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Add rear and front wheel sliders
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@Chi-EEE
Chi-EEE committed Jan 9, 2024
1 parent b1b8d63 commit f38b09d
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Showing 2 changed files with 186 additions and 48 deletions.
230 changes: 183 additions & 47 deletions app/raspberry_pi/src/car/display/CarConsole.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -42,44 +42,67 @@ namespace car::display {
return component;
}

inline Component ExitModalComponent(std::function<void()> hide_exit_modal,
std::function<void()> exit) {
inline Component ExitModalComponent(
std::function<void()> hide_exit_modal,
std::function<void()> exit
) {
auto component = Container::Vertical({
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) {
return vbox({
text("Are you sure you want to exit?"),
separator(),
inner,
}) //
| size(WIDTH, GREATER_THAN, 30) //
| border; //
})
| size(WIDTH, GREATER_THAN, 30)
| border;
});
return component;
}

inline Component DebugEnableWarningComponent(
std::function<void()> hide_enable_debug_warning_modal,
std::function<void()> enable_debug_mode
) {
constexpr auto DEBUG_ENABLE_WARNING_MESSAGE = "Enabling debug mode temporarily disables connecting to online. Are you sure you want to do this?";

auto component = Container::Vertical({
Button("No", hide_enable_debug_warning_modal, animated_button_style),
Button("Yes", enable_debug_mode, animated_button_style),
});
component |= Renderer([&](Element inner) {
return vbox({
text(DEBUG_ENABLE_WARNING_MESSAGE),
separator(),
inner,
})
| size(WIDTH, GREATER_THAN, 30)
| border;
});
return component;
}

CarConsole(std::unique_ptr<CarSystem> car_system) : car_system(std::move(car_system)) {
};

void initialize() {
this->car_system->initialize();
};

void run() {
auto screen = ScreenInteractive::Fullscreen();

// State of the ExitModalComponent:
bool exit_modal_shown = false;

auto show_exit_modal = [&] { exit_modal_shown = true; };
auto hide_exit_modal = [&] { exit_modal_shown = false; };

bool debounce = false;
#pragma region Main Screen
#pragma region Main Button
bool main_debounce = false;
bool button_pressed = false;
std::string main_button_text = "Start Car Application";

auto main_button_lambda = [&] {
if (debounce) return;
debounce = true;
if (main_debounce) return;
main_debounce = true;
button_pressed = !button_pressed;
std::cout << "Button pressed: " << button_pressed << std::endl;
if (button_pressed) {
Expand All @@ -92,17 +115,28 @@ namespace car::display {
this->car_system->stop();
main_button_text = "Start Car Application";
}
debounce = false;
main_debounce = false;
};

auto main_button = Button(&main_button_text, main_button_lambda, animated_button_style);
#pragma endregion

#pragma region Exit Modal
bool exit_modal_shown = false;

auto show_exit_modal = [&] { exit_modal_shown = true; };
auto hide_exit_modal = [&] { exit_modal_shown = false; };

auto exit = screen.ExitLoopClosure();

auto main_component = MainComponent(main_button, show_exit_modal);
auto modal_component = ExitModalComponent(hide_exit_modal, exit);
#pragma endregion

auto main_component = MainComponent(main_button, show_exit_modal);
main_component |= Modal(modal_component, &exit_modal_shown);
#pragma endregion

#pragma region Lidar Scan Map
auto renderer_line_block = Renderer([&] {
auto c = Canvas(100, 100);
for (auto& point : this->car_system->get_scan_data()) {
Expand All @@ -116,44 +150,159 @@ namespace car::display {
return canvas(std::move(c));
}
);
#pragma endregion

#pragma region Settings Screen

#pragma region Debug Modal
bool debug_enabled = false;

constexpr auto DEBUG_MODE_ENABLED_MESSAGE = "Debug Status: Enabled";
constexpr auto DEBUG_MODE_DISABLED_MESSAGE = "Debug Status: Disabled";
constexpr auto DEBUG_MODE_WAIT_MESSAGE = "Debug Status: Waiting for user input...";

std::string debug_status = DEBUG_MODE_DISABLED_MESSAGE;

bool debug_debounce = false;
bool debug_checkbox_value = false;
bool display_warn_debug_modal = false;
auto debug_checkbox_option = CheckboxOption::Simple();

debug_checkbox_option.on_change = [&]
{
if (debug_debounce) {
debug_checkbox_value = !debug_checkbox_value;
return;
}
debug_debounce = true;
if (debug_enabled) {
debug_status = DEBUG_MODE_DISABLED_MESSAGE;
debug_enabled = false;
debug_debounce = false;
}
else {
display_warn_debug_modal = true;
debug_status = DEBUG_MODE_WAIT_MESSAGE;
}
};

auto debug_checkbox_component = Checkbox(&debug_status, &debug_checkbox_value, debug_checkbox_option);

auto enable_debug_mode = [&] {
debug_enabled = true;
display_warn_debug_modal = false;
debug_status = DEBUG_MODE_ENABLED_MESSAGE;
debug_debounce = false;
};

auto hide_enable_debug_warning_modal = [&] {
debug_checkbox_value = false;
display_warn_debug_modal = false;
debug_status = DEBUG_MODE_DISABLED_MESSAGE;
debug_debounce = false;
};

auto warn_enable_debug_modal = Modal(DebugEnableWarningComponent(hide_enable_debug_warning_modal, enable_debug_mode), &display_warn_debug_modal);
#pragma endregion

