Implement 75% off menu

doc/Notes and TODOs/TODO allgemein.txt

@@ -1,9 +1,2 @@
-Meine Libs von andren Abhängigkeiten lösen
+Menu hat manchmal speicher leaks :/
-    - Die loop funmktions mit eigenem Timer oder ohne Timer
-    - Alle config.h und nicht allgemeinen Header entfernen
 
-Speedometer:
-    - Mitrechnen durchschnittliche aufrufzeit
-
-Alle loops Nachgucken ob last_millis aktualisiert wird.
-Mqtt kram auslagern

lib/Menu/menu.cpp

@@ -10,13 +10,47 @@
  */
 #include "menu.h"
 
-Menu::Menu(MenuEntry* firstEntry) {
+Menu::Menu() {
-    entrys.push_back(firstEntry);
     this->it = this->entrys.begin();
 }
 
+void Menu::setParentMenu(Menu* menu) {
+    this->parentMenu = menu;
+}
+
+void Menu::addEntry(MenuEntry* entry) {
+    this->entrys.push_back(entry);
+        
+    // TODO: Same shit here. Why I get the first element after an increment.
+    static uint8_t inc = 0;
+    inc++;
+    if (inc == 2) {
+        this->it = this->entrys.begin();
+    }
+}
+
+void Menu::printMenu() {
+    Serial.println("\n\n");
+    for (std::list<MenuEntry*>::iterator iter = this->entrys.begin(); iter != this->entrys.end(); iter++) {
+        MenuEntry* selectedEntry = *(iter);
+        if (this->it == iter)
+            Serial.print("  ");
+        Serial.println(selectedEntry->getName());
+    }
+    this->inSubmenu = false;
+}
+
 void Menu::nextEntry() {
-    if (this->it != this->entrys.end())
+    if (this->inSubmenu) {
+        MenuEntry* selectedEntry = *(this->it);
+        selectedEntry->getMenu()->nextEntry();
+        return;
+    }
+
+    // TODO: Why I need the fucking next two lines? here and in the next function
+    std::list<MenuEntry*>::iterator iter = this->it;
+    iter++;
+    if (iter != this->entrys.end()) 
         this->it++;
     else
        this->it = this->entrys.begin(); 
@@ -24,19 +58,47 @@ void Menu::nextEntry() {
 }
 
 void Menu::prevEntry() {
-    if (this->it != this->entrys.begin())
+    if (this->inSubmenu) {
+        MenuEntry* selectedEntry = *(this->it);
+        selectedEntry->getMenu()->prevEntry();
+        return;
+    }
+    std::list<MenuEntry*>::iterator iter = this->entrys.end();
+    iter--;
+    if (this->it != this->entrys.begin()) {
+        Serial.println("--");
         this->it--;
-    else
+    }
-       this->it = this->entrys.end();
+    else {
+        Serial.println("begin");
+       this->it = iter;
+    }
     this->printMenu();
 }
 
 void Menu::enterEntry() {
-    // TODO: find out why i cannot call run directly from the iterator
+    // TODO: find out why i cannot call runAction() directly from the iterator
     MenuEntry* selectedEntry = *(this->it);
-    selectedEntry->run();
+
+    if (this->inSubmenu) {
+        selectedEntry->getMenu()->enterEntry();
+        return;
+    }
+
+    if (selectedEntry->getIsMenu()) {
+        this->inSubmenu = true;
+        selectedEntry->getMenu()->setParentMenu(this);
+    } 
+    selectedEntry->runAction();
 }
 
 void Menu::enterParentMenu() {
-    this->parentMenu->printMenu();
+    if (this->inSubmenu) {
+        MenuEntry* selectedEntry = *(this->it);
+        selectedEntry->getMenu()->enterParentMenu();
+        return;
+    }
+
+    if (parentMenu)
+        this->parentMenu->printMenu();
 }

lib/Menu/menu.h

@@ -13,12 +13,20 @@
 
 #include <list>
 
+// Only for print in consol
+// have to be deleted after display installation
+#include <Arduino.h>
+
 #include "menuEntry.h"
 
+class MenuEntry;
 class Menu {
     public:
-        Menu(MenuEntry* firstEntry);
+        Menu();
 
+        void setParentMenu(Menu* menu);
+
+        void addEntry(MenuEntry* entry);
         void printMenu();
 
         void nextEntry();
@@ -27,7 +35,7 @@ class Menu {
         void enterParentMenu();
 
     private:
-        bool active = false;
+        bool inSubmenu = false;
 
         Menu* parentMenu;
 

lib/Menu/menuEntry.cpp

@@ -19,20 +19,37 @@ MenuEntry::MenuEntry(const char* name, void (*function) (), void (*callback) ())
 MenuEntry::MenuEntry(const char* name, void (*function) ()) {
     this->name = name;
     this->function = function;
+    this->callback = nullptr;
 }
 
 MenuEntry::MenuEntry(const char* name, Menu* menu) {
     this->name = name;
     this->menu = menu;
     this->isMenu = true;
+    this->callback = nullptr;
 }
 
