scube/Marlin/dogm_lcd_implementation.h

/**
 *dogm_lcd_implementation.h
 *
 *Graphics LCD implementation for 128x64 pixel LCDs by STB for ErikZalm/Marlin
 *Demonstrator: http://www.reprap.org/wiki/STB_Electronics
 *License: http://opensource.org/licenses/BSD-3-Clause
 *
 *With the use of:
 *u8glib by Oliver Kraus
 *http://code.google.com/p/u8glib/
 *License: http://opensource.org/licenses/BSD-3-Clause
 */


#ifndef ULTRA_LCD_IMPLEMENTATION_DOGM_H
#define ULTRA_LCD_IMPLEMENTATION_DOGM_H

/**
* Implementation of the LCD display routines for a DOGM128 graphic display. These are common LCD 128x64 pixel graphic displays.
**/

#ifdef ULTIPANEL
#define BLEN_A 0
#define BLEN_B 1
#define BLEN_C 2
#define EN_A (1<<BLEN_A)
#define EN_B (1<<BLEN_B)
#define EN_C (1<<BLEN_C)
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#define LCD_CLICKED (buttons&EN_C)
#endif

#include <U8glib.h>
#include "DOGMbitmaps.h"
#include "dogm_font_data_marlin.h"
#include "ultralcd.h"
#include "ultralcd_st7920_u8glib_rrd.h"

/* Russian language not supported yet, needs custom font

#if LANGUAGE_CHOICE == 6
#include "LiquidCrystalRus.h"
#define LCD_CLASS LiquidCrystalRus
#else
#include <LiquidCrystal.h>
#define LCD_CLASS LiquidCrystal
#endif
*/

// DOGM parameters (size in pixels)
#define DOG_CHAR_WIDTH			6
#define DOG_CHAR_HEIGHT			12
#define DOG_CHAR_WIDTH_LARGE	9
#define DOG_CHAR_HEIGHT_LARGE	18

#define START_ROW				0

/* Custom characters defined in font font_6x10_marlin.c */
#define LCD_STR_DEGREE      "\xB0"
#define LCD_STR_REFRESH     "\xF8"
#define LCD_STR_FOLDER      "\xF9"
#define LCD_STR_ARROW_RIGHT "\xFA"
#define LCD_STR_UPLEVEL     "\xFB"
#define LCD_STR_CLOCK       "\xFC"
#define LCD_STR_FEEDRATE    "\xFD"
#define LCD_STR_BEDTEMP     "\xFE"
#define LCD_STR_THERMOMETER "\xFF"

#define FONT_STATUSMENU	u8g_font_6x9

int lcd_contrast;

// LCD selection
#ifdef U8GLIB_ST7920
//U8GLIB_ST7920_128X64_RRD u8g(0,0,0);
U8GLIB_ST7920_128X64_RRD u8g(0);
#elif defined(MAKRPANEL)
// The MaKrPanel display, ST7565 controller as well
U8GLIB_NHD_C12864 u8g(DOGLCD_CS, DOGLCD_A0);
#else
// for regular DOGM128 display with HW-SPI
U8GLIB_DOGM128 u8g(DOGLCD_CS, DOGLCD_A0);	// HW-SPI Com: CS, A0
#endif

static void lcd_implementation_init()
{
#ifdef LCD_PIN_BL
	pinMode(LCD_PIN_BL, OUTPUT);	// Enable LCD backlight
	digitalWrite(LCD_PIN_BL, HIGH);
#endif

        u8g.setContrast(lcd_contrast);	
	//  Uncomment this if you have the first generation (V1.10) of STBs board
	//  pinMode(17, OUTPUT);	// Enable LCD backlight
	//  digitalWrite(17, HIGH);
	
	u8g.firstPage();
	do {
		u8g.setFont(u8g_font_6x10_marlin);
		u8g.setColorIndex(1);
		u8g.drawBox (0, 0, u8g.getWidth(), u8g.getHeight());
		u8g.setColorIndex(1);
	   } while( u8g.nextPage() );

