normalize=True, instance_divisor=1)
self.arcs.set_vertex_count(len(arcs))
self.mask = RenderObject(gl.GL_TRIANGLE_STRIP, vertex_count=120)
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)))
self.mask.bind_attrib(ATTRIB_VERTEX, 2, np.array(mask, dtype=np.float32))
self.mask.bind_attrib(ATTRIB_COLOR, 3, np.array(black, dtype=np.uint8), datatype=gl.GL_UNSIGNED_BYTE, normalize=True, instance_divisor=1)
self.ticks = RenderObject(gl.GL_LINES, vertex_count=144)
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.bind_attrib(ATTRIB_VERTEX, 2, ticks)
self.ticks.bind_attrib(ATTRIB_COLOR, 3, np.array(white, dtype=np.uint8), datatype=gl.GL_UNSIGNED_BYTE, normalize=True, instance_divisor=1)
self.ticklbls = RenderObject(gl.GL_TRIANGLES, vertex_count=12 * 36)
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.bind_attrib(ATTRIB_VERTEX, 2, ticklbls)
self.ticklbls.bind_attrib(ATTRIB_TEXCOORDS, 3, texcoords)
self.ticklbls.bind_attrib(ATTRIB_COLOR, 3, np.array(white, dtype=np.uint8), datatype=gl.GL_UNSIGNED_BYTE, normalize=True, instance_divisor=1)
self.ownship = RenderObject(gl.GL_LINES, vertex_count=6)
self.ownship.bind_attrib(ATTRIB_VERTEX, 2, 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.bind_attrib(ATTRIB_COLOR, 3, np.array(yellow, dtype=np.uint8), datatype=gl.GL_UNSIGNED_BYTE, normalize=True, instance_divisor=1)
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.waypoints = RenderObject.copy(self.shareWidget.waypoints)
self.wptlabels = RenderObject.copy(self.shareWidget.wptlabels)
self.airports = RenderObject.copy(self.shareWidget.airports)
self.aptlabels = RenderObject.copy(self.shareWidget.aptlabels)
self.protectedzone = RenderObject.copy(self.shareWidget.protectedzone)
self.ac_symbol = RenderObject.copy(self.shareWidget.ac_symbol)
self.aclabels = RenderObject.copy(self.shareWidget.aclabels)
# Unbind VAO, VBO
RenderObject.unbind_all()
# Done initializing
self.initialized = True
def initializeGL(self):
"""Initialize OpenGL, VBOs, upload data on the GPU, etc."""
# First check for supported GL version
gl_version = float(gl.glGetString(gl.GL_VERSION)[:3])
if gl_version < 3.3:
return
# background color
gl.glClearColor(0, 0, 0, 0)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
self.globaldata = ndUBO()
try:
# Compile shaders and link color shader program
self.color_shader = BlueSkyProgram('data/graphics/shaders/nd-normal.vert', 'data/graphics/shaders/nd-color.frag')
self.color_shader.bind_uniform_buffer('global_data', self.globaldata)
# Compile shaders and link text shader program
self.text_shader = BlueSkyProgram('data/graphics/shaders/nd-text.vert', 'data/graphics/shaders/nd-text.frag')
self.text_shader.bind_uniform_buffer('global_data', self.globaldata)
except RuntimeError as e:
qCritical('Error compiling shaders in radarwidget: ' + e.args[0])
return
# Set initial zoom
self.globaldata.set_zoom(4.0)
self.create_objects()
def resizeGL(self, width, height):
# paint within the largest possible rectangular area in the window
w = h = min(width, height)
x = max(0, (width - w) / 2)
y = max(0, (height - h) / 2)
self.viewport = (x, y, w, h)
def paintGL(self):
"""Paint the scene."""
