feat: add more shapes to display package

examples/clawbot-kotlin/build.gradle.kts

@@ -4,8 +4,8 @@ plugins {
 }
 
 hydrozoa {
-    entrypoint = "dev.vexide.hydrozoa.clawbotkt.Main"
-    runtime = project.rootProject.layout.projectDirectory.file("runtime.bin")
+    entrypoint = "dev.vexide.hydrozoa.examples.clawbotkt.MainKt"
+    runtime = rootProject.layout.projectDirectory.file("hydrozoa.bin")
 }
 
 kotlin {

examples/clawbot-kotlin/src/main/kotlin/dev/vexide/hydrozoa/clawbotkt/Main.kt → examples/clawbot-kotlin/src/main/kotlin/dev/vexide/hydrozoa/examples/clawbotkt/Main.kt

@@ -1,6 +1,4 @@
-@file:JvmName("Main")
-
-package dev.vexide.hydrozoa.clawbotkt
+package dev.vexide.hydrozoa.examples.clawbotkt
 
 import dev.vexide.hydrozoa.CompetitionRuntime
 

examples/clawbot-kotlin/src/main/kotlin/dev/vexide/hydrozoa/clawbotkt/Robot.kt → examples/clawbot-kotlin/src/main/kotlin/dev/vexide/hydrozoa/examples/clawbotkt/Robot.kt

@@ -1,4 +1,4 @@
-package dev.vexide.hydrozoa.clawbotkt
+package dev.vexide.hydrozoa.examples.clawbotkt
 
 import dev.vexide.hydrozoa.CompetitionRobot
 import dev.vexide.hydrozoa.Controller

examples/clawbot/build.gradle.kts

@@ -3,6 +3,6 @@ plugins {
 }
 
 hydrozoa {
-    entrypoint = "dev.vexide.hydrozoa.clawbot.Main"
-    runtime = project.rootProject.layout.projectDirectory.file("runtime.bin")
+    entrypoint = "dev.vexide.hydrozoa.examples.clawbot.Main"
+    runtime = rootProject.layout.projectDirectory.file("hydrozoa.bin")
 }

examples/clawbot/src/main/java/dev/vexide/hydrozoa/clawbot/Main.java → examples/clawbot/src/main/java/dev/vexide/hydrozoa/examples/clawbot/Main.java

@@ -1,4 +1,4 @@
-package dev.vexide.hydrozoa.clawbot;
+package dev.vexide.hydrozoa.examples.clawbot;
 
 import dev.vexide.hydrozoa.CompetitionRuntime;
 

examples/clawbot/src/main/java/dev/vexide/hydrozoa/clawbot/Robot.java → examples/clawbot/src/main/java/dev/vexide/hydrozoa/examples/clawbot/Robot.java

@@ -1,4 +1,4 @@
-package dev.vexide.hydrozoa.clawbot;
+package dev.vexide.hydrozoa.examples.clawbot;
 
 import dev.vexide.hydrozoa.CompetitionRobot;
 import dev.vexide.hydrozoa.Controller;

examples/screen/build.gradle.kts

@@ -0,0 +1,13 @@
+plugins {
+    kotlin("jvm") version "1.9.20"
+    id("dev.vexide.hydrozoa")
+}
+
+kotlin {
+    jvmToolchain(21)
+}
+
+hydrozoa {
+    entrypoint = "dev.vexide.hydrozoa.examples.screen.MainKt"
+    runtime = rootProject.layout.projectDirectory.file("hydrozoa.bin")
+}

examples/screen/src/main/kotlin/dev/vexide/hydrozoa/examples/screen/Main.kt

@@ -0,0 +1,20 @@
+package dev.vexide.hydrozoa.examples.screen
+
+import dev.vexide.hydrozoa.CompetitionRobot
+import dev.vexide.hydrozoa.CompetitionRuntime
+import dev.vexide.hydrozoa.Peripherals
+import dev.vexide.hydrozoa.display.Rect
+import dev.vexide.hydrozoa.display.Rgb
+import dev.vexide.hydrozoa.display.Text
+
+fun main() {
+    val peripherals = Peripherals.take().orElseThrow()
+    val display = peripherals.takeDisplay()
+
+    val rect = Rect(20, 20, 100, 100)
+    display.fill(rect, Rgb.fromInteger(0xFFFFFF))
+    display.stroke(rect, Rgb.fromInteger(0xFF00FF))
+
+    val text = Text("Nice to see you!", 80, 80)
+    display.write(text, Rgb.fromInteger(0x00FFFF), Rgb.fromInteger(0x000000))
+}

