LM
14 years ago
13 changed files with 1632 additions and 146 deletions
@ -1,44 +1,92 @@
@@ -1,44 +1,92 @@
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the 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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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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/**
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* @file |
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* @brief Main executable |
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* @brief Implementation of main application class
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* |
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* @author Lorenz Meier <lm@inf.ethz.ch> |
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* |
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*/ |
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#include <QFile> |
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#include <QFlags> |
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#include <QThread> |
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#include <QSplashScreen> |
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#include <QPixmap> |
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#include <QDesktopWidget> |
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#include <QPainter> |
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#include <QStyleFactory> |
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#include <QAction> |
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#include <QSettings> |
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#include <QFontDatabase> |
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#include <QMainWindow> |
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#include "QGCVideoApp.h" |
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#include "ui_QGCVideoApp.h" |
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QGCVideoApp::QGCVideoApp(QWidget *parent) : |
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QMainWindow(parent), |
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ui(new Ui::QGCVideoApp) |
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/**
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* @brief Constructor for the main application. |
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* |
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* This constructor initializes and starts the whole application. It takes standard |
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* command-line parameters |
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* |
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* @param argc The number of command-line parameters |
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* @param argv The string array of parameters |
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**/ |
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QGCVideoApp::QGCVideoApp(int &argc, char* argv[]) : QApplication(argc, argv) |
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{ |
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ui->setupUi(this); |
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this->setApplicationName("QGC Video Streamer"); |
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this->setApplicationVersion("v. 1.0.0 (Beta)"); |
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this->setOrganizationName(QLatin1String("QGroundControl")); |
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this->setOrganizationDomain("http://qgroundcontrol.org"); |
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QSettings::setDefaultFormat(QSettings::IniFormat); |
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// Exit main application when last window is closed
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connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit())); |
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// Set application font
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QFontDatabase fontDatabase = QFontDatabase(); |
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const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
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const QString fontFamilyName = "Bitstream Vera Sans"; |
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if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str()); |
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fontDatabase.addApplicationFont(fontFileName); |
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setFont(fontDatabase.font(fontFamilyName, "Roman", 12)); |
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// Create main window
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QMainWindow* window = new QMainWindow(); |
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//window->setCentralWidget(new XMLCommProtocolWidget(window));
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window->setWindowTitle(applicationName() + " " + applicationVersion()); |
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window->show(); |
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} |
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/**
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* @brief Destructor for the groundstation. It destroys all loaded instances. |
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* |
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**/ |
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QGCVideoApp::~QGCVideoApp() |
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{ |
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delete ui; |
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} |
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@ -1,52 +1,58 @@
@@ -1,52 +1,58 @@
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project |
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|
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|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the 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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|
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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|
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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/**
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* @file |
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* @brief Main executable |
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* @brief Definition of main application class |
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* |
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* @author Lorenz Meier <lm@inf.ethz.ch> |
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* |
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*/ |
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#ifndef QGCVIDEOAPP_H |
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#define QGCVIDEOAPP_H |
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#include <QMainWindow> |
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#include <QApplication> |
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namespace Ui { |
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class QGCVideoApp; |
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} |
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class QGCVideoApp : public QMainWindow |
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/**
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* @brief The main application and management class. |
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* |
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* This class is started by the main method and provides |
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* the central management unit of the groundstation application. |
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* |
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**/ |
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class QGCVideoApp : public QApplication |
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{ |
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Q_OBJECT |
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public: |
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explicit QGCVideoApp(QWidget *parent = 0); |
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QGCVideoApp(int &argc, char* argv[]); |
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~QGCVideoApp(); |
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protected: |
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private: |
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Ui::QGCVideoApp *ui; |
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}; |
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#endif // QGCVIDEOAPP_H
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#endif /* QGCVIDEOAPP_H */ |
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@ -1,24 +0,0 @@
@@ -1,24 +0,0 @@
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<ui version="4.0"> |
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<author/> |
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<comment/> |
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<exportmacro/> |
