mirror of
https://github.com/m5stack/StackChan.git
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Forairaaaaa
128 lines
3.9 KiB
C++
128 lines
3.9 KiB
C++
/*
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* SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
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*
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* SPDX-License-Identifier: MIT
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*/
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#include "workers.h"
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#include <stackchan/stackchan.h>
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#include <mooncake_log.h>
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#include <hal/hal.h>
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using namespace smooth_ui_toolkit::lvgl_cpp;
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using namespace setup_workers;
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static std::string _tag = "Setup-Servo";
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ZeroCalibrationWorker::ZeroCalibrationWorker()
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{
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_pannel = std::make_unique<Container>(lv_screen_active());
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_pannel->setBgColor(lv_color_hex(0xFFFFFF));
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_pannel->removeFlag(LV_OBJ_FLAG_SCROLLABLE);
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_pannel->align(LV_ALIGN_CENTER, 0, 0);
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_pannel->setBorderWidth(0);
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_pannel->setSize(320, 240);
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_pannel->setRadius(0);
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_btn_go_home = std::make_unique<Button>(lv_screen_active());
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apply_button_common_style(*_btn_go_home);
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_btn_go_home->setAlign(LV_ALIGN_CENTER);
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_btn_go_home->setPos(0, -85);
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_btn_go_home->setSize(230, 55);
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_btn_go_home->label().setText("Move To Home");
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_btn_go_home->onClick().connect([this]() { _go_home_flag = true; });
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_btn_confirm = std::make_unique<Button>(lv_screen_active());
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apply_button_common_style(*_btn_confirm);
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_btn_confirm->setAlign(LV_ALIGN_CENTER);
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_btn_confirm->setPos(0, 0);
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_btn_confirm->setSize(290, 70);
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_btn_confirm->label().setText("Set Current Position\nAs Home");
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_btn_confirm->label().setTextAlign(LV_TEXT_ALIGN_CENTER);
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_btn_confirm->onClick().connect([this]() { _confirm_flag = true; });
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_btn_quit = std::make_unique<Button>(lv_screen_active());
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apply_button_common_style(*_btn_quit);
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_btn_quit->setAlign(LV_ALIGN_CENTER);
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_btn_quit->setPos(0, 85);
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_btn_quit->setSize(230, 55);
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_btn_quit->label().setText("Done");
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_btn_quit->onClick().connect([this]() { _is_done = true; });
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auto& motion = GetStackChan().motion();
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motion.setAutoAngleSyncEnabled(true);
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}
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void ZeroCalibrationWorker::update()
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{
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if (_confirm_flag) {
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_confirm_flag = false;
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mclog::tagInfo(_tag, "set current angle as zero");
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auto& motion = GetStackChan().motion();
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motion.yawServo().setCurrentAngleAsZero();
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motion.pitchServo().setCurrentAngleAsZero();
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}
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if (_go_home_flag) {
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_go_home_flag = false;
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mclog::tagInfo(_tag, "go home");
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auto& motion = GetStackChan().motion();
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motion.goHome(300);
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}
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}
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struct RgbColorEntry {
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std::string name;
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uint8_t r;
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uint8_t g;
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uint8_t b;
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};
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static const std::vector<RgbColorEntry> _rgb_colors = {
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{"Red", 255, 0, 0}, {"Green", 0, 255, 0}, {"Blue", 0, 0, 255}, {"Yellow", 255, 255, 0},
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{"Cyan", 0, 255, 255}, {"Magenta", 255, 0, 255}, {"White", 255, 255, 255}, {"Off", 0, 0, 0},
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};
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RgbTestWorker::RgbTestWorker()
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{
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_pannel = std::make_unique<Container>(lv_screen_active());
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_pannel->setBgColor(lv_color_hex(0xFFFFFF));
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_pannel->align(LV_ALIGN_CENTER, 0, 0);
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_pannel->setBorderWidth(0);
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_pannel->setSize(320, 240);
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_pannel->setRadius(0);
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_pannel->setFlexFlow(LV_FLEX_FLOW_COLUMN);
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_pannel->setFlexAlign(LV_FLEX_ALIGN_START, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER);
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_pannel->setPadding(20, 20, 20, 20);
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_pannel->setPadRow(15);
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for (const auto& color : _rgb_colors) {
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auto btn = std::make_unique<Button>(*_pannel);
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apply_button_common_style(*btn);
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btn->setSize(200, 50);
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btn->label().setText(color.name);
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uint8_t r = color.r;
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uint8_t g = color.g;
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uint8_t b = color.b;
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btn->onClick().connect([r, g, b]() { GetHAL().showRgbColor(r, g, b); });
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_buttons.push_back(std::move(btn));
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}
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auto btn_quit = std::make_unique<Button>(*_pannel);
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apply_button_common_style(*btn_quit);
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btn_quit->setSize(200, 50);
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btn_quit->label().setText("Quit");
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btn_quit->onClick().connect([this]() { _is_done = true; });
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_buttons.push_back(std::move(btn_quit));
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}
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RgbTestWorker::~RgbTestWorker()
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{
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GetHAL().showRgbColor(0, 0, 0);
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}
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