QGCVideoMainWindow.cc

/*=====================================================================

 QGroundControl Open Source Ground Control Station

 (c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

 This file is part of the QGROUNDCONTROL project

 QGROUNDCONTROL 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 3 of the License, or
 (at your option) any later version.

 QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

 ======================================================================*/

/**
 * @file
 *   @brief Implementation of main window
 *
 *   @author Dominik Honegger
 *
 */

#include "QGCVideoMainWindow.h"
#include "ui_QGCVideoMainWindow.h"

#include "UDPLink.h"
#include <QDebug>

  QByteArray imageRecBuffer1 = QByteArray(376*240,255);
  QByteArray imageRecBuffer2 = QByteArray(376*240,255);
  QByteArray imageRecBuffer3 = QByteArray(376*240,255);
  QByteArray imageRecBuffer4 = QByteArray(376*240,255);
  static int part = 0;
  unsigned char last_id = 0;

QGCVideoMainWindow::QGCVideoMainWindow(QWidget *parent) :
    QMainWindow(parent),
    link(QHostAddress::Any, 5555),
    ui(new Ui::QGCVideoMainWindow)
{
    ui->setupUi(this);

    // Set widgets in video mode
    ui->video1Widget->enableVideo(true);
    ui->video2Widget->enableVideo(true);
    ui->video3Widget->enableVideo(true);
    ui->video4Widget->enableVideo(true);

    // Connect link to this widget, receive all bytes
    connect(&link, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*,QByteArray)));

    // Open port
    link.connect();

    // Show flow // FIXME
    int xCount = 16;
    int yCount = 5;

    unsigned char flowX[xCount][yCount];
    unsigned char flowY[xCount][yCount];

    flowX[3][3] = 10;
    flowY[3][3] = 5;

    ui->video4Widget->copyFlow((const unsigned char*)flowX, (const unsigned char*)flowY, xCount, yCount);
}

QGCVideoMainWindow::~QGCVideoMainWindow()
{
    delete ui;
}

void QGCVideoMainWindow::receiveBytes(LinkInterface* link, QByteArray data)
{
    // There is no need to differentiate between links
    // for this use case here
    Q_UNUSED(link);

    // Image data is stored in QByteArray
    // Output bytes and load Lenna!

    QString bytes;
    QString index;
    QString imageid;
    QString ascii;



    // 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);

    unsigned char i0 = data[0];
    unsigned char id = data[1];

    index.append(QString().sprintf("%02x", i0));
    imageid.append(QString().sprintf("%02x", id));
     qDebug() << "Received" << data.size() << "bytes"<< " part: " <<index<< " imageid: " <<imageid;

    switch (i0)
    {
    case 0x01:
        {
            for (int i=0; i<data.size()/4-1; i++)
            {
                imageRecBuffer1[i] = data[i*4+4];
                imageRecBuffer2[i] = data[i*4+5]+127;
                imageRecBuffer3[i] = data[i*4+6]+127;
                imageRecBuffer4[i] = data[i*4+7];
            }
            if(id != last_id)
            {
                part = 0;
            }
            part = part | 1;
            break;
        }
    case 0x02:
        {
            for (int i=0; i<data.size()/4-1; i++)
            {
                imageRecBuffer1[i+45120/4] = data[i*4+4];
                imageRecBuffer2[i+45120/4] = data[i*4+5]+127;
                imageRecBuffer3[i+45120/4] = data[i*4+6]+127;
                imageRecBuffer4[i+45120/4] = data[i*4+7];
            }
            if(id != last_id)
            {
                part = 0;
            }
            part = part | 2;
            break;
        }
    case 0x03:
        {
            for (int i=0; i<data.size()/4-1; i++)
            {
                imageRecBuffer1[i+45120/4*2] = data[i*4+4];
                imageRecBuffer2[i+45120/4*2] = data[i*4+5]+127;
                imageRecBuffer3[i+45120/4*2] = data[i*4+6]+127;
                imageRecBuffer4[i+45120/4*2] = data[i*4+7];
            }
            if(id != last_id)
            {
                part = 0;
            }
            part = part | 4;
            break;
        }
    case 0x04:
        {
            for (int i=0; i<data.size()/4-1; i++)
            {
                imageRecBuffer1[i+45120/4*3] = data[i*4+4];
                imageRecBuffer2[i+45120/4*3] = data[i*4+5]+127;
                imageRecBuffer3[i+45120/4*3] = data[i*4+6]+127;
                imageRecBuffer4[i+45120/4*3] = data[i*4+7];
            }
            if(id != last_id)
            {
                part = 0;
            }
            part = part | 8;
            break;
        }
    case 0x05:
        {
            for (int i=0; i<data.size()/4-1; i++)
            {
                imageRecBuffer1[i+45120/4*4] = data[i*4+4];
                imageRecBuffer2[i+45120/4*4] = data[i*4+5]+127;
                imageRecBuffer3[i+45120/4*4] = data[i*4+6]+127;
                imageRecBuffer4[i+45120/4*4] = data[i*4+7];
            }
            if(id != last_id)
            {
                part = 0;
            }
            part = part | 16;
            break;
        }
    case 0x06:
        {
            for (int i=0; i<data.size()/4-1; i++)
            {
                imageRecBuffer1[i+45120/4*5] = data[i*4+4];
                imageRecBuffer2[i+45120/4*5] = data[i*4+5]+127;
                imageRecBuffer3[i+45120/4*5] = data[i*4+6]+127;
                imageRecBuffer4[i+45120/4*5] = data[i*4+7];
            }
            if(id != last_id)
            {
                part = 0;
            }
            part = part | 32;
            break;
        }
    case 0x07:
        {
            for (int i=0; i<data.size()/4-1; i++)
            {
                imageRecBuffer1[i+45120/4*6] = data[i*4+4];
                imageRecBuffer2[i+45120/4*6] = data[i*4+5]+127;
                imageRecBuffer3[i+45120/4*6] = data[i*4+6]+127;
                imageRecBuffer4[i+45120/4*6] = data[i*4+7];
            }
            if(id != last_id)
            {
                part = 0;
            }
            part = part | 64;
            break;
        }
    case 0x08:
        {
            for (int i=0; i<data.size()/4-1; i++)
            {
                imageRecBuffer1[i+45120/4*7] = data[i*4+4];
                imageRecBuffer2[i+45120/4*7] = data[i*4+5]+127;
                imageRecBuffer3[i+45120/4*7] = data[i*4+6]+127;
                imageRecBuffer4[i+45120/4*7] = data[i*4+7];
            }
            if(id != last_id)
            {
                part = 0;
            }
            part = part | 128;
            break;
        }
    }

