From 472f5442c1b4e120b58af54b99a7544f9aa3071b Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sun, 13 Apr 2025 10:40:48 +0000
Subject: [PATCH] Implemented a first draft of the new Valve-control-pane
---
Cargo.lock | 12 +-
Cargo.toml | 1 +
icons/valve_control/dark/aperture.svg | 7 +
icons/valve_control/dark/timing.svg | 6 +
icons/valve_control/dark/wiggle.svg | 45 ++
icons/valve_control/light/aperture.svg | 7 +
icons/valve_control/light/timing.svg | 6 +
icons/valve_control/light/wiggle.svg | 45 ++
src/mavlink.rs | 4 +
src/message_broker.rs | 19 +-
src/message_broker/message_bundle.rs | 36 +-
src/ui/app.rs | 93 ++-
src/ui/panes.rs | 37 +-
src/ui/panes/default.rs | 31 +-
src/ui/panes/messages_viewer.rs | 24 +-
src/ui/panes/pid_drawing_tool.rs | 25 +-
src/ui/panes/plot.rs | 22 +-
src/ui/panes/plot/source_window.rs | 1 +
src/ui/panes/valve_control.rs | 473 +++++++++++++
src/ui/panes/valve_control/commands.rs | 203 ++++++
src/ui/panes/valve_control/icons.rs | 70 ++
src/ui/panes/valve_control/ui.rs | 14 +
.../panes/valve_control/ui/shortcut_widget.rs | 73 ++
.../valve_control/ui/valve_control_window.rs | 623 ++++++++++++++++++
src/ui/panes/valve_control/valves.rs | 149 +++++
src/ui/shortcuts.rs | 169 ++++-
src/ui/utils.rs | 10 +-
src/ui/widget_gallery.rs | 4 +-
28 files changed, 2041 insertions(+), 168 deletions(-)
create mode 100644 icons/valve_control/dark/aperture.svg
create mode 100644 icons/valve_control/dark/timing.svg
create mode 100644 icons/valve_control/dark/wiggle.svg
create mode 100644 icons/valve_control/light/aperture.svg
create mode 100644 icons/valve_control/light/timing.svg
create mode 100644 icons/valve_control/light/wiggle.svg
create mode 100644 src/ui/panes/valve_control.rs
create mode 100644 src/ui/panes/valve_control/commands.rs
create mode 100644 src/ui/panes/valve_control/icons.rs
create mode 100644 src/ui/panes/valve_control/ui.rs
create mode 100644 src/ui/panes/valve_control/ui/shortcut_widget.rs
create mode 100644 src/ui/panes/valve_control/ui/valve_control_window.rs
create mode 100644 src/ui/panes/valve_control/valves.rs
diff --git a/Cargo.lock b/Cargo.lock
index f65be72..28368be 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1050,7 +1050,7 @@ checksum = "67756b63b283a65bd0534b0c2a5fb1a12a5768bb6383d422147cc93193d09cfc"
dependencies = [
"ahash",
"egui",
- "itertools",
+ "itertools 0.13.0",
"log",
"serde",
]
@@ -1827,6 +1827,15 @@ dependencies = [
"either",
]
+[[package]]
+name = "itertools"
+version = "0.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b192c782037fadd9cfa75548310488aabdbf3d2da73885b31bd0abd03351285"
+dependencies = [
+ "either",
+]
+
[[package]]
name = "itoa"
version = "1.0.15"
@@ -3059,6 +3068,7 @@ dependencies = [
"egui_tiles",
"enum_dispatch",
"glam",
+ "itertools 0.14.0",
"mavlink-bindgen",
"mint",
"profiling",
diff --git a/Cargo.toml b/Cargo.toml
index 8c2de1b..b049c64 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -21,6 +21,7 @@ egui_plot = "0.31"
egui_file = "0.22"
enum_dispatch = "0.3"
glam = { version = "0.29", features = ["serde", "mint"] }
+itertools = "0.14.0"
mint = "0.5.9"
profiling = "1.0"
ring-channel = "0.12.0"
diff --git a/icons/valve_control/dark/aperture.svg b/icons/valve_control/dark/aperture.svg
new file mode 100644
index 0000000..55195e2
--- /dev/null
+++ b/icons/valve_control/dark/aperture.svg
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Uploaded to: SVG Repo, www.svgrepo.com, Generator: SVG Repo Mixer Tools -->
+<svg fill="#8c8c8c" width="800px" height="800px" viewBox="0 0 14 14" role="img" focusable="false" aria-hidden="true"
+ xmlns="http://www.w3.org/2000/svg">
+ <path
+ d="m 9.8075842,8.125795 c -0.047226,-0.0818 -0.1653177,-0.0818 -0.2125819,-2e-5 l -2.7091686,4.69002 c -0.047101,0.0815 0.011348,0.18406 0.1055111,0.18419 0.00288,0 0.00577,0 0.00866,0 1.7426489,0 3.3117022,-0.74298 4.4078492,-1.92938 0.03656,-0.0396 0.04318,-0.0983 0.01627,-0.14492 L 9.807592,8.125795 Z m -2.4888999,1.68471 -5.4097573,0.005 c -0.094226,8e-5 -0.1536307,0.10217 -0.1064545,0.18373 0.8246515,1.42592 2.2192034,2.4809 3.8722553,2.85359 0.052573,0.0119 0.1068068,-0.0117 0.1337538,-0.0583 l 1.6166069,-2.80007 c 0.047277,-0.0819 -0.011863,-0.18422 -0.1064042,-0.18411 z m 4.8812207,-5.80581 c -0.825356,-1.42976 -2.2234427,-2.48728 -3.8807595,-2.85911 -0.052561,-0.0118 -0.1067061,0.0117 -0.1336405,0.0584 l -1.6174875,2.80157 c -0.047252,0.0819 0.011813,0.18415 0.1063413,0.18412 l 5.4189662,-0.001 c 0.0942,-2e-5 0.153693,-0.10205 0.10658,-0.18365 z m 0.413678,1.12713 -3.2344588,0 c -0.094503,0 -0.1535677,0.10233 -0.1062909,0.18415 l 2.7089927,4.6888 c 0.04735,0.0819 0.165368,0.0815 0.212808,-3.1e-4 C 12.706741,9.120925 13,8.094715 13,7.000015 c 0,-0.62043 -0.09423,-1.2188 -0.269055,-1.7817 -0.01595,-0.0514 -0.06352,-0.0865 -0.117362,-0.0865 z M 7.0021135,1.000015 c -7.045e-4,0 -0.00142,0 -0.00213,0 -1.7423595,0 -3.311199,0.74275 -4.4073209,1.92881 -0.036558,0.0395 -0.043188,0.0983 -0.016254,0.14494 l 1.6162797,2.79947 c 0.047264,0.0819 0.1654436,0.0818 0.2126575,-9e-5 l 2.7023877,-4.6891 c 0.04695,-0.0815 -0.011498,-0.18401 -0.1056242,-0.18403 z m -5.6144011,7.87237 3.2356039,0 c 0.094503,0 0.1535552,-0.10231 0.106291,-0.18416 L 2.0185518,3.994515 c -0.047327,-0.082 -0.1653304,-0.0816 -0.2127959,3e-4 C 1.2933853,4.878505 1,5.904985 1,7.000015 c 0,0.62198 0.094717,1.22181 0.2703885,1.78596 0.01599,0.0514 0.063518,0.0864 0.1173239,0.0864 z" />
+</svg>
diff --git a/icons/valve_control/dark/timing.svg b/icons/valve_control/dark/timing.svg
new file mode 100644
index 0000000..a9d7e36
--- /dev/null
+++ b/icons/valve_control/dark/timing.svg
