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osd.c
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#include <arpa/inet.h>
#include <fcntl.h>
#include <libgen.h> // For dirname()
#include <math.h>
#include <netinet/in.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/socket.h>
#include <time.h>
#include <unistd.h>
#include "osd/msp/msp.h"
#include "osd/msp/msp_displayport.h"
#if defined(_x86) || defined(__ROCKCHIP__)
// #include <cairo/cairo.h>
// #include <cairo/cairo-xlib.h>
// #include <X11/Xlib.h>
// #include <X11/Xutil.h>
// #include <X11/Xatom.h>
// #include <stdio.h>
// #include <stdbool.h>
#include "osd/util/Render_gs.c"
#else
#include "bmp/common.h"
#include "bmp/region.h"
#endif
#include "bmp/bitmap.h"
#include "bmp/region.h"
#include "bmp/text.h"
#include "libpng/lodepng.h"
#define X_OFFSET 0
#define CLOCK_MONOTONIC 1
/*------------------------------------------------------------------------------------------------------*/
/*------------MSP PROTOCOL MSG PROCESSING
* ----------------------------------------------------------------*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
#include <unistd.h>
//#include "osd/msp/msp.h"
//#include "osd/msp/msp_displayport.h"
#include "osd/util/debug.h"
#include "osd/util/fs_util.h"
#include "osd/util/time_util.h"
#include "osd/util/interface.h"
#include "osd/util/settings.h"
#define CPU_TEMP_PATH "/sys/devices/platform/soc/f0a00000.apb/f0a71000.omc/temp1"
#define AU_VOLTAGE_PATH "/sys/devices/platform/soc/f0a00000.apb/f0a71000.omc/voltage4"
#define FAST_SERIAL_KEY "fast_serial"
#define CACHE_SERIAL_KEY "cache_serial"
#define COMPRESS_KEY "compress_osd"
#define UPDATE_RATE_KEY "osd_update_rate_hz"
#define NO_BTFL_HD_KEY "disable_betaflight_hd"
// The MSP_PORT is used to send MSP passthrough messages.
// The DATA_PORT is used to send arbitrary data - for example, bitrate and
// temperature data.
#define MSP_PORT 7654
#define DATA_PORT 7655
#define COMPRESSED_DATA_PORT 7656
#define COMPRESSED_DATA_VERSION 1
enum { MAX_DISPLAY_X = 60, MAX_DISPLAY_Y = 22 };
// The Betaflight MSP minor version in which MSP DisplayPort sizing is
// supported.
#define MSP_DISPLAY_SIZE_VERSION 45
extern FrequencyChannel fc_list[MAX_ENTRIES]; // Array to store frequency-channel pairs
typedef struct msp_cache_entry_s {
struct timespec time;
msp_msg_t message;
} msp_cache_entry_t;
static msp_cache_entry_t *msp_message_cache[256]; // make a slot for all possible messages
static uint8_t frame_buffer[1024]; // buffer a whole frame of MSP commands until we get a
// draw command. needs to fit in UDP !
static uint32_t fb_cursor = 0;
char _port_name[80];
static uint8_t message_buffer[256]; // only needs to be the maximum size of an
// MSP packet, we only care to fwd MSP
static char current_fc_identifier[4];
static char current_fc_identifier_end_of_string = 0x00;
/* For compressed full-frame transmission */
static uint16_t msp_character_map_buffer[MAX_DISPLAY_X][MAX_DISPLAY_Y];
static uint16_t msp_character_map_draw[MAX_DISPLAY_X][MAX_DISPLAY_Y];
static msp_hd_options_e msp_hd_option = 0;
static displayport_vtable_t *display_driver = NULL;
uint8_t update_rate_hz = 2;
static unsigned long long LastDrawn = 0;
static unsigned long long LastPcktSent = 0;
static int MinTimeBetweenScreenRefresh;
int pty_fd;
int serial_fd;
int socket_fd;
int compressed_fd;
/// @brief Will skip char on the left to allow for smaller matrix and overlay
/// area
int SkipXChar = 0;
int font_pages = 2;
static uint8_t serial_passthrough = 1;
static uint8_t compress = 0;
static uint8_t no_btfl_hd = 0;
static int16_t last_pitch = 0;
static int16_t last_roll = 0;
static int16_t last_heading = 0;
static int16_t last_directionToHome = 0;
static int16_t last_distanceToHome = 0;
int AHI_TiltY = 50;
// https://github.com/betaflight/betaflight/blob/master/src/main/msp/msp.c#L1949
typedef struct {
uint8_t vtxType;
uint8_t band;
uint8_t channel;
uint8_t power;
uint8_t pitmode;
// uint16_t freq; // This doesnt work and bytes are missing after memcpy.
