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-rw-r--r--libraries/Robot_Control/Adafruit_GFX.cpp688
1 files changed, 688 insertions, 0 deletions
diff --git a/libraries/Robot_Control/Adafruit_GFX.cpp b/libraries/Robot_Control/Adafruit_GFX.cpp
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+++ b/libraries/Robot_Control/Adafruit_GFX.cpp
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+/******************************************************************
+ 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
+
+}*/
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