selector.cpp

Go to the documentation of this file.

#include "screen/selector.h"
 
#include "main.h" // IWYU pragma: export
#include "robot/auton.h"
 
using namespace Robot;
 
Autonomous::AUTON_ROUTINE selector_screen::lastAuton;
 
selector_screen::selector_screen() {}

void selector_screen::auton_ui_update(lv_event_t *e) {
   lv_obj_t *tab1 = lv_event_get_current_target(e);
   lv_obj_t *event_obj = lv_event_get_target(e);
   lv_obj_t *autonLabel = lv_obj_get_child(tab1, 2);
   lv_obj_t *allianceSwitch = lv_obj_get_child(tab1, 3);
   lv_obj_t *skillSwitch = lv_obj_get_child(tab1, 4);
   lv_obj_t *auton_dd = lv_obj_get_child(tab1, 5);
 
   /* Autonomous selector follows this specification for updating the autonomous
    * routine Skills - 0 Red Alliance - 1, 2, 3, ... ,n Blue Alliance - -1, -2,
    * -3, ... ,-n
    */
   if (event_obj == auton_dd) {
      int currentAutonIndex = lv_dropdown_get_selected(auton_dd) + 1;
      bool currentAlliance = lv_obj_has_state(allianceSwitch, LV_STATE_CHECKED);
      int autonNum = currentAlliance ? currentAutonIndex * -1 : currentAutonIndex;
      Autonomous::AutonSwitcher(autonNum);
   }
   /* Updates content of the dropdown list based on the alliance color, using
    * the state of the alliance color switch, which is detected through
    * "bubbling".
    */
   else if (event_obj == allianceSwitch) {
      if (lv_obj_has_state(allianceSwitch, LV_STATE_CHECKED)) {
         lv_dropdown_clear_options(auton_dd);
         lv_dropdown_set_options(auton_dd, selector_screen::blueAutons);
         lv_obj_set_style_border_color(auton_dd, lv_color_hex(0x0077c8), 0);
      } else {
         lv_dropdown_clear_options(auton_dd);
         lv_dropdown_set_options(auton_dd, selector_screen::redAutons);
         lv_obj_set_style_border_color(auton_dd, lv_color_hex(0xd22730), 0);
      }
      // Switches the autonomous routine to the opposite alliance color, accounts
      // for option reset
      Autonomous::AutonSwitcher(Autonomous::auton > 0 ? Autonomous::BLUE_LEFT : Autonomous::RED_LEFT);
   } else {
      if (lv_obj_has_state(skillSwitch, LV_STATE_CHECKED)) {
         // Remembers the last competition autonomous
         selector_screen::lastAuton = Autonomous::auton;
 
         // Updates the autonomous routine to skills
         Autonomous::AutonSwitcher(Autonomous::SKILLS);
         lv_obj_add_state(allianceSwitch, LV_STATE_DISABLED);
         lv_obj_add_state(auton_dd, LV_STATE_DISABLED);
      } else {
         Autonomous::AutonSwitcher(selector_screen::lastAuton);
         lv_obj_clear_state(allianceSwitch, LV_STATE_DISABLED);
         lv_obj_clear_state(auton_dd, LV_STATE_DISABLED);
      }
   }
   lv_label_set_text_fmt(autonLabel, "Current Auton: %s", Autonomous::autonName.c_str());
}

void selector_screen::drive_update(lv_event_t *e) {
   lv_obj_t *tab1 = lv_event_get_current_target(e);
   lv_obj_t *drive_roller = lv_obj_get_child(tab1, -1);
   lv_obj_t *driveLabel = lv_obj_get_child(tab1, -2);
 
   int rollerIndex = lv_roller_get_selected(drive_roller);
   std::string driveMode = Drivetrain::SwitchDrive(rollerIndex);
 
   lv_label_set_text_fmt(driveLabel, "Current drive mode: %s", driveMode.c_str());
}

void selector_screen::selector() {
   /*Create a Tab view object*/
   lv_obj_t *tabview;
   tabview = lv_tabview_create(lv_scr_act(), LV_DIR_TOP, 35);
 
   /*Add 2 tabs*/
   lv_obj_t *tab1 = lv_tabview_add_tab(tabview, "Autonomous select");
   lv_obj_t *tab2 = lv_tabview_add_tab(tabview, "Drive select");
 