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Uploaded to: SVG Repo, www.svgrepo.com, Generator: SVG Repo Mixer Tools -->
+<svg fill="#8c8c8c" width="800px" height="800px" viewBox="0 0 56 56" xmlns="http://www.w3.org/2000/svg">
+ <path
+ d="M 27.9999 51.9063 C 41.0546 51.9063 51.9063 41.0781 51.9063 28 C 51.9063 14.9453 41.0780 4.0937 28.0234 4.0937 C 26.7812 4.0937 26.1718 4.8437 26.1718 6.0625 L 26.1718 15.1563 C 26.1718 16.1641 26.8514 16.9844 27.8827 16.9844 C 28.9140 16.9844 29.6171 16.1641 29.6171 15.1563 L 29.6171 8.1484 C 39.9296 8.9688 47.8983 17.5 47.8983 28 C 47.8983 39.0625 39.0390 47.9219 27.9999 47.9219 C 16.9374 47.9219 8.0546 39.0625 8.0780 28 C 8.1014 23.0781 9.8593 18.6016 12.7890 15.1563 C 13.5155 14.2422 13.5624 13.1406 12.7890 12.3203 C 12.0155 11.4766 10.7030 11.5469 9.8593 12.6016 C 6.2733 16.7734 4.0937 22.1641 4.0937 28 C 4.0937 41.0781 14.9218 51.9063 27.9999 51.9063 Z M 31.7499 31.6094 C 33.6014 29.6875 33.2265 27.0625 30.9999 25.5156 L 18.6014 16.8672 C 17.4296 16.0469 16.2109 17.2656 17.0312 18.4375 L 25.6796 30.8359 C 27.2265 33.0625 29.8514 33.4609 31.7499 31.6094 Z" />
+</svg>
diff --git a/icons/valve_control/dark/wiggle.svg b/icons/valve_control/dark/wiggle.svg
new file mode 100644
index 0000000..f033a58
--- /dev/null
+++ b/icons/valve_control/dark/wiggle.svg
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Uploaded to: SVG Repo, www.svgrepo.com, Generator: SVG Repo Mixer Tools -->
+
+<svg
+ width="800px"
+ height="800px"
+ viewBox="0 0 24 24"
+ fill="none"
+ version="1.1"
+ id="svg1"
+ sodipodi:docname="rotate-svgrepo-com.svg"
+ inkscape:version="1.4 (e7c3feb1, 2024-10-09)"
+ xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+ xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+ xmlns="http://www.w3.org/2000/svg"
+ xmlns:svg="http://www.w3.org/2000/svg">
+ <defs
+ id="defs1" />
+ <sodipodi:namedview
+ id="namedview1"
+ pagecolor="#505050"
+ bordercolor="#eeeeee"
+ borderopacity="1"
+ inkscape:showpageshadow="0"
+ inkscape:pageopacity="0"
+ inkscape:pagecheckerboard="0"
+ inkscape:deskcolor="#505050"
+ inkscape:zoom="0.26520082"
+ inkscape:cx="350.67764"
+ inkscape:cy="444.94583"
+ inkscape:window-width="1104"
+ inkscape:window-height="847"
+ inkscape:window-x="0"
+ inkscape:window-y="25"
+ inkscape:window-maximized="0"
+ inkscape:current-layer="svg1" />
+ <path
+ d="M4.06189 13C4.02104 12.6724 4 12.3387 4 12C4 7.58172 7.58172 4 12 4C14.5006 4 16.7332 5.14727 18.2002 6.94416M19.9381 11C19.979 11.3276 20 11.6613 20 12C20 16.4183 16.4183 20 12 20C9.61061 20 7.46589 18.9525 6 17.2916M9 17H6V17.2916M18.2002 4V6.94416M18.2002 6.94416V6.99993L15.2002 7M6 20V17.2916"
+ stroke="#000000"
+ stroke-width="2"
+ stroke-linecap="round"
+ stroke-linejoin="round"
+ id="path1"
+ style="fill:none;fill-opacity:1;fill-rule:nonzero;stroke:#8c8c8c;stroke-opacity:1" />
+</svg>
diff --git a/icons/valve_control/light/aperture.svg b/icons/valve_control/light/aperture.svg
new file mode 100644
index 0000000..df46696
--- /dev/null
+++ b/icons/valve_control/light/aperture.svg
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Uploaded to: SVG Repo, www.svgrepo.com, Generator: SVG Repo Mixer Tools -->
+<svg fill="#505050" width="800px" height="800px" viewBox="0 0 14 14" role="img" focusable="false" aria-hidden="true"
+ xmlns="http://www.w3.org/2000/svg">
+ <path
+ d="m 9.8075842,8.125795 c -0.047226,-0.0818 -0.1653177,-0.0818 -0.2125819,-2e-5 l -2.7091686,4.69002 c -0.047101,0.0815 0.011348,0.18406 0.1055111,0.18419 0.00288,0 0.00577,0 0.00866,0 1.7426489,0 3.3117022,-0.74298 4.4078492,-1.92938 0.03656,-0.0396 0.04318,-0.0983 0.01627,-0.14492 L 9.807592,8.125795 Z m -2.4888999,1.68471 -5.4097573,0.005 c -0.094226,8e-5 -0.1536307,0.10217 -0.1064545,0.18373 0.8246515,1.42592 2.2192034,2.4809 3.8722553,2.85359 0.052573,0.0119 0.1068068,-0.0117 0.1337538,-0.0583 l 1.6166069,-2.80007 c 0.047277,-0.0819 -0.011863,-0.18422 -0.1064042,-0.18411 z m 4.8812207,-5.80581 c -0.825356,-1.42976 -2.2234427,-2.48728 -3.8807595,-2.85911 -0.052561,-0.0118 -0.1067061,0.0117 -0.1336405,0.0584 l -1.6174875,2.80157 c -0.047252,0.0819 0.011813,0.18415 0.1063413,0.18412 l 5.4189662,-0.001 c 0.0942,-2e-5 0.153693,-0.10205 0.10658,-0.18365 z m 0.413678,1.12713 -3.2344588,0 c -0.094503,0 -0.1535677,0.10233 -0.1062909,0.18415 l 2.7089927,4.6888 c 0.04735,0.0819 0.165368,0.0815 0.212808,-3.1e-4 C 12.706741,9.120925 13,8.094715 13,7.000015 c 0,-0.62043 -0.09423,-1.2188 -0.269055,-1.7817 -0.01595,-0.0514 -0.06352,-0.0865 -0.117362,-0.0865 z M 7.0021135,1.000015 c -7.045e-4,0 -0.00142,0 -0.00213,0 -1.7423595,0 -3.311199,0.74275 -4.4073209,1.92881 -0.036558,0.0395 -0.043188,0.0983 -0.016254,0.14494 l 1.6162797,2.79947 c 0.047264,0.0819 0.1654436,0.0818 0.2126575,-9e-5 l 2.7023877,-4.6891 c 0.04695,-0.0815 -0.011498,-0.18401 -0.1056242,-0.18403 z m -5.6144011,7.87237 3.2356039,0 c 0.094503,0 0.1535552,-0.10231 0.106291,-0.18416 L 2.0185518,3.994515 c -0.047327,-0.082 -0.1653304,-0.0816 -0.2127959,3e-4 C 1.2933853,4.878505 1,5.904985 1,7.000015 c 0,0.62198 0.094717,1.22181 0.2703885,1.78596 0.01599,0.0514 0.063518,0.0864 0.1173239,0.0864 z" />
+</svg>
diff --git a/icons/valve_control/light/timing.svg b/icons/valve_control/light/timing.svg
new file mode 100644
index 0000000..49bcce6
--- /dev/null
+++ b/icons/valve_control/light/timing.svg
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Uploaded to: SVG Repo, www.svgrepo.com, Generator: SVG Repo Mixer Tools -->
+<svg fill="#505050" width="800px" height="800px" viewBox="0 0 56 56" xmlns="http://www.w3.org/2000/svg">
+ <path
