Task 16 implementation.

include/bind/FrameBuffer.hxx

@@ -47,6 +47,7 @@ class FrameBuffer : public Reference {
     int get_height() noexcept;
     int get_freq() noexcept;
     bool write_rgb888(Ref<Image> img);
+    PoolByteArray read_rgb888();
 };
 }; // namespace godot
 

project/Global.gd

@@ -39,7 +39,8 @@ var _classes: Array = [
 	preload("res://src/attachments/Gyroscope.gd"),
 	preload("res://src/utilities/sensors/odometer/Odometer.gd"),
 	RayCar, RayWheel, UltraSonic,
-	preload("res://src/attachments/Odometer.gd")]
+	preload("res://src/attachments/Odometer.gd"),
+	ScreenBuffer]
 
 var classes: Dictionary = {}
 

project/share/library_patches/arduino_mkrrgb/src/MKRRGBMatrix.cpp

@@ -0,0 +1,37 @@
+//
+// Created by danie on 2021-11-02.
+//
+
+#include "MKRRGBMatrix.h"
+
+RGBMatrixClass MATRIX;
+
+RGBMatrixClass::RGBMatrixClass()
+    : ArduinoGraphics(RGB_MATRIX_WIDTH, RGB_MATRIX_HEIGHT), framebufferAccessor() {}
+
+RGBMatrixClass::~RGBMatrixClass() {}
+
+int RGBMatrixClass::begin() {
+    return framebufferAccessor.begin(RGB_MATRIX_WIDTH, RGB_MATRIX_HEIGHT, PIXEL_FORMAT, FPS);
+}
+
+void RGBMatrixClass::end() { framebufferAccessor.end(); }
+
+void RGBMatrixClass::brightness(uint8_t brightness) {}
+
+void RGBMatrixClass::beginDraw() {
+    ArduinoGraphics::beginDraw();
+    framebufferAccessor.read(buf);
+}
+
+void RGBMatrixClass::endDraw() {
+    ArduinoGraphics::endDraw();
+    framebufferAccessor.write(buf);
+}
+
+void RGBMatrixClass::set(int x, int y, uint8_t r, uint8_t g, uint8_t b) {
+    int index = (y * RGB_MATRIX_WIDTH + x) * (BITS_PER_PIXEL / CHAR_BIT);
+    buf[index] = static_cast<std::byte>(r);
+    buf[index + 1] = static_cast<std::byte>(g);
+    buf[index + 2] = static_cast<std::byte>(b);
+}

project/share/library_patches/arduino_mkrrgb/src/MKRRGBMatrix.h

@@ -0,0 +1,41 @@
+//
+// Created by danie on 2021-11-02.
+//
+
+#ifndef MKRRGBMATRIX_H
+#define MKRRGBMATRIX_H
+
+#include <cstddef>
+#include <cstdint>
+#include <ArduinoGraphics.h>
+#include <FramebufferAccess.h>
+#include "SMCE_dll.hpp"
+
+#define RGB_MATRIX_WIDTH 640
+#define RGB_MATRIX_HEIGHT 480
+#define PIXEL_FORMAT SMCE_Pixel_Format::RGB888
+#define BITS_PER_PIXEL 24
+#define FPS 60
+
+class RGBMatrixClass : public ArduinoGraphics {
+  private:
+    FramebufferAccess framebufferAccessor;
+    std::byte buf[(BITS_PER_PIXEL * RGB_MATRIX_HEIGHT * RGB_MATRIX_WIDTH) / CHAR_BIT];
+
+  public:
+    RGBMatrixClass();
+    virtual ~RGBMatrixClass();
+
+    int begin();
+    void end();
+
+    void brightness(uint8_t brightness);
+
+    virtual void beginDraw();
+    virtual void endDraw();
+
+    virtual void set(int x, int y, uint8_t r, uint8_t g, uint8_t b);
+};
+
+extern RGBMatrixClass MATRIX;
+#endif // MKRRGBMATRIX_H

