Merge branch 'merge-1.0.5' into ide-1.5.x-discovery

1 files changed, 688 insertions, 0 deletions

diff --git a/libraries/Robot_Control/Adafruit_GFX.cpp b/libraries/Robot_Control/Adafruit_GFX.cpp
new file mode 100644
index 0000000..acfed1d
--- /dev/null
+++ b/libraries/Robot_Control/Adafruit_GFX.cpp
@@ -0,0 +1,688 @@
+/******************************************************************
+ This is the core graphics library for all our displays, providing
+ basic graphics primitives (points, lines, circles, etc.). It needs
+ to be paired with a hardware-specific library for each display
+ device we carry (handling the lower-level functions).
+ 
+ Adafruit invests time and resources providing this open
+ source code, please support Adafruit and open-source hardware
+ by purchasing products from Adafruit!
+ 
+ Written by Limor Fried/Ladyada for Adafruit Industries.
+ BSD license, check license.txt for more information.
+ All text above must be included in any redistribution.
+ ******************************************************************/
+
+#include "Adafruit_GFX.h"
+#include "glcdfont.c"
+#include <avr/pgmspace.h>
+
+void Adafruit_GFX::constructor(int16_t w, int16_t h) {
+  _width = WIDTH = w;
+  _height = HEIGHT = h;
+
+  rotation = 0;    
+  cursor_y = cursor_x = 0;
+  textsize = 1;
+  textcolor = textbgcolor = 0xFFFF;
+  wrap = true;
+  
+  strokeColor = 0;
+  useStroke = true;
+  fillColor = 0;
+  useFill = false;
+
+}
+
+
+// draw a circle outline
+void Adafruit_GFX::drawCircle(int16_t x0, int16_t y0, int16_t r, 
+			      uint16_t color) {
+  int16_t f = 1 - r;
+  int16_t ddF_x = 1;
+  int16_t ddF_y = -2 * r;
+  int16_t x = 0;
+  int16_t y = r;
+
+  drawPixel(x0, y0+r, color);
+  drawPixel(x0, y0-r, color);
+  drawPixel(x0+r, y0, color);
+  drawPixel(x0-r, y0, color);
+
+  while (x<y) {
+    if (f >= 0) {
+      y--;
+      ddF_y += 2;
+      f += ddF_y;
+    }
+    x++;
+    ddF_x += 2;
+    f += ddF_x;
+  
+    drawPixel(x0 + x, y0 + y, color);
+    drawPixel(x0 - x, y0 + y, color);
+    drawPixel(x0 + x, y0 - y, color);
+    drawPixel(x0 - x, y0 - y, color);
+    drawPixel(x0 + y, y0 + x, color);
+    drawPixel(x0 - y, y0 + x, color);
+    drawPixel(x0 + y, y0 - x, color);
+    drawPixel(x0 - y, y0 - x, color);
+    
+  }
+}
+
+void Adafruit_GFX::drawCircleHelper( int16_t x0, int16_t y0,
+               int16_t r, uint8_t cornername, uint16_t color) {
+  int16_t f     = 1 - r;
+  int16_t ddF_x = 1;
+  int16_t ddF_y = -2 * r;
+  int16_t x     = 0;
+  int16_t y     = r;
+
+  while (x<y) {
+    if (f >= 0) {
+      y--;
+      ddF_y += 2;
+      f     += ddF_y;
+    }
+    x++;
+    ddF_x += 2;
+    f     += ddF_x;
+    if (cornername & 0x4) {
+      drawPixel(x0 + x, y0 + y, color);
+      drawPixel(x0 + y, y0 + x, color);
+    } 
+    if (cornername & 0x2) {
+      drawPixel(x0 + x, y0 - y, color);
+      drawPixel(x0 + y, y0 - x, color);
+    }
+    if (cornername & 0x8) {
+      drawPixel(x0 - y, y0 + x, color);
+      drawPixel(x0 - x, y0 + y, color);
+    }
+    if (cornername & 0x1) {
+      drawPixel(x0 - y, y0 - x, color);
+      drawPixel(x0 - x, y0 - y, color);
+    }
+  }
+}
+
+void Adafruit_GFX::fillCircle(int16_t x0, int16_t y0, int16_t r, 
+			      uint16_t color) {
+  drawFastVLine(x0, y0-r, 2*r+1, color);
+  fillCircleHelper(x0, y0, r, 3, 0, color);
+}
+
+// used to do circles and roundrects!
