.. _program_listing_file_src_tap_display_motor_menu.cpp:

Program Listing for File motor_menu.cpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_display_motor_menu.cpp>` (``src/tap/display/motor_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 "motor_menu.hpp"
   
   #include <algorithm>
   #include <cmath>
   
   #include "tap/drivers.hpp"
   #include "tap/motor/dji_motor.hpp"
   #include "tap/motor/dji_motor_tx_handler.hpp"
   
   #include "motor_specific_menu.hpp"
   
   using namespace tap::motor;
   using namespace tap::can;
   
   namespace tap
   {
   namespace display
   {
   MotorMenu::MotorMenu(modm::ViewStack<DummyAllocator<modm::IAbstractView> >* stack, Drivers* drivers)
       : modm::AbstractMenu<DummyAllocator<modm::IAbstractView> >(stack, MOTOR_MENU_ID),
         drivers(drivers),
         verticalScroll(drivers, DjiMotorTxHandler::DJI_MOTORS_PER_CAN * 2, DISPLAY_MAX_ENTRIES)
   {
   }
   
   void MotorMenu::drawMotor(CanBus canBus, int normalizedMotorId)
   {
       const DjiMotor* motor = nullptr;
       const char* canBusName = "CAN?";
       bool printCursor = false;
       switch (canBus)
       {
           case CanBus::CAN_BUS1:
               motor = drivers->djiMotorTxHandler.getCan1Motor(
                   NORMALIZED_ID_TO_DJI_MOTOR(normalizedMotorId));
               canBusName = "CAN1";
               printCursor = (normalizedMotorId == verticalScroll.getCursorIndex());
               break;
           case CanBus::CAN_BUS2:
               motor = drivers->djiMotorTxHandler.getCan2Motor(
                   NORMALIZED_ID_TO_DJI_MOTOR(normalizedMotorId));
               canBusName = "CAN2";
               printCursor =
                   ((normalizedMotorId + DjiMotorTxHandler::DJI_MOTORS_PER_CAN) ==
                    verticalScroll.getCursorIndex());
               break;
       }
   
       getViewStack()->getDisplay() << (printCursor ? ">" : " ") << canBusName << " Motor "
                                    << (normalizedMotorId + 1);
   
       if (motor != nullptr)
       {
           if (motor->isMotorOnline())
           {
               getViewStack()->getDisplay() << ": ON";
           }
           else
           {
               getViewStack()->getDisplay() << ": OFF";
           }
       }
       else
       {
           getViewStack()->getDisplay() << ": NULL";
       }
       getViewStack()->getDisplay() << modm::endl;
   }
   
   void MotorMenu::draw()
   {
       modm::GraphicDisplay& display = getViewStack()->getDisplay();
       display.clear();
       display.setCursor(0, 2);
       display << getMenuName() << modm::endl;
   
       auto can1MinIndex = verticalScroll.getSmallestIndexDisplayed();
       auto can1MaxIndex = std::min(
           DjiMotorTxHandler::DJI_MOTORS_PER_CAN - 1,
           static_cast<int>(verticalScroll.getLargestIndexDisplayed()));
       for (int8_t motorId = can1MinIndex; motorId <= can1MaxIndex; ++motorId)
       {
           drawMotor(CanBus::CAN_BUS1, motorId);
       }
   
       auto can2MinIndex = std::max(
           0,
           verticalScroll.getSmallestIndexDisplayed() - DjiMotorTxHandler::DJI_MOTORS_PER_CAN);
       auto can2MaxIndex = std::min(
           DjiMotorTxHandler::DJI_MOTORS_PER_CAN - 1,
           verticalScroll.getLargestIndexDisplayed() - DjiMotorTxHandler::DJI_MOTORS_PER_CAN);
       for (int motorId = can2MinIndex; motorId <= can2MaxIndex; ++motorId)
       {
           drawMotor(CanBus::CAN_BUS2, motorId);
       }
   }
   
   void MotorMenu::update() {}
   
   bool MotorMenu::hasChanged()
   {
       uint8_t newCan1MotorStatus = 0;
       uint8_t newCan2MotorStatus = 0;
       for (uint32_t motorId = MotorId::MOTOR1; motorId <= MotorId::MOTOR8; ++motorId)
       {
           DjiMotor const* currMotor = NULL;
   
           currMotor = drivers->djiMotorTxHandler.getCan1Motor(static_cast<MotorId>(motorId));
           if (currMotor != nullptr && currMotor->isMotorOnline())
           {
               newCan1MotorStatus |= (1 << DJI_MOTOR_TO_NORMALIZED_ID(motorId));
           }
   
           currMotor = drivers->djiMotorTxHandler.getCan2Motor(static_cast<MotorId>(motorId));
           if (currMotor != nullptr && currMotor->isMotorOnline())
           {
               newCan2MotorStatus |= (1 << DJI_MOTOR_TO_NORMALIZED_ID(motorId));
           }
       }
   
       bool motorStatusChanged = (can1PrevDisplayedStatus != newCan1MotorStatus) ||
                                 (can2PrevDisplayedStatus != newCan2MotorStatus);
   
       can1PrevDisplayedStatus = newCan1MotorStatus;
       can2PrevDisplayedStatus = newCan2MotorStatus;
   
       return verticalScroll.acknowledgeCursorChanged() || motorStatusChanged;
   }
   
   void MotorMenu::shortButtonPress(modm::MenuButtons::Button button)
   {
       switch (button)
       {
           case modm::MenuButtons::LEFT:
               this->remove();
               break;
           case modm::MenuButtons::RIGHT:
           {
               int8_t idx = verticalScroll.getCursorIndex();
               if (idx < DjiMotorTxHandler::DJI_MOTORS_PER_CAN)  // idx between [0, 8)
               {
                   const DjiMotor* motor =
                       drivers->djiMotorTxHandler.getCan1Motor(NORMALIZED_ID_TO_DJI_MOTOR(idx));
                   if (motor != nullptr)
                   {
                       this->getViewStack()->push(
                           new MotorSpecificMenu(getViewStack(), drivers, motor));
                   }
               }
               else  // idx between [8, 16)
               {
                   const DjiMotor* motor = drivers->djiMotorTxHandler.getCan2Motor(
                       NORMALIZED_ID_TO_DJI_MOTOR(idx - DjiMotorTxHandler::DJI_MOTORS_PER_CAN));
                   if (motor != nullptr)
                   {
                       this->getViewStack()->push(
                           new MotorSpecificMenu(getViewStack(), drivers, motor));
                   }
               }
               break;
           }
           case modm::MenuButtons::DOWN:
               verticalScroll.onShortButtonPress(modm::MenuButtons::DOWN);
               break;
           case modm::MenuButtons::UP:
               verticalScroll.onShortButtonPress(modm::MenuButtons::UP);
               break;
           case modm::MenuButtons::OK:
               break;
       }
   }
   }  // namespace display
   }  // namespace tap