Finished early video streaming prototype

mavground.qrc

@@ -86,6 +86,7 @@
         <file>images/mapproviders/googleearth.svg</file>
         <file>images/contrib/slugs.png</file>
         <file>images/style-outdoor.css</file>
+        <file>images/patterns/lenna.jpg</file>
     </qresource>
     <qresource prefix="/general">
         <file alias="vera.ttf">images/Vera.ttf</file>

qgcvideo.pro

@@ -29,11 +29,18 @@ INCLUDEPATH += . \
 # Input
 
 HEADERS += \
+    src/comm/UDPLink.h \
+    src/comm/LinkInterface.h \
+    src/comm/LinkManager.h \
+    src/QGC.h \
     src/apps/qgcvideo/QGCVideoMainWindow.h \
     src/apps/qgcvideo/QGCVideoApp.h \
     src/apps/qgcvideo/QGCVideoWidget.h
 
 SOURCES += \
+    src/comm/UDPLink.cc \
+    src/comm/LinkManager.cc \
+    src/QGC.cc \
     src/apps/qgcvideo/main.cc \
     src/apps/qgcvideo/QGCVideoMainWindow.cc \
     src/apps/qgcvideo/QGCVideoApp.cc \

src/apps/qgcvideo/QGCVideoApp.cc

@@ -44,6 +44,8 @@
 #include <QMainWindow>
 
 #include "QGCVideoApp.h"
+#include "QGCVideoMainWindow.h"
+#include "UDPLink.h"
 
 
 /**
@@ -76,7 +78,7 @@ QGCVideoApp::QGCVideoApp(int &argc, char* argv[]) : QApplication(argc, argv)
     setFont(fontDatabase.font(fontFamilyName, "Roman", 12));
 
     // Create main window
-    QMainWindow* window = new QMainWindow();
+    QMainWindow* window = new QGCVideoMainWindow();
     //window->setCentralWidget(new XMLCommProtocolWidget(window));
     window->setWindowTitle(applicationName() + " " + applicationVersion());
     window->show();

src/apps/qgcvideo/QGCVideoMainWindow.cc

@@ -32,14 +32,67 @@
 #include "QGCVideoMainWindow.h"
 #include "ui_QGCVideoMainWindow.h"
 
+#include "UDPLink.h"
+#include <QDebug>
+
 QGCVideoMainWindow::QGCVideoMainWindow(QWidget *parent) :
     QMainWindow(parent),
+    link(QHostAddress::Any, 5555),
     ui(new Ui::QGCVideoMainWindow)
 {
     ui->setupUi(this);
+
+    // Set widgets in video mode
+    ui->video1Widget->enableVideo(true);
+    ui->video2Widget->enableVideo(true);
+    ui->video3Widget->enableVideo(true);
+    ui->video4Widget->enableVideo(true);
+
+    // Connect link to this widget, receive all bytes
+    connect(&link, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*,QByteArray)));
+
+    // Open port
+    link.connect();
 }
 
 QGCVideoMainWindow::~QGCVideoMainWindow()
 {
     delete ui;
 }
+
+void QGCVideoMainWindow::receiveBytes(LinkInterface* link, QByteArray data)
+{
+    // There is no need to differentiate between links
+    // for this use case here
+    Q_UNUSED(link);
+
+    // Image data is stored in QByteArray
+    // Output bytes and load Lenna!
+
+    QString bytes;
+    QString ascii;
+    for (int i=0; i<data.size(); i++) {
+        unsigned char v = data[i];
+        bytes.append(QString().sprintf("%02x ", v));
+        if (data.at(i) > 31 && data.at(i) < 127)
+        {
+            ascii.append(data.at(i));
+        }
+        else
+        {
+            ascii.append(219);
+        }
+    }
+    qDebug() << "Received" << data.size() << "bytes";
+    qDebug() << bytes;
+    qDebug() << "ASCII:" << ascii;
+
+
+    // Load image into window
+    QImage test(":images/patterns/lenna.jpg");
+
+    ui->video1Widget->copyImage(test);
+    ui->video2Widget->copyImage(test);
+    ui->video3Widget->copyImage(test);
+    ui->video4Widget->copyImage(test);
+}

src/apps/qgcvideo/QGCVideoMainWindow.h

@@ -33,6 +33,7 @@
 #define QGCVIDEOMAINWINDOW_H
 
 #include <QMainWindow>
+#include "UDPLink.h"
 
 namespace Ui {
     class QGCVideoMainWindow;
@@ -46,6 +47,12 @@ public:
     explicit QGCVideoMainWindow(QWidget *parent = 0);
     ~QGCVideoMainWindow();
 
