0.2 version add desktop components multitouch, joystick, multicast

[mardrone] / mardrone / dronelib / video.h

diff --git a/mardrone/dronelib/video.h b/mardrone/dronelib/video.h
new file mode 100644 (file)
index 0000000..3469cf0
--- /dev/null
+++ b/mardrone/dronelib/video.h
@@ -0,0 +1,76 @@
+#ifndef VIDEO_H
+#define VIDEO_H
+
+#include <QGraphicsWidget>
+#include <QGraphicsItem>
+#include <QPainter>
+#include <QUdpSocket>
+#include <QTcpSocket>
+#include <QThread>
+#include <QTimer>
+#include "dronecontrol.h"
+#undef _GNU_SOURCE // just get rid of error message double definition
+#define TARGET_CPU_ARM 1
+#include <navdata.h>
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_print.h>
+extern "C"
+{
+#include <VLIB/Stages/vlib_stage_decode.h>
+void vp_stages_YUV420P_to_RGB565(void *cfg, vp_api_picture_t *picture, uint8_t *dst, uint32_t dst_rbytes);
+void vp_stages_YUV420P_to_ARGB32(void *cfg, vp_api_picture_t *picture, uint8_t *dst, uint32_t dst_rbytes);
+}
+
+
+class VideoThread;
+
+class DroneVideo:public QGraphicsWidget
+{
+    Q_OBJECT
+public:
+    DroneVideo();
+    void paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+                    QWidget *widget);
+    QRectF boundingRect() const;
+
+private:
+    QHostAddress droneHost;  // Ip address of the drone
+    VideoThread *videoThread;
+    QImage *image;
+    int depth;
+    bool initialized;
+};
+
+class VideoThread:public QThread {
+    Q_OBJECT
+public:
+    VideoThread(DroneVideo *parentp,QHostAddress host,QImage *_image);
+
+ //   ~DroneThread ();
+    void run();
+    void sendVideoPort(QString cmd);
+    void decodeTransform(QByteArray &videoData);
+
+public slots:
+    void videoDataReady();
+    void timer();
+
+
+
+private:
+    QImage *image;
+    video_controller_t controller;
+    vp_api_picture_t picture;
+    int pictureWidth;
+    int pictureHeight;
+    bool luma_only;
+    unsigned int num_picture_decoded;
+    QHostAddress droneHost;  // Ip address of the drone
+    QTimer *stateTimer;
+    volatile bool stopped;
+    DroneVideo *parent;
+    QUdpSocket *videoSock;  // Navigation data receive socket port 5554
+
+};
+
+#endif // VIDEO_H