Merge branch 'dev' of github.com:pixhawk/qgroundcontrol into opmapcontrol

src/uas/UAS.h

@@ -187,7 +187,8 @@ protected: //COMMENTS FOR TEST UNIT
     int imagePackets;           ///< Number of data packets being sent for this image
     int imagePacketsArrived;    ///< Number of data packets recieved
     int imagePayload;           ///< Payload size per transmitted packet (bytes). Standard is 254, and decreases when image resolution increases.
-    int imageQuality;           ///< JPEG-Quality of the transmitted image (percentage)
+    int imageQuality;           ///< Quality of the transmitted image (percentage)
+    int imageType;              ///< Type of the transmitted image (BMP, PNG, JPEG, RAW 8 bit, RAW 32 bit)
     QByteArray imageRecBuffer;  ///< Buffer for the incoming bytestream
     QImage image;               ///< Image data of last completely transmitted image
     quint64 imageStart;
@@ -226,7 +227,7 @@ public:
     }
     int getSystemType();
     QImage getImage();
-    void requestImage(); // ?
+    void requestImage();
     int getAutopilotType() {
         return autopilot;
     }

src/ui/HUD.cc

@@ -75,6 +75,7 @@ inline bool isinf(T value)
  */
 HUD::HUD(int width, int height, QWidget* parent)
     : QGLWidget(QGLFormat(QGL::SampleBuffers), parent),
+      u(NULL),
       uas(NULL),
       yawInt(0.0f),
       mode(tr("UNKNOWN MODE")),
@@ -136,7 +137,8 @@ HUD::HUD(int width, int height, QWidget* parent)
       hudInstrumentsEnabled(true),
       videoEnabled(false),
       xImageFactor(1.0),
-      yImageFactor(1.0)
+      yImageFactor(1.0),
+      imageRequested(false)
 {
     // Set auto fill to false
     setAutoFillBackground(false);
@@ -158,11 +160,10 @@ HUD::HUD(int width, int height, QWidget* parent)
     //qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
     //fill = QImage(imagePath);
 
-    //glImage = QGLWidget::convertToGLFormat(fill);
+    glImage = QGLWidget::convertToGLFormat(fill);
 
     // Refresh timer
     refreshTimer->setInterval(updateInterval);
-    //connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));
     connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
 
     // Resize to correct size and fill with image
@@ -282,6 +283,7 @@ void HUD::setActiveUAS(UASInterface* uas)
         UAS* u = dynamic_cast<UAS*>(this->uas);
         if (u) {
             disconnect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
+            disconnect(u, SIGNAL(imageReady(UASInterface*)), this, SLOT(copyImage()));
         }
     }
 
@@ -303,10 +305,12 @@ void HUD::setActiveUAS(UASInterface* uas)
         UAS* u = dynamic_cast<UAS*>(uas);
         if (u) {
             connect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
+            connect(u, SIGNAL(imageReady(UASInterface*)), this, SLOT(copyImage()));
         }
 
         // Set new UAS
         this->uas = uas;
+        this->u = dynamic_cast<UAS*>(this->uas);
     }
 }
 
@@ -666,9 +670,6 @@ void HUD::paintHUD()
                 qDebug() << __FILE__ << __LINE__ << "template image:" << nextOfflineImage;
                 QImage fill = QImage(nextOfflineImage);
 
-                xImageFactor = width() / (float)fill.width();
-                yImageFactor = height() / (float)fill.height();
-
                 glImage = QGLWidget::convertToGLFormat(fill);
 
                 // Reset to save load efforts
@@ -677,9 +678,13 @@ void HUD::paintHUD()
 
             glRasterPos2i(0, 0);
 
-            glPixelZoom(xImageFactor, yImageFactor);
+            xImageFactor = width() / (float)glImage.width();
+            yImageFactor = height() / (float)glImage.height();
+            float imageFactor = qMin(xImageFactor, yImageFactor);
+            glPixelZoom(imageFactor, imageFactor);
             // Resize to correct size and fill with image
             glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
+            //qDebug() << "DRAWING GL IMAGE";
         } else {
             // Blue / brown background
             paintCenterBackground(roll, pitch, yawTrans);
@@ -1623,3 +1628,9 @@ void HUD::setPixels(int imgid, const unsigned char* imageData, int length, int s
         //        }
     }
 }
+
+void HUD::copyImage()
+{
+    qDebug() << "HUD::copyImage()";
+    this->glImage = QGLWidget::convertToGLFormat(this->u->getImage());
+}

src/ui/HUD.h

@@ -88,6 +88,8 @@ public slots:
     void enableHUDInstruments(bool enabled);
     /** @brief Enable Video */
     void enableVideo(bool enabled);
+    /** @brief Copy an image from the current active UAS */
+    void copyImage();
 
 
 protected slots:
@@ -216,6 +218,8 @@ protected:
     QAction* selectOfflineDirectoryAction;
     QAction* selectVideoChannelAction;
     void paintEvent(QPaintEvent *event);
+    bool imageRequested;
+    UAS* u;
 
 };