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| /logs/ | ||
| /obj/ | ||
| /.settings/ | ||
| /.cproject | ||
| /.project | ||
| /dist/ |
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| ############################################################################### | ||
| # "THE BEER-WARE LICENSE" (Revision 42): | ||
| # <[email protected]> wrote this file. As long as you retain this notice you | ||
| # can do whatever you want with this stuff. If we meet some day, and you think | ||
| # this stuff is worth it, you can buy me a beer in return | ||
| ############################################################################### | ||
| # | ||
| # Makefile for building the blackbox data decoder. | ||
| # | ||
| # Invoke this with 'make help' to see the list of supported targets. | ||
| # | ||
|
|
||
| ############################################################################### | ||
| # Things that the user might override on the commandline | ||
| # | ||
|
|
||
| # Compile-time options | ||
| OPTIONS ?= | ||
| BLACKBOX_VERSION ?= | ||
|
|
||
| # Debugger optons, must be empty or GDB | ||
| DEBUG = GDB | ||
|
|
||
| ############################################################################### | ||
| # Things that need to be maintained as the source changes | ||
| # | ||
|
|
||
| # Working directories | ||
| ROOT = $(dir $(lastword $(MAKEFILE_LIST))) | ||
| SRC_DIR = $(ROOT)/src | ||
| OBJECT_DIR = $(ROOT)/obj | ||
| BIN_DIR = $(ROOT)/obj | ||
|
|
||
| # Source files common to all targets | ||
| COMMON_SRC = parser.c tools.c platform.c | ||
| DECODER_SRC = $(COMMON_SRC) blackbox_decode.c | ||
| RENDERER_SRC = $(COMMON_SRC) blackbox_render.c datapoints.c embeddedfont.c expo.c imu.c | ||
| ENCODER_TESTBED_SRC = $(COMMON_SRC) encoder_testbed.c | ||
|
|
||
| # In some cases, %.s regarded as intermediate file, which is actually not. | ||
| # This will prevent accidental deletion of startup code. | ||
| .PRECIOUS: %.s | ||
|
|
||
| # Search path for baseflight sources | ||
| VPATH := $(SRC_DIR) | ||
|
|
||
| ############################################################################### | ||
| # Things that might need changing to use different tools | ||
| # | ||
|
|
||
| # | ||
| # Tool options. | ||
| # | ||
| INCLUDE_DIRS = $(SRC_DIR) | ||
|
|
||
| ifeq ($(DEBUG),GDB) | ||
| OPTIMIZE = -O0 | ||
| LTO_FLAGS = $(OPTIMIZE) | ||
| else | ||
| OPTIMIZE = -O3 | ||
| LTO_FLAGS = -flto $(OPTIMIZE) | ||
| endif | ||
|
|
||
| DEBUG_FLAGS = -g3 -ggdb | ||
|
|
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| CFLAGS = $(ARCH_FLAGS) \ | ||
| $(LTO_FLAGS) \ | ||
| $(addprefix -D,$(OPTIONS)) \ | ||
| $(addprefix -I,$(INCLUDE_DIRS)) \ | ||
| $(if $(strip $(BLACKBOX_VERSION)), -DBLACKBOX_VERSION=$(BLACKBOX_VERSION)) \ | ||
| $(DEBUG_FLAGS) \ | ||
| -std=gnu99 \ | ||
| -pthread \ | ||
| -Wall -pedantic -Wextra -Wshadow | ||
|
|
||
| CFLAGS += `pkg-config --cflags cairo` `pkg-config --cflags freetype2` | ||
|
|
||
| ifeq ($(BUILD_STATIC), MACOSX) | ||
| # For cairo built with ./configure --enable-quartz=no --without-x --enable-pdf=no --enable-ps=no --enable-script=no --enable-xcb=no --enable-ft=yes --enable-fc=no --enable-xlib=no | ||
| LDFLAGS += -Llib/macosx -lcairo -lpixman-1 -lpng16 -lz -lfreetype -lbz2 | ||
| else | ||
| # Dynamic linking | ||
| LDFLAGS += `pkg-config --libs cairo` `pkg-config --libs freetype2` | ||
| endif | ||
|
|
||
| LDFLAGS += -lm | ||
|
|
||
| # Required with GCC. Clang warns when using flag while linking, so you can comment this line out if you're using clang: | ||
| LDFLAGS += -pthread | ||
|
|
||
|
|
||
| ############################################################################### | ||
| # No user-serviceable parts below | ||
| ############################################################################### | ||
|
|
||
| # | ||
| # Things we will build | ||
| # | ||
|
|
||
| DECODER_ELF = $(BIN_DIR)/blackbox_decode | ||
| RENDERER_ELF = $(BIN_DIR)/blackbox_render | ||
| ENCODER_TESTBED_ELF = $(BIN_DIR)/encoder_testbed | ||