uint8_t freqLSB;
uint8_t freqMSB;
uint8_t deviceIsReady;
uint8_t lowPowerDisarm;
// uint16_t pitModeFreq; // This doesnt work and bytes are missing after
// memcpy.
uint8_t pitModeFreqLSB;
uint8_t pitModeFreqMSB;
uint8_t vtxTableAvailable;
uint8_t bands;
uint8_t channels;
uint8_t powerLevels;
} mspVtxConfigStruct;
extern bool vtxMenuActive;
extern bool vtxMenuEnabled;
extern bool armed;
extern bool vtxInitDone;
extern bool DrawOSD;
static void send_display_size(int serial_fd) {
uint8_t buffer[8];
uint8_t payload[2] = {MAX_DISPLAY_X, MAX_DISPLAY_Y};
construct_msp_command(buffer, MSP_CMD_SET_OSD_CANVAS, payload, 2, MSP_OUTBOUND);
write(serial_fd, &buffer, sizeof(buffer));
}
static void send_variant_request(int serial_fd) {
uint8_t buffer[6];
construct_msp_command(buffer, MSP_CMD_FC_VARIANT, NULL, 0, MSP_OUTBOUND);
write(serial_fd, &buffer, sizeof(buffer));
}
static void send_version_request(int serial_fd) {
uint8_t buffer[6];
construct_msp_command(buffer, MSP_CMD_API_VERSION, NULL, 0, MSP_OUTBOUND);
write(serial_fd, &buffer, sizeof(buffer));
}
static void copy_to_msp_frame_buffer(void *buffer, uint16_t size) {
memcpy(&frame_buffer[fb_cursor], buffer, size);
fb_cursor += size;
}
// int displayport_process_message(displayport_vtable_t *display_driver,
// msp_msg_t *msg) {
// }
static int stat_msp_msgs = 0;
static int stat_msp_msg_attitude = 0;
static int stat_screen_refresh_count = 0;
static int stat_skipped_frames = 0;
static int stat_draw_overlay_1 = 0, stat_draw_overlay_2 = 0, stat_draw_overlay_3 = 0;
static int stat_MSPBytesSent = 0;
static int stat_MSP_draw_complete_count = 0;
static int stat_UDP_MSPframes = 0;
static uint64_t last_MSP_ATTITUDE = 0;
static int stat_attitudeDelay = 0;
int RCWidgetX = 0;
int RCWidgetY = 0;
char air_unit_info_msg[255];
extern bool AbortNow;
extern bool verbose;
extern struct sockaddr_in sin_out; //= {.sin_family = AF_INET,};
extern int out_sock;
extern int AHI_Enabled;
extern void showchannels(int count);
extern void ProcessChannels();
extern uint16_t channels[18];
extern int matrix_size;
extern int GetTempSigmaStar();
extern int GetTXTemp();
extern int SendWfbLogToGround();
extern bool monitor_wfb;
extern int last_board_temp;
void fill(char *str);
void SetOSDMsg(char *msg);
// in milliseconds
uint64_t get_time_ms() {
struct timespec ts;
int rc = clock_gettime(1 /*CLOCK_MONOTONIC*/, &ts);
// if (rc < 0)
// return get_current_time_ms_Old();
return ts.tv_sec * 1000LL + ts.tv_nsec / 1000000;
}
/* MSP DisplayPort handlers for compressed mode */
static void msp_draw_character(uint32_t x, uint32_t y, uint16_t c) {
DEBUG_PRINT("drawing char %d at x %d y %d\n", c, x, y);
msp_character_map_buffer[x][y] = c;
}
static void msp_clear_screen() {
memset(msp_character_map_buffer, 0, sizeof(msp_character_map_buffer));
}
static void msp_draw_complete() {
memcpy(msp_character_map_draw, msp_character_map_buffer, sizeof(msp_character_map_buffer));
}
static void msp_set_options(uint8_t font_num, msp_hd_options_e is_hd) {
DEBUG_PRINT("Got options!\n");
msp_clear_screen();
msp_hd_option = is_hd;
}
/*----------------------------------------------------------------------------------------------------*/
/*------------CONFIGURE SWITCHES
* ----------------------------------------------------------------*/
static int enable_fast_layout = 0;
void *io_map;
struct osd *osds;
char timefmt[32] = DEF_TIMEFMT;
int PIXEL_FORMAT_BitsPerPixel = 8;
typedef struct display_info_s {
uint8_t char_width;