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<class>QGCVideoApp</class> |
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<widget class="QMainWindow" name="QGCVideoApp"> |
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<property name="geometry"> |
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<rect> |
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<x>0</x> |
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<y>0</y> |
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<width>800</width> |
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<height>600</height> |
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</rect> |
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</property> |
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<property name="windowTitle"> |
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<string>MainWindow</string> |
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</property> |
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<widget class="QMenuBar" name="menubar"/> |
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<widget class="QWidget" name="centralwidget"/> |
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<widget class="QStatusBar" name="statusbar"/> |
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</widget> |
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<pixmapfunction/> |
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<connections/> |
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</ui> |
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@ -0,0 +1,45 @@
@@ -0,0 +1,45 @@
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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|
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This file is part of the QGROUNDCONTROL project |
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|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the 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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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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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 |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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/**
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* @file |
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* @brief Implementation of main window |
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* |
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* @author Dominik Honegger |
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* |
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*/ |
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#include "QGCVideoMainWindow.h" |
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#include "ui_QGCVideoMainWindow.h" |
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QGCVideoMainWindow::QGCVideoMainWindow(QWidget *parent) : |
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QMainWindow(parent), |
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ui(new Ui::QGCVideoMainWindow) |
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{ |
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ui->setupUi(this); |
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} |
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QGCVideoMainWindow::~QGCVideoMainWindow() |
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{ |
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delete ui; |
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} |
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@ -0,0 +1,53 @@
@@ -0,0 +1,53 @@
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/*=====================================================================
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QGroundControl Open Source Ground Control Station |
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(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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|
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This file is part of the QGROUNDCONTROL project |
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|
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the 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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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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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 |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/ |
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/**
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* @file |
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* @brief Definition of main window |
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* |
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* @author Dominik Honegger |
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* |
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*/ |
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#ifndef QGCVIDEOMAINWINDOW_H |
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#define QGCVIDEOMAINWINDOW_H |
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#include <QMainWindow> |
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namespace Ui { |
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class QGCVideoMainWindow; |
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} |
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class QGCVideoMainWindow : public QMainWindow |
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{ |
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Q_OBJECT |
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public: |
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explicit QGCVideoMainWindow(QWidget *parent = 0); |
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~QGCVideoMainWindow(); |
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private: |
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Ui::QGCVideoMainWindow *ui; |
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}; |
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#endif // QGCVIDEOMAINWINDOW_H
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@ -0,0 +1,82 @@
@@ -0,0 +1,82 @@
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<?xml version="1.0" encoding="UTF-8"?> |
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<ui version="4.0"> |
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<class>QGCVideoMainWindow</class> |
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<widget class="QMainWindow" name="QGCVideoMainWindow"> |
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<property name="geometry"> |
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<rect> |
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<x>0</x> |
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<y>0</y> |
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<width>800</width> |
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<height>600</height> |
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</rect> |
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</property> |
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<property name="windowTitle"> |
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<string>MainWindow</string> |
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</property> |
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<widget class="QWidget" name="centralwidget"> |
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<layout class="QGridLayout" name="gridLayout" rowstretch="1,100,1,100"> |
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<item row="1" column="0"> |
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<widget class="QGCVideoWidget" name="video1Widget" native="true"/> |
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</item> |
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<item row="1" column="1"> |
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<widget class="QGCVideoWidget" name="video2Widget" native="true"/> |
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</item> |
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<item row="3" column="0"> |
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<widget class="QGCVideoWidget" name="video3Widget" native="true"/> |
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</item> |
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<item row="3" column="1"> |
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<widget class="QGCVideoWidget" name="video4Widget" native="true"/> |
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</item> |
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<item row="0" column="0"> |
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<widget class="QLabel" name="label"> |
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<property name="text"> |
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<string>Video 1</string> |
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</property> |
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</widget> |
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</item> |
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<item row="0" column="1"> |
