From 12c8df753ecd7574de707ef7305abcddf4273560 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Wed, 2 Dec 2015 11:05:24 -0800 Subject: [PATCH] Remove qgcvideo --- qgcvideo.pro | 48 - src/apps/qgcvideo/QGCVideoApp.cc | 93 -- src/apps/qgcvideo/QGCVideoApp.h | 58 -- src/apps/qgcvideo/QGCVideoMainWindow.cc | 367 ------- src/apps/qgcvideo/QGCVideoMainWindow.h | 64 -- src/apps/qgcvideo/QGCVideoMainWindow.ui | 82 -- src/apps/qgcvideo/QGCVideoWidget.cc | 1176 ----------------------- src/apps/qgcvideo/QGCVideoWidget.h | 181 ---- src/apps/qgcvideo/main.cc | 46 - 9 files changed, 2115 deletions(-) delete mode 100644 qgcvideo.pro delete mode 100644 src/apps/qgcvideo/QGCVideoApp.cc delete mode 100644 src/apps/qgcvideo/QGCVideoApp.h delete mode 100644 src/apps/qgcvideo/QGCVideoMainWindow.cc delete mode 100644 src/apps/qgcvideo/QGCVideoMainWindow.h delete mode 100644 src/apps/qgcvideo/QGCVideoMainWindow.ui delete mode 100644 src/apps/qgcvideo/QGCVideoWidget.cc delete mode 100644 src/apps/qgcvideo/QGCVideoWidget.h delete mode 100644 src/apps/qgcvideo/main.cc diff --git a/qgcvideo.pro b/qgcvideo.pro deleted file mode 100644 index 39246caa0..000000000 --- a/qgcvideo.pro +++ /dev/null @@ -1,48 +0,0 @@ -# Video streaming application for simple UDP direct byte streaming - - -QT += svg network opengl - -TEMPLATE = app -TARGET = qgcvideo - -BASEDIR = . - -LANGUAGE = C++ - - - - -macx:DESTDIR = $$BASEDIR/bin/mac - -INCLUDEPATH += . \ - src \ - src/ui \ - src/comm \ - include/ui \ - src/apps/qgcvideo \ - -# Input - -HEADERS += \ - src/comm/UDPLink.h \ - src/comm/LinkInterface.h \ - src/comm/LinkManager.h \ - src/QGC.h \ - src/apps/qgcvideo/QGCVideoMainWindow.h \ - src/apps/qgcvideo/QGCVideoApp.h \ - src/apps/qgcvideo/QGCVideoWidget.h - -SOURCES += \ - src/comm/UDPLink.cc \ - src/comm/LinkManager.cc \ - src/QGC.cc \ - src/apps/qgcvideo/main.cc \ - src/apps/qgcvideo/QGCVideoMainWindow.cc \ - src/apps/qgcvideo/QGCVideoApp.cc \ - src/apps/qgcvideo/QGCVideoWidget.cc - -FORMS += \ - src/apps/qgcvideo/QGCVideoMainWindow.ui - -RESOURCES = qgroundcontrol.qrc diff --git a/src/apps/qgcvideo/QGCVideoApp.cc b/src/apps/qgcvideo/QGCVideoApp.cc deleted file mode 100644 index 5f458c7ef..000000000 --- a/src/apps/qgcvideo/QGCVideoApp.cc +++ /dev/null @@ -1,93 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2011 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -/** - * @file - * @brief Implementation of main application class - * - * @author Lorenz Meier - * - */ - - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "QGCVideoApp.h" -#include "QGCVideoMainWindow.h" -#include "UDPLink.h" - - -/** - * @brief Constructor for the main application. - * - * This constructor initializes and starts the whole application. It takes standard - * command-line parameters - * - * @param argc The number of command-line parameters - * @param argv The string array of parameters - **/ - -QGCVideoApp::QGCVideoApp(int &argc, char* argv[]) : QApplication(argc, argv) -{ - this->setApplicationName("QGC Video Streamer"); - this->setApplicationVersion("v. 1.0.0 (Beta)"); - this->setOrganizationName(QLatin1String("QGroundControl")); - this->setOrganizationDomain("http://qgroundcontrol.org"); - - QSettings::setDefaultFormat(QSettings::IniFormat); - // Exit main application when last window is closed - connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit())); - - // Set application font - QFontDatabase fontDatabase = QFontDatabase(); - const QString fontFileName = ":/res/fonts/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app - const QString fontFamilyName = "Bitstream Vera Sans"; - if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str()); - fontDatabase.addApplicationFont(fontFileName); - setFont(fontDatabase.font(fontFamilyName, "Roman", 12)); - - // Create main window - QMainWindow* window = new QGCVideoMainWindow(); - //window->setCentralWidget(new XMLCommProtocolWidget(window)); - window->setWindowTitle(applicationName() + " " + applicationVersion()); - window->show(); -} - -/** - * @brief Destructor for the groundstation. It destroys all loaded instances. - * - **/ -QGCVideoApp::~QGCVideoApp() -{ -} - diff --git a/src/apps/qgcvideo/QGCVideoApp.h b/src/apps/qgcvideo/QGCVideoApp.h deleted file mode 100644 index 52bb05b44..000000000 --- a/src/apps/qgcvideo/QGCVideoApp.h +++ /dev/null @@ -1,58 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2011 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -/** - * @file - * @brief Definition of main application class - * - * @author Lorenz Meier - * - */ - - -#ifndef QGCVIDEOAPP_H -#define QGCVIDEOAPP_H - -#include - -/** - * @brief The main application and management class. - * - * This class is started by the main method and provides - * the central management unit of the groundstation application. - * - **/ -class QGCVideoApp : public QApplication -{ - Q_OBJECT - -public: - QGCVideoApp(int &argc, char* argv[]); - ~QGCVideoApp(); - -protected: - -private: -}; - -#endif /* QGCVIDEOAPP_H */ diff --git a/src/apps/qgcvideo/QGCVideoMainWindow.cc b/src/apps/qgcvideo/QGCVideoMainWindow.cc deleted file mode 100644 index d5458a16b..000000000 --- a/src/apps/qgcvideo/QGCVideoMainWindow.cc +++ /dev/null @@ -1,367 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2011 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -/** - * @file - * @brief Implementation of main window - * - * @author Dominik Honegger - * - */ - -#include "QGCVideoMainWindow.h" -#include "ui_QGCVideoMainWindow.h" - -#include "UDPLink.h" -#include - - 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: " <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 31 && data.at(j) < 127) - { - ascii.append(data.at(j)); - } - else - { - ascii.append(219); - } - - }*/ - - //qDebug() << bytes; - //qDebug() << "ASCII:" << ascii; - - - - -} diff --git a/src/apps/qgcvideo/QGCVideoMainWindow.h b/src/apps/qgcvideo/QGCVideoMainWindow.h deleted file mode 100644 index 97ced3240..000000000 --- a/src/apps/qgcvideo/QGCVideoMainWindow.h +++ /dev/null @@ -1,64 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2011 