gradle-plugin/src/main/kotlin/dev.vexide.hydrozoa.gradle.kts

@@ -18,7 +18,7 @@ val extension = extensions.create<HydrozoaPluginExtension>("hydrozoa")
 
 extension.slot.convention(1)
 extension.outputFile.convention("robot.wasm")
-extension.runtime.convention(layout.projectDirectory.file("runtime.bin"))
+extension.runtime.convention(layout.projectDirectory.file("hydrozoa.bin"))
 
 abstract class UploadTask : Exec() {
     @Input

settings.gradle.kts

@@ -12,3 +12,5 @@ include("examples:clawbot")
 findProject(":examples:clawbot")?.name = "clawbot"
 include("examples:clawbot-kotlin")
 findProject(":examples:clawbot-kotlin")?.name = "clawbot-kotlin"
+include("examples:screen")
+findProject(":examples:screen")?.name = "screen"

src/main/java/dev/vexide/hydrozoa/CompetitionRuntime.java

@@ -13,13 +13,13 @@
 import java.util.function.Function;
 
 public final class CompetitionRuntime {
-    private CompetitionRuntime() {}
+    private CompetitionRuntime() {
+    }
 
     public static final Duration DEFAULT_PERIOD = Duration.ofMillis(2);
     private static @Nullable Boolean wasConnected = null;
     private static @Nullable Mode previousMode = null;
     public static @NotNull Duration period = DEFAULT_PERIOD;
-    private static boolean hasStarted = false;
 
     public static void assertRobotEnabled() throws DeviceException {
         if (!mode().equals(Mode.Driver)) {
@@ -29,12 +29,7 @@ public static void assertRobotEnabled() throws DeviceException {
 
     public static void start(@NotNull Function<@NotNull Peripherals, @NotNull CompetitionRobot> factory) throws IllegalStateException {
         try {
-            if (hasStarted) {
-                throw new IllegalStateException("Competition runtime has already started");
-            }
-            hasStarted = true;
-
-            var robot = factory.apply(new Peripherals());
+            var robot = factory.apply(Peripherals.take().orElseThrow(() -> new IllegalStateException("Peripherals already taken")));
 
             while (true) {
                 var begin = Instant.now();
@@ -83,7 +78,6 @@ public static void start(@NotNull Function<@NotNull Peripherals, @NotNull Compet
             System.err.println("Uncaught exception in competition runtime");
             e.printStackTrace();
         }
-
     }
 
     @Contract(value = "-> new", pure = true)

src/main/java/dev/vexide/hydrozoa/Peripherals.java

@@ -7,21 +7,37 @@
 import org.jetbrains.annotations.Nullable;
 
 import java.util.NoSuchElementException;
+import java.util.Optional;
 
 public class Peripherals {
     private static final Key key = new Key();
+    private static Peripherals instance = new Peripherals();
 
     private final @Nullable SmartPort[] ports = new SmartPort[21];
     private @Nullable Controller primaryController = new Controller(Controller.Id.Primary);
     private @Nullable Controller partnerController = new Controller(Controller.Id.Partner);
     private @Nullable Display display = new Display(key);
 
-    Peripherals() {
+    private Peripherals() {
         for (int i = 0; i < ports.length; i++) {
             ports[i] = new SmartPort(key, i);
         }
     }
 
