void luv2rgb(int *RGB,float *LUV,int size)
{
int i,k;
double x,y,X,Y,Z,den,u2,v2,X0,Z0,Y0,u20,v20,vec[3];
X0 = (0.607+0.174+0.201);
Y0 = (0.299+0.587+0.114);
Z0 = ( 0.066+1.117);
/* Y0 = 1.0 */
u20 = 4*X0/(X0+15*Y0+3*Z0);
v20 = 9*Y0/(X0+15*Y0+3*Z0);
for (i=0;i<size;i+=3)
{
if (LUV[i]>0)
{
if (LUV[i]<8.0) Y=((double) LUV[i])/903.3;
else Y=pow(( ((double) LUV[i]) +16)/116.0,3.0);
u2=((double) LUV[i+1])/13.0/((double) LUV[i])+u20;
v2=((double) LUV[i+2])/13.0/((double) LUV[i])+v20;
den = 6+3*u2-8*v2;
if (den<0) printf("den<0\n");
if (den==0) printf("den==0\n");
x = 4.5*u2/den;
y = 2.0*v2/den;
X=x/y*Y;
Z=(1-x-y)/y*Y;
}
else { X=0.0; Y=0.0; Z=0.0; }
vec[0] = ( 3.240479*X-1.537150*Y-0.498536*Z);
vec[1] = (-0.969256*X+1.875992*Y+0.041556*Z);
vec[2] = ( 0.055648*X-0.204043*Y+1.057311*Z);
for (k=0;k<3;k++)
{
if (vec[k]<=0.018) vec[k] = 255*4.5*vec[k];
else vec[k] = 255*(1.099*pow(vec[k],0.45)-0.099);
if (vec[k]>255) vec[k] = 255;
else if (vec[k]<0) vec[k] = 0;
RGB[i+k] = lroundf((float)vec[k]);
}
}
}
static void output_mode_cb(void *data, struct wl_output *output,
uint32_t flags, int32_t width, int32_t height,
int32_t refresh)
{
demux_t *demux = data;
demux_sys_t *sys = demux->p_sys;
msg_Dbg(demux, "output mode: 0x%08"PRIX32" %"PRId32"x%"PRId32
" %"PRId32"mHz%s", flags, width, height, refresh,
(flags & WL_OUTPUT_MODE_CURRENT) ? " (current)" : "");
if (!(flags & WL_OUTPUT_MODE_CURRENT))
return;
if (width <= sys->x || height <= sys->y)
return;
if (sys->es != NULL)
es_out_Del(demux->out, sys->es);
es_format_t fmt;
es_format_Init(&fmt, VIDEO_ES, VLC_CODEC_RGB32);
fmt.video.i_chroma = VLC_CODEC_RGB32;
fmt.video.i_bits_per_pixel = 32;
fmt.video.i_sar_num = fmt.video.i_sar_den = 1;
fmt.video.i_frame_rate = lroundf(1000.f * sys->rate);
fmt.video.i_frame_rate_base = 1000;
fmt.video.i_width = width;
if (sys->w != 0 && width > sys->w + sys->x)
fmt.video.i_visible_width = sys->w;
else
fmt.video.i_visible_width = width - sys->x;
if (sys->h != 0 && height > sys->h + sys->y)
fmt.video.i_visible_height = sys->h;
else
fmt.video.i_visible_height = height - sys->y;
fmt.video.i_height = fmt.video.i_visible_height;
sys->es = es_out_Add(demux->out, &fmt);
sys->width = width;
sys->height = height;
(void) output;
}
void Font::drawComplexText(GraphicsContext* graphicsContext,
const TextRunPaintInfo& runInfo,
const FloatPoint& point) const
{
UniscribeHelperTextRun state(runInfo.run, *this);
SkColor color = graphicsContext->effectiveFillColor();
unsigned char alpha = SkColorGetA(color);
// Skip 100% transparent text; no need to draw anything.
if (!alpha && graphicsContext->strokeStyle() == NoStroke)
return;
HDC hdc = 0;
// Uniscribe counts the coordinates from the upper left, while WebKit uses
// the baseline, so we have to subtract off the ascent.
state.draw(graphicsContext, primaryFont()->platformData(), hdc, lroundf(point.x()), lroundf(point.y() - fontMetrics().ascent()), runInfo.bounds, runInfo.from, runInfo.to);
}
static block_t *Fl32toS32(filter_t *filter, block_t *b)
{
float *src = (float *)b->p_buffer;
int32_t *dst = (int32_t *)src;
for (size_t i = b->i_buffer / 4; i--;)
{
float s = *(src++) * 2147483648.f;
if (s >= 2147483647.f)
*(dst++) = 2147483647;
else
if (s <= -2147483648.f)
*(dst++) = -2147483648;
else
*(dst++) = lroundf(s);
}
VLC_UNUSED(filter);
return b;
}
/*** from FL32 ***/
static block_t *Fl32toU8(filter_t *filter, block_t *b)
{
float *src = (float *)b->p_buffer;
uint8_t *dst = (uint8_t *)src;
for (size_t i = b->i_buffer / 4; i--;)
{
float s = *(src++) * 128.f;
if (s >= 127.f)
*(dst++) = 255;
else
if (s <= -128.f)
*(dst++) = 0;
else
*(dst++) = lroundf(s) + 128;
}
b->i_buffer /= 4;
VLC_UNUSED(filter);
return b;
}
void AudioInput::setMaxBandwidth(int bytespersec) {
int audiorate;
int baserate;
void *es;
es = speex_encoder_init(speex_lib_get_mode(SPEEX_MODEID_WB));
float f = static_cast<float>(g.s.iQuality);
do {
speex_encoder_ctl(es, SPEEX_SET_VBR_QUALITY, &f);
speex_encoder_ctl(es, SPEEX_GET_BITRATE, &baserate);
audiorate = baserate;
audiorate /= 400/g.s.iFramesPerPacket;
// Overhead
audiorate += 20 + 8 + 4 + 3 + 1 + 2;
if (g.s.bTransmitPosition)
audiorate += 12;
if (NetworkConfig::TcpModeEnabled())
audiorate += 12;
audiorate = (audiorate * 50) / g.s.iFramesPerPacket;
if (f <= 1.9)
break;
if (audiorate > bytespersec) {
f -= 1.0f;
}
} while (audiorate > bytespersec);
speex_encoder_destroy(es);
speex_encoder_ctl(esEncState, SPEEX_SET_VBR_QUALITY, &f);
speex_encoder_ctl(esEncState, SPEEX_SET_VBR_MAX_BITRATE, &baserate);
g.iAudioBandwidth = audiorate;
g.iAudioQuality = lroundf(f);
}
static void *Thread(void *data)
{
demux_t *demux = data;
demux_sys_t *sys = demux->p_sys;
struct wl_display *display = sys->display;
struct pollfd ufd[1];
unsigned interval = lroundf(CLOCK_FREQ / (sys->rate * 1000.f));
int canc = vlc_savecancel();
vlc_cleanup_push(cleanup_wl_display_read, display);
ufd[0].fd = wl_display_get_fd(display);
ufd[0].events = POLLIN;
for (;;)
{
if (DisplayError(demux, display))
break;
if (sys->es != NULL)
{
block_t *block = Shoot(demux);
block->i_pts = block->i_dts = vlc_tick_now();
es_out_SetPCR(demux->out, block->i_pts);
es_out_Send(demux->out, sys->es, block);
}
while (wl_display_prepare_read(display) != 0)
wl_display_dispatch_pending(display);
wl_display_flush(display);
vlc_restorecancel(canc);
while (poll(ufd, 1, interval) < 0);
canc = vlc_savecancel();
wl_display_read_events(display);
wl_display_dispatch_pending(display);
}
vlc_cleanup_pop();
vlc_restorecancel(canc);
return NULL;
}
static int VolumeSet(dtaudio_output_t *aout, float vol)
{
aout_sys_t *sys = (aout_sys_t)aout->ao_priv;
if (!sys->volumeItf)
return -1;
/* Convert UI volume to linear factor (cube) */
vol = vol * vol * vol;
/* millibels from linear amplification */
int mb = lroundf(2000.f * log10f(vol));
if (mb < SL_MILLIBEL_MIN)
mb = SL_MILLIBEL_MIN;
else if (mb > 0)
mb = 0; /* maximum supported level could be higher: GetMaxVolumeLevel */
SLresult r = SetVolumeLevel(aout->sys->volumeItf, mb);
return (r == SL_RESULT_SUCCESS) ? 0 : -1;
}
void dump2byte(int fpp, float *fbuf, int size)
{
int i;
static short int obuf[FFTLEN/NNODE];
float fmax,ftmp;
while (size>FFTLEN/NNODE-2) {
fmax=0;
for (i=0;i<FFTLEN/NNODE;i++) fmax=MAX(fmax,fabs(fbuf[i]));
for (i=0;i<FFTLEN/NNODE;i++) {
ftmp=sqrt(fabs(fbuf[i]/fmax));
ftmp=(fbuf[i]>0)?ftmp:-ftmp;
obuf[i]=lroundf(32767*ftmp);
}
if (write(fpp,&fmax,sizeof(float)) != sizeof(float)) perror("dump1byte:write");
if (write(fpp,obuf,sizeof(short int)*FFTLEN/NNODE) != sizeof(short int)*FFTLEN/NNODE ) perror("dump2byte:write");
fbuf+=FFTLEN/NNODE;
size-=FFTLEN/NNODE;
}
}
void dump1bytefsall(int fpp, float *fbuf, int size)
{
int i;
#define MAXBUF (NCROSS*ONEGATE)
static char obuf[FFTLENOUT];
float fmax,ftmp;
while (size>FFTLENOUT-2) {
fmax=0;
for (i=0;i<FFTLENOUT;i++) fmax=MAX(fmax,fabs(fbuf[i]));
for (i=0;i<FFTLENOUT;i++) {
ftmp=sqrt(fabs(fbuf[i]/fmax));
ftmp=(fbuf[i]>0)?ftmp:-ftmp;
obuf[i]=lroundf(127*ftmp);
}
if (write(fpp,&fmax,sizeof(float)) != sizeof(float)) perror("dump1byte:write");
if (write(fpp,obuf,FFTLENOUT) != FFTLENOUT ) perror("dump1byte:write");
fbuf+=FFTLENOUT;
size-=FFTLENOUT;
}
}
struct svgtiny_shape *svgtiny_add_shape(struct svgtiny_parse_state *state)
{
struct svgtiny_shape *shape = (svgtiny_shape *) realloc(state->diagram->shape,
(state->diagram->shape_count + 1) * sizeof (state->diagram->shape[0]));
if (!shape)
