feat: simple embedded graphics driver for the V5 display

packages/pros-graphics/Cargo.toml

@@ -0,0 +1,19 @@
+[package]
+name = "pros-graphics"
+version = "0.1.0"
+edition = "2021"
+license = "MIT"
+description = "Core functionality for pros-rs"
+keywords = ["PROS", "Robotics", "graphics", "vex", "v5"]
+categories = [
+    "api-bindings",
+    "no-std",
+    "science::robotics",
+]
+
+[dependencies]
+embedded-graphics-core = "0.4.0"
+pros-devices = { version = "0.1.0", path = "../pros-devices" }
+
+[lints]
+workspace = true

packages/pros-graphics/src/lib.rs

@@ -0,0 +1,82 @@
+//! An embedded_graphics driver for VEX V5 Brain displays.
+//! Implemented for the [`pros-rs`](https://crates.io/crates/pros) ecosystem and implemented using [pros-devices](https://crates.io/crates/pros-devices).
+#![no_std]
+
+use embedded_graphics_core::{
+    draw_target::DrawTarget,
+    geometry::{Dimensions, Point, Size},
+    pixelcolor::{Rgb888, RgbColor},
+    primitives::Rectangle,
+    Pixel,
+};
+use pros_devices::{
+    color::Rgb,
+    Screen,
+};
+
+/// An embedded_graphics driver for the Brain display
+pub struct VexDisplay {
+    screen: Screen,
+    pixel_buffer: [[Rgb; Screen::HORIZONTAL_RESOLUTION as _]; Screen::VERTICAL_RESOLUTION as _],
+}
+
+impl VexDisplay {
+    /// Creates a new VexDisplay from a Screen
+    pub const fn new(screen: Screen) -> Self {
+        Self {
+            screen,
+            pixel_buffer: [[Rgb::new(0, 0, 0); Screen::HORIZONTAL_RESOLUTION as _];
+                Screen::VERTICAL_RESOLUTION as _],
+        }
+    }
+}
+
+impl From<Screen> for VexDisplay {
+    fn from(value: Screen) -> Self {
+        Self::new(value)
+    }
+}
+
+impl Dimensions for VexDisplay {
+    fn bounding_box(&self) -> Rectangle {
+        Rectangle::new(
+            Point::new(0, 0),
+            Size::new(
+                Screen::HORIZONTAL_RESOLUTION as _,
+                Screen::VERTICAL_RESOLUTION as _,
+            ),
+        )
+    }
+}
+
+impl DrawTarget for VexDisplay {
+    type Color = Rgb888;
+    type Error = pros_devices::screen::ScreenError;
+
+    fn draw_iter<I>(&mut self, pixels: I) -> Result<(), Self::Error>
+    where
+        I: IntoIterator<Item = Pixel<Self::Color>>,
+    {
+        pixels
+            .into_iter()
+            .map(|pixel| (pixel.0, Rgb::new(pixel.1.r(), pixel.1.g(), pixel.1.b())))
+            .for_each(|(pos, color)| {
+                // Make sure that the coordinate is valid to index with.
+                if !(pos.x > Screen::HORIZONTAL_RESOLUTION as _ || pos.x < 0)
+                    && !(pos.y > Screen::VERTICAL_RESOLUTION as _ || pos.y < 0)
+                {
+                    self.pixel_buffer[pos.y as usize][pos.x as usize] = color
+                }
+            });
+
+        self.screen.draw_buffer(
+            0,
+            0,
+            Screen::HORIZONTAL_RESOLUTION,
+            Screen::VERTICAL_RESOLUTION,
+            self.pixel_buffer.clone().into_iter().flatten(),
+            Screen::HORIZONTAL_RESOLUTION as _,
+        )?;
+        Ok(())
+    }
+}