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AP_OSD: added OSD_TYPE2 param to enable dual OSDs backend support 

Co-authored-by:HWurzburg(hurzburg@yahoo.com)

up to 2 OSD instances can run at the same time sharing a single OSD thread

)
This commit is contained in:
yaapu 2023-07-07 13:30:54 -05:00 committed by Peter Barker
parent 3923dcb63e
commit 4f69f9cc23
8 changed files with 164 additions and 41 deletions
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109
libraries/AP_OSD/AP_OSD.cpp
View File

@ -232,6 +232,15 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
AP_SUBGROUPINFO2(screen[2], "3_", 29, AP_OSD, AP_OSD_Screen),
AP_SUBGROUPINFO2(screen[3], "4_", 30, AP_OSD, AP_OSD_Screen),
#endif
// @Param: _TYPE2
// @DisplayName: OSD type 2
// @Description: OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.
// @Values: 0:None,1:MAX7456,2:SITL,3:MSP,4:TXONLY,5:MSP_DISPLAYPORT
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("_TYPE2", 32, AP_OSD, osd_type2, 0),
AP_GROUPEND
};
@ -263,7 +272,29 @@ AP_OSD::AP_OSD()
void AP_OSD::init()
{
switch (osd_types(osd_type.get())) {
const AP_OSD::osd_types types[OSD_MAX_INSTANCES] = {
osd_types(osd_type.get()),
osd_types(osd_type2.get())
};
for (uint8_t instance = 0; instance < OSD_MAX_INSTANCES; instance++) {
if (init_backend(types[instance], instance)) {
_backend_count++;
}
}
if (_backend_count > 0) {
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OSD::osd_thread, void), "OSD", 1280, AP_HAL::Scheduler::PRIORITY_IO, 1);
}
}
bool AP_OSD::init_backend(const AP_OSD::osd_types type, const uint8_t instance)
{
// check if we can run this backend instance in parallel with backend instance 0
if (instance > 0) {
if (_backends[0] && !_backends[0]->is_compatible_with_backend_type(type)) {
return false;
}
}
switch (type) {
case OSD_NONE:
case OSD_TXONLY:
default:
@ -276,9 +307,9 @@ void AP_OSD::init()
break;
}
#if HAL_WITH_OSD_BITMAP
backend = AP_OSD_MAX7456::probe(*this, std::move(spi_dev));
_backends[instance] = AP_OSD_MAX7456::probe(*this, std::move(spi_dev));
#endif
if (backend == nullptr) {
if (_backends[instance] == nullptr) {
break;
}
DEV_PRINTF("Started MAX7456 OSD\n");
@ -288,8 +319,8 @@ void AP_OSD::init()
#ifdef WITH_SITL_OSD
case OSD_SITL: {
backend = AP_OSD_SITL::probe(*this);
if (backend == nullptr) {
_backends[instance] = AP_OSD_SITL::probe(*this);
if (_backends[instance] == nullptr) {
break;
}
DEV_PRINTF("Started SITL OSD\n");
@ -297,8 +328,8 @@ void AP_OSD::init()
}
#endif
case OSD_MSP: {
backend = AP_OSD_MSP::probe(*this);
if (backend == nullptr) {
_backends[instance] = AP_OSD_MSP::probe(*this);
if (_backends[instance] == nullptr) {
break;
}
DEV_PRINTF("Started MSP OSD\n");
@ -306,8 +337,8 @@ void AP_OSD::init()
}
#if HAL_WITH_MSP_DISPLAYPORT
case OSD_MSP_DISPLAYPORT: {
backend = AP_OSD_MSP_DisplayPort::probe(*this);
if (backend == nullptr) {
_backends[instance] = AP_OSD_MSP_DisplayPort::probe(*this);
if (_backends[instance] == nullptr) {
break;
}
DEV_PRINTF("Started MSP DisplayPort OSD\n");
@ -316,12 +347,12 @@ void AP_OSD::init()
#endif
}
#if OSD_ENABLED
if (backend != nullptr) {
if (_backends[instance] != nullptr) {
// populate the fonts lookup table
backend->init_symbol_set(AP_OSD_AbstractScreen::symbols_lookup_table, AP_OSD_NUM_SYMBOLS);
// create thread as higher priority than IO for all backends
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_OSD::osd_thread, void), "OSD", 1280, AP_HAL::Scheduler::PRIORITY_IO, 1);
_backends[instance]->init_symbol_set(AP_OSD_AbstractScreen::symbols_lookup_table, AP_OSD_NUM_SYMBOLS);
return true;
}
return false;
#endif
}
@ -329,30 +360,36 @@ void AP_OSD::init()
void AP_OSD::osd_thread()
{
// initialize thread specific code once
backend->osd_thread_run_once();
for (uint8_t instance = 0; instance < _backend_count; instance++) {
_backends[instance]->osd_thread_run_once();
}
while (true) {
hal.scheduler->delay(100);
if (!_disable) {
update_stats();
update_current_screen();
}
update_osd();
}
}
void AP_OSD::update_osd()
{
backend->clear();
for (uint8_t instance = 0; instance < _backend_count; instance++) {
_backends[instance]->clear();
if (!_disable) {
update_stats();
update_current_screen();
get_screen(current_screen).set_backend(backend);
// skip drawing for MSP OSD backends to save some resources
if (osd_types(osd_type.get()) != OSD_MSP) {
get_screen(current_screen).draw();
if (!_disable) {
get_screen(current_screen).set_backend(_backends[instance]);
// skip drawing for MSP OSD backends to save some resources
if (_backends[instance]->get_backend_type() != OSD_MSP) {
get_screen(current_screen).draw();
}
}
}
backend->flush();
_backends[instance]->flush();
}
}
//update maximums and totals
@ -545,6 +582,28 @@ void AP_OSD::set_nav_info(NavInfo &navinfo)
// do this without a lock for now
nav_info = navinfo;
}
// pre_arm_check - returns true if all pre-takeoff checks have completed successfully
bool AP_OSD::pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const
{
#if OSD_PARAM_ENABLED
// currently in the OSD menu, do not allow arming
if (!is_readonly_screen()) {
hal.util->snprintf(failure_msg, failure_msg_len, "In OSD menu");
return false;
}
#endif
//check if second backend was requested by user but not instantiated
if (osd_type.get() != OSD_NONE && _backend_count == 1 && osd_type2.get() != OSD_NONE) {
hal.util->snprintf(failure_msg, failure_msg_len, "OSD_TYPE2 not compatible with first OSD");
return false;
}
// if we got this far everything must be ok
return true;
}
#endif // OSD_ENABLED
// handle OSD parameter configuration

