ProjectorWindow.hpp

/*
 *  LiveFit
 *  Copyright (C) 2016 The University of Georgia
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with this program; if not, write to the Free Software Foundation, Inc.,
 *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 */

#ifndef PROJECTORWINDOW_HPP
#define PROJECTORWINDOW_HPP

#include "KFPrediction.hpp"
#include "TrackingBall.hpp"

#include <QOpenGLWidget>
#include <QWidget>

/**
 * @brief A display widget for projector coordinates on the projector.
 *
 * The idea is that this displays full screen behind the demonstration
 * and shows the ball "where it is"
 */
class ProjectorWindow : public QOpenGLWidget
{
  Q_OBJECT

  /** The size of the projector (in inches) */
  QSize mProjSize;

  /** A list of raw spotted balls in the projector */
  QList<TrackingBall> mBalls;
  /** A list of predictions of ball location in the projector */
  QList<KFPrediction> mPreds;
  /** A [sub]list of predictions which are used for the fit curve */
  QList<KFPrediction> mFitPreds;

  /** @brief linear coefficients of x(t) equation, (b,m) */
  double mFitLineX[2];
  /** @brief quadratic coefficients of y(t) equation, (C,B,A) */
  double mFitParabolaY[3];

  /** @brief list of points marked and selected to be solved for x(t), y(t) */
  QList<KFPrediction> mMarkedPoints;

  /** @brief whether data should be cleared on next track */
  bool mDataStale = false;

  /** Whether to lock the fit curve and track until manual clear */
  bool mLockFit = false;
  /** Number of tracked points to wait for until the curve is fit */
  int mNumPointFit;
  /** Whether the fit is 'locked' for the time being, until reset either
   * manually or after sufficient time and another track */
  bool mFitLocked = false;

  /** Whether we should wait until the ball is falling to lock/fit a curve */
  bool mWaitTilFall = false;
  /** Minimum fall speed to determine that the ball is "falling" */
  int mMinFallSpeed;

  /** Whether we fit a degree-d curve exactly to (d+1) points, or use a
   * regression */
  bool mFitPoints = true;
  /** Whether we show the fit or not */
  bool mShowFit = false;
  /** Whether we show the parametrized equation for the fit or not */
  bool mShowParam = false;
  /** Whether we show (dx,dy) vectors on the display */
  bool mShowJet = false;
  /** Whether we should color differently the predictions for unseen balls */
  bool mColorMiss = false;
  /** Whether we should include width, height, etc from KF prediction data in
   * display */
  bool mVerboseKF = false;
  /** Whether we should show the fit parabola curve */
  bool mShowParabola = true;

  int mFontSize = 12; /**< @brief Data display font size in pt */

  /** @brief The color of the fit curve projection, pre-lock */
  QColor mColorFitNoLock;
  /** @brief The color of the fit curve projection, after lock */
  QColor mColorFitLock;

  int mPointRadius; /**< @brief Radius of circles denoting tracked ball */
  double mPointThickness; /**< @brief Thickness of circle lines for balls */
  double mFitThickness; /**< @brief Thickness of the track fit parabola */
public:
  explicit ProjectorWindow(QWidget* parent = 0);

  /** @brief convert a relative rect in projector to window coords */
  QRectF relRectToWindow(QRectF rect);
  /** @brief convert a relative point in the projector to window coords */
  QPointF relPointToWindow(QPointF pt);

public slots:
  /** @brief push a raw tracked ball to projector */
  void pushBall(TrackingBall ball);
  /** @brief push a predicted ball (ie a KF prediction) to projector */
  void pushPred(KFPrediction pred);

  /** @brief mark data stale, ie ready to wipe on next track. */
  void markDataStale() {
    // Indicate that the data we have is stale, and to be dropped.
    mDataStale = true;
  }
  /** @brief clear all data immediately */
  void clearTrack();

  /** @brief toggle whether to wait until manual clear for tracked ball */
  void toggleLockFit(bool lockFit)
  {
    mLockFit = lockFit;
  }

  /** @brief toggle whether to show fit information for tracked ball */
  void toggleShowFit(bool showFit)
  {
    mShowFit = showFit;
    update();
  }
  /** @brief toggle whether to show parametrized equations y(t), x(t) */
  void toggleShowParam(bool showParam)
  {
    mShowParam = showParam;
    update();
  }
  /** @brief toggle whether to show jet ((dx,dy)) of tracked ball */
  void toggleShowJet(bool showJet)
  {
    mShowJet = showJet;
    update();
  }
  /** @brief toggle color difference between seen/unseen KF hits */
  void toggleColorMiss(bool colorMiss)
  {
    mColorMiss = colorMiss;
    update();
  }
  /** @brief toggle verbose display [size, etc] of track/predict info */
  void toggleVerboseKF(bool verboseKF)
  {
    mVerboseKF = verboseKF;
    update();
  }

  /** @brief set whether we should show the fit parabola */
  void toggleShowParabola(bool showParabola)
  {
    mShowParabola = showParabola;
    update();
  }
  /** @brief set radius of ball track circles */
  void setPointRadius(int pointRadius)
  {
    mPointRadius = pointRadius;
    update();
  }
  /** @brief set thickness of ball track marks */
  void setPointThickness(double pointThickness)
  {
    mPointThickness = pointThickness;
    update();
  }
  /** @brief set thickness of fit parabola */
  void setFitThickness(double fitThickness)
  {
    mFitThickness = fitThickness;
    update();
  }
  /** @brief set font size for data display */
  void setFontSize(int fontSize)
  {
    mFontSize = fontSize;
    update();
  }

  /** @brief Set the after-lock fit curve color */
  void setColorFitLock(QString color) {
    mColorFitLock = QColor(color);
  }

  /** @brief set minimum y-velocity for lock */
  void setMinFallSpeed(int minFallSpeed)
  {
    mMinFallSpeed = minFallSpeed;
  }
  /** @brief set whether we should wait until given y-velocity to lock */
  void toggleWaitTilFall(bool waitTilFall)
  {
    mWaitTilFall = waitTilFall;
  }

  /** @brief set the projector width (in inches) */
  void setProjW(int w) { mProjSize.setWidth(w); }
  /** @brief set the projector height (in inches) */
  void setProjH(int h) { mProjSize.setHeight(h); }

protected:
  /**
   * @brief Draw the data on the projector screen widget
   *
   * All drawing logic for the widget goes in here!
   * @param ev The QPaintEvent for this paint
   */
  void paintEvent(QPaintEvent* ev);
};

#endif // PROJECTORWINDOW_HPP