#ifdef LCD_SCREEN_ROT_90
	u8g.setRot90();	// Rotate screen by 90°
#endif

#ifdef LCD_SCREEN_ROT_180
	u8g.setRot180();	// Rotate screen by 180°
#endif

#ifdef LCD_SCREEN_ROT_270
	u8g.setRot270();	// Rotate screen by 270°
#endif

   
	u8g.firstPage();
	do {
			// RepRap init bmp
			u8g.drawBitmapP(0,0,START_BMPBYTEWIDTH,START_BMPHEIGHT,start_bmp);
			// Welcome message
			u8g.setFont(u8g_font_6x10_marlin);
			u8g.drawStr(62,10,"MARLIN"); 
			u8g.setFont(u8g_font_5x8);
			u8g.drawStr(62,19,"V1.0.0 RC2-mm");
			u8g.setFont(u8g_font_6x10_marlin);
			u8g.drawStr(62,28,"by ErikZalm");
			u8g.drawStr(62,41,"DOGM128 LCD");
			u8g.setFont(u8g_font_5x8);
			u8g.drawStr(62,48,"enhancements");
			u8g.setFont(u8g_font_5x8);
			u8g.drawStr(62,55,"by STB, MM");
			u8g.drawStr(62,61,"uses u");
			u8g.drawStr90(92,57,"8");
			u8g.drawStr(100,61,"glib");
	   } while( u8g.nextPage() );
}

static void lcd_implementation_clear()
{
// NO NEED TO IMPLEMENT LIKE SO. Picture loop automatically clears the display.
//
// Check this article: http://arduino.cc/forum/index.php?topic=91395.25;wap2
//
//	u8g.firstPage();
//	do {	
//			u8g.setColorIndex(0);
//			u8g.drawBox (0, 0, u8g.getWidth(), u8g.getHeight());
//			u8g.setColorIndex(1);
//		} while( u8g.nextPage() );
}

/* Arduino < 1.0.0 is missing a function to print PROGMEM strings, so we need to implement our own */
static void lcd_printPGM(const char* str)
{
    char c;
    while((c = pgm_read_byte(str++)) != '\0')
    {
			u8g.print(c);
    }
}

static void _draw_heater_status(int x, int heater) {
  bool isBed = heater < 0;
  int y = 17 + (isBed ? 1 : 0);
  u8g.setFont(FONT_STATUSMENU);
  u8g.setPrintPos(x,6);
  u8g.print(itostr3(int((heater >= 0 ? degTargetHotend(heater) : degTargetBed()) + 0.5)));
  lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
  u8g.setPrintPos(x,27);
  u8g.print(itostr3(int(heater >= 0 ? degHotend(heater) : degBed()) + 0.5));
  lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
  if (!isHeatingHotend(0)) {
    u8g.drawBox(x+7,y,2,2);
  }
  else {
    u8g.setColorIndex(0); // white on black
    u8g.drawBox(x+7,y,2,2);
    u8g.setColorIndex(1); // black on white
  }
}

static void lcd_implementation_status_screen()
{

 static unsigned char fan_rot = 0;
 
 u8g.setColorIndex(1);	// black on white
 
 // Symbols menu graphics, animated fan
 u8g.drawBitmapP(9,1,STATUS_SCREENBYTEWIDTH,STATUS_SCREENHEIGHT, (blink % 2) && fanSpeed ? status_screen0_bmp : status_screen1_bmp);
 
 #ifdef SDSUPPORT
 //SD Card Symbol
 u8g.drawBox(42,42,8,7);
 u8g.drawBox(50,44,2,5);
 u8g.drawFrame(42,49,10,4);
 u8g.drawPixel(50,43);
 // Progress bar
 u8g.drawFrame(54,49,73,4);
 
 // SD Card Progress bar and clock
 u8g.setFont(FONT_STATUSMENU);
 
 if (IS_SD_PRINTING)
   {
	// Progress bar
	u8g.drawBox(55,50, (unsigned int)( (71 * card.percentDone())/100) ,2);
   }
    else {
			// do nothing
		 }
 
 u8g.setPrintPos(80,47);
 if(starttime != 0)
    {
        uint16_t time = millis()/60000 - starttime/60000;

		u8g.print(itostr2(time/60));
		u8g.print(':');
		u8g.print(itostr2(time%60));
    }else{
			lcd_printPGM(PSTR("--:--"));
		 }
 #endif
 
  // Extruders
  _draw_heater_status(6, 0);
  #if EXTRUDERS > 1
    _draw_heater_status(31, 1);
    #if EXTRUDERS > 2
      _draw_heater_status(55, 2);
    #endif
  #endif

  // Heatbed
  _draw_heater_status(81, -1);
 
 // Fan
 u8g.setFont(FONT_STATUSMENU);
 u8g.setPrintPos(104,27);
 #if defined(FAN_PIN) && FAN_PIN > -1
 u8g.print(itostr3(int((fanSpeed*100)/256 + 1)));
 u8g.print("%");
 #else
 u8g.print("---");
 #endif
 