|
|
||
| DECODER_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/,$(basename $(DECODER_SRC)))) | ||
| RENDERER_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/,$(basename $(RENDERER_SRC)))) | ||
| ENCODER_TESTBED_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/,$(basename $(ENCODER_TESTBED_SRC)))) | ||
|
|
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| TARGET_MAP = $(OBJECT_DIR)/blackbox_decode.map | ||
|
|
||
| all : $(DECODER_ELF) $(RENDERER_ELF) $(ENCODER_TESTBED_ELF) | ||
|
|
||
| $(DECODER_ELF): $(DECODER_OBJS) | ||
| @$(CC) -o $@ $^ $(LDFLAGS) | ||
|
|
||
| $(RENDERER_ELF): $(RENDERER_OBJS) | ||
| @$(CC) -o $@ $^ $(LDFLAGS) | ||
|
|
||
| $(ENCODER_TESTBED_ELF): $(ENCODER_TESTBED_OBJS) | ||
| @$(CC) -o $@ $^ $(LDFLAGS) | ||
|
|
||
| # Compile | ||
| $(OBJECT_DIR)/%.o: %.c | ||
| @mkdir -p $(dir $@) | ||
| @echo %% $(notdir $<) | ||
| @$(CC) -c -o $@ $(CFLAGS) $< | ||
|
|
||
| clean: | ||
| rm -f $(RENDERER_ELF) $(DECODER_ELF) $(ENCODER_TESTBED_ELF) $(ENCODER_TESTBED_OBJS) $(RENDERER_OBJS) $(DECODER_OBJS) $(TARGET_MAP) | ||
|
|
||
| help: | ||
| @echo "" | ||
| @echo "Makefile for the baseflight blackbox data decoder" | ||
| @echo "" | ||
| @echo "Usage:" | ||
| @echo " make [OPTIONS=\"<options>\"]" | ||
| @echo "" |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,115 @@ | ||
| Josh Aas <[email protected]> Memory leak fix for quartz backend | ||
| Daniel Amelang <[email protected]> Many (magic) floating-point optimizations | ||
| Shawn T. Amundson <[email protected]> Build fix | ||
| Olivier Andrieu <[email protected]> PNG backend | ||
| Peter Dennis Bartok <[email protected]> Bug fix for clipping | ||
| Dave Beckett <[email protected]> Build fixes, Debian packaging | ||
| Kai-Uwe Behrmann <[email protected]> SVG bug fixes | ||
| Christian Biesinger <[email protected]> BeOS backend | ||
| Billy Biggs <[email protected]> Pixman code merge. Optimization. Fixes for subtle rendering bugs. | ||
| Hans Breuer <[email protected]> win32 bug fixes, build fixes, and improvements | ||
| Brian Cameron <[email protected]> Flag bug in Sun's X server | ||
| Carlos Garcia Campos <[email protected]> libspectre integration into the test-suite | ||
| Andrea Canciani <[email protected]> Bugs, quartz backend improvements and type 6/7 patterns. | ||
| Damien Carbery <[email protected]> Build fixes | ||
| Andrew Chant <[email protected]> Adding const where needed | ||
| Steve Chaplin <[email protected]> Bug fixes for PNG reading | ||
| Tomasz Cholewo <[email protected]> Bug fixes | ||
| Manu Cornet <[email protected]> SVG build fix | ||
| Frederic Crozat <[email protected]> Fix test suite for OPD platforms (IA64 or PPC64) | ||
| Julien Danjou <[email protected]> XCB fixes | ||
| Radek Doulík <[email protected]> Bug report and test case | ||
| John Ehresman <[email protected]> Build fixes for win32 | ||
| John Ellson <[email protected]> First font/glyph extents functions | ||
| Michael Emmel <[email protected]> DirectFB backend | ||
| Miklós Erdélyi <[email protected]> Fix typo leading to a crash | ||
| Behdad Esfahbod <[email protected]> Huge piles of bug fixes, improvements, and general maintenance | ||
| Gilles Espinasse <[email protected]> Font related fixes | ||
| Larry Ewing <[email protected]> Test case for group-clip | ||
| Brian Ewins <[email protected]> ATSUI maintenance (first success at making it really work) | ||
| Bertram Felgenhauer <[email protected]> Fixes for subtle arithmetic errors | ||
| Damian Frank <[email protected]> Build system improvements for win32 | ||
| Bdale Garbee <[email protected]> Provided essential support for cairo achitecture sessions | ||
| Jens Granseuer <[email protected]> Fixes to generate proper compiler flags | ||
| Laxmi Harikumar <[email protected]> Build fix | ||
| J. Ali Harlow <[email protected]> win32 backend updates | ||
| Bryce Harrington <[email protected]> Test cases, bug/typo fixes | ||
| Mathias Hasselmann <[email protected]> Significant reduction of calls to malloc | ||