+ d="M 27.9999 51.9063 C 41.0546 51.9063 51.9063 41.0781 51.9063 28 C 51.9063 14.9453 41.0780 4.0937 28.0234 4.0937 C 26.7812 4.0937 26.1718 4.8437 26.1718 6.0625 L 26.1718 15.1563 C 26.1718 16.1641 26.8514 16.9844 27.8827 16.9844 C 28.9140 16.9844 29.6171 16.1641 29.6171 15.1563 L 29.6171 8.1484 C 39.9296 8.9688 47.8983 17.5 47.8983 28 C 47.8983 39.0625 39.0390 47.9219 27.9999 47.9219 C 16.9374 47.9219 8.0546 39.0625 8.0780 28 C 8.1014 23.0781 9.8593 18.6016 12.7890 15.1563 C 13.5155 14.2422 13.5624 13.1406 12.7890 12.3203 C 12.0155 11.4766 10.7030 11.5469 9.8593 12.6016 C 6.2733 16.7734 4.0937 22.1641 4.0937 28 C 4.0937 41.0781 14.9218 51.9063 27.9999 51.9063 Z M 31.7499 31.6094 C 33.6014 29.6875 33.2265 27.0625 30.9999 25.5156 L 18.6014 16.8672 C 17.4296 16.0469 16.2109 17.2656 17.0312 18.4375 L 25.6796 30.8359 C 27.2265 33.0625 29.8514 33.4609 31.7499 31.6094 Z" />
+</svg>
diff --git a/icons/valve_control/light/wiggle.svg b/icons/valve_control/light/wiggle.svg
new file mode 100644
index 0000000..864577e
--- /dev/null
+++ b/icons/valve_control/light/wiggle.svg
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Uploaded to: SVG Repo, www.svgrepo.com, Generator: SVG Repo Mixer Tools -->
+
+<svg
+ width="800px"
+ height="800px"
+ viewBox="0 0 24 24"
+ fill="none"
+ version="1.1"
+ id="svg1"
+ sodipodi:docname="wiggle.svg"
+ inkscape:version="1.4 (e7c3feb1, 2024-10-09)"
+ xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+ xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+ xmlns="http://www.w3.org/2000/svg"
+ xmlns:svg="http://www.w3.org/2000/svg">
+ <defs
+ id="defs1" />
+ <sodipodi:namedview
+ id="namedview1"
+ pagecolor="#505050"
+ bordercolor="#eeeeee"
+ borderopacity="1"
+ inkscape:showpageshadow="0"
+ inkscape:pageopacity="0"
+ inkscape:pagecheckerboard="0"
+ inkscape:deskcolor="#505050"
+ inkscape:zoom="0.26520082"
+ inkscape:cx="350.67765"
+ inkscape:cy="444.94583"
+ inkscape:window-width="1104"
+ inkscape:window-height="847"
+ inkscape:window-x="0"
+ inkscape:window-y="25"
+ inkscape:window-maximized="0"
+ inkscape:current-layer="svg1" />
+ <path
+ d="M4.06189 13C4.02104 12.6724 4 12.3387 4 12C4 7.58172 7.58172 4 12 4C14.5006 4 16.7332 5.14727 18.2002 6.94416M19.9381 11C19.979 11.3276 20 11.6613 20 12C20 16.4183 16.4183 20 12 20C9.61061 20 7.46589 18.9525 6 17.2916M9 17H6V17.2916M18.2002 4V6.94416M18.2002 6.94416V6.99993L15.2002 7M6 20V17.2916"
+ stroke="#000000"
+ stroke-width="2"
+ stroke-linecap="round"
+ stroke-linejoin="round"
+ id="path1"
+ style="fill:none;fill-opacity:1;fill-rule:nonzero;stroke:#505050;stroke-opacity:1" />
+</svg>
diff --git a/src/mavlink.rs b/src/mavlink.rs
index f1517cc..9a05aa8 100644
--- a/src/mavlink.rs
+++ b/src/mavlink.rs
@@ -34,4 +34,8 @@ impl TimedMessage {
time: Instant::now(),
}
}
+
+ pub fn id(&self) -> u32 {
+ self.message.message_id()
+ }
}
diff --git a/src/message_broker.rs b/src/message_broker.rs
index 7cf10e7..ddf1c17 100644
--- a/src/message_broker.rs
+++ b/src/message_broker.rs
@@ -11,7 +11,6 @@ pub use message_bundle::MessageBundle;
use reception_queue::ReceptionQueue;
use std::{
- collections::HashMap,
sync::{Arc, Mutex},
time::Duration,
};
@@ -21,7 +20,7 @@ use tracing::error;
use crate::{
communication::{Connection, ConnectionError, TransceiverConfigExt},
error::ErrInstrument,
- mavlink::{MavFrame, MavHeader, MavMessage, MavlinkVersion, Message, TimedMessage},
+ mavlink::{MavFrame, MavHeader, MavMessage, MavlinkVersion, TimedMessage},
};
const RECEPTION_QUEUE_INTERVAL: Duration = Duration::from_secs(1);
@@ -34,7 +33,7 @@ const SEGS_COMPONENT_ID: u8 = 1;
/// dispatching them to the views that are interested in them.
pub struct MessageBroker {
/// A map of all messages received so far, indexed by message ID
- messages: HashMap<u32, Vec<TimedMessage>>,
+ messages: Vec<TimedMessage>,
/// instant queue used for frequency calculation and reception time
last_receptions: Arc<Mutex<ReceptionQueue>>,
/// Connection to the Mavlink listener
@@ -47,7 +46,7 @@ impl MessageBroker {
/// Creates a new `MessageBroker` with the given channel size and Egui context.
pub fn new(ctx: egui::Context) -> Self {
Self {
- messages: HashMap::new(),
+ messages: Vec::new(),
// TODO: make this configurable
last_receptions: Arc::new(Mutex::new(ReceptionQueue::new(RECEPTION_QUEUE_INTERVAL))),
connection: None,
@@ -88,8 +87,11 @@ impl MessageBroker {
self.last_receptions.lock().log_unwrap().frequency()
}
- pub fn get(&self, id: u32) -> &[TimedMessage] {
- self.messages.get(&id).map_or(&[], |v| v.as_slice())
+ pub fn get(&self, ids: &[u32]) -> Vec<&TimedMessage> {
+ self.messages
+ .iter()
+ .filter(|msg| ids.contains(&msg.id()))
+ .collect()
}
/// Processes incoming network messages. New messages are added to the
@@ -108,10 +110,7 @@ impl MessageBroker {
self.last_receptions.lock().log_unwrap().push(message.time);
// Store the message in the broker
- self.messages
- .entry(message.message.message_id())
- .or_default()
- .push(message);
+ self.messages.push(message);
}
self.ctx.request_repaint();
}
diff --git a/src/message_broker/message_bundle.rs b/src/message_broker/message_bundle.rs
index 52568b9..eaa06df 100644
--- a/src/message_broker/message_bundle.rs
+++ b/src/message_broker/message_bundle.rs
@@ -1,4 +1,4 @@
-use crate::mavlink::{Message, TimedMessage};
+use crate::mavlink::TimedMessage;
/// A bundle of messages, indexed by their ID.
/// Allows for efficient storage and retrieval of messages by ID.
@@ -10,36 +10,22 @@ use crate::mavlink::{Message, TimedMessage};
/// method to clear the content of the bundle and prepare it for reuse.
#[derive(Default)]
pub struct MessageBundle {
- storage: Vec<(u32, Vec<TimedMessage>)>,
+ storage: Vec<TimedMessage>,
count: u32,
}
impl MessageBundle {
/// Returns all messages of the given ID contained in the bundle.
