pbio/sys/hmi: Add slot selection UI.

Also add ability to start port view program.

bricks/_common/modules/_builtin_port_view.py

@@ -1,4 +1,3 @@
-from pybricks.hubs import ThisHub
 from pybricks.pupdevices import (
     DCMotor,
     Motor,
@@ -22,6 +21,21 @@
 except AttributeError:
     pass
 
+try:
+    from pybricks.hubs import PrimeHub
+    from pybricks.parameters import Icon, Button
+
+    hub = PrimeHub()
+    hub.light.off()
+
+    # Create an animation of the heart icon with changing brightness.
+    brightness = list(range(0, 100, 4)) + list(range(100, 0, -4))
+    hub.display.animate([Icon.HEART * i / 100 for i in brightness], 30)
+    while hub.buttons.pressed():
+        wait(10)
+    hub.system.set_stop_button([Button.LEFT, Button.RIGHT])
+except ImportError:
+    pass
 
 # Allocates small buffer so the IDE can send us mode index
 # values for each sensor.

lib/pbio/platform/city_hub/pbsysconfig.h

@@ -10,9 +10,11 @@
 #define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6_1_NATIVE  (0)
 #define PBSYS_CONFIG_BATTERY_CHARGER                (0)
 #define PBSYS_CONFIG_BLUETOOTH                      (1)
+#define PBSYS_CONFIG_HMI_NUM_SLOTS                  (0)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (0)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
+#define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
 #define PBSYS_CONFIG_STORAGE_OVERLAPS_BOOTLOADER_CHECKSUM (1)
 #define PBSYS_CONFIG_STORAGE_RAM_SIZE               (20 * 1024)
 #define PBSYS_CONFIG_STORAGE_ROM_SIZE               (PBDRV_CONFIG_BLOCK_DEVICE_FLASH_STM32_SIZE)

lib/pbio/platform/debug/pbsysconfig.h

@@ -3,9 +3,11 @@
 
 #define PBSYS_CONFIG_BATTERY_CHARGER                (0)
 #define PBSYS_CONFIG_BLUETOOTH                      (0)
+#define PBSYS_CONFIG_HMI_NUM_SLOTS                  (0)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (0)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
+#define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
 #define PBSYS_CONFIG_STORAGE_RAM_SIZE               (64 * 1024)
 #define PBSYS_CONFIG_STORAGE_ROM_SIZE               (0)
 #define PBSYS_CONFIG_STORAGE_OVERLAPS_BOOTLOADER_CHECKSUM (0)

lib/pbio/platform/essential_hub/pbsysconfig.h

@@ -8,9 +8,11 @@
 #define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6_1_NATIVE  (1)
 #define PBSYS_CONFIG_BATTERY_CHARGER                (1)
 #define PBSYS_CONFIG_BLUETOOTH                      (1)
+#define PBSYS_CONFIG_HMI_NUM_SLOTS                  (0)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (0)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
+#define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
 #define PBSYS_CONFIG_STORAGE_RAM_SIZE               (258 * 1024)
 #define PBSYS_CONFIG_STORAGE_ROM_SIZE               (PBDRV_CONFIG_BLOCK_DEVICE_W25QXX_STM32_SIZE)
 #define PBSYS_CONFIG_STORAGE_OVERLAPS_BOOTLOADER_CHECKSUM (0)

lib/pbio/platform/ev3/pbsysconfig.h

@@ -8,6 +8,7 @@
 #define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6_1_NATIVE  (0)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
+#define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
 #define PBSYS_CONFIG_STORAGE_RAM_SIZE               (10 * 1024)
 #define PBSYS_CONFIG_STORAGE_ROM_SIZE               (PBDRV_CONFIG_BLOCK_DEVICE_TEST_SIZE)
 #define PBSYS_CONFIG_STORAGE_OVERLAPS_BOOTLOADER_CHECKSUM (0)