# pass if the framebuffer isn't complete yet or if not initialized
if not (gl.glCheckFramebufferStatus(gl.GL_FRAMEBUFFER) == gl.GL_FRAMEBUFFER_COMPLETE and self.initialized and self.isVisible()):
return
# Set the viewport and clear the framebuffer
gl.glViewport(*self.viewport)
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
# Select the non-textured shader
self.color_shader.use()
self.globaldata.set_vertex_modifiers(VERTEX_IS_GLXY, False)
self.arcs.draw()
self.globaldata.set_vertex_modifiers(VERTEX_IS_METERS, False)
self.protectedzone.draw(n_instances=self.n_aircraft)
self.globaldata.set_vertex_modifiers(VERTEX_IS_SCREEN, True)
self.ac_symbol.draw(n_instances=self.n_aircraft)
self.globaldata.set_vertex_modifiers(VERTEX_IS_SCREEN, False)
self.waypoints.bind()
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(lightblue2 + (255,)))
self.waypoints.draw()
self.airports.bind()
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(lightblue2 + (255,)))
self.airports.draw()
self.text_shader.use()
self.font.use()
self.font.set_char_size(self.wptlabels.char_size)
self.font.set_block_size(self.wptlabels.block_size)
self.wptlabels.bind()
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(lightblue3 + (255,)))
self.wptlabels.draw(n_instances=self.waypoints.n_instances)
self.font.set_char_size(self.aptlabels.char_size)
self.font.set_block_size(self.aptlabels.block_size)
self.aptlabels.bind()
gl.glVertexAttrib4Nub(ATTRIB_COLOR, *(lightblue3 + (255,)))
self.aptlabels.draw(n_instances=self.airports.n_instances)
self.font.set_char_size(self.aclabels.char_size)
self.font.set_block_size(self.aclabels.block_size)
self.aclabels.draw(n_instances=self.n_aircraft)
self.color_shader.use()
self.globaldata.set_vertex_modifiers(VERTEX_IS_GLXY, False)
self.ownship.draw()
self.mask.draw()
self.edge.draw()
self.globaldata.set_vertex_modifiers(VERTEX_IS_GLXY, True)
self.ticks.draw()
# Select the text shader
self.text_shader.use()
self.font.use()
self.font.set_block_size((0, 0))
self.ticklbls.draw()
self.globaldata.set_vertex_modifiers(VERTEX_IS_GLXY, False)
self.spdlabel_text.draw()
self.spdlabel_val.draw()
# Unbind everything
RenderObject.unbind_all()
gl.glUseProgram(0)
class BlipDriver(QGLWidget):
def __init__(self, parent=None):
super(BlipDriver, self).__init__(parent=parent)
self.initialized = False
self.width = 800
self.height = 800
self.ndviewport = (100, 200, 600, 600)
self.mcpviewport = (0, 0, 800, 200)
self.btn_state = [False] * 14
self.resize(800, 800)
self.setMouseTracking(True)
self.drag_start = (0, 0)
self.btn_pressed = None
self.selValues = 5 * [
0
] # [0:courseLeftRight, 1:spd, 2:hdg, 3:alt, 4:vs]
self.rate = 0.0
self.remainder = 0.0
self.updownpos = None
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()
def setAircraftID(self, ac_id):
self.ac_id = ac_id
self.setWindowTitle(ac_id)
def update_aircraft_data(self, ownid, ownlat, ownlon, owntas, ownhdg,
n_aircraft):
self.globaldata.set_owndata(ownid, ownlat, ownlon, ownhdg)
self.n_aircraft = n_aircraft
def initializeGL(self):
"""Initialize OpenGL, VBOs, upload data on the GPU, etc."""
# First check for supported GL version
gl_version = float(gl.glGetString(gl.GL_VERSION)[:3])
if gl_version < 3.3:
return
# background color
gl.glClearColor(0, 0, 0, 0)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
# self.mcp_data = mcpUBO()
self.globaldata = ndUBO()
self.mcp_col_shader = BlueSkyProgram('mcp.vert', 'color.frag')
self.mcp_tex_shader = BlueSkyProgram('mcp.vert', 'texture.frag')
self.mcp_txt_shader = BlueSkyProgram('mcp_text.vert', 'mcp_text.frag')
self.color_shader = BlueSkyProgram('normal.vert', 'color.frag')
self.text_shader = BlueSkyProgram('text.vert', 'text.frag')
self.text_shader.bind_uniform_buffer('global_data', self.globaldata)
self.create_objects()
self.update_lcd()
def resizeGL(self, width, height):
pixel_ratio = 1
if QT_VERSION >= 5:
pixel_ratio = self.devicePixelRatio()
self.width, self.height = width / pixel_ratio, height / pixel_ratio
hmcp = height / 10 * 2
# paint ND within the largest possible rectangular area in the window
wnd = hnd = min(width, height - hmcp)
xnd = max(0, (width - wnd) / 2)
ynd = hmcp + max(0, (height - hmcp - hnd) / 2)
self.mcpviewport = (0, 0, width, hmcp)
self.ndviewport = (xnd, ynd, wnd, hnd)
def paintGL(self):
"""Paint the scene."""