- pub fn get(&self, id: u32) -> &[TimedMessage] {
+ pub fn get(&self, ids: &[u32]) -> Vec<&TimedMessage> {
self.storage
.iter()
- .find(|&&(queue_id, _)| queue_id == id)
- .map_or(&[], |(_, messages)| messages.as_slice())
+ .filter(|msg| ids.contains(&msg.id()))
+ .collect()
}
/// Inserts a new message into the bundle.
pub fn insert(&mut self, message: TimedMessage) {
- let message_id = message.message.message_id();
-
- // Retrieve the queue for the ID, if it exists
- let maybe_queue = self
- .storage
- .iter_mut()
- .find(|&&mut (queue_id, _)| queue_id == message_id)
- .map(|(_, queue)| queue);
-
- if let Some(queue) = maybe_queue {
- queue.push(message);
- } else {
- self.storage.push((message_id, vec![message]));
- }
-
+ self.storage.push(message);
self.count += 1;
}
@@ -49,15 +35,9 @@ impl MessageBundle {
}
/// Resets the content of the bundle, preparing it to be efficiently reused.
- /// Effectively, it clears the content of the bundle, but with lower
- /// allocation cost the next time the bundle is reused.
+ /// Effectively, it clears the content of the bundle.
pub fn reset(&mut self) {
- // Clear the individual queues instead of the full storage, to avoid
- // the allocation cost of the already used per-id queues.
- for (_, queue) in &mut self.storage {
- queue.clear();
- }
-
+ self.storage.clear();
self.count = 0;
}
}
diff --git a/src/ui/app.rs b/src/ui/app.rs
index ad8fa9f..b83784b 100644
--- a/src/ui/app.rs
+++ b/src/ui/app.rs
@@ -4,7 +4,9 @@ use egui_tiles::{Behavior, Container, Linear, LinearDir, Tile, TileId, Tiles, Tr
use serde::{Deserialize, Serialize};
use std::{
fs,
+ ops::DerefMut,
path::{Path, PathBuf},
+ sync::{Arc, Mutex},
time::{Duration, Instant},
};
use tracing::{debug, error, trace};
@@ -18,7 +20,7 @@ use crate::{
use super::{
panes::{Pane, PaneBehavior, PaneKind},
persistency::LayoutManager,
- shortcuts,
+ shortcuts::{ShortcutHandler, ShortcutMode},
utils::maximized_pane_ui,
widget_gallery::WidgetGallery,
widgets::reception_led::ReceptionLed,
@@ -34,6 +36,8 @@ pub struct App {
// == Message handling ==
message_broker: MessageBroker,
message_bundle: MessageBundle,
+ // Shortcut handling
+ shortcut_handler: Arc<Mutex<ShortcutHandler>>,
// == Windows ==
widget_gallery: WidgetGallery,
sources_window: ConnectionsWindow,
@@ -49,11 +53,7 @@ impl eframe::App for App {
let panes_tree = &mut self.state.panes_tree;
// Get the id of the hovered pane, in order to apply actions to it
- let hovered_pane = panes_tree
- .tiles
- .iter()
- .find(|(_, tile)| matches!(tile, Tile::Pane(pane) if pane.contains_pointer()))
- .map(|(id, _)| *id);
+ let hovered_pane = self.behavior.tile_id_hovered;
trace!("Hovered pane: {:?}", hovered_pane);
// Capture any pane action generated by pane children
@@ -63,21 +63,23 @@ impl eframe::App for App {
if let Some(hovered_tile) = hovered_pane {
// Capture any pane action generated by keyboard shortcuts
let key_action_pairs = [
- ((Modifiers::NONE, Key::V), PaneAction::SplitV),
- ((Modifiers::NONE, Key::H), PaneAction::SplitH),
- ((Modifiers::NONE, Key::C), PaneAction::Close),
- (
- (Modifiers::NONE, Key::R),
- PaneAction::ReplaceThroughGallery(Some(hovered_tile)),
- ),
- ((Modifiers::SHIFT, Key::Escape), PaneAction::Maximize),
- ((Modifiers::NONE, Key::Escape), PaneAction::Exit),
+ (Modifiers::NONE, Key::V, PaneAction::SplitV),
+ (Modifiers::NONE, Key::H, PaneAction::SplitH),
+ (Modifiers::NONE, Key::C, PaneAction::Close),
+ (Modifiers::NONE, Key::R, PaneAction::ReplaceThroughGallery),
+ (Modifiers::SHIFT, Key::Escape, PaneAction::Maximize),
+ (Modifiers::NONE, Key::Escape, PaneAction::Exit),
];
- pane_action = pane_action.or(shortcuts::map_to_action(ctx, &key_action_pairs[..]));
+ pane_action = pane_action.or(self
+ .shortcut_handler
+ .lock()
+ .log_unwrap()
+ .consume_if_mode_is(ShortcutMode::composition(), &key_action_pairs[..])
+ .map(|a| (hovered_tile, a)));
}
// If an action was triggered, we consume it
- if let Some(action) = pane_action.take() {
+ if let Some((tile_id, action)) = pane_action.take() {
match action {
PaneAction::SplitH => {
if let Some(hovered_tile) = hovered_pane {
@@ -132,15 +134,15 @@ impl eframe::App for App {
}
}
}
- PaneAction::Replace(tile_id, new_pane) => {
+ PaneAction::Replace(new_pane) => {
debug!(
"Called Replace on tile {:?} with pane {:?}",
tile_id, new_pane
);
panes_tree.tiles.insert(tile_id, Tile::Pane(*new_pane));
}
- PaneAction::ReplaceThroughGallery(Some(source_tile)) => {
- self.widget_gallery.replace_tile(source_tile);
+ PaneAction::ReplaceThroughGallery => {
+ self.widget_gallery.replace_tile(tile_id);
}
PaneAction::Maximize => {
// This is a toggle: if there is not currently a maximized pane,
@@ -170,7 +172,6 @@ impl eframe::App for App {
self.maximized_pane = None;
}
}
- _ => panic!("Unable to handle action"),
}
}
@@ -225,9 +226,13 @@ impl eframe::App for App {
egui::CentralPanel::default().show(ctx, |ui| {
if let Some(maximized_pane) = self.maximized_pane {
if let Some(Tile::Pane(pane)) = panes_tree.tiles.get_mut(maximized_pane) {
- maximized_pane_ui(ui, maximized_pane, pane);
+ maximized_pane_ui(
+ ui,
+ pane,
+ self.shortcut_handler.lock().log_unwrap().deref_mut(),
+ );
} else {
- panic!("Maximized pane not found in tree!");
+ unreachable!("Maximized pane not found in tree!");
}
} else {
panes_tree.ui(&mut self.behavior, ui);
@@ -281,14 +286,16 @@ impl App {
});
}
+ let shortcut_handler = Arc::new(Mutex::new(ShortcutHandler::new(ctx.egui_ctx.clone())));
Self {
state,
layout_manager,
message_broker: MessageBroker::new(ctx.egui_ctx.clone()),
widget_gallery: WidgetGallery::default(),
- behavior: AppBehavior::default(),
+ behavior: AppBehavior::new(Arc::clone(&shortcut_handler)),
maximized_pane: None,
message_bundle: MessageBundle::default(),
+ shortcut_handler,
sources_window: ConnectionsWindow::default(),
layout_manager_window: LayoutManagerWindow::default(),
}
@@ -318,14 +325,12 @@ impl App {
// Skip non-pane tiles
let Tile::Pane(pane) = tile else { continue };
// Skip panes that do not have a subscription
- let Some(sub_id) = pane.get_message_subscription() else {
- continue;
- };
+ let sub_ids: Vec<u32> = pane.get_message_subscriptions().collect();
