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osd.c
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osd.c
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#include <stdio.h>
#include <arpa/inet.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <unistd.h>
#include <fcntl.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
#include <math.h>
#include "osd/msp/msp.h"
#include "osd/msp/msp_displayport.h"
#ifdef _x86
#include <SFML/Graphics.h>
#include <SFML/Window.h>
#else
#include "bmp/region.h"
#include "bmp/common.h"
#endif
#include "bmp/region.h"
#include "bmp/bitmap.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 <unistd.h>
#include <string.h>
#include <time.h>
//#include "osd/msp/msp.h"
//#include "osd/msp/msp_displayport.h"
#include "osd/util/debug.h"
#include "osd/util/time_util.h"
#include "osd/util/fs_util.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
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[8192]; // buffer a whole frame of MSP commands until we get a draw command
static uint32_t fb_cursor = 0;
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;
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;
static int16_t last_RC_Channels[16];
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 uint64_t last_MSP_ATTITUDE=0;
static int stat_attitudeDelay=0;
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 SendWfbLogToGround();
extern bool monitor_wfb;
uint64_t get_time_ms() // in milliseconds
{
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;
}
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++;
switch(msp_message->cmd) {
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();
break;
}
case MSP_CMD_DISPLAYPORT: {
//TEST CHANGE
if (true) {
// This was an MSP DisplayPort message and we're in compressed mode, so pass it off to the DisplayPort handlers.
displayport_process_message(display_driver, msp_message);
// } else {
// This was an MSP DisplayPort message and we're in legacy mode, so buffer it until we get a whole frame.
if(fb_cursor > sizeof(frame_buffer)) {
printf("Exhausted frame buffer! Resetting...\n");
fb_cursor = 0;
return;
}
if (out_sock>0){
uint16_t size = msp_data_from_msg(message_buffer, msp_message);
copy_to_msp_frame_buffer(message_buffer, size);
if(msp_message->payload[0] == MSP_DISPLAYPORT_DRAW_SCREEN) {
// Once we have a whole frame of data, send it aggregated
//int written=write(socket_fd, frame_buffer, fb_cursor);
int written = sendto(out_sock, frame_buffer, fb_cursor, 0, (struct sockaddr *)&sin_out, sizeof(sin_out));
//printf("Flushed via UDP! wrote %d bytes %d\n", fb_cursor, written);
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\r\n",current_fc_identifier);
}
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;
}
default: {
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;
}
}
}
/* 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
#define FULL_OVERLAY_ID 9
#define FAST_OVERLAY_ID 8
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;
static int MinTimeBetweenScreenRefresh;
//bounderies as characters of fast area. Fast Character
int fcX= 12; int fcW=10; int fcY= 5 ; int fcH=8;
#ifdef _x86
sfTexture *font_1;
sfTexture *font_2;
sfSprite *font_sprite_1;
sfSprite *font_sprite_2;
sfRenderWindow *window;
#endif
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 We keep the main font glyphs here
BITMAP bitmapFnt;
/// @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 unsigned long long LastDrawn=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;
/// @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;
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;
}
drawLine(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;
//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
int TiltY= - 150;//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=2;
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){
//painter->setPen(m_color);
// Line always drawn in the center to have some orientation where the center is
int line_w = 100 * horizonWidth * 0.2;
//const auto circle_r= 100*horizonWidth * 0.05;
//painter->drawLine(width()/2-(line_w/2),height()/2,width()/2+(line_w/2),height()/2);
//painter->drawEllipse(QPointF(width()/2,height()/2),circle_r,circle_r);
//drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px,pos_y,px+width_ladder,pos_y, COLOR_GREEN);
//drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px,pos_y-2,px+20,pos_y-2, COLOR_WHITE);
drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px-20,pos_y-3,px+20,pos_y-3, COLOR_GRAY_Light,1);
drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px-20,pos_y-4,px+20,pos_y-4, COLOR_GRAY_Light,1);
//drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px,pos_y-5,px+20,pos_y-5, COLOR_WHITE);
//drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px,pos_y+2,px+20,pos_y+2, COLOR_WHITE);
drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px-20,pos_y+3,px+20,pos_y+3, COLOR_GRAY_Light,1);
drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px-20,pos_y+4,px+20,pos_y+4, COLOR_GRAY_Light,1);
//drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px,pos_y+5,px+20,pos_y+5, COLOR_WHITE);
//drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px+width_ladder-20,pos_y-2,px+width_ladder,pos_y-2, COLOR_WHITE);
drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px+width_ladder-20,pos_y-3,px+width_ladder+20,pos_y-3, COLOR_GRAY_Light,1);
drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px+width_ladder-20,pos_y-4,px+width_ladder+20,pos_y-4, COLOR_GRAY_Light,1);
//drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px+width_ladder-20,pos_y-5,px+width_ladder,pos_y-5, COLOR_WHITE);
//drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px+width_ladder-20,pos_y+2,px+width_ladder,pos_y+2, COLOR_WHITE);
drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px+width_ladder-20,pos_y+3,px+width_ladder+20,pos_y+3, COLOR_GRAY_Light,1);
drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px+width_ladder-20,pos_y+4,px+width_ladder+20,pos_y+4, COLOR_GRAY_Light,1);
//drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px+width_ladder-20,pos_y+5,px+width_ladder,pos_y+5, COLOR_WHITE);
//drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px+width_ladder,pos_y,px+width_ladder,pos_y, COLOR_GREEN);
//drawLineI4(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, px+width_ladder,pos_y,px+width_ladder,pos_y, COLOR_GREEN);
}
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);
drawLine(bmpBuff.pData, px, y, px, y+width_ladder/24 , m_color, subline_thickness+1); // Top side
//left upper line
//drawRectangleI4(bmpBuff.pData, px , y , width_ladder/3 , stroke_s, m_color,subline_thickness);
drawLine(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);
drawLine(bmpBuff.pData, px+width_ladder-2 , y , px+width_ladder-2, y+width_ladder/24 , m_color, subline_thickness+1); // Top side
//right upper line
//drawRectangleI4(bmpBuff.pData, px+width_ladder*2/3 , y , width_ladder/3 , stroke_s, m_color,subline_thickness);
drawLine(bmpBuff.pData, px+width_ladder*2/3 , y , (px+width_ladder*2/3) + width_ladder/3 , 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);
drawLine(bmpBuff.pData, px, y-(width_ladder/24)+2 , px , y-(width_ladder/24)+2 + width_ladder/24 , m_color, subline_thickness); // Top side
//1l
//drawRectangleI4(bmpBuff.pData, px , y , width_ladder/12 , stroke_s, m_color,subline_thickness);
drawLine(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);
drawLine(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);
drawLine(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);
drawLine(bmpBuff.pData, px+width_ladder-2 , y-(width_ladder/24)+2 , px+width_ladder-2 , y-(width_ladder/24)+2 + 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);
drawLine(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);
drawLine(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);
drawLine(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;
//drawRectangleI4(bmpBuff.pData, rect_x, y, rect_width, 0, COLOR_WHITE, 4);//border with AA
drawLine(bmpBuff.pData, rect_x, y, rect_x + rect_width, y, COLOR_WHITE, 3);
//drawFilledRectangleI4AA(bmpBuff.pData, OVERLAY_WIDTH, OVERLAY_HEIGHT, rect_x, y, rect_width, rect_height);
}
if (AHI_Enabled==3){//Draw home
uint32_t xHome, yHome;
int home_offset = last_directionToHome - last_heading;
// Normalize to range [-180, 180]
if (home_offset > 180) {
home_offset -= 360;
} else if (home_offset < -180) {
home_offset += 360;
}
// home is out of AHI range
if (abs(home_offset)>90){
if (home_offset<0){ //(left < right){
xHome=start_x;
} else{
xHome=start_x+width_ladder*2.5;
}
}else{
double K = (double)((double)home_offset+90) /180;//this is from 0 to 1
if (K==0)//just in case
K=1;
xHome = (start_x + (K*((double)width_ladder)*2.5));
}
int c=10;//Home(small house) symbol to be shown for INAV
if (font_pages>2)//tha same symbol for betflight
c=17;
//Find the coordinates if the the rectangle in the Font Bitmap
u_int16_t s_left = /*page*/0*current_display_info.font_width;
u_int16_t s_top = current_display_info.font_height * c;
u_int16_t s_width = current_display_info.font_width;
u_int16_t s_height = current_display_info.font_height;
BITMAP btmp=bitmapFnt;
if (matrix_size>10 && bmpFntSmall.u32Width>0){
btmp=bmpFntSmall;
s_width=24;
s_height=36;
s_left = 0*s_width;
s_top = s_height * c;
btmp=bmpFntSmall;
}
uint32_t xR, yR;
ApplyTransform(xHome - (s_width/2) , y - s_height, &xR, &yR);
//xR = (xR + 7) & ~7;//Round up to 8
xR = (xR + 3) & ~3;//Round up to 4, otherwise I4 bitmap image copy distorts the glyph !!!
