/**
* \brief Updates the position.
*/
void RelativeMovement::update() {
if (entity_followed == nullptr) {
finished = true;
return;
}
if (entity_followed->is_being_removed()) {
finished = true;
entity_followed = nullptr;
}
else {
Point next = entity_followed->get_xy() + entity_offset;
Point dnext = next - get_xy();
if (!are_obstacles_ignored()) {
if (!finished && (dnext.x != 0 || dnext.y != 0)) {
if (!test_collision_with_obstacles(dnext)) {
set_xy(next);
}
else {
finished = true;
notify_obstacle_reached();
}
}
}
else {
set_xy(next);
}
}
}
/*刷新一行屏幕*/
void RefreshOneLine(u8 x_start , u8 x_end , u8 y)
{
u8 *pLCD;
set_xy(x_start,y*2);
for(pLCD = &LCDbuf[y*2][x_start] ; pLCD<&LCDbuf[y*2][64];)
{
WriteData(*pLCD++);
}
set_xy(x_start,y*2+1);
for(pLCD = &LCDbuf[y*2+1][x_start] ; pLCD<&LCDbuf[y*2+1][64];)
{
WriteData(*pLCD++);
}
set_xy(64,y*2);
for(pLCD = &LCDbuf[y*2][64] ; pLCD<&LCDbuf[y*2][x_end];)
{
WriteData(*pLCD++);
}
set_xy(64,y*2+1);
for(pLCD = &LCDbuf[y*2+1][64] ; pLCD<&LCDbuf[y*2+1][x_end];)
{
WriteData(*pLCD++);
}
memset(LCDbuf[y*2] , 0 ,128);
memset(LCDbuf[y*2+1] , 0 ,128);
}
/***********************************************************
* 函数名称：
* 功能描述： OLED显示单个字符
* 参数列表：
* 返回结果：
* 备 注：在指定位置显示一个字符,包括部分字符
***********************************************************/
void OLED_SSD1306::show_char(uint8_t x, uint8_t y, uint8_t chr)
{
unsigned char c = 0, i = 0;
c = chr - ' '; //得到偏移后的值
if(x > Max_Column - 1)
{
x = 0;
y = y + 2;
}
if(SIZE == 16)
{
set_xy(x, y);
for(i = 0; i < 8; i++)
write_data(font8x16[c * 16 + i]);
set_xy(x, y + 1);
for(i = 0; i < 8; i++)
write_data(font8x16[c * 16 + i + 8]);
}
else
{
set_xy(x, y + 1);
for(i = 0; i < 6; i++)
write_data(font6x8[c][i]);
}
}
void add_body_force_xy(xy_t p0, xy_t p1, double mass, xy_t *acc) // adds the force from p1's mass to p0's acceleration
{
double dbb2, dbb;
double fmag;
dbb2 = hypot_xy2(p0, p1);
dbb = sqrt(dbb2);
fmag = mass / dbb2;
*acc = add_xy( *acc, div_xy( mul_xy(set_xy(fmag), sub_xy(p1, p0)) , set_xy(dbb)) );
}
/**
* \brief Creates a boomerang.
* \param hero the hero
* \param max_distance maximum distance of the movement in pixels
* \param speed speed of the movement in pixels per second
* \param angle the angle of the boomerang trajectory in radians
* \param sprite_name animation set id representing the boomerang
*/
Boomerang::Boomerang(
Hero& hero,
int max_distance,
int speed,
double angle,
const std::string& sprite_name):
MapEntity("", 0, hero.get_layer(), 0, 0, 0, 0),
hero(hero),
has_to_go_back(false),
going_back(false),
speed(speed) {
// initialize the entity
create_sprite(sprite_name);
set_size(16, 16);
set_origin(8, 8);
int hero_x = hero.get_top_left_x();
int hero_y = hero.get_top_left_y();
switch (hero.get_animation_direction()) {
case 0:
set_xy(hero_x + 24, hero_y + 8);
break;
case 1:
set_xy(hero_x + 8, hero_y - 8);
break;
case 2:
set_xy(hero_x - 8, hero_y + 8);
break;
case 3:
set_xy(hero_x + 8, hero_y + 24);
break;
}
initial_coords.set_xy(get_xy());
StraightMovement* movement = new StraightMovement(false, false);
movement->set_speed(speed);
movement->set_angle(angle);
movement->set_max_distance(max_distance);
set_movement(movement);
next_sound_date = System::now();
}
/**
* \brief Creates a boomerang.