lib/pbio/platform/ev3rt/pbsysconfig.h

@@ -8,6 +8,7 @@
 #define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6_1_NATIVE  (0)
 #define PBSYS_CONFIG_BATTERY_CHARGER                (0)
 #define PBSYS_CONFIG_BLUETOOTH                      (0)
+#define PBSYS_CONFIG_HMI_NUM_SLOTS                  (0)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (0)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (0)

lib/pbio/platform/move_hub/pbsysconfig.h

@@ -10,9 +10,11 @@
 #define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6_1_NATIVE  (0)
 #define PBSYS_CONFIG_BATTERY_CHARGER                (0)
 #define PBSYS_CONFIG_BLUETOOTH                      (1)
+#define PBSYS_CONFIG_HMI_NUM_SLOTS                  (0)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (0)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
+#define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
 #define PBSYS_CONFIG_STORAGE_OVERLAPS_BOOTLOADER_CHECKSUM (1)
 #define PBSYS_CONFIG_STORAGE_RAM_SIZE               (7 * 1024)
 #define PBSYS_CONFIG_STORAGE_ROM_SIZE               (PBDRV_CONFIG_BLOCK_DEVICE_FLASH_STM32_SIZE)

lib/pbio/platform/nxt/pbsysconfig.h

@@ -8,6 +8,7 @@
 #define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6_1_NATIVE  (0)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
+#define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
 #define PBSYS_CONFIG_STORAGE_RAM_SIZE               (10 * 1024)
 #define PBSYS_CONFIG_STORAGE_ROM_SIZE               (PBDRV_CONFIG_BLOCK_DEVICE_TEST_SIZE)
 #define PBSYS_CONFIG_STORAGE_USER_DATA_SIZE         (512)

lib/pbio/platform/prime_hub/pbsysconfig.h

@@ -10,9 +10,11 @@
 #define PBSYS_CONFIG_BLUETOOTH                      (1)
 #define PBSYS_CONFIG_BLUETOOTH_TOGGLE               (1)
 #define PBSYS_CONFIG_BLUETOOTH_TOGGLE_BUTTON        (512) // PBIO_BUTTON_RIGHT_UP, but enum value cannot be used here.
+#define PBSYS_CONFIG_HMI_NUM_SLOTS                  (5)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (1)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
+#define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (PBSYS_CONFIG_HMI_NUM_SLOTS)
 #define PBSYS_CONFIG_STORAGE_RAM_SIZE               (258 * 1024)
 #define PBSYS_CONFIG_STORAGE_ROM_SIZE               (PBDRV_CONFIG_BLOCK_DEVICE_W25QXX_STM32_SIZE)
 #define PBSYS_CONFIG_STORAGE_OVERLAPS_BOOTLOADER_CHECKSUM (0)

lib/pbio/platform/technic_hub/pbsysconfig.h

@@ -10,9 +10,11 @@
 #define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6_1_NATIVE  (0)
 #define PBSYS_CONFIG_BATTERY_CHARGER                (0)
 #define PBSYS_CONFIG_BLUETOOTH                      (1)
+#define PBSYS_CONFIG_HMI_NUM_SLOTS                  (0)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (0)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
+#define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
 #define PBSYS_CONFIG_STORAGE_OVERLAPS_BOOTLOADER_CHECKSUM (1)
 #define PBSYS_CONFIG_STORAGE_RAM_SIZE               (32 * 1024)
 #define PBSYS_CONFIG_STORAGE_ROM_SIZE               (PBDRV_CONFIG_BLOCK_DEVICE_FLASH_STM32_SIZE)

lib/pbio/platform/virtual_hub/pbsysconfig.h

@@ -3,6 +3,7 @@
 
 #define PBSYS_CONFIG_BATTERY_CHARGER                (0)
 #define PBSYS_CONFIG_BLUETOOTH                      (0)
+#define PBSYS_CONFIG_HMI_NUM_SLOTS                  (0)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (0)
 #define PBSYS_CONFIG_MAIN                           (0)
 #define PBSYS_CONFIG_STORAGE                        (0)

lib/pbio/sys/hmi.c

@@ -29,13 +29,15 @@
 
 static struct pt update_program_run_button_wait_state_pt;
 