+public slots:
+    void receiveBytes(LinkInterface* link, QByteArray data);
+
+protected:
+    UDPLink link;
+
 private:
     Ui::QGCVideoMainWindow *ui;
 };

src/apps/qgcvideo/QGCVideoWidget.cc

@@ -160,7 +160,7 @@ QGCVideoWidget::QGCVideoWidget(QWidget* parent)
 
     // Refresh timer
     refreshTimer->setInterval(updateInterval);
-    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintQGCVideoWidget()));
+    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
 
     // Resize to correct size and fill with image
     //glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
@@ -201,16 +201,12 @@ QSize QGCVideoWidget::sizeHint() const
 
 void QGCVideoWidget::showEvent(QShowEvent* event)
 {
-    // React only to internal (pre-display)
-    // events
     Q_UNUSED(event)
     refreshTimer->start(updateInterval);
 }
 
 void QGCVideoWidget::hideEvent(QHideEvent* event)
 {
-    // React only to internal (pre-display)
-    // events
     Q_UNUSED(event);
     refreshTimer->stop();
 }
@@ -220,20 +216,20 @@ void QGCVideoWidget::contextMenuEvent (QContextMenuEvent* event)
     QMenu menu(this);
     // Update actions
     enableHUDAction->setChecked(hudInstrumentsEnabled);
-    enableVideoAction->setChecked(videoEnabled);
+//    enableVideoAction->setChecked(videoEnabled);
 
     menu.addAction(enableHUDAction);
     //menu.addAction(selectQGCVideoWidgetColorAction);
-    menu.addAction(enableVideoAction);
-    menu.addAction(selectOfflineDirectoryAction);
+//    menu.addAction(enableVideoAction);
+//    menu.addAction(selectOfflineDirectoryAction);
     //menu.addAction(selectVideoChannelAction);
     menu.exec(event->globalPos());
 }
 
 void QGCVideoWidget::createActions()
 {
-    enableHUDAction = new QAction(tr("Enable QGCVideoWidget"), this);
-    enableHUDAction->setStatusTip(tr("Show the QGCVideoWidget instruments in this window"));
+    enableHUDAction = new QAction(tr("Enable HUD"), this);
+    enableHUDAction->setStatusTip(tr("Show the HUD instruments in this window"));
     enableHUDAction->setCheckable(true);
     enableHUDAction->setChecked(hudInstrumentsEnabled);
     connect(enableHUDAction, SIGNAL(triggered(bool)), this, SLOT(enableHUDInstruments(bool)));
@@ -242,11 +238,11 @@ void QGCVideoWidget::createActions()
     enableVideoAction->setStatusTip(tr("Show the video live feed"));
     enableVideoAction->setCheckable(true);
     enableVideoAction->setChecked(videoEnabled);
-    connect(enableVideoAction, SIGNAL(triggered(bool)), this, SLOT(enableVideo(bool)));
+//    connect(enableVideoAction, SIGNAL(triggered(bool)), this, SLOT(enableVideo(bool)));
 
     selectOfflineDirectoryAction = new QAction(tr("Select image log"), this);
     selectOfflineDirectoryAction->setStatusTip(tr("Load previously logged images into simulation / replay"));
-    connect(selectOfflineDirectoryAction, SIGNAL(triggered()), this, SLOT(selectOfflineDirectory()));
+//    connect(selectOfflineDirectoryAction, SIGNAL(triggered()), this, SLOT(selectOfflineDirectory()));
 }
 
 /**

src/apps/qgcvideo/QGCVideoWidget.h

@@ -30,6 +30,7 @@ public slots:
     /** @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; }
 
 
 protected slots: