.. _program_listing_file_src_tap_display_command_scheduler_menu.cpp:

Program Listing for File command_scheduler_menu.cpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_display_command_scheduler_menu.cpp>` (``src/tap/display/command_scheduler_menu.cpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #include "command_scheduler_menu.hpp"
   
   #include <algorithm>
   
   #include "tap/control/command.hpp"
   #include "tap/control/command_scheduler.hpp"
   #include "tap/control/subsystem.hpp"
   #include "tap/drivers.hpp"
   
   namespace tap
   {
   namespace display
   {
   CommandSchedulerMenu::CommandSchedulerMenu(
       modm::ViewStack<DummyAllocator<modm::IAbstractView> > *stack,
       Drivers *drivers)
       : modm::AbstractMenu<DummyAllocator<modm::IAbstractView> >(stack, 1),
         drivers(drivers),
         vertScrollHandler(drivers, 0, MAX_ENTRIES_DISPLAYED),
         firstDrawTime(true)
   {
   }
   
   void CommandSchedulerMenu::update() {}
   
   void CommandSchedulerMenu::shortButtonPress(modm::MenuButtons::Button button)
   {
       if (button == modm::MenuButtons::LEFT)
       {
           this->remove();
       }
       else
       {
           vertScrollHandler.onShortButtonPress(button);
       }
   }
   
   bool CommandSchedulerMenu::hasChanged()
   {
       if (firstDrawTime)
       {
           firstDrawTime = false;
           return true;
       }
   
       bool schedulerChanged =
           (prevRegisteredSubsystems != drivers->commandScheduler.getRegisteredSubsystemBitmap()) ||
           (prevAddedCommands != drivers->commandScheduler.getAddedCommandBitmap());
       prevRegisteredSubsystems = drivers->commandScheduler.getRegisteredSubsystemBitmap();
       prevAddedCommands = drivers->commandScheduler.getAddedCommandBitmap();
   
       return vertScrollHandler.acknowledgeCursorChanged() || schedulerChanged;
   }
   
   void CommandSchedulerMenu::draw()
   {
       int numSubsystems = drivers->commandScheduler.subsystemListSize();
       int numCommands = drivers->commandScheduler.commandListSize();
       if (numSubsystems + numCommands != vertScrollHandler.getSize())
       {
           // Must check and update size every time in case commands have been added/removed
           vertScrollHandler.setSize(numSubsystems + numCommands);
       }
   
       modm::GraphicDisplay &display = getViewStack()->getDisplay();
   
       display.clear();
       display.setCursor(0, 2);
       display << getMenuName() << modm::endl;
   
       // TODO in the future display relationship between subsystems/commands (due to time constraints
       // this is not done)
       int8_t index = 0;
   
       // Only print "Subsystems:" when there are subsystems within the valid screen range to print
       if (numSubsystems > vertScrollHandler.getSmallestIndexDisplayed())
       {
           display << "Subsystems:" << modm::endl;
       }
   
       std::for_each(
           drivers->commandScheduler.subMapBegin(),
           drivers->commandScheduler.subMapEnd(),
           [&](control::Subsystem *sub)
           {
               if (index >= vertScrollHandler.getSmallestIndexDisplayed() &&
                   index <= vertScrollHandler.getLargestIndexDisplayed())
               {
                   display << (index == vertScrollHandler.getCursorIndex() ? ">" : " ")
                           << sub->getName() << modm::endl;
               }
               index++;
           });
   
       if (vertScrollHandler.getLargestIndexDisplayed() >= numSubsystems)
       {
           display << "Commands:" << modm::endl;
       }
       std::for_each(
           drivers->commandScheduler.cmdMapBegin(),
           drivers->commandScheduler.cmdMapEnd(),
           [&](control::Command *cmd)
           {
               // Only display stuff within bounds of the scroll handler.
               if (index >= vertScrollHandler.getSmallestIndexDisplayed() &&
                   index <= vertScrollHandler.getLargestIndexDisplayed())
               {
                   display << (index == vertScrollHandler.getCursorIndex() ? ">" : " ")
                           << cmd->getName() << modm::endl;
               }
               index++;
           });
   }
   }  // namespace display
   }  // namespace tap