pages.h

// Page class for ASM
// Created 2012 By Colin G http://www.diydrones.com/profile/ColinG

#ifndef PAGES_H_
#define PAGES_H_


// Parameter settings
#define PARAMNAMEFIELDWIDTH 12
#define MAXPARAMVALCOUNT 10

//const uint8_t ParamIDs[] = {0,1,2,3,4,5,6,7,8,9};
//{
//	WP_LOITER_RAD,
//	WP_RADIUS,
//	XTRK_GAIN_SC,
//	XTRK_ANGLE_CD,
//	TRIM_ARSPD_CM,
//	ARSPD_FBW_MIN,
//	ARSPD_FBW_MAX,
//	KFF_PTCH2THR,
//	KFF_THR2PTCH,
//	LOG_BITMASK,
//};

/* Look-up sine table for integer math */
byte byteSine[16] = {
  0,  27,  54,  79, 104, 128, 150, 171, 190, 201, 221, 233, 243, 250, 254, 255} 
;

class Pages {
public:
	  // ----- Declare pages here ----- //
	  enum PAGEIDS {
	    P_MAIN = 0,
	    P_STATUS,
	    P_MEASURE,
	    P_PLOT,
		P_SETTINGS,
	    P_COMMANDS,
	    P_PARAMS1,
	    P_PARAMS2,
	    P_PARAMETERS,
	    P_PARAMETERS_CTUN,
	    P_PARAMETERS_NTUN,
	    P_PARAMETERS_TECS,
	    P_ROVER_PARAMETERS,
	    P_ROVER_PARAMETERS_SONAR,
	    P_COPTER_PARAMETERS,
	    P_TRACKER,
	    P_HARDWARE,
	    P_UAVTEST,
	    P_GLCD,
	    P_SD,
	    P_PID,
	    P_COUNT
	  };
  
public:
  /// Constructor
  Pages();

  /// Move page
  static uint8_t move(int8_t dir);

  /// Move to specific page
  static uint8_t moveTo(int8_t pageid);

  /// Force update the page
  static void forceUpdate(uint8_t reason);

  /// Interact with the page
  static void interact(uint8_t buttonid);
  
  /// Force the page enter function (used for startup)
  static uint8_t enter();

  /// refresh page - medium items (10Hz)
  static uint8_t refresh_med();

  /// refresh page - slow items (0.5 Hz)
  static uint8_t refresh_slow();

  /// Define the pages -- call this whenever the uav type changes
  static uint8_t definePages();

  /// Directions
  enum DIRECTIONS {
    D_UP = 1,
    D_DOWN,
    D_LEFT,
    D_RIGHT
  };

  /// Update reasons
  enum REASONS {
    R_PARAM = 0,
    R_COUNT
  };

protected:
  /// One off function, executes on page enter
  virtual uint8_t _enter();

  /// Force update the page
  virtual uint8_t _forceUpdate(uint8_t reason);

  /// One off function, executes on uav type change
  virtual uint8_t _redefine(){};

  /// refresh page - medium items (10Hz)
  virtual uint8_t _refresh_med();

  /// refresh page - slow items (0.5 Hz)
  virtual uint8_t _refresh_slow();

  /// Interact with the page
  virtual uint8_t _interact(uint8_t buttonid);
  
  /// One off function, executes on leaving a page
  //virtual uint8_t _leave();

private:
  /// Access to the pages
  static Pages		*_currPage(uint8_t pageid);
};


// Main page
class PageMain : 
public Pages {
public:
  PageMain() {
    _alt_icon=icon_altitude_small;
    _sat_icon=sat;
    _batt_icon=icn_batt;
    _conn_icon=icn_conn;
    _speed_icon=icn_speed;
  };

private:
  byte x0,y0,x1,y1;
  void calcangle(byte *x, byte *y);

protected:
  /// One off function, executes on page enter
  virtual uint8_t _enter();

  /// Force update the page
  virtual uint8_t _forceUpdate(uint8_t reason) {lcd.ClearArea();GLCD.ClearScreen();_enter();};

  /// One off function, executes on uav type change
  virtual uint8_t _redefine(){};

  /// refresh page - medium items (10Hz)
  virtual uint8_t _refresh_med();

  /// refresh page - slow items (0.5 Hz)
  virtual uint8_t _refresh_slow();

  /// Interact with the page
  virtual uint8_t _interact(uint8_t buttonid);
  
private:
  gText _textArea;
  Image_t _alt_icon;
  Image_t _sat_icon;
  Image_t _batt_icon;
  Image_t _conn_icon;
  Image_t _speed_icon;
  
private:
  uint8_t _last_base_mode;
};


// Status page - for want of a better name
class PageStatus :
public Pages {
public:
	PageStatus() {};

protected:
  /// One off function, executes on page enter
  virtual uint8_t _enter();

  /// Force update the page
  virtual uint8_t _forceUpdate(uint8_t reason);

  /// One off function, executes on uav type change
  virtual uint8_t _redefine(){};

