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Draw robot team and lid

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This commit is contained in:
Gabriel Lima
2024-02-12 15:40:04 -03:00
parent 4a3dc0e752
commit 61a9b3e262
3 changed files with 168 additions and 1 deletions
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2
Core/Src/Components/SSL_Display.cpp
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@@ -27,7 +27,7 @@ int32_t SSL_Display::init() {
status0.connected = true; status0.connected = true;
status0.robotId = i; status0.robotId = i;
status0.status = 0; status0.status = 0;
status0.team = 0; status0.team = i%2;
robots[i].setRobotStatus(status0); robots[i].setRobotStatus(status0);
} }

165
Core/Src/Components/SSL_GFX.cpp
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@@ -43,6 +43,8 @@ int32_t SSL_GFX::draw() {
errors += drawRobotSilhouette(colorRobot); errors += drawRobotSilhouette(colorRobot);
errors += drawId(colorRobot); errors += drawId(colorRobot);
errors += drawBatteryBar(); errors += drawBatteryBar();
errors += drawRobotLid();
errors += drawRobotTeam();
errors += hDisplay->setPosition(posX, posY, sizeX, sizeY); errors += hDisplay->setPosition(posX, posY, sizeX, sizeY);
errors += hDisplay->write((uint8_t*)hBuffer, 19200); errors += hDisplay->write((uint8_t*)hBuffer, 19200);
return errors; return errors;
@@ -157,6 +159,169 @@ int32_t SSL_GFX::drawRobotSilhouette(uint8_t color[3]) {
int32_t SSL_GFX::drawRobotLid() { int32_t SSL_GFX::drawRobotLid() {
uint32_t errors = 0; uint32_t errors = 0;
uint8_t colorPurple[3] = {0xFC, 0x00, 0xFC};
uint8_t colorGreen[3] = {0x00, 0xFC, 0x00};
uint8_t* colorCircle[4];
switch(robotStatus.robotId){
case 0:
colorCircle[0] = colorPurple;
colorCircle[1] = colorPurple;
colorCircle[2] = colorGreen;
colorCircle[3] = colorPurple;
break;
case 1:
colorCircle[0] = colorGreen;
colorCircle[1] = colorPurple;
colorCircle[2] = colorGreen;
colorCircle[3] = colorPurple;
break;
case 2:
colorCircle[0] = colorGreen;
colorCircle[1] = colorGreen;
colorCircle[2] = colorGreen;
colorCircle[3] = colorPurple;
break;
case 3:
colorCircle[0] = colorPurple;
colorCircle[1] = colorGreen;
colorCircle[2] = colorGreen;
colorCircle[3] = colorPurple;
break;
case 4:
colorCircle[0] = colorPurple;
colorCircle[1] = colorPurple;
colorCircle[2] = colorPurple;
colorCircle[3] = colorGreen;
break;
case 5:
colorCircle[0] = colorGreen;
colorCircle[1] = colorPurple;
colorCircle[2] = colorPurple;
colorCircle[3] = colorGreen;
break;
case 6:
colorCircle[0] = colorGreen;
colorCircle[1] = colorGreen;
colorCircle[2] = colorPurple;
colorCircle[3] = colorGreen;
break;
case 7:
colorCircle[0] = colorPurple;
colorCircle[1] = colorGreen;
colorCircle[2] = colorPurple;
colorCircle[3] = colorGreen;
break;
case 8:
colorCircle[0] = colorGreen;
colorCircle[1] = colorGreen;
colorCircle[2] = colorGreen;
colorCircle[3] = colorGreen;
break;
case 9:
colorCircle[0] = colorPurple;
colorCircle[1] = colorPurple;
colorCircle[2] = colorPurple;
colorCircle[3] = colorPurple;
break;
case 10:
colorCircle[0] = colorPurple;
colorCircle[1] = colorPurple;
colorCircle[2] = colorGreen;
