refactored line drawing, broke out code.
broke the line drawing driver into seperate module.
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0b363ed8e7
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31
src/heading_drawing.rs
Normal file
31
src/heading_drawing.rs
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@ -0,0 +1,31 @@
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use crate::line_drawing::{draw_line, FourQuadrantMatrix, Line, UPoint};
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#[derive(Debug, Clone, Copy)]
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struct Sector {
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total_sectors: u8,
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sectors: u8,
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}
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//heading starts at north, with the positive direction being clockwise.
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//Heading ranges from -pi to pi.
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//
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//sectors have 0 at north an proceed clockwise, always being positive.
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fn heading_to_sector(sectors: u8, heading: f32) -> Sector {
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todo!()
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}
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fn sector_to_line(sector: Sector, radius: usize) -> Line {
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todo!()
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}
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pub fn draw_heading<const X: usize, const Y: usize>(
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heading: f32,
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sectors: u8,
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) -> FourQuadrantMatrix<{ X }, { Y }, u8> {
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let mut ret = FourQuadrantMatrix::new(UPoint { x: X / 2, y: Y / 2 });
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draw_line::<X, Y>(
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§or_to_line(heading_to_sector(sectors, heading), X.max(Y)),
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&mut ret,
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);
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ret
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}
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@ -1,15 +1,16 @@
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use core::mem::swap;
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use core::{mem::swap, ops::Index, ops::IndexMut};
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struct Point {
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x: isize,
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y: isize,
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#[derive(Debug, Clone, Copy)]
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pub struct Point {
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pub x: isize,
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pub y: isize,
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}
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impl Point {
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/// converts a point (representing a point on a 4 quadrant grid) into a upoint (representing a
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/// point on a 1 quadrant grid with the origin in the bottom-left corner). Returns none if
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/// the resulting point would have either number negative.
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fn to_upoint(&self, zero_coord: &UPoint) -> Option<UPoint> {
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pub fn to_upoint(self, zero_coord: &UPoint) -> Option<UPoint> {
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Some(UPoint {
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x: zero_coord.x.checked_add_signed(self.x)?,
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y: zero_coord.y.checked_add_signed(self.y)?,
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@ -17,15 +18,16 @@ impl Point {
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}
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}
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struct UPoint {
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x: usize,
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y: usize,
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#[derive(Debug, Clone, Copy)]
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pub struct UPoint {
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pub x: usize,
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pub y: usize,
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}
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impl UPoint {
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/// converts a upoint (representing a point on a 1 quadrant grid with the origin in the
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/// bottom-left corner) into a point( representing a point on a 4 quadrant grid
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pub fn to_point(&self, zero_coord: &UPoint) -> Point {
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/// bottom-left corner) into a point( representing a point on a 4 quadrant grid)
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pub fn to_point(self, zero_coord: &UPoint) -> Point {
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Point {
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x: zero_coord.x as isize - self.x as isize,
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y: zero_coord.y as isize - self.y as isize,
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@ -33,44 +35,95 @@ impl UPoint {
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}
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}
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fn draw_line<const X: usize, const Y: usize>(
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mut p0: Point,
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mut p1: Point,
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matrix: &mut [[u8; X]; Y],
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/// A matrix that allows negative co-oordinates. Will panic if referencing out of bounds, just like
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/// a nomral matrix.
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pub struct FourQuadrantMatrix<const X: usize, const Y: usize, T> {
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matrix: [[T; X]; Y],
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pub zero_coord: UPoint,
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}
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impl<const X: usize, const Y: usize, T> FourQuadrantMatrix<{ X }, { Y }, T>
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where
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T: Copy,
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T: Default,
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{
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pub fn new(zero_coord: UPoint) -> FourQuadrantMatrix<{ X }, { Y }, T> {
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FourQuadrantMatrix {
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matrix: [[T::default(); X]; Y],
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zero_coord,
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}
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}
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}
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impl<T, const X: usize, const Y: usize> IndexMut<Point> for FourQuadrantMatrix<{ X }, { Y }, T> {
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fn index_mut(&mut self, index: Point) -> &mut Self::Output {
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let upoint = index
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.to_upoint(&self.zero_coord)
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.expect("would result in negative unsigned coordinate!");
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&mut self.matrix[upoint.x][upoint.y]
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}
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}
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impl<T, const X: usize, const Y: usize> Index<Point> for FourQuadrantMatrix<{ X }, { Y }, T> {
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type Output = T;
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fn index(&self, index: Point) -> &Self::Output {
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let upoint = index
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.to_upoint(&self.zero_coord)
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.expect("would result in negative unsigned coordinate!");
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&self.matrix[upoint.x][upoint.y]
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}
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}
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impl<T, const X: usize, const Y: usize> From<FourQuadrantMatrix<{ X }, { Y }, T>> for [[T; X]; Y] {
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fn from(value: FourQuadrantMatrix<{ X }, { Y }, T>) -> Self {
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value.matrix
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}
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}
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#[derive(Debug, Clone, Copy)]
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pub struct Line(pub Point, pub Point);
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//no boxes here!
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#[derive(Debug, Clone, Copy)]
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pub struct ULine(pub UPoint, pub UPoint);
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/// Renders a line into a matrix of pixels.
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pub fn draw_line<const X: usize, const Y: usize>(
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line: &Line,
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matrix: &mut FourQuadrantMatrix<{ X }, { Y }, u8>,
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) {
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let steep = (p0.x - p1.x).abs() < (p0.y - p1.x).abs();
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let mut line = *line;
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let steep = (line.0.x - line.1.x).abs() < (line.0.y - line.1.x).abs();
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if steep {
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swap(&mut p0.x, &mut p0.y);
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swap(&mut p1.x, &mut p1.y);
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swap(&mut line.0.x, &mut line.0.y);
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swap(&mut line.1.x, &mut line.1.y);
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}
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if p0.x > p1.x {
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swap(&mut p0, &mut p1)
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if line.0.x > line.1.x {
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swap(&mut line.0.x, &mut line.1.x);
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swap(&mut line.0.y, &mut line.1.y)
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}
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let dx = p1.x - p0.x;
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let dy = p1.y - p0.y;
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let dx = line.1.x - line.0.x;
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let dy = line.1.y - line.0.y;
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let derror2 = dy.abs() * 2;
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let mut error2 = 0;
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let mut y = p0.y;
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let mut y = line.0.y;
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for x in p0.x..=p1.x {
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for x in line.0.x..=line.1.x {
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if steep {
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matrix[y as usize][x as usize] = 1;
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matrix[Point { x: y, y: x }] = 1;
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} else {
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matrix[x as usize][y as usize] = 1;
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matrix[Point { x, y }] = 1;
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}
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error2 += derror2;
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if error2 > dx {
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y += if p1.y > p0.y { 1 } else { -1 };
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y += if line.1.y > line.0.y { 1 } else { -1 };
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error2 -= dx * 2
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}
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}
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}
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fn heading_to_sector(sectors: u8, heading: f32) -> u8 {
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todo!()
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}
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@ -17,6 +17,7 @@ mod calibration;
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mod led;
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mod tilt_compensation;
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mod line_drawing;
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mod heading_drawing;
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use microbit::{display::blocking::Display, hal::Timer};
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