378 lines
11 KiB
C
378 lines
11 KiB
C
/**************************************************************************************************************************************
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* Project: discoverpixy
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* Website: https://github.com/t-moe/discoverpixy
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* Authors: Aaron Schmocker, Timo Lang
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* Institution: BFH Bern University of Applied Sciences
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* File: common/app/screen_pixytest.c
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*
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* Version History:
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* Date Autor Email SHA Changes
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* 2015-04-27 timolang@gmail.com cf72baa Introduced a Screen (sub) module and divided app into multiple screens.
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* 2015-05-02 timolang@gmail.com 3281616 Added some more touch functions. Improved pixy test. Drag the Image around!
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* 2015-05-09 timolang@gmail.com 0b5173e Added reference tracking.
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* 2015-05-15 timolang@gmail.com 27c09ba Redesigned main menu. Moved stuff from pixytest to a new helper file and to the new "photo mode"-screen.
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* 2015-05-25 timolang@gmail.com 6a61769 Reimplemented pixytest screen. Added a lot of Test-Buttons.
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* 2015-06-01 aaron@duckpond.ch caa7b5c Added IRQ for user button, fixed some touchproblems.
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* 2015-06-03 timolang@gmail.com 74aa186 Made pixy_test screen working again. Had to disable pixy_service. Recalibrated initial touch values.
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* 2015-06-07 timolang@gmail.com c87220d Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h
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*
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**************************************************************************************************************************************/
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#include "screen_pixytest.h"
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#include "button.h"
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#include "numupdown.h"
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#include "tft.h"
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#include "touch.h"
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#include "pixy.h"
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#include "system.h"
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#include "pixy_frame.h"
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static volatile enum {detecting, idle, update_servos, update_ledcolor, update_ledcurrent} state; //Current state of the screen state machine
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static BUTTON_STRUCT b_back;
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static BUTTON_STRUCT b_servos_center;
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static BUTTON_STRUCT b_servos_topleft;
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static BUTTON_STRUCT b_servos_topright;
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static BUTTON_STRUCT b_servos_bottomleft;
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static BUTTON_STRUCT b_servos_bottomright;
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static uint16_t servo_x;
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static uint16_t servo_y;
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static BUTTON_STRUCT b_led_off;
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static BUTTON_STRUCT b_led_white;
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static BUTTON_STRUCT b_led_red;
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static BUTTON_STRUCT b_led_green;
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static BUTTON_STRUCT b_led_blue;
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static uint32_t led_color;
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static uint32_t led_maxcurrent;
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static NUMUPDOWN_STRUCT n_led_powerlimit;
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static void b_back_cb(void* button)
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{
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gui_screen_back();
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}
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static void b_servos_center_cb(void* button)
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{
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if (state == idle) {
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servo_x = 500;
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servo_y = 500;
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state = update_servos;
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}
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}
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static void b_servos_topleft_cb(void* button)
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{
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if (state == idle) {
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servo_x = 0;
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servo_y = 0;
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state = update_servos;
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}
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}
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static void b_servos_topright_cb(void* button)
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{
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if (state == idle) {
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servo_x = 1000;
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servo_y = 0;
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state = update_servos;
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}
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}
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static void b_servos_bottomleft_cb(void* button)
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{
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if (state == idle) {
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servo_x = 0;
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servo_y = 1000;
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state = update_servos;
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}
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}
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static void b_servos_bottomright_cb(void* button)
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{
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if (state == idle) {
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servo_x = 1000;
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servo_y = 1000;
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state = update_servos;
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}
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}
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static void b_led_off_cb(void* button)
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{
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if (state == idle) {
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led_color = 0x000000;
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state = update_ledcolor;
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}
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}
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static void b_led_white_cb(void* button)
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{
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if (state == idle) {
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led_color = 0xFFFFFF;
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state = update_ledcolor;
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}
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}
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static void b_led_red_cb(void* button)
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{
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if (state == idle) {
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led_color = 0xFF0000;
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state = update_ledcolor;
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}
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}
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static void b_led_green_cb(void* button)