uint8_t char_height;
uint8_t font_width;
uint8_t font_height;
uint16_t num_chars;
} display_info_t;
#define SD_DISPLAY_INFO \
{ .char_width = 31, .char_height = 15, .font_width = 36, .font_height = 54, .num_chars = 256 }
static const display_info_t sd_display_info = SD_DISPLAY_INFO;
static const display_info_t hd_display_info = {
.char_width = 50,
.char_height = 18,
.font_width = 24,
.font_height = 36,
.num_chars = 512,
};
static const display_info_t fhd_display_info = {
.char_width = 50,
.char_height = 18,
.font_width = 36,
.font_height = 54,
.num_chars = 512,
};
/*
36*50=1800
54*18=972
*/
#define MAX_OSD_WIDTH 54
#define MAX_OSD_HEIGHT 20
// for x86 preview only
#define TRANSPARENT_COLOR 0xFBDE
// Not implemented, draw the center part of the screen with much faster rate to
// keep CPU load low overlays 1 to 8 are taken by OSD tool, but they are limited
// to 8 in some systems like Goke
#ifdef __SIGMASTAR__
#define FULL_OVERLAY_ID 9
#define FAST_OVERLAY_ID 8
#else
#define FULL_OVERLAY_ID 6
#define FAST_OVERLAY_ID 7
#endif
char font_2_name[256];
uint16_t OVERLAY_WIDTH = 1800;
uint16_t OVERLAY_HEIGHT = 1000;
static displayport_vtable_t *display_driver;
static display_info_t current_display_info = SD_DISPLAY_INFO;
/// @brief We keep the main font glyphs here
BITMAP bitmapFnt;
// bounderies as characters of fast area. Fast Character
int fcX = 12;
int fcW = 10;
int fcY = 5;
int fcH = 8;
char font_load_name[255];
bool LoadFont();
static bool InjectChars(char *payload) {
char *str = payload + 4;
// string starts at 4 payload[0]==MSP_subtype
// set Position to Widget that draws Stick Positions - only on ground side,
// so do not clear it on camera side
if (DrawOSD && str[0] == '!' && str[1] == 'R' && str[2] == 'C' && str[3] == '!') {
// uint8_t row = payload[0]; //uint8_t col = payload[1];
RCWidgetX = payload[2] * current_display_info.font_width;
RCWidgetY = payload[1] * current_display_info.font_height;
memset(&payload[4], 0, 4);
return true;
}
int cnt = 0;
// may have several in one text message
while (str[0] != 0 && cnt < 20) {
// set extra temp on screen
if (str[0] == '!' && str[1] == 'T' && str[2] == 'M' && str[3] == 'P' && str[4] == '!') {
int temp = 103;
#if __SIGMASTAR__
temp = 102;
temp = GetTempSigmaStar();
#else
temp = last_board_temp;
if (temp == -100)
temp = 101;
#endif
if (temp < 0)
temp = 104;
if (font_pages == 2) { // inav symbols
str[0] = 199; // 10748/54=199
str[3] = 11; // degree
} else { // betaflight symbols
str[0] = 122; // 10748/54=199
str[3] = 14; // degree
}
if (temp > 100)
str[1] = 48 + 'A';
else
str[1] = 48 + temp / 10;
str[2] = 48 + temp % 10;
str[4] = 32; // end of string, no need, we are only replacing! place
// space
str = str + 4;
// return true;
}
// set extra temp on screen
if (str[0] == '!' && str[1] == 'T' && str[2] == 'M' && str[3] == 'W' && str[4] == '!') {
int temp = 99;
temp = GetTXTemp();
if (temp < 0)
last_board_temp = 99;
if (last_board_temp == -100)
last_board_temp = 99;
if (last_board_temp < 0)
last_board_temp = 99;
if (font_pages == 2) { // inav symbols
str[0] = 196; // 10748/54=199
str[3] = 11; // degree
} else { // betaflight symbols
str[0] = 122; // 10748/54=199
str[3] = 14; // degree
}
str[1] = 48 + temp / 10;
str[2] = 48 + temp % 10;
str[4] = 32; // end of string, no need, we are only replacing! place
// space
str = str + 4; // move the pointer
// return true;
}
str = str + 1;
cnt++;
} // while
return false;
}
static void rx_msp_callback(msp_msg_t *msp_message) {