-void MenuEntry::run() {
+void MenuEntry::runAction() {
     if (isMenu)
-        {}
+        this->menu->printMenu();
     else
         this->function();
 
     if (this->callback)
         this->callback();
+}
+
+const char* MenuEntry::getName() {
+    return this->name;
+}
+
+bool MenuEntry::getIsMenu() {
+    return this->isMenu;
+}
+
+Menu* MenuEntry::getMenu() {
+    if (isMenu)
+        return this->menu;
+    else
+        return nullptr;
 }

lib/Menu/menuEntry.h

@@ -13,20 +13,25 @@
 
 #include "menu.h"
 
+class Menu;
 class MenuEntry {
     public:
         MenuEntry(const char* name, void (*function) (), void (*callback) ());
         MenuEntry(const char* name, void (*function) ());
         MenuEntry(const char* name, Menu* menu);
-        void run();
+        void runAction();
+
+        const char* getName();
+        bool getIsMenu();
+        Menu* getMenu();
 
     private:
         const char* name;
 
         void (*function) ();
-        void (*callback) ();
+        void (*callback) () = nullptr;
 
-        bool isMenu;
+        bool isMenu = false;
         Menu *menu;
 };
 

src/main.cpp

@@ -8,13 +8,23 @@
 #include "driveModi/driveManager.h"
 #include "moveControl.h"
 #include "network.h"
+#include "menu.h"
+#include "menuEntry.h"
+
+// Platzhalter, muss irgendwann weg
+void dummy(){Serial.println("Dummy in Action");}
 
 void callbackControllerAction();
 void callbackControllerConnect();
 void controllerPrintBattery();
+void p_f();
+void i_f();
+void d_f();
+int32_t displaySelectValue();
 
 MoveControl moveController;
 DriveManager driveManager(&moveController);
+Menu* main_m;
 
 void setup() {
     Serial.begin(115200);
@@ -29,9 +39,40 @@ void setup() {
     Serial.println("\nReady to connect a PS3 Controller... \n");
     Ps3.begin();
 
-    driveManager.changeModus(Modi::ManualControl);
-
     Serial1.begin(GPS_BAUD, SERIAL_8N1, GPS_RX, GPS_TX);
+
+    // Create Menu
+    main_m = new Menu();
+    Menu* mode_m = new Menu();
+    Menu* pid_m = new Menu();
+
+    // Entry for the main menu
+    MenuEntry* mode_e = new MenuEntry("Mode", mode_m);
+    MenuEntry* gps_e = new MenuEntry("GPS", dummy);
+    MenuEntry* pid_e = new MenuEntry("PID", pid_m);
+    main_m->addEntry(mode_e);
+    main_m->addEntry(gps_e);
+    main_m->addEntry(pid_e);
+
+    // Entry for the mode Menu
+    MenuEntry* autopilot_e = new MenuEntry("Autopilot", dummy);
+    MenuEntry* captureRoute_e = new MenuEntry("Capture Route", dummy);
+    MenuEntry* consolControl_e = new MenuEntry("Consol Control", dummy);
+    MenuEntry* manualControl_e = new MenuEntry("Manual Control", dummy);
+    MenuEntry* testMode_e = new MenuEntry("Test Mode", dummy);
+    mode_m->addEntry(autopilot_e);
+    mode_m->addEntry(captureRoute_e);
+    mode_m->addEntry(consolControl_e);
+    mode_m->addEntry(manualControl_e);
+    mode_m->addEntry(testMode_e);
+
+    // Entry for the PID Menu
+    MenuEntry* p_e = new MenuEntry("P", dummy);
+    MenuEntry* i_e = new MenuEntry("I", dummy);
+    MenuEntry* d_e = new MenuEntry("D", dummy);
+    pid_m->addEntry(p_e);
+    pid_m->addEntry(i_e);
+    pid_m->addEntry(d_e);
 }
 
 void loop() {
@@ -41,8 +82,36 @@ void loop() {
         Serial.print(Serial1.read());
 }
 
-void callbackControllerAction() {
+bool isDelayReached() {
+    static uint32_t lastMillis = 0;
+    const uint16_t delay = 200;
+    bool res = false;
 
+    if (millis() - lastMillis > delay) {
+        res = true;
+        lastMillis = millis();
+    }
+    
+    return res;
+}
+
+void callbackControllerAction() {
+    // Menu controlling
+
+    if (isDelayReached()) {
+        if (Ps3.data.button.up)
+            main_m->prevEntry();
+        else if (Ps3.data.button.down)
+            main_m->nextEntry();
+        else if (Ps3.data.button.left)
+            main_m->enterParentMenu();
+        else if (Ps3.data.button.right)
+            main_m->enterEntry();
+        else if (Ps3.data.button.select)
+            main_m->printMenu();
+        else if (Ps3.data.button.ps)
+            controllerPrintBattery();
+    }
 }
 
 void callbackControllerConnect() {
@@ -64,3 +133,19 @@ void controllerPrintBattery() {
     else if( controller_battery == ps3_status_battery_shutdown ) Serial.println("SHUTDOWN");
     else Serial.println("UNDEFINED");
 }
+
+void p_f() {
+
+}
+
+void i_f() {
+
+}
+
+void d_f() {
+
+}
+
+int32_t displaySelectValue() {
+    
+}