Fix button change text

app/raspberry_pi/src/car/display/CarConsole.cxx

@@ -16,14 +16,14 @@ using namespace car::system;
 using namespace ftxui;
 
 namespace car::display {
-	static const ButtonOption button_style = ButtonOption::Animated();
+	static const ButtonOption animated_button_style = ButtonOption::Animated();
 	class CarConsole
 	{
 	public:
-		Component MainComponent(std::function<void()> start_car_system, std::function<void()> show_exit_modal) {
+		inline Component MainComponent(Component main_button, std::function<void()> show_exit_modal) {
 			auto component = Container::Vertical({
-				Button("Start Car Application", start_car_system, button_style),
-				Button("Quit", show_exit_modal, button_style),
+				main_button,
+				Button("Quit", show_exit_modal, animated_button_style),
 				});
 			// Polish how the two buttons are rendered:
 			component |= Renderer([&](Element inner) {
@@ -40,11 +40,11 @@ namespace car::display {
 			return component;
 		}
 
-		Component ExitModalComponent(std::function<void()> hide_exit_modal,
+		inline Component ExitModalComponent(std::function<void()> hide_exit_modal,
 			std::function<void()> exit) {
 			auto component = Container::Vertical({
-				Button("No", hide_exit_modal, button_style),
-				Button("Yes", exit, button_style),
+				Button("No", hide_exit_modal, animated_button_style),
+				Button("Yes", exit, animated_button_style),
 				});
 			// Polish how the two buttons are rendered:
 			component |= Renderer([&](Element inner) {
@@ -70,26 +70,48 @@ namespace car::display {
 
 			auto show_exit_modal = [&] { exit_modal_shown = true; };
 			auto hide_exit_modal = [&] { exit_modal_shown = false; };
-
-			auto start_car_system = [&] { this->car_system->start(); };
-
+
+			bool debounce = false;
+			bool button_pressed = false;
+			std::string main_button_text = "Start Car Application";
+
+			auto main_button_lambda = [&] {
+				if (debounce) return;
+				debounce = true;
+				button_pressed = !button_pressed;
+				std::cout << "Button pressed: " << button_pressed << std::endl;
+				if (button_pressed) {
+					main_button_text = "Connecting...";
+					this->car_system->start();
+					main_button_text = "Stop Car Application";
+				}
+				else {
+					main_button_text = "Disconnecting...";
+					this->car_system->stop();
+					main_button_text = "Start Car Application";
+				}
+				debounce = false;
+				};
+			auto main_button = Button(&main_button_text, main_button_lambda, animated_button_style);
+
 			auto exit = screen.ExitLoopClosure();
 
-			auto main_component = MainComponent(start_car_system, show_exit_modal);
+			auto main_component = MainComponent(main_button, show_exit_modal);
 			auto modal_component = ExitModalComponent(hide_exit_modal, exit);
 			main_component |= Modal(modal_component, &exit_modal_shown);
 
 			Loop loop(&screen, main_component);
 
 			this->car_system->initialize();
+
 			// The main loop:
 			while (!loop.HasQuitted()) {
 				this->car_system->update();
 				loop.RunOnce();
 			}
 
 			// Called after the loop ended.
-			this->car_system->terminate();
+			this->car_system->stop();
 		};
 
 	private:

app/raspberry_pi/src/car/system/CarSystem.cpp

@@ -12,7 +12,7 @@ namespace car::system
 
 	CarSystem::~CarSystem()
 	{
-		this->terminate();
+		this->stop();
 	}
 
 	void CarSystem::initialize()
@@ -29,9 +29,21 @@ namespace car::system
 
 	void CarSystem::start()
 	{
-		this->messaging_system->start();
-		this->lidar_device->start();
-		this->running = true;
+		if (!this->running) {
+			this->messaging_system->start();
+			this->lidar_device->start();
+			this->running = true;
+		}
+	}
+
+	void CarSystem::stop()
+	{
+		if (!this->running)
+		{
+			this->messaging_system->stop();
+			this->lidar_device->stop();
+			this->running = false;
+		}
 	}
 
 	void CarSystem::update()
@@ -54,16 +66,6 @@ namespace car::system
 		this->messaging_system->sendMessage(output_json.dump());
 	}
 
-	void CarSystem::terminate()
-	{
-		if (!this->terminated)
-		{
-			this->terminated = true;
-			this->lidar_device->terminate();
-			this->messaging_system->terminate();
-		}
-	}
-
 	void CarSystem::move(const MoveCommand &move_command)
 	{
 		this->movement_system->move(move_command);

app/raspberry_pi/src/car/system/CarSystem.h

@@ -26,9 +26,9 @@ namespace car::system {
 
 		void initialize();
 		void start();
+		void stop();
 
 		void update();
-		void terminate();
 
 		void move(const MoveCommand& move_command);
 		void turn(const TurnCommand& turn_command);
@@ -39,7 +39,6 @@ namespace car::system {
 		std::unique_ptr<MovementSystem> movement_system;
 
 		bool running = false;
-		bool terminated = false;
 	};
 }
 

app/raspberry_pi/src/car/system/lidar/LidarDevice.cxx

@@ -16,7 +16,7 @@ namespace car::system::lidar {
 		virtual void initialize() const = 0;
 		virtual void start() const = 0;
 		virtual std::vector<Measure> scan() const = 0;
-		virtual void terminate() const = 0;
+		virtual void stop() const = 0;
 
 	private:
 

app/raspberry_pi/src/car/system/lidar/LidarDummy.cxx

@@ -28,7 +28,7 @@ namespace car::system::lidar {
 			return measures;
 		};
 
-		void terminate() const override {};
+		void stop() const override {};
 
 	private:
 

app/raspberry_pi/src/car/system/lidar/LidarScanner.cxx

@@ -68,7 +68,7 @@ namespace car::system::lidar
 			return scanGenerator();
 		};
 
-		void terminate() const override
+		void stop() const override
 		{
 			this->lidar->stop();
 			this->lidar->stop_motor();

app/raspberry_pi/src/car/system/messaging/MessagingSystem.cxx

@@ -100,7 +100,7 @@ namespace car::system::messaging {
 			}
 		}
 
-		void terminate() {
+		void stop() {
 			this->websocket.stop();
 			ix::uninitNetSystem();
 		}

app/raspberry_pi/src/car/system/movement/MovementSystem.cxx

@@ -30,7 +30,7 @@ namespace car::system::movement {
 		{
 		}
 
-		void terminate() {
+		void stop() {
 		}
 
 		void move(const MoveCommand& move_command) {