if pane.should_send_message_history() {
- pane.update(self.message_broker.get(sub_id));
+ pane.update(self.message_broker.get(&sub_ids[..]).as_slice());
} else {
- pane.update(self.message_bundle.get(sub_id));
+ pane.update(self.message_bundle.get(&sub_ids[..]).as_slice());
}
}
@@ -400,9 +405,20 @@ impl AppState {
}
/// Behavior for the tree of panes in the app
-#[derive(Default)]
pub struct AppBehavior {
- pub action: Option<PaneAction>,
+ pub shortcut_handler: Arc<Mutex<ShortcutHandler>>,
+ pub action: Option<(TileId, PaneAction)>,
+ pub tile_id_hovered: Option<TileId>,
+}
+
+impl AppBehavior {
+ fn new(shortcut_handler: Arc<Mutex<ShortcutHandler>>) -> Self {
+ Self {
+ shortcut_handler,
+ action: None,
+ tile_id_hovered: None,
+ }
+ }
}
impl Behavior<Pane> for AppBehavior {
@@ -412,13 +428,20 @@ impl Behavior<Pane> for AppBehavior {
tile_id: TileId,
pane: &mut Pane,
) -> egui_tiles::UiResponse {
+ let res = ui.scope(|ui| pane.ui(ui, self.shortcut_handler.lock().log_unwrap().deref_mut()));
let PaneResponse {
action_called,
drag_response,
- } = pane.ui(ui, tile_id);
+ } = res.inner;
+
+ // Check if the pointer is hovering over the pane
+ if res.response.contains_pointer() {
+ self.tile_id_hovered = Some(tile_id);
+ }
+
// Capture the action and store it to be consumed in the update function
if let Some(action_called) = action_called {
- self.action = Some(action_called);
+ self.action = Some((tile_id, action_called));
}
drag_response
}
@@ -458,8 +481,8 @@ pub enum PaneAction {
SplitH,
SplitV,
Close,
- Replace(TileId, Box<Pane>),
- ReplaceThroughGallery(Option<TileId>),
+ Replace(Box<Pane>),
+ ReplaceThroughGallery,
Maximize,
Exit,
}
diff --git a/src/ui/panes.rs b/src/ui/panes.rs
index 977fbda..3fa948c 100644
--- a/src/ui/panes.rs
+++ b/src/ui/panes.rs
@@ -1,16 +1,17 @@
mod default;
mod messages_viewer;
mod pid_drawing_tool;
-pub mod plot;
+mod plot;
+mod valve_control;
-use egui_tiles::TileId;
+use egui::Ui;
use enum_dispatch::enum_dispatch;
use serde::{Deserialize, Serialize};
use strum_macros::{self, EnumIter, EnumMessage};
use crate::mavlink::{MavMessage, TimedMessage};
-use super::app::PaneResponse;
+use super::{app::PaneResponse, shortcuts::ShortcutHandler};
#[derive(Clone, PartialEq, Default, Serialize, Deserialize, Debug)]
pub struct Pane {
@@ -26,18 +27,15 @@ impl Pane {
#[enum_dispatch(PaneKind)]
pub trait PaneBehavior {
/// Renders the UI of the pane.
- fn ui(&mut self, ui: &mut egui::Ui, tile_id: TileId) -> PaneResponse;
-
- /// Whether the pane contains the pointer.
- fn contains_pointer(&self) -> bool;
+ fn ui(&mut self, ui: &mut Ui, shortcut_handler: &mut ShortcutHandler) -> PaneResponse;
/// Updates the pane state. This method is called before `ui` to allow the
/// pane to update its state based on the messages received.
- fn update(&mut self, _messages: &[TimedMessage]) {}
+ fn update(&mut self, _messages: &[&TimedMessage]) {}
/// Returns the ID of the messages this pane is interested in, if any.
- fn get_message_subscription(&self) -> Option<u32> {
- None
+ fn get_message_subscriptions(&self) -> Box<dyn Iterator<Item = u32>> {
+ Box::new(None.into_iter())
}
/// Checks whether the full message history should be sent to the pane.
@@ -52,20 +50,16 @@ pub trait PaneBehavior {
}
impl PaneBehavior for Pane {
- fn ui(&mut self, ui: &mut egui::Ui, tile_id: TileId) -> PaneResponse {
- self.pane.ui(ui, tile_id)
- }
-
- fn contains_pointer(&self) -> bool {
- self.pane.contains_pointer()
+ fn ui(&mut self, ui: &mut Ui, shortcut_handler: &mut ShortcutHandler) -> PaneResponse {
+ self.pane.ui(ui, shortcut_handler)
}
- fn update(&mut self, messages: &[TimedMessage]) {
+ fn update(&mut self, messages: &[&TimedMessage]) {
self.pane.update(messages)
}
- fn get_message_subscription(&self) -> Option<u32> {
- self.pane.get_message_subscription()
+ fn get_message_subscriptions(&self) -> Box<dyn Iterator<Item = u32>> {
+ self.pane.get_message_subscriptions()
}
fn should_send_message_history(&self) -> bool {
@@ -90,7 +84,10 @@ pub enum PaneKind {
Plot2D(plot::Plot2DPane),
#[strum(message = "Pid")]
- PidOld(pid_drawing_tool::PidPane),
+ Pid(pid_drawing_tool::PidPane),
+
+ #[strum(message = "Valve Control")]
+ ValveControl(valve_control::ValveControlPane),
}
impl Default for PaneKind {
diff --git a/src/ui/panes/default.rs b/src/ui/panes/default.rs
index c3f7979..dd2406f 100644
--- a/src/ui/panes/default.rs
+++ b/src/ui/panes/default.rs
@@ -1,10 +1,15 @@
use super::PaneBehavior;
+use egui::Ui;
use serde::{Deserialize, Serialize};
use tracing::debug;
-use crate::ui::{
- app::{PaneAction, PaneResponse},
- utils::{SizingMemo, vertically_centered},
+use crate::{
+ mavlink::TimedMessage,
+ ui::{
+ app::{PaneAction, PaneResponse},
+ shortcuts::ShortcutHandler,
+ utils::{SizingMemo, vertically_centered},
+ },
};
#[derive(Clone, Debug, Default, Serialize, Deserialize)]
@@ -23,7 +28,7 @@ impl PartialEq for DefaultPane {
impl PaneBehavior for DefaultPane {
#[profiling::function]
- fn ui(&mut self, ui: &mut egui::Ui, tile_id: egui_tiles::TileId) -> PaneResponse {
+ fn ui(&mut self, ui: &mut Ui, _shortcut_handler: &mut ShortcutHandler) -> PaneResponse {
let mut response = PaneResponse::default();
let parent = vertically_centered(ui, &mut self.centering_memo, |ui| {
@@ -37,7 +42,7 @@ impl PaneBehavior for DefaultPane {
debug!("Horizontal Split button clicked");
}
if ui.button("Widget Gallery").clicked() {
- response.set_action(PaneAction::ReplaceThroughGallery(Some(tile_id)));
+ response.set_action(PaneAction::ReplaceThroughGallery);
}
})
.response
@@ -45,25 +50,17 @@ impl PaneBehavior for DefaultPane {
self.contains_pointer = parent.contains_pointer();
- if parent
- .interact(egui::Sense::click_and_drag())
- .on_hover_cursor(egui::CursorIcon::Grab)
- .dragged()
- {
+ if parent.interact(egui::Sense::click_and_drag()).dragged() {
response.set_drag_started();
};
response
}
- fn contains_pointer(&self) -> bool {
- self.contains_pointer
- }
-
- fn update(&mut self, _messages: &[crate::mavlink::TimedMessage]) {}
+ fn update(&mut self, _messages: &[&TimedMessage]) {}
- fn get_message_subscription(&self) -> Option<u32> {
- None
+ fn get_message_subscriptions(&self) -> Box<dyn Iterator<Item = u32>> {
