mirror of https://github.com/ArduPilot/ardupilot
127 lines
3.9 KiB
C++
127 lines
3.9 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include <AP_OSD/AP_OSD_Backend.h>
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#include <AP_HAL/Util.h>
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#include <GCS_MAVLink/GCS.h>
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#include <ctype.h>
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extern const AP_HAL::HAL& hal;
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constexpr uint8_t AP_OSD_Backend::symbols[AP_OSD_NUM_SYMBOLS];
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#define SYM_DIG_OFS_1 0x90
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#define SYM_DIG_OFS_2 0xA0
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uint8_t AP_OSD_Backend::convert_to_decimal_packed_characters(char* buff, uint8_t size) {
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if (size == 0) {
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return 0;
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}
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#if OSD_ENABLED
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// use packed decimal characters based on fiam idea implemented in inav osd
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// search the decimal separator with a bound and always terminate the string
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char* p = (char*)memchr(&buff[1],'.',size-1);
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if (p && isdigit(p[1]) && isdigit(p[-1])) {
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// remove the decimal separator and replace the digit before and after
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p[-1] += SYM_DIG_OFS_1;
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p[1] += SYM_DIG_OFS_2;
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// shift anything after p[1] 1 character to the left
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const char* move_start = p+1;
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const uint8_t move_size = size-(move_start-buff);
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memmove(p, move_start, move_size);
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p[move_size] = 0x00; // terminate
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return size-1;
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}
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#else
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// we guarantee string is terminated
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buff[size-1] = 0x00;
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#endif
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return size;
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}
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uint8_t AP_OSD_Backend::format_string_for_osd(char* buff, uint8_t size, bool decimal_packed, const char *fmt, va_list ap)
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{
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if (size == 0) {
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return 0;
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}
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#if OSD_ENABLED
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// note: vsnprintf() always terminates the string
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int res = hal.util->vsnprintf(buff, size, fmt, ap);
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res = MIN(res, size);
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if (res > 0 && decimal_packed) {
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// note: convert_to_decimal_packed_characters() always terminates the string
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res = convert_to_decimal_packed_characters(buff, res);
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}
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return res;
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#else
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// we guarantee string is terminated
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buff[0] = 0x00;
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// and notify the caller we actually failed
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return 0;
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#endif
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}
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void AP_OSD_Backend::write(uint8_t x, uint8_t y, bool blink, const char *fmt, ...)
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{
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#if OSD_ENABLED
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if (blink && (blink_phase < 2)) {
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return;
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}
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va_list ap;
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va_start(ap, fmt);
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char buff[32+1]; // +1 for null-termination
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// note: format_string_for_osd() always terminates the string
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IGNORE_RETURN(format_string_for_osd(buff, sizeof(buff), check_option(AP_OSD::OPTION_DECIMAL_PACK), fmt, ap));
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va_end(ap);
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// buff is null terminated, this call should be safe without further checks
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write(x, y, buff);
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#endif
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}
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/*
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load a font from sdcard or ROMFS
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*/
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FileData *AP_OSD_Backend::load_font_data(uint8_t font_num)
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{
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FileData *fd;
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// first try from microSD
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char fontname[] = "font0.bin";
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fontname[4] = font_num + '0';
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fd = AP::FS().load_file(fontname);
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if (fd == nullptr) {
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char fontname_romfs[] = "@ROMFS/font0.bin";
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fontname_romfs[7+4] = font_num + '0';
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fd = AP::FS().load_file(fontname_romfs);
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}
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if (fd == nullptr) {
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GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "OSD: Failed to load font %u", font_num);
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if (font_num != 0) {
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// fallback to font0.bin. This allows us to reduce the
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// number of fonts we include in flash without breaking
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// user setups
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return load_font_data(0);
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}
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}
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return fd;
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}
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void AP_OSD_Backend::init_symbol_set(uint8_t *lookup_table, const uint8_t size)
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{
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memcpy(lookup_table, symbols, size);
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}
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