* \param hero the hero
* \param max_distance maximum distance of the movement in pixels
* \param speed speed of the movement in pixels per second
* \param angle the angle of the boomerang trajectory in radians
* \param sprite_name animation set id representing the boomerang
*/
Boomerang::Boomerang(
const HeroPtr& hero,
int max_distance,
int speed,
double angle,
const std::string& sprite_name
):
Entity("", 0, hero->get_layer(), Point(0, 0), Size(0, 0)),
hero(hero),
has_to_go_back(false),
going_back(false),
speed(speed) {
// initialize the entity
create_sprite(sprite_name);
set_size(16, 16);
set_origin(8, 8);
int hero_x = hero->get_top_left_x();
int hero_y = hero->get_top_left_y();
switch (hero->get_animation_direction()) {
case 0:
set_xy(hero_x + 24, hero_y + 8);
break;
case 1:
set_xy(hero_x + 8, hero_y - 8);
break;
case 2:
set_xy(hero_x - 8, hero_y + 8);
break;
case 3:
set_xy(hero_x + 8, hero_y + 24);
break;
}
std::shared_ptr<StraightMovement> movement =
std::make_shared<StraightMovement>(false, false);
movement->set_speed(speed);
movement->set_angle(angle);
movement->set_max_distance(max_distance);
set_movement(movement);
next_sound_date = System::now();
}
/***********************************************************
* 函数名称：
* 功能描述： OLED显示一个汉字
* 参数列表：
* 返回结果：
* 备 注：在指定位置显示一个汉字
***********************************************************/
void OLED_SSD1306::show_chinese(uint8_t x, uint8_t y, uint8_t no)
{
u8 t, adder = 0;
set_xy(x, y);
for(t = 0; t < 16; t++)
{
write_data(Hzk[2 * no][t]);
adder += 1;
}
set_xy(x, y + 1);
for(t = 0; t < 16; t++)
{
write_data(Hzk[2 * no + 1][t]);
adder += 1;
}
}
/**
* \brief Creates an arrow.
* \param hero The hero.
*/
Arrow::Arrow(const Hero& hero):
Entity("", 0, hero.get_layer(), Point(0, 0), Size(0, 0)),
hero(hero) {
// initialize the entity
int direction = hero.get_animation_direction();
create_sprite("entities/arrow", true);
get_sprite().set_current_direction(direction);
set_drawn_in_y_order(true);
if (direction % 2 == 0) {
// Horizontal.
set_size(16, 8);
set_origin(8, 4);
}
else {
// Vertical.
set_size(8, 16);
set_origin(4, 8);
}
set_xy(hero.get_center_point());
notify_position_changed();
std::string path = " ";
path[0] = '0' + (direction * 2);
set_movement(std::make_shared<PathMovement>(
path, 192, true, false, false
));
disappear_date = System::now() + 10000;
stop_now = false;
entity_reached = nullptr;
}
/**
* \brief Creates an arrow.
* \param hero The hero.
*/
Arrow::Arrow(const Hero& hero):
MapEntity("", 0, hero.get_layer(), 0, 0, 0, 0),
hero(hero) {
// initialize the entity
int direction = hero.get_animation_direction();
create_sprite("entities/arrow", true);
get_sprite().set_current_direction(direction);
set_drawn_in_y_order(true);
if (direction % 2 == 0) {
// Horizontal.
set_size(16, 8);
set_origin(8, 4);
}
else {
// Vertical.
set_size(8, 16);
set_origin(4, 8);
}
set_xy(hero.get_center_point());
set_optimization_distance(0); // Make the arrow continue outside the screen until disappear_date.
std::string path = " ";
path[0] = '0' + (direction * 2);
Movement* movement = new PathMovement(path, 192, true, false, false);
set_movement(movement);
disappear_date = System::now() + 10000;
stop_now = false;
entity_reached = NULL;
}
/**
* \brief Creates a carried item (i.e. an item carried by the hero).