return 0;
state->diagram->shape = shape;
shape += state->diagram->shape_count;
shape->path = 0;
shape->path_length = 0;
shape->text = 0;
shape->fill = state->fill;
shape->stroke = state->stroke;
shape->stroke_width = lroundf((float) state->stroke_width *
(state->ctm.a + state->ctm.d) / 2.0);
if (0 < state->stroke_width && shape->stroke_width == 0)
shape->stroke_width = 1;
return shape;
}
void
simpleaudio_tone_init( unsigned int new_sin_table_len, float mag )
{
sin_table_len = new_sin_table_len;
tone_mag = mag;
if ( sin_table_len != 0 ) {
sin_table_short = realloc(sin_table_short, sin_table_len * sizeof(short));
sin_table_float = realloc(sin_table_float, sin_table_len * sizeof(float));
if ( !sin_table_short || !sin_table_float ) {
perror("malloc");
assert(0);
}
unsigned int i;
unsigned short mag_s = 32767.0f * tone_mag + 0.5f;
if ( tone_mag > 1.0f ) // clamp to 1.0 to avoid overflow
mag_s = 32767;
if ( mag_s < 1 ) // "short epsilon"
mag_s = 1;
for ( i=0; i<sin_table_len; i++ )
sin_table_short[i] = lroundf( mag_s * sinf((float)M_PI*2*i/sin_table_len) );
for ( i=0; i<sin_table_len; i++ )
sin_table_float[i] = tone_mag * sinf((float)M_PI*2*i/sin_table_len);
} else {
if ( sin_table_short ) {
free(sin_table_short);
sin_table_short = NULL;
}
if ( sin_table_float ) {
free(sin_table_float);
sin_table_float = NULL;
}
}
}
void
set_pswf_tables(
float C, int nt, float lambda, const float *coefs,
int ltbl, int linv, float* wtbl, float* winv)
{
// Set up lookup tables for convolvent (used in Phase 1 of
// do_recon()), and for the final correction factor (used in
// Phase 3).
int i;
float norm;
const float fac = (float)ltbl / (linv+0.5);
const float polyz = legendre(nt, coefs, 0.);
wtbl[0] = 1.0;
for(i=1; i<=ltbl; i++)
{
wtbl[i] = legendre(nt, coefs, (float)i/ltbl) / polyz;
}
// Note the final result at end of Phase 3 contains the factor,
// norm^2. This incorporates the normalization of the 2D
// inverse FFT in Phase 2 as well as scale factors involved
// in the inverse Fourier transform of the convolvent.
norm = sqrt(M_PI/2/C/lambda) / 1.2;
winv[linv] = norm / wtbl[0];
for(i=1; i<=linv; i++)
{
// Minus sign for alternate entries
// corrects for "natural" data layout
// in array H at end of Phase 1.
norm = -norm;
winv[linv+i] = winv[linv-i] = norm / wtbl[lroundf(i*fac)];
}
}
void dump1byte_test(int fpp, float *fbuf, int size)
{
#define MAXBUF (NCROSS*ONEGATE)
int i;
struct {float fmax; char obuf[FFTLEN/NNODE]} outbuf[size/(FFTLEN/NNODE)];
static char obuf[FFTLEN/NNODE];
float fmax,ftmp;
int k=0;
while (size>FFTLEN/NNODE-2) {
fmax=0;
for (i=0;i<FFTLEN/NNODE;i++) fmax=MAX(fmax,fabs(fbuf[i]));
outbuf[k].fmax=fmax;
for (i=0;i<FFTLEN/NNODE;i++) {
ftmp=sqrt(fabs(fbuf[i]/fmax));
ftmp=(fbuf[i]>0)?ftmp:-ftmp;
outbuf[k].obuf[i]=lroundf(127*ftmp);
}
k++;
fbuf+=FFTLEN/NNODE;
size-=FFTLEN/NNODE;
}
if (write(fpp,outbuf,sizeof(outbuf))!=sizeof(outbuf)) perror("dump1byte:write");
}
void GPSNmea::ProcessGPGGA(uint8_t *pData) {
uint8_t pField[MAXFIELD];
char pBuff[10];
// Time (currently not used)
/*if (GetField(pData, pField, 0, MAXFIELD)) {
// Hour
pBuff[0] = pField[0];
pBuff[1] = pField[1];
pBuff[2] = '\0';
data.hours = atoi(pBuff);
// minute
pBuff[0] = pField[2];
pBuff[1] = pField[3];
pBuff[2] = '\0';
data.minutes = atoi(pBuff);
// Second
pBuff[0] = pField[4];
pBuff[1] = pField[5];
pBuff[2] = '\0';
data.seconds = atoi(pBuff);
} */
// Latitude (currently not used)
/*if (GetField(pData, pField, 1, MAXFIELD)) {
data.latitude = lroundf(10000000 * atof((char *) pField + 2) / 60.0);
pField[2] = '\0';
data.latitude += lroundf(10000000 * atof((char *) pField));
}
if (GetField(pData, pField, 2, MAXFIELD)) {
if (pField[0] == 'S')
data.latitude = -data.latitude;
}
// Longitude (currently not used)
if (GetField(pData, pField, 3, MAXFIELD)) {
data.longitude = lroundf(10000000 * atof((char *) pField + 3) / 60.0);
pField[3] = '\0';
data.longitude += lroundf(10000000 * atof((char *) pField));
}
if (GetField(pData, pField, 4, MAXFIELD)) {
if (pField[0] == 'W')
data.longitude = -data.longitude;
} */
// Satellites in use
if (GetField(pData, pField, 6, MAXFIELD)) {
pBuff[0] = pField[0];
pBuff[1] = pField[1];
pBuff[2] = '\0';
data.trackedSats = atoi(pBuff);
}
// HDOP
if (GetField(pData, pField, 7, MAXFIELD)) {
data.dop = lroundf(atof((CHAR *) pField) * 10); // FIXME: is this the right units?
}
// Altitude
if (GetField(pData, pField, 8, MAXFIELD)) {
data.altitude = lroundf(atof((CHAR *) pField) * 100);
}
// Set the data-ready flag.
this->dataReadyFlag = true;
}
void Font::drawGlyphs(GraphicsContext* graphicsContext,
const SimpleFontData* font,
const GlyphBuffer& glyphBuffer,
int from,
int numGlyphs,
const FloatPoint& point) const
{
SkColor color = graphicsContext->effectiveFillColor();
unsigned char alpha = SkColorGetA(color);
// Skip 100% transparent text; no need to draw anything.
if (!alpha && graphicsContext->strokeStyle() == NoStroke && !graphicsContext->hasShadow())
return;
// We draw the glyphs in chunks to avoid having to do a heap allocation for
// the arrays of characters and advances.
const int kMaxBufferLength = 256;
Vector<int, kMaxBufferLength> advances;
int glyphIndex = 0; // The starting glyph of the current chunk.
float horizontalOffset = point.x(); // The floating point offset of the left side of the current glyph.
#if ENABLE(OPENTYPE_VERTICAL)
const OpenTypeVerticalData* verticalData = font->verticalData();
if (verticalData) {
Vector<FloatPoint, kMaxBufferLength> translations;
Vector<GOFFSET, kMaxBufferLength> offsets;
// Skia doesn't have matrix for glyph coordinate space, so we rotate back the CTM.
AffineTransform savedMatrix = graphicsContext->getCTM();
graphicsContext->concatCTM(AffineTransform(0, -1, 1, 0, point.x(), point.y()));
graphicsContext->concatCTM(AffineTransform(1, 0, 0, 1, -point.x(), -point.y()));
const FontMetrics& metrics = font->fontMetrics();
SkScalar verticalOriginX = SkFloatToScalar(point.x() + metrics.floatAscent() - metrics.floatAscent(IdeographicBaseline));
while (glyphIndex < numGlyphs) {
// How many chars will be in this chunk?
int curLen = std::min(kMaxBufferLength, numGlyphs - glyphIndex);
const Glyph* glyphs = glyphBuffer.glyphs(from + glyphIndex);
translations.resize(curLen);
verticalData->getVerticalTranslationsForGlyphs(font, &glyphs[0], curLen, reinterpret_cast<float*>(&translations[0]));
// To position glyphs vertically, we use offsets instead of advances.
advances.resize(curLen);
advances.fill(0);
offsets.resize(curLen);
float currentWidth = 0;
for (int i = 0; i < curLen; ++i, ++glyphIndex) {
offsets[i].du = lroundf(translations[i].x());
offsets[i].dv = -lroundf(currentWidth - translations[i].y());
currentWidth += glyphBuffer.advanceAt(from + glyphIndex);
}
SkPoint origin;
origin.set(verticalOriginX, SkFloatToScalar(point.y() + horizontalOffset - point.x()));
horizontalOffset += currentWidth;
paintSkiaText(graphicsContext, font->platformData(), curLen, &glyphs[0], &advances[0], &offsets[0], &origin);
}
graphicsContext->setCTM(savedMatrix);
return;
}
#endif
// In order to round all offsets to the correct pixel boundary, this code keeps track of the absolute position
// of each glyph in floating point units and rounds to integer advances at the last possible moment.
int lastHorizontalOffsetRounded = lroundf(horizontalOffset); // The rounded offset of the left side of the last glyph rendered.