# pass if the framebuffer isn't complete yet or if not initialized
if not (gl.glCheckFramebufferStatus(
gl.GL_FRAMEBUFFER) == gl.GL_FRAMEBUFFER_COMPLETE
and self.isVisible() and self.initialized):
return
gl.glClearColor(0, 0, 0, 0)
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
# Set the viewport and clear the framebuffer
# --- Draw the ND in its viewport ----
gl.glViewport(*self.ndviewport)
self.color_shader.use()
self.arcs.draw()
self.ownship.draw()
self.mask.draw()
self.edge.draw()
self.ticks.draw()
# Select the text shader
self.text_shader.use()
self.font.use()
self.font.set_block_size((0, 0))
self.globaldata.set_vertex_modifiers(VERTEX_IS_GLXY, True)
self.ticklbls.draw()
self.globaldata.set_vertex_modifiers(VERTEX_IS_GLXY, False)
self.spdlabel_text.draw()
self.spdlabel_val.draw()
# --- Draw the MCP in its viewport ---
gl.glViewport(*self.mcpviewport)
self.mcp_tex_shader.use()
gl.glActiveTexture(gl.GL_TEXTURE0 + 0)
gl.glBindTexture(gl.GL_TEXTURE_2D, self.mcp_texture)
self.mcp.draw()
gl.glBindTexture(gl.GL_TEXTURE_2D, self.btn_tex)
self.btn_leds.draw()
if self.updownpos is not None:
self.mcp_col_shader.use()
gl.glVertexAttrib2f(2, *self.updownpos)
self.updown.draw()
gl.glVertexAttrib2f(2, 0.0, 0.0)
self.mcp_txt_shader.use()
gl.glActiveTexture(gl.GL_TEXTURE0 + 0)
gl.glBindTexture(gl.GL_TEXTURE_2D_ARRAY, self.lcd_tex)
self.mcp_text.draw()
# Unbind everything
RenderObject.unbind_all()
gl.glUseProgram(0)
def update_lcd(self):
# [0:courseLeftRight, 1:spd, 2:hdg, 3:alt, 4:vs]
val = self.selValues
chars = '%03d' % (int(val[0]) % 360)
chars += '% 5d' % max(0, val[1])
chars += '%03d' % (int(val[2]) % 360)
chars += '% 5d' % min(99999, max(0, val[3]))
chars += ' ' if val[4] == 0 else '% 5d' % min(
9999, max(-9999, val[4]))
chars += '%03d' % (int(val[0]) % 360)
indices = []
for c in chars:
if c == ' ':
indices += [0] * 6
elif c == '-':
indices += [1] * 6
elif c == '.':
indices += [2] * 6
else:
indices += [int(c) + 3] * 6
update_buffer(self.lcdbuf, np.array(indices, dtype=np.float32))
def event(self, event):
if not self.initialized:
return super(BlipDriver, self).event(event)
self.makeCurrent()
if event.type() in [
QEvent.MouseMove, QEvent.MouseButtonPress,
QEvent.MouseButtonRelease
]:
px = 2.0 * (event.x()) / self.width - 1.0
py = 10.0 * (self.height - event.y()) / self.height - 1.0
if event.type(
) == QEvent.MouseButtonPress and event.button() & Qt.LeftButton:
self.btn_pressed, _ = check_knob(px, py)
if self.btn_pressed is not None:
self.drag_start = event.x(), event.y()
QTimer.singleShot(100, self.updateAPValues)
elif event.type(
) == QEvent.MouseButtonRelease and event.button() & Qt.LeftButton:
# print px, py
self.btn_pressed = None
col_triangles = 6 * [255, 255, 255, 180]
update_buffer(self.updown.colorbuf,
np.array(col_triangles, dtype=np.uint8))