+static uint8_t selected_slot = 0;
+
 /**
  * Protothread to monitor the button state to trigger starting the user program.
  * @param [in]  button_pressed      The current button state.
  */
 static PT_THREAD(update_program_run_button_wait_state(bool button_pressed)) {
     struct pt *pt = &update_program_run_button_wait_state_pt;
-    // HACK: Misuse of protothread to reduce code size. This is the same
+    // Creative use of protothread to reduce code size. This is the same
     // as checking if the user program is running after each PT_WAIT.
     if (pbsys_status_test(PBIO_PYBRICKS_STATUS_USER_PROGRAM_RUNNING)) {
         goto start;
@@ -51,9 +53,8 @@ static PT_THREAD(update_program_run_button_wait_state(bool button_pressed)) {
         PT_WAIT_UNTIL(pt, !button_pressed);
 
         // If we made it through a full press and release, without the user
-        // program running, then start the user program. There is no UI for
-        // multiple programs yet, so start the one and only program.
-        pbsys_main_program_request_start(PBIO_PYBRICKS_USER_PROGRAM_ID_FIRST_SLOT);
+        // program running, then start the currently selected user program.
+        pbsys_main_program_request_start(selected_slot);
     }
 
     PT_END(pt);
@@ -69,7 +70,7 @@ static struct pt update_bluetooth_button_wait_state_pt;
  */
 static PT_THREAD(update_bluetooth_button_wait_state(bool button_pressed)) {
     struct pt *pt = &update_bluetooth_button_wait_state_pt;
-    // HACK: Misuse of protothread to reduce code size. This is the same
+    // Creative use of protothread to reduce code size. This is the same
     // as checking if the user program is running after each PT_WAIT.
     if (pbsys_status_test(PBIO_PYBRICKS_STATUS_USER_PROGRAM_RUNNING)) {
         goto start;
@@ -90,6 +91,79 @@ static PT_THREAD(update_bluetooth_button_wait_state(bool button_pressed)) {
 