* \param hero the hero who is lifting the item to be created
* \param original_entity the entity that will be replaced by this carried item
* (its coordinates, size and origin will be copied)
* \param animation_set_id name of the animation set for the sprite to create
* \param destruction_sound_id Name of the sound to play when this item is destroyed
* (or an empty string).
* \param damage_on_enemies damage received by an enemy if the item is thrown on him
* (possibly 0)
* \param explosion_date date of the explosion if the item should explode,
* or 0 if the item does not explode
*/
CarriedItem::CarriedItem(
Hero& hero,
const Entity& original_entity,
const std::string& animation_set_id,
const std::string& destruction_sound_id,
int damage_on_enemies,
uint32_t explosion_date
):
Entity("", 0, hero.get_layer(), Point(0, 0), Size(0, 0)),
hero(hero),
is_lifting(true),
is_throwing(false),
is_breaking(false),
break_one_layer_above(false),
destruction_sound_id(destruction_sound_id),
damage_on_enemies(damage_on_enemies),
shadow_sprite(nullptr),
throwing_direction(0),
next_down_date(0),
item_height(0),
y_increment(0),
explosion_date(explosion_date) {
// align correctly the item with the hero
int direction = hero.get_animation_direction();
if (direction % 2 == 0) {
set_xy(original_entity.get_x(), hero.get_y());
}
else {
set_xy(hero.get_x(), original_entity.get_y());
}
set_origin(original_entity.get_origin());
set_size(original_entity.get_size());
set_drawn_in_y_order(true);
// create the lift movement and the sprite
std::shared_ptr<PixelMovement> movement = std::make_shared<PixelMovement>(
lifting_trajectories[direction], 100, false, true
);
create_sprite(animation_set_id);
get_sprite().set_current_animation("stopped");
set_movement(movement);
// create the shadow (not visible yet)
shadow_sprite = std::make_shared<Sprite>("entities/shadow");
shadow_sprite->set_current_animation("big");
}
void main()
{
unsigned image_in = input("image_in");
unsigned image_out = output("image_out");
unsigned image[SIZE];
unsigned new_image[SIZE];
int x, y, pixel;
while(1){
/* read in image */
for(y=0; y<HEIGHT; y++){
for(x=0; x<WIDTH; x++){
set_xy(image, x, y, fgetc(image_in));
}
report(y);
}
/* apply edge detect */
for(y=0; y<HEIGHT; y++){
for(x=0; x<WIDTH; x++){
pixel = get_xy(image, x, y ) << 2;
pixel -= get_xy(image, x-1, y+1);
pixel -= get_xy(image, x+1, y-1);
pixel -= get_xy(image, x-1, y-1);
pixel -= get_xy(image, x+1, y+1);
set_xy(new_image, x, y, pixel);
}
report(y);
}
/* write out image */
for(y=0; y<HEIGHT; y++){
for(x=0; x<WIDTH; x++){
fputc(get_xy(new_image, x, y), image_out);
}
report(y);
}
}
}
/**
* @brief Creates a carried item (i.e. an item carried by the hero).