# MCP button clicked?
name, idx = check_btn(px, py)
if name is not None:
self.btn_state[idx] = not self.btn_state[idx]
btn_color = []
for b in self.btn_state:
btn_color += 24 * [255] if b else 24 * [0]
update_buffer(self.btn_leds.colorbuf,
np.array(btn_color, dtype=np.uint8))
elif event.type() == QEvent.MouseMove:
if event.buttons(
) & Qt.LeftButton and self.btn_pressed is not None:
self.rate = float(self.drag_start[1] - event.y()) / self.height
if self.rate > 1e-2:
col_triangles = 3 * [255, 140, 0, 255
] + 3 * [255, 255, 255, 180]
elif self.rate < 1e-2:
col_triangles = 3 * [255, 255, 255, 180
] + 3 * [255, 140, 0, 255]
else:
col_triangles = 6 * [255, 255, 255, 180]
update_buffer(self.updown.colorbuf,
np.array(col_triangles, dtype=np.uint8))
return True
# Mouse-over for knobs
name, self.updownpos = check_knob(px, py)
# ismcp = float(self.height - event.y()) / self.height <= 0.2
return super(BlipDriver, self).event(event)
@pyqtSlot()
def updateAPValues(self):
if self.btn_pressed == 'COURSE':
val = self.remainder + 15 * self.rate
self.selValues[0] += int(val)
self.remainder = val - int(val)
if self.btn_pressed == 'SPD':
val = self.remainder + 20 * self.rate
self.selValues[1] += int(val)
self.remainder = val - int(val)
if self.btn_pressed == 'HDG':
val = self.remainder + 15 * self.rate
self.selValues[2] += int(val)
self.remainder = val - int(val)
if self.btn_pressed == 'ALT':
if abs(self.rate) > 0.06:
increment = 1000
val = self.remainder + min(2.0,
abs(self.rate) / 0.04) * np.sign(
self.rate)
elif abs(self.rate) > 0.02:
increment = 100
val = self.remainder + self.rate / 0.04
else:
increment = 10
val = self.remainder + self.rate / 0.02
self.selValues[3] += int(val) * increment
self.remainder = val - int(val)
if self.btn_pressed == 'VS':
if abs(self.rate) > 0.2:
increment = 1000
val = self.remainder + min(2.0,
abs(self.rate) / 0.04) * np.sign(
self.rate)
elif abs(self.rate) > 0.05:
increment = 100
val = self.remainder + self.rate / 0.04
else:
increment = 10
val = self.remainder + self.rate / 0.02
self.selValues[4] += int(val) * increment
self.remainder = val - int(val)
self.update_lcd()
if self.btn_pressed is not None:
QTimer.singleShot(200, self.updateAPValues)
class BlipDriver(QGLWidget):
def __init__(self, parent=None):
super(BlipDriver, self).__init__(parent=parent)
self.initialized = False
self.width = 800
self.height = 800
self.ndviewport = (100, 200, 600, 600)
self.mcpviewport = (0, 0, 800, 200)
self.btn_state = [False] * 14
self.resize(800, 800)
self.setMouseTracking(True)
self.drag_start = (0, 0)
self.btn_pressed = None
self.selValues = 5 * [0] # [0:courseLeftRight, 1:spd, 2:hdg, 3:alt, 4:vs]
self.rate = 0.0
self.remainder = 0.0
self.updownpos = None
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()
def setAircraftID(self, ac_id):
self.ac_id = ac_id
self.setWindowTitle(ac_id)
def update_aircraft_data(self, ownid, ownlat, ownlon, owntas, ownhdg, n_aircraft):
self.globaldata.set_owndata(ownid, ownlat, ownlon, ownhdg)
self.n_aircraft = n_aircraft
def initializeGL(self):
"""Initialize OpenGL, VBOs, upload data on the GPU, etc."""
