From 1e7f8feec9f82a52d370b50cb7d8775997be2e25 Mon Sep 17 00:00:00 2001 From: Laurens Valk Date: Mon, 9 Feb 2026 11:04:53 +0100 Subject: [PATCH] pbio/image/media: Add mechanism for images. --- bricks/_common/common.mk | 10 + bricks/ev3/Makefile | 1 + bricks/ev3/mpconfigport.h | 1 + bricks/nxt/mpconfigport.h | 1 + bricks/virtualhub/Makefile | 1 + bricks/virtualhub/mpconfigport.h | 1 + lib/pbio/include/pbio/image.h | 22 ++ lib/pbio/src/image/image.c | 47 +++ lib/pbio/src/image/media.py | 131 +++++++++ lib/pbio/src/image/media/ui/wrench17.svg | 172 +++++++++++ poetry.lock | 321 +++++++++++++-------- pybricks/parameters.h | 4 + pybricks/parameters/pb_module_parameters.c | 3 + pybricks/parameters/pb_type_image.c | 62 ++++ pyproject.toml | 2 + 15 files changed, 663 insertions(+), 116 deletions(-) create mode 100755 lib/pbio/src/image/media.py create mode 100644 lib/pbio/src/image/media/ui/wrench17.svg diff --git a/bricks/_common/common.mk b/bricks/_common/common.mk index 8df02f93b..0433adf34 100644 --- a/bricks/_common/common.mk +++ b/bricks/_common/common.mk @@ -162,6 +162,7 @@ DFU = $(TOP)/tools/dfu.py PYDFU = $(TOP)/tools/pydfu.py PYBRICKSDEV = pybricksdev METADATA = $(PBTOP)/tools/metadata.py +MEDIA_CONVERT = $(PBTOP)/lib/pbio/src/image/media.py OPENOCD ?= openocd OPENOCD_CONFIG ?= openocd_stm32$(PB_MCU_SERIES_LCASE).cfg TEXT0_ADDR ?= 0x08000000 @@ -549,6 +550,11 @@ ifneq ($(PB_MCU_FAMILY),TIAM1808) SRC_S += lib/pbio/platform/$(PBIO_PLATFORM)/startup.s endif +ifeq ($(PB_MEDIA),1) +PYBRICKS_PYBRICKS_SRC_C += $(BUILD)/pb_type_image_attributes.c +PBIO_SRC_C += $(BUILD)/pbio_image_media.c +endif + OBJ = $(PY_O) OBJ += $(addprefix $(BUILD)/, $(SRC_S:.s=.o)) OBJ += $(addprefix $(BUILD)/, $(PY_EXTRA_SRC_C:.c=.o)) @@ -664,6 +670,10 @@ else FW_SECTIONS := endif +$(BUILD)/pbio_image_media.c $(BUILD)/pb_type_image_attributes.c: $(MEDIA_CONVERT) + $(ECHO) "MEDIA generating image media files" + $(Q)$(PYTHON) $(MEDIA_CONVERT) $(BUILD) + $(BUILD)/firmware.elf: $(LD_FILES) $(OBJ) $(ECHO) "LINK $@" $(Q)$(CC) $(CFLAGS) $(LDFLAGS) -o $@ $(OBJ) $(LIBS) diff --git a/bricks/ev3/Makefile b/bricks/ev3/Makefile index 4a75ae112..177718d9a 100644 --- a/bricks/ev3/Makefile +++ b/bricks/ev3/Makefile @@ -3,5 +3,6 @@ PB_MCU_FAMILY = TIAM1808 PB_LIB_UMM_MALLOC = 1 PB_LIB_BTSTACK = 1 +PB_MEDIA = 1 include ../_common/common.mk diff --git a/bricks/ev3/mpconfigport.h b/bricks/ev3/mpconfigport.h index b01619c34..dbcab6620 100644 --- a/bricks/ev3/mpconfigport.h +++ b/bricks/ev3/mpconfigport.h @@ -49,6 +49,7 @@ #define PYBRICKS_PY_PARAMETERS_BUTTON (1) #define PYBRICKS_PY_PARAMETERS_ICON (1) #define PYBRICKS_PY_PARAMETERS_IMAGE (1) +#define PYBRICKS_PY_PARAMETERS_IMAGE_FILE (1) #define PYBRICKS_PY_DEVICES (1) #define PYBRICKS_PY_PUPDEVICES (0) #define PYBRICKS_PY_PUPDEVICES_REMOTE (0) diff --git a/bricks/nxt/mpconfigport.h b/bricks/nxt/mpconfigport.h index 9e54fcfcf..8b581609f 100644 --- a/bricks/nxt/mpconfigport.h +++ b/bricks/nxt/mpconfigport.h @@ -45,6 +45,7 @@ #define PYBRICKS_PY_PARAMETERS_BUTTON (1) #define PYBRICKS_PY_PARAMETERS_ICON (0) #define PYBRICKS_PY_PARAMETERS_IMAGE (1) +#define PYBRICKS_PY_PARAMETERS_IMAGE_FILE (0) #define PYBRICKS_PY_DEVICES (1) #define PYBRICKS_PY_ROBOTICS (1) #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO (0) diff --git a/bricks/virtualhub/Makefile b/bricks/virtualhub/Makefile index f83905bab..41ab1cc82 100644 --- a/bricks/virtualhub/Makefile +++ b/bricks/virtualhub/Makefile @@ -7,5 +7,6 @@ PB_FROZEN_MODULES = 1 MICROPY_ROM_TEXT_COMPRESSION = 1 PB_LIB_UMM_MALLOC = 1 PB_LIB_BTSTACK = 1 +PB_MEDIA = 1 include ../_common/common.mk diff --git a/bricks/virtualhub/mpconfigport.h b/bricks/virtualhub/mpconfigport.h index 081031887..bdbc6424b 100644 --- a/bricks/virtualhub/mpconfigport.h +++ b/bricks/virtualhub/mpconfigport.h @@ -45,6 +45,7 @@ #define PYBRICKS_PY_PARAMETERS_BUTTON (1) #define PYBRICKS_PY_PARAMETERS_ICON (0) #define PYBRICKS_PY_PARAMETERS_IMAGE (1) +#define PYBRICKS_PY_PARAMETERS_IMAGE_FILE (1) #define PYBRICKS_PY_PUPDEVICES (1) #define PYBRICKS_PY_PUPDEVICES_REMOTE (1) #define PYBRICKS_PY_DEVICES (1) diff --git a/lib/pbio/include/pbio/image.h b/lib/pbio/include/pbio/image.h index fd7b31b4c..4130d2bb6 100644 --- a/lib/pbio/include/pbio/image.h +++ b/lib/pbio/include/pbio/image.h @@ -69,6 +69,25 @@ typedef struct _pbio_image_t { uint8_t print_value; } pbio_image_t; +/** + * Compressed monochrome image. + */ +typedef struct _pbio_image_monochrome_t { + /** + * Width of the image, or number of columns. + */ + int width; + /** + * Height of the image, or number of rows. + */ + int height; + /** + * One byte is 8 pixels. High is black, low is transparent. Most + * significant bit is first pixel. + */ + const uint8_t *data; +} pbio_image_monochrome_t; + /** * Coordinates of a rectangle. */ @@ -107,6 +126,9 @@ void pbio_image_draw_image(pbio_image_t *image, const pbio_image_t *source, void pbio_image_draw_image_transparent(pbio_image_t *image, const pbio_image_t *source, int x, int y, uint8_t value); +void pbio_image_draw_image_transparent_from_monochrome(pbio_image_t *image, + const pbio_image_monochrome_t *source, int x, int y, uint8_t value); + void pbio_image_draw_pixel(pbio_image_t *image, int x, int y, uint8_t value); void pbio_image_draw_hline(pbio_image_t *image, int x, int y, int l, diff --git a/lib/pbio/src/image/image.c b/lib/pbio/src/image/image.c index 81d24d350..4b8bf7b19 100644 --- a/lib/pbio/src/image/image.c +++ b/lib/pbio/src/image/image.c @@ -196,6 +196,53 @@ void pbio_image_draw_image_transparent(pbio_image_t *image, } } +/** + * Draw an image inside another image with transparency. The source is + * a compressed monochrome image. + * + * @param [in] image Destination image to draw into. + * @param [in] source Source image. + * @param [in] x X coordinate of the top-left point in destination + * image. + * @param [in] y Y coordinate of the top-left point in destination + * image. + * @param [in] value Pixel value in destination for black. + * + * Source image pixels are copied into destination image. When a source pixel + * matches the transparent value, the corresponding destination pixel is left + * untouched. + * + * Clipping: drawing is clipped to destination image dimensions. + */ +void pbio_image_draw_image_transparent_from_monochrome(pbio_image_t *image, + const pbio_image_monochrome_t *source, int x, int y, uint8_t value) { + // Clipping. + int ox = x; + int oy = y; + int x2 = x + source->width; + int y2 = y + source->height; + clip_or_return(x, x2, image->width); + clip_or_return(y, y2, image->height); + + // Initial index in source. + size_t index = (y - oy) * source->width + (x - ox); + + // Draw pixels. + uint8_t *dst = image->pixels + y * image->stride + x; + int w = x2 - x; + for (int h = y2 - y; h; h--) { + for (int i = w; i; i--) { + if (source->data[index / 8] & (1 << (7 - index % 8))) { + *dst = value; + } + index++; + dst++; + } + dst += image->stride - w; + index += source->width - w; + } +} + /** * Draw a single pixel. * @param [in] image Image to draw into. diff --git a/lib/pbio/src/image/media.py b/lib/pbio/src/image/media.py new file mode 100755 index 000000000..69451ece8 --- /dev/null +++ b/lib/pbio/src/image/media.py @@ -0,0 +1,131 @@ +#!