8
libraries/AP_OSD/AP_OSD.h
View File

@ -49,6 +49,7 @@ class AP_MSP;
#define PARAM_TOKEN_INDEX(token) PARAM_INDEX(AP_Param::get_persistent_key(token.key), token.idx, token.group_element)
#define AP_OSD_NUM_SYMBOLS 91
#define OSD_MAX_INSTANCES 2
/*
class to hold one setting
*/
@ -506,6 +507,9 @@ public:
OSD_TXONLY=4,
OSD_MSP_DISPLAYPORT=5
};
bool init_backend(const osd_types type, const uint8_t instance);
enum switch_method {
TOGGLE=0,
PWM_RANGE=1,
@ -513,6 +517,7 @@ public:
};
AP_Int8 osd_type;
AP_Int8 osd_type2; // additional backend active in parallel
AP_Int8 font_num;
AP_Int32 options;
@ -649,7 +654,8 @@ private:
StatsInfo _stats;
#endif
AP_OSD_Backend *backend;
AP_OSD_Backend *_backends[OSD_MAX_INSTANCES];
uint8_t _backend_count;
static AP_OSD *_singleton;
// multi-thread access support

2
libraries/AP_OSD/AP_OSD_Backend.h
View File

@ -55,6 +55,8 @@ public:
// copy the backend specific symbol set to the OSD lookup table
virtual void init_symbol_set(uint8_t *symbols, const uint8_t size);
virtual bool is_compatible_with_backend_type(AP_OSD::osd_types type) const = 0;
virtual AP_OSD::osd_types get_backend_type() const = 0;
// called by the OSD thread once
virtual void osd_thread_run_once() { return; }

