mm gif

RELENTLESS/include/api.h

@@ -77,4 +77,6 @@
 #include "pros/link.hpp"
 #endif
 
+#include "asset.h"
+
 #endif  // _PROS_API_H_

RELENTLESS/include/gif-pros/gifclass.hpp

@@ -17,13 +17,23 @@ public:
    * @param fname  the gif filename on the SD card (prefixed with /usd/)
    * @param parent the LVGL parent object
    */
-  Gif(const char* fname, lv_obj_t* parent);
+  Gif(const asset file, lv_obj_t* parent);
 
   /**
    * Destructs and cleans the Gif class
    */
   ~Gif();
 
+  /**
+   * Pauses the GIF task
+   */
+  void pause();
+
+  /**
+   * Resumes the GIF task
+   */
+  void resume();
+
   /**
    * Deletes GIF and frees all allocated memory
    */

RELENTLESS/include/gif-pros/gifdec.h

@@ -55,4 +55,4 @@ void gd_close_gif(gd_GIF *gif);
 }
 #endif
 
-#endif /* GIFDEC_H */
+#endif /* GIFDEC_H */

RELENTLESS/src/gif-pros/gifclass.cpp

@@ -0,0 +1,132 @@
+#include "gifclass.hpp"
+
+/**
+ * MIT License
+ * Copyright (c) 2019 Theo Lemay
+ * https://github.com/theol0403/gif-pros
+ */
+
+/**
+ * Construct the Gif class
+ * @param fname  the gif filename on the SD card (prefixed with /usd/)
+ * @param parent the LVGL parent object
+ */
+Gif::Gif(const asset file, lv_obj_t* parent) {
+	size_t len = file.size;
+
+	_gifmem = file.buf;
+
+	if (_gifmem != NULL) {
+		// create a FILE from memory buffer
+		FILE* memfp = fmemopen(_gifmem, len, "rb");
+
+		// open gof file
+		// will allocate memory for background and one animation frame.
+		_gif = gd_open_gif(memfp);
+		if(_gif == NULL) {
+			std::cerr << "Gif::Gif - error opening gif" << std::endl;
+			_cleanup();
+			return;
+		}
+
+		// memory for rendering frame
+		_buffer = (uint8_t*)malloc(_gif->width * _gif->height * BYTES_PER_PIXEL);
+		if(_buffer == NULL) {
+			// out of memory
+			_cleanup();
+			std::cerr << "Gif::Gif - not enough memory for frame buffer" << std::endl;
+		} else {
+			_cbuf = new lv_color_t[_gif->width * _gif->height];
+			_canvas = lv_canvas_create(parent, NULL);
+			lv_canvas_set_buffer(_canvas, _cbuf, _gif->width, _gif->height, LV_IMG_CF_TRUE_COLOR_ALPHA);
+			_task = pros::c::task_create(_render_task, static_cast<void*>(this), TASK_PRIORITY_DEFAULT-2, TASK_STACK_DEPTH_DEFAULT, "GIF");
+		}
+	}
+};
+
+
+/**
+ * Destructs and cleans the Gif class
+ */
+Gif::~Gif() {
+	_cleanup();
+}
+
+/**
+ * Pauses the GIF task
+ */
+void Gif::pause(){
+	pros::c::task_suspend(_task);
+}
+
+/**
+ * Resumes the GIF task
+ */
+void Gif::resume(){
+	pros::c::task_resume(_task);
+}
+
+/**
+* Deletes GIF and frees all allocated memory
+*/
+void Gif::clean() {
+	_cleanup();
+}
+
+/**
+ * Cleans and frees all allocated memory
+ */
+void Gif::_cleanup() {
+	if(_canvas) { lv_obj_del(_canvas); _canvas = nullptr; }
+	if(_cbuf) { delete[] _cbuf; _cbuf = nullptr; }
+	if(_buffer) { free(_buffer); _buffer = nullptr; }
+	if(_gif) { gd_close_gif(_gif); _gif = nullptr; }
+	if(_gifmem) { free(_gifmem); _gifmem = nullptr; }
+	// deleting task kills this thread
+	if(_task) { pros::c::task_delete(_task); _task = nullptr; }
+}
+
+
+/**
+ * Render cycle, blocks until loop count exceeds gif loop count flag (if any)
+ */
+void Gif::_render() {
+
+	for (size_t looped = 1;; looped++) {
+		while (gd_get_frame(_gif)) {
+			int32_t now = pros::millis();
+
+			gd_render_frame(_gif, _buffer);
+
+			for (size_t i = 0; i < _gif->height * _gif->width; i++) {
+				_cbuf[i].red = _buffer[(i * BYTES_PER_PIXEL)];
+				_cbuf[i].green = _buffer[(i * BYTES_PER_PIXEL) + 1];
+				_cbuf[i].blue = _buffer[(i * BYTES_PER_PIXEL) + 2];
+				_cbuf[i].alpha = _buffer[(i * BYTES_PER_PIXEL) + 3];
+			};
+
+			lv_obj_invalidate(_canvas); // force canvas redraw
+
+			int32_t delay = _gif->gce.delay * 10;
+			int32_t delta = pros::millis() - now;
+			delay -= delta;
+
+			if(delay > 0) pros::delay(delay);
+		}
+
+		if(looped == _gif->loop_count) break;
+		gd_rewind(_gif);
+	}
+
+	_cleanup();
+}
+
+
+/**
+ * Calls _render()
+ * @param arg Gif*
+ */
+void Gif::_render_task(void* arg) {
+	Gif* instance = static_cast<Gif*>(arg);
+	instance->_render();
+}

