#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