 
 // X, Y, Z-Coordinates
 u8g.setFont(FONT_STATUSMENU);
 u8g.drawBox(0,29,128,10);
 u8g.setColorIndex(0);	// white on black
 u8g.setPrintPos(2,37);
 u8g.print("X");
 u8g.drawPixel(8,33);
 u8g.drawPixel(8,35);
 u8g.setPrintPos(10,37);
 u8g.print(ftostr31ns(current_position[X_AXIS]));
 u8g.setPrintPos(43,37);
 lcd_printPGM(PSTR("Y"));
 u8g.drawPixel(49,33);
 u8g.drawPixel(49,35);
 u8g.setPrintPos(51,37);
 u8g.print(ftostr31ns(current_position[Y_AXIS]));
 u8g.setPrintPos(83,37);
 u8g.print("Z");
 u8g.drawPixel(89,33);
 u8g.drawPixel(89,35);
 u8g.setPrintPos(91,37);
 u8g.print(ftostr31(current_position[Z_AXIS]));
 u8g.setColorIndex(1);	// black on white
 
 // Feedrate
 u8g.setFont(u8g_font_6x10_marlin);
 u8g.setPrintPos(3,49);
 u8g.print(LCD_STR_FEEDRATE[0]);
 u8g.setFont(FONT_STATUSMENU);
 u8g.setPrintPos(12,48);
 u8g.print(itostr3(feedmultiply));
 u8g.print('%');

 // Status line
 u8g.setFont(FONT_STATUSMENU);
 u8g.setPrintPos(0,61);
 #ifndef FILAMENT_LCD_DISPLAY
 	u8g.print(lcd_status_message);
 #else
	if(message_millis+5000>millis()){  //Display both Status message line and Filament display on the last line
	 u8g.print(lcd_status_message);
 	}
 	else
	{
	 lcd_printPGM(PSTR("dia:"));
	 u8g.print(ftostr12ns(filament_width_meas));
	 lcd_printPGM(PSTR(" factor:"));
	 u8g.print(itostr3(extrudemultiply));
	 u8g.print('%');
	}
 #endif 	

}

static void lcd_implementation_drawmenu_generic(uint8_t row, const char* pstr, char pre_char, char post_char)
{
    char c;
    
    uint8_t n = LCD_WIDTH - 1 - 2;
		
		if ((pre_char == '>') || (pre_char == LCD_STR_UPLEVEL[0] ))
		   {
			u8g.setColorIndex(1);		// black on white
			u8g.drawBox (0, row*DOG_CHAR_HEIGHT + 3, 128, DOG_CHAR_HEIGHT);
			u8g.setColorIndex(0);		// following text must be white on black
		   } else u8g.setColorIndex(1); // unmarked text is black on white
		
		u8g.setPrintPos(0 * DOG_CHAR_WIDTH, (row + 1) * DOG_CHAR_HEIGHT);
		u8g.print(pre_char == '>' ? ' ' : pre_char);	// Row selector is obsolete


    while( (c = pgm_read_byte(pstr)) != '\0' )
    {
		u8g.print(c);
        pstr++;
        n--;
    }
    while(n--){
					u8g.print(' ');
		}
	   
		u8g.print(post_char);
		u8g.print(' ');
		u8g.setColorIndex(1);		// restore settings to black on white
}

static void _drawmenu_setting_edit_generic(uint8_t row, const char* pstr, char pre_char, char* data, bool pgm) {
  char c;
  uint8_t n = LCD_WIDTH - 1 - 2 - (pgm ? strlen_P(data) : strlen(data));
		
  u8g.setPrintPos(0 * DOG_CHAR_WIDTH, (row + 1) * DOG_CHAR_HEIGHT);
  u8g.print(pre_char);

  while( (c = pgm_read_byte(pstr)) != '\0' ) {
    u8g.print(c);
    pstr++;
    n--;
  }

  u8g.print(':');

  while(n--) u8g.print(' ');

  if (pgm) { lcd_printPGM(data); } else { u8g.print(data); }
}

#define lcd_implementation_drawmenu_setting_edit_generic(row, pstr, pre_char, data) _drawmenu_setting_edit_generic(row, pstr, pre_char, data, false)
#define lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, pre_char, data) _drawmenu_setting_edit_generic(row, pstr, pre_char, data, true)

#define lcd_implementation_drawmenu_setting_edit_int3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_int3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_float3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_float3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_float32_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr32(*(data)))
#define lcd_implementation_drawmenu_setting_edit_float32(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr32(*(data)))
#define lcd_implementation_drawmenu_setting_edit_float5_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data)))
#define lcd_implementation_drawmenu_setting_edit_float5(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data)))
#define lcd_implementation_drawmenu_setting_edit_float52_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr52(*(data)))
#define lcd_implementation_drawmenu_setting_edit_float52(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr52(*(data)))
#define lcd_implementation_drawmenu_setting_edit_float51_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr51(*(data)))
#define lcd_implementation_drawmenu_setting_edit_float51(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr51(*(data)))
#define lcd_implementation_drawmenu_setting_edit_long5_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data)))
#define lcd_implementation_drawmenu_setting_edit_long5(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data)))
#define lcd_implementation_drawmenu_setting_edit_bool_selected(row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
#define lcd_implementation_drawmenu_setting_edit_bool(row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, ' ', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))