| Richard Henderson <[email protected]> "slim" macros for better shared libraries | ||
| James Henstridge <[email protected]> Build fixes related to freetype | ||
| Graydon Hoare <[email protected]> Support for non-render X server, first real text support | ||
| Thomas Hunger <[email protected]> Initial version of cairo_in_stroke/fill | ||
| Thomas Jaeger <[email protected]> Extended repeat modes for X | ||
| Björn Lindqvist <[email protected]> Performance test cases | ||
| Kristian Høgsberg <[email protected]> PDF backend, PS backend with meta-surfaces | ||
| Amaury Jacquot <[email protected]> Documentation review, appplication testing | ||
| Adrian Johnson <[email protected]> PDF backend improvement | ||
| Michael Johnson <[email protected]> Bug fix for pre-C99 compilers | ||
| Jonathon Jongsma <[email protected]> Fix documentation typos | ||
| Øyvind Kolås <[email protected]> OpenVG backend, Bug fixes. Better default values. | ||
| Martin Kretzschmar <[email protected]> Arithmetic fix for 64-bit architectures | ||
| Mathieu Lacage <[email protected]> several bug/typo fixes | ||
| Dominic Lachowicz <[email protected]> PDF conformance fix, fix image surface to zero out contents | ||
| Alexander Larsson <[email protected]> Profiling and performance fixes. | ||
| Sylvestre Ledru <[email protected]> Static analysis fixes. | ||
| Tor Lillqvist <[email protected]> win32 build fixes, build scripts | ||
| Jinghua Luo <[email protected]> Add bitmap glyph transformation, many freetype and glitz fixes | ||
| Luke-Jr <[email protected]> Build fix for cross-compiling | ||
| Kjartan Maraas <[email protected]> Several fixes for sparse, lots of debug help for multi-thread bugs | ||
| Nis Martensen <[email protected]> Bug fix for sub paths | ||
| Jordi Mas <[email protected]> Bug fix for cairo_show_text | ||
| Nicholas Miell <[email protected]> Fixes for linking bugs on AMD64 | ||
| Eugeniy Meshcheryakov <[email protected]> PS/PDF font subsetting improvements | ||
| Zakharov Mikhail <[email protected]> Build fix for HP-UX | ||
| Christopher (Monty) Montgomery <[email protected]> Performnace fix (subimage_copy), multi-thread testing | ||
| Tim Mooney <[email protected]> Fix test suite to compile with Solaris compiler | ||
| Jeff Muizelaar <[email protected]> Patient, painful, pixman code merge. Many fixes for intricacies of dashing. | ||
| Yevgen Muntyan <[email protected]> win32 build fix | ||
| Ravi Nanjundappa <[email protected]> Static analysis fixes, test cases, skia backend update/fixes | ||
| Declan Naughton <[email protected]> Fix documentation typos | ||
| Peter Nilsson <[email protected]> Glitz backend | ||
| Henning Noren <[email protected]> Fix memory leak | ||
| Geoff Norton <[email protected]> Build fixes | ||
| Robert O'Callahan <[email protected]> Const-correctness fixes, several new API functions for completeness (and to help mozilla) | ||
| Ian Osgood <[email protected]> XCB backend maintenance | ||
| Benjamin Otte <[email protected]> Refinements to cairo/perf timing, OpenGL backend fixups, random fixes | ||
| Mike Owens <[email protected]> Bug fixes | ||
| Emmanuel Pacaud <[email protected]> SVG backend | ||
| Keith Packard <[email protected]> Original concept, polygon tessellation, dashing, font metrics rewrite | ||
| Stuart Parmenter <[email protected]> Original GDI+ backend, win32 fixes | ||
| Alfred Peng <[email protected]> Fixes for Sun compilers and for a memory leak | ||
| Christof Petig <[email protected]> Build fixes related to freetype | ||
| Joonas Pihlaja <[email protected]> Huge improvements to the tessellator performance | ||
| Mart Raudsepp <[email protected]> Build fixes | ||
| David Reveman <[email protected]> New pattern API, glitz backend | ||
| Calum Robinson <[email protected]> Quartz backend | ||
| Pavel Roskin <[email protected]> Several cleanups to eliminate warnings | ||
| Tim Rowley <[email protected]> Quartz/ATSUI fixes, X server workarounds, win32 glyph path support, test case to expose gradient regression | ||