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{
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if (state == idle) {
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led_color = 0x00FF00;
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state = update_ledcolor;
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}
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}
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static void b_led_blue_cb(void* button)
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{
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if (state == idle) {
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led_color = 0x0000FF;
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state = update_ledcolor;
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}
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}
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static void n_led_powerlimit_cb(void* numupdown, int16_t value)
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{
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if (state == idle) {
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led_maxcurrent = value;
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state = update_ledcurrent;
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}
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}
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static void enter(void* screen)
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{
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tft_clear(WHITE);
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//Back button
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b_back.base.x1 = 10; //Start X of Button
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b_back.base.y1 = 210; //Start Y of Button
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b_back.base.x2 = AUTO; //Auto Calculate X2 with String Width
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b_back.base.y2 = AUTO; //Auto Calculate Y2 with String Height
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b_back.txtcolor = WHITE; //Set foreground color
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b_back.bgcolor = HEX(0xAE1010); //Set background color (Don't take 255 or 0 on at least one channel, to make shadows possible)
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b_back.font = 0; //Select Font
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b_back.text = "Back"; //Set Text (For formatted strings take sprintf)
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b_back.callback = b_back_cb; //Call b_back_cb as Callback
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gui_button_add(&b_back); //Register Button (and run the callback from now on)
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//Servo stuff
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#define SERVO_BUTTON_Y 10
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#define SERVO_BUTTON_SPACING 5
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tft_print_line(5, SERVO_BUTTON_Y, BLACK, TRANSPARENT, 0, "Servos:");
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b_servos_center.base.x1 = 55;
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b_servos_center.base.y1 = SERVO_BUTTON_Y - 3;
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b_servos_center.base.x2 = AUTO;
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b_servos_center.base.y2 = AUTO;
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b_servos_center.txtcolor = WHITE;
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b_servos_center.bgcolor = HEX(0xAE1010);
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b_servos_center.font = 0;
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b_servos_center.text = "Center";
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b_servos_center.callback = b_servos_center_cb;
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gui_button_add(&b_servos_center);
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b_servos_topleft.base.x1 = b_servos_center.base.x2 + SERVO_BUTTON_SPACING;
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b_servos_topleft.base.y1 = SERVO_BUTTON_Y - 3;
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b_servos_topleft.base.x2 = AUTO;
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b_servos_topleft.base.y2 = AUTO;
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b_servos_topleft.txtcolor = WHITE;
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b_servos_topleft.bgcolor = HEX(0xAE1010);
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b_servos_topleft.font = 0;
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b_servos_topleft.text = "ToLe";
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b_servos_topleft.callback = b_servos_topleft_cb;
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gui_button_add(&b_servos_topleft);
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b_servos_topright.base.x1 = b_servos_topleft.base.x2 + SERVO_BUTTON_SPACING;
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b_servos_topright.base.y1 = SERVO_BUTTON_Y - 3;
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b_servos_topright.base.x2 = AUTO;
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b_servos_topright.base.y2 = AUTO;
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b_servos_topright.txtcolor = WHITE;
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b_servos_topright.bgcolor = HEX(0xAE1010);
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b_servos_topright.font = 0;
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b_servos_topright.text = "ToRi";
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b_servos_topright.callback = b_servos_topright_cb;
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gui_button_add(&b_servos_topright);
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b_servos_bottomleft.base.x1 = b_servos_topright.base.x2 + SERVO_BUTTON_SPACING;
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b_servos_bottomleft.base.y1 = SERVO_BUTTON_Y - 3;
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b_servos_bottomleft.base.x2 = AUTO;
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b_servos_bottomleft.base.y2 = AUTO;
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b_servos_bottomleft.txtcolor = WHITE;
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b_servos_bottomleft.bgcolor = HEX(0xAE1010);
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b_servos_bottomleft.font = 0;
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b_servos_bottomleft.text = "BoLe";
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b_servos_bottomleft.callback = b_servos_bottomleft_cb;
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gui_button_add(&b_servos_bottomleft);
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b_servos_bottomright.base.x1 = b_servos_bottomleft.base.x2 + SERVO_BUTTON_SPACING;
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b_servos_bottomright.base.y1 = SERVO_BUTTON_Y - 3;
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b_servos_bottomright.base.x2 = AUTO;
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b_servos_bottomright.base.y2 = AUTO;
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b_servos_bottomright.txtcolor = WHITE;
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b_servos_bottomright.bgcolor = HEX(0xAE1010);
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b_servos_bottomright.font = 0;
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b_servos_bottomright.text = "BoRi";
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b_servos_bottomright.callback = b_servos_bottomright_cb;
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gui_button_add(&b_servos_bottomright);
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//Led Color stuff
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#define LED_COLOR_BUTTON_Y 35
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#define LED_COLOR_BUTTON_SPACING 5
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tft_print_line(5, LED_COLOR_BUTTON_Y, BLACK, TRANSPARENT, 0, "Led Color:");
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b_led_off.base.x1 = 85;
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b_led_off.base.y1 = LED_COLOR_BUTTON_Y - 3;
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b_led_off.base.x2 = AUTO;
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b_led_off.base.y2 = AUTO;
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b_led_off.txtcolor = WHITE;
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b_led_off.bgcolor = BLACK;
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b_led_off.font = 0;
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b_led_off.text = "Off";
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b_led_off.callback = b_led_off_cb;
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gui_button_add(&b_led_off);
