viewport.h

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//Aquila - An Open-Source GPU-Accelerated Toolkit for Cognitive and Neuro-Robotics Research                                                                                                                     //
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#ifndef VIEWPORT_H
#define VIEWPORT_H

#include <QGLWidget>
#include <QThread>
#include <QTime>
#include <yarp/os/all.h>
#include <yarp/sig/all.h>

#define FPS_SAMPLE_SIZE 20 //number of frames used for calculating the average FPS

class ViewportThread;

class Viewport : public QGLWidget
{
    Q_OBJECT

public:
    Viewport(QWidget *parent=0);
    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > imagePort;

    void initialise(QString senderPortName, QString receiverPortName);
    void setImage(const QImage& qImage);
    void start();
    void stop();

    yarp::sig::ImageOf<yarp::sig::PixelRgb>* getImage();

protected:
    void paintEvent(QPaintEvent*);

private:
    ViewportThread *thread;

    QImage img;
    QTime currentTime;
    QTime lastTime;

    int elapsedTime;
    int numFrames;
    int fps;

private slots:
    void setImage(yarp::sig::ImageOf<yarp::sig::PixelRgb> *yarpImage);
};

class ViewportThread : public QThread
{
    Q_OBJECT
public:
    ViewportThread(Viewport *pViewport);

    bool stopping;

private:
    Viewport *viewport;

    void run();

signals:
    void imageReceived(yarp::sig::ImageOf<yarp::sig::PixelRgb> *yarpImage);
};

#endif//VIEWPORT_H