// Process a received MSP message from FC and decide whether to send it to
// the PTY (DJI) or UDP port (MSP-OSD on Goggles)
DEBUG_PRINT("FC->AU MSP msg %d with data len %d\n", msp_message->cmd, msp_message->size);
stat_msp_msgs++;
// We will forward ALL MSP traffic, not only DisplayPort
if (fb_cursor > sizeof(frame_buffer)) {
if (out_sock > 0) {
printf("Exhausted frame buffer! Flushing...\n");
sendto(
out_sock, frame_buffer, fb_cursor, 0, (struct sockaddr *)&sin_out, sizeof(sin_out));
}
fb_cursor = 0;
// return;
}
// Here it will replace custom text messages for configurator screen
if (msp_message->cmd == MSP_CMD_DISPLAYPORT && msp_message->direction == MSP_INBOUND &&
msp_message->cmd == MSP_CMD_DISPLAYPORT &&
msp_message->payload[0] == MSP_DISPLAYPORT_DRAW_STRING)
InjectChars(&msp_message->payload[0]);
// if (out_sock>0){//No need to cache MSP if we won't send it later
uint16_t size = msp_data_from_msg(message_buffer, msp_message);
copy_to_msp_frame_buffer(message_buffer, size);
//}
switch (msp_message->cmd) {
case MSP_CMD_STATUS: {
// we need the armed state
armed = (msp_message->payload[6] & 0x01);
if (armed)
vtxMenuActive = false;
break;
}
case MSP_ATTITUDE: {
last_pitch = *(int16_t *)&msp_message->payload[2];
last_roll = *(int16_t *)&msp_message->payload[0];
last_heading = *(int16_t *)&msp_message->payload[4];
stat_msp_msg_attitude++;
stat_attitudeDelay = get_time_ms() - last_MSP_ATTITUDE;
// printf("\n Got MSG_ATTITUDE pitch:%d roll:%d\n", pitch,
// roll);
break;
}
case MSP_COMP_GPS: {
/*
GPS_distanceToHome UINT 16 unit: meter
GPS_directionToHome UINT 16 unit: degree (range [-180;+180])
GPS_update UINT 8 a flag to indicate when a new GPS frame is received (the
GPS fix is not dependent of this)
*/
last_distanceToHome = *(int16_t *)&msp_message->payload[0];
last_directionToHome = *(int16_t *)&msp_message->payload[2];
// stat_msp_msg_attitude++;
// printf("\n Got MSG_ATTITUDE pitch:%d roll:%d\n", pitch,
// roll);
break;
}
case MSP_RC: {
// printf("Got MSP_RC\n");
// memcpy(&channels[0], &msp_message->payload[0],32);
memcpy(&channels[0], &msp_message->payload[0], 16 * sizeof(uint16_t));
// showchannels(18);
ProcessChannels();
if (vtxMenuEnabled && vtxMenuActive) {
print_current_state(display_driver);
}
break;
}
case MSP_CMD_DISPLAYPORT: {
if (msp_message->payload[0] == MSP_DISPLAYPORT_INFO_MSG) {
msp_message->payload[80] = 0; // just in case
strcpy(air_unit_info_msg, &msp_message->payload[1]);
fill(air_unit_info_msg);
}
if (!vtxMenuActive) {
displayport_process_message(display_driver, msp_message);
} else if (!DrawOSD) { // if we only resend to ground station and menu
// is active, stop regular OSD
LastPcktSent = get_time_ms(); // clear buffer and prevent from
// sending MSP to ground
fb_cursor = 0;
printf("D");
}
if (out_sock > 0 && fb_cursor > 0) { // if there is data to send
if (msp_message->payload[0] == MSP_DISPLAYPORT_DRAW_SCREEN) {
// Try to aggregate several MSP packets into one UDP packets
if ((!DrawOSD) && MinTimeBetweenScreenRefresh > 20 &&
(get_time_ms() - LastPcktSent) < MinTimeBetweenScreenRefresh) {
} // Do not send the frame but keep it in the buffer
else {
stat_UDP_MSPframes++;
sendto(out_sock, frame_buffer, fb_cursor, 0, (struct sockaddr *)&sin_out,
sizeof(sin_out));
LastPcktSent = get_time_ms();
stat_MSPBytesSent += fb_cursor;
fb_cursor = 0;
}
}
}
break;
}
case MSP_CMD_FC_VARIANT: {
// This is an FC Variant response, so we want to use it to set our FC
// variant.
