qtyarpview.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
 
#ifndef QTYARPVIEW_H
#define QTYARPVIEW_H
 
#include <QQuickItem>
#include "videoproducer.h"
 
//#include <cstdio>
#include <yarp/os/Property.h>
#include <yarp/os/Network.h>
#include <yarp/os/BufferedPort.h>
#include "ImagePort.h"
#include "signalhandler.h"
//using namespace yarp::os;
 
//-------------------------------------------------
// Program Options
//-------------------------------------------------
struct mOptions
{
    unsigned int    m_refreshTime;
    char            m_portName[256];
    char            m_title[256];
    char            m_networkName[256];
    int             m_windWidth;
    int             m_windHeight;
    int             m_posX;
    int             m_posY;
    char            m_fileName[256];
    int             m_saveOnExit;
    char            m_outPortName[256];
    char            m_outRightPortName[256]; //Name for the mouse right click related port
    char            m_outNetworkName[256];
    int             m_outputEnabled;
    int             m_rightEnabled; //If true the right click related output is enabled
    bool            m_synchRate;
    bool            m_autosize;
};
typedef struct mOptions pgmOptions;
 
class QtYARPView : public QQuickItem
{
    Q_OBJECT
 
    Q_DISABLE_COPY(QtYARPView)
    Q_PROPERTY(QObject *videoProducer READ getVideoProducer NOTIFY videoProducerChanged)
    Q_PROPERTY(int posX READ posX NOTIFY posXChanged)
    Q_PROPERTY(int posY READ posY NOTIFY posYChanged)
    Q_PROPERTY(int windowWidth READ windowWidth NOTIFY widthChanged)
    Q_PROPERTY(int windowHeight READ windowHeight NOTIFY heightChanged)
    Q_PROPERTY(int refreshInterval READ refreshInterval NOTIFY refreshIntervalChanged)
 
public:
    QtYARPView(QQuickItem *parent = 0);
    ~QtYARPView();
 
    Q_INVOKABLE void freeze(bool check);
    Q_INVOKABLE void synchDisplayPeriod(bool check);
    Q_INVOKABLE void synchDisplaySize(bool check);
    Q_INVOKABLE void changeRefreshInterval(int);
    Q_INVOKABLE void saveFrame();
    Q_INVOKABLE void setFileName(QUrl url);
    Q_INVOKABLE void setFilesName(QUrl url);
    Q_INVOKABLE void startDumpFrames();
    Q_INVOKABLE void stopDumpFrames();
    Q_INVOKABLE bool parseParameters(QStringList);
    Q_INVOKABLE bool rightClickEnabled();
    Q_INVOKABLE void clickCoords_2(int x, int y);
    Q_INVOKABLE void clickCoords_4(int start_x, int start_y, int end_x, int end_y);
    Q_INVOKABLE void rightClickCoords_2(int x, int y);
    Q_INVOKABLE void rightClickCoords_4(int start_x, int start_y, int end_x, int end_y);
 
    Q_INVOKABLE QString getPixelAsStr(int x, int y);
 
    QObject *getVideoProducer();
    int posX();
    int posY();
    int windowWidth();
    int windowHeight();
    int refreshInterval();
 
private:
    void createObjects();
    void deleteObjects();
    void printHelp();
    void setOptionsToDefault();
    void setOptions(yarp::os::Searchable& options);
    bool openPorts();
    void closePorts();
    void saveOptFile(char *fileName);
    void periodToFreq(double avT, double mT, double MT, double &avH, double &mH, double &MH);
 
private:
    VideoProducer videoProducer;
 
    // This Network yarp must be placed before any other yarp dependent member
    yarp::os::Network yarp;
    SignalHandler sigHandler;
#ifdef YARP_LITTLE_ENDIAN
    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelBgra> > *ptr_inputPort;
#else
    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgba> > *ptr_inputPort;
#endif
    yarp::os::BufferedPort<yarp::os::Bottle> *_pOutPort;
    yarp::os::BufferedPort<yarp::os::Bottle> *_pOutRightPort;
    InputCallback *ptr_portCallback;
    pgmOptions _options;
 
signals:
    void optionsSet();
    void refreshIntervalChanged();
    void videoProducerChanged();
    void posXChanged();
    void posYChanged();
    void widthChanged();
    void heightChanged();
    void sizeChanged();
    void sendPortFps(QString avg, QString min, QString max);
    void sendDisplayFps(QString avg, QString min, QString max);
    void synchRate(bool check);
    void autosize(bool check);
    void setName(QString name);
    void setTitle(QString inputTitle);
private slots:
    void onSendFps(double portAvg, double portMin, double portMax, double dispAvg, double dispMin, double dispMax);
    void onWindowSizeChangeRequested();
};
 
#endif // QTYARPVIEW_H