#pragma region Lidar Scanner Checkbox
constexpr auto LIDAR_ENABLED_MESSAGE = "Lidar Status: Enabled";
constexpr auto LIDAR_DISABLED_MESSAGE = "Lidar Status: Disconnected";
constexpr auto LIDAR_WAIT_ENABLED_MESSAGE = "Lidar Status: Enabling...";
constexpr auto LIDAR_WAIT_DISABLED_MESSAGE = "Lidar Status: Disabling...";

nod::signal<void(bool)> lidar_signal;

bool loading = false;
std::string lidar_status = "Lidar Status: Disconnected";
bool lidar_loading_debounce = false;
std::string lidar_status = LIDAR_DISABLED_MESSAGE;
bool lidar_enabled = false;
auto lidar_checkbox_option = CheckboxOption::Simple();
lidar_checkbox_option.on_change = [&]
{
if (loading) {
if (lidar_loading_debounce) {
lidar_enabled = !lidar_enabled;
return;
}
loading = true;
lidar_loading_debounce = true;
if (lidar_enabled) {
lidar_status = "Lidar Status: Connecting...";
lidar_status = LIDAR_WAIT_ENABLED_MESSAGE;
}
else {
lidar_status = "Lidar Status: Disconnecting...";
lidar_status = LIDAR_WAIT_DISABLED_MESSAGE;
}
lidar_signal(lidar_enabled);
};
auto lidar_checkbox = Checkbox(&lidar_status, &lidar_enabled, lidar_checkbox_option);

int image_index = 0;
auto lidar_spinner = Renderer([&] {return spinner(18, image_index); });
auto settings_container = Container::Vertical({
lidar_checkbox,
Maybe(lidar_spinner, &loading),
auto lidar_checkbox_component = Checkbox(&lidar_status, &lidar_enabled, lidar_checkbox_option);

lidar_signal.connect([&](bool connected)
{
if (connected) {
this->car_system->start_lidar_device();
lidar_status = LIDAR_ENABLED_MESSAGE;
lidar_loading_debounce = false;
}
else {
this->car_system->stop_lidar_device();
lidar_status = LIDAR_DISABLED_MESSAGE;
lidar_loading_debounce = false;
}
}
);
#pragma endregion

#pragma region Wheels

#pragma region Rear Wheel Slider
int rear_wheel_speed = 0;
auto rear_wheel_speed_slider = Slider("Rear Wheel Speed:", &rear_wheel_speed, 0, 100, 1);
#pragma endregion

#pragma region Front Wheel Slider
int front_wheel_angle = 90;
auto front_wheel_angle_slider = Slider("Front Wheel Angle:", &front_wheel_angle, 0, 180, 1);
#pragma endregion
auto slider_container = Container::Vertical({
rear_wheel_speed_slider,
front_wheel_angle_slider,
}
);

auto wheel_settings_renderer = Renderer(slider_container, [&] {
return
vbox({
rear_wheel_speed_slider->Render(),
front_wheel_angle_slider->Render(),
separator(),
text("Rear Wheel Speed: " + std::to_string(rear_wheel_speed) + " | Front Wheel Angle: " + std::to_string(front_wheel_angle)),
});
});

#pragma endregion

#pragma endregion

auto settings_container = Container::Vertical(
{
debug_checkbox_component,
Container::Vertical(
{
lidar_checkbox_component,
Renderer([&] {return separator(); }),
wheel_settings_renderer,
}
) | border | Maybe(&debug_enabled)
}
) | border;

settings_container |= warn_enable_debug_modal;

int selected_tab = 0;
std::vector<std::string> tab_titles = {
"Main",
"Scan Map",
"Settings",
"Logs",
};

auto tab_selection = Toggle(&tab_titles, &selected_tab);
Expand Down Expand Up @@ -185,23 +334,6 @@ namespace car::display {
}
);

this->car_system->initialize();

lidar_signal.connect([&](bool connected)
{
if (connected) {
this->car_system->start_lidar_device();
lidar_status = "Lidar Status: Connected";
loading = false;
}
else {
this->car_system->stop_lidar_device();
lidar_status = "Lidar Status: Disconnected";
loading = false;
}
}
);

std::atomic<bool> refresh_ui_continue = true;
std::thread refresh_ui([&]
{
Expand All @@ -211,7 +343,11 @@ namespace car::display {
// The |shift| variable belong to the main thread. `screen.Post(task)`
// will execute the update on the thread where |screen| lives (e.g. the
// main thread). Using `screen.Post(task)` is threadsafe.
screen.Post([&] { image_index++; });
screen.Post([&]
{
this->car_system->update();
}
);
// After updating the state, request a new frame to be drawn. This is done
// by simulating a new "custom" event to be handled.
screen.Post(Event::Custom);
Expand Down
4 changes: 3 additions & 1 deletion app/raspberry_pi/src/main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -60,10 +60,12 @@ int main()
websocket_url,
std::move(scanner),
std::move(messaging_system),
std::move(movement_system));
std::move(movement_system)
);

// The CarConsole object will display the UI and handle user input:
CarConsole car_console(std::move(car_system));
car_console.initialize();
car_console.run();
return 0;
}

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