discoverpixy/common/app/screen_photomode.c

#include "screen_photomode.h"
#include "screen_photomode_save.h"
#include "button.h"
#include "tft.h"
#include "touch.h"
#include "pixy.h"
#include "system.h"
#include "pixy_helper.h"

static bool pixy_connected = false; //Whether or not the pixy cam is currently connected

static BUTTON_STRUCT b_back; //Button to navigate back
static BUTTON_STRUCT b_save; //Button to save the current image
static TOUCH_AREA_STRUCT a_area; //Touch Area, where the frame is drawn. Used to drag the image around
static bool subMenu=false; //Whether or not we left the current screen for a submenu

//Callback for when the user presses the "back" button
static void b_back_cb(void* button) {
	subMenu = false; //we're not entering a submenu
	gui_screen_back(); //navigate back to the previous screen
}

//Callback for when the user presses the "save" button
static void b_save_cb(void* button) {
	subMenu = true; //we're entering a submenu
	gui_screen_navigate(get_screen_photomodesave()); //navigate to the save screen
}

static POINT_STRUCT pixy_pos; //The current position of pixy's servos
static POINT_STRUCT old_pos; //The last touch position on the screen

//Callback for when the user drags the image around
static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction) {
	POINT_STRUCT p = touch_get_last_point(); //get the last touched point
	switch(triggeredAction) {
		case PEN_ENTER:
        case PEN_DOWN:
			old_pos = p; //If the user "newly" enters the touch area, we set the "last" position to the current
            break;
        case PEN_MOVE: //the user is moving around, he entered the screen a while ago (old_pos is set)
		{
			int16_t deltaX = p.x - old_pos.x; //Calculate x difference between last and current touch
			int16_t deltaY = p.y - old_pos.y; //Calculate y difference between last and current touch
			old_pos=p; //store the current touch point for the next time
			//printf("%d %d\n",deltaX,deltaY);
			if(pixy_connected) {
				//Calculate new servo coordinates. 2 is just a proportional factor
				int16_t new_x = pixy_pos.x+deltaX*2;
				int16_t new_y = pixy_pos.y-deltaY*2;

				//check limits
				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;

				//set pixy_pos so that the main routine can send it to the servos
				pixy_pos.x = new_x;
				pixy_pos.y= new_y;
			}
		}
        break;
		case PEN_UP:
		case PEN_LEAVE:
			//printf("Leave/up\n");
			break;
		default: break;
	}
	
}

//Callback for when the screen is entered/loaded
static void enter(void* screen) {
	tft_clear(WHITE);
	
	tft_print_line(5,5,BLACK,TRANSPARENT,0,"Drag the image around and ");

	//Back button
	b_back.base.x1=5; //Start X of Button
	b_back.base.y1=19; //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)

	//Save button
	b_save.base.x1=190;
	b_save.base.y1=3;
	b_save.base.x2=AUTO;
	b_save.base.y2=AUTO;
	b_save.txtcolor=WHITE;
	b_save.bgcolor=HEX(0x1010AE);
	b_save.font=0;
	b_save.text="Save it!";
	b_save.callback=b_save_cb;
	gui_button_add(&b_save);

	//Frame Coordinates: topleft = (1,40); bottomright = (318,238)
	//Leave a 10px border for the area

	//Area to drag the image around
	a_area.hookedActions =  PEN_DOWN | PEN_MOVE |  PEN_ENTER | PEN_UP | PEN_LEAVE;
	a_area.x1 = 11;
	a_area.y1 = 50;
	a_area.x2 = 308;
	a_area.y2 = 228;
	a_area.callback = touchCB;
	touch_register_area(&a_area);

	//Pixy stuff
    pixy_connected = (pixy_init()==0); //try to connect to pixy
	if(pixy_connected && !subMenu) { //pixy is connected, but we are not coming from a submenu
		pixy_pos.x=pixy_pos.y=500; //reset servo positions to center
	}
}

//Callback for when the screen is left/unloaded
static void leave(void* screen) {
	//remove buttons and touch area.
	gui_button_remove(&b_back);
	gui_button_remove(&b_save);
	touch_unregister_area(&a_area);
}

//Callback for when the screen should be updated
//This is the main loop of the screen. This method will be called repeatedly
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;
			if(!subMenu) { //we're not coming from a submenu
				pixy_pos.x=pixy_pos.y=500; //reset servo positions to center
			}
			printf("pixy (re)initialized\n");
		}
	}

	if(pixy_connected) { //If we are connected (now)
		pixy_service(); //Handle pending pixy events (e.g. color info retrival)

		pixy_render_full_frame(1,40); //render the pixy video at point (1,40)
	
		//set the servo positions to the coordinates form the touch interrupt
		pixy_rcs_set_position(0,pixy_pos.x);
		pixy_rcs_set_position(1,pixy_pos.y);
	}
}

//Declare screen callbacks
static SCREEN_STRUCT screen = {
	enter,
	leave,
	update
};


SCREEN_STRUCT* get_screen_photomode() {
	return &screen;
}