RELENTLESS/src/gif-pros/gifdec.c

@@ -0,0 +1,498 @@
+#include "gifdec.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#define MIN(A, B) ((A) < (B) ? (A) : (B))
+#define MAX(A, B) ((A) > (B) ? (A) : (B))
+
+typedef struct Entry {
+	uint16_t length;
+	uint16_t prefix;
+	uint8_t  suffix;
+} Entry;
+
+typedef struct Table {
+	int bulk;
+	int nentries;
+	Entry *entries;
+} Table;
+
+static uint16_t
+read_num(FILE *fp)
+{
+	uint8_t bytes[2];
+
+	fread(bytes, 1, 2, fp);
+	return bytes[0] + (((uint16_t) bytes[1]) << 8);
+}
+
+gd_GIF *
+gd_open_gif( FILE *fp )
+{
+	uint8_t sigver[3];
+	uint16_t width, height, depth;
+	uint8_t fdsz, bgidx, aspect;
+	int gct_sz;
+	gd_GIF *gif = NULL;
+	
+	if (fp == NULL) return NULL;
+	/* Header */
+	fread(sigver, 1, 3, fp);
+	if (memcmp(sigver, "GIF", 3) != 0) {
+		fprintf(stderr, "invalid signature\n");
+		goto fail;
+	}
+	/* Version */
+	fread(sigver, 1, 3, fp);
+	if (memcmp(sigver, "89a", 3) != 0) {
+		fprintf(stderr, "invalid version\n");
+		goto fail;
+	}
+	/* Width x Height */
+	width  = read_num(fp);
+	height = read_num(fp);
+	/* FDSZ */
+	fread(&fdsz, 1, 1, fp);
+	/* Presence of GCT */
+	if (!(fdsz & 0x80)) {
+		fprintf(stderr, "no global color table\n");
+		goto fail;
+	}
+	/* Color Space's Depth */
+	depth = ((fdsz >> 4) & 7) + 1;
+	/* Ignore Sort Flag. */
+	/* GCT Size */
+	gct_sz = 1 << ((fdsz & 0x07) + 1);
+	/* Background Color Index */
+	fread(&bgidx, 1, 1, fp);
+	/* Aspect Ratio */
+	fread(&aspect, 1, 1, fp);
+	/* Create gd_GIF Structure. */
+	gif = calloc(1, sizeof(*gif) + (BYTES_PER_PIXEL+1) * width * height);
+	if (!gif) goto fail;
+	gif->fp = fp;
+	gif->width  = width;
+	gif->height = height;
+	gif->depth  = depth;
+	/* Read GCT */
+	gif->gct.size = gct_sz;
+	fread(gif->gct.colors, 1, 3 * gif->gct.size, fp);
+	gif->palette = &gif->gct;
+	gif->bgindex = bgidx;
+	gif->canvas = (uint8_t *) &gif[1];
+	gif->frame = &gif->canvas[BYTES_PER_PIXEL * width * height];
+	if (gif->bgindex)
+		memset(gif->frame, gif->bgindex, gif->width * gif->height);
+	gif->anim_start = ftell(fp);
+	goto ok;
+	fail:
+	fclose(fp);
+	ok:
+	return gif;
+}
+
+static void
+discard_sub_blocks(gd_GIF *gif)
+{
+	uint8_t size;
+
+	do {
+		fread(&size, 1, 1, gif->fp);
+		fseek(gif->fp, size, SEEK_CUR);
+	} while (size);
+}
+
+static void
+read_plain_text_ext(gd_GIF *gif)
+{
+	if (gif->plain_text) {
+		uint16_t tx, ty, tw, th;
+		uint8_t cw, ch, fg, bg;
+		off_t sub_block;
+		fseek(gif->fp, 1, SEEK_CUR); /* block size = 12 */
+		tx = read_num(gif->fp);
+		ty = read_num(gif->fp);
+		tw = read_num(gif->fp);
+		th = read_num(gif->fp);
+		fread( &cw, 1, 1, gif->fp);
+		fread( &ch, 1, 1, gif->fp);
+		fread( &fg, 1, 1, gif->fp);
+		fread( &bg, 1, 1, gif->fp);
+		sub_block = ftell(gif->fp);
+		gif->plain_text(gif, tx, ty, tw, th, cw, ch, fg, bg);
+		fseek(gif->fp, sub_block, SEEK_SET);
+	} else {
+		/* Discard plain text metadata. */
+		fseek(gif->fp, 13, SEEK_CUR);
+	}
+	/* Discard plain text sub-blocks. */