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -/** - * @file - * @brief Definition of main window - * - * @author Dominik Honegger - * - */ - -#ifndef QGCVIDEOMAINWINDOW_H -#define QGCVIDEOMAINWINDOW_H - -#include -#include "UDPLink.h" - - - -namespace Ui { - class QGCVideoMainWindow; -} - -class QGCVideoMainWindow : public QMainWindow -{ - Q_OBJECT - -public: - explicit QGCVideoMainWindow(QWidget *parent = 0); - ~QGCVideoMainWindow(); - - -public slots: - - void receiveBytes(LinkInterface* link, QByteArray data); - -protected: - UDPLink link; - -private: - Ui::QGCVideoMainWindow *ui; -}; - -#endif // QGCVIDEOMAINWINDOW_H diff --git a/src/apps/qgcvideo/QGCVideoMainWindow.ui b/src/apps/qgcvideo/QGCVideoMainWindow.ui deleted file mode 100644 index d35161055..000000000 --- a/src/apps/qgcvideo/QGCVideoMainWindow.ui +++ /dev/null @@ -1,82 +0,0 @@ - - - QGCVideoMainWindow - - - - 0 - 0 - 800 - 600 - - - - MainWindow - - - - - - - - - - - - - - - - - - - Video 1 - - - - - - - Video 2 - - - - - - - Video 3 - - - - - - - Video 4 - - - - - - - - - 0 - 0 - 800 - 22 - - - - - - - - QGCVideoWidget - QWidget -
QGCVideoWidget.h
- 1 - - - - - diff --git a/src/apps/qgcvideo/QGCVideoWidget.cc b/src/apps/qgcvideo/QGCVideoWidget.cc deleted file mode 100644 index 59327fd11..000000000 --- a/src/apps/qgcvideo/QGCVideoWidget.cc +++ /dev/null @@ -1,1176 +0,0 @@ -/*===================================================================== - -QGroundControl Open Source Ground Control Station - -(c) 2009, 2010 QGROUNDCONTROL PROJECT - -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 . - -======================================================================*/ - -/** - * @file - * @brief Head Up Display (QGCVideoWidget) - * - * @author Lorenz Meier - * - */ - -#include -#include -#include -#include - -#include -#include -#include -#include - -#include "QGCVideoWidget.h" -#include "QGC.h" - -// Fix for some platforms, e.g. windows -#ifndef GL_MULTISAMPLE -#define GL_MULTISAMPLE 0x809D -#endif - -template -inline bool isnan(T value) -{ - return value != value; - -} - -// requires #include -template -inline bool isinf(T value) -{ - return std::numeric_limits::has_infinity && (value == std::numeric_limits::infinity() || (-1*value) == std::numeric_limits::infinity()); -} - -/** - * @warning The QGCVideoWidget widget will not start painting its content automatically - * to update the view, start the auto-update by calling QGCVideoWidget::start(). - * - * @param width - * @param height - * @param parent - */ -QGCVideoWidget::QGCVideoWidget(QWidget* parent) - : QGLWidget(QGLFormat(QGL::SampleBuffers), parent), - yawInt(0.0f), - mode(tr("UNKNOWN MODE")), - state(tr("UNKNOWN STATE")), - fuelStatus(tr("00.0V (00m:00s)")), - xCenterOffset(0.0f), - yCenterOffset(0.0f), - vwidth(200.0f), - vheight(150.0f), - vGaugeSpacing(50.0f), - vPitchPerDeg(6.0f), ///< 4 mm y translation per degree) - rawBuffer1(NULL), - rawBuffer2(NULL), - rawImage(NULL), - rawLastIndex(0), - rawExpectedBytes(0), - bytesPerLine(1), - imageStarted(false), - receivedDepth(8), - receivedChannels(1), - receivedWidth(640), - receivedHeight(480), - defaultColor(QColor(70, 200, 70)), - setPointColor(QColor(200, 20, 200)), - warningColor(Qt::yellow), - criticalColor(Qt::red), - infoColor(QColor(20, 200, 20)), - fuelColor(criticalColor), - warningBlinkRate(5), - refreshTimer(new QTimer(this)), - noCamera(true), - hardwareAcceleration(true), - strongStrokeWidth(1.5f), - normalStrokeWidth(1.0f), - fineStrokeWidth(0.5f), - waypointName(""), - roll(0.0f), - pitch(0.0f), - yaw(0.0f), - rollLP(0.0f), - pitchLP(0.0f), - yawLP(0.0f), - yawDiff(0.0f), - xPos(0.0), - yPos(0.0), - zPos(0.0), - xSpeed(0.0), - ySpeed(0.0), - zSpeed(0.0), - lastSpeedUpdate(0), - totalSpeed(0.0), - totalAcc(0.0), - lat(0.0), - lon(0.0), - alt(0.0), - load(0.0f), - offlineDirectory(""), - nextOfflineImage(""), - hudInstrumentsEnabled(false), - videoEnabled(false), - flowEnabled(false), - xImageFactor(1.0), - yImageFactor(1.0), - imageRequested(false), - flowFieldX(NULL), - flowFieldY(NULL), - flowWidth(0), - flowHeight(0) -{ - // Set auto fill to false - setAutoFillBackground(false); - - // Set minimum size - setMinimumSize(80, 60); - // Set preferred size - setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); - scalingFactor = this->width()/vwidth; - - // Fill with black background - QImage fill = QImage(640, 480, QImage::Format_Indexed8); - fill.setColorCount(3); - fill.setColor(0, qRgb(0, 0, 0)); - fill.setColor(1, qRgb(0, 0, 0)); - fill.setColor(2, qRgb(0, 0, 0)); - fill.fill(0); - - //QString imagePath = "/Users/user/Desktop/frame0000.png"; - //qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath; - //fill = QImage(imagePath); - - glImage = QGLWidget::convertToGLFormat(fill); - - // Refresh timer - refreshTimer->setInterval(updateInterval); - connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD())); - - // Resize to correct size and fill with image - //glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits()); - - // Set size once - //setFixedSize(fill.size()); - //setMinimumSize(fill.size()); - //setMaximumSize(fill.size()); - // Lock down the size - //setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); - - fontDatabase = QFontDatabase(); - const QString fontFileName = ":/res/fonts/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app - const QString fontFamilyName = "Bitstream Vera Sans"; - if(!QFile::exists(fontFileName)) qDebug() << "ERROR! font file: " << fontFileName << " DOES NOT EXIST!"; - - fontDatabase.addApplicationFont(fontFileName); - font = fontDatabase.font(fontFamilyName, "Roman", qMax(5,(int)(10.0f*scalingFactor*1.2f+0.5f))); - QFont* fontPtr = &font; - if (!fontPtr) { - qDebug() << "ERROR! FONT NOT LOADED!"; - } else { - if (font.family() != fontFamilyName) qDebug() << "ERROR! WRONG FONT LOADED: " << fontFamilyName; - } - - createActions(); -} - -QGCVideoWidget::~QGCVideoWidget() -{ - refreshTimer->stop(); -} - -QSize QGCVideoWidget::sizeHint() const -{ - return QSize(width(), (width()*3.0f)/4); -} - -void