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Reimplemented pixytest screen. Added a lot of Test-Buttons.

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t-moe
2015-05-25 18:29:16 +02:00
parent 2d463366c1
commit 6a61769858
1 changed files with 282 additions and 155 deletions
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439
common/app/screen_pixytest.c
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@@ -1,173 +1,329 @@
#include "screen_pixytest.h"
#include "button.h"
#include "numupdown.h"
#include "tft.h"
#include "touch.h"
#include "pixy.h"
#include "system.h"
#include "pixy_helper.h"
static volatile bool pixy_connected = false;
static volatile enum {detecting, idle,update_servos, update_ledcolor, update_ledcurrent} state; //Current state of the screen state machine
static BUTTON_STRUCT b_back;
static BUTTON_STRUCT b_runstop;
static TOUCH_AREA_STRUCT a_area;
static BUTTON_STRUCT b_servos_center;
static BUTTON_STRUCT b_servos_topleft;
static BUTTON_STRUCT b_servos_topright;
static BUTTON_STRUCT b_servos_bottomleft;
static BUTTON_STRUCT b_servos_bottomright;
static uint16_t servo_x;
static uint16_t servo_y;
static BUTTON_STRUCT b_led_off;
static BUTTON_STRUCT b_led_white;
static BUTTON_STRUCT b_led_red;
static BUTTON_STRUCT b_led_green;
static BUTTON_STRUCT b_led_blue;
static uint32_t led_color;
static uint32_t led_maxcurrent;
static NUMUPDOWN_STRUCT n_led_powerlimit;
static void b_back_cb(void* button) {
gui_screen_back();
}
static volatile bool pixy_running = false;
static bool old_pixy_running= false;
static void b_runstop_cb(void* button) {
pixy_running=!pixy_running;
}
static POINT_STRUCT pixy_pos;
static POINT_STRUCT old_pos;
static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction) {
POINT_STRUCT p = touch_get_last_point();
switch(triggeredAction) {
case PEN_ENTER:
case PEN_DOWN:
old_pos = p;
break;
case PEN_MOVE:
{
int16_t deltaX = p.x - old_pos.x;
int16_t deltaY = p.y - old_pos.y;
old_pos=p;
printf("%d %d\n",deltaX,deltaY);
if(pixy_connected) {
int16_t new_x = pixy_pos.x+deltaX*2;
int16_t new_y = pixy_pos.y-deltaY*2;
if(new_x<0) new_x=0;
if(new_x>1000) new_x=1000;
if(new_y<0) new_y=0;
if(new_y>1000) new_y=1000;
pixy_pos.x = new_x;
pixy_pos.y= new_y;
}
static void b_servos_center_cb(void* button) {
if(state==idle) {
servo_x=500;
servo_y=500;
state=update_servos;
}
break;
case PEN_UP:
case PEN_LEAVE:
printf("Leave/up\n");
default: break;
}
}
static void b_servos_topleft_cb(void* button) {
if(state==idle) {
servo_x=0;
servo_y=0;
state=update_servos;
}
}
static void b_servos_topright_cb(void* button) {
if(state==idle) {
servo_x=1000;
servo_y=0;
state=update_servos;
}
}
static void b_servos_bottomleft_cb(void* button) {
if(state==idle) {
servo_x=0;
servo_y=1000;
state=update_servos;
}
}
static void b_servos_bottomright_cb(void* button) {
if(state==idle) {
servo_x=1000;
servo_y=1000;
state=update_servos;
}
}
static void b_led_off_cb(void* button) {
if(state==idle) {
led_color=0x000000;
state=update_ledcolor;
}
}
static void b_led_white_cb(void* button) {
if(state==idle) {
led_color=0xFFFFFF;
state=update_ledcolor;
}
}
static void b_led_red_cb(void* button) {
if(state==idle) {
led_color=0xFF0000;
state=update_ledcolor;
}
}
static void b_led_green_cb(void* button) {
if(state==idle) {