| Soeren Sandmann <[email protected]> Lots of MMX love for pixman compositing | ||
| Uli Schlachter <[email protected]> Some more XCB fixes | ||
| Torsten Schönfeld <[email protected]> Build fixes | ||
| Jamey Sharp <[email protected]> Surface/font backend virtualization, XCB backend | ||
| Jason Dorje Short <[email protected]> Build fixes and bug fixes | ||
| Jeff Smith <[email protected]> Fixes for intricacies of stroking code | ||
| Travis Spencer <[email protected]> XCB backend fix | ||
| Bill Spitzak <[email protected]> Build fix to find Xrender.h without xrender.pc, downscaling support | ||
| Zhe Su <[email protected]> Add support for fontconfig's embeddedbitmap option | ||
| Owen Taylor <[email protected]> Font rewrite, documentation, win32 backend | ||
| Pierre Tardy <[email protected]> EGL support and testing, OpenVG backend | ||
| Karl Tomlinson <[email protected]> Optimisation and obscure bug fixes (mozilla) | ||
| Alp Toker <[email protected]> Fix several code/comment typos | ||
| Malcolm Tredinnick <[email protected]> Documentation fixes | ||
| David Turner <[email protected]> Optimize gradient calculations | ||
| Kalle Vahlman <[email protected]> Allow perf reports to be compared across different platforms | ||
| Sasha Vasko <[email protected]> Build fix to compile without xlib backend | ||
| Vladimir Vukicevic <[email protected]> Quartz backend rewrite, win32/quartz maintenance | ||
| Jonathan Watt <[email protected]> win32 fixes | ||
| Peter Weilbacher <[email protected]> OS/2 backend | ||
| Dan Williams <[email protected]> Implemnt MMX function to help OLPC | ||
| Chris Wilson <[email protected]> Large-scale robustness improvements, (warn_unsed_result and malloc failure injection) | ||
| Carl Worth <[email protected]> Original library, support for paths, images | ||
| Richard D. Worth <[email protected]> Build fixes for cygwin | ||
| Kent Worsnop <[email protected]> Fix PDF dashing bug | ||
| Dave Yeo <[email protected]> Build fix for win32 | ||
|
|
||
| (please let us know if we have missed anyone) |
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| @@ -0,0 +1,109 @@ | ||
| Here's an effort to document some of the academic work that was | ||
| referenced during the implementation of cairo. It is presented in the | ||
| context of operations as they would be performed by either | ||
| cairo_stroke() or cairo_fill(): | ||
|
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| Given a Bézier path, approximate it with line segments: | ||
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| The deCasteljau algorithm | ||
| "Outillages methodes calcul", P de Casteljau, technical | ||
| report, - Andre Citroen Automobiles SA, Paris, 1959 | ||
|
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| That technical report might be "hard" to find, but fortunately | ||
| this algorithm will be described in any reasonable textbook on | ||
| computational geometry. Two that have been recommended by | ||
| cairo contributors are: | ||
|
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| "Computational Geometry, Algorithms and Applications", M. de | ||
| Berg, M. van Kreveld, M. Overmars, M. Schwarzkopf; | ||
| Springer-Verlag, ISBN: 3-540-65620-0. | ||
|
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| "Computational Geometry in C (Second Edition)", Joseph | ||
| O'Rourke, Cambridge University Press, ISBN 0521640105. | ||
|
|
||
| Then, if stroking, construct a polygonal representation of the pen | ||
| approximating a circle (if filling skip three steps): | ||
|
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| "Good approximation of circles by curvature-continuous Bezier | ||
| curves", Tor Dokken and Morten Daehlen, Computer Aided | ||
| Geometric Design 8 (1990) 22-41. | ||
|
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| Add points to that pen based on the initial/final path faces and take | ||
| the convex hull: | ||
|
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| Convex hull algorithm | ||
|
|
||
