Add new features to HUD

ut-robomaster/src/control/client-display/client_display_subsystem.cpp

@@ -0,0 +1,15 @@
+#include "client_display_subsystem.hpp"
+
+#include "tap/communication/sensors/buzzer/buzzer.hpp"
+
+namespace subsystems::control
+{
+ClientDisplaySubsystem::ClientDisplaySubsystem(tap::Drivers *drivers) : Subsystem(drivers) {}
+
+void ClientDisplaySubsystem::initialize() {}
+
+void ClientDisplaySubsystem::refresh() {}
+
+void ClientDisplaySubsystem::runHardwareTests() {}
+
+}  // namespace subsystems::control

ut-robomaster/src/control/client-display/client_display_subsystem.hpp

@@ -0,0 +1,24 @@
+#pragma once
+
+#include "tap/communication/sensors/buzzer/buzzer.hpp"
+#include "tap/control/command.hpp"
+#include "tap/control/subsystem.hpp"
+
+#include "drivers.hpp"
+
+namespace subsystems::control
+{
+class ClientDisplaySubsystem : public tap::control::Subsystem
+{
+public:
+    ClientDisplaySubsystem(tap::Drivers*);
+
+    void initialize() override;
+
+    void refresh() override;
+
+    void runHardwareTests() override;
+
+    const char* getName() override { return "Client Display subsystem"; }
+};
+}  // namespace subsystems::control

ut-robomaster/src/control/client-display/command_client_display.cpp

@@ -0,0 +1,51 @@
+#include "command_client_display.hpp"
+
+namespace commands
+{
+
+void CommandClientDisplay::initialize()
+{
+    tap::buzzer::playNote(&drivers->pwm, 440);
+    restart();
+
+    RefSerialTransmitter::configGraphicGenerics(
+        &msg.graphicData,
+        graphicId,
+        RefSerialData::Tx::GRAPHIC_ADD,
+        0,
+        RefSerialData::Tx::GraphicColor::PINK);
+
+    // RESOLUTION HAS TO BE 1920x1080 OR HUD WILL NOT WORK PROPERLY
+    RefSerialTransmitter::configCircle(10, 1920 / 2, 1080 / 2, 100, &msg.graphicData);
+}
+
+void CommandClientDisplay::execute() { run(); }
+
+void CommandClientDisplay::end(bool) { tap::buzzer::silenceBuzzer(&drivers->pwm); }
+
+bool CommandClientDisplay::isFinished() const { return false; }
+
+bool CommandClientDisplay::run()
+{
+    float t = sinf(tap::arch::clock::getTimeMilliseconds() / 1000.0f * 4.0f) * 0.5f + 0.5f;
+
+    PT_BEGIN();
+
+    PT_WAIT_UNTIL(drivers->refSerial.getRefSerialReceivingData());
+
+    // setup new graphic (GRAPHIC_ADD operation)
+    PT_CALL(refSerialTransmitter.sendGraphic(&msg));
+
+    while (true)
+    {
+        msg.graphicData.operation = RefSerialData::Tx::GRAPHIC_MODIFY;
+        msg.graphicData.lineWidth = 5.0f + 25.0f * t;
+        msg.graphicData.radius = 100.0f + 300.0f * t;
+
+        // modify existing graphic based on the ID (GRAPHIC_MODIFY operation)
+        PT_CALL(refSerialTransmitter.sendGraphic(&msg));
+    }
+
+    PT_END();
+}
+}  // namespace commands

ut-robomaster/src/control/client-display/command_client_display.hpp

@@ -0,0 +1,48 @@
+#pragma once
+
+#include "tap/communication/sensors/buzzer/buzzer.hpp"
+#include "tap/communication/serial/ref_serial_data.hpp"
+#include "tap/communication/serial/ref_serial_transmitter.hpp"
+#include "tap/control/command.hpp"
+
+#include "control/client-display/client_display_subsystem.hpp"
+#include "modm/processing/protothread.hpp"
+#include "modm/processing/resumable.hpp"
+#include "subsystems/flywheel/flywheel_subsystem.hpp"
+
+#include "drivers.hpp"
+
+using namespace tap::control;
+using namespace tap::communication::serial;
+
+using subsystems::control::ClientDisplaySubsystem;
+using subsystems::flywheel::FlywheelSubsystem;
+
+namespace commands
+{
+class CommandClientDisplay : public Command, modm::pt::Protothread
+{
+public:
+    CommandClientDisplay(src::Drivers *drivers, FlywheelSubsystem *flywheel)
+        : Command(),
+          drivers(drivers),
+          refSerialTransmitter(drivers)
+    {
+        addSubsystemRequirement(flywheel);
+    }
+
+    bool run();
+
+    void initialize() override;
+    void execute() override;
+    void end(bool) override;
+    bool isFinished() const override;
+    const char *getName() const override { return "client display"; }
+
+private:
+    src::Drivers *drivers;
+    RefSerialTransmitter refSerialTransmitter;
+    const uint8_t graphicId[3] = {0, 0, 1};  // 3 byte identifier for this graphic element
+    RefSerialData::Tx::Graphic1Message msg;
+};
+}  // namespace commands

ut-robomaster/src/robots/standard/standard_control.hpp

@@ -1,3 +1,4 @@
+#include "control/client-display/command_client_display.hpp"
 #include "robots/common/common_control_manual.hpp"
 #include "subsystems/agitator/command_agitator_continuous.hpp"
 
@@ -15,6 +16,8 @@ class StandardControl : CommonControlManual
 
         drivers->commandMapper.addMap(&leftMouseDown);
         drivers->commandMapper.addMap(&leftSwitchUp);
+
+        drivers->commandMapper.addMap(&hudTestKey);
     }
 
 private:
@@ -29,6 +32,8 @@ class StandardControl : CommonControlManual
         BarrelId::STANDARD1,
         true};
 
+    commands::CommandClientDisplay hudTest{drivers, &flywheel};
+
     // Mappings
     HoldCommandMapping leftMouseDown{
         drivers,
@@ -39,4 +44,6 @@ class StandardControl : CommonControlManual
         drivers,
         {&rotateAgitator_SwitchUp, &rotateFlywheel_SwitchMid},
         RemoteMapState(Remote::Switch::LEFT_SWITCH, Remote::SwitchState::UP)};
+
+    HoldCommandMapping hudTestKey{drivers, {&hudTest}, RemoteMapState({Remote::Key::Z})};
 };