DEBUG_PRINT("Got FC Variant response!\n");
if (strncmp(current_fc_identifier, msp_message->payload, 4) != 0) {
// FC variant changed or was updated. Update the current FC
// identifier and send an MSP version request.
memcpy(current_fc_identifier, msp_message->payload, 4);
// Seems only BetaFlight needs this
send_version_request(serial_fd);
printf("Flight Controller detected: %s\n", current_fc_identifier);
if (bitmapFnt.pData == NULL) {
SetOSDMsg("");
LoadFont();
if (bitmapFnt.pData == NULL) {
char msg[200];
sprintf(msg, "&F38 &L43 No Font File %s found!", font_load_name);
SetOSDMsg(msg);
}
}
}
break;
}
case MSP_CMD_API_VERSION: {
// Got an MSP API version response. Compare the version if we have
// Betaflight in order to see if we should send the new display size
// message.
if (strncmp(current_fc_identifier, "BTFL", 4) == 0) {
uint8_t msp_minor_version = msp_message->payload[2];
DEBUG_PRINT("Got Betaflight minor MSP version %d\n", msp_minor_version);
if (msp_minor_version >= MSP_DISPLAY_SIZE_VERSION) {
if (!no_btfl_hd) {
if (!compress) {
// If compression is disabled, we need to manually
// inject a canvas-change command into the command
// stream.
uint8_t displayport_set_size[3] = {
MSP_DISPLAYPORT_SET_OPTIONS, 0, MSP_HD_OPTION_60_22};
construct_msp_command(message_buffer, MSP_CMD_DISPLAYPORT,
displayport_set_size, 3, MSP_INBOUND);
copy_to_msp_frame_buffer(message_buffer, 9);
DEBUG_PRINT("Sent display size to goggles\n");
}
// Betaflight with HD support. Send our display size and set
// 60x22.
send_display_size(serial_fd);
msp_hd_option = MSP_HD_OPTION_60_22;
DEBUG_PRINT("Sent display size to FC\n");
}
}
}
break;
}
case MSP_GET_VTX_CONFIG: {
if (vtxInitDone) {
mspVtxConfigStruct *in_mspVtxConfigStruct = (mspVtxConfigStruct *)msp_message->payload;
uint16_t frequency =
(in_mspVtxConfigStruct->freqMSB << 8) | in_mspVtxConfigStruct->freqLSB;
double current_frequency =
read_current_freq_from_interface(read_setting("/etc/wfb.conf", "wlan"));
if (verbose)
printf("mspVTX Band: %i, Channel: %i, wanted Frequency: %u, set "
"Frequency: %.0f\n",
in_mspVtxConfigStruct->band, in_mspVtxConfigStruct->channel, frequency,
current_frequency);
if (frequency != (uint16_t)current_frequency) {
int channel = 0;
for (int i = 0; i < MAX_ENTRIES; i++) {
if (fc_list[i].frequency == frequency)
channel = fc_list[i].channel;
}
if (channel > 0) {
if (verbose)
printf("mspVTX executing channel change to channel "
"%d\n",
channel);
set_frequency(read_setting("/etc/wfb.conf", "wlan"), channel);
// store new channel to wfb.conf
char cha_str[32];
sprintf(cha_str, "%i", channel);
write_setting("/etc/wfb.conf", "channel", cha_str);
} else {
printf("Never change to channel 0, we should not reach "
"here, check "
"vtx table in your fc\n");
}
}
} else {
if (verbose)
printf("vtxInitDone not finished, should never happen\n");
}
break;
}
default: {
if (verbose)
printf("Received a uncatched MSP_COMMAND: %i\n", msp_message->cmd);
uint16_t size = msp_data_from_msg(message_buffer, msp_message);
if (serial_passthrough /*|| cache_msp_message(msp_message)*/) {
// Either serial passthrough was on, or the cache was enabled but
// missed (a response was not available). Either way, this means we
// need to send the message through to DJI.