+void Adafruit_GFX::fillCircleHelper(int16_t x0, int16_t y0, int16_t r,
+				    uint8_t cornername, int16_t delta, uint16_t color) {
+
+  int16_t f     = 1 - r;
+  int16_t ddF_x = 1;
+  int16_t ddF_y = -2 * r;
+  int16_t x     = 0;
+  int16_t y     = r;
+
+  while (x<y) {
+    if (f >= 0) {
+      y--;
+      ddF_y += 2;
+      f     += ddF_y;
+    }
+    x++;
+    ddF_x += 2;
+    f     += ddF_x;
+
+    if (cornername & 0x1) {
+      drawFastVLine(x0+x, y0-y, 2*y+1+delta, color);
+      drawFastVLine(x0+y, y0-x, 2*x+1+delta, color);
+    }
+    if (cornername & 0x2) {
+      drawFastVLine(x0-x, y0-y, 2*y+1+delta, color);
+      drawFastVLine(x0-y, y0-x, 2*x+1+delta, color);
+    }
+  }
+}
+
+// bresenham's algorithm - thx wikpedia
+void Adafruit_GFX::drawLine(int16_t x0, int16_t y0, 
+			    int16_t x1, int16_t y1, 
+			    uint16_t color) {
+  int16_t steep = abs(y1 - y0) > abs(x1 - x0);
+  if (steep) {
+    swap(x0, y0);
+    swap(x1, y1);
+  }
+
+  if (x0 > x1) {
+    swap(x0, x1);
+    swap(y0, y1);
+  }
+
+  int16_t dx, dy;
+  dx = x1 - x0;
+  dy = abs(y1 - y0);
+
+  int16_t err = dx / 2;
+  int16_t ystep;
+
+  if (y0 < y1) {
+    ystep = 1;
+  } else {
+    ystep = -1;
+  }
+
+  for (; x0<=x1; x0++) {
+    if (steep) {
+      drawPixel(y0, x0, color);
+    } else {
+      drawPixel(x0, y0, color);
+    }
+    err -= dy;
+    if (err < 0) {
+      y0 += ystep;
+      err += dx;
+    }
+  }
+}
+
+
+// draw a rectangle
+void Adafruit_GFX::drawRect(int16_t x, int16_t y, 
+			    int16_t w, int16_t h, 
+			    uint16_t color) {
+  drawFastHLine(x, y, w, color);
+  drawFastHLine(x, y+h-1, w, color);
+  drawFastVLine(x, y, h, color);
+  drawFastVLine(x+w-1, y, h, color);
+}
+
+void Adafruit_GFX::drawFastVLine(int16_t x, int16_t y, 
+				 int16_t h, uint16_t color) {
+  // stupidest version - update in subclasses if desired!
+  drawLine(x, y, x, y+h-1, color);
+}
+
+
+void Adafruit_GFX::drawFastHLine(int16_t x, int16_t y, 
+				 int16_t w, uint16_t color) {
+  // stupidest version - update in subclasses if desired!
+  drawLine(x, y, x+w-1, y, color);
+}
+
+void Adafruit_GFX::fillRect(int16_t x, int16_t y, int16_t w, int16_t h, 
+			    uint16_t color) {
+  // stupidest version - update in subclasses if desired!
+  for (int16_t i=x; i<x+w; i++) {
+    drawFastVLine(i, y, h, color); 
+  }
+}
+
+
+void Adafruit_GFX::fillScreen(uint16_t color) {
+  fillRect(0, 0, _width, _height, color);
+}
+
+// draw a rounded rectangle!