    last_id = id;


    if(part==255)
    {

        QByteArray tmpImage1(header.toStdString().c_str(), header.toStdString().size());
        tmpImage1.append(imageRecBuffer1);
        QByteArray tmpImage2(header.toStdString().c_str(), header.toStdString().size());
        tmpImage2.append(imageRecBuffer2);
        QByteArray tmpImage3(header.toStdString().c_str(), header.toStdString().size());
        tmpImage3.append(imageRecBuffer3);
        QByteArray tmpImage4(header.toStdString().c_str(), header.toStdString().size());
        tmpImage4.append(imageRecBuffer4);

        // Load image into window
        //QImage test(":images/patterns/lenna.jpg");
        QImage image1;
        QImage image2;
        QImage image3;
        QImage image4;


        if (imageRecBuffer1.isNull())
        {
            qDebug()<< "could not convertToPGM()";

        }

        if (!image1.loadFromData(tmpImage1, "PGM"))
        {
            qDebug()<< "could not create extracted image1";

        }
        if (imageRecBuffer2.isNull())
        {
            qDebug()<< "could not convertToPGM()";

        }

        if (!image2.loadFromData(tmpImage2, "PGM"))
        {
            qDebug()<< "could not create extracted image2";

        }
        if (imageRecBuffer3.isNull())
        {
            qDebug()<< "could not convertToPGM()";

        }

        if (!image3.loadFromData(tmpImage3, "PGM"))
        {
            qDebug()<< "could not create extracted image3";

        }
        if (imageRecBuffer4.isNull())
        {
            qDebug()<< "could not convertToPGM()";

        }

        if (!image4.loadFromData(tmpImage4, "PGM"))
        {
            qDebug()<< "could not create extracted image3";

        }
        tmpImage1.clear();
        tmpImage2.clear();
        tmpImage3.clear();
        tmpImage4.clear();
        //ui->video1Widget->copyImage(test);
        ui->video1Widget->copyImage(image1);
        ui->video2Widget->copyImage(image2);
        ui->video3Widget->copyImage(image3);
        ui->video4Widget->copyImage(image4);
        part = 0;
        imageRecBuffer1.clear();
        imageRecBuffer2.clear();
        imageRecBuffer3.clear();
        imageRecBuffer4.clear();

        ui->video4Widget->enableFlow(true);

        int xCount = 16;
        int yCount = 5;

        unsigned char flowX[xCount][yCount];
        unsigned char flowY[xCount][yCount];

        ui->video4Widget->copyFlow((const unsigned char*)flowX, (const unsigned char*)flowY, xCount, yCount);
    }





   /* for (int j=0; j<data.size(); j++) {
        unsigned char v = data[j];
        bytes.append(QString().sprintf("%02x ", v));
        if (data.at(j) > 31 && data.at(j) < 127)
        {
            ascii.append(data.at(j));
        }
        else
        {
            ascii.append(219);
        }

    }*/

    //qDebug() << bytes;
    //qDebug() << "ASCII:" << ascii;




}