led_color=0x00FF00;
state=update_ledcolor;
}
}
static void b_led_blue_cb(void* button) {
if(state==idle) {
led_color=0x0000FF;
state=update_ledcolor;
}
}
static void n_led_powerlimit_cb(void* numupdown, int16_t value) {
if(state==idle) {
led_maxcurrent=value;
state=update_ledcurrent;
}
}
static void enter(void* screen) {
tft_clear(WHITE);
//Back button
b_back.base.x1=10; //Start X of Button
b_back.base.y1=210; //Start Y of Button
b_back.base.x2=AUTO; //b_back.base.x1+160; //Auto Calculate X2 with String Width
b_back.base.y2=AUTO; //Auto Calculate Y2 with String Height
b_back.txtcolor=WHITE; //Set foreground color
b_back.bgcolor=HEX(0xAE1010); //Set background color (Don't take 255 or 0 on at least one channel, to make shadows possible)
b_back.font=0; //Select Font
b_back.text="Back"; //Set Text (For formatted strings take sprintf)
b_back.callback=b_back_cb; //Call b_back_cb as Callback
gui_button_add(&b_back); //Register Button (and run the callback from now on)
b_back.base.y1=210; //Start Y of Button
b_back.base.x2=AUTO; //Auto Calculate X2 with String Width
b_back.base.y2=AUTO; //Auto Calculate Y2 with String Height
b_back.txtcolor=WHITE; //Set foreground color
b_back.bgcolor=HEX(0xAE1010); //Set background color (Don't take 255 or 0 on at least one channel, to make shadows possible)
b_back.font=0; //Select Font
b_back.text="Back"; //Set Text (For formatted strings take sprintf)
b_back.callback=b_back_cb; //Call b_back_cb as Callback
gui_button_add(&b_back); //Register Button (and run the callback from now on)
//Back button
b_runstop.base.x1=60; //Start X of Button
b_runstop.base.y1=210; //Start Y of Button
b_runstop.base.x2=AUTO; //b_runstop.base.x1+160; //Auto Calculate X2 with String Width
b_runstop.base.y2=AUTO; //Auto Calculate Y2 with String Height
b_runstop.txtcolor=WHITE; //Set foreground color
b_runstop.bgcolor=HEX(0xAE1010); //Set runstopground color (Don't take 255 or 0 on at least one channel, to make shadows possible)
b_runstop.font=0; //Select Font
b_runstop.text="Run/Stop"; //Set Text (For formatted strings take sprintf)
b_runstop.callback=b_runstop_cb; //Call b_runstop_cb as Callrunstop
gui_button_add(&b_runstop); //Register Button (and run the callrunstop from now on)
//Servo stuff
#define SERVO_BUTTON_Y 10
#define SERVO_BUTTON_SPACING 5
tft_print_line(5,SERVO_BUTTON_Y,BLACK,TRANSPARENT,0,"Servos:");
b_servos_center.base.x1=55;
b_servos_center.base.y1=SERVO_BUTTON_Y-3;
b_servos_center.base.x2=AUTO;
b_servos_center.base.y2=AUTO;
b_servos_center.txtcolor=WHITE;
b_servos_center.bgcolor=HEX(0xAE1010);
b_servos_center.font=0;
b_servos_center.text="Center";
b_servos_center.callback=b_servos_center_cb;
gui_button_add(&b_servos_center);
//Area test
a_area.hookedActions = PEN_DOWN | PEN_MOVE | PEN_ENTER | PEN_UP | PEN_LEAVE;
a_area.x1 = 0;
a_area.y1 = 0;
a_area.x2 = 317;
a_area.y2 = 197;
a_area.callback = touchCB;
touch_register_area(&a_area);
b_servos_topleft.base.x1=b_servos_center.base.x2+SERVO_BUTTON_SPACING;
b_servos_topleft.base.y1=SERVO_BUTTON_Y-3;
b_servos_topleft.base.x2=AUTO;
b_servos_topleft.base.y2=AUTO;
b_servos_topleft.txtcolor=WHITE;
b_servos_topleft.bgcolor=HEX(0xAE1010);
b_servos_topleft.font=0;
b_servos_topleft.text="ToLe";
b_servos_topleft.callback=b_servos_topleft_cb;
gui_button_add(&b_servos_topleft);