//Add version for callback functions
#define lcd_implementation_drawmenu_setting_edit_callback_int3_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_int3(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_float3_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_float3(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr3(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_float32_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr32(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_float32(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr32(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_float5_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_float5(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_float52_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr52(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_float52(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr52(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_float51_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr51(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_float51(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr51(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_long5_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_long5(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data)))
#define lcd_implementation_drawmenu_setting_edit_callback_bool_selected(row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))
#define lcd_implementation_drawmenu_setting_edit_callback_bool(row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, ' ', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF))

void lcd_implementation_drawedit(const char* pstr, char* value)
{
		u8g.setPrintPos(0 * DOG_CHAR_WIDTH_LARGE, (u8g.getHeight() - 1 - DOG_CHAR_HEIGHT_LARGE) - (1 * DOG_CHAR_HEIGHT_LARGE) - START_ROW );
		u8g.setFont(u8g_font_9x18);
		lcd_printPGM(pstr);
		u8g.print(':');
		u8g.setPrintPos((14 - strlen(value)) * DOG_CHAR_WIDTH_LARGE, (u8g.getHeight() - 1 - DOG_CHAR_HEIGHT_LARGE) - (1 * DOG_CHAR_HEIGHT_LARGE) - START_ROW );
		u8g.print(value);
}

static void _drawmenu_sd(uint8_t row, const char* pstr, const char* filename, char * const longFilename, bool isDir, bool isSelected) {
  char c;
  uint8_t n = LCD_WIDTH - 1;

  if (longFilename[0] != '\0') {
    filename = longFilename;
    longFilename[n] = '\0';
  }

  if (isSelected) {
    u8g.setColorIndex(1); // black on white
    u8g.drawBox (0, row*DOG_CHAR_HEIGHT + 3, 128, DOG_CHAR_HEIGHT);
    u8g.setColorIndex(0); // following text must be white on black
  }

  u8g.setPrintPos(0 * DOG_CHAR_WIDTH, (row + 1) * DOG_CHAR_HEIGHT);
  u8g.print(' ');	// Indent by 1 char

  if (isDir) u8g.print(LCD_STR_FOLDER[0]);

  while((c = *filename) != '\0') {
    u8g.print(c);
    filename++;
    n--;
  }
  while(n--) u8g.print(' ');

  if (isSelected) u8g.setColorIndex(1); // black on white
}

#define lcd_implementation_drawmenu_sdfile_selected(row, pstr, filename, longFilename) _drawmenu_sd(row, pstr, filename, longFilename, false, true)
#define lcd_implementation_drawmenu_sdfile(row, pstr, filename, longFilename) _drawmenu_sd(row, pstr, filename, longFilename, false, false)
#define lcd_implementation_drawmenu_sddirectory_selected(row, pstr, filename, longFilename) _drawmenu_sd(row, pstr, filename, longFilename, true, true)
#define lcd_implementation_drawmenu_sddirectory(row, pstr, filename, longFilename) _drawmenu_sd(row, pstr, filename, longFilename, true, false)

#define lcd_implementation_drawmenu_back_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, LCD_STR_UPLEVEL[0], LCD_STR_UPLEVEL[0])
#define lcd_implementation_drawmenu_back(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', LCD_STR_UPLEVEL[0])
#define lcd_implementation_drawmenu_submenu_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, '>', LCD_STR_ARROW_RIGHT[0])
#define lcd_implementation_drawmenu_submenu(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', LCD_STR_ARROW_RIGHT[0])
#define lcd_implementation_drawmenu_gcode_selected(row, pstr, gcode) lcd_implementation_drawmenu_generic(row, pstr, '>', ' ')
#define lcd_implementation_drawmenu_gcode(row, pstr, gcode) lcd_implementation_drawmenu_generic(row, pstr, ' ', ' ')
#define lcd_implementation_drawmenu_function_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, '>', ' ')
#define lcd_implementation_drawmenu_function(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', ' ')

static void lcd_implementation_quick_feedback()
{

#if BEEPER > -1
    SET_OUTPUT(BEEPER);
    for(int8_t i=0;i<10;i++)
    {
		WRITE(BEEPER,HIGH);
		delay(3);
		WRITE(BEEPER,LOW);
		delay(3);
    }
#endif
}
#endif//ULTRA_LCD_IMPLEMENTATION_DOGM_H