Vector<WORD, kMaxBufferLength> glyphs;
while (glyphIndex < numGlyphs) {
// How many chars will be in this chunk?
int curLen = std::min(kMaxBufferLength, numGlyphs - glyphIndex);
glyphs.resize(curLen);
advances.resize(curLen);
float currentWidth = 0;
for (int i = 0; i < curLen; ++i, ++glyphIndex) {
glyphs[i] = glyphBuffer.glyphAt(from + glyphIndex);
horizontalOffset += glyphBuffer.advanceAt(from + glyphIndex);
advances[i] = lroundf(horizontalOffset) - lastHorizontalOffsetRounded;
lastHorizontalOffsetRounded += advances[i];
currentWidth += glyphBuffer.advanceAt(from + glyphIndex);
// Bug 26088 - very large positive or negative runs can fail to
// render so we clamp the size here. In the specs, negative
// letter-spacing is implementation-defined, so this should be
// fine, and it matches Safari's implementation. The call actually
// seems to crash if kMaxNegativeRun is set to somewhere around
// -32830, so we give ourselves a little breathing room.
const int maxNegativeRun = -32768;
const int maxPositiveRun = 32768;
if ((currentWidth + advances[i] < maxNegativeRun) || (currentWidth + advances[i] > maxPositiveRun))
advances[i] = 0;
}
SkPoint origin = point;
origin.fX += SkFloatToScalar(horizontalOffset - point.x() - currentWidth);
paintSkiaText(graphicsContext, font->platformData(), curLen, &glyphs[0], &advances[0], 0, &origin);
}
}
void SimpleFontData::platformInit() {
if (!m_platformData.size()) {
m_fontMetrics.reset();
m_avgCharWidth = 0;
m_maxCharWidth = 0;
return;
}
SkPaint paint;
SkPaint::FontMetrics metrics;
m_platformData.setupPaint(&paint);
paint.getFontMetrics(&metrics);
SkTypeface* face = paint.getTypeface();
ASSERT(face);
int vdmxAscent = 0, vdmxDescent = 0;
bool isVDMXValid = false;
#if OS(LINUX) || OS(ANDROID)
// Manually digging up VDMX metrics is only applicable when bytecode hinting
// using FreeType. With GDI, the metrics will already have taken this into
// account (as needed). With DirectWrite or CoreText, no bytecode hinting is
// ever done. This code should be pushed into FreeType (hinted font metrics).
static const uint32_t vdmxTag = SkSetFourByteTag('V', 'D', 'M', 'X');
int pixelSize = m_platformData.size() + 0.5;
if (!paint.isAutohinted() &&
(paint.getHinting() == SkPaint::kFull_Hinting ||
paint.getHinting() == SkPaint::kNormal_Hinting)) {
size_t vdmxSize = face->getTableSize(vdmxTag);
if (vdmxSize && vdmxSize < maxVDMXTableSize) {
uint8_t* vdmxTable = (uint8_t*)fastMalloc(vdmxSize);
if (vdmxTable &&
face->getTableData(vdmxTag, 0, vdmxSize, vdmxTable) == vdmxSize &&
parseVDMX(&vdmxAscent, &vdmxDescent, vdmxTable, vdmxSize, pixelSize))
isVDMXValid = true;
fastFree(vdmxTable);
}
}
#endif
float ascent;
float descent;
// Beware those who step here: This code is designed to match Win32 font
// metrics *exactly* (except the adjustment of ascent/descent on
// Linux/Android).
if (isVDMXValid) {
ascent = vdmxAscent;
descent = -vdmxDescent;
} else {
ascent = SkScalarRoundToInt(-metrics.fAscent);
descent = SkScalarRoundToInt(metrics.fDescent);
#if OS(LINUX) || OS(ANDROID)
// When subpixel positioning is enabled, if the descent is rounded down, the
// descent part of the glyph may be truncated when displayed in a 'overflow:
// hidden' container. To avoid that, borrow 1 unit from the ascent when
// possible.
// FIXME: This can be removed if sub-pixel ascent/descent is supported.
if (platformData().fontRenderStyle().useSubpixelPositioning &&
descent < SkScalarToFloat(metrics.fDescent) && ascent >= 1) {
++descent;
--ascent;
}
#endif
}
m_fontMetrics.setAscent(ascent);
m_fontMetrics.setDescent(descent);
float xHeight;
if (metrics.fXHeight) {
xHeight = metrics.fXHeight;
m_fontMetrics.setXHeight(xHeight);
} else {
xHeight = ascent * 0.56; // Best guess from Windows font metrics.
m_fontMetrics.setXHeight(xHeight);
m_fontMetrics.setHasXHeight(false);
}
float lineGap = SkScalarToFloat(metrics.fLeading);
m_fontMetrics.setLineGap(lineGap);
m_fontMetrics.setLineSpacing(lroundf(ascent) + lroundf(descent) +
lroundf(lineGap));
SkScalar underlineThickness, underlinePosition;
if (metrics.hasUnderlineThickness(&underlineThickness) &&
metrics.hasUnderlinePosition(&underlinePosition)) {
m_fontMetrics.setUnderlineThickness(SkScalarToFloat(underlineThickness));
m_fontMetrics.setUnderlinePosition(SkScalarToFloat(-underlinePosition));
}
if (platformData().orientation() == Vertical &&
!isTextOrientationFallback()) {
static const uint32_t vheaTag = SkSetFourByteTag('v', 'h', 'e', 'a');
static const uint32_t vorgTag = SkSetFourByteTag('V', 'O', 'R', 'G');
size_t vheaSize = face->getTableSize(vheaTag);
size_t vorgSize = face->getTableSize(vorgTag);
if ((vheaSize > 0) || (vorgSize > 0))
m_hasVerticalGlyphs = true;
}
// In WebKit/WebCore/platform/graphics/SimpleFontData.cpp, m_spaceWidth is
// calculated for us, but we need to calculate m_maxCharWidth and
// m_avgCharWidth in order for text entry widgets to be sized correctly.
// FIXME: This seems incorrect and should probably use fMaxCharWidth as
// the code path above.
SkScalar xRange = metrics.fXMax - metrics.fXMin;
m_maxCharWidth =
SkScalarRoundToInt(xRange * SkScalarRoundToInt(m_platformData.size()));
if (metrics.fAvgCharWidth)
m_avgCharWidth = SkScalarRoundToInt(metrics.fAvgCharWidth);
else {
m_avgCharWidth = xHeight;
GlyphPage* glyphPageZero = GlyphPageTreeNode::getRootChild(this, 0)->page();
if (glyphPageZero) {
static const UChar32 xChar = 'x';
const Glyph xGlyph = glyphPageZero->glyphForCharacter(xChar);
if (xGlyph) {
// In widthForGlyph(), xGlyph will be compared with
// m_zeroWidthSpaceGlyph, which isn't initialized yet here.
// Initialize it with zero to make sure widthForGlyph() returns
// the right width.
