uas-ugv/main/Print.cpp

/*
 Print.cpp - Base class that provides print() and println()
 Copyright (c) 2008 David A. Mellis.  All right reserved.
 This library is free software; you can redistribute it and/or
 modify it under the terms of the GNU Lesser General Public
 License as published by the Free Software Foundation; either
 version 2.1 of the License, or (at your option) any later version.
 This library is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 Lesser General Public License for more details.
 You should have received a copy of the GNU Lesser General Public
 License along with this library; if not, write to the Free Software
 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 Modified 23 November 2006 by David A. Mellis
 Modified December 2014 by Ivan Grokhotkov
 Modified May 2015 by Michael C. Miller - ESP31B progmem support
 */

#include <cmath>
#include <cstdarg>
#include <cstdio>
#include <cstdlib>
#include <cstring>

#include "Print.h"

extern "C" {
#include "time.h"
}

// Public Methods //////////////////////////////////////////////////////////////

/* default implementation: may be overridden */
size_t Print::write(const uint8_t *buffer, size_t size) {
  size_t n = 0;
  while (size--) {
    n += write(*buffer++);
  }
  return n;
}

size_t Print::printf(const char *format, ...) {
  char    loc_buf[64];
  char *  temp = loc_buf;
  va_list arg;
  va_list copy;
  va_start(arg, format);
  va_copy(copy, arg);
  size_t len = vsnprintf(NULL, 0, format, arg);
  va_end(copy);
  if (len >= sizeof(loc_buf)) {
    temp = new char[len + 1];
    if (temp == NULL) {
      return 0;
    }
  }
  len = vsnprintf(temp, len + 1, format, arg);
  write((uint8_t *)temp, len);
  va_end(arg);
  if (len >= sizeof(loc_buf)) {
    delete[] temp;
  }
  return len;
}

// size_t Print::print(const String &s) { return write(s.c_str(), s.length()); }

size_t Print::print(const std::string &s) { return write(s.c_str(), s.length()); }

size_t Print::print(const char str[]) { return write(str); }

size_t Print::print(char c) { return write(c); }

size_t Print::print(unsigned char b, int base) {
  return print((unsigned long)b, base);
}

size_t Print::print(int n, int base) { return print((long)n, base); }

size_t Print::print(unsigned int n, int base) {
  return print((unsigned long)n, base);
}

size_t Print::print(long n, int base) {
  if (base == 0) {
    return write(n);
  } else if (base == 10) {
    if (n < 0) {
      int t = print('-');
      n     = -n;
      return printNumber(n, 10) + t;
    }
    return printNumber(n, 10);
  } else {
    return printNumber(n, base);
  }
}

size_t Print::print(unsigned long n, int base) {
  if (base == 0) {
    return write(n);
  } else {
    return printNumber(n, base);
  }
}

size_t Print::print(double n, int digits) { return printFloat(n, digits); }

// size_t Print::print(const Printable &x) { return x.printTo(*this); }

size_t Print::print(struct tm *timeinfo, const char *format) {
  const char *f = format;
  if (!f) {
    f = "%c";
  }
  char   buf[64];
  size_t written = strftime(buf, 64, f, timeinfo);
  print(buf);
  return written;
}

size_t Print::println(void) { return print("\r\n"); }

// size_t Print::println(const String &s) {
//   size_t n = print(s);
//   n += println();
//   return n;
// }

size_t Print::println(const std::string &s) {
  size_t n = print(s);
  n += println();
  return n;
}

size_t Print::println(const char c[]) {
  size_t n = print(c);
  n += println();
  return n;
}

size_t Print::println(char c) {
  size_t n = print(c);
  n += println();
  return n;
}

size_t Print::println(unsigned char b, int base) {
  size_t n = print(b, base);
  n += println();
  return n;
}

size_t Print::println(int num, int base) {
  size_t n = print(num, base);
  n += println();
  return n;
}

size_t Print::println(unsigned int num, int base) {
  size_t n = print(num, base);
  n += println();
  return n;
}

size_t Print::println(long num, int base) {
  size_t n = print(num, base);
  n += println();
  return n;
}

size_t Print::println(unsigned long num, int base) {
  size_t n = print(num, base);
  n += println();
  return n;
}

size_t Print::println(double num, int digits) {
  size_t n = print(num, digits);
  n += println();
  return n;
}

// size_t Print::println(const Printable &x) {
//   size_t n = print(x);
//   n += println();
//   return n;
// }

size_t Print::println(struct tm *timeinfo, const char *format) {
  size_t n = print(timeinfo, format);
  n += println();
  return n;
}

// Private Methods /////////////////////////////////////////////////////////////

size_t Print::printNumber(unsigned long n, uint8_t base) {
  char  buf[8 * sizeof(long) + 1];  // Assumes 8-bit chars plus zero byte.
  char *str = &buf[sizeof(buf) - 1];

  *str = '\0';

  // prevent crash if called with base == 1
  if (base < 2) {
    base = 10;
  }

  do {
    unsigned long m = n;
    n /= base;
    char c = m - base * n;
    *--str = c < 10 ? c + '0' : c + 'A' - 10;
  } while (n);

  return write(str);
}

size_t Print::printFloat(double number, uint8_t digits) {
  size_t n = 0;

  if (std::isnan(number)) {
    return print("nan");
  }
  if (std::isinf(number)) {
    return print("inf");
  }
  if (number > 4294967040.0) {
    return print("ovf");  // constant determined empirically
  }
  if (number < -4294967040.0) {
    return print("ovf");  // constant determined empirically
  }

  // Handle negative numbers
  if (number < 0.0) {
    n += print('-');
    number = -number;
  }

  // Round correctly so that print(1.999, 2) prints as "2.00"
  double rounding = 0.5;
  for (uint8_t i = 0; i < digits; ++i) {
    rounding /= 10.0;
  }

  number += rounding;

  // Extract the integer part of the number and print it
  unsigned long int_part  = (unsigned long)number;
  double        remainder = number - (double)int_part;
  n += print(int_part);

  // Print the decimal point, but only if there are digits beyond
  if (digits > 0) {
    n += print(".");
  }

  // Extract digits from the remainder one at a time
  while (digits-- > 0) {
    remainder *= 10.0;
    int toPrint = int(remainder);
    n += print(toPrint);
    remainder -= toPrint;
  }

  return n;
}