+    public static Optional<Peripherals> take() {
+        if (instance == null) {
+            return Optional.empty();
+        }
+
+        var peripherals = instance;
+        instance = null;
+        return Optional.of(peripherals);
+    }
+
+    public static @NotNull Peripherals unsafelyCreate() {
+        return new Peripherals();
+    }
+
     @Contract("_ -> new")
     public @NotNull SmartPort takePort(int portNumber) throws IllegalArgumentException, NoSuchElementException {
         if (portNumber < 0 || portNumber >= ports.length) {

src/main/java/dev/vexide/hydrozoa/display/Circle.java

@@ -0,0 +1,22 @@
+package dev.vexide.hydrozoa.display;
+
+import dev.vexide.hydrozoa.sdk.VexSdk;
+import org.jetbrains.annotations.NotNull;
+
+public record Circle(int x, int y, int radius) implements Shape {
+    public Circle {
+        if (radius < 0) {
+            throw new IllegalArgumentException(String.format("Radius must be positive or zero, not `%d`", radius));
+        }
+    }
+
+    @Override
+    public void draw(@NotNull Display screen, @NotNull Rgb color, boolean fill) {
+        VexSdk.Display.vexDisplayForegroundColor(color.toInteger());
+        if (fill) {
+            VexSdk.Display.vexDisplayCircleFill(x, y + Display.HEADER_HEIGHT, radius);
+        } else {
+            VexSdk.Display.vexDisplayCircleDraw(x, y + Display.HEADER_HEIGHT, radius);
+        }
+    }
+}

src/main/java/dev/vexide/hydrozoa/display/Display.java

@@ -1,13 +1,53 @@
 package dev.vexide.hydrozoa.display;
 
 import dev.vexide.hydrozoa.Peripherals;
+import dev.vexide.hydrozoa.sdk.VexSdk;
 import org.jetbrains.annotations.NotNull;
 
 public class Display {
-    public Display(Peripherals.Key ignoredKey) {
+    public static final int HEADER_HEIGHT = 32;
+
+    public Display(@NotNull Peripherals.Key ignoredKey) {
+    }
+
+    private @NotNull RenderMode renderMode = RenderMode.Immediate;
+
+    public void setRenderMode(@NotNull RenderMode renderMode) {
+        switch (renderMode) {
+            case Immediate -> VexSdk.Display.vexDisplayDoubleBufferDisable();
+            case DoubleBuffered -> VexSdk.Display.vexDisplayRender(false, false);
+        }
+        this.renderMode = renderMode;
+    }
+
+    public @NotNull RenderMode getRenderMode() {
+        return renderMode;
+    }
+
+    public void render() {
+        if (renderMode == RenderMode.DoubleBuffered) {
+            VexSdk.Display.vexDisplayRender(false, false);
+        }
+    }
+
+    public void draw(@NotNull Shape shape, @NotNull Rgb color, boolean fill) {
+        shape.draw(this, color, fill);
+    }
+
+    public void fill(@NotNull Shape shape, @NotNull Rgb color) {
+        shape.draw(this, color, true);
+    }
+
+    public void stroke(@NotNull Shape shape, @NotNull Rgb color) {
+        shape.draw(this, color, false);
+    }
+
+    public void write(@NotNull Text text, @NotNull Rgb fgColor, @NotNull Rgb bgColor) {
+        text.draw(this, fgColor, bgColor);
     }
 
-    public void fill(@NotNull Fillable shape, @NotNull Rgb color) {
-        shape.fill(this, color);
+    public enum RenderMode {
+        Immediate,
+        DoubleBuffered
     }
 }

src/main/java/dev/vexide/hydrozoa/display/Rect.java

@@ -4,7 +4,7 @@
 import org.jetbrains.annotations.Contract;
 import org.jetbrains.annotations.NotNull;
 
-public record Rect(int x1, int y1, int x2, int y2) implements Fillable {
+public record Rect(int x1, int y1, int x2, int y2) implements Shape {
     @Contract(value = "_, _, _, _ -> new", pure = true)
     public static @NotNull Rect fromDimensions(int x, int y, int width, int height) {
         return new Rect(x, y, x + width, y + height);
@@ -16,8 +16,12 @@ public record Rect(int x1, int y1, int x2, int y2) implements Fillable {
     }
 