+void Adafruit_GFX::drawRoundRect(int16_t x, int16_t y, int16_t w,
+  int16_t h, int16_t r, uint16_t color) {
+  // smarter version
+  drawFastHLine(x+r  , y    , w-2*r, color); // Top
+  drawFastHLine(x+r  , y+h-1, w-2*r, color); // Bottom
+  drawFastVLine(  x    , y+r  , h-2*r, color); // Left
+  drawFastVLine(  x+w-1, y+r  , h-2*r, color); // Right
+  // draw four corners
+  drawCircleHelper(x+r    , y+r    , r, 1, color);
+  drawCircleHelper(x+w-r-1, y+r    , r, 2, color);
+  drawCircleHelper(x+w-r-1, y+h-r-1, r, 4, color);
+  drawCircleHelper(x+r    , y+h-r-1, r, 8, color);
+}
+
+// fill a rounded rectangle!
+void Adafruit_GFX::fillRoundRect(int16_t x, int16_t y, int16_t w,
+				 int16_t h, int16_t r, uint16_t color) {
+  // smarter version
+  fillRect(x+r, y, w-2*r, h, color);
+
+  // draw four corners
+  fillCircleHelper(x+w-r-1, y+r, r, 1, h-2*r-1, color);
+  fillCircleHelper(x+r    , y+r, r, 2, h-2*r-1, color);
+}
+
+// draw a triangle!
+void Adafruit_GFX::drawTriangle(int16_t x0, int16_t y0,
+				int16_t x1, int16_t y1, 
+				int16_t x2, int16_t y2, uint16_t color) {
+  drawLine(x0, y0, x1, y1, color);
+  drawLine(x1, y1, x2, y2, color);
+  drawLine(x2, y2, x0, y0, color);
+}
+
+// fill a triangle!
+void Adafruit_GFX::fillTriangle ( int16_t x0, int16_t y0,
+				  int16_t x1, int16_t y1, 
+				  int16_t x2, int16_t y2, uint16_t color) {
+
+  int16_t a, b, y, last;
+
+  // Sort coordinates by Y order (y2 >= y1 >= y0)
+  if (y0 > y1) {
+    swap(y0, y1); swap(x0, x1);
+  }
+  if (y1 > y2) {
+    swap(y2, y1); swap(x2, x1);
+  }
+  if (y0 > y1) {
+    swap(y0, y1); swap(x0, x1);
+  }
+
+  if(y0 == y2) { // Handle awkward all-on-same-line case as its own thing
+    a = b = x0;
+    if(x1 < a)      a = x1;
+    else if(x1 > b) b = x1;
+    if(x2 < a)      a = x2;
+    else if(x2 > b) b = x2;
+    drawFastHLine(a, y0, b-a+1, color);
+    return;
+  }
+
+  int16_t
+    dx01 = x1 - x0,
+    dy01 = y1 - y0,
+    dx02 = x2 - x0,
+    dy02 = y2 - y0,
+    dx12 = x2 - x1,
+    dy12 = y2 - y1,
+    sa   = 0,
+    sb   = 0;
+
+  // For upper part of triangle, find scanline crossings for segments
+  // 0-1 and 0-2.  If y1=y2 (flat-bottomed triangle), the scanline y1
+  // is included here (and second loop will be skipped, avoiding a /0
+  // error there), otherwise scanline y1 is skipped here and handled
+  // in the second loop...which also avoids a /0 error here if y0=y1
+  // (flat-topped triangle).
+  if(y1 == y2) last = y1;   // Include y1 scanline
+  else         last = y1-1; // Skip it
+
+  for(y=y0; y<=last; y++) {
+    a   = x0 + sa / dy01;
+    b   = x0 + sb / dy02;
+    sa += dx01;
+    sb += dx02;
+    /* longhand:
+    a = x0 + (x1 - x0) * (y - y0) / (y1 - y0);
+    b = x0 + (x2 - x0) * (y - y0) / (y2 - y0);
+    */
+    if(a > b) swap(a,b);
+    drawFastHLine(a, y, b-a+1, color);
+  }
+
+  // For lower part of triangle, find scanline crossings for segments
+  // 0-2 and 1-2.  This loop is skipped if y1=y2.
