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Added camera temperature widget #11

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81a7fca
Update osd.h
MarioFPVdev Jun 12, 2024
b516669
Update osd.c
MarioFPVdev Jun 12, 2024
7964966
Update mavlink.c
MarioFPVdev Jun 12, 2024
c960598
Merge branch 'gehee:main' into main
MarioFPVdev Jun 25, 2024
16b0e81
Update osd.c
MarioFPVdev Jun 25, 2024
0b777c1
Update osd.c
MarioFPVdev Jun 25, 2024
d8b6821
Update osd.c
MarioFPVdev Jun 25, 2024
d2aa464
Update osd.c
MarioFPVdev Jun 25, 2024
be41df1
Update osd.c
MarioFPVdev Jun 25, 2024
6c8b1fb
Update fpvue_config.h
MarioFPVdev Jun 25, 2024
ab9d8c4
Update main.cpp
MarioFPVdev Jun 25, 2024
c6836bc
Update osd.c
MarioFPVdev Jul 6, 2024
a5efc28
Update osd.c
MarioFPVdev Jul 7, 2024
1d0d0cd
Update osd.c
MarioFPVdev Jul 17, 2024
d85e5ff
Update osd.c
MarioFPVdev Jul 17, 2024
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2 changes: 1 addition & 1 deletion fpvue_config.h
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Original file line number Diff line number Diff line change
@@ -1,2 +1,2 @@
#define fpvue_VERSION_MAJOR 0
#define fpvue_VERSION_MINOR 13
#define fpvue_VERSION_MINOR 12
37 changes: 7 additions & 30 deletions main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,6 @@ extern "C" {
#include "mavlink.h"
}

#include "minimp4.h"
#include "gstrtpreceiver.h"
#include "scheduling_helper.hpp"
#include "time_util.h"
Expand Down Expand Up @@ -75,16 +74,7 @@ pthread_cond_t video_cond;

int video_zpos = 1;

VideoCodec codec = VideoCodec::H265;
FILE *dvr_file = NULL;
MP4E_mux_t *mux ;
mp4_h26x_writer_t mp4wr;

int write_callback(int64_t offset, const void *buffer, size_t size, void *token){
FILE *f = (FILE*)token;
fseek(f, offset, SEEK_SET);
return fwrite(buffer, 1, size, f) != size;
}

void init_buffer(MppFrame frame) {
output_list->video_frm_width = mpp_frame_get_width(frame);
Expand Down Expand Up @@ -167,18 +157,10 @@ void init_buffer(MppFrame frame) {

ret = modeset_perform_modeset(drm_fd, output_list, output_list->video_request, &output_list->video_plane, mpi.frame_to_drm[0].fb_id, osd_vars.video_width, osd_vars.video_height, video_zpos);
assert(ret >= 0);
}

void *__DVR_THREAD__(void *param) {

// dvr setup
if (dvr_file != NULL){
printf("setting up dvr and mux\n");
mux = MP4E_open(0 /*sequential_mode*/, 0 /*fragmentation_mode*/, dvr_file, write_callback);
if (MP4E_STATUS_OK != mp4_h26x_write_init(&mp4wr, mux, output_list->video_frm_width, output_list->video_frm_height, codec==VideoCodec::H265))
{
printf("error: mp4_h26x_write_init failed\n");
mux = NULL;
dvr_file = NULL;
}
}
}

// __FRAME_THREAD__
Expand Down Expand Up @@ -370,12 +352,8 @@ bool feed_packet_to_decoder(MppPacket *packet,void* data_p,int data_len){
usleep(2 * 1000);
}

if (dvr_file!=NULL && mux != NULL){
int res = mp4_h26x_write_nal(&mp4wr, (const unsigned char*)data_p, data_len, -1);
// if (MP4E_STATUS_OK != res) {
// // This is expected to fail until a keyframe arrives.
// //printf("mp4_h26x_write_nal failed with %d", res);
// }
if (dvr_file!=NULL){
fwrite(data_p, data_len, 1, dvr_file);
}
return true;
}
Expand Down Expand Up @@ -500,6 +478,7 @@ int main(int argc, char **argv)
uint16_t mode_width = 0;
uint16_t mode_height = 0;
uint32_t mode_vrefresh = 0;
VideoCodec codec = VideoCodec::H265;
// Load console arguments
__BeginParseConsoleArguments__(printHelp)

Expand Down Expand Up @@ -668,8 +647,6 @@ int main(int argc, char **argv)

// Close dvr file
if (dvr_file != NULL) {
MP4E_close(mux);
mp4_h26x_write_close(&mp4wr);
fclose(dvr_file);
}

Expand Down Expand Up @@ -743,4 +720,4 @@ int main(int argc, char **argv)
close(drm_fd);

return 0;
}
}
10 changes: 9 additions & 1 deletion mavlink.c
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Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,14 @@ void* __MAVLINK_THREAD__(void* arg) {
case MAVLINK_MSG_ID_HEARTBEAT:
// handle_heartbeat(&message);
break;

case MAVLINK_MSG_ID_RAW_IMU:
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@gehee gehee Jun 14, 2024

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MAVLINK_MSG_ID_RAW_IMU seems to be for IMU data:
https://docs.ros.org/en/melodic/api/rosflight/html/mavlink__msg__raw__imu_8h.html#a597d5ddd09d163766bb8afe327d12085
isn't there a message for temperature in mavlink ?