   /*
    * Both switches are "bubbled" to the tab view. This means that any event on
    * the switches will be updated to the tab view.
    */
   lv_obj_add_event_cb(tab1, auton_ui_update, LV_EVENT_VALUE_CHANGED, NULL);
   lv_obj_add_event_cb(tab2, drive_update, LV_EVENT_VALUE_CHANGED, NULL);
   lv_obj_t *tabButtons = lv_tabview_get_tab_btns(tabview);
   lv_obj_set_style_bg_color(tabButtons, lv_color_hex(0x4d0000), 0);
   lv_obj_set_style_text_font(tabButtons, &lv_font_montserrat_18, 0);
 
   lv_obj_t *label1 = lv_label_create(tab1);
   lv_obj_t *label2 = lv_label_create(tab1);
   lv_obj_t *autonName = lv_label_create(tab1);
   lv_label_set_text(label1, "Alliance");
   lv_label_set_text(label2, "Enable Skills");
   lv_label_set_text_fmt(autonName, "Current Auton: %s", Autonomous::autonName.c_str());
   lv_obj_align(label1, LV_ALIGN_TOP_LEFT, 0, 10);
   lv_obj_align(label2, LV_ALIGN_LEFT_MID, 0, 0);
   lv_obj_align(autonName, LV_ALIGN_BOTTOM_MID, 0, 0);
   lv_obj_set_style_text_font(label1, &lv_font_montserrat_20, 0);
   lv_obj_set_style_text_font(label2, &lv_font_montserrat_20, 0);
   lv_obj_set_style_text_font(autonName, &lv_font_montserrat_16, 0);
 
   /*Add alliance color switch*/
   lv_obj_t *matchSwitch = lv_switch_create(tab1);
   lv_obj_add_flag(matchSwitch, LV_OBJ_FLAG_EVENT_BUBBLE);
   lv_obj_set_style_bg_color(matchSwitch, lv_palette_main(LV_PALETTE_RED), LV_STATE_DEFAULT);
   lv_obj_set_size(matchSwitch, lv_pct(21), lv_pct(27));
   lv_obj_set_style_pad_all(matchSwitch, -5, LV_PART_KNOB);
   lv_obj_align(matchSwitch, LV_ALIGN_TOP_MID, 0, 0);
 
   /*Add skills switch*/
   lv_obj_t *skillSwitch = lv_switch_create(tab1);
   lv_obj_add_flag(skillSwitch, LV_OBJ_FLAG_EVENT_BUBBLE);
   lv_obj_set_size(skillSwitch, lv_pct(21), lv_pct(27));
   lv_obj_set_style_pad_all(skillSwitch, -5, LV_PART_KNOB);
   lv_obj_align(skillSwitch, LV_ALIGN_CENTER, 0, 0);
 
   /*Create a drop down list for available autons */
   lv_obj_t *auton_dd = lv_dropdown_create(tab1);
   lv_obj_add_flag(auton_dd, LV_OBJ_FLAG_EVENT_BUBBLE);
   lv_dropdown_set_options(auton_dd, selector_screen::redAutons);
   lv_obj_set_style_max_height(auton_dd, 50, 0);
   lv_obj_set_size(auton_dd, lv_pct(35), lv_pct(35));
   lv_obj_set_style_pad_top(auton_dd, 10, 0);
   lv_obj_set_style_pad_bottom(auton_dd, 10, 0);
   lv_obj_set_style_border_width(auton_dd, 4, 0);
   lv_obj_set_style_border_color(auton_dd, lv_color_hex(0xd22730), 0);
   lv_obj_set_style_border_color(auton_dd, lv_color_hex(0x7a7a7a), LV_STATE_DISABLED);
   lv_obj_align(auton_dd, LV_ALIGN_TOP_RIGHT, 0, 0);
 
   // Drive select tab
   lv_obj_t *driveName = lv_label_create(tab2);
   lv_label_set_text_fmt(driveName, "Current drive mode:");
   lv_obj_align(driveName, LV_ALIGN_BOTTOM_MID, 0, 0);
   lv_obj_set_style_text_font(driveName, &lv_font_montserrat_18, 0);
 
   lv_obj_t *drive_roller = lv_roller_create(tab2);
   lv_obj_add_flag(drive_roller, LV_OBJ_FLAG_EVENT_BUBBLE);
   lv_roller_set_options(drive_roller, selector_screen::driveModes, LV_ROLLER_MODE_INFINITE);
 
   // Changed when highlighted
   lv_obj_set_style_bg_color(drive_roller, lv_color_hex(0xf97e2c), LV_PART_SELECTED);
   lv_obj_set_style_text_font(drive_roller, &lv_font_montserrat_24, LV_PART_SELECTED);
   lv_roller_set_visible_row_count(drive_roller, 3);
   lv_obj_center(drive_roller);
   lv_obj_align(drive_roller, LV_ALIGN_TOP_MID, 0, 0);
}