project/src/attachments/ScreenBuffer.gd

@@ -0,0 +1,96 @@
+class_name ScreenBuffer
+extends Spatial
+
+onready var mesh: MeshInstance = MeshInstance.new()
+onready var screen: MeshInstance = MeshInstance.new()
+var img: Image = Image.new()
+var texture: ImageTexture = ImageTexture.new()
+
+func extern_class_name():
+	return "ScreenBuffer"
+
+export var pin = 0
+export var display_width = 0.34
+export var display_height = 0.2
+var resolution = Vector2(0, 0) # Base resolution (for MKRRGBMAtrix)
+var image_buf = null
+var fps = 1
+var aspect_ratio = 1
+var view = null
+var timer: Timer = Timer.new()
+
+func _ready():
+	timer.connect("timeout", self, "_on_frame")
+	timer.autostart = true
+	add_child(timer)
+
+	img.create(resolution.x, resolution.y, false, Image.FORMAT_RGB8)
+	img.fill(Color.black)
+	_create_texture()
+
+	mesh.mesh = CubeMesh.new()
+	_update_mesh_size()
+	mesh.rotate_y(PI)
+
+	screen.mesh = PlaneMesh.new()
+	screen.scale_object_local(Vector3(0.9, 0.9, 0.9))
+	screen.rotate_x(PI/2)
+	screen.translate(Vector3(0, 1.5, 0))
+	screen.material_override = SpatialMaterial.new()
+	screen.material_override.albedo_texture = texture
+
+	mesh.add_child(screen)
+	add_child(mesh)
+
+func _on_frame() -> void:
+	if ! view || ! view.is_valid():
+		return
+
+	var new_image_buf = view.framebuffers(pin).read_rgb888(img)
+	if new_image_buf != image_buf:
+		img.create_from_data(resolution.x, resolution.y, 
+			false, Image.FORMAT_RGB8, new_image_buf)
+		_create_texture()
+		image_buf = new_image_buf
+
+func _physics_process(delta):
+	var buffer = view.framebuffers(pin)
+	var new_res = Vector2(buffer.get_width(), buffer.get_height())
+	var new_fps = buffer.get_freq()
+
+	if new_fps != fps and new_fps != 0:
+		timer.wait_time = 1.0/new_fps
+		fps = new_fps
+
+	if new_res != resolution and new_res.x != 0 and new_res.y != 0:
+		resolution = new_res
+		aspect_ratio = float(resolution.x) / resolution.y
+		_update_mesh_size()
+
+
+func _create_texture():
+	if texture.get_size() != resolution:
+		texture.create_from_image(img, 0)
+	else:
+		texture.set_data(img)
+
+func _update_mesh_size():
+	if aspect_ratio >= 1:
+		mesh.scale = Vector3(display_width, display_width / aspect_ratio, 0.025)
+	else:
+		mesh.scale = Vector3(display_height * aspect_ratio, display_height, 0.025)
+
+func set_view(_view: Node) -> void:
+	if ! _view:
+		return
+	view = _view
+
+func visualize() -> Control:
+	var visualizer = ScreenBufferVisualizer.new()
+	visualizer.display_node(self, "visualize_content")
+	return visualizer
+
+
+func visualize_content() -> Array:
+	var text =  "   Resolution: %dx%d" % [resolution.x, resolution.y]
+	return [texture, aspect_ratio, text]

project/src/objects/ray_car/RayCar.tscn

@@ -123,6 +123,9 @@ transform = Transform( -4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, 0.974,
 [node name="Back" type="Position3D" parent="AttachmentSlots"]
 transform = Transform( -1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 0, 0.4, 1.8 )
 
+[node name="Logo" type="Position3D" parent="AttachmentSlots"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0.00163135, 0.0371331, -2.20274 )
+
 [node name="BuiltinAttachments" type="Spatial" parent="."]
 
 [node name="Left BrushedMotor" type="Node" parent="BuiltinAttachments"]

project/src/ui/node_visualizer/ScreenBufferVisualizer.gd

@@ -0,0 +1,71 @@
+#
+#  ScreenBufferVisualizer.gd
+#  Copyright 2021 ItJustWorksTM
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+#
+
+class_name ScreenBufferVisualizer
+extends VBoxContainer
+
+var _node: Node = null
+var _visual_func: String = ""
+
+var text_display: Label = Label.new()
+var image_display: TextureRect = TextureRect.new()
+var viewport: Viewport = Viewport.new()
+var viewport_container: ViewportContainer = ViewportContainer.new()
+
+func display_node(node: Node, visual_func: String) -> bool:
+	if ! node || ! node.has_method(visual_func):
+		return false
+	_node = node
+	_visual_func = visual_func
+
+	add_child(viewport_container)
+	viewport_container.add_child(viewport)
+	viewport.add_child(image_display)
+
+	# Needed to make sure that the viewport does not swallow clicks meant for the collapsable element
+	viewport.set_disable_input(true)
+
+	add_child(text_display)
+
+	return true
+
+func _process(_delta: float) -> void:
+	if ! _node:
+		return
+
+	# values[0] = texture
+	# values[1] = aspect ratio of image
+	# values[2] = text
+	var values = _node.call(_visual_func)
+
+	image_display.texture = values[0]
+
+	# Set max width of viewport and use aspect ration to determine height
+	var aspect_ratio = values[1]
+	if aspect_ratio == 0:
+		viewport.size = Vector2(0, 0)
+	else:
+		viewport.size = Vector2(290, 290 * (1.0/aspect_ratio))
+
+	# Expanding the display to fit the viewport
+	image_display.set_anchors_and_margins_preset(Control.PRESET_TOP_LEFT, Control.PRESET_MODE_MINSIZE, 0)
+	image_display.rect_min_size = viewport.size
+	image_display.expand = true
+	#image_display.stretch_mode = TextureRect.STRETCH_SCALE
+
+	text_display.text = values[2]
+