if (xR>0 && xR<OVERLAY_WIDTH && yR>0 && yR<OVERLAY_HEIGHT){
copyRectI4(btmp.pData,btmp.u32Width,btmp.u32Height,
bmpBuff.pData,bmpBuff.u32Width, bmpBuff.u32Height,
s_left,s_top,s_width,s_height,
xR,yR);
}
}
}
}
}//draw ladder
}
static int droppedTTL=0;
static bool first_wfb_read=true;
static void fill(char* str)
{
unsigned int rxb_l, txb_l, cpu_l[6];
char out[180] = "";
char param = 0;
int ipos = 0, opos = 0;
while(str[ipos] != 0)
{
if (str[ipos]=='\r' || str[ipos]=='\n')
str[ipos]=' ';
if (str[ipos] != '&')
{
strncat(out, str + ipos, 1);
opos++;
}
else if (str[ipos + 1] == 'Z')
{
ipos++;
struct ifaddrs *ifaddr, *ifa;
if (getifaddrs(&ifaddr) == -1) continue;
for (ifa = ifaddr; ifa != NULL; ifa = ifa->ifa_next)
{
if (equals(ifa->ifa_name, "lo")) continue;
if (!ifa->ifa_addr || ifa->ifa_addr->sa_family != AF_PACKET) continue;
if (!ifa->ifa_data) continue;
struct rtnl_link_stats *stats = ifa->ifa_data;
char b[32];
sprintf(b, "R:%dKbps S:%dKbps",
(stats->rx_bytes - rxb_l) / 1024, (stats->tx_bytes - txb_l) / 1024);
strcat(out, b);
opos += strlen(b);
rxb_l = stats->rx_bytes;
txb_l = stats->tx_bytes;
break;
}
freeifaddrs(ifaddr);
}
else if (str[ipos + 1] == 'C')
{
ipos++;
char tmp[6];
unsigned int cpu[6];
#ifdef __SIGMASTAR__
FILE *stat = fopen("/proc/stat", "r");
fscanf(stat, "%s %u %u %u %u %u %u",
tmp, &cpu[0], &cpu[1], &cpu[2], &cpu[3], &cpu[4], &cpu[5]);
fclose(stat);
#else
#endif
char c[5];
char avg = 100 - (cpu[3] - cpu_l[3]) / sysconf(_SC_NPROCESSORS_ONLN);
sprintf(c, "%d%%", avg);
strcat(out, c);
opos += strlen(c);
for (int i = 0; i < sizeof(cpu) / sizeof(cpu[0]); i++)
cpu_l[i] = cpu[i];
}
else if (str[ipos + 1] == 'B')
{
ipos++;
unsigned int bitrate; ;
float fps;
char c[25];
#ifdef __SIGMASTAR__
FILE *stat = popen("cat /proc/mi_modules/mi_venc/mi_venc0 | grep Fps10s -A 1 | awk 'NR==2 {print $9, $10}'", "r");
// Sample result : 34.91 14836
if (stat == NULL) {
sscanf("34.91 14836", "%f %u", &fps, &bitrate);
}else{
fscanf(stat, "%f %u", &fps, &bitrate);
fclose(stat);
}
#else
sscanf("34.91 14836", "%f %u", &fps, &bitrate);
#endif
// Convert kilobits to megabits
float megabits = bitrate / 1000.0;
// Print the value with one digit after the decimal point
sprintf(c, "%.1fMb FPS:%d", megabits,(unsigned int)fps);
strcat(out, c);
opos += strlen(c);
}else if (str[ipos + 1] == 'p')
{
ipos++;
char c[80];
monitor_wfb=true;
int dropped = SendWfbLogToGround();
if (first_wfb_read){
dropped=0;
droppedTTL=0;
}
first_wfb_read=false;
droppedTTL+=dropped;
// Print the value with one digit after the decimal point
if (dropped==0)
sprintf(c, "d=%d", droppedTTL);
else{