+ Box::new(None.into_iter())
}
fn should_send_message_history(&self) -> bool {
diff --git a/src/ui/panes/messages_viewer.rs b/src/ui/panes/messages_viewer.rs
index 2c8a54f..eb96466 100644
--- a/src/ui/panes/messages_viewer.rs
+++ b/src/ui/panes/messages_viewer.rs
@@ -1,35 +1,21 @@
-use egui::Label;
+use egui::{Label, Ui};
use serde::{Deserialize, Serialize};
-use crate::ui::app::PaneResponse;
+use crate::ui::{app::PaneResponse, shortcuts::ShortcutHandler};
use super::PaneBehavior;
-#[derive(Clone, Debug, Default, Serialize, Deserialize)]
-pub struct MessagesViewerPane {
- #[serde(skip)]
- contains_pointer: bool,
-}
-
-impl PartialEq for MessagesViewerPane {
- fn eq(&self, _other: &Self) -> bool {
- true
- }
-}
+#[derive(Clone, Debug, Default, Serialize, Deserialize, PartialEq)]
+pub struct MessagesViewerPane;
impl PaneBehavior for MessagesViewerPane {
#[profiling::function]
- fn ui(&mut self, ui: &mut egui::Ui, _tile_id: egui_tiles::TileId) -> PaneResponse {
+ fn ui(&mut self, ui: &mut Ui, _shortcut_handler: &mut ShortcutHandler) -> PaneResponse {
let mut response = PaneResponse::default();
let label = ui.add_sized(ui.available_size(), Label::new("This is a label"));
- self.contains_pointer = label.contains_pointer();
if label.drag_started() {
response.set_drag_started();
}
response
}
-
- fn contains_pointer(&self) -> bool {
- self.contains_pointer
- }
}
diff --git a/src/ui/panes/pid_drawing_tool.rs b/src/ui/panes/pid_drawing_tool.rs
index f4e980e..9257cf4 100644
--- a/src/ui/panes/pid_drawing_tool.rs
+++ b/src/ui/panes/pid_drawing_tool.rs
@@ -8,7 +8,6 @@ use core::f32;
use egui::{
Button, Color32, Context, CursorIcon, PointerButton, Response, Sense, Theme, Ui, Widget,
};
-use egui_tiles::TileId;
use elements::Element;
use glam::Vec2;
use grid::GridInfo;
@@ -20,7 +19,9 @@ use crate::{
MAVLINK_PROFILE,
error::ErrInstrument,
mavlink::{GSE_TM_DATA, MessageData, TimedMessage, reflection::MessageLike},
- ui::{app::PaneResponse, cache::ChangeTracker, utils::egui_to_glam},
+ ui::{
+ app::PaneResponse, cache::ChangeTracker, shortcuts::ShortcutHandler, utils::egui_to_glam,
+ },
};
use super::PaneBehavior;
@@ -80,7 +81,9 @@ impl PartialEq for PidPane {
}
impl PaneBehavior for PidPane {
- fn ui(&mut self, ui: &mut egui::Ui, _: TileId) -> PaneResponse {
+ fn ui(&mut self, ui: &mut Ui, _shortcut_handler: &mut ShortcutHandler) -> PaneResponse {
+ let mut pane_response = PaneResponse::default();
+
let theme = PidPane::find_theme(ui.ctx());
if self.center_content && !self.editable {
@@ -132,14 +135,16 @@ impl PaneBehavior for PidPane {
self.reset_subscriptions();
}
- PaneResponse::default()
- }
+ // Check if the user is draqging the pane
+ let ctrl_pressed = ui.input(|i| i.modifiers.ctrl);
+ if response.dragged() && (ctrl_pressed || !self.editable) {
+ pane_response.set_drag_started();
+ }
- fn contains_pointer(&self) -> bool {
- false
+ pane_response
}
- fn update(&mut self, messages: &[TimedMessage]) {
+ fn update(&mut self, messages: &[&TimedMessage]) {
if let Some(msg) = messages.last() {
for element in &mut self.elements {
element.update(&msg.message, self.message_subscription_id);
@@ -147,8 +152,8 @@ impl PaneBehavior for PidPane {
}
}
- fn get_message_subscription(&self) -> Option<u32> {
- Some(self.message_subscription_id)
+ fn get_message_subscriptions(&self) -> Box<dyn Iterator<Item = u32>> {
+ Box::new(Some(self.message_subscription_id).into_iter())
}
}
diff --git a/src/ui/panes/plot.rs b/src/ui/panes/plot.rs
index 4a98372..e4616d1 100644
--- a/src/ui/panes/plot.rs
+++ b/src/ui/panes/plot.rs
@@ -8,12 +8,11 @@ use crate::{
MessageData, ROCKET_FLIGHT_TM_DATA, TimedMessage,
reflection::{FieldLike, IndexedField},
},
- ui::app::PaneResponse,
+ ui::{app::PaneResponse, shortcuts::ShortcutHandler},
utils::units::UnitOfMeasure,
};
-use egui::{Color32, Vec2, Vec2b};
+use egui::{Color32, Ui, Vec2, Vec2b};
use egui_plot::{AxisHints, HPlacement, Legend, Line, PlotPoint, log_grid_spacer};
-use egui_tiles::TileId;
use serde::{self, Deserialize, Serialize};
use source_window::sources_window;
use std::{
@@ -32,8 +31,6 @@ pub struct Plot2DPane {
state_valid: bool,
#[serde(skip)]
settings_visible: bool,
- #[serde(skip)]
- pub contains_pointer: bool,
}
impl PartialEq for Plot2DPane {
@@ -44,7 +41,7 @@ impl PartialEq for Plot2DPane {
impl PaneBehavior for Plot2DPane {
#[profiling::function]
- fn ui(&mut self, ui: &mut egui::Ui, _: TileId) -> PaneResponse {
+ fn ui(&mut self, ui: &mut Ui, _shortcut_handler: &mut ShortcutHandler) -> PaneResponse {
let mut response = PaneResponse::default();
let data_settings_digest = self.settings.data_digest();
@@ -146,7 +143,6 @@ impl PaneBehavior for Plot2DPane {
}
plot.show(ui, |plot_ui| {
- self.contains_pointer = plot_ui.response().contains_pointer();
if plot_ui.response().dragged() && ctrl_pressed {
response.set_drag_started();
}
@@ -181,12 +177,8 @@ impl PaneBehavior for Plot2DPane {
response
}
- fn contains_pointer(&self) -> bool {
- self.contains_pointer
- }
-
#[profiling::function]
- fn update(&mut self, messages: &[TimedMessage]) {
+ fn update(&mut self, messages: &[&TimedMessage]) {
if !self.state_valid {
self.line_data.clear();
}
@@ -226,8 +218,8 @@ impl PaneBehavior for Plot2DPane {
self.state_valid = true;
}
- fn get_message_subscription(&self) -> Option<u32> {
- Some(self.settings.plot_message_id)
+ fn get_message_subscriptions(&self) -> Box<dyn Iterator<Item = u32>> {
+ Box::new(Some(self.settings.plot_message_id).into_iter())
}
fn should_send_message_history(&self) -> bool {
@@ -235,7 +227,7 @@ impl PaneBehavior for Plot2DPane {
}
}
-fn show_menu(ui: &mut egui::Ui, settings_visible: &mut bool, settings: &mut PlotSettings) {
+fn show_menu(ui: &mut Ui, settings_visible: &mut bool, settings: &mut PlotSettings) {
ui.set_max_width(200.0); // To make sure we wrap long text
if ui.button("Source Data Settings…").clicked() {
diff --git a/src/ui/panes/plot/source_window.rs b/src/ui/panes/plot/source_window.rs
index a62d1f9..c309878 100644
--- a/src/ui/panes/plot/source_window.rs
+++ b/src/ui/panes/plot/source_window.rs
@@ -14,6 +14,7 @@ pub fn sources_window(ui: &mut egui::Ui, plot_settings: &mut PlotSettings) {
egui::DragValue::new(&mut points_lifespan_sec)