src/bind/FrameBuffer.cxx

@@ -29,6 +29,7 @@ void FrameBuffer::_register_methods() {
     register_method("get_height", &FrameBuffer::get_height);
     register_method("get_freq", &FrameBuffer::get_freq);
     register_method("write_rgb888", &FrameBuffer::write_rgb888);
+    register_method("read_rgb888", &FrameBuffer::read_rgb888);
 }
 
 bool FrameBuffer::exists() { return frame_buf.exists(); }
@@ -50,3 +51,17 @@ bool FrameBuffer::write_rgb888(Ref<Image> img) {
 
     return frame_buf.write_rgb888(byte_span);
 }
+
+PoolByteArray FrameBuffer::read_rgb888() {
+    auto bytes = PoolByteArray{};
+
+    bytes.resize(get_height() * get_width() * 3);
+
+    const auto byte_span =
+        std::span{reinterpret_cast<std::byte*>(bytes.write().ptr()), static_cast<size_t>(bytes.size())};
+
+    // TODO: maybe check success :|
+    frame_buf.read_rgb888(byte_span);
+
+    return bytes; // pray for some kind of return value optimization
+}

src/bind/Sketch.cxx

@@ -34,21 +34,37 @@ void Sketch::_register_methods() {
 #undef U
 
 void Sketch::init(String src, String home_dir) {
-    sketch =
-        smce::Sketch{std_str(src),
-                     {.fqbn = "arduino:sam:arduino_due_x",
-                      .legacy_preproc_libs = {smce::SketchConfig::ArduinoLibrary{"[email protected]"},
-                                              smce::SketchConfig::ArduinoLibrary{"[email protected]"},
-                                              smce::SketchConfig::ArduinoLibrary{"[email protected]"},
-                                              smce::SketchConfig::ArduinoLibrary{"[email protected]"}},
-                      .plugins = {smce::PluginManifest{
-                          .name = "Smartcar_shield",
-                          .version = "7.0.1",
-                          .uri = "https://github.com/platisd/smartcar_shield/archive/refs/tags/7.0.1.tar.gz",
-                          .patch_uri = "file://" + (std::filesystem::absolute(std_str(home_dir)) /
-                                                    "library_patches" / "smartcar_shield")
-                                                       .generic_string(),
-                          .defaults = smce::PluginManifest::Defaults::arduino}}}};
+    std::vector<std::string> dep = {"ArduinoGraphics"};
+    sketch = smce::Sketch{
+        std_str(src),
+        {.fqbn = "arduino:sam:arduino_due_x",
+         .legacy_preproc_libs = {smce::SketchConfig::ArduinoLibrary{"[email protected]"},
+                                 smce::SketchConfig::ArduinoLibrary{"[email protected]"},
+                                 smce::SketchConfig::ArduinoLibrary{"[email protected]"},
+                                 smce::SketchConfig::ArduinoLibrary{"[email protected]"}},
+         .plugins = {
+             smce::PluginManifest{
+                 .name = "Smartcar_shield",
+                 .version = "7.0.1",
+                 .uri = "https://github.com/platisd/smartcar_shield/archive/refs/tags/7.0.1.tar.gz",
+                 .patch_uri = "file://" + (std::filesystem::absolute(std_str(home_dir)) / "library_patches" /
+                                           "smartcar_shield")
+                                              .generic_string(),
+                 .defaults = smce::PluginManifest::Defaults::arduino},
+             smce::PluginManifest{
+                 .name = "ArduinoGraphics",
+                 .version = "1.0.0",
+                 .uri = "https://github.com/arduino-libraries/ArduinoGraphics/archive/refs/tags/1.0.0.zip",
+                 .defaults = smce::PluginManifest::Defaults::arduino},
+             smce::PluginManifest{
+                 .name = "Arduino_MKRRGB",
+                 .version = "1.0.0",
+                 .depends = dep,
+                 .uri = "https://github.com/arduino-libraries/Arduino_MKRRGB/archive/refs/tags/1.0.0.zip",
+                 .patch_uri = "file://" + (std::filesystem::absolute(std_str(home_dir)) / "library_patches" /
+                                           "arduino_mkrrgb")
+                                              .generic_string(),
+                 .defaults = smce::PluginManifest::Defaults::arduino}}}};
 }
 
 String Sketch::get_source() { return sketch.get_source().c_str(); }