mirror of https://github.com/ArduPilot/ardupilot
95 lines
2.5 KiB
C++
95 lines
2.5 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#ifdef WITH_SITL_OSD
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#include <AP_OSD/AP_OSD_Backend.h>
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#ifdef HAVE_SFML_GRAPHICS_H
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#include <SFML/Graphics.h>
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#else
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#include <SFML/Graphics.hpp>
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#endif
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class AP_OSD_SITL : public AP_OSD_Backend
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{
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public:
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static AP_OSD_Backend *probe(AP_OSD &osd);
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//draw given text to framebuffer
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void write(uint8_t x, uint8_t y, const char* text) override;
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//initialize display port and underlying hardware
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bool init() override;
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//flush framebuffer to screen
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void flush() override;
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//clear framebuffer
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void clear() override;
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bool is_compatible_with_backend_type(AP_OSD::osd_types type) const override {
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switch(type) {
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case AP_OSD::osd_types::OSD_MAX7456:
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case AP_OSD::osd_types::OSD_SITL:
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return false;
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case AP_OSD::osd_types::OSD_NONE:
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case AP_OSD::osd_types::OSD_TXONLY:
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case AP_OSD::osd_types::OSD_MSP:
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case AP_OSD::osd_types::OSD_MSP_DISPLAYPORT:
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return true;
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}
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return false;
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}
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AP_OSD::osd_types get_backend_type() const override {
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return AP_OSD::osd_types::OSD_SITL;
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}
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private:
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//constructor
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AP_OSD_SITL(AP_OSD &osd);
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sf::RenderWindow *w;
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sf::Texture font[256];
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uint8_t last_font;
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// setup to match MAX7456 layout
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static const uint8_t char_width = 12;
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static const uint8_t char_height = 18;
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static const uint8_t video_lines = 16; // PAL
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static const uint8_t video_cols = 30;
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static const uint8_t char_spacing = 0;
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// scaling factor to make it easier to read
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static const uint8_t char_scale = 2;
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uint8_t buffer[video_lines][video_cols];
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void update_thread();
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static void *update_thread_start(void *obj);
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void load_font();
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pthread_t thread;
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HAL_Semaphore mutex;
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uint32_t counter;
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uint32_t last_counter;
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};
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#endif // WITH_SITL_OSD
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