m_zeroWidthSpaceGlyph = 0;
m_avgCharWidth = widthForGlyph(xGlyph);
}
}
}
if (int unitsPerEm = face->getUnitsPerEm())
m_fontMetrics.setUnitsPerEm(unitsPerEm);
}
static int colorFloatToRGBAByte(float f)
{
// We use lroundf and 255 instead of nextafterf(256, 0) to match CG's rounding
return std::max(0, std::min(static_cast<int>(lroundf(255.0f * f)), 255));
}
void Font::drawGlyphs(GraphicsContext* gc, const SimpleFontData* font,
const GlyphBuffer& glyphBuffer, unsigned from, unsigned numGlyphs,
const FloatPoint& point, const FloatRect& textRect) const
{
SkScalar x = SkFloatToScalar(point.x());
SkScalar y = SkFloatToScalar(point.y());
const OpenTypeVerticalData* verticalData = font->verticalData();
if (font->platformData().orientation() == Vertical && verticalData) {
SkAutoSTMalloc<32, SkPoint> storage(numGlyphs);
SkPoint* pos = storage.get();
AffineTransform savedMatrix = gc->getCTM();
gc->concatCTM(AffineTransform(0, -1, 1, 0, point.x(), point.y()));
gc->concatCTM(AffineTransform(1, 0, 0, 1, -point.x(), -point.y()));
const unsigned kMaxBufferLength = 256;
Vector<FloatPoint, kMaxBufferLength> translations;
const FontMetrics& metrics = font->fontMetrics();
SkScalar verticalOriginX = SkFloatToScalar(point.x() + metrics.floatAscent() - metrics.floatAscent(IdeographicBaseline));
float horizontalOffset = point.x();
unsigned glyphIndex = 0;
while (glyphIndex < numGlyphs) {
unsigned chunkLength = std::min(kMaxBufferLength, numGlyphs - glyphIndex);
const Glyph* glyphs = glyphBuffer.glyphs(from + glyphIndex);
translations.resize(chunkLength);
verticalData->getVerticalTranslationsForGlyphs(font, &glyphs[0], chunkLength, reinterpret_cast<float*>(&translations[0]));
x = verticalOriginX;
y = SkFloatToScalar(point.y() + horizontalOffset - point.x());
float currentWidth = 0;
for (unsigned i = 0; i < chunkLength; ++i, ++glyphIndex) {
pos[i].set(
x + SkIntToScalar(lroundf(translations[i].x())),
y + -SkIntToScalar(-lroundf(currentWidth - translations[i].y())));
currentWidth += glyphBuffer.advanceAt(from + glyphIndex);
}
horizontalOffset += currentWidth;
paintGlyphs(gc, font, glyphs, chunkLength, pos, textRect);
}
gc->setCTM(savedMatrix);
return;
}
if (!glyphBuffer.hasOffsets()) {
SkAutoSTMalloc<64, SkScalar> storage(numGlyphs);
SkScalar* xpos = storage.get();
const float* adv = glyphBuffer.advances(from);
for (unsigned i = 0; i < numGlyphs; i++) {
xpos[i] = x;
x += SkFloatToScalar(adv[i]);
}
const Glyph* glyphs = glyphBuffer.glyphs(from);
paintGlyphsHorizontal(gc, font, glyphs, numGlyphs, xpos, SkFloatToScalar(y), textRect);
return;
}
// FIXME: text rendering speed:
// Android has code in their WebCore fork to special case when the
// GlyphBuffer has no advances other than the defaults. In that case the
// text drawing can proceed faster. However, it's unclear when those
// patches may be upstreamed to WebKit so we always use the slower path
// here.
SkAutoSTMalloc<32, SkPoint> storage(numGlyphs);
SkPoint* pos = storage.get();
const FloatSize* offsets = glyphBuffer.offsets(from);
const float* advances = glyphBuffer.advances(from);
SkScalar advanceSoFar = SkFloatToScalar(0);
for (unsigned i = 0; i < numGlyphs; i++) {
pos[i].set(
x + SkFloatToScalar(offsets[i].width()) + advanceSoFar,
y + SkFloatToScalar(offsets[i].height()));
advanceSoFar += SkFloatToScalar(advances[i]);
}
const Glyph* glyphs = glyphBuffer.glyphs(from);
paintGlyphs(gc, font, glyphs, numGlyphs, pos, textRect);
}
void GPSNmea::ProcessGPRMC(uint8_t *pData)
{
CHAR pBuff[10];
BYTE pField[MAXFIELD];
// Time
if(GetField(pData, pField, 0, MAXFIELD))
{
// Hour
pBuff[0] = pField[0];
pBuff[1] = pField[1];
pBuff[2] = '\0';
data.hours = atoi(pBuff);
// minute
pBuff[0] = pField[2];
pBuff[1] = pField[3];
pBuff[2] = '\0';
data.minutes = atoi(pBuff);
// Second
pBuff[0] = pField[4];
pBuff[1] = pField[5];
pBuff[2] = '\0';
data.seconds = atoi(pBuff);
}
//
// Data valid
//
if(GetField(pData, pField, 1, MAXFIELD)) {
if(pField[0] == 'A') {
if(data.altitude > 0)
data.fixType = data.Fix3D;
else
data.fixType = data.Fix2D;
}
else
data.fixType = data.NoFix;
}
//
// latitude
//
if(GetField(pData, pField, 2, MAXFIELD))
{
data.latitude = lroundf(10000000 * atof((char *) pField + 2) / 60.0);
pField[2] = '\0';
data.latitude += lroundf(10000000 * atof((char *) pField));
}
if(GetField(pData, pField, 3, MAXFIELD))
{
if(pField[0] == 'S')
{
data.latitude = -data.latitude;
}
}
//
// Longitude
//
if(GetField(pData, pField, 4, MAXFIELD))
{
data.longitude = lroundf(10000000 * atof((CHAR *)pField+3) / 60.0);
pField[3] = '\0';
data.longitude += lroundf(10000000 * atof((CHAR *)pField));
}
if(GetField(pData, pField, 5, MAXFIELD))
{
if(pField[0] == 'W')
{
data.longitude = -data.longitude;
}
}
//
// Ground speed
//
if(GetField(pData, pField, 6, MAXFIELD))
{ // convert to cm/s
data.speed = lroundf(51.4444 * atof((CHAR *)pField));
}
else
{
data.speed = 0.0;
}
//
// course over ground, degrees true converted 0.01 degree
//
if(GetField(pData, pField, 7, MAXFIELD))
{
data.heading = lroundf(100 * atof((CHAR *)pField));
}
else
{
data.heading = 0.0;
}
//
// Date
//
if(GetField(pData, pField, 8, MAXFIELD))
{
// Day
pBuff[0] = pField[0];
pBuff[1] = pField[1];
pBuff[2] = '\0';
data.day = atoi(pBuff);
// Month
pBuff[0] = pField[2];
pBuff[1] = pField[3];
pBuff[2] = '\0';
data.month = atoi(pBuff);
// Year (Only two digits. I wonder why?)
pBuff[0] = pField[4];
pBuff[1] = pField[5];
pBuff[2] = '\0';
data.year = atoi(pBuff);
data.year += 2000; // make 4 digit date
}
}
PassOwnPtr<ImageBuffer> RenderSVGResourcePattern::createTileImage(PatternData* patternData,
const SVGPatternElement* patternElement,
RenderObject* object) const
{
PatternAttributes attributes = patternElement->collectPatternProperties();
// If we couldn't determine the pattern content element root, stop here.
if (!attributes.patternContentElement())
return 0;
FloatRect objectBoundingBox = object->objectBoundingBox();
FloatRect patternBoundaries = calculatePatternBoundaries(attributes, objectBoundingBox, patternElement);
AffineTransform patternTransform = attributes.patternTransform();
AffineTransform viewBoxCTM = patternElement->viewBoxToViewTransform(patternElement->viewBox(),
patternElement->preserveAspectRatio(),
patternBoundaries.width(),
patternBoundaries.height());
FloatRect patternBoundariesIncludingOverflow = calculatePatternBoundariesIncludingOverflow(attributes,
objectBoundingBox,
viewBoxCTM,
patternBoundaries);
IntSize imageSize(lroundf(patternBoundariesIncludingOverflow.width()), lroundf(patternBoundariesIncludingOverflow.height()));
// FIXME: We should be able to clip this more, needs investigation
clampImageBufferSizeToViewport(object->document()->view(), imageSize);
// Don't create ImageBuffers with image size of 0
if (imageSize.isEmpty())
return 0;
OwnPtr<ImageBuffer> tileImage = ImageBuffer::create(imageSize);
GraphicsContext* context = tileImage->context();
ASSERT(context);
context->save();
// Translate to pattern start origin
if (patternBoundariesIncludingOverflow.location() != patternBoundaries.location()) {
context->translate(patternBoundaries.x() - patternBoundariesIncludingOverflow.x(),
patternBoundaries.y() - patternBoundariesIncludingOverflow.y());
patternBoundaries.setLocation(patternBoundariesIncludingOverflow.location());
}
// Process viewBox or boundingBoxModeContent correction
if (!viewBoxCTM.isIdentity())
context->concatCTM(viewBoxCTM);
else if (attributes.boundingBoxModeContent()) {
context->translate(objectBoundingBox.x(), objectBoundingBox.y());
context->scale(FloatSize(objectBoundingBox.width(), objectBoundingBox.height()));
}
// Render subtree into ImageBuffer
for (Node* node = attributes.patternContentElement()->firstChild(); node; node = node->nextSibling()) {
if (!node->isSVGElement() || !static_cast<SVGElement*>(node)->isStyled() || !node->renderer())
continue;
renderSubtreeToImage(tileImage.get(), node->renderer());
}
patternData->boundaries = patternBoundaries;
// Compute pattern transformation
patternData->transform.translate(patternBoundaries.x(), patternBoundaries.y());
patternData->transform.multiply(patternTransform);
context->restore();
return tileImage.release();
}
void pwm_set( uint8_t number , float pwm)
{
if ( pwm < 0 ) pwm = 0;
pwm = mapf ( pwm , 0 , 1 , ( (float) PWMTOP/PWMTOP_US)*ESC_MIN , ( (float) PWMTOP/PWMTOP_US)*ESC_MAX );
if ( onground ) pwm = ((float)PWMTOP/PWMTOP_US) * ESC_THROTTLEOFF;
if ( failsafe )
{
if ( !pwm_failsafe_time )
{
pwm_failsafe_time = gettime();
}
else
{
// 100mS after failsafe we turn off the signal (for safety while flashing)
if ( gettime() - pwm_failsafe_time > 100000 )
{
pwm = ((float)PWMTOP/PWMTOP_US) * ESC_FAILSAFE;
}
}
}
else
{
pwm_failsafe_time = 0;
}
if ( pwm > ((float)PWMTOP/PWMTOP_US)*ESC_MAX ) pwm = ((float)PWMTOP/PWMTOP_US)*ESC_MAX ;
#ifdef ONESHOT_125_ENABLE
pwm = pwm/8;
#endif
pwm = lroundf(pwm);
if ( pwm < 0 ) pwm = 0;
if ( pwm > PWMTOP ) pwm = PWMTOP;
switch( number)
{
case 0:
TIMER1->CHCC1 = (uint32_t) pwm;
break;
case 1:
TIMER3->CHCC4 = (uint32_t) pwm;
break;
case 2:
TIMER1->CHCC2 = (uint32_t) pwm;
break;
case 3:
TIMER1->CHCC3 = (uint32_t) pwm;
break;
default:
// handle error;
//
break;
}
}
static void drawGDIGlyphs(GraphicsContext* graphicsContext, const SimpleFontData* font, const GlyphBuffer& glyphBuffer,
int from, int numGlyphs, const FloatPoint& point)
{
Color fillColor = graphicsContext->fillColor();
bool drawIntoBitmap = false;
TextDrawingModeFlags drawingMode = graphicsContext->textDrawingMode();
if (drawingMode == TextModeFill) {
if (!fillColor.alpha())
return;
drawIntoBitmap = fillColor.alpha() != 255 || graphicsContext->inTransparencyLayer();
if (!drawIntoBitmap) {
FloatSize offset;
float blur;
Color color;
ColorSpace shadowColorSpace;
graphicsContext->getShadow(offset, blur, color, shadowColorSpace);
drawIntoBitmap = offset.width() || offset.height() || blur;
}
}
// We have to convert CG's two-dimensional floating point advances to just horizontal integer advances.