.range(5..=1800)
.speed(1)
+ .update_while_editing(false)
.suffix(" seconds"),
);
res1.union(res2)
diff --git a/src/ui/panes/valve_control.rs b/src/ui/panes/valve_control.rs
new file mode 100644
index 0000000..22a86e6
--- /dev/null
+++ b/src/ui/panes/valve_control.rs
@@ -0,0 +1,473 @@
+mod commands;
+mod icons;
+mod ui;
+mod valves;
+
+use std::{
+ collections::HashMap,
+ time::{Duration, Instant},
+};
+
+use egui::{
+ Color32, DragValue, FontId, Frame, Grid, Key, Label, Modifiers, Response, RichText, Sense,
+ Stroke, TextFormat, Ui, UiBuilder, Vec2, Widget, Window, text::LayoutJob, vec2,
+};
+use itertools::Itertools;
+use serde::{Deserialize, Serialize};
+use skyward_mavlink::{
+ mavlink::MessageData,
+ orion::{ACK_TM_DATA, NACK_TM_DATA, WACK_TM_DATA},
+};
+use strum::IntoEnumIterator;
+use tracing::info;
+
+use crate::{
+ mavlink::{MavMessage, TimedMessage},
+ ui::{
+ app::PaneResponse,
+ shortcuts::{ShortcutHandler, ShortcutMode},
+ },
+};
+
+use super::PaneBehavior;
+
+use commands::CommandSM;
+use icons::Icon;
+use ui::{ShortcutCard, ValveControlView, map_key_to_shortcut};
+use valves::{Valve, ValveStateManager};
+
+const DEFAULT_AUTO_REFRESH_RATE: Duration = Duration::from_secs(1);
+const SYMBOL_LIST: &str = "123456789-/.";
+
+fn map_symbol_to_key(symbol: char) -> Key {
+ match symbol {
+ '1' => Key::Num1,
+ '2' => Key::Num2,
+ '3' => Key::Num3,
+ '4' => Key::Num4,
+ '5' => Key::Num5,
+ '6' => Key::Num6,
+ '7' => Key::Num7,
+ '8' => Key::Num8,
+ '9' => Key::Num9,
+ '-' => Key::Minus,
+ '/' => Key::Slash,
+ '.' => Key::Period,
+ _ => {
+ unreachable!("Invalid symbol: {}", symbol);
+ }
+ }
+}
+
+#[derive(Clone, PartialEq, Serialize, Deserialize, Debug)]
+pub struct ValveControlPane {
+ // INTERNAL
+ #[serde(skip)]
+ valves_state: ValveStateManager,
+
+ // VALVE COMMANDS LIST
+ #[serde(skip)]
+ commands: Vec<CommandSM>,
+
+ // REFRESH SETTINGS
+ auto_refresh: Option<Duration>,
+
+ #[serde(skip)]
+ manual_refresh: bool,
+
+ #[serde(skip)]
+ last_refresh: Option<Instant>,
+
+ // UI SETTINGS
+ #[serde(skip)]
+ is_settings_window_open: bool,
+ #[serde(skip)]
+ valve_key_map: HashMap<Valve, Key>,
+ #[serde(skip)]
+ valve_view: Option<ValveControlView>,
+}
+
+impl Default for ValveControlPane {
+ fn default() -> Self {
+ let symbols: Vec<char> = SYMBOL_LIST.chars().collect();
+ let valve_key_map = Valve::iter()
+ .zip(symbols.into_iter().map(map_symbol_to_key))
+ .collect();
+ Self {
+ valves_state: ValveStateManager::default(),
+ commands: vec![],
+ auto_refresh: None,
+ manual_refresh: false,
+ last_refresh: None,
+ is_settings_window_open: false,
+ valve_key_map,
+ valve_view: None,
+ }
+ }
+}
+
+impl PaneBehavior for ValveControlPane {
+ #[profiling::function]
+ fn ui(&mut self, ui: &mut Ui, shortcut_handler: &mut ShortcutHandler) -> PaneResponse {
+ let mut pane_response = PaneResponse::default();
+
+ // Set this to at least double the maximum icon size used
+ Icon::init_cache(ui.ctx(), (100, 100));
+
+ if let Some(valve_view) = &mut self.valve_view {
+ if let Some(command) = valve_view.ui(ui, shortcut_handler) {
+ self.commands.push(command.into());
+ }
+
+ if valve_view.is_closed() {
+ self.valve_view = None;
+ }
+ } else {
+ let res = ui
+ .scope_builder(UiBuilder::new().sense(Sense::click_and_drag()), |ui| {
+ self.pane_ui()(ui);
+ ui.allocate_space(ui.available_size());
+ })
+ .response;
+
+ // Show the menu when the user right-clicks the pane
+ res.context_menu(self.menu_ui());
+
+ // Check if the user started dragging the pane
+ if res.drag_started() {
+ pane_response.set_drag_started();
+ }
+
+ // capture actions from keyboard shortcuts
+ let action = self.keyboard_actions(shortcut_handler);
+
+ match action {
+ // Open the valve control window if the action is to open it
+ Some(PaneAction::OpenValveControl(valve)) => {
+ self.valve_view.replace(ValveControlView::new(
+ valve,
+ ui.id().with(valve.to_string()),
+ ));
+ }
+ None => {}
+ }
+
+ Window::new("Settings")
+ .id(ui.auto_id_with("settings"))
+ .auto_sized()
+ .collapsible(true)
+ .movable(true)
+ .open(&mut self.is_settings_window_open)
+ .show(ui.ctx(), Self::settings_window_ui(&mut self.auto_refresh));
+ }
+
+ pane_response
+ }
+
+ #[profiling::function]
+ fn get_message_subscriptions(&self) -> Box<dyn Iterator<Item = u32>> {
+ let mut subscriptions = vec![];
+ if self.needs_refresh() {
+ // TODO
+ // subscriptions.push();
+ }
+
+ // Subscribe to ACK, NACK, WACK messages if any command is waiting for a response
+ if self.commands.iter().any(CommandSM::is_waiting_for_response) {
+ subscriptions.push(ACK_TM_DATA::ID);
+ subscriptions.push(NACK_TM_DATA::ID);
+ subscriptions.push(WACK_TM_DATA::ID);
+ }
+
+ Box::new(subscriptions.into_iter())
+ }
+
+ #[profiling::function]
+ fn update(&mut self, messages: &[&TimedMessage]) {
+ if self.needs_refresh() {
+ // TODO
+ }
+
+ // Capture any ACK/NACK/WACK messages and update the valve state
+ for message in messages {
+ for cmd in self.commands.iter_mut() {
+ // intercept all ACK/NACK/WACK messages
+ cmd.capture_response(&message.message);
+ // If a response was captured, consume the command and update the valve state
+ if let Some((valve, Some(parameter))) = cmd.consume_response() {
+ self.valves_state.set_parameter_of(valve, parameter);
+ }
+ }
+
+ // Remove consumed commands
+ self.commands.retain(|cmd| !cmd.is_consumed());
+ }
+
+ self.reset_last_refresh();
+ }
+
+ #[profiling::function]
+ fn drain_outgoing_messages(&mut self) -> Vec<MavMessage> {
+ let mut outgoing = vec![];
+
+ // Pack and send the next command
+ for cmd in self.commands.iter_mut() {
+ if let Some(message) = cmd.pack_and_wait() {
+ outgoing.push(message);
+ }
+ }
+
+ outgoing
+ }
+}
+
+// ┌────────────────────────┐
+// │ UI METHODS │
+// └────────────────────────┘
+const BTN_MAX_WIDTH: f32 = 125.;
+impl ValveControlPane {
+ fn pane_ui(&mut self) -> impl FnOnce(&mut Ui) {
+ |ui| {
+ profiling::function_scope!("pane_ui");
+ ui.set_min_width(BTN_MAX_WIDTH);
+ let n = (ui.max_rect().width() / BTN_MAX_WIDTH) as usize;
+ let valve_chunks = SYMBOL_LIST.chars().zip(Valve::iter()).chunks(n.max(1));
+ Grid::new("valves_grid")
+ .num_columns(n)
+ .spacing(Vec2::splat(5.))
