/*
* This file 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.
*
* This file 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 this program. If not, see .
*
*/
/*
OSD backend for SITL. Uses SFML media library. See
https://www.sfml-dev.org/index.php
To use install SFML libraries, and run sim_vehicle.py with --osd
option. Then set OSD_TYPE to 2
*/
#ifdef WITH_SITL_OSD
#include "AP_OSD_SITL.h"
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include "pthread.h"
extern const AP_HAL::HAL &hal;
/*
load *.bin font file, in MAX7456 format
*/
void AP_OSD_SITL::load_font(void)
{
uint32_t font_size;
const uint8_t *font_data = AP_ROMFS::find_file("osd_font.bin", font_size);
if (font_data == nullptr || font_size != 54 * 256) {
AP_HAL::panic("Bad font file");
}
for (uint16_t i=0; i<256; i++) {
const uint8_t *c = &font_data[i*54];
// each pixel is 4 bytes, RGBA
sf::Uint8 *pixels = new sf::Uint8[char_width * char_height * 4];
if (!font[i].create(char_width, char_height)) {
AP_HAL::panic("Failed to create texture");
}
for (uint16_t y=0; y> bitshift) & 3;
sf::Uint8 *p = &pixels[(y*char_width+x)*4];
switch (v) {
case 0:
p[0] = 0;
p[1] = 0;
p[2] = 0;
p[3] = 255;
break;
case 1:
case 3:
p[0] = 0;
p[1] = 0;
p[2] = 0;
p[3] = 0;
break;
case 2:
p[0] = 255;
p[1] = 255;
p[2] = 255;
p[3] = 255;
break;
}
}
}
font[i].update(pixels);
}
}
void AP_OSD_SITL::write(uint8_t x, uint8_t y, const char* text, uint8_t char_attr)
{
if (y >= video_lines || text == nullptr) {
return;
}
mutex->take_blocking();
while ((x < video_cols) && (*text != 0)) {
buffer[y][x] = *text;
attr[y][x] = char_attr;
++text;
++x;
}
mutex->give();
}
void AP_OSD_SITL::clear(void)
{
mutex->take_blocking();
memset(buffer, 0, sizeof(buffer));
mutex->give();
}
void AP_OSD_SITL::flush(void)
{
counter++;
}
// main loop of graphics thread
void AP_OSD_SITL::update_thread(void)
{
load_font();
w = new sf::RenderWindow(sf::VideoMode(video_cols*(char_width+char_spacing)*char_scale,
video_lines*(char_height+char_spacing)*char_scale),
"OSD");
if (!w) {
AP_HAL::panic("Unable to create OSD window");
}
uint8_t blink = 0;
while (w->isOpen())
{
sf::Event event;
while (w->pollEvent(event))
{
if (event.type == sf::Event::Closed)
w->close();
}
if (counter == last_counter) {
usleep(10000);
continue;
}
last_counter = counter;
uint8_t buffer2[video_lines][video_cols];
uint8_t attr2[video_lines][video_cols];
mutex->take_blocking();
memcpy(buffer2, buffer, sizeof(buffer2));
memcpy(attr2, attr, sizeof(attr2));
mutex->give();
w->clear();
for (uint8_t y=0; y= 2) {
c = ' ';
}
}
s.setTexture(font[c]);
s.setPosition(sf::Vector2f(px, py));
s.scale(sf::Vector2f(char_scale,char_scale));
w->draw(s);
}
}
blink = (blink+1) % 4;
w->display();
usleep(10000);
}
}
// trampoline for update thread
void *AP_OSD_SITL::update_thread_start(void *obj)
{
((AP_OSD_SITL *)obj)->update_thread();
return nullptr;
}
// initialise backend
bool AP_OSD_SITL::init(void)
{
mutex = hal.util->new_semaphore();
pthread_create(&thread, NULL, update_thread_start, this);
return true;
}
AP_OSD_Backend *AP_OSD_SITL::probe(AP_OSD &osd)
{
AP_OSD_SITL *backend = new AP_OSD_SITL(osd);
if (!backend) {
return nullptr;
}
if (!backend->init()) {
delete backend;
return nullptr;
}
return backend;
}
AP_OSD_SITL::AP_OSD_SITL(AP_OSD &osd):
AP_OSD_Backend(osd)
{
}
#endif // WITH_SITL_OSD