.. _program_listing_file_src_tap_display_hardware_test_menu.cpp:

Program Listing for File hardware_test_menu.cpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_display_hardware_test_menu.cpp>` (``src/tap/display/hardware_test_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 "hardware_test_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
   {
   HardwareTestMenu::HardwareTestMenu(
       modm::ViewStack<DummyAllocator<modm::IAbstractView> >* vs,
       Drivers* drivers)
       : AbstractMenu<DummyAllocator<modm::IAbstractView> >(vs, HARDWARE_TEST_MENU_ID),
         drivers(drivers),
         vertScrollHandler(drivers, 0, MAX_ENTRIES_DISPLAYED)
   {
   }
   
   void HardwareTestMenu::update() {}
   
   void HardwareTestMenu::shortButtonPress(modm::MenuButtons::Button button)
   {
       if (button == modm::MenuButtons::LEFT)
       {
           drivers->commandScheduler.stopAllHardwareTests();
           this->remove();
       }
       else if (button == modm::MenuButtons::OK)
       {
           if (vertScrollHandler.getCursorIndex() == 0)
           {
               if (drivers->commandScheduler.countRunningHardwareTests() != 0)
               {
                   drivers->commandScheduler.stopAllHardwareTests();
               }
               else
               {
                   drivers->commandScheduler.runAllHardwareTests();
               }
               return;
           }
   
           int subsystemIndex = 1;
           for (auto it = drivers->commandScheduler.subMapBegin();
                it != drivers->commandScheduler.subMapEnd();
                it++)
           {
               if ((*it)->getTestCommand() != nullptr)
               {
                   if (subsystemIndex++ == vertScrollHandler.getCursorIndex())
                   {
                       if (drivers->commandScheduler.isRunningTest(*it))
                       {
                           drivers->commandScheduler.stopHardwareTest(*it);
                       }
                       else
                       {
                           drivers->commandScheduler.runHardwareTest(*it);
                       }
                       return;
                   }
               }
           }
       }
       else
       {
           vertScrollHandler.onShortButtonPress(button);
       }
   }
   
   bool HardwareTestMenu::hasChanged()
   {
       int runningTests = drivers->commandScheduler.countRunningHardwareTests();
   
       bool changed =
           vertScrollHandler.acknowledgeCursorChanged() || (runningTests != this->runningTests);
       this->runningTests = runningTests;
       return changed;
   }
   
   void HardwareTestMenu::draw()
   {
       // Only do this once because it is assumed that all subsystems will be registered once
       // at the beginning of the program and subsystemListSize is not free
       if (vertScrollHandler.getSize() == 0)
       {
           int testableSubsystems = 0;
           for (auto it = drivers->commandScheduler.subMapBegin();
                it != drivers->commandScheduler.subMapEnd();
                it++)
           {
               if ((*it)->getTestCommand() != nullptr)
               {
                   testableSubsystems++;
               }
           }
           vertScrollHandler.setSize(testableSubsystems + 1);
       }
   
       modm::GraphicDisplay& display = getViewStack()->getDisplay();
       display.clear();
       display.setCursor(0, 2);
       display << HardwareTestMenu::getMenuName() << modm::endl;
   
       if (drivers->commandScheduler.countRunningHardwareTests() != 0)
       {
           display << "Running " << drivers->commandScheduler.countRunningHardwareTests() << " tests."
                   << modm::endl;
           display << ((vertScrollHandler.getCursorIndex() == 0) ? ">" : " ");
           display << "[stop all] " << modm::endl;
       }
       else
       {
           display << "No tests running." << modm::endl;
           display << ((vertScrollHandler.getCursorIndex() == 0) ? ">" : " ");
           display << "[run all]" << modm::endl;
       }
   
       int subsystemIndex = 1;
       std::for_each(
           drivers->commandScheduler.subMapBegin(),
           drivers->commandScheduler.subMapEnd(),
           [&](control::Subsystem* sub)
           {
               if (sub->getTestCommand() != nullptr)
               {
                   if (subsystemIndex <= (vertScrollHandler.getLargestIndexDisplayed()) &&
                       subsystemIndex >= (vertScrollHandler.getSmallestIndexDisplayed()))
                   {
                       display << ((subsystemIndex == vertScrollHandler.getCursorIndex()) ? ">" : " ")
                               << ((drivers->commandScheduler.hasPassedTest(sub)) ? " + " : " x ")
                               << (drivers->commandScheduler.isRunningTest(sub) ? "[stop] "
                                                                                : "[run]  ")
                               << sub->getName() << modm::endl;
                   }
                   subsystemIndex++;
               }
           });
   }
   }  // namespace display
   }  // namespace tap