openpilot_comma/selfdrive/common/spinner.c

#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <unistd.h>
#include <assert.h>

#include <GLES3/gl3.h>
#include <EGL/egl.h>
#include <EGL/eglext.h>

#include "nanovg.h"
#define NANOVG_GLES3_IMPLEMENTATION
#include "nanovg_gl.h"
#include "nanovg_gl_utils.h"

#include "framebuffer.h"
#include "spinner.h"

// external resources linked in
extern const unsigned char _binary_opensans_semibold_ttf_start[];
extern const unsigned char _binary_opensans_semibold_ttf_end[];

extern const unsigned char _binary_img_spinner_track_png_start[];
extern const unsigned char _binary_img_spinner_track_png_end[];

extern const unsigned char _binary_img_spinner_comma_png_start[];
extern const unsigned char _binary_img_spinner_comma_png_end[];

int spin(int argc, char** argv) {
  int err;

  const char* spintext = NULL;
  if (argc == 1) {
    spintext = argv[0];
  } else if (argc >= 2) {
    spintext = argv[1];
  }

  // spinner
  int fb_w, fb_h;
  EGLDisplay display;
  EGLSurface surface;
  FramebufferState *fb = framebuffer_init("spinner", 0x00001000, false,
                     &display, &surface, &fb_w, &fb_h);
  assert(fb);

  NVGcontext *vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES);
  assert(vg);

  int font = nvgCreateFontMem(vg, "Bold", (unsigned char*)_binary_opensans_semibold_ttf_start, _binary_opensans_semibold_ttf_end-_binary_opensans_semibold_ttf_start, 0);
  assert(font >= 0);

  int spinner_img = nvgCreateImageMem(vg, 0, (unsigned char*)_binary_img_spinner_track_png_start, _binary_img_spinner_track_png_end - _binary_img_spinner_track_png_start);
  assert(spinner_img >= 0);
  int spinner_img_s = 360;
  int spinner_img_x = ((fb_w/2)-(spinner_img_s/2));
  int spinner_img_y = 260;
  int spinner_img_xc = (fb_w/2);
  int spinner_img_yc = (fb_h/2)-100;
  int spinner_comma_img = nvgCreateImageMem(vg, 0, (unsigned char*)_binary_img_spinner_comma_png_start, _binary_img_spinner_comma_png_end - _binary_img_spinner_comma_png_start);
  assert(spinner_comma_img >= 0);

  for (int cnt = 0; ; cnt++) {
    glClearColor(0.1, 0.1, 0.1, 1.0);
    glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
    glEnable(GL_BLEND);
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);

    // background
    nvgBeginPath(vg);
    NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
    nvgRGBA(0, 0, 0, 175), nvgRGBA(0, 0, 0, 255));
    nvgFillPaint(vg, bg);
    nvgRect(vg, 0, 0, fb_w, fb_h);
    nvgFill(vg);

    // spin track
    nvgSave(vg);
    nvgTranslate(vg, spinner_img_xc, spinner_img_yc);
    nvgRotate(vg, (3.75*M_PI * cnt/120.0));
    nvgTranslate(vg, -spinner_img_xc, -spinner_img_yc);
    NVGpaint spinner_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
      spinner_img_s, spinner_img_s, 0, spinner_img, 0.6f);
    nvgBeginPath(vg);
    nvgFillPaint(vg, spinner_imgPaint);
    nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
    nvgFill(vg);
    nvgRestore(vg);

    // comma
    NVGpaint comma_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
      spinner_img_s, spinner_img_s, 0, spinner_comma_img, 1.0f);
    nvgBeginPath(vg);
    nvgFillPaint(vg, comma_imgPaint);
    nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
    nvgFill(vg);

    // message
    if (spintext) {
      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
      nvgFontSize(vg, 96.0f);
      nvgText(vg, fb_w/2, (fb_h*2/3)+24, spintext, NULL);
    }

    nvgEndFrame(vg);
    eglSwapBuffers(display, surface);
    assert(glGetError() == GL_NO_ERROR);
  }

  return 0;
}