portTASK_FUNCTION( vGUITask, pvParameters )
{
portTickType xLastWakeTime;
foutf(&debugOS, "xTask GUI started.\n");
xLastWakeTime = xTaskGetTickCount();
u8 timer_drawMap = 0;
for(;;)
{
//foutf(&debugOS, "Watermark gui: %i\n", uxTaskGetStackHighWaterMark( NULL ));
gui_handler(gui_element);
if(STM_EVAL_PBGetState(BUTTON_USER))
{
menu = MENU_CALIBRATION;
}
if(battery.percent != batt_percent_old) //Redraw statusbar if battery value changes
{
gui_drawAREAstatusbar(&gui_element[GUI_EL_AREA_STATUSBAR_TOP]);
batt_percent_old = battery.percent;
}
switch (menu) {
case MENU_INIT:
LCD_Fill(LCD_COLOR_WHITE);
gui_drawAREAstatusbar(&gui_element[GUI_EL_AREA_STATUSBAR_TOP]);
gui_drawMBTN(&gui_element[GUI_EL_MBTN_MAP]);
gui_drawMBTN(&gui_element[GUI_EL_MBTN_VIEW]);
gui_drawMBTN(&gui_element[GUI_EL_MBTN_SETTINGS]);
menu = MENU_INIT_IDLE;
case MENU_INIT_IDLE: //Wait for events...
if(gui_element[GUI_EL_MBTN_MAP].state == MBTN_ACTIVE)
menu = MENU_MAP_INIT;
else if(gui_element[GUI_EL_MBTN_VIEW].state == MBTN_ACTIVE)
menu = MENU_VIEW_INIT;
else if(gui_element[GUI_EL_MBTN_SETTINGS].state == MBTN_ACTIVE)
menu = MENU_SETTINGS_INIT;
break;
case MENU_MAP_INIT:
//Area Map
//SW Startmapping
//SW Show scan
//BTN Clear map
//BTN Set waypoint
gui_element[GUI_EL_AREA_MAP].state = GUI_EL_INTOUCHABLE;
gui_element[GUI_EL_SW_STARTMAPPING].state = mapping ? SW_ON : SW_OFF;
gui_element[GUI_EL_SW_SHOWSCAN].state = show_scan ? SW_ON : SW_OFF;
gui_element[GUI_EL_SW_PROCESSEDVIEW].state = processedView ? SW_ON : SW_OFF;
gui_element[GUI_EL_AREA_MAP].state = MAP_ACTIVE;
gui_element[GUI_EL_BTN_CLEARMAP].state = BTN_NOT_ACTIVE;
if(setWaypoints) gui_element[GUI_EL_BTN_SETWP].state = BTN_ACTIVE;
else gui_element[GUI_EL_BTN_SETWP].state = BTN_NOT_ACTIVE;
gui_drawSW(&gui_element[GUI_EL_SW_STARTMAPPING]);
gui_drawSW(&gui_element[GUI_EL_SW_SHOWSCAN]);
gui_drawSW(&gui_element[GUI_EL_SW_PROCESSEDVIEW]);
gui_drawBTN(&gui_element[GUI_EL_BTN_CLEARMAP]);
gui_drawBTN(&gui_element[GUI_EL_BTN_SETWP]);
timer_drawMap = 0;
menu = MENU_MAP_IDLE;
case MENU_MAP_IDLE:
if(timer_drawMap == 0)
{
gui_drawAREAmap(&gui_element[GUI_EL_AREA_MAP]);
timer_drawMap = MAP_REFRESHTIME;
}
timer_drawMap --;
break; //Map idle (waiting for touch events)
case MENU_VIEW_INIT:
//Draw View
menu = MENU_VIEW_IDLE;
case MENU_VIEW_IDLE:
break; //View idle (waiting for touch events)
case MENU_SETTINGS_INIT: //Settings active
switch (xv11_state(XV11_GETSTATE)) { //Lidar state?