/usr/bin/env python3 +import argparse +from pathlib import Path +from PIL import Image +import cairosvg + +# Take build directory as argument to save generated C files and PNG files. +parser = argparse.ArgumentParser(description="Convert SVG files to PNG.") +parser.add_argument("dest", help="Destination build folder for PNG files.") +args = parser.parse_args() + +build_dir = Path(args.dest) +build_dir.mkdir(parents=True, exist_ok=True) +media_dir = Path(__file__).parent / "media" + +# Convert all SVG files in media_dir to PNG and save in build_dir if not already present. +svg_files = media_dir.rglob("*.svg") +for svg in svg_files: + png = svg.with_suffix(".png").name + png_path = build_dir / png + if png_path.exists(): + continue + with open(svg, "rb") as svg_file: + png_bytes = cairosvg.svg2png(file_obj=svg_file) + with open(png_path, "wb") as out_png: + out_png.write(png_bytes) + +# Collect all image files in media_dir (png, bmp, jpg) and build_dir (png), including subfolders. +media_images = ( + list(media_dir.rglob("*.png")) + + list(media_dir.rglob("*.bmp")) + + list(media_dir.rglob("*.jpg")) + + list(build_dir.rglob("*.png")) +) + + +# Convert rgba to monochrome, treating fully transparent pixels as white. +def is_black(r, g, b, a): + if a == 0: + return 0 + return 1 if (r + g + b) < (128 * 3) else 0 + + +def image_to_8bit_map(img): + img = img.convert("RGBA") + width, height = img.size + pixels = img.load() + mono = [is_black(*pixels[x, y]) for y in range(height) for x in range(width)] + + # go in chunks of 8 pixels and pack into a byte + data = [] + for i in range(0, len(mono), 8): + byte = 0 + for j in range(8): + if i + j < len(mono): + byte |= mono[i + j] << (7 - j) + data.append(byte) + + return width, height, bytes(data) + + +# Process each image. +results = {} +for img_path in media_images: + with Image.open(img_path) as img: + name = Path(img_path.name).stem + width, height, bin_data = image_to_8bit_map(img) + results[name] = (width, height, bin_data) + + +externs = "" +structs = "" +qstrtab = "" + +for name in sorted(results): + width, height, bin_data = results[name] + + # Parse bytes for printing. + bytes_per_line = 12 + lines = [] + for i in range(0, len(bin_data), bytes_per_line): + chunk = bin_data[i : i + bytes_per_line] + line = " " + ", ".join(f"0x{val:02x}" for val in chunk) + lines.append(line) + data_literal = ",\n".join(lines) + "," + + # Printed C structs. + structs += f"static const uint8_t {name}_data[] = {{\n{data_literal}\n}};\n\n" + structs += ( + f"const pbio_image_monochrome_t pbio_image_media_{name} = {{\n" + f" .width = {width},\n" + f" .height = {height},\n" + f" .data = {name}_data,\n" + f"}};\n" + ) + + # Printed header and QSTR table entries. + externs += f"extern const pbio_image_monochrome_t pbio_image_media_{name};\n\n" + qstrtab += f" {{ MP_ROM_QSTR(MP_QSTR_{name.upper()}), MP_ROM_PTR(&pbio_image_media_{name}) }},\n" + + +HEADER = """// SPDX-License-Identifier: MIT +//Copyright (c) 2025 The Pybricks Authors + +#include +""" + +with