.. _program_listing_file_src_tap_display_ref_serial_menu.cpp:

Program Listing for File ref_serial_menu.cpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_display_ref_serial_menu.cpp>` (``src/tap/display/ref_serial_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 "ref_serial_menu.hpp"
   
   #include "tap/drivers.hpp"
   
   using namespace tap::communication::serial;
   
   namespace tap::display
   {
   RefSerialMenu::RefSerialMenu(
       modm::ViewStack<DummyAllocator<modm::IAbstractView> >* stack,
       Drivers* drivers)
       : modm::AbstractMenu<DummyAllocator<modm::IAbstractView> >(stack, 1),
         drivers(drivers),
         verticalScroll(drivers, REF_SERIAL_INFO_LINES, DISPLAY_MAX_ENTRIES),
         printRefSerialDataFncPtrs{
             &RefSerialMenu::printRobotTypeId,
             &RefSerialMenu::printHp,
             &RefSerialMenu::print17mm1Heat,
             &RefSerialMenu::print17mm2Heat,
             &RefSerialMenu::print42mmHeat,
             &RefSerialMenu::printPowerBuf,
             &RefSerialMenu::printPower,
         }
   {
   }
   
   void RefSerialMenu::draw()
   {
       modm::GraphicDisplay& display = getViewStack()->getDisplay();
       display.clear();
       display.setCursor(0, 2);
       display << getMenuName() << modm::endl;
   
       for (int8_t i = verticalScroll.getSmallestIndexDisplayed();
            i <= verticalScroll.getLargestIndexDisplayed();
            i++)
       {
           display << (i == verticalScroll.getCursorIndex() ? "> " : "  ");
           (this->*printRefSerialDataFncPtrs[i])(display);
       }
   }
   
   void RefSerialMenu::shortButtonPress(modm::MenuButtons::Button button)
   {
       if (button == modm::MenuButtons::LEFT)
       {
           this->remove();
       }
       else
       {
           verticalScroll.onShortButtonPress(button);
       }
   }
   
   void RefSerialMenu::update() {}
   
   bool RefSerialMenu::hasChanged()
   {
       return verticalScroll.acknowledgeCursorChanged() || updatePeriodicTimer.execute();
   }
   
   void RefSerialMenu::printRobotTypeId(modm::IOStream& stream)
   {
       const auto& robotData = drivers->refSerial.getRobotData();
       stream << "Robot ID: " << static_cast<int>(robotData.robotId) << ", "
              << (RefSerialData::isBlueTeam(robotData.robotId) ? "BLUE" : "RED") << modm::endl;
   }
   
   void RefSerialMenu::printHp(modm::IOStream& stream)
   {
       const auto& robotData = drivers->refSerial.getRobotData();
       stream << "HP: " << robotData.currentHp << "/" << robotData.maxHp << modm::endl;
   }
   
   void RefSerialMenu::print17mm1Heat(modm::IOStream& stream)
   {
       const auto& robotData = drivers->refSerial.getRobotData();
       stream << "17mm1Heat: " << robotData.turret.heat17ID1 << " / " << robotData.turret.heatLimit
              << modm::endl;
   }
   
   void RefSerialMenu::print17mm2Heat(modm::IOStream& stream)
   {
       const auto& robotData = drivers->refSerial.getRobotData();
       stream << "17mm2Heat: " << robotData.turret.heat17ID2 << " / " << robotData.turret.heatLimit
              << modm::endl;
   }
   
   void RefSerialMenu::print42mmHeat(modm::IOStream& stream)
   {
       const auto& robotData = drivers->refSerial.getRobotData();
       stream << "42mmHeat: " << robotData.turret.heat42 << " / " << robotData.turret.heatLimit
              << modm::endl;
   }
   
   void RefSerialMenu::printPowerBuf(modm::IOStream& stream)
   {
       const auto& robotData = drivers->refSerial.getRobotData();
       stream << "PowerBuf: " << robotData.chassis.powerBuffer << modm::endl;
   }
   
   void RefSerialMenu::printPower(modm::IOStream& stream)
   {
       const auto& robotData = drivers->refSerial.getRobotData();
       stream.printf(
           "Power: %.2f / %i",
           static_cast<double>(robotData.chassis.power),
           robotData.chassis.powerConsumptionLimit);
   }
   
   }  // namespace tap::display