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Move wheel debug components to DebugWheelRenderer class
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186 changes: 186 additions & 0 deletions
186
app/raspberry_pi/src/car/display/component/DebugWheelRenderer.cxx
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,186 @@ | ||
| #ifndef DEBUGWHEELRENDERER_CXX | ||
| #define DEBUGWHEELRENDERER_CXX | ||
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| #pragma once | ||
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| #include <nod/nod.hpp> | ||
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| #include <ftxui/component/component.hpp> | ||
| #include <ftxui/component/screen_interactive.hpp> | ||
| #include <ftxui/dom/elements.hpp> | ||
| #include <ftxui/component/loop.hpp> // ftxui::Loop | ||
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| using namespace ftxui; | ||
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| namespace car::display::component { | ||
| class DebugWheelRenderer { | ||
| private: | ||
| static constexpr int DEFAULT_REAR_WHEEL_SPEED = 0; | ||
| static constexpr int DEFAULT_FRONT_WHEEL_ANGLE = 90; | ||
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| static constexpr auto REAR_WHEEL_DIRECTION_FORWARD_MESSAGE = "Rear Wheel Direction: Forward"; | ||
| static constexpr auto REAR_WHEEL_DIRECTION_BACKWARD_MESSAGE = "Rear Wheel Direction: Backward"; | ||
| public: | ||
| DebugWheelRenderer() { | ||
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| } | ||
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| ftxui::Component element() | ||
| { | ||
| this->rear_wheel_speed_slider = Slider("Rear Wheels Speed:", &this->rear_wheels_speed_slider_value, 0, 100, 1); | ||
| this->rear_left_wheel_speed_slider = Slider("Left Rear Wheel Speed:", &this->rear_left_wheel_speed_slider_value, 0, 100, 1); | ||
| this->rear_right_wheel_speed_slider = Slider("Right Rear Wheel Speed:", &this->rear_right_wheel_speed_slider_value, 0, 100, 1); | ||
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| this->front_wheels_angle_slider = Slider("Front Wheels Angle:", &this->front_wheels_angle_slider_value, 0, 180, 1); | ||
| this->front_left_wheel_angle_slider = Slider("Left Front Wheel Angle:", &this->front_left_wheel_angle_slider_value, 0, 180, 1); | ||
| this->front_right_wheel_angle_slider = Slider("Right Front Wheel Angle:", &this->front_right_wheel_angle_slider_value, 0, 180, 1); | ||
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| this->rear_wheel_menu_entry = MenuEntry("Rear Wheel:") | bold; | ||
| this->front_wheel_menu_entry = MenuEntry("Front Wheel:") | bold; | ||
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| auto rear_wheel_direction_checkbox_option = CheckboxOption::Simple(); | ||
| rear_wheel_direction_checkbox_option.on_change = [&] | ||
| { | ||
| if (this->rear_wheel_direction_debounce) { | ||
| this->rear_wheel_direction = !this->rear_wheel_direction; | ||
| return; | ||
| } | ||
| this->rear_wheel_direction_debounce = true; | ||
| if (this->rear_wheel_direction) { | ||
| this->rear_wheel_direction_status = REAR_WHEEL_DIRECTION_FORWARD_MESSAGE; | ||
| } | ||
| else { | ||
| this->rear_wheel_direction_status = REAR_WHEEL_DIRECTION_BACKWARD_MESSAGE; | ||
| } | ||
| this->rear_wheel_direction_signal(this->rear_wheel_direction); | ||
| this->rear_wheel_direction_debounce = false; | ||
| }; | ||
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| this->rear_wheel_direction_checkbox_component = Checkbox(&this->rear_wheel_direction_status, &this->rear_wheel_direction, rear_wheel_direction_checkbox_option); | ||
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| this->slider_container = | ||
| Container::Horizontal({ | ||
| Container::Vertical({ | ||
| this->rear_wheel_menu_entry, | ||
| this->rear_wheel_speed_slider, | ||
| this->rear_left_wheel_speed_slider, | ||
| this->rear_right_wheel_speed_slider, | ||
| this->rear_wheel_direction_checkbox_component, | ||
| }), | ||
| Container::Vertical({ | ||
| this->front_wheel_menu_entry, | ||
| this->front_wheels_angle_slider, | ||
| this->front_left_wheel_angle_slider, | ||
| this->front_right_wheel_angle_slider, | ||
| }) | ||
| } | ||
| ); | ||
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| return Renderer(this->slider_container, [&] { | ||
| return | ||
| hbox({ | ||
| vbox({ | ||
| this->rear_wheel_menu_entry->Render(), | ||
| separator(), | ||
| this->rear_wheel_speed_slider->Render(), | ||
| separator(), | ||
| this->rear_left_wheel_speed_slider->Render(), | ||
| this->rear_right_wheel_speed_slider->Render(), | ||
| separator(), | ||
