/*
* call-seq:
* LCD.new(font, x, y, width, height, color) # => LCD
*
* Creates LCD object.
*
* Parameters:
* +font+ font size.
* :small small font (6x8, default)
* :medium medium font (8x16)
* +x+ Window origin (left) X coordinate. (default: 0)
* +y+ Window origin (top) Y coordinate. (default: 0)
* +width+ Width of window. (default: LCD::WIDTH)
* +height+ Height of window. (default: LCD::HEIGHT)
* +color+ LCD foreground color.
* :black black (default)
* :white while
*
* Returns LCD object.
*/
static mrb_value
mrb_lcd_init(mrb_state *mrb, mrb_value self)
{
struct RClass *lcd = mrb_obj_class(mrb, self);
mrb_value fmap = mrb_const_get(mrb, mrb_obj_value(lcd), mrb_intern_lit(mrb, "FONT"));
mrb_value cmap = mrb_const_get(mrb, mrb_obj_value(lcd), mrb_intern_lit(mrb, "COLOR"));
mrb_sym font = mrb_intern_lit(mrb, "small");
mrb_sym col = mrb_intern_lit(mrb, "black");
mrb_value fontv;
mrb_value colv;
mrb_lcd_t *plcd;
DATA_TYPE(self) = &mrb_lcd_type;
plcd = (mrb_lcd_t*)mrb_malloc(mrb, sizeof(mrb_lcd_t));
DATA_PTR(self) = plcd;
memset(plcd, 0, sizeof(mrb_lcd_t));
plcd->width = EV3_LCD_WIDTH;
plcd->height = EV3_LCD_HEIGHT;
mrb_get_args(mrb, "|niiiin", &font, &plcd->left, &plcd->top, &plcd->width, &plcd->height, &col);
fontv = mrb_hash_get(mrb, fmap, mrb_symbol_value(font));
if (mrb_nil_p(fontv)) {
mrb_raisef(mrb, E_ARGUMENT_ERROR, "invalid font size :%S", mrb_sym2str(mrb, font));
}
plcd->font = mrb_fixnum(fontv);
if (_font_size[plcd->font].w == 0) {
/* initialize font size at 1st time */
ev3_font_get_size(plcd->font, &_font_size[plcd->font].w, &_font_size[plcd->font].h);
}
colv = mrb_hash_get(mrb, cmap, mrb_symbol_value(col));
if (mrb_nil_p(colv)) {
mrb_raisef(mrb, E_ARGUMENT_ERROR, "invalid foreground color :%S", mrb_sym2str(mrb, col));
}
plcd->color = mrb_fixnum(colv);
return self;
}
void main_task(intptr_t unused) {
ev3_lcd_set_font(EV3_FONT_MEDIUM);
ev3_font_get_size(EV3_FONT_MEDIUM, &fontw, &fonth);
memfile_t memfile;
ev3_memfile_load("/test.bmp", &memfile);
image_t image;
ev3_image_load(&memfile, &image);
ev3_lcd_draw_image(&image, 0, fonth * 2);
//ev3_sta_cyc(TEST_EV3_CYC1);
// Enable TEST_EV3_CYC2 for 5 seconds
ev3_sta_cyc(TEST_EV3_CYC2);
tslp_tsk(5000);
ev3_stp_cyc(TEST_EV3_CYC2);
#if 0
// Register button handlers
ev3_button_set_on_clicked(BACK_BUTTON, button_clicked_handler, BACK_BUTTON);
ev3_button_set_on_clicked(ENTER_BUTTON, button_clicked_handler, ENTER_BUTTON);
ev3_button_set_on_clicked(LEFT_BUTTON, button_clicked_handler, LEFT_BUTTON);
// Configure sensors
ev3_sensor_config(gyro_sensor, GYRO_SENSOR);
// Configure motors
ev3_motor_config(left_motor, LARGE_MOTOR);
ev3_motor_config(right_motor, LARGE_MOTOR);
// Start task for self-balancing
act_tsk(BALANCE_TASK);
// Open Bluetooth file
bt = ev3_serial_open_file(EV3_SERIAL_BT);
assert(bt != NULL);
// Start task for printing message while idle
act_tsk(IDLE_TASK);
while(1) {
uint8_t c = fgetc(bt);
sus_tsk(IDLE_TASK);
switch(c) {
case 'w':
if(motor_control_drive < 0)
motor_control_drive = 0;
else
motor_control_drive += 10;
fprintf(bt, "motor_control_drive: %d\n", motor_control_drive);
break;
case 's':
if(motor_control_drive > 0)
motor_control_drive = 0;
else
motor_control_drive -= 10;
fprintf(bt, "motor_control_drive: %d\n", motor_control_drive);
break;
case 'a':
if(motor_control_steer < 0)
motor_control_steer = 0;
else
motor_control_steer += 10;
fprintf(bt, "motor_control_steer: %d\n", motor_control_steer);
break;
case 'd':
if(motor_control_steer > 0)
motor_control_steer = 0;
else
motor_control_steer -= 10;
fprintf(bt, "motor_control_steer: %d\n", motor_control_steer);
break;
case 'h':
fprintf(bt, "==========================\n");
fprintf(bt, "Usage:\n");
fprintf(bt, "Press 'w' to speed up\n");
fprintf(bt, "Press 's' to speed down\n");
fprintf(bt, "Press 'a' to turn left\n");
fprintf(bt, "Press 'd' to turn right\n");
fprintf(bt, "Press 'i' for idle task\n");
fprintf(bt, "Press 'h' for this message\n");
fprintf(bt, "==========================\n");
break;
case 'i':
fprintf(bt, "Idle task started.\n");
rsm_tsk(IDLE_TASK);
break;
default:
fprintf(bt, "Unknown key '%c' pressed.\n", c);
}
}
#endif
}
static void
mrb_lcd_get_font_size(mrb_state *mrb, mrb_value lcd, mrb_int *fw, mrb_int *fh)
{
mrb_value font = mrb_cv_get(mrb, lcd, mrb_intern_lit(mrb, "@@font"));
ev3_font_get_size(mrb_fixnum(font), fw, fh);
}
void set_font(lcdfont_t font) {
ev3_lcd_set_font(font);
ev3_font_get_size(font, &FONT_WIDTH, &FONT_HEIGHT);
}