b_servos_topright.base.x1=b_servos_topleft.base.x2+SERVO_BUTTON_SPACING;
b_servos_topright.base.y1=SERVO_BUTTON_Y-3;
b_servos_topright.base.x2=AUTO;
b_servos_topright.base.y2=AUTO;
b_servos_topright.txtcolor=WHITE;
b_servos_topright.bgcolor=HEX(0xAE1010);
b_servos_topright.font=0;
b_servos_topright.text="ToRi";
b_servos_topright.callback=b_servos_topright_cb;
gui_button_add(&b_servos_topright);
b_servos_bottomleft.base.x1=b_servos_topright.base.x2+SERVO_BUTTON_SPACING;
b_servos_bottomleft.base.y1=SERVO_BUTTON_Y-3;
b_servos_bottomleft.base.x2=AUTO;
b_servos_bottomleft.base.y2=AUTO;
b_servos_bottomleft.txtcolor=WHITE;
b_servos_bottomleft.bgcolor=HEX(0xAE1010);
b_servos_bottomleft.font=0;
b_servos_bottomleft.text="BoLe";
b_servos_bottomleft.callback=b_servos_bottomleft_cb;
gui_button_add(&b_servos_bottomleft);
b_servos_bottomright.base.x1=b_servos_bottomleft.base.x2+SERVO_BUTTON_SPACING;
b_servos_bottomright.base.y1=SERVO_BUTTON_Y-3;
b_servos_bottomright.base.x2=AUTO;
b_servos_bottomright.base.y2=AUTO;
b_servos_bottomright.txtcolor=WHITE;
b_servos_bottomright.bgcolor=HEX(0xAE1010);
b_servos_bottomright.font=0;
b_servos_bottomright.text="BoRi";
b_servos_bottomright.callback=b_servos_bottomright_cb;
gui_button_add(&b_servos_bottomright);
//Led Color stuff
#define LED_COLOR_BUTTON_Y 35
#define LED_COLOR_BUTTON_SPACING 5
tft_print_line(5,LED_COLOR_BUTTON_Y,BLACK,TRANSPARENT,0,"Led Color:");
b_led_off.base.x1=85;
b_led_off.base.y1=LED_COLOR_BUTTON_Y-3;
b_led_off.base.x2=AUTO;
b_led_off.base.y2=AUTO;
b_led_off.txtcolor=WHITE;
b_led_off.bgcolor=BLACK;
b_led_off.font=0;
b_led_off.text="Off";
b_led_off.callback=b_led_off_cb;
gui_button_add(&b_led_off);
b_led_white.base.x1=b_led_off.base.x2+LED_COLOR_BUTTON_SPACING;
b_led_white.base.y1=LED_COLOR_BUTTON_Y-3;
b_led_white.base.x2=AUTO;
b_led_white.base.y2=AUTO;
b_led_white.txtcolor=BLACK;
b_led_white.bgcolor=HEX(0xEEEEEE);
b_led_white.font=0;
b_led_white.text="White";
b_led_white.callback=b_led_white_cb;
gui_button_add(&b_led_white);
b_led_red.base.x1=b_led_white.base.x2+LED_COLOR_BUTTON_SPACING;
b_led_red.base.y1=LED_COLOR_BUTTON_Y-3;
b_led_red.base.x2=AUTO;
b_led_red.base.y2=AUTO;
b_led_red.txtcolor=WHITE;
b_led_red.bgcolor=HEX(0xEE0000);
b_led_red.font=0;
b_led_red.text="Red";
b_led_red.callback=b_led_red_cb;
gui_button_add(&b_led_red);
b_led_green.base.x1=b_led_red.base.x2+LED_COLOR_BUTTON_SPACING;
b_led_green.base.y1=LED_COLOR_BUTTON_Y-3;
b_led_green.base.x2=AUTO;
b_led_green.base.y2=AUTO;
b_led_green.txtcolor=WHITE;
b_led_green.bgcolor=HEX(0x00EE00);
b_led_green.font=0;
b_led_green.text="Green";
b_led_green.callback=b_led_green_cb;
gui_button_add(&b_led_green);
b_led_blue.base.x1=b_led_green.base.x2+LED_COLOR_BUTTON_SPACING;
b_led_blue.base.y1=LED_COLOR_BUTTON_Y-3;
b_led_blue.base.x2=AUTO;
b_led_blue.base.y2=AUTO;
b_led_blue.txtcolor=WHITE;
b_led_blue.bgcolor=HEX(0x0000EE);
b_led_blue.font=0;
b_led_blue.text="Blue";
b_led_blue.callback=b_led_blue_cb;
gui_button_add(&b_led_blue);
//Led MaxPower stuff
#define LED_POWER_BUTTON_Y 70
tft_print_line(5,LED_POWER_BUTTON_Y,BLACK,TRANSPARENT,0,"Led Maximum Current:");
//Num up down test
n_led_powerlimit.x=160;
n_led_powerlimit.y=LED_POWER_BUTTON_Y-7;
n_led_powerlimit.fgcolor=WHITE;
n_led_powerlimit.value = 10;
n_led_powerlimit.max=40;