| [Again, see your favorite computational geometry | ||
| textbook. Should cite the name of the algorithm cairo uses | ||
| here, if it has a name.] | ||
|
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| Now, "convolve" the "tracing" of the pen with the tracing of the path: | ||
|
|
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| "A Kinetic Framework for Computational Geometry", Leonidas | ||
| J. Guibas, Lyle Ramshaw, and Jorge Stolfi, Proceedings of the | ||
| 24th IEEE Annual Symposium on Foundations of Computer Science | ||
| (FOCS), November 1983, 100-111. | ||
|
|
||
| The result of the convolution is a polygon that must be filled. A fill | ||
| operations begins here. We use a very conventional Bentley-Ottmann | ||
| pass for computing the intersections, informed by some hints on robust | ||
| implementation courtesy of John Hobby: | ||
|
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| John D. Hobby, Practical Segment Intersection with Finite | ||
| Precision Output, Computation Geometry Theory and | ||
| Applications, 13(4), 1999. | ||
|
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| http://cm.bell-labs.com/who/hobby/93_2-27.pdf | ||
|
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| Hobby's primary contribution in that paper is his "tolerance square" | ||
| algorithm for robustness against edges being "bent" due to restricting | ||
| intersection coordinates to the grid available by finite-precision | ||
| arithmetic. This is one algorithm we have not implemented yet. | ||
|
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| We use a data-structure called Skiplists in the our implementation | ||
| of Bentley-Ottmann: | ||
|
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| W. Pugh, Skip Lists: a Probabilistic Alternative to Balanced Trees, | ||
| Communications of the ACM, vol. 33, no. 6, pp.668-676, 1990. | ||
|
|
||
| http://citeseer.ist.psu.edu/pugh90skip.html | ||
|
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||
| The random number generator used in our skip list implementation is a | ||
| very small generator by Hars and Petruska. The generator is based on | ||
| an invertable function on Z_{2^32} with full period and is described | ||
| in | ||
|
|
||
| Hars L. and Petruska G., | ||
| ``Pseudorandom Recursions: Small and Fast Pseurodandom | ||
| Number Generators for Embedded Applications'', | ||
| Hindawi Publishing Corporation | ||
| EURASIP Journal on Embedded Systems | ||
| Volume 2007, Article ID 98417, 13 pages | ||
| doi:10.1155/2007/98417 | ||
|
|
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| http://www.hindawi.com/getarticle.aspx?doi=10.1155/2007/98417&e=cta | ||
|
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| From the result of the intersection-finding pass, we are currently | ||
| computing a tessellation of trapezoids, (the exact manner is | ||
| undergoing some work right now with some important speedup), but we | ||
| may want to rasterize directly from those edges at some point. | ||
|
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| Given the set of tessellated trapezoids, we currently execute a | ||
| straightforward, (and slow), point-sampled rasterization, (and | ||
| currently with a near-pessimal regular 15x17 grid). | ||
|
|
||
| We've now computed a mask which gets fed along with the source and | ||
| destination into cairo's fundamental rendering equation. The most | ||
| basic form of this equation is: | ||
|
|
||
| destination = (source IN mask) OP destination | ||
|
|
||
| with the restriction that no part of the destination outside the | ||
| current clip region is affected. In this equation, IN refers to the | ||
| Porter-Duff "in" operation, while OP refers to a any user-selected | ||
| Porter-Duff operator: | ||
|
|
||
| T. Porter & T. Duff, Compositing Digital Images Computer | ||
| Graphics Volume 18, Number 3 July 1984 pp 253-259 | ||
|
|
||
| http://keithp.com/~keithp/porterduff/p253-porter.pdf |
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