write(pty_fd, message_buffer, size);
}
break;
}
}
}
static int load_fontFromBMP(const char *filename, BITMAP *bitmap) {
if (access(filename, F_OK))
return -1;
// White will be the transparant color
return prepare_bitmap(filename, bitmap, 2, TRANSPARENT_COLOR, PIXEL_FORMAT_1555);
}
// Function to move the cursor to a specific position
void move_cursor(int row, int col) { printf("\033[%d;%dH", row, col); }
// Function to draw a character at a specific position
void draw_character_on_console(int row, int col, char ch) {
move_cursor(row, col);
printf("%c", ch);
}
/// @brief Extra font glyphs with smaller size
BITMAP bmpFntSmall;
uint16_t character_map[MAX_OSD_WIDTH][MAX_OSD_HEIGHT];
struct osd *osds; // regions over the overlay
static long cntr = -10;
int center_refresh = 0;
/// @brief Where to place the message, 0 upper left, 1 -upper middle , 2 - upper
/// right, 3 - upper row moving
int msg_layout = 0;
/// @brief Color type to use to render the font. 0 - White, 1 - Black edges on
/// white font
int msg_colour = 0;
static unsigned long long LastCleared = 0;
static bool osd_msg_enabled = false;
// This will be where we will copy font icons and then pass to Display API to
// render over video.
BITMAP bmpBuff;
// Buffer to hold converted RGBA data to work with Cairo
unsigned char *bmp_x86 = NULL;
/// @brief Pointer to the canvas memory with bmp data
void *directBmp;
bool useDirectBMPBuffer = false;
int x_start = 600;
int y_start = 500;
int x_end = 1300;
int y_end = 500;
uint32_t getcolor(uint8_t index) {
MI_RGN_PaletteElement_t element = g_stPaletteTable.astElement[index];
uint32_t rgba =
(element.u8Red << 24) | (element.u8Green << 16) | (element.u8Blue << 8) | element.u8Alpha;
}
void LineDirect(uint8_t *bmpData, uint32_t width, uint32_t height, int x0, int y0, int x1, int y1,
uint8_t color, int thickness) {
#if defined(_x86) || defined(__ROCKCHIP__)
drawLineGS(x0, y0, x1, y1, getcolor(color), thickness, false);
#else
drawLineI4(bmpData, width, height, x0, y0, x1, y1, color, thickness);
#endif
}
void LineTranspose(
uint8_t *bmpData, int posX0, int posY0, int posX1, int posY1, uint8_t color, int thickness) {
#if defined(_x86) || defined(__ROCKCHIP__)
drawLineGS(posX0, posY0, posX1, posY1, getcolor(color), thickness, true);
#else
drawLine(bmpData, posX0, posY0, posX1, posY1, color, thickness);
#endif
}
static void draw_AHI() {
int OffsY = sin((last_pitch / 10) * (M_PI / 180.0)) * 400;
int img_width = x_end - x_start;
int img_height = y_end - y_start;
double angle_degrees = -last_roll / 10; // Rotate by 45 degrees
Transform_OVERLAY_WIDTH = OVERLAY_WIDTH;
Transform_OVERLAY_HEIGHT = OVERLAY_HEIGHT;
Transform_Pitch = last_pitch / 10;
Transform_Roll = -last_roll / 10;
Point img_center = {OVERLAY_WIDTH / 2, OVERLAY_HEIGHT / 2}; // Center of the image (example)
Point original_point = {600, 500}; // Example point
Point original_point2 = {1300, 500}; // Example point
// drawLineI4Ex(bmpBuff.pData, bmpBuff.u32Width, bmpBuff.u32Height,
// original_point,original_point2, 7);
int linewidth = 400;
int linethickness = 2;
if (OVERLAY_WIDTH > 1500) {
linewidth = 500;
linethickness = 3;
}
LineTranspose(bmpBuff.pData, img_center.x - linewidth / 2, img_center.y,
img_center.x + linewidth / 2, img_center.y, COLOR_WHITE, linethickness);
// drawRectangleI4(bmpBuff.pData, 600 , 400 , 700 , 6, COLOR_GREEN, 1);
}
/// @brief Ugly implementation. To do : clear from bmp format dependant code
static void draw_Ladder() {
// if (PIXEL_FORMAT_DEFAULT!=PIXEL_FORMAT_I4)
// return;
Transform_OVERLAY_WIDTH = OVERLAY_WIDTH;
Transform_OVERLAY_HEIGHT = OVERLAY_HEIGHT;
Transform_Pitch = last_pitch / 10;
Transform_Roll = -last_roll / 10;
int TiltY = -AHI_TiltY; // pixels offset on the vertical, negative value means
// up, this is camera nose-down angle in pixels