# First check for supported GL version
gl_version = float(gl.glGetString(gl.GL_VERSION)[:3])
if gl_version < 3.3:
return
# background color
gl.glClearColor(0, 0, 0, 0)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
# self.mcp_data = mcpUBO()
self.globaldata = ndUBO()
self.mcp_col_shader = BlueSkyProgram('mcp.vert', 'color.frag')
self.mcp_tex_shader = BlueSkyProgram('mcp.vert', 'texture.frag')
self.mcp_txt_shader = BlueSkyProgram('mcp_text.vert', 'mcp_text.frag')
self.color_shader = BlueSkyProgram('normal.vert', 'color.frag')
self.text_shader = BlueSkyProgram('text.vert', 'text.frag')
self.text_shader.bind_uniform_buffer('global_data', self.globaldata)
self.create_objects()
self.update_lcd()
def resizeGL(self, width, height):
pixel_ratio = self.devicePixelRatio()
self.width, self.height = width / pixel_ratio, height / pixel_ratio
hmcp = height / 10 * 2
# paint ND within the largest possible rectangular area in the window
wnd = hnd = min(width, height - hmcp)
xnd = max(0, (width - wnd) / 2)
ynd = hmcp + max(0, (height - hmcp - hnd) / 2)
self.mcpviewport = (0, 0, width, hmcp)
self.ndviewport = (xnd, ynd, wnd, hnd)
def paintGL(self):
"""Paint the scene."""
# pass if the framebuffer isn't complete yet or if not initialized
if not (gl.glCheckFramebufferStatus(gl.GL_FRAMEBUFFER) == gl.GL_FRAMEBUFFER_COMPLETE and self.isVisible() and self.initialized):
return
gl.glClearColor(0, 0, 0, 0)
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
# Set the viewport and clear the framebuffer
# --- Draw the ND in its viewport ----
gl.glViewport(*self.ndviewport)
self.color_shader.use()
self.arcs.draw()
self.ownship.draw()
self.mask.draw()
self.edge.draw()
self.ticks.draw()
# Select the text shader
self.text_shader.use()
self.font.use()
self.font.set_block_size((0, 0))
self.globaldata.set_vertex_modifiers(VERTEX_IS_GLXY, True)
self.ticklbls.draw()
self.globaldata.set_vertex_modifiers(VERTEX_IS_GLXY, False)
self.spdlabel_text.draw()
self.spdlabel_val.draw()
# --- Draw the MCP in its viewport ---
gl.glViewport(*self.mcpviewport)
self.mcp_tex_shader.use()
gl.glActiveTexture(gl.GL_TEXTURE0 + 0)
gl.glBindTexture(gl.GL_TEXTURE_2D, self.mcp_texture)
self.mcp.draw()
gl.glBindTexture(gl.GL_TEXTURE_2D, self.btn_tex)
self.btn_leds.draw()
if self.updownpos is not None:
self.mcp_col_shader.use()
gl.glVertexAttrib2f(2, *self.updownpos)
self.updown.draw()
gl.glVertexAttrib2f(2, 0.0, 0.0)
self.mcp_txt_shader.use()
gl.glActiveTexture(gl.GL_TEXTURE0 + 0)
gl.glBindTexture(gl.GL_TEXTURE_2D_ARRAY, self.lcd_tex)
self.mcp_text.draw()
# Unbind everything
RenderObject.unbind_all()
gl.glUseProgram(0)
def update_lcd(self):
# [0:courseLeftRight, 1:spd, 2:hdg, 3:alt, 4:vs]
val = self.selValues
chars = '%03d' % (int(val[0]) % 360)
chars += '% 5d' % max(0, val[1])
chars += '%03d' % (int(val[2]) % 360)
chars += '% 5d' % min(99999, max(0, val[3]))
chars += ' ' if val[4] == 0 else '% 5d' % min(9999, max(-9999, val[4]))
chars += '%03d' % (int(val[0]) % 360)
indices = []
for c in chars:
if c == ' ':
indices += [0] * 6
elif c == '-':
indices += [1] * 6
elif c == '.':
indices += [2] * 6
else:
indices += [int(c) + 3] * 6
update_buffer(self.lcdbuf, np.array(indices, dtype=np.float32))
def event(self, event):
if not self.initialized:
return super(BlipDriver, self).event(event)
self.makeCurrent()
if event.type() in [QEvent.MouseMove, QEvent.MouseButtonPress, QEvent.MouseButtonRelease]:
px = 2.0 * (event.x()) / self.width - 1.0
py = 10.0 * (self.height - event.y()) / self.height - 1.0
if event.type() == QEvent.MouseButtonPress and event.button() & Qt.LeftButton:
self.btn_pressed, _ = check_knob(px, py)
if self.btn_pressed is not None:
self.drag_start = event.x(), event.y()
QTimer.singleShot(100, self.updateAPValues)
elif event.type() == QEvent.MouseButtonRelease and event.button() & Qt.LeftButton:
# print px, py
self.btn_pressed = None
col_triangles = 6 * [255, 255, 255, 180]
update_buffer(self.updown.colorbuf, np.array(col_triangles, dtype=np.uint8))
