auton_selector.hpp

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#pragma once
#include <cstdint>
#include <functional>
#include <string>
#include <vector>
 
#include "light/lvgl.h"
 
namespace light {
 
struct Auton {
  std::string name;                       
  std::string description;                
  std::function<void()> fn;               
  const lv_img_dsc_t* banner = nullptr;   
};
 
class AutonSelector {
 public:
  ~AutonSelector() { teardown_ui(); }
 
  void add(const std::string& name, const std::string& desc, std::function<void()> fn);
 
  void add(const std::string& name, const std::string& desc, std::function<void()> fn,
           const lv_img_dsc_t* banner);
 
  void init();
 
  void run();
 
  void show();
 
  int selected() const { return selected_idx_; }
 
 private:
  std::vector<Auton> autons_;
  int selected_idx_ = 0;
  lv_obj_t* screen_ = nullptr;
  lv_obj_t* img_obj_ = nullptr;
  lv_obj_t* preview_cont_ = nullptr;
  lv_obj_t* pid_cont_ = nullptr;
  lv_obj_t* odom_cont_ = nullptr;
  lv_obj_t* odom_x_lbl_ = nullptr;
  lv_obj_t* odom_y_lbl_ = nullptr;
  lv_obj_t* odom_theta_lbl_ = nullptr;
  lv_timer_t* odom_timer_ = nullptr;
  // Last-rendered text per label — skip lv_label_set_text (and its
  // invalidation) when the formatted value is unchanged.
  char odom_x_last_[16] = {};
  char odom_y_last_[16] = {};
  char odom_th_last_[16] = {};
  lv_obj_t* toggle_lbl_ = nullptr;
  int right_panel_mode_ = 0;  // 0=preview, 1=pid, 2=odom
  std::vector<lv_obj_t*> btn_objs_;
  // Targets of LV_ANIM_REPEAT_INFINITE animations — must be lv_anim_del'd
  // before their parents are freed, otherwise the anim timer keeps firing
  // exec_cb on dangling memory and faults inside lv_obj_set_x/y.
  std::vector<lv_obj_t*> infinite_anim_targets_;
 
  // compact PID panel state
  lv_obj_t* pid_tab_btns_[4] = {};
  lv_obj_t* pid_val_labels_[4][4] = {};
  int active_pid_tab_ = 0;
  double pid_vals_[4][4] = {};
 
  void build_ui();
  void teardown_ui();
  void build_right_preview(lv_obj_t* parent);
  void build_right_pid(lv_obj_t* parent);
  void build_right_odom(lv_obj_t* parent);
  void switch_panel(int mode);
  void select_pid_tab(int idx);
  void refresh_pid_labels();
  void init_pid_vals();
  void apply_pid_vals();
  void select(int idx);
 
  // persistent full-screen view shown during/after autonomous
  lv_obj_t* run_screen_ = nullptr;
  lv_obj_t* run_img_cont_ = nullptr;
  lv_obj_t* run_info_cont_ = nullptr;
  lv_obj_t* run_toggle_lbl_ = nullptr;
  lv_obj_t* run_back_lbl_ = nullptr;
  lv_obj_t* run_img_ = nullptr;
  bool run_show_img_ = false;
  // Signals run() (auton task) that the deferred LVGL setup in
  // run_screen_load_async has finished running on the LVGL task.
  std::atomic<bool> run_setup_done_{false};
  void build_run_screen();
  void activate_run_screen();
  void start_run_anim();
  void switch_run_view(bool show_img);
  static void run_screen_load_async(void* p);
  static void run_toggle_cb(lv_event_t* e);
  static void run_back_cb(lv_event_t* e);
 
  static void btn_cb(lv_event_t* e);
  static void toggle_cb(lv_event_t* e);
  static void pid_tab_cb(lv_event_t* e);
  static void pid_adj_cb(lv_event_t* e);
  static void pid_apply_cb(lv_event_t* e);
  static void odom_timer_cb(lv_timer_t* timer);
};
 
extern AutonSelector auton_selector;
 
}  // namespace light
 
void register_autons();