Vector<int, 2048> gdiAdvances;
int totalWidth = 0;
for (int i = 0; i < numGlyphs; i++) {
gdiAdvances.append(lroundf(glyphBuffer.advanceAt(from + i)));
totalWidth += gdiAdvances[i];
}
HDC hdc = 0;
OwnPtr<GraphicsContext::WindowsBitmap> bitmap;
IntRect textRect;
if (!drawIntoBitmap)
hdc = graphicsContext->getWindowsContext(textRect, true, false);
if (!hdc) {
drawIntoBitmap = true;
// We put slop into this rect, since glyphs can overflow the ascent/descent bounds and the left/right edges.
// FIXME: Can get glyphs' optical bounds (even from CG) to get this right.
const FontMetrics& fontMetrics = font->fontMetrics();
int lineGap = fontMetrics.lineGap();
textRect = IntRect(point.x() - (fontMetrics.ascent() + fontMetrics.descent()) / 2,
point.y() - fontMetrics.ascent() - lineGap,
totalWidth + fontMetrics.ascent() + fontMetrics.descent(),
fontMetrics.lineSpacing());
bitmap = graphicsContext->createWindowsBitmap(textRect.size());
memset(bitmap->buffer(), 255, bitmap->bufferLength());
hdc = bitmap->hdc();
XFORM xform;
xform.eM11 = 1.0f;
xform.eM12 = 0.0f;
xform.eM21 = 0.0f;
xform.eM22 = 1.0f;
xform.eDx = -textRect.x();
xform.eDy = -textRect.y();
SetWorldTransform(hdc, &xform);
}
SelectObject(hdc, font->platformData().hfont());
// Set the correct color.
if (drawIntoBitmap)
SetTextColor(hdc, RGB(0, 0, 0));
else
SetTextColor(hdc, RGB(fillColor.red(), fillColor.green(), fillColor.blue()));
SetBkMode(hdc, TRANSPARENT);
SetTextAlign(hdc, TA_LEFT | TA_BASELINE);
// Uniscribe gives us offsets to help refine the positioning of combining glyphs.
FloatSize translation = glyphBuffer.offsetAt(from);
if (translation.width() || translation.height()) {
XFORM xform;
xform.eM11 = 1.0;
xform.eM12 = 0;
xform.eM21 = 0;
xform.eM22 = 1.0;
xform.eDx = translation.width();
xform.eDy = translation.height();
ModifyWorldTransform(hdc, &xform, MWT_LEFTMULTIPLY);
}
if (drawingMode == TextModeFill) {
XFORM xform;
xform.eM11 = 1.0;
xform.eM12 = 0;
xform.eM21 = font->platformData().syntheticOblique() ? -tanf(syntheticObliqueAngle * piFloat / 180.0f) : 0;
xform.eM22 = 1.0;
xform.eDx = point.x();
xform.eDy = point.y();
ModifyWorldTransform(hdc, &xform, MWT_LEFTMULTIPLY);
ExtTextOut(hdc, 0, 0, ETO_GLYPH_INDEX, 0, reinterpret_cast<const WCHAR*>(glyphBuffer.glyphs(from)), numGlyphs, gdiAdvances.data());
if (font->syntheticBoldOffset()) {
xform.eM21 = 0;
xform.eDx = font->syntheticBoldOffset();
xform.eDy = 0;
ModifyWorldTransform(hdc, &xform, MWT_LEFTMULTIPLY);
ExtTextOut(hdc, 0, 0, ETO_GLYPH_INDEX, 0, reinterpret_cast<const WCHAR*>(glyphBuffer.glyphs(from)), numGlyphs, gdiAdvances.data());
}
} else {
XFORM xform;
GetWorldTransform(hdc, &xform);
AffineTransform hdcTransform(xform.eM11, xform.eM21, xform.eM12, xform.eM22, xform.eDx, xform.eDy);
CGAffineTransform initialGlyphTransform = hdcTransform.isInvertible() ? hdcTransform.inverse() : CGAffineTransformIdentity;
if (font->platformData().syntheticOblique())
initialGlyphTransform = CGAffineTransformConcat(initialGlyphTransform, CGAffineTransformMake(1, 0, tanf(syntheticObliqueAngle * piFloat / 180.0f), 1, 0, 0));
initialGlyphTransform.tx = 0;
initialGlyphTransform.ty = 0;
CGContextRef cgContext = graphicsContext->platformContext();
CGContextSaveGState(cgContext);
BOOL fontSmoothingEnabled = false;
SystemParametersInfo(SPI_GETFONTSMOOTHING, 0, &fontSmoothingEnabled, 0);
CGContextSetShouldAntialias(cgContext, fontSmoothingEnabled);
CGContextScaleCTM(cgContext, 1.0, -1.0);
CGContextTranslateCTM(cgContext, point.x() + glyphBuffer.offsetAt(from).width(), -(point.y() + glyphBuffer.offsetAt(from).height()));
for (unsigned i = 0; i < numGlyphs; ++i) {
RetainPtr<CGPathRef> glyphPath(AdoptCF, createPathForGlyph(hdc, glyphBuffer.glyphAt(from + i)));
CGContextSaveGState(cgContext);
CGContextConcatCTM(cgContext, initialGlyphTransform);
if (drawingMode & TextModeFill) {
CGContextAddPath(cgContext, glyphPath.get());
CGContextFillPath(cgContext);
if (font->syntheticBoldOffset()) {
CGContextTranslateCTM(cgContext, font->syntheticBoldOffset(), 0);
CGContextAddPath(cgContext, glyphPath.get());
CGContextFillPath(cgContext);
CGContextTranslateCTM(cgContext, -font->syntheticBoldOffset(), 0);
}
}
if (drawingMode & TextModeStroke) {
CGContextAddPath(cgContext, glyphPath.get());
CGContextStrokePath(cgContext);
if (font->syntheticBoldOffset()) {
CGContextTranslateCTM(cgContext, font->syntheticBoldOffset(), 0);
CGContextAddPath(cgContext, glyphPath.get());
CGContextStrokePath(cgContext);
CGContextTranslateCTM(cgContext, -font->syntheticBoldOffset(), 0);
}
}
CGContextRestoreGState(cgContext);
CGContextTranslateCTM(cgContext, gdiAdvances[i], 0);
}
CGContextRestoreGState(cgContext);
}
if (drawIntoBitmap) {
UInt8* buffer = bitmap->buffer();
unsigned bufferLength = bitmap->bufferLength();
for (unsigned i = 0; i < bufferLength; i += 4) {
// Use green, which is always in the middle.
UInt8 alpha = (255 - buffer[i + 1]) * fillColor.alpha() / 255;
buffer[i] = fillColor.blue();
buffer[i + 1] = fillColor.green();
buffer[i + 2] = fillColor.red();
buffer[i + 3] = alpha;
}
graphicsContext->drawWindowsBitmap(bitmap.get(), textRect.location());
} else
graphicsContext->releaseWindowsContext(hdc, textRect, true, false);
}
void SimpleFontData::platformInit()
{
if (!m_platformData.size()) {
m_fontMetrics.reset();
m_avgCharWidth = 0;
m_maxCharWidth = 0;
return;
}
SkPaint paint;
SkPaint::FontMetrics metrics;
m_platformData.setupPaint(&paint);
paint.getFontMetrics(&metrics);
const SkFontID fontID = m_platformData.uniqueID();
static const uint32_t vdmxTag = SkSetFourByteTag('V', 'D', 'M', 'X');
int pixelSize = m_platformData.size() + 0.5;
int vdmxAscent, vdmxDescent;
bool isVDMXValid = false;
size_t vdmxSize = SkFontHost::GetTableSize(fontID, vdmxTag);
if (vdmxSize && vdmxSize < maxVDMXTableSize) {
uint8_t* vdmxTable = (uint8_t*) fastMalloc(vdmxSize);
if (vdmxTable
&& SkFontHost::GetTableData(fontID, vdmxTag, 0, vdmxSize, vdmxTable) == vdmxSize
&& parseVDMX(&vdmxAscent, &vdmxDescent, vdmxTable, vdmxSize, pixelSize))
isVDMXValid = true;
fastFree(vdmxTable);
}
float ascent;
float descent;
// Beware those who step here: This code is designed to match Win32 font
// metrics *exactly*.