QGCVideoWidget::showEvent(QShowEvent* event) -{ - Q_UNUSED(event) - refreshTimer->start(updateInterval); -} - -void QGCVideoWidget::hideEvent(QHideEvent* event) -{ - Q_UNUSED(event); - refreshTimer->stop(); -} - -void QGCVideoWidget::contextMenuEvent (QContextMenuEvent* event) -{ - QMenu menu(this); - // Update actions - enableHUDAction->setChecked(hudInstrumentsEnabled); -// enableVideoAction->setChecked(videoEnabled); - - menu.addAction(enableHUDAction); - menu.addAction(enableFlowFieldAction); - //menu.addAction(selectQGCVideoWidgetColorAction); -// menu.addAction(enableVideoAction); -// menu.addAction(selectOfflineDirectoryAction); - //menu.addAction(selectVideoChannelAction); - menu.exec(event->globalPos()); -} - -void QGCVideoWidget::createActions() -{ - enableHUDAction = new QAction(tr("Enable HUD"), this); - enableHUDAction->setStatusTip(tr("Show the HUD instruments in this window")); - enableHUDAction->setCheckable(true); - enableHUDAction->setChecked(hudInstrumentsEnabled); - connect(enableHUDAction, SIGNAL(triggered(bool)), this, SLOT(enableHUDInstruments(bool))); - - enableVideoAction = new QAction(tr("Enable Video Live feed"), this); - enableVideoAction->setStatusTip(tr("Show the video live feed")); - enableVideoAction->setCheckable(true); - enableVideoAction->setChecked(videoEnabled); - - enableFlowFieldAction = new QAction(tr("Enable Optical Flow Field"), this); - enableFlowFieldAction->setCheckable(true); - enableFlowFieldAction->setChecked(flowEnabled); - connect(enableFlowFieldAction, SIGNAL(triggered(bool)), this, SLOT(enableFlow(bool))); - -// connect(enableVideoAction, SIGNAL(triggered(bool)), this, SLOT(enableVideo(bool))); - - selectOfflineDirectoryAction = new QAction(tr("Select image log"), this); - selectOfflineDirectoryAction->setStatusTip(tr("Load previously logged images into simulation / replay")); -// connect(selectOfflineDirectoryAction, SIGNAL(triggered()), this, SLOT(selectOfflineDirectory())); -} - -/** - * @param y coordinate in pixels to be converted to reference mm units - * @return the screen coordinate relative to the QGLWindow origin - */ -float QGCVideoWidget::refToScreenX(float x) -{ - //qDebug() << "sX: " << (scalingFactor * x); - return (scalingFactor * x); -} -/** - * @param x coordinate in pixels to be converted to reference mm units - * @return the screen coordinate relative to the QGLWindow origin - */ -float QGCVideoWidget::refToScreenY(float y) -{ - //qDebug() << "sY: " << (scalingFactor * y); - return (scalingFactor * y); -} - -/** - * This functions works in the OpenGL view, which is already translated by - * the x and y center offsets. - * - */ -void QGCVideoWidget::paintCenterBackground(float roll, float pitch, float yaw) -{ - // Center indicator is 100 mm wide - float referenceWidth = 70.0; - float referenceHeight = 70.0; - - // QGCVideoWidget is assumed to be 200 x 150 mm - // so that positions can be hardcoded - // but can of course be scaled. - - double referencePositionX = vwidth / 2.0 - referenceWidth/2.0; - double referencePositionY = vheight / 2.0 - referenceHeight/2.0; - - //this->width()/2.0+(xCenterOffset*scalingFactor), this->height()/2.0+(yCenterOffset*scalingFactor); - - setupGLView(referencePositionX, referencePositionY, referenceWidth, referenceHeight); - - // Store current position in the model view - // the position will be restored after drawing - glMatrixMode(GL_MODELVIEW); - glPushMatrix(); - - // Move to the center of the window - glTranslatef(referenceWidth/2.0f,referenceHeight/2.0f,0); - - // Move based on the yaw difference - glTranslatef(yaw, 0.0f, 0.0f); - - // Rotate based on the bank - glRotatef((roll/M_PI)*180.0f, 0.0f, 0.0f, 1.0f); - - // Translate in the direction of the rotation based - // on the pitch. On the 777, a pitch of 1 degree = 2 mm - //glTranslatef(0, ((-pitch/M_PI)*180.0f * vPitchPerDeg), 0); - glTranslatef(0.0f, (-pitch * vPitchPerDeg * 16.5f), 0.0f); - - // Ground - glColor3ub(179,102,0); - - glBegin(GL_POLYGON); - glVertex2f(-300,-300); - glVertex2f(-300,0); - glVertex2f(300,0); - glVertex2f(300,-300); - glVertex2f(-300,-300); - glEnd(); - - // Sky - glColor3ub(0,153,204); - - glBegin(GL_POLYGON); - glVertex2f(-300,0); - glVertex2f(-300,300); - glVertex2f(300,300); - glVertex2f(300,0); - glVertex2f(-300,0); - - glEnd(); -} - -/** - * Paint text on top of the image and OpenGL drawings - * - * @param text chars to write - * @param color text color - * @param fontSize text size in mm - * @param refX position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels. - * @param refY position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels. - */ -void QGCVideoWidget::paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter) -{ - QPen prevPen = painter->pen(); - float pPositionX = refToScreenX(refX) - (fontSize*scalingFactor*0.072f); - float pPositionY = refToScreenY(refY) - (fontSize*scalingFactor*0.212f); - - QFont font("Bitstream Vera Sans"); - // Enforce minimum font size of 5 pixels - int fSize = qMax(5, (int)(fontSize*scalingFactor*1.26f)); - font.setPixelSize(fSize); - - QFontMetrics metrics = QFontMetrics(font); - int border = qMax(4, metrics.leading()); - QRect rect = metrics.boundingRect(0, 0, width() - 2*border, int(height()*0.125), - Qt::AlignLeft | Qt::TextWordWrap, text); - painter->setPen(color); - painter->setFont(font); - painter->setRenderHint(QPainter::TextAntialiasing); - painter->drawText(pPositionX, pPositionY, - rect.width(), rect.height(), - Qt::AlignCenter | Qt::TextWordWrap, text); - painter->setPen(prevPen); -} - -void QGCVideoWidget::initializeGL() -{ - bool antialiasing = true; - - // Antialiasing setup - if(antialiasing) { - glEnable(GL_MULTISAMPLE); - glEnable(GL_BLEND); - - glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA); - - glEnable(GL_POINT_SMOOTH); - glEnable(GL_LINE_SMOOTH); - - glHint(GL_POINT_SMOOTH_HINT, GL_NICEST); - glHint(GL_LINE_SMOOTH_HINT, GL_NICEST); - } else { - glDisable(GL_BLEND); - glDisable(GL_POINT_SMOOTH); - glDisable(GL_LINE_SMOOTH); - } -} - -/** - * @param referencePositionX horizontal position