{
mavlink_raw_imu_t imu;
mavlink_msg_raw_imu_decode(&message, &imu);
osd_vars.telemetry_raw_imu = imu.temperature;
}
break;

case MAVLINK_MSG_ID_SYS_STATUS:
{
Expand Down Expand Up @@ -291,4 +299,4 @@ void* __MAVLINK_THREAD__(void* arg) {

printf("Mavlink thread done.\n");
return 0;
}
}
106 changes: 13 additions & 93 deletions osd.c
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Original file line number Diff line number Diff line change
Expand Up @@ -50,8 +50,8 @@ void modeset_paint_buffer(struct modeset_buf *buf) {
surface = cairo_image_surface_create_for_data(buf->map, CAIRO_FORMAT_ARGB32, buf->width, buf->height, buf->stride);
cr = cairo_create (surface);

cairo_select_font_face (cr, "Roboto", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_NORMAL);
cairo_set_font_size (cr, 20);
cairo_select_font_face (cr, "Roboto", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_BOLD);
cairo_set_font_size (cr, 22);

if (osd_vars.enable_video || osd_vars.enable_wfbng ) {
// stats height
Expand Down Expand Up @@ -108,9 +108,9 @@ void modeset_paint_buffer(struct modeset_buf *buf) {
}
avg_bw = avg_bw / avg_cnt;
if (avg_bw < 1000) {
sprintf(msg, "%.2f Kbps", avg_bw / 125 );
sprintf(msg, "%.2f Kbps", avg_bw / 85 );
} else {
sprintf(msg, "%.2f Mbps", avg_bw / 125000 );
sprintf(msg, "%.2f Mbps", avg_bw / 85000 );
}
row_count++;
cairo_set_source_surface (cr, net_icon, osd_x+22, stats_top_margin+row_count*stats_row_height-19);
Expand Down Expand Up @@ -141,58 +141,19 @@ void modeset_paint_buffer(struct modeset_buf *buf) {
return;
}

cairo_set_source_rgba (cr, 255.0, 255.0, 255.0, 1);
cairo_set_source_rgba (cr, 0.0, 255.0, 255.0, 1);
// Mavlink elements
uint32_t x_center = buf->width / 2;
if (osd_vars.telemetry_level > 1){
// TODO(geehe) How to draw lines with cairo?
// // Artificial Horizon
// int32_t offset_pitch = osd_vars.telemetry_pitch * 4;
// int32_t offset_roll = osd_vars.telemetry_roll * 4;
// int32_t y_pos_left = ((int32_t)buf->height / 2 - 2 + offset_pitch + offset_roll);
// int32_t y_pos_right = ((int32_t)buf->height / 2 - 2 + offset_pitch - offset_roll);

// for (int i = 0; i < 4; i++) {
// if (y_pos_left > 0 && y_pos_left < buf->height &&
// y_pos_right > 0 && y_pos_right < buf->height) {
// //fbg_line(cr, x_center - 180, y_pos_left + i, x_center + 180, y_pos_right + i, 255, 255, 255);
// }
// }

// // Vertical Speedometer
// int32_t offset_vspeed = osd_vars.telemetry_vspeed * 5;
// int32_t y_pos_vspeed = ((int32_t)buf->height / 2 - offset_vspeed);
// for (int i = 0; i < 8; i++) {
// if (y_pos_vspeed > 0 && y_pos_vspeed < buf->height) {
// //fbg_line(cr, x_center + 242 + i, buf->height / 2, x_center + 242 + i, y_pos_vspeed, 255, 255, 255);
// }
// }

// for (int i = 0; i < 25; i++) {
// uint32_t width = (i == 12) ? 10 : 0;

// // fbg_line(cr, x_center - 240 - width,
// // buf->height / 2 - 120 + i * 10, x_center - 220,
// // buf->height / 2 - 120 + i * 10, 255, 255, 255);
// // fbg_line(cr, x_center - 240 - width,
// // buf->height / 2 - 120 + i * 10 + 1, x_center - 220,
// // buf->height / 2 - 120 + i * 10 + 1, 255, 255, 255);