colorCircle[3] = colorGreen;
break;
case 11:
colorCircle[0] = colorGreen;
colorCircle[1] = colorGreen;
colorCircle[2] = colorPurple;
colorCircle[3] = colorPurple;
break;
}
errors += drawCircle(colorCircle[0], 28, 33, 4);
errors += drawCircle(colorCircle[1], 52, 33, 4);
errors += drawCircle(colorCircle[2], 32, 52, 4);
errors += drawCircle(colorCircle[3], 48, 52, 4);
return errors;
}
int32_t SSL_GFX::drawRobotTeam(){
uint8_t colorTobotTeam[3];
if(robotStatus.team){
colorTobotTeam[0] = 0b11111100;
colorTobotTeam[1] = 0b11111100;
colorTobotTeam[2] = 0;
}else{
colorTobotTeam[0] = 0;
colorTobotTeam[1] = 0;
colorTobotTeam[2] = 0b11111100;
}
return drawCircle(colorTobotTeam, 40, 40, 5);
}
int32_t SSL_GFX::drawCircle(uint8_t color[3], uint16_t posX, uint16_t posY, uint16_t radius) {
uint32_t errors = 0;
uint8_t corners = 3;
uint8_t delta = 0;
int16_t x0 = posX;
int16_t y0 = posY;
int16_t r = radius;
int16_t f = 1 - r;
int16_t ddF_x = 1;
int16_t ddF_y = -2 * r;
int16_t x = 0;
int16_t y = r;
int16_t px = x;
int16_t py = y;
delta++; // Avoid some +1's in the loop
for(uint32_t i=0; i < 2*r + 1; i++){
hBuffer[i + y0 - r][x0][0] = color[0];
hBuffer[i + y0 - r][x0][1] = color[1];
hBuffer[i + y0 - r][x0][2] = color[2];
}
while (x < y) {
if (f >= 0) {
y--;
ddF_y += 2;
f += ddF_y;
}
x++;
ddF_x += 2;
f += ddF_x;
// These checks avoid double-drawing certain lines, important
// for the SSD1306 library which has an INVERT drawing mode.
if (x < (y + 1)) {
if (corners & 1)
for(uint32_t i=0; i<2*y + delta; i++){
hBuffer[i + y0 - y][x0 + x][0] = color[0];
hBuffer[i + y0 - y][x0 + x][1] = color[1];
hBuffer[i + y0 - y][x0 + x][2] = color[2];
}
if (corners & 2)
for(uint32_t i=0; i<2*y + delta; i++){
hBuffer[i + y0 - y][x0 - x][0] = color[0];
hBuffer[i + y0 - y][x0 - x][1] = color[1];
hBuffer[i + y0 - y][x0 - x][2] = color[2];
}
}
if (y != py) {
if (corners & 1)
for(uint32_t i=0; i<2*px + delta; i++){
hBuffer[i + y0 - px][x0 + py][0] = color[0];
hBuffer[i + y0 - px][x0 + py][1] = color[1];
hBuffer[i + y0 - px][x0 + py][2] = color[2];
}
if (corners & 2)
for(uint32_t i=0; i<2*px + delta; i++){
hBuffer[i + y0 - px][x0 - py][0] = color[0];
hBuffer[i + y0 - px][x0 - py][1] = color[1];
hBuffer[i + y0 - px][x0 - py][2] = color[2];
}
py = y;
}
px = x;
}
return errors; return errors;
} }

2
Core/Src/Components/SSL_GFX.hpp
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@@ -38,9 +38,11 @@ private:
uint8_t (*hBuffer)[sizeX][3]; uint8_t (*hBuffer)[sizeX][3];
uint32_t size; uint32_t size;
int32_t drawText(uint8_t color[3], uint16_t posX, uint16_t posY, uint8_t* string, uint32_t size); int32_t drawText(uint8_t color[3], uint16_t posX, uint16_t posY, uint8_t* string, uint32_t size);
int32_t drawCircle(uint8_t color[3], uint16_t posX, uint16_t posY, uint16_t radius);
int32_t drawBoundingBox(uint8_t color[3]); int32_t drawBoundingBox(uint8_t color[3]);
int32_t drawRobotSilhouette(uint8_t color[3]); int32_t drawRobotSilhouette(uint8_t color[3]);
int32_t drawRobotLid(); int32_t drawRobotLid();
int32_t drawRobotTeam();
int32_t drawId(uint8_t color[3]); int32_t drawId(uint8_t color[3]);
int32_t drawBatteryBar(); int32_t drawBatteryBar();
}; };