 #endif // PBSYS_CONFIG_BLUETOOTH_TOGGLE
 
+#if PBSYS_CONFIG_HMI_NUM_SLOTS
+
+static struct pt update_left_right_button_wait_state_pt;
+
+/**
+ * Gets the currently selected program slot.
+ *
+ * @return The currently selected program slot (zero-indexed).
+ */
+uint8_t pbsys_hmi_get_selected_program_slot(void) {
+    return selected_slot;
+}
+
+/**
+ * Protothread to monitor the left and right button state to select a slot.
+ *
+ * @param [in]  left_button_pressed      The current left button state.
+ * @param [in]  right_button_pressed     The current right button state.
+ */
+static PT_THREAD(update_left_right_button_wait_state(bool left_button_pressed, bool right_button_pressed)) {
+    struct pt *pt = &update_left_right_button_wait_state_pt;
+    // Creative use of protothread to reduce code size. This is the same
+    // as checking if the user program is running after each PT_WAIT.
+    if (pbsys_status_test(PBIO_PYBRICKS_STATUS_USER_PROGRAM_RUNNING)) {
+        goto start;
+    }
+
+    static uint8_t previous_slot;
+    static uint32_t first_press_time;
+
+    PT_BEGIN(pt);
+
+    for (;;) {
+    start:
+        // Buttons may still be pressed during user program
+        PT_WAIT_UNTIL(pt, !left_button_pressed && !right_button_pressed);
+
+        // Wait for either button.
+        PT_WAIT_UNTIL(pt, left_button_pressed || right_button_pressed);
+
+        first_press_time = pbdrv_clock_get_ms();
+
+        // On right, increment slot when possible.
+        if (right_button_pressed && selected_slot < 4) {
+            selected_slot++;
+            pbsys_hub_light_matrix_update_program_slot();
+        }
+        // On left, decrement slot when possible.
+        if (left_button_pressed && selected_slot > 0) {
+            selected_slot--;
+            pbsys_hub_light_matrix_update_program_slot();
+        }
+
+        // Next state could be either both pressed or both released.
+        PT_WAIT_UNTIL(pt, left_button_pressed == right_button_pressed);
+
+        // If both were pressed soon after another, user wanted to start port view,
+        // not switch programs, so revert slot change.
+        if (left_button_pressed && pbdrv_clock_get_ms() - first_press_time < 100) {
+            selected_slot = previous_slot;
+            pbsys_hub_light_matrix_update_program_slot();
+            pbsys_main_program_request_start(PBIO_PYBRICKS_USER_PROGRAM_ID_PORT_VIEW);
+        } else {
+            // Successful switch. And UI was already updated.
+            previous_slot = selected_slot;
+        }
+    }
+
+    PT_END(pt);
+}
+
+#endif // PBSYS_CONFIG_HMI_NUM_SLOTS
+
 void pbsys_hmi_init(void) {
     pbsys_status_light_init();
     pbsys_hub_light_matrix_init();
@@ -142,6 +216,10 @@ void pbsys_hmi_poll(void) {
         #if PBSYS_CONFIG_BLUETOOTH_TOGGLE
         update_bluetooth_button_wait_state(btn & PBSYS_CONFIG_BLUETOOTH_TOGGLE_BUTTON);
         #endif // PBSYS_CONFIG_BLUETOOTH_TOGGLE
+
+        #if PBSYS_CONFIG_HMI_NUM_SLOTS
+        update_left_right_button_wait_state(btn & PBIO_BUTTON_LEFT, btn & PBIO_BUTTON_RIGHT);
+        #endif // PBSYS_CONFIG_HMI_NUM_SLOTS
     }
 
     pbsys_status_light_poll();

lib/pbio/sys/hmi.h

@@ -5,9 +5,18 @@
 #define _PBSYS_SYS_HMI_H_
 
 #include <contiki.h>
+#include <pbsys/config.h>
 
 void pbsys_hmi_init(void);
 void pbsys_hmi_handle_event(process_event_t event, process_data_t data);
 void pbsys_hmi_poll(void);
 
+#if PBSYS_CONFIG_HMI_NUM_SLOTS
+uint8_t pbsys_hmi_get_selected_program_slot(void);
+#else
+static inline uint8_t pbsys_hmi_get_selected_program_slot(void) {
+    return 0;
+}
+#endif
+
 #endif // _PBSYS_SYS_HMI_H_

lib/pbio/sys/light_matrix.c

@@ -18,6 +18,7 @@
 #include <pbsys/status.h>
 
 #include "../src/light/light_matrix.h"
+#include "hmi.h"
 
 #if PBSYS_CONFIG_HUB_LIGHT_MATRIX
 
@@ -46,25 +47,45 @@ static const pbio_light_matrix_funcs_t pbsys_hub_light_matrix_funcs = {
     .set_pixel = pbsys_hub_light_matrix_set_pixel,
 };
 
-static void pbsys_hub_light_matrix_clear(void) {
-    // turn of all pixels
+/**
+ * Clears the idle UI, leaving the selected slot in place.
+ */
+static void pbsys_hub_light_matrix_clear_idle_ui(void) {
+
+    uint8_t slot = pbsys_hmi_get_selected_program_slot();
+
+    // turn of all pixels except program slot.
     for (uint8_t r = 0; r < pbsys_hub_light_matrix->size; r++) {
         for (uint8_t c = 0; c < pbsys_hub_light_matrix->size; c++) {
-            pbsys_hub_light_matrix_set_pixel(pbsys_hub_light_matrix, r, c, 0);
+            bool on = r == 4 && c == slot;
+            pbsys_hub_light_matrix_set_pixel(pbsys_hub_light_matrix, r, c, on ? 100 : 0);
         }
     }
 }
 