n_led_powerlimit.min =0;
n_led_powerlimit.callback=n_led_powerlimit_cb;
gui_numupdown_add(&n_led_powerlimit);
//Pixy stuff
pixy_connected = (pixy_init()==0); //try to connect to pixy
if(pixy_connected) {
pixy_pos.x=pixy_pos.y=500;
}
state=detecting;
}
static void leave(void* screen) {
gui_button_remove(&b_back);
gui_button_remove(&b_runstop);
touch_unregister_area(&a_area);
}
gui_button_remove(&b_servos_center);
gui_button_remove(&b_servos_topleft);
gui_button_remove(&b_servos_topright);
gui_button_remove(&b_servos_bottomleft);
gui_button_remove(&b_servos_bottomright);
gui_button_remove(&b_led_off);
gui_button_remove(&b_led_white);
gui_button_remove(&b_led_red);
gui_button_remove(&b_led_green);
gui_button_remove(&b_led_blue);
gui_numupdown_remove(&n_led_powerlimit);
int pixy_led_test();
int pixy_frame_test();
}
static void update(void* screen) {
//Note: The only way to detect that pixy has been disconnected is if a command fails. There's no pixy_is_connected method yet :'(
if(!pixy_connected) { //Pixy not connected
pixy_close(); //Ensure that all pixy resources are freed (failsafe)
if(pixy_init()==0) { //try to connect to pixy
pixy_connected=true;
pixy_pos.x=pixy_pos.y=500;
printf("pixy reinitialized\n");
}
}
if(pixy_connected) {
pixy_service(); //Send/receive event data from/to pixy failed
if(pixy_frame_test()!=0) {
pixy_connected=false;
}
/*if(pixy_led_test()!=0) {
pixy_connected=false;
}*/
if(!pixy_running) {
pixy_rcs_set_position(0,pixy_pos.x);
pixy_rcs_set_position(1,pixy_pos.y);
}
if(pixy_running!=old_pixy_running) {
old_pixy_running=pixy_running;
if(pixy_running) { //start tracking
int32_t response;
int return_value;
return_value = pixy_command("runprog", INT8(2), END_OUT_ARGS, &response, END_IN_ARGS);
} else { //stop tracking
switch(state) {
case detecting: //Detecting State: Where we try to connect to the pixy
if(pixy_init()==0) { //Pixy connection ok
int32_t response;
int return_value;
return_value = pixy_command("stop", END_OUT_ARGS, &response, END_IN_ARGS);
}
}
pixy_led_set_max_current(10);
state = idle; //Go to next state
}
break;
case idle:
pixy_service();
break;
case update_servos:
pixy_rcs_set_position(0,servo_x);
pixy_rcs_set_position(1,servo_y);
state = idle;
break;
case update_ledcolor:
{
int32_t response;
int return_value;
return_value = pixy_command("led_set", INT32(led_color), END_OUT_ARGS, &response, END_IN_ARGS);
state = idle;
}
break;
case update_ledcurrent:
pixy_led_set_max_current(led_maxcurrent);
state = idle;
break;
}
//system_delay(500);
}
}
@@ -184,32 +340,3 @@ SCREEN_STRUCT* get_screen_pixytest() {
//-----------------------------------------------------------------------------------------------------------------
int colorind;
const uint32_t colors [] = {0xFF0000, 0x00FF00,0x0000FF,0xFFFF00,0x00FFFF,0xFF00FF,0xFFFFFF,0x000000};
const int num_colors = sizeof(colors)/sizeof(uint32_t);
int pixy_led_test() {
if(colorind==0) {
pixy_led_set_max_current(5);
}
int32_t response;
int return_value;
return_value = pixy_command("led_set", INT32(colors[colorind++]), END_OUT_ARGS, &response, END_IN_ARGS);
colorind%=num_colors;
if(return_value!=0) {
colorind=0; //reset color ind, to start at zero when plugging pixy in again
}
return return_value;
}
int pixy_frame_test() {
return pixy_render_full_frame(0,0);
}