+	discard_sub_blocks(gif);
+}
+
+static void
+read_graphic_control_ext(gd_GIF *gif)
+{
+	uint8_t rdit;
+
+	/* Discard block size (always 0x04). */
+	fseek(gif->fp, 1, SEEK_CUR);
+	fread( &rdit, 1, 1, gif->fp);
+	gif->gce.disposal = (rdit >> 2) & 3;
+	gif->gce.input = rdit & 2;
+	gif->gce.transparency = rdit & 1;
+	gif->gce.delay = read_num(gif->fp);
+	fread( &gif->gce.tindex, 1, 1, gif->fp);
+	/* Skip block terminator. */
+	fseek(gif->fp, 1, SEEK_CUR);
+}
+
+static void
+read_comment_ext(gd_GIF *gif)
+{
+	if (gif->comment) {
+		off_t sub_block = ftell(gif->fp);
+		gif->comment(gif);
+		fseek(gif->fp, sub_block, SEEK_SET);
+	}
+	/* Discard comment sub-blocks. */
+	discard_sub_blocks(gif);
+}
+
+static void
+read_application_ext(gd_GIF *gif)
+{
+	char app_id[8];
+	char app_auth_code[3];
+
+	/* Discard block size (always 0x0B). */
+	fseek(gif->fp, 1, SEEK_CUR);
+	/* Application Identifier. */
+	fread( app_id, 1, 8, gif->fp);
+	/* Application Authentication Code. */
+	fread( app_auth_code, 1, 3, gif->fp);
+	if (!strncmp(app_id, "NETSCAPE", sizeof(app_id))) {
+		/* Discard block size (0x03) and constant byte (0x01). */
+		fseek(gif->fp, 2, SEEK_CUR);
+		gif->loop_count = read_num(gif->fp);
+		/* Skip block terminator. */
+		fseek(gif->fp, 1, SEEK_CUR);
+	} else if (gif->application) {
+		off_t sub_block = ftell(gif->fp);
+		gif->application(gif, app_id, app_auth_code);
+		fseek(gif->fp, sub_block, SEEK_SET);
+		discard_sub_blocks(gif);
+	} else {
+		discard_sub_blocks(gif);
+	}
+}
+
+static void
+read_ext(gd_GIF *gif)
+{
+	uint8_t label;
+
+	fread( &label, 1, 1, gif->fp);
+	switch (label) {
+		case 0x01:
+		read_plain_text_ext(gif);
+		break;
+		case 0xF9:
+		read_graphic_control_ext(gif);
+		break;
+		case 0xFE:
+		read_comment_ext(gif);
+		break;
+		case 0xFF:
+		read_application_ext(gif);
+		break;
+		default:
+		fprintf(stderr, "unknown extension: %02X\n", label);
+	}
+}
+
+static Table *
+new_table(int key_size)
+{
+	int key;
+	int init_bulk = MAX(1 << (key_size + 1), 0x100);
+	Table *table = malloc(sizeof(*table) + sizeof(Entry) * init_bulk);
+	if (table) {
+		table->bulk = init_bulk;
+		table->nentries = (1 << key_size) + 2;
+		table->entries = (Entry *) &table[1];
+		for (key = 0; key < (1 << key_size); key++)
+			table->entries[key] = (Entry) {1, 0xFFF, key};
+	}
+	return table;
+}
+
+/* Add table entry. Return value:
+ *  0 on success
+ *  +1 if key size must be incremented after this addition
+ *  -1 if could not realloc table */
+ static int
+ add_entry(Table **tablep, uint16_t length, uint16_t prefix, uint8_t suffix)
+ {
+	Table *table = *tablep;
+	if (table->nentries == table->bulk) {
+		table->bulk *= 2;
+		table = realloc(table, sizeof(*table) + sizeof(Entry) * table->bulk);
+		if (!table) return -1;
+		table->entries = (Entry *) &table[1];
+		*tablep = table;
+	}
+	table->entries[table->nentries] = (Entry) {length, prefix, suffix};
+	table->nentries++;
+	if ((table->nentries & (table->nentries - 1)) == 0)