if (isVDMXValid) {
ascent = vdmxAscent;
descent = -vdmxDescent;
} else {
SkScalar height = -metrics.fAscent + metrics.fDescent + metrics.fLeading;
ascent = SkScalarRound(-metrics.fAscent);
descent = SkScalarRound(height) - ascent;
}
m_fontMetrics.setAscent(ascent);
m_fontMetrics.setDescent(descent);
float xHeight;
if (metrics.fXHeight)
xHeight = metrics.fXHeight;
else {
// hack taken from the Windows port
xHeight = ascent * 0.56f;
}
float lineGap = SkScalarToFloat(metrics.fLeading);
m_fontMetrics.setLineGap(lineGap);
m_fontMetrics.setXHeight(xHeight);
m_fontMetrics.setLineSpacing(lroundf(ascent) + lroundf(descent) + lroundf(lineGap));
if (platformData().orientation() == Vertical && !isTextOrientationFallback()) {
static const uint32_t vheaTag = SkSetFourByteTag('v', 'h', 'e', 'a');
static const uint32_t vorgTag = SkSetFourByteTag('V', 'O', 'R', 'G');
size_t vheaSize = SkFontHost::GetTableSize(fontID, vheaTag);
size_t vorgSize = SkFontHost::GetTableSize(fontID, vorgTag);
if ((vheaSize > 0) || (vorgSize > 0))
m_hasVerticalGlyphs = true;
}
// In WebKit/WebCore/platform/graphics/SimpleFontData.cpp, m_spaceWidth is
// calculated for us, but we need to calculate m_maxCharWidth and
// m_avgCharWidth in order for text entry widgets to be sized correctly.
SkScalar xRange = metrics.fXMax - metrics.fXMin;
m_maxCharWidth = SkScalarRound(xRange * SkScalarRound(m_platformData.size()));
if (metrics.fAvgCharWidth)
m_avgCharWidth = SkScalarRound(metrics.fAvgCharWidth);
else {
m_avgCharWidth = xHeight;
GlyphPage* glyphPageZero = GlyphPageTreeNode::getRootChild(this, 0)->page();
if (glyphPageZero) {
static const UChar32 x_char = 'x';
const Glyph xGlyph = glyphPageZero->glyphDataForCharacter(x_char).glyph;
if (xGlyph)
m_avgCharWidth = widthForGlyph(xGlyph);
}
}
}
void RenderMathMLRoot::paint(PaintInfo& info, const LayoutPoint& paintOffset)
{
RenderMathMLBlock::paint(info, paintOffset);
if (info.context->paintingDisabled())
return;
IntPoint adjustedPaintOffset = roundedIntPoint(paintOffset + location() + contentBoxRect().location());
int startX = adjustedPaintOffset.x();
int frontWidth = lroundf(gFrontWidthEms * style()->fontSize());
int overbarWidth = roundToInt(contentLogicalWidth()) + m_overbarLeftPointShift;
int baseHeight = roundToInt(contentLogicalHeight());
int rootPad = lroundf(gSpaceAboveEms * style()->fontSize());
adjustedPaintOffset.setY(adjustedPaintOffset.y() - rootPad);
float radicalDipLeftPointYPos = (index() ? gRootRadicalDipLeftPointYPos : gSqrtRadicalDipLeftPointYPos) * baseHeight;
FloatPoint overbarLeftPoint(startX - m_overbarLeftPointShift, adjustedPaintOffset.y());
FloatPoint bottomPoint(startX - gRadicalBottomPointXFront * frontWidth, adjustedPaintOffset.y() + baseHeight + gRadicalBottomPointLower);
FloatPoint dipLeftPoint(startX - gRadicalDipLeftPointXFront * frontWidth, adjustedPaintOffset.y() + radicalDipLeftPointYPos);
FloatPoint leftEnd(startX - frontWidth, dipLeftPoint.y() + gRadicalLeftEndYShiftEms * style()->fontSize());
GraphicsContextStateSaver stateSaver(*info.context);
info.context->setStrokeThickness(gRadicalLineThicknessEms * style()->fontSize());
info.context->setStrokeStyle(SolidStroke);
info.context->setStrokeColor(style()->visitedDependentColor(CSSPropertyColor), ColorSpaceDeviceRGB);
info.context->setLineJoin(MiterJoin);
info.context->setMiterLimit(style()->fontSize());
Path root;
root.moveTo(FloatPoint(overbarLeftPoint.x() + overbarWidth, adjustedPaintOffset.y()));
// draw top
root.addLineTo(overbarLeftPoint);
// draw from top left corner to bottom point of radical
root.addLineTo(bottomPoint);
// draw from bottom point to top of left part of radical base "dip"
root.addLineTo(dipLeftPoint);
// draw to end
root.addLineTo(leftEnd);
info.context->strokePath(root);
GraphicsContextStateSaver maskStateSaver(*info.context);
// Build a mask to draw the thick part of the root.
Path mask;
mask.moveTo(overbarLeftPoint);
mask.addLineTo(bottomPoint);
mask.addLineTo(dipLeftPoint);
mask.addLineTo(FloatPoint(2 * dipLeftPoint.x() - leftEnd.x(), 2 * dipLeftPoint.y() - leftEnd.y()));
info.context->clip(mask);
// Draw the thick part of the root.
info.context->setStrokeThickness(gRadicalThickLineThicknessEms * style()->fontSize());
info.context->setLineCap(SquareCap);
Path line;
line.moveTo(bottomPoint);
line.addLineTo(dipLeftPoint);
info.context->strokePath(line);
}
/* Try the longest match first. */
LIB_EXPORT uint32_t CC has_right_approx_match( char *pattern, uint32_t errors,
char *buf, size_t buflen,
uint32_t *bestpos, uint32_t *errcnt )
{
uint32_t plen = strlen(pattern);
int32_t *prev = malloc(sizeof(int)*(plen+1));
int32_t *nxt = malloc(sizeof(int)*(plen+1));
int32_t *tmp;
int32_t i, j;
int32_t allowable;
char *subpattern, chBackup;
char *subpattern_r;
int32_t dist;
int32_t found = 0;
int32_t foundpos = 0;
int32_t founderr = 0;
int32_t bufj;
int bound = plen;
if (buflen < bound) {
bound = buflen;
}
subpattern = malloc(plen + 1);
subpattern_r = malloc(plen + 1);
strncpy(subpattern, pattern, plen);
for (i=bound; i>=8; i--, subpattern[i] = chBackup) {
/* See if the first i chars of the pattern match the last i
chars of the text with (errors) errors.
We match in reverse, so the initial penalty of skipping
the "first part" of the pattern means skipping the end
*/
/* making prefix of length i out of pattern
(subpattern contains full copy of pattern)*/
chBackup = subpattern[i];
subpattern[i] = '\0';
reverse_string(subpattern, i, subpattern_r);
init_col(subpattern_r, i, nxt);
for (j=0; j<i; j++) {
bufj = buflen - j - 1;
tmp = prev; prev = nxt; nxt = tmp;
compute_dp_next_col(subpattern_r, i, 0, buf[bufj], j, prev, nxt);
}
dist = nxt[i];
allowable = 1+lroundf((float)i * (float)errors / (float)plen);
if (found) {
if (dist <= founderr) {
foundpos = buflen - i;
founderr = dist;
} else {
goto DONE;
}
} else if (dist <= allowable) {
/* Found a match */
found = 1;
foundpos = buflen - i;
founderr = dist;
/* Continue a bit to see if something's equally good or better */
}
}
DONE:
free(subpattern);
free(subpattern_r);
free(prev);
free(nxt);
if (found) {
*bestpos = foundpos;
*errcnt = founderr;
return 1;
}
return 0;
}
PassOwnPtr<SimpleFontData> SimpleFontData::createScaledFontData(const FontDescription& fontDescription, float scaleFactor) const
{
const float scaledSize = lroundf(fontDescription.computedSize() * scaleFactor);
return adoptPtr(new SimpleFontData(FontPlatformData(m_platformData, scaledSize), isCustomFont(), false));
}
PassOwnPtr<ImageBuffer> SVGMaskElement::drawMaskerContent(const FloatRect& targetRect, FloatRect& maskDestRect) const
{
// Determine specified mask size
float xValue;
float yValue;
float widthValue;
float heightValue;
if (maskUnits() == SVGUnitTypes::SVG_UNIT_TYPE_OBJECTBOUNDINGBOX) {
xValue = x().valueAsPercentage() * targetRect.width();
yValue = y().valueAsPercentage() * targetRect.height();
widthValue = width().valueAsPercentage() * targetRect.width();
heightValue = height().valueAsPercentage() * targetRect.height();
} else {
xValue = x().value(this);
yValue = y().value(this);
widthValue = width().value(this);
heightValue = height().value(this);
}
IntSize imageSize(lroundf(widthValue), lroundf(heightValue));
clampImageBufferSizeToViewport(document()->view(), imageSize);
if (imageSize.width() < static_cast<int>(widthValue))
widthValue = imageSize.width();
if (imageSize.height() < static_cast<int>(heightValue))
heightValue = imageSize.height();
OwnPtr<ImageBuffer> maskImage = ImageBuffer::create(imageSize, false);
if (!maskImage)
return 0;
maskDestRect = FloatRect(xValue, yValue, widthValue, heightValue);
if (maskUnits() == SVGUnitTypes::SVG_UNIT_TYPE_OBJECTBOUNDINGBOX)
maskDestRect.move(targetRect.x(), targetRect.y());
GraphicsContext* maskImageContext = maskImage->context();
ASSERT(maskImageContext);
maskImageContext->save();
maskImageContext->translate(-xValue, -yValue);
if (maskContentUnits() == SVGUnitTypes::SVG_UNIT_TYPE_OBJECTBOUNDINGBOX) {
maskImageContext->save();
maskImageContext->scale(FloatSize(targetRect.width(), targetRect.height()));
}
// Render subtree into ImageBuffer
for (Node* n = firstChild(); n; n = n->nextSibling()) {
SVGElement* elem = 0;
if (n->isSVGElement())
elem = static_cast<SVGElement*>(n);
if (!elem || !elem->isStyled())
continue;
SVGStyledElement* e = static_cast<SVGStyledElement*>(elem);
RenderObject* item = e->renderer();
if (!item)
continue;
renderSubtreeToImage(maskImage.get(), item);
}
if (maskContentUnits() == SVGUnitTypes::SVG_UNIT_TYPE_OBJECTBOUNDINGBOX)
maskImageContext->restore();
maskImageContext->restore();
return maskImage.release();
}
void SimpleFontData::platformInit(bool subpixelAscentDescent) {
if (!m_platformData.size()) {
m_fontMetrics.reset();
m_avgCharWidth = 0;
m_maxCharWidth = 0;
return;
}
SkPaint::FontMetrics metrics;
m_platformData.setupPaint(&m_paint);
m_paint.setTextEncoding(SkPaint::kGlyphID_TextEncoding);
m_paint.getFontMetrics(&metrics);
SkTypeface* face = m_paint.getTypeface();
ASSERT(face);
int vdmxAscent = 0, vdmxDescent = 0;
bool isVDMXValid = false;
#if OS(LINUX) || OS(ANDROID)
// Manually digging up VDMX metrics is only applicable when bytecode hinting
// using FreeType. With DirectWrite or CoreText, no bytecode hinting is ever
// done. This code should be pushed into FreeType (hinted font metrics).
