legacy.h

#pragma once
#include "core/subsystems/odometry/odometry_base.h"
#include "core/utils/controls/pid.h"
#include "core/utils/controls/pidff.h"
#include "core/utils/graph_drawer.h"
#include "core/utils/math/geometry/pose2d.h"
#include "core/utils/math/geometry/translation2d.h"
#include "core/utils/initializer.h"
#include "vex.h"
#include <cassert>
#include <functional>
#include <map>
#include <vector>
 
namespace LegacyScreen {
class ButtonWidget {
  public:
    ButtonWidget(std::function<void(void)> onpress, Rect rect, std::string name)
        : onpress(onpress), rect(rect), name(name) {}

    ButtonWidget(void (*onpress)(), Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}

    bool update(bool was_pressed, int x, int y);
    void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
 
  private:
    std::function<void(void)> onpress;
    Rect rect;
    std::string name = "";
    bool was_pressed_last = false;
};

class SliderWidget {
  public:
    SliderWidget(double &val, double low, double high, Rect rect, std::string name)
        : value(val), low(low), high(high), rect(rect), name(name) {}

    bool update(bool was_pressed, int x, int y);
    void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
 
  private:
    double &value;
 
    double low;
    double high;
 
    Rect rect;
    std::string name = "";
};
 
struct WidgetConfig;
 
struct SliderConfig {
    double &val;
    double low;
    double high;
};
struct ButtonConfig {
    std::function<void()> onclick;
};
struct CheckboxConfig {
    std::function<void(bool)> onupdate;
};
struct LabelConfig {
    std::string label;
};
 
struct TextConfig {
    std::function<std::string()> text;
};
struct SizedWidget {
    int size;
    WidgetConfig &widget;
};
struct WidgetConfig {
    enum Type {
        Col,
        Row,
        Slider,
        Button,
        Checkbox,
        Label,
        Text,
        Graph,
    };
    Type type;
    union {
        std::vector<SizedWidget> widgets;
        SliderConfig slider;
        ButtonConfig button;
        CheckboxConfig checkbox;
        LabelConfig label;
        TextConfig text;
        GraphDrawer *graph;
    } config;
};
 
class Page;
class Page {
  public:
    virtual ~Page() = default;
    virtual void update(bool was_pressed, int x, int y);
    virtual void draw(vex::brain::lcd &screen, bool first_draw, unsigned int frame_number);
};
 
struct ScreenRect {
    uint32_t x1;
    uint32_t y1;
    uint32_t x2;
    uint32_t y2;
};
void draw_widget(WidgetConfig &widget, ScreenRect rect);
 
class WidgetPage : public Page {
  public:
    WidgetPage(WidgetConfig &cfg) : base_widget(cfg) {}
    void update(bool was_pressed, int x, int y) override;
 
    void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override {
        draw_widget(base_widget, {.x1 = 20, .y1 = 0, .x2 = 440, .y2 = 240});
    }
 
  private:
    WidgetConfig &base_widget;
};

using update_func_t = std::function<void(bool, int, int)>;

using draw_func_t = std::function<void(vex::brain::lcd &screen, bool, unsigned int)>;

class StatsPage : public Page {
  public:
    StatsPage(std::map<std::string, vex::motor &> motors);
    void update(bool was_pressed, int x, int y) override;
    void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
 
  private:
    void
    draw_motor_stats(const std::string &name, vex::motor &mot, unsigned int frame, int x, int y, vex::brain::lcd &scr);
 
    std::map<std::string, vex::motor &> motors;
    static const int y_start = 0;
    static const int per_column = 4;
    static const int row_height = 20;
    static const int row_width = 200;
};

class OdometryPage : public Page {
  public:
    OdometryPage(OdometryBase &odom, double robot_width, double robot_height, bool do_trail);
    void update(bool was_pressed, int x, int y) override;
    void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
 
  private:
    static const int path_len = 40;
    static constexpr char const *field_filename = "vex_field_240p.png";
 
    OdometryBase &odom;
    double robot_width;
    double robot_height;
    uint8_t *buf = nullptr;
    int buf_size = 0;
    Pose2d path[path_len];
    int path_index = 0;
    bool do_trail;
    GraphDrawer velocity_graph;
};

class FunctionPage : public Page {
  public:
    FunctionPage(update_func_t update_f, draw_func_t draw_t);
    void update(bool was_pressed, int x, int y) override;
    void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
 
  private:
    update_func_t update_f;
    draw_func_t draw_f;
};

class PIDPage : public Page {
  public:
    PIDPage(PID &pid, std::string name, std::function<void(void)> onchange = []() {});
    PIDPage(PIDFF &pidff, std::string name, std::function<void(void)> onchange = []() {});

    void update(bool was_pressed, int x, int y) override;
    void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
 
  private:
    void zero_d_f() { cfg.d = 0; }
    void zero_i_f() { cfg.i = 0; }
 
    PID::pid_config_t &cfg;
    PID &pid;
    const std::string name;
    std::function<void(void)> onchange;
 
    SliderWidget p_slider;
    SliderWidget i_slider;
    SliderWidget d_slider;
    ButtonWidget zero_i;
    ButtonWidget zero_d;
 
    GraphDrawer graph;
};

class InitializerPage : public Page {
  public:
    InitializerPage(const Initializer &initializer, size_t starting_index = 0);

    void update(bool was_pressed, int x, int y) override;
    void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;

    static InitializerPage* Next();

    static size_t selector();

    inline static std::function<Selector::selector_t> timed_selector(unsigned int seconds, size_t fallback = DEFAULT_CANCELATION_INDEX) {
      return Selector::timeout(selector, seconds*1000000, fallback, cancel);
    }

    static void cancel(size_t selected);

    static const size_t DEFAULT_CANCELATION_INDEX = Selector::NO_SELECTION_INDEX - 1;
  
  private:
    inline static size_t selection_buffer = Selector::NO_SELECTION_INDEX;
 
    const Initializer &initializer;
    const size_t starting_index;
    inline static InitializerPage* latest_page = nullptr;
 
    const static std::array<Rect, 8> buttons;
};
 
} // namespace screen