# MCP button clicked?
name, idx = check_btn(px, py)
if name is not None:
self.btn_state[idx] = not self.btn_state[idx]
btn_color = []
for b in self.btn_state:
btn_color += 24 * [255] if b else 24 * [0]
update_buffer(self.btn_leds.colorbuf, np.array(btn_color, dtype=np.uint8))
elif event.type() == QEvent.MouseMove:
if event.buttons() & Qt.LeftButton and self.btn_pressed is not None:
self.rate = float(self.drag_start[1] - event.y()) / self.height
if self.rate > 1e-2:
col_triangles = 3 * [255, 140, 0, 255] + 3 * [255, 255, 255, 180]
elif self.rate < 1e-2:
col_triangles = 3 * [255, 255, 255, 180] + 3 * [255, 140, 0, 255]
else:
col_triangles = 6 * [255, 255, 255, 180]
update_buffer(self.updown.colorbuf, np.array(col_triangles, dtype=np.uint8))
return True
# Mouse-over for knobs
name, self.updownpos = check_knob(px, py)
# ismcp = float(self.height - event.y()) / self.height <= 0.2
return super(BlipDriver, self).event(event)
@pyqtSlot()
def updateAPValues(self):
if self.btn_pressed == 'COURSE':
val = self.remainder + 15 * self.rate
self.selValues[0] += int(val)
self.remainder = val - int(val)
if self.btn_pressed == 'SPD':
val = self.remainder + 20 * self.rate
self.selValues[1] += int(val)
self.remainder = val - int(val)
if self.btn_pressed == 'HDG':
val = self.remainder + 15 * self.rate
self.selValues[2] += int(val)
self.remainder = val - int(val)
if self.btn_pressed == 'ALT':
if abs(self.rate) > 0.06:
increment = 1000
val = self.remainder + min(2.0, abs(self.rate) / 0.04) * np.sign(self.rate)
elif abs(self.rate) > 0.02:
increment = 100
val = self.remainder + self.rate / 0.04
else:
increment = 10
val = self.remainder + self.rate / 0.02
self.selValues[3] += int(val) * increment
self.remainder = val - int(val)
if self.btn_pressed == 'VS':
if abs(self.rate) > 0.2:
increment = 1000
val = self.remainder + min(2.0, abs(self.rate) / 0.04) * np.sign(self.rate)
elif abs(self.rate) > 0.05:
increment = 100
val = self.remainder + self.rate / 0.04
else:
increment = 10
val = self.remainder + self.rate / 0.02
self.selValues[4] += int(val) * increment
self.remainder = val - int(val)
self.update_lcd()
if self.btn_pressed is not None:
QTimer.singleShot(200, self.updateAPValues)
class AMANDisplay(QGLWidget):
def __init__(self, parent=None, shareWidget=None):
super(AMANDisplay, self).__init__(parent=parent, shareWidget=shareWidget)
self.shareWidget = shareWidget
self.y_offset = 0.0
self.viewport = (0, 0, 500, 600)
self.resize(500, 600)
def initializeGL(self):
"""Initialize OpenGL, VBOs, upload data on the GPU, etc."""
