ardupilot/libraries/AP_OSD/AP_OSD_SITL.h

95 lines
2.5 KiB
C++

/*
* 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
#ifdef WITH_SITL_OSD
#include <AP_OSD/AP_OSD_Backend.h>
#ifdef HAVE_SFML_GRAPHICS_H
#include <SFML/Graphics.h>
#else
#include <SFML/Graphics.hpp>
#endif
class AP_OSD_SITL : public AP_OSD_Backend
{
public:
static AP_OSD_Backend *probe(AP_OSD &osd);
//draw given text to framebuffer
void write(uint8_t x, uint8_t y, const char* text) override;
//initialize display port and underlying hardware
bool init() override;
//flush framebuffer to screen
void flush() override;
//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);
sf::RenderWindow *w;
sf::Texture font[256];
uint8_t last_font;
// setup to match MAX7456 layout
static const uint8_t char_width = 12;
static const uint8_t char_height = 18;
static const uint8_t video_lines = 16; // PAL
static const uint8_t video_cols = 30;
static const uint8_t char_spacing = 0;
// scaling factor to make it easier to read
static const uint8_t char_scale = 2;
uint8_t buffer[video_lines][video_cols];
void update_thread();
static void *update_thread_start(void *obj);
void load_font();
pthread_t thread;
HAL_Semaphore mutex;
uint32_t counter;
uint32_t last_counter;
};
#endif // WITH_SITL_OSD