open(build_dir / "pbio_image_media.c", "w") as f: + f.write(HEADER) + f.write('#include "pbio_image_media.h"\n\n') + f.write(structs) + +with open(build_dir / "pbio_image_media.h", "w") as f: + f.write(HEADER) + f.write("#ifndef _PBIO_IMAGE_MEDIA_H_\n") + f.write("#define _PBIO_IMAGE_MEDIA_H_\n\n") + f.write(externs) + f.write("#endif // _PBIO_IMAGE_MEDIA_H_\n") + +with open(build_dir / "pb_type_image_attributes.c", "w") as f: + f.write(HEADER) + f.write('#include "pbio_image_media.h"\n\n') + f.write("#include \n\n") + f.write( + "static const mp_rom_map_elem_t pb_type_image_attributes_dict_table[] = {\n" + ) + f.write(qstrtab) + f.write("};\n") + f.write( + "MP_DEFINE_CONST_DICT(pb_type_image_attributes_dict, pb_type_image_attributes_dict_table);" + ) diff --git a/lib/pbio/src/image/media/ui/wrench17.svg b/lib/pbio/src/image/media/ui/wrench17.svg new file mode 100644 index 000000000..a9ca99ad5 --- /dev/null +++ b/lib/pbio/src/image/media/ui/wrench17.svg @@ -0,0 +1,172 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/poetry.lock b/poetry.lock index e64f4b75e..d4362f1e3 100644 --- a/poetry.lock +++ b/poetry.lock @@ -154,6 +154,49 @@ winrt-runtime = {version = ">=3.1", markers = "platform_system == \"Windows\""} [package.extras] pythonista = ["bleak-pythonista (>=0.1.1)"] +[[package]] +name = "cairocffi" +version = "1.7.1" +description = "cffi-based cairo bindings for Python" +optional = false +python-versions = ">=3.8" +groups = ["build"] +files = [ + {file = "cairocffi-1.7.1-py3-none-any.whl", hash = "sha256:9803a0e11f6c962f3b0ae2ec8ba6ae45e957a146a004697a1ac1bbf16b073b3f"}, + {file = "cairocffi-1.7.1.tar.gz", hash = "sha256:2e48ee864884ec4a3a34bfa8c9ab9999f688286eb714a15a43ec9d068c36557b"}, +] + +[package.dependencies] +cffi = ">=1.1.0" + +[package.extras] +doc = ["sphinx", "sphinx_rtd_theme"] +test = ["numpy", "pikepdf", "pytest", "ruff"] +xcb = ["xcffib (>=1.4.0)"] + +[[package]] +name = "cairosvg" +version = "2.8.2" +description = "A Simple SVG Converter based on Cairo" +optional = false +python-versions = ">=3.9" +groups = ["build"] +files = [ + {file = "cairosvg-2.8.2-py3-none-any.whl", hash = "sha256:eab46dad4674f33267a671dce39b64be245911c901c70d65d2b7b0821e852bf5"}, + {file = "cairosvg-2.8.2.tar.gz", hash = "sha256:07cbf4e86317b27a92318a4cac2a4bb37a5e9c1b8a27355d06874b22f85bef9f"}, +] + +[package.dependencies] +cairocffi = "*" +cssselect2 = "*" +defusedxml = "*" +pillow = "*" +tinycss2 = "*" + +[package.extras] +doc = ["sphinx", "sphinx_rtd_theme"] +test = ["flake8", "isort", "pytest"] + [[package]] name = "certifi" version = "2025.10.5" @@ -173,7 +216,6 @@ description = "Foreign Function 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a/pybricks/parameters.h +++ b/pybricks/parameters.h @@ -69,7 +69,11 @@ extern const mp_obj_base_t pb_Icon_obj; #if PYBRICKS_PY_PARAMETERS_IMAGE extern const mp_obj_type_t pb_type_Image; +extern const mp_obj_base_t pb_image_file_obj; mp_obj_t pb_type_Image_display_obj_new(void); +extern const mp_rom_map_elem_t pb_type_image_attributes_dict_table[]; + +extern const mp_obj_dict_t pb_type_image_attributes_dict; extern const mp_obj_type_t pb_type_Font; const pbio_font_t *pb_type_Font_get_font(mp_obj_t obj); diff --git a/pybricks/parameters/pb_module_parameters.c b/pybricks/parameters/pb_module_parameters.c index 95f2204ab..1f01d78be 100644 --- a/pybricks/parameters/pb_module_parameters.c +++ b/pybricks/parameters/pb_module_parameters.c @@ -23,6 +23,9 @@ static const mp_rom_map_elem_t parameters_globals_table[] = { { MP_ROM_QSTR(MP_QSTR_Image), MP_ROM_PTR(&pb_type_Image) }, { MP_ROM_QSTR(MP_QSTR_Font), MP_ROM_PTR(&pb_type_Font) }, #endif + #if PYBRICKS_PY_PARAMETERS_IMAGE_FILE + { MP_ROM_QSTR(MP_QSTR_ImageFile), MP_ROM_PTR(&pb_image_file_obj) }, + #endif { MP_ROM_QSTR(MP_QSTR_Port), MP_ROM_PTR(&pb_enum_type_Port) }, { MP_ROM_QSTR(MP_QSTR_Side), MP_ROM_PTR(&pb_enum_type_Side) }, { MP_ROM_QSTR(MP_QSTR_Stop), MP_ROM_PTR(&pb_enum_type_Stop) }, diff --git a/pybricks/parameters/pb_type_image.c b/pybricks/parameters/pb_type_image.c index 42e527c1f..cb362c2f0 100644 --- a/pybricks/parameters/pb_type_image.c +++ b/pybricks/parameters/pb_type_image.c @@ -23,6 +23,10 @@ #include +#if PYBRICKS_PY_PARAMETERS_IMAGE_FILE +#include "pbio_image_media.h" +#endif // PYBRICKS_PY_PARAMETERS_IMAGE_FILE + extern const mp_obj_type_t pb_type_Image; // pybricks.parameters.Image class object @@ -451,4 +455,62 @@ MP_DEFINE_CONST_OBJ_TYPE(pb_type_Image, attr, pb_type_Image_attr, locals_dict, &pb_type_Image_locals_dict); +#if PYBRICKS_PY_PARAMETERS_IMAGE_FILE +// pybricks.parameters.ImageFile.ARROW_UP +// pybricks.parameters.ImageFile.ARROW_LEFT +// etc. +static void pb_type_image_file_attr(mp_obj_t self_in, qstr attr, mp_obj_t *dest) { + + mp_map_t *map = mp_obj_dict_get_map((mp_obj_t)&pb_type_image_attributes_dict); + mp_map_elem_t *elem = mp_map_lookup(map, MP_OBJ_NEW_QSTR(attr), MP_MAP_LOOKUP); + + // Proceed only for read and if found. + if (dest[0] != MP_OBJ_NULL || !elem) { + return; + } + + pbio_image_monochrome_t *compressed = elem->value; + pb_type_Image_obj_t *self = mp_obj_malloc(pb_type_Image_obj_t, &pb_type_Image); + + // This is a standalone image. + self->owner = MP_OBJ_NULL; + self->is_display = false; + + // Default to same colors as display. + pbio_image_t *display = pbdrv_display_get_image(); + self->image.print_font = display->print_font; + self->image.print_value = display->print_value; + self->image.print_x_left = 0; + self->image.print_y_top = 0; + + // Size is given by source. + self->image.height = compressed->height; + self->image.width = compressed->width; + self->image.stride = compressed->width; + self->image.pixels = m_malloc0(compressed->width * compressed->height); + + pbio_image_draw_image_transparent_from_monochrome(&self->image, compressed, 0, 0, self->image.print_value); + + dest[0] = MP_OBJ_FROM_PTR(self); +} + +// pybricks.parameters.ImageFile(x) +static mp_obj_t pb_type_image_file_call(mp_obj_t self_in, size_t n_args, size_t n_kw, const mp_obj_t *args) { + // TODO: open from file system. + return mp_const_none; +} + +static MP_DEFINE_CONST_OBJ_TYPE(pb_type_image_file, + MP_QSTR_ImageFile, + MP_TYPE_FLAG_NONE, + call, pb_type_image_file_call, + attr, pb_type_image_file_attr); + +// We expose an instance instead of the type. This allows us to provide class +// attributes via the object instance attribute handler. +const mp_obj_base_t pb_image_file_obj = { + &pb_type_image_file +}; +#endif // PYBRICKS_PY_PARAMETERS_IMAGE_FILE + #endif // PYBRICKS_PY_PARAMETERS_IMAGE diff --git a/pyproject.toml b/pyproject.toml index 10c74f1c8..4722626fb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -30,6 +30,8 @@ gitpython = "^3.1.31" plotly = "^5.14.1" pygithub = "^1.58.1" freetype-py = "^2.5.1" +cairosvg = "^2.8.2" +pillow = "^12.1.0" [tool.poetry.group.lint.dependencies]