static const uint32_t vdmxTag = SkSetFourByteTag('V', 'D', 'M', 'X');
int pixelSize = m_platformData.size() + 0.5;
if (!m_paint.isAutohinted() &&
(m_paint.getHinting() == SkPaint::kFull_Hinting ||
m_paint.getHinting() == SkPaint::kNormal_Hinting)) {
size_t vdmxSize = face->getTableSize(vdmxTag);
if (vdmxSize && vdmxSize < maxVDMXTableSize) {
uint8_t* vdmxTable = (uint8_t*)WTF::Partitions::fastMalloc(
vdmxSize, WTF_HEAP_PROFILER_TYPE_NAME(SimpleFontData));
if (vdmxTable &&
face->getTableData(vdmxTag, 0, vdmxSize, vdmxTable) == vdmxSize &&
parseVDMX(&vdmxAscent, &vdmxDescent, vdmxTable, vdmxSize, pixelSize))
isVDMXValid = true;
WTF::Partitions::fastFree(vdmxTable);
}
}
#endif
float ascent;
float descent;
// Beware those who step here: This code is designed to match Win32 font
// metrics *exactly* except:
// - the adjustment of ascent/descent on Linux/Android
// - metrics.fAscent and .fDesscent are not rounded to int for tiny fonts
if (isVDMXValid) {
ascent = vdmxAscent;
descent = -vdmxDescent;
} else {
// For tiny fonts, the rounding of fAscent and fDescent results in equal
// baseline for different types of text baselines (crbug.com/338908).
// Please see CanvasRenderingContext2D::getFontBaseline for the heuristic.
if (subpixelAscentDescent &&
(-metrics.fAscent < 3 || -metrics.fAscent + metrics.fDescent < 2)) {
ascent = -metrics.fAscent;
descent = metrics.fDescent;
} else {
ascent = SkScalarRoundToScalar(-metrics.fAscent);
descent = SkScalarRoundToScalar(metrics.fDescent);
}
#if OS(LINUX) || OS(ANDROID)
// When subpixel positioning is enabled, if the descent is rounded down, the
// descent part of the glyph may be truncated when displayed in a 'overflow:
// hidden' container. To avoid that, borrow 1 unit from the ascent when
// possible.
// FIXME: This can be removed if sub-pixel ascent/descent is supported.
if (platformData().getFontRenderStyle().useSubpixelPositioning &&
descent < SkScalarToFloat(metrics.fDescent) && ascent >= 1) {
++descent;
--ascent;
}
#endif
}
#if OS(MACOSX)
// We are preserving this ascent hack to match Safari's ascent adjustment
// in their SimpleFontDataMac.mm, for details see crbug.com/445830.
// We need to adjust Times, Helvetica, and Courier to closely match the
// vertical metrics of their Microsoft counterparts that are the de facto
// web standard. The AppKit adjustment of 20% is too big and is
// incorrectly added to line spacing, so we use a 15% adjustment instead
// and add it to the ascent.
DEFINE_STATIC_LOCAL(AtomicString, timesName, ("Times"));
DEFINE_STATIC_LOCAL(AtomicString, helveticaName, ("Helvetica"));
DEFINE_STATIC_LOCAL(AtomicString, courierName, ("Courier"));
String familyName = m_platformData.fontFamilyName();
if (familyName == timesName || familyName == helveticaName ||
familyName == courierName)
ascent += floorf(((ascent + descent) * 0.15f) + 0.5f);
#endif
m_fontMetrics.setAscent(ascent);
m_fontMetrics.setDescent(descent);
float xHeight;
if (metrics.fXHeight) {
xHeight = metrics.fXHeight;
#if OS(MACOSX)
// Mac OS CTFontGetXHeight reports the bounding box height of x,
// including parts extending below the baseline and apparently no x-height
// value from the OS/2 table. However, the CSS ex unit
// expects only parts above the baseline, hence measuring the glyph:
// http://www.w3.org/TR/css3-values/#ex-unit
const Glyph xGlyph = glyphForCharacter('x');
if (xGlyph) {
FloatRect glyphBounds(boundsForGlyph(xGlyph));
// SkGlyph bounds, y down, based on rendering at (0,0).
xHeight = -glyphBounds.y();
}
#endif
m_fontMetrics.setXHeight(xHeight);
} else {
xHeight = ascent * 0.56; // Best guess from Windows font metrics.
m_fontMetrics.setXHeight(xHeight);
m_fontMetrics.setHasXHeight(false);
}
float lineGap = SkScalarToFloat(metrics.fLeading);
m_fontMetrics.setLineGap(lineGap);
m_fontMetrics.setLineSpacing(lroundf(ascent) + lroundf(descent) +
lroundf(lineGap));
if (platformData().isVerticalAnyUpright() && !isTextOrientationFallback()) {
static const uint32_t vheaTag = SkSetFourByteTag('v', 'h', 'e', 'a');
static const uint32_t vorgTag = SkSetFourByteTag('V', 'O', 'R', 'G');
size_t vheaSize = face->getTableSize(vheaTag);
size_t vorgSize = face->getTableSize(vorgTag);
if ((vheaSize > 0) || (vorgSize > 0))
m_hasVerticalGlyphs = true;
}
// In WebKit/WebCore/platform/graphics/SimpleFontData.cpp, m_spaceWidth is
// calculated for us, but we need to calculate m_maxCharWidth and
// m_avgCharWidth in order for text entry widgets to be sized correctly.
#if OS(WIN)
m_maxCharWidth = SkScalarRoundToInt(metrics.fMaxCharWidth);
// Older version of the DirectWrite API doesn't implement support for max
// char width. Fall back on a multiple of the ascent. This is entirely
// arbitrary but comes pretty close to the expected value in most cases.
if (m_maxCharWidth < 1)
m_maxCharWidth = ascent * 2;
#elif OS(MACOSX)
// FIXME: The current avg/max character width calculation is not ideal,
// it should check either the OS2 table or, better yet, query FontMetrics.
// Sadly FontMetrics provides incorrect data on Mac at the moment.
// https://crbug.com/420901
m_maxCharWidth = std::max(m_avgCharWidth, m_fontMetrics.floatAscent());
#else
// Better would be to rely on either fMaxCharWidth or fAveCharWidth.