sprintf(c, "+ %d ! Dropped=%d ", dropped,droppedTTL);
if (verbose)
printf("WFB_NG Dropped UDP packets: %d\r\n",dropped);
}
strcat(out, c);
opos += strlen(c);
}
else if (str[ipos + 1] == 't')
{
ipos++;
char s[64];
time_t t = time(NULL);
struct tm *tm = gmtime(&t);
strftime(s, 64, timefmt, tm);
strcat(out, s);
opos += strlen(s);
}
else if (str[ipos + 1] == 'T')
{
ipos++;
#ifdef __SIGMASTAR__
unsigned short temp = GetTempSigmaStar();//1370 * (400 - ((unsigned short*)io_map)[0x2918 >> 1]) / 1000.0f + 27;
#elif defined(__16CV300__)
unsigned short temp = 0;// (((unsigned short*)io_map)[0x300A4 >> 1] - 125) / 806.0f * 165.0f - 40;
#else
unsigned short temp = 0;//;(((unsigned short*)io_map)[0x280BC >> 1] - 117) / 798.0f * 165.0f - 40;
#endif
char t[8];
sprintf(t, "%d", temp);
strcat(out, t);
opos += strlen(t);
} else if (str[ipos + 1] == 'F' && isdigit(str[ipos + 2]) && isdigit(str[ipos + 3])) {
// Extract the two digits after $F as an integer
char numStr[3] = {str[ipos + 2], str[ipos + 3], '\0'};
int value = atoi(numStr);
//Ugly
osds[FULL_OVERLAY_ID].size=value;
// Skip the $Fxx part in the input string
ipos += 3;
} else if (str[ipos + 1] == 'L' && isdigit(str[ipos + 2]) && isdigit(str[ipos + 3])) {
// Extract the two digits after $F as an integer
char numStr[3] = {str[ipos + 2], str[ipos + 3], '\0'};
int value = atoi(numStr);
//Ugly
msg_layout=value%10;
msg_colour=value/10;
if (msg_colour==0)
msg_colour=COLOR_WHITE;
else if (msg_colour==1)
msg_colour=COLOR_BLACK;
else
// 1=Red, Green, Blue, Yellow ,Magenta, 6=Cyan
msg_colour--;
ipos += 3;
}
else if (str[ipos + 1] == '&') {
ipos++;
strcat(out, "&");
opos++;
}
ipos++;
}
strncpy(str, out, 180);
}
#ifdef _x86
static char FECFile[128]= "./MSPOSD.msg";
#else
static char FECFile[128]= "/tmp/MSPOSD.msg";
#endif
uint64_t LastOSDMsgParsed = 0;
BITMAP bitmapText;
char osdmsg[80];
bool DrawText(){
char *font;
#ifdef _x86
asprintf(&font, "fonts/%s.ttf", osds[FULL_OVERLAY_ID].font);
#else
asprintf(&font, "/usr/share/fonts/truetype/%s.ttf", osds[FULL_OVERLAY_ID].font);
#endif
if (!osd_msg_enabled){
if ((get_time_ms() - LastOSDMsgParsed)<1000){//If msgs are not needed, do not check for file every frame, but once per second
//printf("skipped msg osd check\n");
return false;
}
LastOSDMsgParsed = get_time_ms();//Do not parse and read variable too often
}
bool res=false;
int result;
char out[180];
size_t bytesRead=0;
FILE *file=NULL;
file = fopen(FECFile, "rb");
if (file != NULL){// New file, will have to render the font
bytesRead = fread(osdmsg, 1, 79 /*max buffer*/, file); //with files
fclose(file);
remove(FECFile);