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<widget class="QLabel" name="label_2"> |
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<property name="text"> |
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<string>Video 2</string> |
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</property> |
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</widget> |
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</item> |
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<item row="2" column="0"> |
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<widget class="QLabel" name="label_3"> |
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<property name="text"> |
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<string>Video 3</string> |
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</property> |
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</widget> |
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</item> |
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<item row="2" column="1"> |
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<widget class="QLabel" name="label_4"> |
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<property name="text"> |
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<string>Video 4</string> |
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</property> |
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</widget> |
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</item> |
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</layout> |
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</widget> |
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<widget class="QMenuBar" name="menubar"> |
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<property name="geometry"> |
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<rect> |
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<x>0</x> |
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<y>0</y> |
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<width>800</width> |
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<height>22</height> |
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</rect> |
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</property> |
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</widget> |
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<widget class="QStatusBar" name="statusbar"/> |
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</widget> |
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<customwidgets> |
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<customwidget> |
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<class>QGCVideoWidget</class> |
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<extends>QWidget</extends> |
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<header>QGCVideoWidget.h</header> |
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<container>1</container> |
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</customwidget> |
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</customwidgets> |
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<resources/> |
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<connections/> |
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</ui> |
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File diff suppressed because it is too large
Load Diff
@ -0,0 +1,166 @@
@@ -0,0 +1,166 @@
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#ifndef QGCVIDEOWIDGET_H |
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#define QGCVIDEOWIDGET_H |
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#include <QImage> |
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#include <QGLWidget> |
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#include <QPainter> |
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#include <QFontDatabase> |
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#include <QTimer> |
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/**
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* @brief Video Display |
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* |
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* Displays video data from RAM via OpenGL |
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*/ |
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class QGCVideoWidget : public QGLWidget |
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{ |
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Q_OBJECT |
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public: |
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QGCVideoWidget(QWidget* parent = NULL); |
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~QGCVideoWidget(); |
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void resizeGL(int w, int h); |
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public slots: |
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void initializeGL(); |
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void saveImage(); |
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void saveImage(QString fileName); |
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/** @brief Copy an image from an external buffer */ |
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void copyImage(const QImage& img); |
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void enableHUDInstruments(bool enabled) { hudInstrumentsEnabled = enabled; } |
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protected slots: |
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void paintCenterBackground(float roll, float pitch, float yaw); |
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void paintRollPitchStrips(); |
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void paintPitchLines(float pitch, QPainter* painter); |
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/** @brief Paint text on top of the image and OpenGL drawings */ |
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void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter); |
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/** @brief Setup the OpenGL view for drawing a sub-component of the HUD */ |
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void setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight); |
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void paintHUD(); |
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void paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter* painter); |
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void paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter* painter); |
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void drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter); |
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void drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter); |
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void drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter); |
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void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter); |
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void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true); |
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void drawPolygon(QPolygonF refPolygon, QPainter* painter); |
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protected: |
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void commitRawDataToGL(); |
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/** @brief Convert reference coordinates to screen coordinates */ |
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float refToScreenX(float x); |
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/** @brief Convert reference coordinates to screen coordinates */ |
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float refToScreenY(float y); |
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/** @brief Convert mm line widths to QPen line widths */ |
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float refLineWidthToPen(float line); |
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/** @brief Rotate a polygon around a point clockwise */ |
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void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin); |
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/** @brief Preferred Size */ |
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QSize sizeHint() const; |
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/** @brief Start updating widget */ |
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void showEvent(QShowEvent* event); |
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/** @brief Stop updating widget */ |
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void hideEvent(QHideEvent* event); |
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void contextMenuEvent (QContextMenuEvent* event); |
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void createActions(); |
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static const int updateInterval = 40; |
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QImage* image; ///< Double buffer image
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QImage glImage; ///< The background / camera image
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float yawInt; ///< The yaw integral. Used to damp the yaw indication.
