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 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 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)
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 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 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 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 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 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)
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 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 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()