20
libraries/AP_OSD/AP_OSD_MAX7456.h
View File

@ -39,7 +39,25 @@ public:
void clear() override;
// return a correction factor used to display angles correctly
float get_aspect_ratio_correction() const override;
float get_aspect_ratio_correction() const override;
bool is_compatible_with_backend_type(AP_OSD::osd_types type) const override {
switch(type) {
case AP_OSD::osd_types::OSD_MAX7456:
case AP_OSD::osd_types::OSD_SITL:
return false;
case AP_OSD::osd_types::OSD_NONE:
case AP_OSD::osd_types::OSD_TXONLY:
case AP_OSD::osd_types::OSD_MSP:
case AP_OSD::osd_types::OSD_MSP_DISPLAYPORT:
return true;
}
return false;
}
AP_OSD::osd_types get_backend_type() const override {
return AP_OSD::osd_types::OSD_MAX7456;
}
private:

17
libraries/AP_OSD/AP_OSD_MSP.h
View File

@ -19,6 +19,23 @@ public:
//clear framebuffer
void clear() override {};
bool is_compatible_with_backend_type(AP_OSD::osd_types type) const override {
switch(type) {
case AP_OSD::osd_types::OSD_MSP:
case AP_OSD::osd_types::OSD_MSP_DISPLAYPORT:
return false;
case AP_OSD::osd_types::OSD_NONE:
case AP_OSD::osd_types::OSD_TXONLY:
case AP_OSD::osd_types::OSD_MAX7456:
case AP_OSD::osd_types::OSD_SITL:
return true;
}
return false;
}
AP_OSD::osd_types get_backend_type() const override {
return AP_OSD::osd_types::OSD_MSP;
}
private:
void setup_defaults(void);
};

17
libraries/AP_OSD/AP_OSD_MSP_DisplayPort.h
View File

@ -30,7 +30,24 @@ public:
// return a correction factor used to display angles correctly
float get_aspect_ratio_correction() const override;
bool is_compatible_with_backend_type(AP_OSD::osd_types type) const override {
switch(type) {
case AP_OSD::osd_types::OSD_MSP:
case AP_OSD::osd_types::OSD_MSP_DISPLAYPORT:
return false;
case AP_OSD::osd_types::OSD_NONE:
case AP_OSD::osd_types::OSD_TXONLY:
case AP_OSD::osd_types::OSD_MAX7456:
case AP_OSD::osd_types::OSD_SITL:
return true;
}
return false;
}
AP_OSD::osd_types get_backend_type() const override {
return AP_OSD::osd_types::OSD_MSP_DISPLAYPORT;
}
protected:
uint8_t format_string_for_osd(char* dst, uint8_t size, bool decimal_packed, const char *fmt, va_list ap) override;

13
libraries/AP_OSD/AP_OSD_ParamScreen.cpp
View File

@ -595,19 +595,6 @@ void AP_OSD_ParamScreen::draw(void)
}
#endif
// pre_arm_check - returns true if all pre-takeoff checks have completed successfully
bool AP_OSD::pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const
{
// currently in the OSD menu, do not allow arming
if (!is_readonly_screen()) {
hal.util->snprintf(failure_msg, failure_msg_len, "In OSD menu");
return false;
}
// if we got this far everything must be ok
return true;
}
#endif // OSD_ENABLED
// save all of the parameters

19
libraries/AP_OSD/AP_OSD_SITL.h
View File

@ -34,7 +34,7 @@ public:
//draw given text to framebuffer
void write(uint8_t x, uint8_t y, const char* text) override;
//initilize display port and underlying hardware
//initialize display port and underlying hardware
bool init() override;
//flush framebuffer to screen
@ -43,6 +43,23 @@ public:
//clear framebuffer
void clear() override;
bool is_compatible_with_backend_type(AP_OSD::osd_types type) const override {
switch(type) {
case AP_OSD::osd_types::OSD_MAX7456:
case AP_OSD::osd_types::OSD_SITL:
return false;
case AP_OSD::osd_types::OSD_NONE:
case AP_OSD::osd_types::OSD_TXONLY:
case AP_OSD::osd_types::OSD_MSP:
case AP_OSD::osd_types::OSD_MSP_DISPLAYPORT:
return true;
}
return false;
}
AP_OSD::osd_types get_backend_type() const override {
return AP_OSD::osd_types::OSD_SITL;
}
private:
//constructor
AP_OSD_SITL(AP_OSD &osd);