+  sa = dx12 * (y - y1);
+  sb = dx02 * (y - y0);
+  for(; y<=y2; y++) {
+    a   = x1 + sa / dy12;
+    b   = x0 + sb / dy02;
+    sa += dx12;
+    sb += dx02;
+    /* longhand:
+    a = x1 + (x2 - x1) * (y - y1) / (y2 - y1);
+    b = x0 + (x2 - x0) * (y - y0) / (y2 - y0);
+    */
+    if(a > b) swap(a,b);
+    drawFastHLine(a, y, b-a+1, color);
+  }
+}
+
+void Adafruit_GFX::drawBitmap(int16_t x, int16_t y, 
+			      const uint8_t *bitmap, int16_t w, int16_t h,
+			      uint16_t color) {
+
+  int16_t i, j, byteWidth = (w + 7) / 8;
+
+  for(j=0; j<h; j++) {
+    for(i=0; i<w; i++ ) {
+      if(pgm_read_byte(bitmap + j * byteWidth + i / 8) & (128 >> (i & 7))) {
+	drawPixel(x+i, y+j, color);
+      }
+    }
+  }
+}
+
+
+#if ARDUINO >= 100
+size_t Adafruit_GFX::write(uint8_t c) {
+#else
+void Adafruit_GFX::write(uint8_t c) {
+#endif
+  if (c == '\n') {
+    cursor_y += textsize*8;
+    cursor_x = 0;
+  } else if (c == '\r') {
+    // skip em
+  } else {
+    drawChar(cursor_x, cursor_y, c, textcolor, textbgcolor, textsize);
+    cursor_x += textsize*6;
+    if (wrap && (cursor_x > (_width - textsize*6))) {
+      cursor_y += textsize*8;
+      cursor_x = 0;
+    }
+  }
+#if ARDUINO >= 100
+  return 1;
+#endif
+}
+
+// draw a character
+void Adafruit_GFX::drawChar(int16_t x, int16_t y, unsigned char c,
+			    uint16_t color, uint16_t bg, uint8_t size) {
+
+  if((x >= _width)            || // Clip right
+     (y >= _height)           || // Clip bottom
+     ((x + 5 * size - 1) < 0) || // Clip left
+     ((y + 8 * size - 1) < 0))   // Clip top
+    return;
+
+  for (int8_t i=0; i<6; i++ ) {
+    uint8_t line;
+    if (i == 5) 
+      line = 0x0;
+    else 
+      line = pgm_read_byte(font+(c*5)+i);
+    for (int8_t j = 0; j<8; j++) {
+      if (line & 0x1) {
+        if (size == 1) // default size
+          drawPixel(x+i, y+j, color);
+        else {  // big size
+          fillRect(x+(i*size), y+(j*size), size, size, color);
+        } 
+      } else if (bg != color) {
+        if (size == 1) // default size
+          drawPixel(x+i, y+j, bg);
+        else {  // big size
+          fillRect(x+i*size, y+j*size, size, size, bg);
+        } 	
+      }
+      line >>= 1;
+    }
+  }
+}
+
+void Adafruit_GFX::setCursor(int16_t x, int16_t y) {
+  cursor_x = x;
+  cursor_y = y;
+}
+
+
+void Adafruit_GFX::setTextSize(uint8_t s) {
+  textsize = (s > 0) ? s : 1;
+}
+
+
+void Adafruit_GFX::setTextColor(uint16_t c) {
+  textcolor = c;
+  textbgcolor = c; 
+  // for 'transparent' background, we'll set the bg 
+  // to the same as fg instead of using a flag
+}
+
+ void Adafruit_GFX::setTextColor(uint16_t c, uint16_t b) {
+   textcolor = c;
+   textbgcolor = b; 
+ }
+
+void Adafruit_GFX::setTextWrap(boolean w) {
+  wrap = w;
+}
+
+uint8_t Adafruit_GFX::getRotation(void) {
+  rotation %= 4;
+  return rotation;
+}
+
+void Adafruit_GFX::setRotation(uint8_t x) {
+  x %= 4;  // cant be higher than 3
+  rotation = x;
+  switch (x) {
+  case 0:
+  case 2:
+    _width = WIDTH;
+    _height = HEIGHT;
+    break;
+  case 1:
+  case 3:
+    _width = HEIGHT;
+    _height = WIDTH;
+    break;
+  }
+}
+
+void Adafruit_GFX::invertDisplay(boolean i) {
+  // do nothing, can be subclassed
+}
+
+
+// return the size of the display which depends on the rotation!