* @param hero the hero who is lifting the item to be created
* @param original_entity the entity that will be replaced by this carried item
* (its coordinates, size and origin will be copied)
* @param animation_set_id name of the animation set for the sprite to create
* @param destruction_sound_id name of the sound to play when this item is destroyed
* (or an empty string)
* @param damage_on_enemies damage received by an enemy if the item is thrown on him
* (possibly 0)
* @param explosion_date date of the explosion if the item should explode,
* or 0 if the item does not explode
*/
CarriedItem::CarriedItem(Hero& hero, MapEntity& original_entity,
const std::string& animation_set_id,
const std::string& destruction_sound_id,
int damage_on_enemies, uint32_t explosion_date):
MapEntity(),
hero(hero),
is_lifting(true),
is_throwing(false),
is_breaking(false),
break_on_intermediate_layer(false) {
// put the item on the hero's layer
set_layer(hero.get_layer());
// align correctly the item with the hero
int direction = hero.get_animation_direction();
if (direction % 2 == 0) {
set_xy(original_entity.get_x(), hero.get_y());
}
else {
set_xy(hero.get_x(), original_entity.get_y());
}
set_origin(original_entity.get_origin());
set_size(original_entity.get_size());
// create the lift movement and the sprite
PixelMovement *movement = new PixelMovement(lifting_trajectories[direction], 100, false, true);
create_sprite(animation_set_id);
get_sprite().set_current_animation("stopped");
set_movement(movement);
// create the breaking sound
this->destruction_sound_id = destruction_sound_id;
// create the shadow (not visible yet)
this->shadow_sprite = new Sprite("entities/shadow");
this->shadow_sprite->set_current_animation("big");
// damage on enemies
this->damage_on_enemies = damage_on_enemies;
// explosion
this->explosion_date = explosion_date;
}
/*-----------------------------------------------------------------------
LCD_write_english_String : 英文字符串显示函数
输入参数：*s ：英文字符串指针；
X、Y : 显示字符串的位置,x 0-83 ,y 0-5
-----------------------------------------------------------------------*/
void NOKIA5110::disp_string(unsigned char X,unsigned char Y,const char *s)
{
set_xy(X,Y);
while (*s)
{
disp_char(*s);
s++;
}
}
int select_tty(int tty_index)
{
int ret =0;
if ( 0 <= cur_tty_index && cur_tty_index < TTY_NUM)
cur_tty_index = tty_index;
else
ret = -1;
//s32_print_int(tty_table[cur_tty_index].console->vm_start, (u8*)(0xb8000+160*1), 16);
int org_x, org_y;
get_xy(tty_table[cur_tty_index].console, &org_x, &org_y);
set_xy(tty_table[cur_tty_index].console, 0, 0);
s32_console_print_str(tty_table[cur_tty_index].console, "simple os tty ");
switch (cur_tty_index)
{
case 0:
s32_console_print_char(tty_table[cur_tty_index].console, '1');
break;
case 1:
s32_console_print_char(tty_table[cur_tty_index].console, '2');
break;
case 2:
s32_console_print_char(tty_table[cur_tty_index].console, '3');
break;
default:
break;
}
s32_console_print_str(tty_table[cur_tty_index].console, "\r\nfake login: "******"\r\n\r\n");
set_xy(tty_table[cur_tty_index].console, org_x, org_y);
u16 cur_console_vm_start = (tty_table[cur_tty_index].console->vm_start-0xb8000)/2;
set_video_start_addr(cur_console_vm_start);
//set_cursor(cur_console_vm_start + tty_table[cur_tty_index].console->cur_x + tty_table[cur_tty_index].console->cur_y*80);
set_cursor(cur_console_vm_start + org_x + org_y*80);
return ret;
}
/**
* @brief Resets the block at its initial position.
*/
void Block::reset() {
if (get_movement() != NULL) {
// the block was being pushed or pulled by the hero
clear_movement();
when_can_move = System::now() + moving_delay;
}
set_xy(initial_position);
last_position.set_xy(initial_position);
this->maximum_moves = initial_maximum_moves;
}
/**
* \brief Resets the block at its initial position.
*/
void Block::reset() {
if (get_movement() != nullptr) {
// the block was being pushed or pulled by the hero
clear_movement();
when_can_move = System::now() + moving_delay;
}
last_position = initial_position;
this->maximum_moves = initial_maximum_moves;
set_xy(initial_position);
notify_position_changed();
}
void NOKIA5110::printf(uint8_t row,uint8_t col,const char *fmt,...)