// to do, make this in degrees
const bool horizonInvertPitch = false;
const bool horizonInvertRoll = false;
double horizonWidth = 3;
const int horizonSpacing = 165; //????//pixels per degree 165
const bool horizonShowLadder = true;
int horizonRange = 80; // total vertical range in degrees
const int horizonStep = 10; //????//degrees per line
const bool show_center_indicator = false; ////m_show_center_indicator;
const double ladder_stroke_faktor = 0.1;
const int subline_thickness = 1;
if (OVERLAY_HEIGHT < 900) { // 720p mode
horizonWidth = 2;
horizonRange = 50;
}
double roll_degree = ((double)last_roll) / 10;
double pitch_degree = ((double)last_pitch) / 10;
if (horizonInvertRoll == true) {
roll_degree = roll_degree * -1;
}
if (horizonInvertPitch == false) {
pitch_degree = pitch_degree * -1;
}
const int pos_x = OVERLAY_WIDTH / 2;
const int pos_y = (OVERLAY_HEIGHT / 2) + TiltY;
const int width_ladder = 100 * horizonWidth;
int px = pos_x - width_ladder / 2;
if (/*show_center_indicator*/ true) {
// Line always drawn in the center to have some orientation where the
// center is
int line_w = 100 * horizonWidth * 0.2;
LineDirect(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px - 20, pos_y - 3, px + 20,
pos_y - 3, COLOR_GRAY_Light, 2);
LineDirect(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px + width_ladder - 20, pos_y - 3,
px + width_ladder + 20, pos_y - 3, COLOR_GRAY_Light, 2);
}
int ratio = horizonSpacing; // pixels per degree
int vrange = horizonRange; // total vertical range in degrees
int step = horizonStep; // degrees per line
if (step == 0)
step = 10; // avoid div by 0
if (ratio == 0)
ratio = 1; // avoid div by 0
int m_color = 7;
int i;
int k;
int y;
int n;
int startH;
int stopH;
startH = pitch_degree - vrange / 2;
stopH = pitch_degree + vrange / 2;
if (startH < -90)
startH = -90;
if (stopH > 90)
stopH = 90;
// painter->setPen(m_color);
int m_color_def = m_color;
for (i = startH / step; i <= stopH / step; i++) {
m_color = m_color_def;
if (i > 0 && i * ratio < 30 && /*showHorizonHeadingLadder*/ true)
i = i + 30 / ratio;
k = i * step;
y = pos_y - (i - 1.0 * pitch_degree / step) * ratio;
if (horizonShowLadder == true) {
if (i != 0) {
// fix pitch line wrap around at extreme nose up/down
n = k; // this is the line index number relative to the main
// one.
if (n > 90) {
n = 180 - k;
}
if (n < -90) {
n = -k - 180;
}
if (abs(n) > 20) // pitch higher than 30 degree.
m_color = COLOR_YELLOW;
if (abs(n) > 40) // pitch higher than 30 degree.
m_color = COLOR_RED;
// left numbers
// painter->setPen(m_color);
// painter->drawText(px-30, y+6, QString::number(n));
// right numbers
// painter->drawText((px + width_ladder)+8, y+6,
// QString::number(n)); painter->setPen(m_color);
if ((i > 0)) {
// Upper ladders
// default to stroke strength of 2 (I think it is pixels)
int stroke_s = 2 * ladder_stroke_faktor;
// left upper cap
// drawRectangleI4(bmpBuff.pData, px , y , stroke_s ,
// width_ladder/24, m_color,subline_thickness);
LineTranspose(bmpBuff.pData, px, y, px, y + width_ladder / 24, m_color,
subline_thickness); // Top side
// left upper line
// drawRectangleI4(bmpBuff.pData, px , y , width_ladder/3 ,
// stroke_s, m_color,subline_thickness);
LineTranspose(bmpBuff.pData, px, y, px + width_ladder / 3, y, m_color,
subline_thickness); // Top side
// right upper cap
// drawRectangleI4(bmpBuff.pData, px+width_ladder-2 , y ,
// px+width_ladder-2 + stroke_s , width_ladder/24,
// m_color,subline_thickness);
LineTranspose(bmpBuff.pData, px + width_ladder - 2, y, px + width_ladder - 2,
y + width_ladder / 24, m_color,
subline_thickness); // Top side
// right upper line
// drawRectangleI4(bmpBuff.pData, px+width_ladder*2/3 , y ,
// width_ladder/3 , stroke_s, m_color,subline_thickness);
LineTranspose(bmpBuff.pData, px + width_ladder * 2 / 3, y,