// skbug.com/3087
m_maxCharWidth = SkScalarRoundToInt(metrics.fXMax - metrics.fXMin);
#endif
#if !OS(MACOSX)
if (metrics.fAvgCharWidth) {
m_avgCharWidth = SkScalarRoundToInt(metrics.fAvgCharWidth);
} else {
#endif
m_avgCharWidth = xHeight;
const Glyph xGlyph = glyphForCharacter('x');
if (xGlyph) {
m_avgCharWidth = widthForGlyph(xGlyph);
}
#if !OS(MACOSX)
}
#endif
if (int unitsPerEm = face->getUnitsPerEm())
m_fontMetrics.setUnitsPerEm(unitsPerEm);
}
static void uavoMavlinkBridgeTask(void *parameters) {
uint32_t lastSysTime;
// Main task loop
lastSysTime = PIOS_Thread_Systime();
FlightBatterySettingsData batSettings = {};
if (FlightBatterySettingsHandle() != NULL )
FlightBatterySettingsGet(&batSettings);
SystemStatsData systemStats;
while (1) {
PIOS_Thread_Sleep_Until(&lastSysTime, 1000 / TASK_RATE_HZ);
if (stream_trigger(MAV_DATA_STREAM_EXTENDED_STATUS)) {
FlightBatteryStateData batState = {};
if (FlightBatteryStateHandle() != NULL )
FlightBatteryStateGet(&batState);
SystemStatsGet(&systemStats);
int8_t battery_remaining = 0;
if (batSettings.Capacity != 0) {
if (batState.ConsumedEnergy < batSettings.Capacity) {
battery_remaining = 100 - lroundf(batState.ConsumedEnergy / batSettings.Capacity * 100);
}
}
uint16_t voltage = 0;
if (batSettings.VoltagePin != FLIGHTBATTERYSETTINGS_VOLTAGEPIN_NONE)
voltage = lroundf(batState.Voltage * 1000);
uint16_t current = 0;
if (batSettings.CurrentPin != FLIGHTBATTERYSETTINGS_CURRENTPIN_NONE)
current = lroundf(batState.Current * 100);
mavlink_msg_sys_status_pack(0, 200, mav_msg,
// onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
0,
// onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
0,
// onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control
0,
// load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
(uint16_t)systemStats.CPULoad * 10,
// voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
voltage,
// current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
current,
// battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
battery_remaining,
// drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
0,
// errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
0,
// errors_count1 Autopilot-specific errors
0,
// errors_count2 Autopilot-specific errors
0,
// errors_count3 Autopilot-specific errors
0,
// errors_count4 Autopilot-specific errors
0);
send_message();
}
if (stream_trigger(MAV_DATA_STREAM_RC_CHANNELS)) {
ManualControlCommandData manualState;
FlightStatusData flightStatus;
ManualControlCommandGet(&manualState);
FlightStatusGet(&flightStatus);
SystemStatsGet(&systemStats);
//TODO connect with RSSI object and pass in last argument
mavlink_msg_rc_channels_raw_pack(0, 200, mav_msg,
// time_boot_ms Timestamp (milliseconds since system boot)
systemStats.FlightTime,
// port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
0,
// chan1_raw RC channel 1 value, in microseconds
manualState.Channel[0],
// chan2_raw RC channel 2 value, in microseconds
manualState.Channel[1],
// chan3_raw RC channel 3 value, in microseconds
manualState.Channel[2],
// chan4_raw RC channel 4 value, in microseconds
manualState.Channel[3],
// chan5_raw RC channel 5 value, in microseconds
manualState.Channel[4],
// chan6_raw RC channel 6 value, in microseconds
manualState.Channel[5],
// chan7_raw RC channel 7 value, in microseconds
manualState.Channel[6],
// chan8_raw RC channel 8 value, in microseconds
manualState.Channel[7],
// rssi Receive signal strength indicator, 0: 0%, 255: 100%
manualState.Rssi);
send_message();
}
if (stream_trigger(MAV_DATA_STREAM_POSITION)) {
GPSPositionData gpsPosData = {};
HomeLocationData homeLocation = {};
SystemStatsGet(&systemStats);
if (GPSPositionHandle() != NULL )
GPSPositionGet(&gpsPosData);
if (HomeLocationHandle() != NULL )
HomeLocationGet(&homeLocation);
SystemStatsGet(&systemStats);
uint8_t gps_fix_type;
switch (gpsPosData.Status)
{
case GPSPOSITION_STATUS_NOGPS:
gps_fix_type = 0;
break;
case GPSPOSITION_STATUS_NOFIX:
gps_fix_type = 1;
break;
case GPSPOSITION_STATUS_FIX2D:
gps_fix_type = 2;
break;
case GPSPOSITION_STATUS_FIX3D:
case GPSPOSITION_STATUS_DIFF3D:
gps_fix_type = 3;
break;
default:
gps_fix_type = 0;
break;
}
mavlink_msg_gps_raw_int_pack(0, 200, mav_msg,
// time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
(uint64_t)systemStats.FlightTime * 1000,
// fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
gps_fix_type,
// lat Latitude in 1E7 degrees
gpsPosData.Latitude,
// lon Longitude in 1E7 degrees
gpsPosData.Longitude,
// alt Altitude in 1E3 meters (millimeters) above MSL
gpsPosData.Altitude * 1000,
// eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
gpsPosData.HDOP * 100,
// epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
gpsPosData.VDOP * 100,
// vel GPS ground speed (m/s * 100). If unknown, set to: 65535
gpsPosData.Groundspeed * 100,
// cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
gpsPosData.Heading * 100,
// satellites_visible Number of satellites visible. If unknown, set to 255
gpsPosData.Satellites);
send_message();
mavlink_msg_gps_global_origin_pack(0, 200, mav_msg,
// latitude Latitude (WGS84), expressed as * 1E7
homeLocation.Latitude,
// longitude Longitude (WGS84), expressed as * 1E7
homeLocation.Longitude,
// altitude Altitude(WGS84), expressed as * 1000
homeLocation.Altitude * 1000);
send_message();
//TODO add waypoint nav stuff
//wp_target_bearing
//wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(&msg);
//alt_error = mavlink_msg_nav_controller_output_get_alt_error(&msg);
//aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(&msg);
//xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(&msg);
//mavlink_msg_nav_controller_output_pack
//wp_number
//mavlink_msg_mission_current_pack
}
if (stream_trigger(MAV_DATA_STREAM_EXTRA1)) {
AttitudeActualData attActual;
SystemStatsData systemStats;
AttitudeActualGet(&attActual);
SystemStatsGet(&systemStats);
mavlink_msg_attitude_pack(0, 200, mav_msg,
// time_boot_ms Timestamp (milliseconds since system boot)
systemStats.FlightTime,
// roll Roll angle (rad)
attActual.Roll * DEG2RAD,
// pitch Pitch angle (rad)
attActual.Pitch * DEG2RAD,
// yaw Yaw angle (rad)
attActual.Yaw * DEG2RAD,
// rollspeed Roll angular speed (rad/s)
0,
// pitchspeed Pitch angular speed (rad/s)
0,
// yawspeed Yaw angular speed (rad/s)
0);
send_message();
}
if (stream_trigger(MAV_DATA_STREAM_EXTRA2)) {
ActuatorDesiredData actDesired;
AttitudeActualData attActual;
AirspeedActualData airspeedActual = {};
GPSPositionData gpsPosData = {};
BaroAltitudeData baroAltitude = {};
FlightStatusData flightStatus;
if (AirspeedActualHandle() != NULL )
AirspeedActualGet(&airspeedActual);
if (GPSPositionHandle() != NULL )
GPSPositionGet(&gpsPosData);
if (BaroAltitudeHandle() != NULL )
BaroAltitudeGet(&baroAltitude);
ActuatorDesiredGet(&actDesired);
AttitudeActualGet(&attActual);
FlightStatusGet(&flightStatus);
float altitude = 0;
if (BaroAltitudeHandle() != NULL)
altitude = baroAltitude.Altitude;
else if (GPSPositionHandle() != NULL)
altitude = gpsPosData.Altitude;
// round attActual.Yaw to nearest int and transfer from (-180 ... 180) to (0 ... 360)
int16_t heading = lroundf(attActual.Yaw);
if (heading < 0)
heading += 360;
mavlink_msg_vfr_hud_pack(0, 200, mav_msg,
// airspeed Current airspeed in m/s
airspeedActual.TrueAirspeed,
// groundspeed Current ground speed in m/s
gpsPosData.Groundspeed,
// heading Current heading in degrees, in compass units (0..360, 0=north)
heading,
// throttle Current throttle setting in integer percent, 0 to 100
actDesired.Throttle * 100,
// alt Current altitude (MSL), in meters
altitude,
// climb Current climb rate in meters/second
0);
send_message();
uint8_t armed_mode = 0;
if (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED)
armed_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
uint8_t custom_mode = CUSTOM_MODE_STAB;
switch (flightStatus.FlightMode) {
case FLIGHTSTATUS_FLIGHTMODE_MANUAL:
case FLIGHTSTATUS_FLIGHTMODE_MWRATE:
case FLIGHTSTATUS_FLIGHTMODE_VIRTUALBAR:
case FLIGHTSTATUS_FLIGHTMODE_HORIZON:
/* Kinda a catch all */
custom_mode = CUSTOM_MODE_SPORT;
break;
case FLIGHTSTATUS_FLIGHTMODE_ACRO:
case FLIGHTSTATUS_FLIGHTMODE_AXISLOCK:
custom_mode = CUSTOM_MODE_ACRO;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
/* May want these three to try and
* infer based on roll axis */
case FLIGHTSTATUS_FLIGHTMODE_LEVELING:
custom_mode = CUSTOM_MODE_STAB;
break;
case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE:
custom_mode = CUSTOM_MODE_DRIFT;
break;
case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD:
custom_mode = CUSTOM_MODE_ALTH;
break;
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOHOME:
custom_mode = CUSTOM_MODE_RTL;
break;
case FLIGHTSTATUS_FLIGHTMODE_TABLETCONTROL:
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
custom_mode = CUSTOM_MODE_POSH;
break;
case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER:
custom_mode = CUSTOM_MODE_AUTO;
break;
}
mavlink_msg_heartbeat_pack(0, 200, mav_msg,
// type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
MAV_TYPE_GENERIC,
// autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
MAV_AUTOPILOT_GENERIC,
// base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
armed_mode,
// custom_mode A bitfield for use for autopilot-specific flags.
custom_mode,
// system_status System status flag, see MAV_STATE ENUM
0);
send_message();
}
}
}
