libraries/AP_OSD/AP_OSD_SITL.h

   1 /*
   2  * This file is free software: you can redistribute it and/or modify it
   3  * under the terms of the GNU General Public License as published by the
   4  * Free Software Foundation, either version 3 of the License, or
   5  * (at your option) any later version.
   6  *
   7  * This file is distributed in the hope that it will be useful, but
   8  * WITHOUT ANY WARRANTY; without even the implied warranty of
   9  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  10  * See the GNU General Public License for more details.
  11  *
  12  * You should have received a copy of the GNU General Public License along
  13  * with this program.  If not, see <http://www.gnu.org/licenses/>.
  14  *
  15  */
  16 #pragma once
  17
  18 #ifdef WITH_SITL_OSD
  19
  20 #include <AP_OSD/AP_OSD_Backend.h>
  21
  22 #ifdef HAVE_SFML_GRAPHICS_H
  23 #include <SFML/Graphics.h>
  24 #else
  25 #include <SFML/Graphics.hpp>
  26 #endif
  27
  28 class AP_OSD_SITL : public AP_OSD_Backend
  29 {
  30
  31 public:
  32     static AP_OSD_Backend *probe(AP_OSD &osd);
  33
  34     //draw given text to framebuffer
  35     void write(uint8_t x, uint8_t y, const char* text) override;
  36
  37     //initialize display port and underlying hardware
  38     bool init() override;
  39
  40     //flush framebuffer to screen
  41     void flush() override;
  42
  43     //clear framebuffer
  44     void clear() override;
  45
  46     bool is_compatible_with_backend_type(AP_OSD::osd_types type) const override {
  47         switch(type) {
  48         case AP_OSD::osd_types::OSD_MAX7456:
  49         case AP_OSD::osd_types::OSD_SITL:
  50             return false;
  51         case AP_OSD::osd_types::OSD_NONE:
  52         case AP_OSD::osd_types::OSD_TXONLY:
  53         case AP_OSD::osd_types::OSD_MSP:
  54         case AP_OSD::osd_types::OSD_MSP_DISPLAYPORT:
  55             return true;
  56         }
  57         return false;
  58     }
  59
  60     AP_OSD::osd_types get_backend_type() const override {
  61         return AP_OSD::osd_types::OSD_SITL;
  62     }
  63 private:
  64     //constructor
  65     AP_OSD_SITL(AP_OSD &osd);
  66
  67     sf::RenderWindow *w;
  68
  69     sf::Texture font[256];
  70     uint8_t last_font;
  71
  72     // setup to match MAX7456 layout
  73     static const uint8_t char_width = 12;
  74     static const uint8_t char_height = 18;
  75     uint8_t video_lines;
  76     uint8_t video_cols;
  77     static const uint8_t char_spacing = 0;
  78
  79     // scaling factor to make it easier to read
  80     static const uint8_t char_scale = 2;
  81
  82     // get a byte from a buffer
  83     uint8_t &getbuffer(uint8_t *buf, uint8_t y, uint8_t x) const {
  84         return buf[y*uint32_t(video_cols) + x];
  85     }
  86
  87     uint8_t *buffer;
  88
  89     void update_thread();
  90     static void *update_thread_start(void *obj);
  91     void load_font();
  92
  93     pthread_t thread;
  94     HAL_Semaphore mutex;
  95     uint32_t counter;
  96     uint32_t last_counter;
  97 };
  98
  99 #endif // WITH_SITL_OSD