  /// refresh page - medium items (10Hz)
  virtual uint8_t _refresh_med();

  /// refresh page - slow items (0.5 Hz)
  virtual uint8_t _refresh_slow();

  /// Interact with the page
  virtual uint8_t _interact(uint8_t buttonid);

private:
  gText _textArea;
};

class PageMeasure :
public Pages {
public:
	PageMeasure() {_state = 0;_measurementids[0]=M_PITCH;_measurementids[1]=M_AIRSPEED;};

protected:
  /// One off function, executes on page enter
  virtual uint8_t _enter();

  /// Force update the page
  virtual uint8_t _forceUpdate(uint8_t reason);

  /// One off function, executes on uav type change
  virtual uint8_t _redefine(){};

  /// refresh page - medium items (10Hz)
  virtual uint8_t _refresh_med();

  /// refresh page - slow items (0.5 Hz)
  virtual uint8_t _refresh_slow();

  /// Interact with the page
  virtual uint8_t _interact(uint8_t buttonid);

  /// Print the measurement name
  void _printName(uint8_t measurementid);

  /// Print the measurement value
  void _printValue(uint8_t measurementid, gText *area);
private:
  uint8_t _state;
  int _measurementids[2];
  gText _textArea1, _textArea2;

  enum MEASUREMENTS {
	  M_NONE = 0,
	  M_ROLL,
	  M_PITCH,
	  M_AIRSPEED,
	  M_GROUNDSPEED,
	  M_THROTTLE,
	  M_CLIMBRATE,
	  M_COUNT
  };
};

#define PLOTW 121

class PagePlot :
public Pages {
public:
	PagePlot() {_state = 0;_measurementid=M_ROLL;};

protected:
  /// One off function, executes on page enter
  virtual uint8_t _enter();

  /// Force update the page
  virtual uint8_t _forceUpdate(uint8_t reason);

  /// One off function, executes on uav type change
  virtual uint8_t _redefine(){};

  /// refresh page - medium items (10Hz)
  virtual uint8_t _refresh_med();

  /// refresh page - slow items (0.5 Hz)
  virtual uint8_t _refresh_slow();

  /// Interact with the page
  virtual uint8_t _interact(uint8_t buttonid);

  /// Print the measurement name
  void _printName(uint8_t measurementid);

  /// Get the value for the measurement
  uint8_t _getValueInt(uint8_t measurementid);
  float _getValue(uint8_t measurementid);

  /// Plots the stored values
  void _plot();

  /// Clears the last plot
  void _clearPlot();

  /// Adds a value to the buffer
  void _addValue(uint8_t value);
private:
  uint8_t _state;
  int _measurementid;
  uint8_t _values[PLOTW];

  enum MEASUREMENTS {
	  M_NONE = 0,
	  M_ROLL,
	  M_PITCH,
	  M_AIRSPEED,
	  M_GROUNDSPEED,
	  M_THROTTLE,
	  M_CLIMBRATE,
	  M_COUNT
  };
};

// Tracker page - for debugging or configuring the antenna tracker
class PageTracker :
public Pages {
public:
	PageTracker() {_state = 0;};

protected:
  /// One off function, executes on page enter
  virtual uint8_t _enter();

  /// Force update the page
  virtual uint8_t _forceUpdate(uint8_t reason);

  /// One off function, executes on uav type change
  virtual uint8_t _redefine(){};

  /// refresh page - medium items (10Hz)
  virtual uint8_t _refresh_med();

  /// refresh page - slow items (0.5 Hz)
  virtual uint8_t _refresh_slow();

  /// Interact with the page
  virtual uint8_t _interact(uint8_t buttonid);

private:
  uint8_t _state;
  int     _value_encoder;
};

// Hardware display page
class PageHardware : 
public Pages {
public:
  PageHardware() {
  };

protected:
  /// One off function, executes on page enter
  virtual uint8_t _enter() {
    _refresh_med();
    _refresh_slow();
  };

  /// Force update the page
  virtual uint8_t _forceUpdate(uint8_t reason) {
  };

  /// One off function, executes on uav type change
  virtual uint8_t _redefine(){};

  /// refresh page - medium items (10Hz)
  virtual uint8_t _refresh_med();

  /// refresh page - slow items (0.5 Hz)
  virtual uint8_t _refresh_slow();

  /// Interact with the page
  virtual uint8_t _interact(uint8_t buttonid);
};

// Test display page
class PageUAVtest : 
public Pages {
public:
  PageUAVtest() {
  };

protected:
  /// One off function, executes on page enter
  virtual uint8_t _enter() {
  };

  /// Force update the page
  virtual uint8_t _forceUpdate(uint8_t reason) {
  };

  /// One off function, executes on uav type change
  virtual uint8_t _redefine(){};

  /// refresh page - medium items (10Hz)
  virtual uint8_t _refresh_med();

  /// refresh page - slow items (0.5 Hz)
  virtual uint8_t _refresh_slow();

