From eaa9006c467a0cfb81e6bc8c284d2251eb14cbbf Mon Sep 17 00:00:00 2001
From: fattony <user@example.com>
Date: Tue, 19 Jul 2011 15:01:41 +0200
Subject: [PATCH] increased buffersize to 2^16 bytes

---
 src/apps/qgcvideo/QGCVideoMainWindow.cc | 110 +++++++++++++++++++++---
 src/apps/qgcvideo/QGCVideoMainWindow.h  |   4 +
 src/comm/UDPLink.cc                     |   2 +-
 3 files changed, 102 insertions(+), 14 deletions(-)

diff --git a/src/apps/qgcvideo/QGCVideoMainWindow.cc b/src/apps/qgcvideo/QGCVideoMainWindow.cc
index 2a1d6629b4..a6754de33c 100644
--- a/src/apps/qgcvideo/QGCVideoMainWindow.cc
+++ b/src/apps/qgcvideo/QGCVideoMainWindow.cc
@@ -35,6 +35,9 @@
 #include "UDPLink.h"
 #include <QDebug>
 
+  QByteArray imageRecBuffer = QByteArray(376*240,255);
+  static int part = 0;
+
 QGCVideoMainWindow::QGCVideoMainWindow(QWidget *parent) :
     QMainWindow(parent),
     link(QHostAddress::Any, 5555),
@@ -70,29 +73,110 @@ void QGCVideoMainWindow::receiveBytes(LinkInterface* link, QByteArray data)
     // Output bytes and load Lenna!
 
     QString bytes;
+    QString index;
     QString ascii;
-    for (int i=0; i<data.size(); i++) {
-        unsigned char v = data[i];
+
+
+
+    // TODO FIXME Fabian
+    // RAW hardcoded to 22x22
+    int imgWidth = 376;
+    int imgHeight = 240;
+    int imgColors = 255;
+
+
+    //const int headerSize = 15;
+
+    // Construct PGM header
+    QString header("P5\n%1 %2\n%3\n");
+    header = header.arg(imgWidth).arg(imgHeight).arg(imgColors);
+
+    switch (data[0])
+    {
+    case (1):
+        {
+            for (int i=4; i<data.size()/4; i++)
+            {
+                imageRecBuffer[i] = data[i*4];
+                part = part | 1;
+            }
+        }
+    case (2):
+        {
+            for (int i=4; i<data.size()/4; i++)
+            {
+                imageRecBuffer[i+45124/4*2] = data[i*4];
+                part = part | 2;
+            }
+        }
+//    case (3):
+//        {
+//            for (int i=4; i<data.size()/4; i++)
+//            {
+//                imageRecBuffer[i+45124/4*2] = data[i*4];
+//                part = part | 4;
+//            }
+//        }
+    }
+    if(part==3)
+    {
+        for (int i=45124/4*3; i<376*240; i++)
+        {
+            imageRecBuffer[i] = 255;
+        }
+        QByteArray tmpImage(header.toStdString().c_str(), header.toStdString().size());
+        tmpImage.append(imageRecBuffer);
+
+
+        // Load image into window
+        QImage test(":images/patterns/lenna.jpg");
+        QImage image;
+
+
+        if (imageRecBuffer.isNull())
+            {
+                qDebug()<< "could not convertToPGM()";
+
+            }
+
+            if (!image.loadFromData(tmpImage, "PGM"))
+            {
+                qDebug()<< "could not create extracted image";
+
+            }
+
+        tmpImage.clear();
+        ui->video1Widget->copyImage(test);
+        ui->video2Widget->copyImage(image);
+        //ui->video3Widget->copyImage(test);
+        //ui->video4Widget->copyImage(test);
+        part = 0;
+        imageRecBuffer.clear();
+    }
+
+
+    unsigned char i0 = data[0];
+    index.append(QString().sprintf("%02x ", i0));
+
+    for (int j=0; j<data.size(); j++) {
+        unsigned char v = data[j];
         bytes.append(QString().sprintf("%02x ", v));
-        if (data.at(i) > 31 && data.at(i) < 127)
+        if (data.at(j) > 31 && data.at(j) < 127)
         {
-            ascii.append(data.at(i));
+            ascii.append(data.at(j));
         }
         else
         {
             ascii.append(219);
         }
+
     }
-    qDebug() << "Received" << data.size() << "bytes";
-    qDebug() << bytes;
-    qDebug() << "ASCII:" << ascii;
+     qDebug() << "Received" << data.size() << "bytes";
+     qDebug() << "index: " <<index;
+    //qDebug() << bytes;
+    //qDebug() << "ASCII:" << ascii;
+
 
 
-    // Load image into window
-    QImage test(":images/patterns/lenna.jpg");
 
-    ui->video1Widget->copyImage(test);
-    ui->video2Widget->copyImage(test);
-    ui->video3Widget->copyImage(test);
-    ui->video4Widget->copyImage(test);
 }
diff --git a/src/apps/qgcvideo/QGCVideoMainWindow.h b/src/apps/qgcvideo/QGCVideoMainWindow.h
index 428da2a360..97ced32402 100644
--- a/src/apps/qgcvideo/QGCVideoMainWindow.h
+++ b/src/apps/qgcvideo/QGCVideoMainWindow.h
@@ -35,6 +35,8 @@
 #include <QMainWindow>
 #include "UDPLink.h"
 
+
+
 namespace Ui {
     class QGCVideoMainWindow;
 }
@@ -47,7 +49,9 @@ public:
     explicit QGCVideoMainWindow(QWidget *parent = 0);
     ~QGCVideoMainWindow();
 
+
 public slots:
+
     void receiveBytes(LinkInterface* link, QByteArray data);
 
 protected:
diff --git a/src/comm/UDPLink.cc b/src/comm/UDPLink.cc
index 56fa9f825e..ce53ad0f65 100644
--- a/src/comm/UDPLink.cc
+++ b/src/comm/UDPLink.cc
@@ -182,7 +182,7 @@ void UDPLink::writeBytes(const char* data, qint64 size)
  **/
 void UDPLink::readBytes()
 {
-    const qint64 maxLength = 2048;
+    const qint64 maxLength = 65536;
     char data[maxLength];
     QHostAddress sender;
     quint16 senderPort;
-- 
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