{
char buf[16];
u8 i = 0;
va_list va_params;
va_start(va_params,fmt);
vsprintf(buf,fmt,va_params);
va_end(va_params);
set_xy(row,col);
while(buf[i] != '\0')
{
disp_char(buf[i++]);
}
}
/*刷新屏幕*/
void RefreshLCD(void)
{
u8 *pLCD;
u8 i;
for(i=0;i<8;i++)//刷新左半屏
{
set_xy(0,i);
for(pLCD = &LCDbuf[i][0] ; pLCD<&LCDbuf[i][64];)
{
WriteData(*pLCD++);
}
}
for(i=0;i<8;i++) //刷新右半屏
{
set_xy(64,i);
for(pLCD = &LCDbuf[i][64] ; pLCD<=&LCDbuf[i][127];)
{
WriteData(*pLCD++);
}
}
memset(LCDbuf , 0 , 1024);//刷屏后清映射区
}
void calc_screen_limits(zoom_t *zc)
{
int x, y;
if (3*zc->fb->w > 3*zc->fb->h) // if widescreen (more than 4:3 aka 12:9)
zc->scrscale = (double) zc->fb->h / 18.; // for 1920x1080 srcscale would be 60
else
zc->scrscale = (double) zc->fb->w / 18.;
zc->scrscale_unzoomed = zc->scrscale;
zc->limit_u = mul_xy(xy(zc->fb->w, zc->fb->h), set_xy(0.5/zc->scrscale));
zc->scrscale *= zc->zoomscale;
zc->iscrscale = 1. / zc->scrscale;
zc->drawlim_u = set_xy(zc->iscrscale * GAUSSRAD_HQ * zc->drawing_thickness);
zc->corners.p0 = sub_xy(zc->offset_u, mul_xy(xy(zc->fb->w, zc->fb->h), set_xy(0.5*zc->iscrscale)));
zc->corners.p1 = add_xy(zc->offset_u, mul_xy(xy(zc->fb->w, zc->fb->h), set_xy(0.5*zc->iscrscale)));
zc->corners_dl.p0 = sub_xy(zc->corners.p0, zc->drawlim_u);
zc->corners_dl.p1 = add_xy(zc->corners.p1, zc->drawlim_u);
zc->fb->window_dl.p0 = set_xy(-GAUSSRAD_HQ * zc->drawing_thickness); // drawing limit in pixels
zc->fb->window_dl.p1 = sub_xy( xy(zc->fb->w-1, zc->fb->h-1), zc->fb->window_dl.p0 );
}
void Snake::render_tick()
{
byte x = _head_x;
byte y = _head_y;
byte dir;
// Draw head
set_xy(x, y, 1);
// Delete tail
for (int i=0; i < _snake_len; i++)
{
dir = ~(get_element(i)) & 3;
next_pos((direction)dir, &x, &y);
if (i == _snake_len - 1) {
set_xy(x, y, 0);
}
}
// Draw food
if (_food_x > 0 && _food_y > 0)
set_xy(_food_x, _food_y, 1);
}
/*-----------------------------------------------------------------------
LCD_write_chinese_string: 在LCD上显示汉字
输入参数：X、Y ：显示汉字的起始X、Y坐标；
ch_with ：汉字点阵的宽度
num ：显示汉字的个数；
line ：汉字点阵数组中的起始行数
row ：汉字显示的行间距
测试：
LCD_write_chi(0,0,12,7,0,0);
LCD_write_chi(0,2,12,7,0,0);
LCD_write_chi(0,4,12,7,0,0);
-----------------------------------------------------------------------*/
void NOKIA5110::write_chinese_string(unsigned char X, unsigned char Y,
unsigned char ch_with,unsigned char num,
unsigned char line,unsigned char row)
{
unsigned char i,n;
set_xy(X,Y); //设置初始位置
for (i=0;i<num;)
{
for (n=0; n<ch_with*2; n++) //写一个汉字
{
if (n==ch_with) //写汉字的下半部分
{
if (i==0) set_xy(X,Y+1);
else
set_xy((X+(ch_with+row)*i),Y+1);
}
write_data(write_chinese[line+i][n]);
}
i++;
set_xy((X+(ch_with+row)*i),Y);
}
}
/***********************************************************
* 函数名称：
* 功能描述：显示BMP图片128×64起始点坐标(x,y),
* 参数列表：x的范围0～127，y为页的范围0～7
* 返回结果：
* 备 注：
***********************************************************/
void OLED_SSD1306::draw_bmp(u16 x0, u16 y0, u16 x1, u16 y1, const unsigned char BMP[])
{
unsigned int j = 0;
unsigned char x, y;
if(y1 % 8 == 0) y = y1 / 8;
else y = y1 / 8 + 1;
for(y = y0; y < y1; y++)
{
set_xy(x0, y);
for(x = x0; x < x1; x++)
{
write_data(BMP[j++]);
}
}
}
void
QtUtil :: Grid3DView :: contextMenuEvent (QContextMenuEvent * e)
{
QMenu m;
QMenu set_plane (tr ("Plane"));
{
set_plane .addAction (tr ("XY (Front)"), this, SLOT (set_xy()));
set_plane .addAction (tr ("XZ (Top)"), this, SLOT (set_xz()));
set_plane .addAction (tr ("YZ (Side)"), this, SLOT (set_yz()));
}
m .addMenu (& set_plane);
m .exec (mapToGlobal (e -> pos ()));
}
void __panic(struct x86_registers regs, const char *func, const char *file, int line, const char *fmt, ...)