# First check for supported GL version
gl_version = float(gl.glGetString(gl.GL_VERSION)[:3])
if gl_version < 3.3:
return
# background color
gl.glClearColor(0.15, 0.29, 0.55, 1.0)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
self.color_shader = BlueSkyProgram('data/graphics/shaders/aman-normal.vert', 'data/graphics/shaders/aman-color.frag')
self.text_shader = BlueSkyProgram('data/graphics/shaders/aman-text.vert', 'data/graphics/shaders/aman-text.frag')
# Use the same font as the radarwidget
self.font = self.shareWidget.font.copy()
self.font.init_shader(self.text_shader)
fixed_lines = np.array([
-1.0, 1.1, 1.0, 1.1,
-0.12, -1.2, -0.12, 1.2,
0.12, -1.2, 0.12, 1.2,
-0.12, -1.1, 0.12, -1.1], dtype=np.float32)
self.fixed = RenderObject(gl.GL_LINES, vertex_count=8)
self.fixed.bind_attrib(ATTRIB_VERTEX, 2, fixed_lines)
self.fixed.bind_attrib(ATTRIB_COLOR, 3, np.array(white, dtype=np.uint8), datatype=gl.GL_UNSIGNED_BYTE, normalize=True, instance_divisor=1)
ticks = np.zeros(400, dtype=np.float32)
for i in range(50):
y = -1.1 + 0.055 * i
w = 0.025
if i % 5 == 0:
w = 0.05
ticks[i*8:(i+1)*8] = [-0.12, y, w-0.12, y, 0.12, y, 0.12-w, y]
self.scale = RenderObject(gl.GL_LINES, vertex_count=200)
self.scale.bind_attrib(ATTRIB_VERTEX, 2, ticks)
self.scale.bind_attrib(ATTRIB_COLOR, 3, np.array(white, dtype=np.uint8), datatype=gl.GL_UNSIGNED_BYTE, normalize=True, instance_divisor=1)
scaletxt_vert = np.zeros(240, dtype=np.float32)
self.scaletxt_texc = np.zeros(360, dtype=np.float32)
for i in range(10):
y = -1.1 - 0.025 + 0.275 * i
scaletxt_vert[24*i:24*i+12], self.scaletxt_texc[36*i:36*i+18] = Font.char(-0.025, y, 0.025, 0.05, 48 + (5*i)/10)
scaletxt_vert[24*i+12:24*i+24], self.scaletxt_texc[36*i+18:36*i+36] = Font.char(0.0, y, 0.025, 0.05, 48 + (5*i)%10)
self.scaletxt = RenderObject(gl.GL_TRIANGLES, vertex_count=120)
self.scaletxt.bind_attrib(ATTRIB_VERTEX, 2, scaletxt_vert)
self.scaletxt_buf = self.scaletxt.bind_attrib(ATTRIB_TEXCOORDS, 3, self.scaletxt_texc)
self.scaletxt.bind_attrib(ATTRIB_COLOR, 3, np.array(white, dtype=np.uint8), datatype=gl.GL_UNSIGNED_BYTE, normalize=True, instance_divisor=1)
self.scaletxt.char_size = 0.025
self.scaletxt.block_size = (0, 0)
self.aclblbuf = create_empty_buffer(MAX_NAIRCRAFT * 32, usage=gl.GL_STREAM_DRAW)
self.accolorbuf = create_empty_buffer(MAX_NAIRCRAFT * 3, usage=gl.GL_STREAM_DRAW)
self.acposybuf = create_empty_buffer(MAX_NAIRCRAFT * 4, usage=gl.GL_STREAM_DRAW)
v, t = Font.char(-0.98, 0.0, 0.025, 0.05, 48)
self.aclbls = RenderObject(gl.GL_TRIANGLES, vertex_count=32*6)
self.aclbls.bind_attrib(ATTRIB_VERTEX, 2, np.array(v, dtype=np.float32))
self.aclbls.bind_attrib(ATTRIB_COLOR, 3, self.accolorbuf, datatype=gl.GL_UNSIGNED_BYTE, normalize=True, instance_divisor=32)
self.aclbls.bind_attrib(ATTRIB_TEXDEPTH, 1, self.aclblbuf, datatype=gl.GL_UNSIGNED_BYTE, instance_divisor=1)
self.aclbls.bind_attrib(ATTRIB_OFFSETY, 1, self.acposybuf, instance_divisor=32)
self.aclbls.char_size = 0.025
self.aclbls.block_size = (32, 1)
self.rwylbl = self.font.prepare_text_string('18R', 0.05, (1.0, 1.0, 1.0), (-0.98, 1.11))
