Merge branch 'videostreaming' of https://github.com/fattonz/qgroundcontrol into dev

src/apps/qgcvideo/QGCVideoMainWindow.cc

@@ -35,6 +35,10 @@
 #include "UDPLink.h"
 #include <QDebug>
 
+  QByteArray imageRecBuffer1 = QByteArray(376*240,255);
+  QByteArray imageRecBuffer2 = QByteArray(376*240,255);
+  static int part = 0;
+
 QGCVideoMainWindow::QGCVideoMainWindow(QWidget *parent) :
     QMainWindow(parent),
     link(QHostAddress::Any, 5555),
@@ -70,29 +74,179 @@ void QGCVideoMainWindow::receiveBytes(LinkInterface* link, QByteArray data)
     // Output bytes and load Lenna!
 
     QString bytes;
+    QString index;
     QString ascii;
-    for (int i=0; i<data.size(); i++) {
-        unsigned char v = data[i];
+
+
+
+    // TODO FIXME Fabian
+    // RAW hardcoded to 22x22
+    int imgWidth = 376;
+    int imgHeight = 240;
+    int imgColors = 255;
+
+
+    //const int headerSize = 15;
+
+    // Construct PGM header
+    QString header("P5\n%1 %2\n%3\n");
+    header = header.arg(imgWidth).arg(imgHeight).arg(imgColors);
+
+    unsigned char i0 = data[0];
+
+    switch (i0)
+    {
+    case 0x01:
+        {
+            for (int i=4; i<data.size()/4; i++)
+            {
+                imageRecBuffer1[i] = data[i*4];
+                imageRecBuffer2[i] = data[i*4+1];
+            }
+            part = part | 1;
+            break;
+        }
+    case 0x02:
+        {
+            for (int i=4; i<data.size()/4; i++)
+            {
+                imageRecBuffer1[i+45124/4] = data[i*4];
+                imageRecBuffer2[i+45124/4] = data[i*4+1];
+            }
+            part = part | 2;
+            break;
+        }
+    case 0x03:
+        {
+            for (int i=4; i<data.size()/4; i++)
+            {
+                imageRecBuffer1[i+45124/4*2] = data[i*4];
+                imageRecBuffer2[i+45124/4*2] = data[i*4+1];
+            }
+            part = part | 4;
+            break;
+        }
+    case 0x04:
+        {
+            for (int i=4; i<data.size()/4; i++)
+            {
+                imageRecBuffer1[i+45124/4*3] = data[i*4];
+                imageRecBuffer2[i+45124/4*3] = data[i*4+1];
+            }
+            part = part | 8;
+            break;
+        }
+    case 0x05:
+        {
+            for (int i=4; i<data.size()/4; i++)
+            {
+                imageRecBuffer1[i+45124/4*4] = data[i*4];
+                imageRecBuffer2[i+45124/4*4] = data[i*4+1];
+            }
+            part = part | 16;
+            break;
+        }
+    case 0x06:
+        {
+            for (int i=4; i<data.size()/4; i++)
+            {
+                imageRecBuffer1[i+45124/4*5] = data[i*4];
+                imageRecBuffer2[i+45124/4*5] = data[i*4+1];
+            }
+            part = part | 32;
+            break;
+        }
+    case 0x07:
+        {
+            for (int i=4; i<data.size()/4; i++)
+            {
+                imageRecBuffer1[i+45124/4*6] = data[i*4];
+                imageRecBuffer2[i+45124/4*6] = data[i*4+1];
+            }
+            part = part | 64;
+            break;
+        }
+    case 0x08:
+        {
+            for (int i=4; i<data.size()/4; i++)
+            {
+                imageRecBuffer1[i+45124/4*7] = data[i*4];
+                imageRecBuffer2[i+45124/4*7] = data[i*4+1];
+            }
+            part = part | 128;
+            break;
+        }
+    }
+    if(part==255)
+    {
+
+        QByteArray tmpImage1(header.toStdString().c_str(), header.toStdString().size());
+        tmpImage1.append(imageRecBuffer1);
+        QByteArray tmpImage2(header.toStdString().c_str(), header.toStdString().size());
+        tmpImage2.append(imageRecBuffer2);
+
+        // Load image into window
+        //QImage test(":images/patterns/lenna.jpg");
+        QImage image1;
+        QImage image2;
+
+
+        if (imageRecBuffer1.isNull())
+            {
+                qDebug()<< "could not convertToPGM()";
+
+            }
+
+            if (!image1.loadFromData(tmpImage1, "PGM"))
+            {
+                qDebug()<< "could not create extracted image1";
+
+            }
+         if (imageRecBuffer2.isNull())
+            {
+                qDebug()<< "could not convertToPGM()";
+
+            }
+
+            if (!image2.loadFromData(tmpImage2, "PGM"))
+            {
+                 qDebug()<< "could not create extracted image2";
+
+            }
+        tmpImage1.clear();
+        tmpImage2.clear();
+        //ui->video1Widget->copyImage(test);
+        ui->video2Widget->copyImage(image1);
+        ui->video3Widget->copyImage(image2);
+        //ui->video4Widget->copyImage(test);
+        part = 0;
+        imageRecBuffer1.clear();
+        imageRecBuffer2.clear();
+    }
+
+
+
+    index.append(QString().sprintf("%02x ", i0));
+
+    for (int j=0; j<data.size(); j++) {
+        unsigned char v = data[j];
         bytes.append(QString().sprintf("%02x ", v));
-        if (data.at(i) > 31 && data.at(i) < 127)
+        if (data.at(j) > 31 && data.at(j) < 127)
         {
-            ascii.append(data.at(i));
+            ascii.append(data.at(j));
         }
         else
         {
             ascii.append(219);
         }
+
     }
      qDebug() << "Received" << data.size() << "bytes";
-    qDebug() << bytes;
-    qDebug() << "ASCII:" << ascii;
+     qDebug() << "index: " <<index;
+    //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

@@ -35,6 +35,8 @@
 #include <QMainWindow>
 #include "UDPLink.h"
 
+
+
 namespace Ui {
     class QGCVideoMainWindow;
 }
@@ -47,7 +49,9 @@ public:
     explicit QGCVideoMainWindow(QWidget *parent = 0);
     ~QGCVideoMainWindow();
 
+
 public slots:
+
     void receiveBytes(LinkInterface* link, QByteArray data);
 
 protected:

src/comm/UDPLink.cc

@@ -182,7 +182,7 @@ void UDPLink::writeBytes(const char* data, qint64 size)
  **/
 void UDPLink::readBytes()
 {
-    const qint64 maxLength = 2048;
+    const qint64 maxLength = 65536;
     char data[maxLength];
     QHostAddress sender;
     quint16 senderPort;