// // fbg_line(cr, x_center + 220, buf->height / 2 - 120 + i * 10,
// // x_center + 240 + width, buf->height / 2 - 120 + i * 10, 255, 255, 255);
// // fbg_line(cr, x_center + 220, buf->height / 2 - 120 + i * 10 + 1,
// // x_center + 240 + width, buf->height / 2 - 120 + i * 10 + 1, 255, 255, 255);
// }

// OSD telemetry
sprintf(msg, "ALT:%.00fM", osd_vars.telemetry_altitude);
cairo_move_to(cr, x_center + (20) + 260, buf->height / 2 - 8);
cairo_move_to(cr, x_center + (20) + 260, buf->height - 60);
cairo_show_text(cr, msg);
sprintf(msg, "SPD:%.00fKM/H", osd_vars.telemetry_gspeed);
cairo_move_to(cr, x_center - (16 * 3) - 360, buf->height / 2 - 8);
cairo_move_to(cr, x_center - 350, buf->height - 60);
cairo_show_text(cr, msg);
sprintf(msg, "VSPD:%.00fM/S", osd_vars.telemetry_vspeed);
cairo_move_to(cr, x_center + (20) + 260, buf->height / 2 + 22);
cairo_move_to(cr, x_center + (20) + 260, buf->height - 30);
cairo_show_text(cr, msg);
}

Expand All @@ -208,7 +169,10 @@ void modeset_paint_buffer(struct modeset_buf *buf) {
sprintf(msg, "THR:%.00f%%", osd_vars.telemetry_throttle);
cairo_move_to(cr, 40, buf->height - 120);
cairo_show_text(cr, msg);

sprintf(msg, "TEMP:%.00fC", osd_vars.telemetry_raw_imu/100);
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@gehee gehee Jun 14, 2024

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Can you indicate that this is the AIR Temp ?

cairo_move_to(cr, 40, buf->height - 150);
cairo_show_text(cr, msg);

if (osd_vars.telemetry_level > 1){
sprintf(msg, "SATS:%.00f", osd_vars.telemetry_sats);
cairo_move_to(cr,buf->width - 140, buf->height - 30);
Expand Down Expand Up @@ -255,58 +219,14 @@ void modeset_paint_buffer(struct modeset_buf *buf) {
cairo_move_to(cr, x_center - 350, buf->height - 30);
cairo_show_text(cr, msg);
}

sprintf(msg, "RSSI:%.00f", osd_vars.telemetry_rssi);
cairo_move_to(cr, x_center - 50, buf->height - 30);
cairo_show_text(cr, msg);

// Print rate stats
struct timespec current_timestamp;
if (!clock_gettime(CLOCK_MONOTONIC_COARSE, &current_timestamp)) {
double interval = getTimeInterval(&current_timestamp, &last_timestamp);
if (osd_vars.telemetry_arm > 1700){
seconds = seconds + interval;
}
if (interval > 1) {
last_timestamp = current_timestamp;
rx_rate = ((float)stats_rx_bytes+(((float)stats_rx_bytes*25)/100)) / 1024.0f * 8;
stats_rx_bytes = 0;
}
}

char hud_frames_rx[32];
if (osd_vars.telemetry_level > 1){
cairo_move_to(cr, x_center - strlen(hud_frames_rx) / 2 * 16, 40);
cairo_show_text(cr, hud_frames_rx);
} else {
cairo_move_to(cr, buf->width - 300, buf->height - 60);
cairo_show_text(cr, hud_frames_rx);
sprintf(msg, "TIME:%.2d:%.2d", minutes,seconds);
cairo_move_to(cr, buf->width - 300, buf->height - 90);
cairo_show_text(cr, msg);
if(seconds > 59){
seconds = 0;
++minutes;
}
if(minutes > 59){
seconds = 0;
minutes = 0;
}
}
float percent = rx_rate / (1024 * 10);
if (percent > 1) {
percent = 1;
}

uint32_t width = (strlen(hud_frames_rx) * 16) * percent;
if (osd_vars.telemetry_level > 1){
cairo_set_source_rgba(cr, 255, 255, 255, 0.8); // R, G, B, A
cairo_rectangle(cr, x_center - strlen(hud_frames_rx) / 2 * 16, 64, width, 8);
} else {
cairo_set_source_rgba(cr, 255, 255, 255, 0.8); // R, G, B, A
cairo_rectangle(cr, buf->width - 300, buf->height - 36, width, 8);
}
cairo_fill(cr);
cairo_fill(cr);
}

int osd_thread_signal;
Expand Down
1 change: 1 addition & 0 deletions osd.h
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Expand Up @@ -54,6 +54,7 @@ struct osd_vars {
float telemetry_vspeed;
float telemetry_rssi;
float telemetry_throttle;
float telemetry_raw_imu;
float telemetry_resolution;
float telemetry_arm;
float armed;
Expand Down