self.timelbl = self.font.prepare_text_string('00:00', 0.035, (1.0, 1.0, 1.0), (-0.0875, -1.19))
# Unbind everything
RenderObject.unbind_all()
def resizeGL(self, width, height):
# paint within the largest possible rectangular area in the window
if 1.2 * width > height:
h = height
w = (5 * h) / 6
else:
w = width
h = (6 * w) / 5
x = max(0, (width - w) / 2)
y = max(0, (height - h) / 2)
self.viewport = (x, y, w, h)
def update(self, simt, data):
# Update the time scale
t_hr = int(floor(simt / 3600))
t_min = int(floor(simt % 3600 / 60.0))
tick1 = int(floor(float(t_min) / 5.0)) * 5
for i in range(10):
self.scaletxt_texc[36*i+2:36*i+18:3] = 48 + ((tick1 + 5 * i) % 60)/10
self.scaletxt_texc[36*i+20:36*i+36:3] = 48 + ((tick1 + 5 * i) % 60)%10
update_buffer(self.scaletxt_buf, self.scaletxt_texc)
self.y_offset = -(simt % 300) / 300.0 * 0.275
self.font.update_text_string(self.timelbl, '%02d:%02d' % (t_hr, t_min))
# Update the aircraft list
labels = ''
ypos = []
colors = []
for i in range(len(data.ids)):
if data.sw_show[i] == 'ON' and data.etas[i]>simt:
eath = int(data.eats[i]) / 3600
eatm = int(data.eats[i] - 3600 * eath) / 60
etah = int(data.etas[i]) / 3600
etam = int(data.etas[i] - 3600 * etah) / 60
delay = max(0, int(data.delays[i] / 60))
labels += '%-8s B747 %-3s %02d%02d %02d%02d %-2d' % (data.ids[i], data.iafs[i], eath, eatm, etah, etam, delay)
status = data.STAstatuses[i]
if data.PopupLabels[i] == 'POPUP':
colors += red
elif status == 'Fixed':
colors += white
elif status == 'Semi-Fixed':
colors += forestgreen
else:
colors += lightblue2
# y-scale: 0.055 units = 1 minute
# t_NOW is at -1.125
ypos.append(-1.125 + float(data.stas[i] - simt) / 60.0 * 0.055)
# Update the buffers
update_buffer(self.aclblbuf, np.array(labels, dtype=np.string_))
update_buffer(self.accolorbuf, np.array(colors, dtype=np.uint8))
update_buffer(self.acposybuf, np.array(ypos, dtype=np.float32))
self.aclbls.n_instances = len(data.ids)
def paintGL(self):
"""Paint the scene."""
# pass if the framebuffer isn't complete yet or if not initialized
if not (gl.glCheckFramebufferStatus(gl.GL_FRAMEBUFFER) == gl.GL_FRAMEBUFFER_COMPLETE and self.isVisible()):
return
# Set the viewport and clear the framebuffer
gl.glViewport(*self.viewport)
gl.glClear(gl.GL_COLOR_BUFFER_BIT)
gl.glVertexAttrib1f(ATTRIB_OFFSETY, 0.0)
self.color_shader.use()
self.fixed.draw()
gl.glEnable(gl.GL_CLIP_DISTANCE0)
gl.glEnable(gl.GL_CLIP_DISTANCE1)
gl.glVertexAttrib1f(ATTRIB_OFFSETY, self.y_offset)
self.scale.draw()
self.text_shader.use()
self.font.use()
self.font.set_char_size(self.scaletxt.char_size)
self.font.set_block_size(self.scaletxt.block_size)
self.scaletxt.draw()
gl.glDisable(gl.GL_CLIP_DISTANCE1)
self.font.set_char_size(self.aclbls.char_size)
self.font.set_block_size(self.aclbls.block_size)
self.aclbls.draw()
gl.glDisable(gl.GL_CLIP_DISTANCE0)
gl.glVertexAttrib1f(ATTRIB_OFFSETY, 0.0)
self.font.set_char_size(self.rwylbl.char_size)
self.font.set_block_size(self.rwylbl.block_size)
self.rwylbl.draw()
self.timelbl.draw()
# Unbind everything
RenderObject.unbind_all()
gl.glUseProgram(0)