in the reference mm-unit space - * @param referencePositionY horizontal position in the reference mm-unit space - * @param referenceWidth width in the reference mm-unit space - * @param referenceHeight width in the reference mm-unit space - */ -void QGCVideoWidget::setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight) -{ - int pixelWidth = (int)(referenceWidth * scalingFactor); - int pixelHeight = (int)(referenceHeight * scalingFactor); - // Translate and scale the GL view in the virtual reference coordinate units on the screen - int pixelPositionX = (int)((referencePositionX * scalingFactor) + xCenterOffset); - int pixelPositionY = this->height() - (referencePositionY * scalingFactor) + yCenterOffset - pixelHeight; - - //qDebug() << "Pixel x" << pixelPositionX << "pixelY" << pixelPositionY; - //qDebug() << "xCenterOffset:" << xCenterOffset << "yCenterOffest" << yCenterOffset - - - //The viewport is established at the correct pixel position and clips everything - // out of the desired instrument location - glViewport(pixelPositionX, pixelPositionY, pixelWidth, pixelHeight); - glMatrixMode(GL_PROJECTION); - glLoadIdentity(); - - // The ortho projection is setup in a way that so that the drawing is done in the - // reference coordinate space - glOrtho(0, referenceWidth, 0, referenceHeight, -1, 1); - glMatrixMode(GL_MODELVIEW); - glLoadIdentity(); - //glScalef(scaleX, scaleY, 1.0f); -} - -void QGCVideoWidget::paintRollPitchStrips() -{ -} - - -void QGCVideoWidget::paintEvent(QPaintEvent *event) -{ - // Event is not needed - // the event is ignored as this widget - // is refreshed automatically - Q_UNUSED(event); -} - -void QGCVideoWidget::copyFlow(const unsigned char* flowX, const unsigned char* flowY, int width, int height) -{ - flowWidth = width; - flowHeight = height; - - delete flowFieldX; - delete flowFieldY; - - flowFieldX = (unsigned char**) malloc(width*height); - flowFieldY = (unsigned char**) malloc(width*height); - - memcpy(flowFieldX, flowX, width*height); - memcpy(flowFieldY, flowY, width*height); -} - -void QGCVideoWidget::paintFlowField(QPainter* painter) -{ - if (width() > 0 && height() > 0) - { - unsigned int sX = (flowWidth+1)/width(); - unsigned int sY = (flowHeight+1)/height(); - for (unsigned int i = 0; i < flowWidth; ++i) - { - for (unsigned int j = 0; j < flowHeight; ++j) - { - // Paint vector - qDebug() << "X" << i << flowFieldX[i][j] << "Y" << j << flowFieldY[i][j]; - //painter->drawLine(QPointF(sX*i, sY*j), QPointF(sX*i+(flowFieldX[i][j]), sY*j+(flowFieldY[i][j]))); - } - } - } -} - -void QGCVideoWidget::paintHUD() -{ - if (isVisible()) { - // static quint64 interval = 0; - // qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__; - // interval = MG::TIME::getGroundTimeNow(); - -#if (QGC_EVENTLOOP_DEBUG) - qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__; -#endif - - // Read out most important values to limit hash table lookups - // Low-pass roll, pitch and yaw - rollLP = rollLP * 0.2f + 0.8f * roll; - pitchLP = pitchLP * 0.2f + 0.8f * pitch; - yawLP = yawLP * 0.2f + 0.8f * yaw; - - // Translate for yaw - const float maxYawTrans = 60.0f; - - float newYawDiff = yawDiff; - if (isinf(newYawDiff)) newYawDiff = yawDiff; - if (newYawDiff > M_PI) newYawDiff = newYawDiff - M_PI; - - if (newYawDiff < -M_PI) newYawDiff = newYawDiff + M_PI; - - newYawDiff = yawDiff * 0.8 + newYawDiff * 0.2; - - yawDiff = newYawDiff; - - yawInt += newYawDiff; - - if (yawInt > M_PI) yawInt = (float)M_PI; - if (yawInt < -M_PI) yawInt = (float)-M_PI; - - float yawTrans = yawInt * (float)maxYawTrans; - yawInt *= 0.6f; - - if ((yawTrans < 5.0) && (yawTrans > -5.0)) yawTrans = 0; - - // Negate to correct direction - yawTrans = -yawTrans; - - //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw; - - // Update scaling factor - // adjust scaling to fit both horizontally and vertically - scalingFactor = this->width()/vwidth; - double scalingFactorH = this->height()/vheight; - if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH; - - - - // OPEN GL PAINTING - // Store model view matrix to be able to reset it to the previous state - makeCurrent(); - glMatrixMode(GL_MODELVIEW); - glPushMatrix(); - glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - // Fill with black background - if (videoEnabled) { - if (nextOfflineImage != "" && QFileInfo(nextOfflineImage).exists()) { - qDebug() << __FILE__ << __LINE__ << "template image:" << nextOfflineImage; - QImage fill = QImage(nextOfflineImage); - - glImage = QGLWidget::convertToGLFormat(fill); - - // Reset to save load efforts - nextOfflineImage = ""; - } - - glRasterPos2i(0, 0); - - 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); - } - - glMatrixMode(GL_MODELVIEW); - glPopMatrix(); - - // END OF OPENGL PAINTING - - if (flowEnabled) { - QPainter painter; - painter.begin(this); - painter.setRenderHint(QPainter::Antialiasing, true); - painter.setRenderHint(QPainter::HighQualityAntialiasing, true); - painter.setPen(Qt::red); - paintFlowField(&painter); - } - - if (hudInstrumentsEnabled) { - - //glEnable(GL_MULTISAMPLE); - - // QT PAINTING - //makeCurrent(); - QPainter painter; - painter.begin(this); - painter.setRenderHint(QPainter::Antialiasing, true); - painter.setRenderHint(QPainter::HighQualityAntialiasing, true); - painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor); - - - - // COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET - - - // Draw all fixed indicators - // MODE - paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter); - // STATE - paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter); - // BATTERY - paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter); - // Waypoint - paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter); - - // YAW INDICATOR - // - // . - // . . - // ....... - // - const float yawIndicatorWidth = 4.0f; - const float yawIndicatorY = vheight/2.0f - 10.0f; - QPolygon yawIndicator(4); - yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY))); - yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth))); - yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth))); - yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY))); - painter.setPen(defaultColor); - painter.drawPolyline(yawIndicator); - - // CENTER - - // HEADING INDICATOR - // - // __ __ - // \/\/ - // - const float hIndicatorWidth = 7.0f; - const float hIndicatorY = -25.0f; - const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f; - const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f; - QPolygon hIndicator(7); - hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY))); - hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY))); - hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow))); - hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY))); - hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow))); - hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY))); - hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY))); - painter.setPen(defaultColor); - painter.drawPolyline(hIndicator); - - - // SETPOINT - const float centerWidth = 4.0f; - painter.setPen(defaultColor); - painter.setBrush(Qt::NoBrush); - // TODO - //painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f)); - - const float centerCrossWidth = 10.0f; - // left - painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f))); - // right - painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f))); - // top - painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f))); - - - - // COMPASS - const float compassY = -vheight/2.0f + 10.0f; - QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f))); - painter.setBrush(Qt::NoBrush); - painter.setPen(Qt::SolidLine); - painter.setPen(defaultColor); - painter.drawRoundedRect(compassRect, 2, 2); - QString yawAngle; - - // const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f; - - // YAW is in compass-human readable format, so 0 - 360deg. This is normal in aviation, not -180 - +180. - const float yawDeg = ((yawLP/M_PI)*180.0f)+180.0f+180.0f; - int yawCompass = static_cast(yawDeg) % 360; - yawAngle.sprintf("%03d", yawCompass); - paintText(yawAngle, defaultColor, 3.5f, -4.3f, compassY+ 0.97f, &painter); - - // CHANGE RATE STRIPS - drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, -zSpeed, &painter); - - // CHANGE RATE STRIPS - drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, totalAcc, &painter); - - // GAUGES - - // Left altitude gauge - float gaugeAltitude; - - if (this->alt != 0) { - gaugeAltitude = alt; - } else { - gaugeAltitude = -zPos; - } - - drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, gaugeAltitude, defaultColor, &painter, false); - - // Right speed gauge - drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, totalSpeed, defaultColor, &painter, false); - - - // Waypoint name - if (waypointName != "") paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter); - - // MOVING PARTS - - - painter.translate(refToScreenX(yawTrans), 0); - - // Rotate view and draw all roll-dependent indicators - painter.rotate((rollLP/M_PI)* -180.0f); - - painter.translate(0, (-pitchLP/(float)M_PI)* -180.0f * refToScreenY(1.8f)); - - //qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f); - - // PITCH - - paintPitchLines(pitchLP, &painter); - painter.end(); - } else { - QPainter painter; - painter.begin(this); - painter.end(); - } - //glDisable(GL_MULTISAMPLE); - - - - //glFlush(); - } -} - - -/** - * @param pitch pitch angle in degrees (-180 to 180) - */ -void QGCVideoWidget::paintPitchLines(float pitch, QPainter* painter) -{ - QString label; - - const float yDeg = vPitchPerDeg; - const float lineDistance = 5.0f; ///< One pitch line every 10 degrees - const float posIncrement = yDeg * lineDistance; - float posY = posIncrement; - const float posLimit = sqrt(pow(vwidth, 2.0f) + pow(vheight, 2.0f)); - - const float offsetAbs = pitch * yDeg; - - float offset = pitch; - if (offset < 0) offset = -offset; - int offsetCount = 0; - while (offset > lineDistance) { - offset -= lineDistance; - offsetCount++; - } - - int iPos = (int)(0.5f + lineDistance); ///< The first line - int iNeg = (int)(-0.5f - lineDistance); ///< The first line - - offset *= yDeg; - - - painter->setPen(defaultColor); - - posY = -offsetAbs + posIncrement; //+ 100;// + lineDistance; - - while (posY < posLimit) { - paintPitchLinePos(label.sprintf("%3d", iPos), 0.0f, -posY, painter); - posY += posIncrement; - iPos += (int)lineDistance; - } - - - - // HORIZON - // - // ------------ ------------ - // - const float pitchWidth = 30.0f; - const float pitchGap = pitchWidth / 2.5f; - const QColor horizonColor = defaultColor; - const float diagonal = sqrt(pow(vwidth, 2.0f) + pow(vheight, 2.0f)); - const float lineWidth = refLineWidthToPen(0.5f); - - // Left horizon - drawLine(0.0f-diagonal, offsetAbs, 0.0f-pitchGap/2.0f, offsetAbs, lineWidth, horizonColor, painter); - // Right horizon - drawLine(0.0f+pitchGap/2.0f, offsetAbs, 0.0f+diagonal, offsetAbs, lineWidth, horizonColor, painter); - - - - label.clear(); - - posY = offsetAbs + posIncrement; - - - while (posY < posLimit) { - paintPitchLineNeg(label.sprintf("%3d", iNeg), 0.0f, posY, painter); - posY += posIncrement; - iNeg -= (int)lineDistance; - } -} - -void QGCVideoWidget::paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter) -{ - //painter->setPen(QPen(QBrush, normalStrokeWidth)); - - const float pitchWidth = 30.0f; - const float pitchGap = pitchWidth / 2.5f; - const float pitchHeight = pitchWidth / 12.0f; - const float textSize = pitchHeight * 1.1f; - const float lineWidth = 0.5f; - - // Positive pitch indicator: - // - // _______ _______ - // |10 | - // - - // Left vertical line - drawLine(refPosX-pitchWidth/2.0f, refPosY, refPosX-pitchWidth/2.0f, refPosY+pitchHeight, lineWidth, defaultColor, painter); - // Left horizontal line - drawLine(refPosX-pitchWidth/2.0f, refPosY, refPosX-pitchGap/2.0f, refPosY, lineWidth, defaultColor, painter); - // Text left - paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0 + 0.75f, refPosY + pitchHeight - 1.75f, painter); - - // Right vertical line - drawLine(refPosX+pitchWidth/2.0f, refPosY, refPosX+pitchWidth/2.0f, refPosY+pitchHeight, lineWidth, defaultColor, painter); - // Right horizontal line - drawLine(refPosX+pitchWidth/2.0f, refPosY, refPosX+pitchGap/2.0f, refPosY, lineWidth, defaultColor, painter); -} - -void QGCVideoWidget::paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter) -{ - const float pitchWidth = 30.0f; - const float pitchGap = pitchWidth / 2.5f; - const float pitchHeight = pitchWidth / 12.0f; - const float textSize = pitchHeight * 1.1f; - const float segmentWidth = ((pitchWidth - pitchGap)/2.0f) / 7.0f; ///< Four lines and three gaps -> 7 segments - - const float lineWidth = 0.1f; - - // Negative pitch indicator: - // - // -10 - // _ _ _ _| |_ _ _ _ - // - // - - // Left vertical line - drawLine(refPosX-pitchGap/2.0, refPosY, refPosX-pitchGap/2.0, refPosY-pitchHeight, lineWidth, defaultColor, painter); - // Left horizontal line with four segments - for (int i = 0; i < 7; i+=2) { - drawLine(refPosX-pitchWidth/2.0+(i*segmentWidth), refPosY, refPosX-pitchWidth/2.0+(i*segmentWidth)+segmentWidth, refPosY, lineWidth, defaultColor, painter); - } - // Text left - paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0f + 0.75f, refPosY + pitchHeight - 1.75f, painter); - - // Right vertical line - drawLine(refPosX+pitchGap/2.0, refPosY, refPosX+pitchGap/2.0, refPosY-pitchHeight, lineWidth, defaultColor, painter); - // Right horizontal line with four segments - for (int i = 0; i < 7; i+=2) { - drawLine(refPosX+pitchWidth/2.0f-(i*segmentWidth), refPosY, refPosX+pitchWidth/2.0f-(i*segmentWidth)-segmentWidth, refPosY, lineWidth, defaultColor, painter); - } -} - -void rotatePointClockWise(QPointF& p, float angle) -{ - // Standard 2x2 rotation matrix, counter-clockwise - // - // | cos(phi) sin(phi) | - // | -sin(phi) cos(phi) | - // - - //p.setX(cos(angle) * p.x() + sin(angle) * p.y()); - //p.setY(-sin(angle) * p.x() + cos(angle) * p.y()); - - - p.setX(cos(angle) * p.x() + sin(angle)* p.y()); - p.setY((-1.0f * sin(angle) * p.x()) + cos(angle) * p.y()); -} - -float QGCVideoWidget::refLineWidthToPen(float line) -{ - return line * 2.50f; -} - -/** - * Rotate a polygon around a point - * - * @param p polygon to rotate - * @param origin the rotation center - * @param angle rotation angle, in radians - * @return p Polygon p rotated by angle around the origin point - */ -void QGCVideoWidget::rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin) -{ - // Standard 2x2 rotation matrix, counter-clockwise - // - // | cos(phi) sin(phi) | - // | -sin(phi) cos(phi) | - // - for (int i = 0; i < p.size(); i++) { - QPointF curr = p.at(i); - - const float x = curr.x(); - const float y = curr.y(); - - curr.setX(((cos(angle) * (x-origin.x())) + (-sin(angle) * (y-origin.y()))) + origin.x()); - curr.setY(((sin(angle) * (x-origin.x())) + (cos(angle) * (y-origin.y()))) + origin.y()); - p.replace(i, curr); - } -} - -void QGCVideoWidget::drawPolygon(QPolygonF refPolygon, QPainter* painter) -{ - // Scale coordinates - QPolygonF draw(refPolygon.size()); - for (int i = 0; i < refPolygon.size(); i++) { - QPointF curr; - curr.setX(refToScreenX(refPolygon.at(i).x())); - curr.setY(refToScreenY(refPolygon.at(i).y())); - draw.replace(i, curr); - } - painter->drawPolygon(draw); -} - -void QGCVideoWidget::drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter) -{ - QBrush brush(defaultColor, Qt::NoBrush); - painter->setBrush(brush); - QPen rectPen(Qt::SolidLine); - rectPen.setWidth(0); - rectPen.setColor(defaultColor); - painter->setPen(rectPen); - - float scaledValue = value; - - // Saturate value - if (value > maxRate) scaledValue = maxRate; - if (value < minRate) scaledValue = minRate; - - // x (Origin: xRef, yRef) - // - - // | - // | - // | - // = - // | - // -0.005 >| - // | - // - - - const float width = height / 8.0f; - const float lineWidth = 0.5f; - - // Indicator lines - // Top horizontal line - drawLine(xRef, yRef, xRef+width, yRef, lineWidth, defaultColor, painter); - // Vertical main line - drawLine(xRef+width/2.0f, yRef, xRef+width/2.0f, yRef+height, lineWidth, defaultColor, painter); - // Zero mark - drawLine(xRef, yRef+height/2.0f, xRef+width, yRef+height/2.0f, lineWidth, defaultColor, painter); - // Horizontal bottom line - drawLine(xRef, yRef+height, xRef+width, yRef+height, lineWidth, defaultColor, painter); - - // Text - QString label; - label.sprintf("< %+06.2f", value); - paintText(label, defaultColor, 3.0f, xRef+width/2.0f, yRef+height-((scaledValue - minRate)/(maxRate-minRate))*height - 1.6f, painter); -} - -//void QGCVideoWidget::drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter) -//{ -// Q_UNUSED(maxWidth); -// Q_UNUSED(maxHeight); -// if (values.size() > 0) -// { -// QString selectedKey = values.begin().key(); -// // | | | | | | -// // | | | | | | -// // x speed: 2.54 - -// // One column per value -// QMapIterator value(values); - -// float x = xRef; -// float y = yRef; - -// const float vspacing = 1.0f; -// float width = 1.5f; -// float height = 1.5f; -// const float hspacing = 0.6f; - -// // TODO ensure that instrument stays smaller than maxWidth and maxHeight - - -// int i = 0; -// while (value.hasNext() && i < maxNum) -// { -// value.next(); -// QBrush brush(Qt::SolidPattern); - - -// if (value.value() < 0.01f && value.value() > -0.01f) -// { -// brush.setColor(Qt::gray); -// } -// else if (value.value() > 0.01f) -// { -// brush.setColor(Qt::blue); -// } -// else -// { -// brush.setColor(Qt::yellow); -// } - -// painter->setBrush(brush); -// painter->setPen(Qt::NoPen); - -// // Draw current value colormap -// painter->drawRect(refToScreenX(x), refToScreenY(y), refToScreenX(width), refToScreenY(height)); - -// // Draw change rate colormap -// painter->drawRect(refToScreenX(x), refToScreenY(y+height+hspacing), refToScreenX(width), refToScreenY(height)); - -// // Draw mean value colormap -// painter->drawRect(refToScreenX(x), refToScreenY(y+2.0f*(height+hspacing)), refToScreenX(width), refToScreenY(height)); - -// // Add spacing -// x += width+vspacing; - -// // Iterate -// i++; -// } - -// // Draw detail label -// QString detail = "NO DATA AVAILABLE"; - -// if (values.contains(selectedKey)) -// { -// detail = values.find(selectedKey).key(); -// detail.append(": "); -// detail.append(QString::number(values.find(selectedKey).value())); -// } -// paintText(detail, QColor(255, 255, 255), 3.0f, xRef, yRef+3.0f*(height+hspacing)+1.0f, painter); -// } -//} - -void QGCVideoWidget::drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid) -{ - // Draw the circle - QPen circlePen(Qt::SolidLine); - if (!solid) circlePen.setStyle(Qt::DotLine); - circlePen.setWidth(refLineWidthToPen(0.5f)); - circlePen.setColor(defaultColor); - painter->setBrush(Qt::NoBrush); - painter->setPen(circlePen); - drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter); - - QString label; - label.sprintf("%05.1f", value); - - // Draw the value - paintText(label, color, 4.5f, xRef-7.5f, yRef-2.0f, painter); - - // Draw the needle - // Scale the rotation so that the gauge does one revolution - // per max. change - const float rangeScale = (2.0f * M_PI) / expectedMaxChange; - const float maxWidth = radius / 10.0f; - const float minWidth = maxWidth * 0.3f; - - QPolygonF p(6); - - p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f)); - p.replace(1, QPointF(xRef-minWidth/2.0f, yRef-radius * 0.9f)); - p.replace(2, QPointF(xRef+minWidth/2.0f, yRef-radius * 0.9f)); - p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef-radius * 0.5f)); - p.replace(4, QPointF(xRef, yRef-radius * 0.46f)); - p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f)); - - rotatePolygonClockWiseRad(p, value*rangeScale, QPointF(xRef, yRef)); - - QBrush indexBrush; - indexBrush.setColor(defaultColor); - indexBrush.setStyle(Qt::SolidPattern); - painter->setPen(Qt::SolidLine); - painter->setPen(defaultColor); - painter->setBrush(indexBrush); - drawPolygon(p, painter); -} - -void QGCVideoWidget::drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter) -{ - QPen pen(Qt::SolidLine); - pen.setWidth(refLineWidthToPen(width)); - pen.setColor(color); - painter->setPen(pen); - painter->drawLine(QPoint(refToScreenX(refX1), refToScreenY(refY1)), QPoint(refToScreenX(refX2), refToScreenY(refY2))); -} - -void QGCVideoWidget::drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter) -{ - Q_UNUSED(startDeg); - Q_UNUSED(endDeg); - QPen pen(painter->pen().style()); - pen.setWidth(refLineWidthToPen(lineWidth)); - pen.setColor(color); - painter->setPen(pen); - painter->drawEllipse(QPointF(refToScreenX(refX), refToScreenY(refY)), refToScreenX(radiusX), refToScreenY(radiusY)); -} - -void QGCVideoWidget::drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter) -{ - drawEllipse(refX, refY, radius, radius, startDeg, endDeg, lineWidth, color, painter); -} - -void QGCVideoWidget::resizeGL(int w, int h) -{ - glViewport(0, 0, w, h); - glMatrixMode(GL_PROJECTION); - glLoadIdentity(); - glOrtho(0, w, 0, h, -1, 1); - glMatrixMode(GL_MODELVIEW); - glPolygonMode(GL_FRONT, GL_FILL); - //FIXME - paintHUD(); -} - -void QGCVideoWidget::commitRawDataToGL() -{ - qDebug() << __FILE__ << __LINE__ << "Copying raw data to GL buffer:" << rawImage << receivedWidth << receivedHeight << image->format(); - if (image != NULL) { - QImage::Format format = image->format(); - QImage* newImage = new QImage(rawImage, receivedWidth, receivedHeight, format); - if (format == QImage::Format_Indexed8) { - // Create matching color table - newImage->setColorCount(256); - for (int i = 0; i < 256; i++) { - newImage->setColor(i, qRgb(i, i, i)); - //qDebug() << __FILE__ << __LINE__ << std::hex << i; - } - } - - glImage = QGLWidget::convertToGLFormat(*newImage); - delete image; - image = newImage; - // Switch buffers - if (rawImage == rawBuffer1) { - rawImage = rawBuffer2; - //qDebug() << "Now buffer 2"; - } else { - rawImage = rawBuffer1; - //qDebug() << "Now buffer 1"; - } - } - update(); -} - -void QGCVideoWidget::saveImage(QString fileName) -{ - image->save(fileName); -} - -void QGCVideoWidget::saveImage() -{ - //Bring up popup - QString fileName = "output.png"; - saveImage(fileName); -} - -void QGCVideoWidget::copyImage(const QImage& img) -{ - qDebug() << "QGCVideoWidget::copyImage()"; - this->glImage = QGLWidget::convertToGLFormat(img); -} diff --git a/src/apps/qgcvideo/QGCVideoWidget.h b/src/apps/qgcvideo/QGCVideoWidget.h deleted file mode 100644 index 93a44bf69..000000000 --- a/src/apps/qgcvideo/QGCVideoWidget.h +++ /dev/null @@ -1,181 +0,0 @@ -#ifndef QGCVIDEOWIDGET_H -#define QGCVIDEOWIDGET_H - -#include -#include -#include -#include -#include -#include - - -/** - * @brief Video Display - * - * Displays video data from RAM via OpenGL - */ -class QGCVideoWidget : public QGLWidget -{ - Q_OBJECT -public: - QGCVideoWidget(QWidget* parent = NULL); - ~QGCVideoWidget(); - - void resizeGL(int w, int h); - -public slots: - void initializeGL(); - - void saveImage(); - void saveImage(QString fileName); - /** @brief Copy an image from an external buffer */ - void copyImage(const QImage& img); - void enableHUDInstruments(bool enabled) { hudInstrumentsEnabled = enabled; } - void enableVideo(bool enabled) { videoEnabled = enabled; } - void enableFlow(bool enabled) { flowEnabled = enabled; } - /** @brief Copy flow */ - void copyFlow(const unsigned char* flowX, const unsigned char* flowY, int width, int height); - - -protected slots: - void paintCenterBackground(float roll, float pitch, float yaw); - void paintRollPitchStrips(); - void paintPitchLines(float pitch, QPainter* painter); - /** @brief Paint text on top of the image and OpenGL drawings */ - void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter); - /** @brief Setup the OpenGL view for drawing a sub-component of the HUD */ - void setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight); - void paintHUD(); - /** @brief Paint an optical flow field */ - void paintFlowField(QPainter* painter); - void paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter); - void paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter); - - void drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter); - void drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter); - void drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter); - - void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter); - void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true); - - void drawPolygon(QPolygonF refPolygon, QPainter* painter); - -protected: - void commitRawDataToGL(); - /** @brief Convert reference coordinates to screen coordinates */ - float refToScreenX(float x); - /** @brief Convert reference coordinates to screen coordinates */ - float refToScreenY(float y); - /** @brief Convert mm line widths to QPen line widths */ - float refLineWidthToPen(float line); - /** @brief Rotate a polygon around a point clockwise */ - void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin); - /** @brief Preferred Size */ - QSize sizeHint() const; - /** @brief Start updating widget */ - void showEvent(QShowEvent* event); - /** @brief Stop updating widget */ - void hideEvent(QHideEvent* event); - void contextMenuEvent (QContextMenuEvent* event); - void createActions(); - - static const int updateInterval = 40; - - QImage* image; ///< Double buffer image - QImage glImage; ///< The background / camera image - float yawInt; ///< The yaw integral. Used to damp the yaw indication. - QString mode; ///< The current vehicle mode - QString state; ///< The current vehicle state - QString fuelStatus; ///< Current fuel level / battery voltage - double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates - float xCenterOffset, yCenterOffset; ///< Offset from center of window in mm coordinates - float vwidth; ///< Virtual width of this window, 200 mm per default. This allows to hardcode positions and aspect ratios. This virtual image plane is then scaled to the window size. - float vheight; ///< Virtual height of this window, 150 mm per default - float vGaugeSpacing; ///< Virtual spacing of the gauges from the center, 50 mm per default - float vPitchPerDeg; ///< Virtual pitch to mm conversion. Currently one degree is 3 mm up/down in the pitch markings - - int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument - int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument - - // Image buffers - unsigned char* rawBuffer1; ///< Double buffer 1 for the image - unsigned char* rawBuffer2; ///< Double buffer 2 for the image - unsigned char* rawImage; ///< Pointer to current complete image - int rawLastIndex; ///< The last byte index received of the image - int rawExpectedBytes; ///< Number of raw image bytes expected. Calculated by: image depth * channels * widht * height / 8 - int bytesPerLine; ///< Bytes per image line. Is calculated as: image depth * channels * width / 8 - bool imageStarted; ///< If an image is currently in transmission - int receivedDepth; ///< Image depth in bit for the current image - int receivedChannels; ///< Number of color channels - int receivedWidth; ///< Width in pixels of the current image - int receivedHeight; ///< Height in pixels of the current image - - // HUD colors - QColor defaultColor; ///< Color for most HUD elements, e.g. pitch lines, center cross, change rate gauges - QColor setPointColor; ///< Color for the current control set point, e.g. yaw desired - QColor warningColor; ///< Color for warning messages - QColor criticalColor; ///< Color for caution messages - QColor infoColor; ///< Color for normal/default messages - QColor fuelColor; ///< Current color for the fuel message, can be info, warning or critical color - - // Blink rates - int warningBlinkRate; ///< Blink rate of warning messages, will be rounded to the refresh rate - - QTimer* refreshTimer; ///< The main timer, controls the update rate - QPainter* hudPainter; - QFont font; ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts - QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system) - bool noCamera; ///< No camera images available, draw the ground/sky box to indicate the horizon - bool hardwareAcceleration; ///< Enable hardware acceleration - - float strongStrokeWidth; ///< Strong line stroke width, used throughout the HUD - float normalStrokeWidth; ///< Normal line stroke width, used throughout the HUD - float fineStrokeWidth; ///< Fine line stroke width, used throughout the HUD - - QString waypointName; ///< Waypoint name displayed in HUD - float roll; - float pitch; - float yaw; - float rollLP; - float pitchLP; - float yawLP; - double yawDiff; - double xPos; - double yPos; - double zPos; - double xSpeed; - double ySpeed; - double zSpeed; - quint64 lastSpeedUpdate; - double totalSpeed; - double totalAcc; - double lat; - double lon; - double alt; - float load; - QString offlineDirectory; - QString nextOfflineImage; - bool hudInstrumentsEnabled; - bool videoEnabled; - bool flowEnabled; - float xImageFactor; - float yImageFactor; - QAction* enableHUDAction; - QAction* enableVideoAction; - QAction* enableFlowFieldAction; - QAction* selectOfflineDirectoryAction; - QAction* selectVideoChannelAction; - void paintEvent(QPaintEvent *event); - bool imageRequested; - int flowFieldWidth; - int flowFieldHeight; - unsigned char** flowFieldX; - unsigned char** flowFieldY; - unsigned int flowWidth; - unsigned int flowHeight; - -}; - -#endif // QGCVIDEOWIDGET_H - - diff --git a/src/apps/qgcvideo/main.cc b/src/apps/qgcvideo/main.cc deleted file mode 100644 index 1996bdf8b..000000000 --- a/src/apps/qgcvideo/main.cc +++ /dev/null @@ -1,46 +0,0 @@ -/*===================================================================== - - QGroundControl Open Source Ground Control Station - - (c) 2009 - 2011 QGROUNDCONTROL PROJECT - - 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 . - - ======================================================================*/ - -/** - * @file - * @brief Main executable - * @author Lorenz Meier - * - */ - -#include -#include "QGCVideoApp.h" - -/** - * @brief Starts the application - * - * @param argc Number of commandline arguments - * @param argv Commandline arguments - * @return exit code, 0 for normal exit and !=0 for error cases - */ -int main(int argc, char *argv[]) -{ - - QGCVideoApp app(argc, argv); - return app.exec(); -} -- 2.22.0