RenderWidget::RenderWidget(QWidget *parent) :
QOpenGLWidget(parent),
renderFunctions(nullptr),
render(nullptr),
quad(nullptr),
quadShader(nullptr),
openglDebugLogger(nullptr),
captureMouse(false),
onlyShowTexture(false),
textureDisplayed(color)
{
// Widget config
setUpdateBehavior(QOpenGLWidget::NoPartialUpdate);
setFocusPolicy(Qt::ClickFocus);
// Update Timer config
connect(&updateTimer, SIGNAL(timeout()), this, SLOT(update()));
startUpdateLoop();
// Open GL Context config
QSurfaceFormat f;
f.setRenderableType(QSurfaceFormat::OpenGL);
f.setMajorVersion(4);
f.setMinorVersion(5);
f.setProfile(QSurfaceFormat::CoreProfile);
f.setOptions(QSurfaceFormat::DebugContext | f.options());
setFormat(f);
}
/**
OpenGL intialization.
*/
void MyQGLWidget::initializeGL()
{
initializeGLFunctions(context());
glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
glShadeModel(GL_SMOOTH);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_COLOR_MATERIAL);
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
glClearDepth(1.0f);
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
camera_.setPosition(50, 50, 125);
camera_.lookAt(Vec3f(50, 50, 0), Vec3f(50, 50, 125), Vec3f(0, 1, 0));
initMaze();
initShaders();
startUpdateLoop();
}
bool Drone::startUpdateLoop()
{
if(_updater == nullptr)
{
if(_connected.load())
{
_stop_flag = false;
_updater = new boost::thread(&Drone::runUpdateLoop, this);
}
else
{
return false;
}
}
else if(_connected.load())
{
// When the connection is lost the _updater thread still exists. If it is reestablished, then it needs to be killed.
stopUpdateLoop();
_connected.store(true);
startUpdateLoop();
}
return true;
}