+int16_t Adafruit_GFX::width(void) { 
+  return _width; 
+}
+ 
+int16_t Adafruit_GFX::height(void) { 
+  return _height; 
+}
+
+
+
+uint16_t Adafruit_GFX::newColor(uint8_t r, uint8_t g, uint8_t b) {
+  return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3);
+}
+
+
+void Adafruit_GFX::background(uint8_t red, uint8_t green, uint8_t blue) {
+  background(newColor(red, green, blue));
+}
+
+void Adafruit_GFX::background(color c) {
+  fillScreen(c);
+}
+
+void Adafruit_GFX::stroke(uint8_t red, uint8_t green, uint8_t blue) {
+  stroke(newColor(red, green, blue));
+}
+
+void Adafruit_GFX::stroke(color c) {
+  useStroke = true;
+  strokeColor = c;
+  setTextColor(c);
+}
+
+void Adafruit_GFX::noStroke() {
+  useStroke = false;
+}
+
+void Adafruit_GFX::noFill() {
+  useFill = false;
+}
+
+void Adafruit_GFX::fill(uint8_t red, uint8_t green, uint8_t blue) {
+  fill(newColor(red, green, blue));
+}
+
+void Adafruit_GFX::fill(color c) {
+  useFill = true;
+  fillColor = c;
+}
+
+void Adafruit_GFX::text(int value, uint8_t x, uint8_t y){
+  if (!useStroke)
+    return;
+  
+  setTextWrap(false);
+  setTextColor(strokeColor);
+  setCursor(x, y);
+  print(value);
+}
+void Adafruit_GFX::text(long value, uint8_t x, uint8_t y){
+  if (!useStroke)
+    return;
+  
+  setTextWrap(false);
+  setTextColor(strokeColor);
+  setCursor(x, y);
+  print(value);
+}
+void Adafruit_GFX::text(char value, uint8_t x, uint8_t y){
+  if (!useStroke)
+    return;
+  
+  setTextWrap(false);
+  setTextColor(strokeColor);
+  setCursor(x, y);
+  print(value);
+}
+
+void Adafruit_GFX::text(const char * text, int16_t x, int16_t y) {
+  if (!useStroke)
+    return;
+  
+  setTextWrap(false);
+  setTextColor(strokeColor);
+  setCursor(x, y);
+  print(text);
+}
+
+void Adafruit_GFX::textWrap(const char * text, int16_t x, int16_t y) {
+  if (!useStroke)
+    return;
+  
+  setTextWrap(true);
+  setTextColor(strokeColor);
+  setCursor(x, y);
+  print(text);
+}
+
+
+void Adafruit_GFX::textSize(uint8_t size) {
+  setTextSize(size);
+}
+
+void Adafruit_GFX::point(int16_t x, int16_t y) {
+  if (!useStroke)
+    return;
+  
+  drawPixel(x, y, strokeColor);
+}
+
+void Adafruit_GFX::line(int16_t x1, int16_t y1, int16_t x2, int16_t y2) {
+  if (!useStroke)
+    return;
+  
+  if (x1 == x2) {
+    drawFastVLine(x1, y1, y2 - y1, strokeColor);
+  }
+  else if (y1 == y2) {
+    drawFastHLine(x1, y1, x2 - x1, strokeColor);
+  }
+  else {
+    drawLine(x1, y1, x2, y2, strokeColor);
+  }
+}
+
+void Adafruit_GFX::rect(int16_t x, int16_t y, int16_t width, int16_t height) {
+  if (useFill) {
+    fillRect(x, y, width, height, fillColor);
+  }
+  if (useStroke) {
+    drawRect(x, y, width, height, strokeColor);
+  }
+}
+