-static void pbsys_hub_light_matrix_show_stop_sign(uint8_t brightness) {
+/**
+ * Displays the idle UI. Has a square stop sign and selected slot on bottom row.
+ *
+ * @param brightness   Brightness (0--100%).
+ */
+static void pbsys_hub_light_matrix_show_idle_ui(uint8_t brightness) {
+
+    uint8_t slot = pbsys_hmi_get_selected_program_slot();
+
     // 3x3 "stop sign" at top center of light matrix
     for (uint8_t r = 0; r < pbsys_hub_light_matrix->size; r++) {
         for (uint8_t c = 0; c < pbsys_hub_light_matrix->size; c++) {
-            uint8_t b = r < 3 && c > 0 && c < 4 ? brightness: 0;
-            pbsys_hub_light_matrix_set_pixel(pbsys_hub_light_matrix, r, c, b);
+            bool in_stop_sign = r < 3 && c > 0 && c < 4;
+            bool in_slot_indicator = r == 4 && c == slot;
+            pbsys_hub_light_matrix_set_pixel(pbsys_hub_light_matrix, r, c, in_stop_sign || in_slot_indicator ? brightness : 0);
         }
     }
 }
 
+void pbsys_hub_light_matrix_update_program_slot(void) {
+    pbsys_hub_light_matrix_show_idle_ui(100);
+}
+
 // Animation frame for on/off animation.
 static uint32_t pbsys_hub_light_matrix_user_power_animation_next(pbio_light_animation_t *animation) {
 
@@ -74,7 +95,7 @@ static uint32_t pbsys_hub_light_matrix_user_power_animation_next(pbio_light_anim
 
     // Show the stop sign fading in/out.
     brightness += increment;
-    pbsys_hub_light_matrix_show_stop_sign(brightness);
+    pbsys_hub_light_matrix_show_idle_ui(brightness);
 
     // Stop at 100% and re-initialize so we can use this again for shutdown.
     if (brightness == 100 || brightness == 0) {
@@ -132,7 +153,7 @@ void pbsys_hub_light_matrix_handle_event(process_event_t event, process_data_t d
         if (status == PBIO_PYBRICKS_STATUS_USER_PROGRAM_RUNNING) {
             // The user animation updates only a subset of pixels to save time,
             // so the rest must be cleared before it starts.
-            pbsys_hub_light_matrix_clear();
+            pbsys_hub_light_matrix_clear_idle_ui();
             pbio_light_animation_init(&pbsys_hub_light_matrix->animation, pbsys_hub_light_matrix_user_program_animation_next);
             pbio_light_animation_start(&pbsys_hub_light_matrix->animation);
         } else if (status == PBIO_PYBRICKS_STATUS_SHUTDOWN_REQUEST && !pbsys_status_test(PBIO_PYBRICKS_STATUS_USER_PROGRAM_RUNNING)) {
@@ -151,8 +172,8 @@ void pbsys_hub_light_matrix_handle_event(process_event_t event, process_data_t d
                 // If it ended due to forced shutdown, show power-off animation.
                 pbsys_hub_light_matrix_start_power_animation();
             } else {
-                // If it simply completed, show stop sign.
-                pbsys_hub_light_matrix_show_stop_sign(100);
+                // If it simply completed, show stop sign and selected slot.
+                pbsys_hub_light_matrix_show_idle_ui(100);
             }
         }
     }

lib/pbio/sys/light_matrix.h

@@ -11,9 +11,11 @@
 #if PBSYS_CONFIG_HUB_LIGHT_MATRIX
 void pbsys_hub_light_matrix_init(void);
 void pbsys_hub_light_matrix_handle_event(process_event_t event, process_data_t data);
+void pbsys_hub_light_matrix_update_program_slot(void);
 #else
 #define pbsys_hub_light_matrix_init()
 #define pbsys_hub_light_matrix_handle_event(event, data)
+#define pbsys_hub_light_matrix_update_program_slot(void)
 #endif
 
 #endif // _PBSYS_SYS_LIGHT_MATRIX_H_