Merge pull request #421 from anastasiia-kornilova/2d/show_image

Add draw function for pixel array

Author: iakov

plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/robotModel/twoD/parts/twoDDisplay.h

@@ -72,6 +72,7 @@ public slots: // needed for invokeMethod
 	void paint(QPainter *painter, const QRect &outputRect) override;
 	void reset() override;
 	void redraw() override;
+	void show(const QVector<int32_t> &array, int width, int height, const QString &format);
 
 signals:
 	/// Emitted when bacground color has changed.

plugins/robots/interpreters/trikKitInterpreterCommon/include/trikKitInterpreterCommon/trikEmulation/trikdisplayemu.h

@@ -41,6 +41,7 @@ class TrikDisplayEmu : public trikControl::DisplayInterface
 
 public slots:
 	virtual void showImage(const QString &fileName) override;
+	virtual void show(const QVector<int32_t> &array, int width, int height, const QString &format) override;
 	virtual void addLabel(const QString &text, int x, int y) override;
 	virtual void removeLabels() override {}
 	virtual void setPainterColor(const QString &color) override;

plugins/robots/interpreters/trikKitInterpreterCommon/src/robotModel/twoD/parts/twoDDisplay.cpp

@@ -15,6 +15,7 @@
 #include "trikKitInterpreterCommon/robotModel/twoD/parts/twoDDisplay.h"
 
 #include <QtCore/QJsonArray>
+#include <thirdparty/qslog/QsLog.h>
 
 #include <utils/canvas/textObject.h>
 
@@ -48,6 +49,8 @@ Display::Display(const DeviceInfo &info
 			emit propertyChanged("objects", toJson());
 		}
 	});
+
+	qRegisterMetaType<QVector<int32_t>>("QVector<int32_t>");
 }
 
 QString Display::background() const
@@ -188,3 +191,43 @@ void Display::redraw()
 		mEngine.display()->repaintDisplay();
 	}
 }
+
+void Display::show(const QVector<int32_t> &array, int width, int height, const QString &format)
+{
+	auto fmt = QImage::Format_RGB32;
+	auto *rawData = static_cast<const uchar *>(static_cast<const void *>(array.data()));
+
+	// Reserve maximum possible size to avoid reallocation
+	QVector<uchar> formattedData( (width + 3) * (height + 3) * 3 + 3);
+
+	// QImage requires 32-bit aligned scan lines
+	// Helper function to convert data
+	auto copyAligned = [&](int perLine){
+		auto scanLineSize = static_cast<int>((static_cast<unsigned>(perLine + 3)) & 0xFFFFFFFC);
+		formattedData.resize(scanLineSize * height);
+		auto dst = formattedData.begin();
+		for (auto src = array.begin(); src < array.end(); src += perLine) {
+			dst = std::copy(src, src + perLine, dst);
+			dst += scanLineSize - perLine;
+		}
+		rawData = formattedData.constData();
+	};
+
+	if (!format.compare("rgb32", Qt::CaseInsensitive)) {
+		/* do nothing */
+	} else if (!format.compare("rgb888", Qt::CaseInsensitive)) {
+		fmt = QImage::Format_RGB888;
+		copyAligned(3 * width);
+	} else if (format == "grayscale8") {
+		fmt = QImage::Format_Grayscale8;
+		copyAligned(width);
+	} else {
+		QLOG_ERROR() << "Unsupported format" << format;
+		return;
+	}
+
+	// QImage doesn't create copy of a buffer and requires clean up function
+	// Simple workaround -- create deep-copy using "copy" function
+	mCurrentImage = QImage(rawData, width, height, fmt).copy();
+	mEngine.display()->repaintDisplay();
+}

plugins/robots/interpreters/trikKitInterpreterCommon/src/trikEmulation/trikdisplayemu.cpp

@@ -44,6 +44,12 @@ void TrikDisplayEmu::showImage(const QString &fileName)
 			 Q_ARG(bool, smile));
 }
 
+void TrikDisplayEmu::show(const QVector<int32_t> &array, int width, int height, const QString &format)
+{
+	QMetaObject::invokeMethod(mDisplay, "show", Q_ARG(QVector<int32_t>, array)
+						, Q_ARG(int, width), Q_ARG(int, height), Q_ARG(QString, format));
+}
+
 void TrikDisplayEmu::addLabel(const QString &text, int x, int y)
 {
 	QMetaObject::invokeMethod(mDisplay,