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QString mode; ///< The current vehicle mode
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QString state; ///< The current vehicle state
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QString fuelStatus; ///< Current fuel level / battery voltage
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double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates
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float xCenterOffset, yCenterOffset; ///< Offset from center of window in mm coordinates
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float vwidth; ///< Virtual width of this window, 200 mm per default. This allows to hardcode positions and aspect ratios. This virtual image plane is then scaled to the window size.
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float vheight; ///< Virtual height of this window, 150 mm per default
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float vGaugeSpacing; ///< Virtual spacing of the gauges from the center, 50 mm per default
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float vPitchPerDeg; ///< Virtual pitch to mm conversion. Currently one degree is 3 mm up/down in the pitch markings
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int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
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int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
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|
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// Image buffers
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unsigned char* rawBuffer1; ///< Double buffer 1 for the image
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unsigned char* rawBuffer2; ///< Double buffer 2 for the image
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unsigned char* rawImage; ///< Pointer to current complete image
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int rawLastIndex; ///< The last byte index received of the image
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int rawExpectedBytes; ///< Number of raw image bytes expected. Calculated by: image depth * channels * widht * height / 8
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int bytesPerLine; ///< Bytes per image line. Is calculated as: image depth * channels * width / 8
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bool imageStarted; ///< If an image is currently in transmission
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int receivedDepth; ///< Image depth in bit for the current image
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int receivedChannels; ///< Number of color channels
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int receivedWidth; ///< Width in pixels of the current image
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int receivedHeight; ///< Height in pixels of the current image
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|
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// HUD colors
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QColor defaultColor; ///< Color for most HUD elements, e.g. pitch lines, center cross, change rate gauges
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QColor setPointColor; ///< Color for the current control set point, e.g. yaw desired
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QColor warningColor; ///< Color for warning messages
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QColor criticalColor; ///< Color for caution messages
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QColor infoColor; ///< Color for normal/default messages
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QColor fuelColor; ///< Current color for the fuel message, can be info, warning or critical color
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|
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// Blink rates
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int warningBlinkRate; ///< Blink rate of warning messages, will be rounded to the refresh rate
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|
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QTimer* refreshTimer; ///< The main timer, controls the update rate
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QPainter* hudPainter; |
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QFont font; ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts
|
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QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system)
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bool noCamera; ///< No camera images available, draw the ground/sky box to indicate the horizon
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bool hardwareAcceleration; ///< Enable hardware acceleration
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|
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float strongStrokeWidth; ///< Strong line stroke width, used throughout the HUD
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float normalStrokeWidth; ///< Normal line stroke width, used throughout the HUD
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float fineStrokeWidth; ///< Fine line stroke width, used throughout the HUD
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|
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QString waypointName; ///< Waypoint name displayed in HUD
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float roll; |
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float pitch; |
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float yaw; |
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float rollLP; |
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float pitchLP; |
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float yawLP; |
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double yawDiff; |
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double xPos; |
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double yPos; |
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double zPos; |
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double xSpeed; |
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double ySpeed; |
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double zSpeed; |
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quint64 lastSpeedUpdate; |
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double totalSpeed; |
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double totalAcc; |
||||
double lat; |
||||
double lon; |
||||
double alt; |
||||
float load; |
||||
QString offlineDirectory; |
||||
QString nextOfflineImage; |
||||
bool hudInstrumentsEnabled; |
||||
bool videoEnabled; |
||||
float xImageFactor; |
||||
float yImageFactor; |
||||
QAction* enableHUDAction; |
||||
QAction* enableVideoAction; |
||||
QAction* selectOfflineDirectoryAction; |
||||
QAction* selectVideoChannelAction; |
||||
void paintEvent(QPaintEvent *event); |
||||
bool imageRequested; |
||||
|
||||
}; |
||||
|
||||
#endif // QGCVIDEOWIDGET_H
|
||||
|
||||
|
||||
Loading…
Reference in new issue