pbio/sys/hmi_virtual: Copy slot UI as starting point.

Get basic start/stop/slot working with virtual buttons.

Author: laurensvalk

lib/pbio/sys/hmi_virtual.c

@@ -9,12 +9,18 @@
 
 #if PBSYS_CONFIG_HMI_VIRTUAL
 
+#include <pbdrv/display.h>
+
 #include <pbio/button.h>
+#include <pbio/image.h>
 #include <pbio/os.h>
 #include <pbsys/command.h>
+#include <pbsys/host.h>
 #include <pbsys/main.h>
 #include <pbsys/status.h>
+
 #include "storage.h"
+#include "hmi.h"
 
 #include <errno.h>
 #include <signal.h>
@@ -26,6 +32,15 @@
 #include <string.h>
 #include <sys/stat.h>
 
+#define DEBUG 0
+
+#if DEBUG
+#include <pbio/debug.h>
+#define DEBUG_PRINT pbio_debug
+#else
+#define DEBUG_PRINT(...)
+#endif
+
 static uint32_t pbsys_hmi_num_programs;
 
 static void load_program(const char *path) {
@@ -55,6 +70,27 @@ static void load_program(const char *path) {
     pbsys_storage_set_program_size(program_size);
 }
 
+/**
+ * Runs one program (or REPL if nothing given) and shuts down the hub.
+ */
+static pbio_error_t pbsys_hmi_await_program_selection_one_off(void) {
+
+    pbio_os_run_processes_and_wait_for_event();
+
+    // With this HMI, we run a script once and then exit.
+    static bool ran_once = false;
+    if (ran_once) {
+        return PBIO_ERROR_CANCELED;
+    }
+    ran_once = true;
+
+    pbio_pybricks_user_program_id_t id = pbsys_hmi_num_programs ?
+        PBIO_PYBRICKS_USER_PROGRAM_ID_FIRST_SLOT :
+        PBIO_PYBRICKS_USER_PROGRAM_ID_REPL;
+
+    return pbsys_main_program_request_start(id, PBSYS_MAIN_PROGRAM_START_REQUEST_TYPE_BOOT);
+}
+
 void pbsys_hmi_init(void) {
     extern int main_argc;
     extern char **main_argv;
@@ -79,40 +115,133 @@ void pbsys_hmi_init(void) {
     }
 }
 
+static void hmi_lcd_grid_show_pixel(uint8_t row, uint8_t col, bool on) {
+    pbio_image_t *display = pbdrv_display_get_image();
+    uint8_t value = on ? pbdrv_display_get_max_value(): 0;
+    const uint32_t size = PBDRV_CONFIG_DISPLAY_NUM_ROWS / PBSYS_CONFIG_HMI_NUM_SLOTS;
+    const uint32_t width = size * 4 / 5;
+    const uint32_t offset = (PBDRV_CONFIG_DISPLAY_NUM_COLS - (PBSYS_CONFIG_HMI_NUM_SLOTS * size)) / 2;
+    pbio_image_fill_rect(display, col * size + offset, row * size, width, width, value);
+}
+
 void pbsys_hmi_deinit(void) {
+    pbio_image_t *display = pbdrv_display_get_image();
+    pbio_image_fill(display, 0);
+    pbdrv_display_update();
 }
 
+static pbio_error_t run_ui(pbio_os_state_t *state, pbio_os_timer_t *timer) {
 
-/**
- * Runs one program (or REPL if nothing given) and shuts down the hub.
- */
-static pbio_error_t pbsys_hmi_await_program_selection_one_off(void) {
+    PBIO_OS_ASYNC_BEGIN(state);
 
