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qgroundcontrol
Commit 71c41962 authored by Don Gagne's avatar Don Gagne
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Merge pull request #2331 from DonLakeFlyer/qgcvideo 

Remove qgcvideo
parents aa0e7414 12c8df75
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qgcvideo.pro deleted 100644 → 0
View file @ aa0e7414
# 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
src/apps/qgcvideo/QGCVideoApp.cc deleted 100644 → 0
View file @ aa0e7414
/*=====================================================================
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 application class
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*
*/
#include <QFile>
#include <QFlags>
#include <QThread>
#include <QPixmap>
#include <QDesktopWidget>
#include <QPainter>
#include <QStyleFactory>
#include <QAction>
#include <QSettings>
#include <QFontDatabase>
#include <QMainWindow>
#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()
{
}
src/apps/qgcvideo/QGCVideoApp.h deleted 100644 → 0
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/*=====================================================================
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 Definition of main application class
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*
*/
#ifndef QGCVIDEOAPP_H
#define QGCVIDEOAPP_H
#include <QApplication>
/**
* @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 */
src/apps/qgcvideo/QGCVideoMainWindow.cc deleted 100644 → 0
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src/apps/qgcvideo/QGCVideoMainWindow.h deleted 100644 → 0
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/*=====================================================================
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 Definition of main window
*
* @author Dominik Honegger
*
*/
#ifndef QGCVIDEOMAINWINDOW_H
#define QGCVIDEOMAINWINDOW_H
#include <QMainWindow>
#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
src/apps/qgcvideo/QGCVideoMainWindow.ui deleted 100644 → 0
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QGCVideoMainWindow</class>
<widget class="QMainWindow" name="QGCVideoMainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>800</width>
<height>600</height>
</rect>
</property>
<property name="windowTitle">
<string>MainWindow</string>
</property>
<widget class="QWidget" name="centralwidget">
<layout class="QGridLayout" name="gridLayout" rowstretch="1,100,1,100">
<item row="1" column="0">
<widget class="QGCVideoWidget" name="video1Widget" native="true"/>
</item>
<item row="1" column="1">
<widget class="QGCVideoWidget" name="video2Widget" native="true"/>
</item>
<item row="3" column="0">
<widget class="QGCVideoWidget" name="video3Widget" native="true"/>
</item>
<item row="3" column="1">
<widget class="QGCVideoWidget" name="video4Widget" native="true"/>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Video 1</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Video 2</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Video 3</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Video 4</string>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>800</width>
<height>22</height>
</rect>
</property>
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
<customwidgets>
<customwidget>
<class>QGCVideoWidget</class>
<extends>QWidget</extends>
<header>QGCVideoWidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>
src/apps/qgcvideo/QGCVideoWidget.cc deleted 100644 → 0
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src/apps/qgcvideo/QGCVideoWidget.h deleted 100644 → 0
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#ifndef QGCVIDEOWIDGET_H
#define QGCVIDEOWIDGET_H
#include <QImage>
#include <QGLWidget>
#include <QPainter>
#include <QFontDatabase>
#include <QTimer>
#include <QVector>
/**
* @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
src/apps/qgcvideo/main.cc deleted 100644 → 0
View file @ aa0e7414
/*=====================================================================
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 Main executable
* @author Lorenz Meier <lm@inf.ethz.ch>
*
*/
#include <QApplication>
#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();
}
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