+void Adafruit_GFX::rect(int16_t x, int16_t y, int16_t width, int16_t height, int16_t radius) {
+  if (radius == 0) {
+    rect(x, y, width, height);
+  }
+  if (useFill) {
+    fillRoundRect(x, y, width, height, radius, fillColor);
+  }
+  if (useStroke) {
+    drawRoundRect(x, y, width, height, radius, strokeColor);
+  }
+}
+
+void Adafruit_GFX::circle(int16_t x, int16_t y, int16_t r) {
+  if (r == 0)
+    return;
+  
+  if (useFill) {
+    fillCircle(x, y, r, fillColor);
+  }
+  if (useStroke) {
+    drawCircle(x, y, r, strokeColor);
+  }
+}
+
+void Adafruit_GFX::triangle(int16_t x1, int16_t y1, int16_t x2, int16_t y2, int16_t x3, int16_t y3) {
+  if (useFill) {
+    fillTriangle(x1, y1, x2, y2, x3, y3, fillColor);
+  }
+  if (useStroke) {
+    drawTriangle(x1, y1, x2, y2, x3, y3, strokeColor);
+  }
+}
+
+#define BUFFPIXEL 20
+/*
+void Adafruit_GFX::image(PImage & img, uint16_t x, uint16_t y) {
+  int      w, h, row, col;
+  uint8_t  r, g, b;
+  uint32_t pos = 0;
+  uint8_t  sdbuffer[3*BUFFPIXEL]; // pixel buffer (R+G+B per pixel)
+  uint8_t  buffidx = sizeof(sdbuffer); // Current position in sdbuffer
+
+  // Crop area to be loaded
+  w = img._bmpWidth;
+  h = img._bmpHeight;
+  if((x+w-1) >= width())  w = width()  - x;
+  if((y+h-1) >= height()) h = height() - y;
+
+  
+  // Set TFT address window to clipped image bounds
+  //setAddrWindow(x, y, x+w-1, y+h-1);
+  
+  
+  for (row=0; row<h; row++) { // For each scanline...
+    // Seek to start of scan line.  It might seem labor-
+    // intensive to be doing this on every line, but this
+    // method covers a lot of gritty details like cropping
+    // and scanline padding.  Also, the seek only takes
+    // place if the file position actually needs to change
+    // (avoids a lot of cluster math in SD library).
+    if(img._flip) // Bitmap is stored bottom-to-top order (normal BMP)
+      pos = img._bmpImageoffset + (img._bmpHeight - 1 - row) * img._rowSize;
+    else     // Bitmap is stored top-to-bottom
+      pos = img._bmpImageoffset + row * img._rowSize;
+    if(img._bmpFile.position() != pos) { // Need seek?
+      img._bmpFile.seek(pos);
+      buffidx = sizeof(sdbuffer); // Force buffer reload
+    }
+
+    for (col=0; col<w; col++) { // For each pixel...
+      // Time to read more pixel data?
+      if (buffidx >= sizeof(sdbuffer)) { // Indeed
+        img._bmpFile.read(sdbuffer, sizeof(sdbuffer));
+        buffidx = 0; // Set index to beginning
+      }
+
+      // Convert pixel from BMP to TFT format, push to display
+      b = sdbuffer[buffidx++];
+      g = sdbuffer[buffidx++];
+      r = sdbuffer[buffidx++];
+      //pushColor(tft.Color565(r,g,b));
+      drawPixel(x + col, y + row, newColor(r, g, b));
+      
+    } // end pixel
+  } // end scanline
+
+}*/