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b_led_white.base.x1 = b_led_off.base.x2 + LED_COLOR_BUTTON_SPACING;
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b_led_white.base.y1 = LED_COLOR_BUTTON_Y - 3;
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b_led_white.base.x2 = AUTO;
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b_led_white.base.y2 = AUTO;
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b_led_white.txtcolor = BLACK;
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b_led_white.bgcolor = HEX(0xEEEEEE);
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b_led_white.font = 0;
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b_led_white.text = "White";
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b_led_white.callback = b_led_white_cb;
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gui_button_add(&b_led_white);
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b_led_red.base.x1 = b_led_white.base.x2 + LED_COLOR_BUTTON_SPACING;
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b_led_red.base.y1 = LED_COLOR_BUTTON_Y - 3;
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b_led_red.base.x2 = AUTO;
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b_led_red.base.y2 = AUTO;
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b_led_red.txtcolor = WHITE;
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b_led_red.bgcolor = HEX(0xEE0000);
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b_led_red.font = 0;
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b_led_red.text = "Red";
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b_led_red.callback = b_led_red_cb;
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gui_button_add(&b_led_red);
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b_led_green.base.x1 = b_led_red.base.x2 + LED_COLOR_BUTTON_SPACING;
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b_led_green.base.y1 = LED_COLOR_BUTTON_Y - 3;
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b_led_green.base.x2 = AUTO;
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b_led_green.base.y2 = AUTO;
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b_led_green.txtcolor = WHITE;
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b_led_green.bgcolor = HEX(0x00EE00);
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b_led_green.font = 0;
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b_led_green.text = "Green";
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b_led_green.callback = b_led_green_cb;
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gui_button_add(&b_led_green);
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b_led_blue.base.x1 = b_led_green.base.x2 + LED_COLOR_BUTTON_SPACING;
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b_led_blue.base.y1 = LED_COLOR_BUTTON_Y - 3;
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b_led_blue.base.x2 = AUTO;
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b_led_blue.base.y2 = AUTO;
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b_led_blue.txtcolor = WHITE;
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b_led_blue.bgcolor = HEX(0x0000EE);
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b_led_blue.font = 0;
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b_led_blue.text = "Blue";
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b_led_blue.callback = b_led_blue_cb;
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gui_button_add(&b_led_blue);
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//Led MaxPower stuff
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#define LED_POWER_BUTTON_Y 70
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tft_print_line(5, LED_POWER_BUTTON_Y, BLACK, TRANSPARENT, 0, "Led Maximum Current:");
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//Num up down test
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n_led_powerlimit.x = 160;
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n_led_powerlimit.y = LED_POWER_BUTTON_Y - 7;
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n_led_powerlimit.fgcolor = WHITE;
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n_led_powerlimit.value = 10;
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n_led_powerlimit.max = 40;
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n_led_powerlimit.min = 0;
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n_led_powerlimit.callback = n_led_powerlimit_cb;
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gui_numupdown_add(&n_led_powerlimit);
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state = detecting;
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}
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static void leave(void* screen)
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{
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gui_button_remove(&b_back);
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gui_button_remove(&b_servos_center);
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gui_button_remove(&b_servos_topleft);
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gui_button_remove(&b_servos_topright);
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gui_button_remove(&b_servos_bottomleft);
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gui_button_remove(&b_servos_bottomright);
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gui_button_remove(&b_led_off);
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gui_button_remove(&b_led_white);
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gui_button_remove(&b_led_red);
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gui_button_remove(&b_led_green);
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gui_button_remove(&b_led_blue);
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gui_numupdown_remove(&n_led_powerlimit);
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}
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static void update(void* screen)
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{
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switch (state) {
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case detecting: //Detecting State: Where we try to connect to the pixy
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if (pixy_init() == 0) { //Pixy connection ok
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int32_t response;
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int return_value;
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return_value = pixy_command("stop", END_OUT_ARGS, &response, END_IN_ARGS);
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pixy_led_set_max_current(10);
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state = idle; //Go to next state
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}
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break;
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case idle:
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pixy_service();
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break;
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case update_servos:
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pixy_rcs_set_position(0, servo_x);
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pixy_rcs_set_position(1, servo_y);
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state = idle;
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break;
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case update_ledcolor: {
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int32_t response;
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int return_value;
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return_value = pixy_command("led_set", INT32(led_color), END_OUT_ARGS, &response, END_IN_ARGS);
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state = idle;
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}
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break;
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case update_ledcurrent:
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pixy_led_set_max_current(led_maxcurrent);
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state = idle;
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break;
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}
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}
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static SCREEN_STRUCT screen = {
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enter,
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leave,
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update
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};
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SCREEN_STRUCT* get_screen_pixytest()
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{
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return &screen;
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}
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