Quadrotor

/*

 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

 */

#include <stdlib.h>

#include <stdio.h>

#include <string.h>

#include <math.h>

#include "Arduino.h"

#include "Print.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::print(const __FlashStringHelper *ifsh)

{

  const prog_char *p = (const prog_char *)ifsh;

  size_t n = 0;

  while (1) {

    unsigned char c = pgm_read_byte(p++);

    if (c == 0) break;

    n += write(c);

  }

  return n;

}

size_t Print::print(const String &s)

{

  size_t n = 0;

  for (uint16_t i = 0; i < s.length(); i++) {

    n += write(s[i]);

  }

  return n;

}

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::println(const __FlashStringHelper *ifsh)

{

  size_t n = print(ifsh);

  n += println();

  return n;

}

size_t Print::print(const Printable& x)

{

  return x.printTo(*this);

}

size_t Print::println(void)

{

  size_t n = print('\r');

  n += print('\n');

  return n;

}

size_t Print::println(const 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;

}

// 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;

  // 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;

}