(px + width_ladder * 2 / 3) + width_ladder / 3 - 1, y, m_color,
subline_thickness); // Top side
} else if (i < 0) {
// Lower ladders
// default to stroke strength of 2 (I think it is pixels)
int stroke_s = 2 * ladder_stroke_faktor;
// left to right
// left lower cap
// drawRectangleI4(bmpBuff.pData, px, y-(width_ladder/24)+2
// , stroke_s , width_ladder/24, m_color,subline_thickness);
LineTranspose(bmpBuff.pData, px, y - (width_ladder / 24) + 2, px,
y - (width_ladder / 24) + 1 + width_ladder / 24, m_color,
subline_thickness); // Top side
// 1l
// drawRectangleI4(bmpBuff.pData, px , y , width_ladder/12 ,
// stroke_s, m_color,subline_thickness);
LineTranspose(bmpBuff.pData, px, y, px + width_ladder / 12, y, m_color,
subline_thickness); // Top side
// 2l
// drawRectangleI4(bmpBuff.pData, px+(width_ladder/12)*1.5 ,
// y , width_ladder/12 , stroke_s,
// m_color,subline_thickness);
LineTranspose(bmpBuff.pData, px + (width_ladder / 12) * 1.5, y,
px + (width_ladder / 12) * 1.5 + width_ladder / 12, y, m_color,
subline_thickness); // Top side
// 3l
// drawRectangleI4(bmpBuff.pData, px+(width_ladder/12)*3 , y
// , width_ladder/12 , stroke_s, m_color,subline_thickness);
LineTranspose(bmpBuff.pData, px + (width_ladder / 12) * 3, y,
px + (width_ladder / 12) * 3 + width_ladder / 12, y, m_color,
subline_thickness); // Top side
// right lower cap
// drawRectangleI4(bmpBuff.pData, px+width_ladder-2 ,
// y-(width_ladder/24)+2 , stroke_s , width_ladder/24,
// m_color,subline_thickness);
LineTranspose(bmpBuff.pData, px + width_ladder - 2, y - (width_ladder / 24) + 2,
px + width_ladder - 2, y - (width_ladder / 24) + 1 + width_ladder / 24,
m_color,
subline_thickness); // Top side
// 1r ///spacing on these might be a bit off
// drawRectangleI4(bmpBuff.pData, px+(width_ladder/12)*8 , y
// , width_ladder/12 , stroke_s, m_color,subline_thickness);
LineTranspose(bmpBuff.pData, px + (width_ladder / 12) * 8, y,
px + (width_ladder / 12) * 8 + width_ladder / 12, y, m_color,
subline_thickness); // Top side
// 2r ///spacing on these might be a bit off
// drawRectangleI4(bmpBuff.pData, px+(width_ladder/12)*9.5 ,
// y , width_ladder/12 , stroke_s,
// m_color,subline_thickness);
LineTranspose(bmpBuff.pData, px + (width_ladder / 12) * 9.5, y,
px + (width_ladder / 12) * 9.5 + width_ladder / 12, y, m_color,
subline_thickness); // Top side
// 3r ///spacing on these might be a bit off tried a
// decimal here drawRectangleI4(bmpBuff.pData,
// px+(width_ladder*.9166) , y , width_ladder/12 , stroke_s,
// m_color,subline_thickness);
LineTranspose(bmpBuff.pData, px + (width_ladder * .9166), y,
px + (width_ladder * .9166) + width_ladder / 12, y, m_color,
subline_thickness); // Top side
}
} else { // i==0
// Main AHI Line
// default to stroke strength of 3 - a bit bigger than the non
// center lines
int stroke_s = 4 * ladder_stroke_faktor;
int rect_height = 5; // Height of the rectangles (as per your original code)
int fragments = 6;
float SpacingK = 0.6;
// int rect_width = (width_ladder*2.5/(fragments +
// (float)SpacingK*fragments)); // Width of a single rectangle
int rect_width =
width_ladder * 2.5 / (fragments); // Width of a single semiline+spacing
int spacing = rect_width * SpacingK; // Spacing between rectangles
rect_width = rect_width - spacing; // Length of a small line
// Calculate the starting X position for the first rectangle
int start_x = pos_x - width_ladder * 2.5 / 2;
// Draw 6 rectangles in a line
for (int i = 0; i < fragments; i++) {
// Calculate the X position for the current rectangle
int rect_x = start_x + i * (rect_width + spacing) + spacing / 2;
bool isPlaneLevel =
(-2 < last_pitch / 10 && last_pitch / 10 < 2) && (i == 2 || i == 3);
LineTranspose(bmpBuff.pData, rect_x, y, rect_x + rect_width, y,
isPlaneLevel ? COLOR_GREEN : COLOR_WHITE, 3);
}