{
char buffer[BSIZE];
const char *panic_str = CONFIG_PANIC_STRING;
size_t panic_str_len = strlen(panic_str);
size_t buf_len = 0;
va_list ap;
int x, y, i, j;
union x86_regs_u r;
r.s_reg = regs;
va_start(ap, fmt);
/* Move the formatted message to the buffer[] */
buf_len = vsnprintf(buffer, BSIZE, fmt, ap);
va_end(ap);
/* Set the console color to white on red (Red Screen of Death :) */
set_console_attributes(BG_COLOR_RED | FG_COLOR_WHITE);
clear_console();
/* Write the 'AKOSIX KERNEL PANIC' or other
user-defined panic string centered */
kxya_print(CENTERED(panic_str_len), 1, BG_COLOR_BLACK
| LIGHT | FG_COLOR_WHITE | BLINK, panic_str);
/* The message with more ligher white, also centered */
kxya_print(CENTERED(buf_len), 3, BG_COLOR_RED|LIGHT|FG_COLOR_WHITE, buffer);
set_xy(0, 5);
/* Register dump */
for (i = 0; i <= X86_REG_EDI; i++) {
kprintf("\t%s: %d [%x]\n", x86_register_name[i], r.a_reg[i], r.a_reg[i]);
}
kprintf("\n");
/* Segment registers are 16 bit long. Split the 32 bit array
elements to high and low variables to overcome this. */
for (j = i = X86_REG_SS; i <= X86_REG_GS-1; i++, j++) {
uint16_t high, low;
high = r.a_reg[j] & 0x0000FFFF;
low = r.a_reg[j] & 0xFFFF0000;
kprintf("\t%s: %d [%x]\n", x86_register_name[i], high, high);
kprintf("\t%s: %d [%x]\n", x86_register_name[++i], low, low);
}
// __backtrace(CONFIG_CONSOLE_WIDTH-LINE_LEN+5, 5, 5);
/* Location of the panic file:function():line */
kxy_printf(0, CONSOLE_LAST_ROW, "%s:%s():%d", file, func, line);
hang();
}
/**
* \brief Computes the position of the object controlled by this movement.
*
* This function should be called whenever the angle, the radius or the center changes.
*/
void CircleMovement::recompute_position() {
Point center = this->center_point;
if (center_entity != nullptr) {
center += center_entity->get_xy();
}
Point xy = Geometry::get_xy(center, Geometry::degrees_to_radians(current_angle), current_radius);
if (get_entity() == nullptr
|| !test_collision_with_obstacles(xy - get_entity()->get_xy())) {
set_xy(xy);
notify_position_changed();
}
else {
notify_obstacle_reached();
}
}
/**
* @brief Computes the position of the object controlled by this movement.
*
* This function should be called whenever the angle, the radius or the center changes.
*/
void CircleMovement::recompute_position() {
Rectangle center = this->center_point;
if (center_entity != NULL) {
center.add_xy(center_entity->get_xy());
}
const Rectangle &xy = Geometry::get_xy(center, Geometry::degrees_to_radians(current_angle), current_radius);
if (get_entity() == NULL
|| !test_collision_with_obstacles(xy.get_x() - get_entity()->get_x(), xy.get_y() - get_entity()->get_y())) {
set_xy(xy);
notify_position_changed();
}
else {
notify_obstacle_reached();
}
}
/**
* \brief This function is called when a conveyor belt detects a collision with this entity.