+		return 1;
+	return 0;
+}
+
+static uint16_t
+get_key(gd_GIF *gif, int key_size, uint8_t *sub_len, uint8_t *shift, uint8_t *byte)
+{
+	int bits_read;
+	int rpad;
+	int frag_size;
+	uint16_t key;
+
+	key = 0;
+	for (bits_read = 0; bits_read < key_size; bits_read += frag_size) {
+		rpad = (*shift + bits_read) % 8;
+		if (rpad == 0) {
+			/* Update byte. */
+			if (*sub_len == 0) fread( sub_len, 1, 1, gif->fp); /* Must be nonzero! */
+			fread( byte, 1, 1, gif->fp);
+			(*sub_len)--;
+		}
+		frag_size = MIN(key_size - bits_read, 8 - rpad);
+		key |= ((uint16_t) ((*byte) >> rpad)) << bits_read;
+	}
+	/* Clear extra bits to the left. */
+	key &= (1 << key_size) - 1;
+	*shift = (*shift + key_size) % 8;
+	return key;
+}
+
+/* Compute output index of y-th input line, in frame of height h. */
+static int
+interlaced_line_index(int h, int y)
+{
+	int p; /* number of lines in current pass */
+
+	p = (h - 1) / 8 + 1;
+	if (y < p) /* pass 1 */
+	return y * 8;
+	y -= p;
+	p = (h - 5) / 8 + 1;
+	if (y < p) /* pass 2 */
+	return y * 8 + 4;
+	y -= p;
+	p = (h - 3) / 4 + 1;
+	if (y < p) /* pass 3 */
+	return y * 4 + 2;
+	y -= p;
+	/* pass 4 */
+	return y * 2 + 1;
+}
+
+/* Decompress image pixels.
+ * Return 0 on success or -1 on out-of-memory (w.r.t. LZW code table). */
+static int
+read_image_data(gd_GIF *gif, int interlace)
+{
+	uint8_t sub_len, shift, byte;
+	int init_key_size, key_size, table_is_full;
+	int frm_off, str_len, p, x, y;
+	uint16_t key, clear, stop;
+	int ret;
+	Table *table;
+	Entry entry = (Entry) {0, 0, 0}; // prevent warning
+	off_t start, end;
+
+	fread( &byte, 1, 1, gif->fp);
+	key_size = (int) byte;
+	start = ftell(gif->fp);
+	discard_sub_blocks(gif);
+	end = ftell(gif->fp);
+	fseek(gif->fp, start, SEEK_SET);
+	clear = 1 << key_size;
+	stop = clear + 1;
+	table = new_table(key_size);
+	key_size++;
+	init_key_size = key_size;
+	sub_len = shift = 0;
+	key = get_key(gif, key_size, &sub_len, &shift, &byte); /* clear code */
+	frm_off = 0;
+	ret = 0;
+	table_is_full = 0;
+	str_len = 0;
+	while (1) {
+		if (key == clear) {
+			key_size = init_key_size;
+			table->nentries = (1 << (key_size - 1)) + 2;
+			table_is_full = 0;
+		} else if (!table_is_full) {
+			ret = add_entry(&table, str_len + 1, key, entry.suffix);
+			if (ret == -1) {
+				free(table);
+				return -1;
+			}
+			if (table->nentries == 0x1000) {
+				ret = 0;
+				table_is_full = 1;
+			}
+		}
+		key = get_key(gif, key_size, &sub_len, &shift, &byte);
+		if (key == clear) continue;
+		if (key == stop) break;
+		if (ret == 1) key_size++;
+		entry = table->entries[key];
+		str_len = entry.length;
+		while (1) {
+			p = frm_off + entry.length - 1;
+			x = p % gif->fw;
+			y = p / gif->fw;
+			if (interlace)
+				y = interlaced_line_index((int) gif->fh, y);
+			gif->frame[(gif->fy + y) * gif->width + gif->fx + x] = entry.suffix;
+			if (entry.prefix == 0xFFF)
+				break;
+			else
+				entry = table->entries[entry.prefix];
+		}
+		frm_off += str_len;
