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ardupilot/libraries/AP_OSD/AP_OSD_Backend.h

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
#include <AP_HAL/HAL.h>
#include <AP_OSD/AP_OSD.h>
#include <AP_Filesystem/AP_Filesystem.h>
class AP_OSD_Backend
{
public:
//constructor
AP_OSD_Backend(AP_OSD &osd): _osd(osd) {};
//destructor
virtual ~AP_OSD_Backend(void) {}
//draw given text to framebuffer
virtual void write(uint8_t x, uint8_t y, const char* text) = 0;
//draw formatted text to framebuffer
virtual void write(uint8_t x, uint8_t y, bool blink, const char *fmt, ...) FMT_PRINTF(5, 6);
//initilize framebuffer and underlying hardware
virtual bool init() = 0;
//update screen
virtual void flush() = 0;
// return a correction factor used to display angles correctly
virtual float get_aspect_ratio_correction() const {return 1;}
//clear screen
//should match hw blink
virtual void clear()
{
blink_phase = (blink_phase+1)%4;
};
// copy the backend specific symbol set to the OSD lookup table
virtual void init_symbol_set(uint8_t *symbols, const uint8_t size);
AP_OSD * get_osd()
{
return &_osd;
}
protected:
AP_OSD& _osd;
// get font choice
uint8_t get_font_num(void) const
{
return (uint8_t)_osd.font_num.get();
}
//check option
bool check_option(uint32_t option) const
{
return (_osd.options & option) != 0;
}
uint8_t convert_to_decimal_packed_characters(char* buff, uint8_t size);
virtual uint8_t format_string_for_osd(char* dst, uint8_t size, bool decimal_packed, const char *fmt, va_list ap);
// load a font from sdcard or ROMFS
FileData *load_font_data(uint8_t font_num);
int8_t blink_phase;
enum vid_format {
FORMAT_UNKNOWN = 0,
FORMAT_NTSC = 1,
FORMAT_PAL = 2,
} _format;
// default OSD symbols
static const uint8_t SYM_M = 0xB9;
static const uint8_t SYM_KM = 0xBA;
static const uint8_t SYM_FT = 0x0F;
static const uint8_t SYM_MI = 0xBB;
static const uint8_t SYM_ALT_M = 0xB1;
static const uint8_t SYM_ALT_FT = 0xB3;
static const uint8_t SYM_BATT_FULL = 0x90;
static const uint8_t SYM_RSSI = 0x01;
static const uint8_t SYM_VOLT = 0x06;
static const uint8_t SYM_AMP = 0x9A;
static const uint8_t SYM_MAH = 0x07;
static const uint8_t SYM_MS = 0x9F;
static const uint8_t SYM_FS = 0x99;
static const uint8_t SYM_KMH = 0xA1;
static const uint8_t SYM_MPH = 0xB0;
static const uint8_t SYM_DEGR = 0xA8;
static const uint8_t SYM_PCNT = 0x25;
static const uint8_t SYM_RPM = 0xE0;
static const uint8_t SYM_ASPD = 0xE1;
static const uint8_t SYM_GSPD = 0xE2;
static const uint8_t SYM_WSPD = 0xE3;
static const uint8_t SYM_VSPD = 0xE4;
static const uint8_t SYM_WPNO = 0xE5;
static const uint8_t SYM_WPDIR = 0xE6;
static const uint8_t SYM_WPDST = 0xE7;
static const uint8_t SYM_FTMIN = 0xE8;
static const uint8_t SYM_FTSEC = 0x99;
static const uint8_t SYM_SAT_L = 0x1E;
static const uint8_t SYM_SAT_R = 0x1F;
static const uint8_t SYM_HDOP_L = 0xBD;
static const uint8_t SYM_HDOP_R = 0xBE;
static const uint8_t SYM_HOME = 0xBF;
static const uint8_t SYM_WIND = 0x16;
static const uint8_t SYM_ARROW_START = 0x60;
static const uint8_t SYM_ARROW_COUNT = 16;
static const uint8_t SYM_AH_H_START = 0x80;
static const uint8_t SYM_AH_H_COUNT = 9;
static const uint8_t SYM_AH_V_START = 0xCA;
static const uint8_t SYM_AH_V_COUNT = 6;
static const uint8_t SYM_AH_CENTER_LINE_LEFT = 0x26;