* \param conveyor_belt a conveyor belt
* \param dx direction of the x move in pixels (0, 1 or -1)
* \param dy direction of the y move in pixels (0, 1 or -1)
*/
void Bomb::notify_collision_with_conveyor_belt(ConveyorBelt& conveyor_belt, int dx, int dy) {
if (get_movement() == NULL) {
// check that a significant part of the bomb is on the conveyor belt
Rectangle center = get_center_point();
center.add_xy(-1, -1);
center.set_size(2, 2);
if (conveyor_belt.overlaps(center)) {
set_xy(conveyor_belt.get_xy());
std::string path = " ";
path[0] = path[1] = '0' + conveyor_belt.get_direction();
clear_movement();
set_movement(new PathMovement(path, 64, false, false, false));
}
}
}
/**
* @brief Updates the movement.
*/
void TargetMovement::update() {
if (System::now() >= next_recomputation_date) {
recompute_movement();
next_recomputation_date += recomputation_delay;
}
// see if the target is reached
int dx = target_x - get_x();
int dy = target_y - get_y();
if (dx * sign_x <= 0 && dy * sign_y <= 0) {
if (!test_collision_with_obstacles(dx, dy)) {
set_xy(target_x, target_y); // because the target movement may have not been very precise
stop();
finished = true;
}
}
StraightMovement::update();
}
/*-----------------------------------------------------------------------
LCD_draw_map : 位图绘制函数
输入参数：X、Y ：位图绘制的起始X、Y坐标；
*map ：位图点阵数据；
Pix_x ：位图像素（长）
Pix_y ：位图像素（宽）
-----------------------------------------------------------------------*/
void NOKIA5110::draw_bmp_pixel(unsigned char X,unsigned char Y,unsigned char *map,
unsigned char Pix_x,unsigned char Pix_y)
{
unsigned int i,n;
unsigned char row;
if (Pix_y%8==0) row=Pix_y/8; //计算位图所占行数
else
row=Pix_y/8+1;
for (n=0;n<row;n++)
{
set_xy(X,Y);
for(i=0; i<Pix_x; i++)
{
write_data(map[i+n*Pix_x]);
}
Y++; //换行
}
}
/***********************************************************
* 函数名称：
* 功能描述： OLED_SSD1306初始化
* 参数列表：
* 返回结果：
* 备 注：
***********************************************************/
void OLED_SSD1306::init(void)
{
res_pin->set();
delay_ms(100);
res_pin->reset();
delay_ms(100);
res_pin->set();
write_cmd(0xae);//--turn off oled panel
write_cmd(0x00);//---set low column address
write_cmd(0x10);//---set high column address
write_cmd(0x40);//--set start line address Set Mapping RAM Display Start Line (0x00~0x3F)
write_cmd(0x81);//--set contrast control register
write_cmd(0xcf); // Set SEG Output Current Brightness
write_cmd(0xa1);//--Set SEG/Column Mapping 0xa0左右反置 0xa1正常
write_cmd(0xc8);//Set COM/Row Scan Direction 0xc0上下反置 0xc8正常
write_cmd(0xa6);//--set normal display
write_cmd(0xa8);//--set multiplex ratio(1 to 64)
write_cmd(0x3f);//--1/64 duty
write_cmd(0xd3);//-set display offset Shift Mapping RAM Counter (0x00~0x3F)
write_cmd(0x00);//-not offset
write_cmd(0xd5);//--set display clock divide ratio/oscillator frequency
write_cmd(0x80);//--set divide ratio, Set Clock as 100 Frames/Sec
write_cmd(0xd9);//--set pre-charge period
write_cmd(0xf1);//Set Pre-Charge as 15 Clocks & Discharge as 1 Clock
write_cmd(0xda);//--set com pins hardware configuration
write_cmd(0x12);
write_cmd(0xdb);//--set vcomh
write_cmd(0x40);//Set VCOM Deselect Level
write_cmd(0x20);//-Set Page Addressing Mode (0x00/0x01/0x02)
write_cmd(0x02);//
write_cmd(0x8d);//--set Charge Pump enable/disable
write_cmd(0x14);//--set(0x10) disable
write_cmd(0xa4);// Disable Entire Display On (0xa4/0xa5)
write_cmd(0xa6);// Disable Inverse Display On (0xa6/a7)
write_cmd(0xaf);//--turn on oled panel
write_cmd(0xaf); /*display ON*/
clear();
set_xy(0, 0);
}
