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-rw-r--r--libraries/Robot_Control/Adafruit_GFX.cpp688
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diff --git a/libraries/Robot_Control/Adafruit_GFX.cpp 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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