| text("Left Rear Wheel Speed: " + std::to_string(this->rear_left_wheel_speed_slider_value)), | ||
| text("Right Rear Wheel Speed: " + std::to_string(this->rear_right_wheel_speed_slider_value)), | ||
| separator(), | ||
| this->rear_wheel_direction_checkbox_component->Render(), | ||
| }) | xflex, | ||
| separator(), | ||
| vbox({ | ||
| this->front_wheel_menu_entry->Render(), | ||
| separator(), | ||
| this->front_wheels_angle_slider->Render(), | ||
| separator(), | ||
| this->front_left_wheel_angle_slider->Render(), | ||
| this->front_right_wheel_angle_slider->Render(), | ||
| separator(), | ||
| text("Left Front Wheel Angle: " + std::to_string(this->front_left_wheel_angle_slider_value)), | ||
| text("Right Front Wheel Angle: " + std::to_string(this->front_right_wheel_angle_slider_value)), | ||
| }) | xflex, | ||
| separator(), | ||
| }); | ||
| }); | ||
| } | ||
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| bool updateFrontWheels() { | ||
| if (this->previous_front_wheels_angle_slider_value != this->front_wheels_angle_slider_value) { | ||
| this->previous_front_wheels_angle_slider_value = this->front_wheels_angle_slider_value; | ||
| this->front_left_wheel_angle_slider_value = this->front_wheels_angle_slider_value; | ||
| this->front_right_wheel_angle_slider_value = this->front_wheels_angle_slider_value; | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
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| bool updateRearWheels() { | ||
| if (this->previous_rear_wheels_speed_slider_value != this->rear_wheels_speed_slider_value) { | ||
| this->previous_rear_wheels_speed_slider_value = this->rear_wheels_speed_slider_value; | ||
| this->rear_left_wheel_speed_slider_value = this->rear_wheels_speed_slider_value; | ||
| this->rear_right_wheel_speed_slider_value = this->rear_wheels_speed_slider_value; | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
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| nod::signal<void(bool)>& getRearWheelDirectionSignal() { | ||
| return this->rear_wheel_direction_signal; | ||
| } | ||
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| const int& getFrontLeftWheelAngleSliderValue() const { | ||
| return this->front_left_wheel_angle_slider_value; | ||
| } | ||
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| const int& getFrontRightWheelAngleSliderValue() const { | ||
| return this->front_right_wheel_angle_slider_value; | ||
| } | ||
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| const int& getRearLeftWheelSpeedSliderValue() const { | ||
| return this->rear_left_wheel_speed_slider_value; | ||
| } | ||
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| const int& getRearRightWheelSpeedSliderValue() const { | ||
| return this->rear_right_wheel_speed_slider_value; | ||
| } | ||
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| private: | ||
| nod::signal<void(bool)> rear_wheel_direction_signal; | ||
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| int previous_rear_wheels_speed_slider_value = DEFAULT_REAR_WHEEL_SPEED; | ||
| int rear_wheels_speed_slider_value = DEFAULT_REAR_WHEEL_SPEED; | ||
| int rear_left_wheel_speed_slider_value = DEFAULT_REAR_WHEEL_SPEED; | ||
| int rear_right_wheel_speed_slider_value = DEFAULT_REAR_WHEEL_SPEED; | ||
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| int previous_front_wheels_angle_slider_value = DEFAULT_FRONT_WHEEL_ANGLE; | ||
| int front_wheels_angle_slider_value = DEFAULT_FRONT_WHEEL_ANGLE; | ||
| int front_left_wheel_angle_slider_value = DEFAULT_FRONT_WHEEL_ANGLE; | ||
| int front_right_wheel_angle_slider_value = DEFAULT_FRONT_WHEEL_ANGLE; | ||
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| bool rear_wheel_direction_debounce = false; | ||
| std::string rear_wheel_direction_status = REAR_WHEEL_DIRECTION_FORWARD_MESSAGE; | ||
| bool rear_wheel_direction = true; | ||
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| Component rear_wheel_speed_slider; | ||
| Component rear_left_wheel_speed_slider; | ||
| Component rear_right_wheel_speed_slider; | ||
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| Component rear_wheel_direction_checkbox_component; | ||
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| Component front_wheels_angle_slider; | ||
| Component front_left_wheel_angle_slider; | ||
| Component front_right_wheel_angle_slider; | ||
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| Component rear_wheel_menu_entry; | ||
| Component front_wheel_menu_entry; | ||
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| Component slider_container; | ||
| }; | ||
| } | ||
|
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| #endif |
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