  /// Interact with the page
  virtual uint8_t _interact(uint8_t buttonid);
};

// Test display page
class PageGLCDtest : 
public Pages {
public:
  PageGLCDtest() {
  };

private:
  byte x0,y0,x1,y1;
  void calcangle(byte *x, byte *y);

protected:
  /// One off function, executes on page enter
  virtual uint8_t _enter() {
  };

  /// Force update the page
  virtual uint8_t _forceUpdate(uint8_t reason) {
  };

  /// One off function, executes on uav type change
  virtual uint8_t _redefine(){};

  /// refresh page - medium items (10Hz)
  virtual uint8_t _refresh_med();

  /// refresh page - slow items (0.5 Hz)
  virtual uint8_t _refresh_slow();

  /// Interact with the page
  virtual uint8_t _interact(uint8_t buttonid);
};

// Test display page
class PageSDtest : 
public Pages {
public:
  PageSDtest() {
  };

protected:
  /// One off function, executes on page enter
  virtual uint8_t _enter();

  /// Force update the page
  virtual uint8_t _forceUpdate(uint8_t reason) {};

  /// One off function, executes on uav type change
  virtual uint8_t _redefine(){};

  /// refresh page - medium items (10Hz)
  virtual uint8_t _refresh_med();

  /// refresh page - slow items (0.5 Hz)
  virtual uint8_t _refresh_slow();

  /// Interact with the page
  virtual uint8_t _interact(uint8_t buttonid);
};

// Commands page
class PageCommands : 
public Pages {
public:
  PageCommands();

protected:
  /// One off function, executes on page enter
  virtual uint8_t _enter();

  /// Force update the page
  virtual uint8_t _forceUpdate(uint8_t reason) {};

  /// One off function, executes on uav type change
  virtual uint8_t _redefine(){};

  /// refresh page - medium items (10Hz)
  virtual uint8_t _refresh_med();

  /// refresh page - slow items (0.5 Hz)
  virtual uint8_t _refresh_slow();

  /// Interact with the page
  virtual uint8_t _interact(uint8_t buttonid);
  
protected:
  void            _clearMarker(void);
  void            _paintMarker(void);
  void            _drawLocal();
  void  _commandConfirm();
  void  _commandConfirmMessage(const prog_char *str);
  void  _commandSend();
//  void            _alterLocal(float alterMag);
//  void            _redrawLocal();
//  void            _voidLocal(void);
//  void            _uploadConfirm(void);
//  void            _uploadLocal(void);

private:
  /// text to be displayed for APM settings, up to xxx characters
  const prog_char *_textCommands;
  
  /// Local LCD
  uint8_t _linecount;
  gText _cmdLCD;

  /// current state of the internal navigation state machine
  uint8_t                     _state;
  
  /// Position on the screen when scrolling
  /// Refers to first value out of four being displayed
  uint8_t                     _stateFirstVal;
  /// flag indicating that the data the page should be redrawn
  bool            _updated;
};

// PID Page
class PagePID : 
public Pages {
public:
  PagePID();

protected:
  /// One off function, executes on page enter
  virtual uint8_t _enter();

  /// Force update the page
  virtual uint8_t _forceUpdate(uint8_t reason);

  /// One off function, executes on uav type change
  virtual uint8_t _redefine(){};

  /// refresh page - medium items (10Hz)
  virtual uint8_t _refresh_med();

  /// refresh page - slow items (0.5 Hz)
  virtual uint8_t _refresh_slow();

  /// Interact with the page
  virtual uint8_t _interact(uint8_t buttonid);

protected:
  void            _clearMarker(void);
  void            _paintMarker(void);
  void            _drawLocal();
  void            _alterLocal(float alterMag);
  void            _redrawLocal();
  void            _voidLocal(void);
  void            _uploadConfirm(void);
  void            _uploadLocal(void);
private:
  /// current state of the internal navigation state machine
  /// 0         = Viewing
  /// 1 - 9     = Navigating
  /// 101 - 109 = Editing
  /// 201 - 209 = Uploading
  uint8_t                 _state;
  /// Values onboard the aircraft
  //struct msg_pid          _pidlive[3];
  /// Local temp value
  //struct msg_pid          _pidtemp;

  /// Local editing temp value
  ///
  float _value_temp;
  int   _value_encoder;

  /// Availability of pid values
  bool                             _avail[3];

protected:
  /// flag indicating that the data the page should be redrawn
  bool            _updated;

  /// timestamp of the last page redraw, used to rate-limit redraw operations
  unsigned long   _lastRedraw;

  /// text to be displayed for PID headings
  const prog_char *_textHeader;

  /// PID Types to be displayed (in same order as _textHeader)
  const uint8_t   *_pidTypes;

  /// PID indices (in same order as _textHeader)
  uint8_t   _pid_p[3];
  uint8_t   _pid_i[3];
  uint8_t   _pid_d[3];
};



#endif /* PAGES_H_ */