+		if (key < table->nentries - 1 && !table_is_full)
+			table->entries[table->nentries - 1].suffix = entry.suffix;
+	}
+	free(table);
+	fread( &sub_len, 1, 1, gif->fp); /* Must be zero! */
+	fseek(gif->fp, end, SEEK_SET);
+	return 0;
+}
+
+/* Read image.
+ * Return 0 on success or -1 on out-of-memory (w.r.t. LZW code table). */
+static int
+read_image(gd_GIF *gif)
+{
+	uint8_t fisrz;
+	int interlace;
+
+	/* Image Descriptor. */
+	gif->fx = read_num(gif->fp);
+	gif->fy = read_num(gif->fp);
+	gif->fw = read_num(gif->fp);
+	gif->fh = read_num(gif->fp);
+	fread( &fisrz, 1, 1, gif->fp);
+	interlace = fisrz & 0x40;
+	/* Ignore Sort Flag. */
+	/* Local Color Table? */
+	if (fisrz & 0x80) {
+		/* Read LCT */
+		gif->lct.size = 1 << ((fisrz & 0x07) + 1);
+		fread( gif->lct.colors, 1, 3 * gif->lct.size, gif->fp);
+		gif->palette = &gif->lct;
+	} else
+	gif->palette = &gif->gct;
+	/* Image Data. */
+	return read_image_data(gif, interlace);
+}
+
+static void
+render_frame_rect(gd_GIF *gif, uint8_t *buffer)
+{
+	int i, j, k;
+	uint8_t index, *color;
+	i = gif->fy * gif->width + gif->fx;
+	for (j = 0; j < gif->fh; j++) {
+		for (k = 0; k < gif->fw; k++) {
+			index = gif->frame[(gif->fy + j) * gif->width + gif->fx + k];
+			color = &gif->palette->colors[index*3];
+			if (!gif->gce.transparency || index != gif->gce.tindex) {
+				int offset = (i+k)*BYTES_PER_PIXEL;
+				buffer[offset+0] = *(color+0);
+				buffer[offset+1] = *(color+1);
+				buffer[offset+2] = *(color+2);
+				if(index == gif->bgindex && gif->gce.transparency) {
+					buffer[offset+3] = 0;
+				} else {
+					buffer[offset+3] = 255;
+				}
+			}
+		} 
+		i += gif->width;
+	}
+}
+
+static void
+dispose(gd_GIF *gif)
+{
+	int i, j, k;
+	uint8_t *bgcolor;
+	switch (gif->gce.disposal) {
+	case 2: /* Restore to background color. */
+		bgcolor = &gif->palette->colors[gif->bgindex*3];
+		i = gif->fy * gif->width + gif->fx;
+		for (j = 0; j < gif->fh; j++) {
+			for (k = 0; k < gif->fw; k++) {
+				memcpy(&gif->canvas[(i+k)*BYTES_PER_PIXEL], bgcolor, BYTES_PER_PIXEL);
+			}
+		  i += gif->width;
+	  }
+	  break;
+	case 3: /* Restore to previous, i.e., don't update canvas.*/
+	  break;
+	  default:
+		/* Add frame non-transparent pixels to canvas. */
+	  render_frame_rect(gif, gif->canvas);
+  }
+}
+
+/* Return 1 if got a frame; 0 if got GIF trailer; -1 if error. */
+int
+gd_get_frame(gd_GIF *gif)
+{
+	char sep;
+
+	dispose(gif);
+	fread( &sep, 1, 1, gif->fp);
+	while (sep != ',') {
+		if (sep == ';')
+			return 0;
+		if (sep == '!')
+			read_ext(gif);
+		else return -1;
+			fread( &sep, 1, 1, gif->fp);
+	}
+	if (read_image(gif) == -1)
+		return -1;
+	return 1;
+}
+
+void
+gd_render_frame(gd_GIF *gif, uint8_t *buffer)
+{
+	memcpy(buffer, gif->canvas, gif->width * gif->height * BYTES_PER_PIXEL);
+	render_frame_rect(gif, buffer);
+}
+
+void
+gd_rewind(gd_GIF *gif)
+{
+	fseek(gif->fp, gif->anim_start, SEEK_SET);
+}
+
+void
+gd_close_gif(gd_GIF *gif)
+{
+	fclose(gif->fp);
+	free(gif);
+}