-    pbio_os_run_processes_and_wait_for_event();
+    for (;;) {
 
-    // With this HMI, we run a script once and then exit.
-    static bool ran_once = false;
-    if (ran_once) {
-        return PBIO_ERROR_CANCELED;
+        DEBUG_PRINT("Start HMI loop\n");
+
+        // Visually indicate current slot.
+        #if PBSYS_CONFIG_HMI_NUM_SLOTS
+        uint8_t selected_slot = pbsys_status_get_selected_slot();
+        for (uint8_t c = 0; c < PBSYS_CONFIG_HMI_NUM_SLOTS; c++) {
+            hmi_lcd_grid_show_pixel(4, c, c == selected_slot);
+        }
+        #endif
+
+        pbdrv_display_update();
+
+        // Buttons could be pressed at the end of the user program, so wait for
+        // a release and then a new press, or until we have to exit early.
+        DEBUG_PRINT("Waiting for initial button release.\n");
+        PBIO_OS_AWAIT_WHILE(state, ({
+            if (pbsys_status_test(PBIO_PYBRICKS_STATUS_SHUTDOWN_REQUEST)) {
+                return PBIO_ERROR_CANCELED;
+            }
+            pbdrv_button_get_pressed();
+        }));
+
+        DEBUG_PRINT("Start waiting for input.\n");
+        // Wait on a button, external program start, or connection change. Stop
+        // waiting on timeout or shutdown.
+        PBIO_OS_AWAIT_UNTIL(state, ({
+            // Shutdown may be requested by a background process such as critical
+            // battery or holding the power button.
+            if (pbsys_status_test(PBIO_PYBRICKS_STATUS_SHUTDOWN_REQUEST)) {
+                return PBIO_ERROR_CANCELED;
+            }
+
+            // Exit on timeout except while connected to host.
+            if (pbsys_host_is_connected()) {
+                pbio_os_timer_reset(timer);
+            } else if (pbio_os_timer_is_expired(timer)) {
+                return PBIO_ERROR_TIMEDOUT;
+            }
+
+            // Wait for button press, external program start, or connection change.
+            pbdrv_button_get_pressed() || pbsys_main_program_start_is_requested();
+        }));
+
+        // External progran request takes precedence over buttons.
+        if (pbsys_main_program_start_is_requested()) {
+            DEBUG_PRINT("Start program from Pybricks Code.\n");
+            break;
+        }
+
+        // On right, increment slot when possible, then start waiting on new inputs.
+        if (pbdrv_button_get_pressed() & PBIO_BUTTON_RIGHT) {
+            pbsys_status_increment_selected_slot(true);
+            continue;
+        }
+        // On left, decrement slot when possible, then start waiting on new inputs.
+        if (pbdrv_button_get_pressed() & PBIO_BUTTON_LEFT) {
+            pbsys_status_increment_selected_slot(false);
+            continue;
+        }
+
+        // On center, attempt to start program.
+        if (pbdrv_button_get_pressed() & PBIO_BUTTON_CENTER) {
+            pbio_error_t err = pbsys_main_program_request_start(pbsys_status_get_selected_slot(), PBSYS_MAIN_PROGRAM_START_REQUEST_TYPE_HUB_UI);
+            if (err == PBIO_SUCCESS) {
+                DEBUG_PRINT("Start program with button\n");
+                break;
+            } else {
+                DEBUG_PRINT("Requested program not available.\n");
+                // We can run an animation here to indicate that the program is not available.
+            }
+        }
+
+        DEBUG_PRINT("No valid action selected, start over.\n");
     }
-    ran_once = true;
 
-    pbio_pybricks_user_program_id_t id = pbsys_hmi_num_programs ?
-        PBIO_PYBRICKS_USER_PROGRAM_ID_FIRST_SLOT :
-        PBIO_PYBRICKS_USER_PROGRAM_ID_REPL;
+    // Wait for all buttons to be released so the user doesn't accidentally
+    // push their robot off course.
+    DEBUG_PRINT("Waiting for final button release.\n");
+    PBIO_OS_AWAIT_WHILE(state, ({
+        if (pbsys_status_test(PBIO_PYBRICKS_STATUS_SHUTDOWN_REQUEST)) {
+            return PBIO_ERROR_CANCELED;
+        }
+        pbdrv_button_get_pressed();
+    }));
 
-    return pbsys_main_program_request_start(id, PBSYS_MAIN_PROGRAM_START_REQUEST_TYPE_BOOT);
+    PBIO_OS_ASYNC_END(PBIO_SUCCESS);
 }
 
+
 /**
  * Interactive menu similar to real embedded hubs.
  */
 static pbio_error_t pbsys_hmi_await_program_selection_interactive(void) {
 
-    pbio_os_run_processes_and_wait_for_event();
+    pbio_os_timer_t idle_timer;
+    pbio_os_timer_set(&idle_timer, PBSYS_CONFIG_HMI_IDLE_TIMEOUT_MS);
+
+    pbio_os_state_t state = 0;
 
-    // TODO: Implement interactive menu.
-    return pbsys_main_program_request_start(PBIO_PYBRICKS_USER_PROGRAM_ID_FIRST_SLOT, PBSYS_MAIN_PROGRAM_START_REQUEST_TYPE_BOOT);
+    pbio_error_t err;
+    while ((err = run_ui(&state, &idle_timer)) == PBIO_ERROR_AGAIN) {
+        // run all processes and wait for next event.
+        pbio_os_run_processes_and_wait_for_event();
+    }
+    DEBUG_PRINT("Finished program selection with status: %d\n", err);
+    return err;
 }
 
 /**