case XV11_OFF: gui_element[GUI_EL_SW_LIDAR].state = SW_OFF; break;
case XV11_STARTING: gui_element[GUI_EL_SW_LIDAR].state = SW_BUSY; break;
case XV11_ON: gui_element[GUI_EL_SW_LIDAR].state = SW_ON; break;
default: break;
}
gui_drawSW(&gui_element[GUI_EL_SW_LIDAR]);
gui_element[GUI_EL_SW_STRLIDAR].state = strlidar.active ? SW_ON : SW_OFF; //Streams on/off?
gui_drawSW(&gui_element[GUI_EL_SW_STRLIDAR]);
gui_element[GUI_EL_SW_STRDEBUG].state = debug.active ? SW_ON : SW_OFF;
gui_drawSW(&gui_element[GUI_EL_SW_STRDEBUG]);
gui_element[GUI_EL_SW_STRDEBUGOS].state = debugOS.active ? SW_ON : SW_OFF;
gui_drawSW(&gui_element[GUI_EL_SW_STRDEBUGOS]);
gui_element[GUI_EL_SW_STRERR].state = error.active ? SW_ON : SW_OFF;
gui_drawSW(&gui_element[GUI_EL_SW_STRERR]);
gui_element[GUI_EL_SW_STRSLAMUI].state = slamUI.active ? SW_ON : SW_OFF;
gui_drawSW(&gui_element[GUI_EL_SW_STRSLAMUI]);
gui_element[GUI_EL_BTN_CALTOUCH].state = BTN_NOT_ACTIVE; //Calibrate Touchscreen?
gui_drawBTN(&gui_element[GUI_EL_BTN_CALTOUCH]);
gui_element[GUI_EL_BTN_RESET].state = BTN_NOT_ACTIVE; //Reset system!
gui_drawBTN(&gui_element[GUI_EL_BTN_RESET]);
menu = MENU_SETTINGS_IDLE;
case MENU_SETTINGS_IDLE:
if(gui_element[GUI_EL_SW_LIDAR].state != GUI_EL_INVISIBLE)
{
if(xv11_state(XV11_GETSTATE) == XV11_STARTING)
{
if(gui_element[GUI_EL_SW_LIDAR].state != SW_BUSY)
{
gui_element[GUI_EL_SW_LIDAR].state = SW_BUSY;
gui_drawSW(&gui_element[GUI_EL_SW_LIDAR]);
}
}
else if(xv11_state(XV11_GETSTATE) == XV11_ON)
{
if(gui_element[GUI_EL_SW_LIDAR].state != SW_ON)
{
gui_element[GUI_EL_SW_LIDAR].state = SW_ON;
gui_drawSW(&gui_element[GUI_EL_SW_LIDAR]);
}
}
}
break; //Settings idle (waiting for touch events)
case MENU_CALIBRATION: //Calibration mode:
if(UB_Touch_Calibrate() == 1)
{
menu = MENU_INIT;
}
break;
default: menu = MENU_INIT;
break;
}
vTaskDelayUntil( &xLastWakeTime, ( 50 / portTICK_RATE_MS ) );
}
}
int main( int argc, char *argv[] )
{
#ifdef __linux__
if (!gtk_init_check(&argc, &argv))
{
printf("GTK is sad :-(\n");
return 0;
}
#endif
#ifdef __HAIKU__
// Fix for haiku not starting apps in their home directory
find_home();
#endif
if( hively_init() )
{
SDL_Flip(ssrf);
quitting = FALSE;
while( !quitting )
{
if (needaflip)
{
SDL_Flip(ssrf);
needaflip = FALSE;
}
if( !SDL_WaitEvent( &event ) ) break;
do
{
switch( event.type )
{
case SDL_QUIT:
quitting = gui_maybe_quit();
break;
default:
if (aboutwin_open)
about_handler(0);
else
gui_handler(0);
break;
}
}
while (SDL_PollEvent(&event));
if( pref_dorestart )
{
if( !gui_restart() )
quitting = TRUE;
pref_dorestart = FALSE;
}
}
rp_stop();
}
hively_shutdown();
return 0;
}