static const uint8_t SYM_AH_CENTER_LINE_RIGHT = 0x27;
static const uint8_t SYM_AH_CENTER = 0x7E;
static const uint8_t SYM_HEADING_N = 0x18;
static const uint8_t SYM_HEADING_S = 0x19;
static const uint8_t SYM_HEADING_E = 0x1A;
static const uint8_t SYM_HEADING_W = 0x1B;
static const uint8_t SYM_HEADING_DIVIDED_LINE = 0x1C;
static const uint8_t SYM_HEADING_LINE = 0x1D;
static const uint8_t SYM_UP_UP = 0xA2;
static const uint8_t SYM_UP = 0xA3;
static const uint8_t SYM_DOWN = 0xA4;
static const uint8_t SYM_DOWN_DOWN = 0xA5;
static const uint8_t SYM_DEGREES_C = 0x0E;
static const uint8_t SYM_DEGREES_F = 0x0D;
static const uint8_t SYM_GPS_LAT = 0xA6;
static const uint8_t SYM_GPS_LONG = 0xA7;
static const uint8_t SYM_ARMED = 0x00;
static const uint8_t SYM_DISARMED = 0xE9;
static const uint8_t SYM_ROLL0 = 0x2D;
static const uint8_t SYM_ROLLR = 0xEA;
static const uint8_t SYM_ROLLL = 0xEB;
static const uint8_t SYM_PTCH0 = 0x7C;
static const uint8_t SYM_PTCHUP = 0xEC;
static const uint8_t SYM_PTCHDWN = 0xED;
static const uint8_t SYM_XERR = 0xEE;
static const uint8_t SYM_KN = 0xF0;
static const uint8_t SYM_NM = 0xF1;
static const uint8_t SYM_DIST = 0x22;
static const uint8_t SYM_FLY = 0x9C;
static const uint8_t SYM_EFF = 0xF2;
static const uint8_t SYM_AH = 0xF3;
static const uint8_t SYM_MW = 0xF4;
static const uint8_t SYM_CLK = 0xBC;
static const uint8_t SYM_KILO = 0x4B;
static const uint8_t SYM_TERALT = 0xEF;
static const uint8_t SYM_FENCE_ENABLED = 0xF5;
static const uint8_t SYM_FENCE_DISABLED = 0xF6;
static const uint8_t SYM_RNGFD = 0xF7;
static const uint8_t SYM_LQ = 0xF8;
static const uint8_t SYM_SIDEBAR_R_ARROW = 0x09;
static const uint8_t SYM_SIDEBAR_L_ARROW = 0x0A;
static const uint8_t SYM_SIDEBAR_A = 0x13;
static const uint8_t SYM_SIDEBAR_B = 0x14;
static const uint8_t SYM_SIDEBAR_C = 0x15;
static const uint8_t SYM_SIDEBAR_D = 0xDD;
static const uint8_t SYM_SIDEBAR_E = 0xDB;
static const uint8_t SYM_SIDEBAR_F = 0xDC;
static const uint8_t SYM_SIDEBAR_G = 0xDA;
static const uint8_t SYM_SIDEBAR_H = 0xDE;
static const uint8_t SYM_SIDEBAR_I = 0x11;
static const uint8_t SYM_SIDEBAR_J = 0x12;
static constexpr uint8_t symbols[AP_OSD_NUM_SYMBOLS] {
SYM_M,
SYM_KM,
SYM_FT,
SYM_MI,
SYM_ALT_M,
SYM_ALT_FT,
SYM_BATT_FULL,
SYM_RSSI,
SYM_VOLT,
SYM_AMP,
SYM_MAH,
SYM_MS,
SYM_FS,
SYM_KMH,
SYM_MPH,
SYM_DEGR,
SYM_PCNT,
SYM_RPM,
SYM_ASPD,
SYM_GSPD,
SYM_WSPD,
SYM_VSPD,
SYM_WPNO,
SYM_WPDIR,
SYM_WPDST,
SYM_FTMIN,
SYM_FTSEC,
SYM_SAT_L,
SYM_SAT_R,
SYM_HDOP_L,
SYM_HDOP_R,
SYM_HOME,
SYM_WIND,
SYM_ARROW_START,
SYM_ARROW_COUNT,
SYM_AH_H_START,
SYM_AH_H_COUNT,
SYM_AH_V_START,
SYM_AH_V_COUNT,
SYM_AH_CENTER_LINE_LEFT,
SYM_AH_CENTER_LINE_RIGHT,
SYM_AH_CENTER,
SYM_HEADING_N,
SYM_HEADING_S,
SYM_HEADING_E,
SYM_HEADING_W,
SYM_HEADING_DIVIDED_LINE,
SYM_HEADING_LINE,
SYM_UP_UP,
SYM_UP,
SYM_DOWN,
SYM_DOWN_DOWN,
SYM_DEGREES_C,
SYM_DEGREES_F,
SYM_GPS_LAT,
SYM_GPS_LONG,
SYM_ARMED,
SYM_DISARMED,
SYM_ROLL0,
SYM_ROLLR,
SYM_ROLLL,
SYM_PTCH0,
SYM_PTCHUP,
SYM_PTCHDWN,
SYM_XERR,
SYM_KN,
SYM_NM,
SYM_DIST,
SYM_FLY,
SYM_EFF,
SYM_AH,
SYM_MW,
SYM_CLK,
SYM_KILO,
SYM_TERALT,
SYM_FENCE_ENABLED,
SYM_FENCE_DISABLED,
SYM_RNGFD,
SYM_LQ,
SYM_SIDEBAR_R_ARROW,
SYM_SIDEBAR_L_ARROW,
SYM_SIDEBAR_A,
SYM_SIDEBAR_B,
SYM_SIDEBAR_C,
SYM_SIDEBAR_D,
SYM_SIDEBAR_E,
SYM_SIDEBAR_F,
SYM_SIDEBAR_G,
SYM_SIDEBAR_H,
SYM_SIDEBAR_I,
SYM_SIDEBAR_J,
};
};