RELENTLESS/src/globals.cpp

@@ -12,6 +12,11 @@ namespace globals {
     // Chassis
     pros::Controller master(CONTROLLER_MASTER);
 
+    /*
+        {-2, -6, 12, 5}, -> left
+        {-16, 1, 4, -3}, -> right
+    */
+
     pros::Motor motor_tlf(12, MOTOR_GEARSET_06, false);
     pros::Motor motor_blb(6, MOTOR_GEARSET_06, true);
     pros::Motor motor_blf(2, MOTOR_GEARSET_06, true);
@@ -25,8 +30,6 @@ namespace globals {
     pros::Motor_Group right_drive({ motor_trf, motor_trb, motor_brf, motor_brb });
 
     // Electronics / Pneumatics / Sensors
-    pros::Distance intake_dist_sens(21);
-
     pros::ADIDigitalOut pto_piston('A');
 
     pros::ADIDigitalOut left_wing_piston('C');

RELENTLESS/src/main.cpp

@@ -7,6 +7,11 @@
 #include "main.h"
 #include "wings.h"
 
+#include "asset.h"
+#include "gif-pros/gifclass.hpp"
+
+ASSET(griddy_gif)
+
 using namespace globals;
 using namespace superstruct;
 
@@ -49,7 +54,7 @@ void initialize() {
 
 	chassis.initialize();
 	ary::autonselector::initialize();
-
+	//pros::lcd::register_btn1_cb(centerButtonCallback);
 	pros::Task telemetryTask(telemetry);
 }
 
@@ -62,16 +67,15 @@ void autonomous() {
 }
 
 void opcontrol() {
+	//Gif gif(griddy_gif, lv_scr_act());
 	opControlInit(); // Configure the chassis for driver control
 
 	while (true) {	
-
 		/*
 			Handle controls for whoever is driving the bot at the moment, each available user a respective set of controls'
 			Available Options:
 			RENU, RIA, CHRIS
 		*/
-
 		if (currentuser == RENU) {
 			chassis.arcade_standard(ary::SPLIT, ary::DEFAULT);
 			renu_control();