     @Override
-    public void fill(@NotNull Display screen, @NotNull Rgb color) {
+    public void draw(@NotNull Display screen, @NotNull Rgb color, boolean fill) {
         VexSdk.Display.vexDisplayForegroundColor(color.toInteger());
-        VexSdk.Display.vexDisplayRectFill(x1, y1, x2, y2);
+        if (fill) {
+            VexSdk.Display.vexDisplayRectFill(x1, y1 + Display.HEADER_HEIGHT, x2, y2 + Display.HEADER_HEIGHT);
+        } else {
+            VexSdk.Display.vexDisplayRectDraw(x1, y1 + Display.HEADER_HEIGHT, x2, y2 + Display.HEADER_HEIGHT);
+        }
     }
 }

src/main/java/dev/vexide/hydrozoa/display/Shape.java

@@ -0,0 +1,7 @@
+package dev.vexide.hydrozoa.display;
+
+import org.jetbrains.annotations.NotNull;
+
+public interface Shape {
+    void draw(@NotNull Display screen, @NotNull Rgb color, boolean fill);
+}

src/main/java/dev/vexide/hydrozoa/display/Text.java

@@ -0,0 +1,92 @@
+package dev.vexide.hydrozoa.display;
+
+import dev.vexide.hydrozoa.sdk.VexSdk;
+import org.jetbrains.annotations.Contract;
+import org.jetbrains.annotations.NotNull;
+
+public record Text(@NotNull String text, @NotNull Size size, int x, int y, HAlign hAlign, VAlign vAlign) {
+    public Text(@NotNull String text, @NotNull Size size, int x, int y) {
+        this(text, size, x, y, HAlign.Left, VAlign.Top);
+    }
+
+    public Text(@NotNull String text, int x, int y) {
+        this(text, Size.Medium, x, y, HAlign.Left, VAlign.Top);
+    }
+
+    public @NotNull Text withSize(@NotNull Size size) {
+        return new Text(text, size, x, y, hAlign, vAlign);
+    }
+
+    public @NotNull Text withAlignment(@NotNull HAlign hAlign, @NotNull VAlign vAlign) {
+        return new Text(text, size, x, y, hAlign, vAlign);
+    }
+
+    private void configureTextMeasuring() {
+        switch (size) {
+            case Small -> VexSdk.Display.vexDisplaySmallStringAt(0, 0, "");
+            case Medium -> VexSdk.Display.vexDisplayStringAt(0, 0, "");
+            case Large -> VexSdk.Display.vexDisplayBigStringAt(0, 0, "");
+        }
+    }
+
+    /**
+     * Get the height of the rendered text
+     * @return the height of the text, in pixels
+     */
+    @Contract(pure = true)
+    public int height() {
+        configureTextMeasuring();
+        return VexSdk.Display.vexDisplayStringHeightGet(text);
+    }
+
+    /**
+     * Get the width of the rendered text
+     * @return the width of the text, in pixels
+     */
+    @Contract(pure = true)
+    public int width() {
+        configureTextMeasuring();
+        return VexSdk.Display.vexDisplayStringWidthGet(text);
+    }
+
+    public void draw(@NotNull Display display, @NotNull Rgb fgColor, @NotNull Rgb bgColor) {
+        VexSdk.Display.vexDisplayForegroundColor(fgColor.toInteger());
+        VexSdk.Display.vexDisplayBackgroundColor(bgColor.toInteger());
+
+        var x = switch (hAlign) {
+            case Left -> this.x;
+            case Center -> this.x - width() / 2;
+            case Right -> this.x - width();
+        };
+
+        var y = switch (vAlign) {
+            case Top -> this.y;
+            case Center -> this.y - height() / 2;
+            case Bottom -> this.y - height();
+        } + Display.HEADER_HEIGHT;
+
+        switch (size) {
+            case Small -> VexSdk.Display.vexDisplaySmallStringAt(x, y, text);
+            case Medium -> VexSdk.Display.vexDisplayStringAt(x, y, text);
+            case Large -> VexSdk.Display.vexDisplayBigStringAt(x, y, text);
+        }
+    }
+
+    public enum Size {
+        Small,
+        Medium,
+        Large
+    }
+
+    public enum HAlign {
+        Left,
+        Center,
+        Right
+    }
+
+    public enum VAlign {
+        Top,
+        Center,
+        Bottom
+    }
+}