+ .show(ui, |ui| {
+ for chunk in &valve_chunks {
+ for (symbol, valve) in chunk {
+ let response = ui
+ .scope(self.valve_frame_ui(valve, map_symbol_to_key(symbol)))
+ .inner;
+
+ if response.clicked() {
+ info!("Clicked on valve: {:?}", valve);
+ self.valve_view = Some(ValveControlView::new(
+ valve,
+ ui.id().with(valve.to_string()),
+ ));
+ }
+ }
+ ui.end_row();
+ }
+ });
+ }
+ }
+
+ fn menu_ui(&mut self) -> impl FnOnce(&mut Ui) {
+ |ui| {
+ profiling::function_scope!("menu_ui");
+ if ui.button("Refresh now").clicked() {
+ self.manual_refresh = true;
+ ui.close_menu();
+ }
+ if ui.button("Settings").clicked() {
+ self.is_settings_window_open = true;
+ ui.close_menu();
+ }
+ }
+ }
+
+ fn settings_window_ui(auto_refresh_setting: &mut Option<Duration>) -> impl FnOnce(&mut Ui) {
+ |ui| {
+ profiling::function_scope!("settings_window_ui");
+ // Display auto refresh setting
+ let mut auto_refresh = auto_refresh_setting.is_some();
+ ui.horizontal(|ui| {
+ ui.checkbox(&mut auto_refresh, "Auto Refresh");
+ if auto_refresh {
+ let auto_refresh_duration =
+ auto_refresh_setting.get_or_insert(DEFAULT_AUTO_REFRESH_RATE);
+ let mut auto_refresh_period = auto_refresh_duration.as_secs_f32();
+ DragValue::new(&mut auto_refresh_period)
+ .speed(0.2)
+ .range(0.5..=5.0)
+ .fixed_decimals(1)
+ .update_while_editing(false)
+ .prefix("Every ")
+ .suffix(" s")
+ .ui(ui);
+ *auto_refresh_duration = Duration::from_secs_f32(auto_refresh_period);
+ } else {
+ *auto_refresh_setting = None;
+ }
+ });
+ }
+ }
+
+ fn valve_frame_ui(&self, valve: Valve, shortcut_key: Key) -> impl FnOnce(&mut Ui) -> Response {
+ move |ui| {
+ profiling::function_scope!("valve_frame_ui");
+ let valve_str = valve.to_string();
+ let timing = self.valves_state.get_timing_for(valve);
+ let aperture = self.valves_state.get_aperture_for(valve);
+
+ let timing_str = match timing {
+ valves::ParameterValue::Valid(value) => {
+ format!("{} [ms]", value)
+ }
+ valves::ParameterValue::Missing => "N/A".to_owned(),
+ valves::ParameterValue::Invalid(err_id) => {
+ format!("ERROR({})", err_id)
+ }
+ };
+ let aperture_str = match aperture {
+ valves::ParameterValue::Valid(value) => {
+ format!("{:.2}%", value * 100.)
+ }
+ valves::ParameterValue::Missing => "N/A".to_owned(),
+ valves::ParameterValue::Invalid(err_id) => {
+ format!("ERROR({})", err_id)
+ }
+ };
+ let text_color = ui.visuals().text_color();
+
+ let valve_title_ui = |ui: &mut Ui| {
+ ui.set_max_width(100.);
+ Label::new(
+ RichText::new(valve_str.to_ascii_uppercase())
+ .color(text_color)
+ .strong()
+ .size(15.0),
+ )
+ .selectable(false)
+ .wrap()
+ .ui(ui);
+ };
+
+ let labels_ui = |ui: &mut Ui| {
+ let icon_size = Vec2::splat(17.);
+ let text_format = TextFormat {
+ font_id: FontId::proportional(12.),
+ extra_letter_spacing: 0.,
+ line_height: Some(12.),
+ color: text_color,
+ ..Default::default()
+ };
+ ui.vertical(|ui| {
+ ui.set_min_width(80.);
+ ui.horizontal_top(|ui| {
+ ui.add(
+ Icon::Timing
+ .as_image(ui.ctx().theme())
+ .fit_to_exact_size(icon_size)
+ .sense(Sense::hover()),
+ );
+ ui.allocate_ui(vec2(20., 10.), |ui| {
+ let layout_job =
+ LayoutJob::single_section(timing_str.clone(), text_format.clone());
+ let galley = ui.fonts(|fonts| fonts.layout_job(layout_job));
+ Label::new(galley).selectable(false).ui(ui);
+ });
+ });
+ ui.horizontal_top(|ui| {
+ ui.add(
+ Icon::Aperture
+ .as_image(ui.ctx().theme())
+ .fit_to_exact_size(icon_size)
+ .sense(Sense::hover()),
+ );
+ let layout_job =
+ LayoutJob::single_section(aperture_str.clone(), text_format);
+ let galley = ui.fonts(|fonts| fonts.layout_job(layout_job));
+ Label::new(galley).selectable(false).ui(ui);
+ });
+ });
+ };
+
+ ui.scope_builder(
+ UiBuilder::new()
+ .id_salt("valve_".to_owned() + &valve_str)
+ .sense(Sense::click()),
+ |ui| {
+ let response = ui.response();
+ let shortcut_key_is_down = ui.ctx().input(|input| input.key_down(shortcut_key));
+ let visuals = ui.style().interact(&response);
+
+ let (fill_color, btn_fill_color, stroke) = if response.clicked()
+ || shortcut_key_is_down && self.valve_view.is_none()
+ {
+ let visuals = ui.visuals().widgets.active;
+ (visuals.bg_fill, visuals.bg_fill, visuals.bg_stroke)
+ } else if response.hovered() {
+ (
+ visuals.bg_fill,
+ visuals.bg_fill.gamma_multiply(0.8).to_opaque(),
+ visuals.bg_stroke,
+ )
+ } else {
+ (
+ visuals.bg_fill.gamma_multiply(0.3),
+ visuals.bg_fill,
+ Stroke::new(1.0, Color32::TRANSPARENT),
+ )
+ };
+
+ let inside_frame = |ui: &mut Ui| {
+ ui.vertical(|ui| {
+ valve_title_ui(ui);
+ ui.horizontal(|ui| {
+ ShortcutCard::new(map_key_to_shortcut(shortcut_key))
+ .text_color(text_color)
+ .fill_color(btn_fill_color)
+ .text_size(20.)
+ .ui(ui);
+ labels_ui(ui);
+ });
+ });
+ };
+
+ Frame::canvas(ui.style())
+ .fill(fill_color)
+ .stroke(stroke)
+ .inner_margin(ui.spacing().menu_margin)
+ .corner_radius(visuals.corner_radius)
+ .show(ui, inside_frame);
+ },
+ )
+ .response
+ }
+ }
+
+ #[profiling::function]
+ fn keyboard_actions(&self, shortcut_handler: &mut ShortcutHandler) -> Option<PaneAction> {
+ let mut key_action_pairs = Vec::new();
+ shortcut_handler.deactivate_mode(ShortcutMode::valve_control());
+ // No window is open, so we can map the keys to open the valve control windows
+ for (&valve, &key) in self.valve_key_map.iter() {
+ key_action_pairs.push((Modifiers::NONE, key, PaneAction::OpenValveControl(valve)));
+ }
+ shortcut_handler.consume_if_mode_is(ShortcutMode::composition(), &key_action_pairs[..])
+ }
+}
+
+// ┌───────────────────────────┐
+// │ UTILS METHODS │
+// └───────────────────────────┘
+impl ValveControlPane {
+ fn needs_refresh(&self) -> bool {
+ // manual trigger of refresh
+ let manual_triggered = self.manual_refresh;
+ // automatic trigger of refresh
+ let auto_triggered = if let Some(auto_refresh) = self.auto_refresh {
+ self.last_refresh
+ .is_none_or(|last| last.elapsed() >= auto_refresh)
+ } else {
+ false
+ };
+
+ manual_triggered || auto_triggered
+ }
+
+ fn reset_last_refresh(&mut self) {
+ self.last_refresh = Some(Instant::now());
+ self.manual_refresh = false;
+ }
+}
+
+#[derive(Debug, Clone, Copy)]
+enum PaneAction {
+ OpenValveControl(Valve),
+}
diff --git a/src/ui/panes/valve_control/commands.rs b/src/ui/panes/valve_control/commands.rs
new file mode 100644
index 0000000..ed4d282
--- /dev/null
+++ b/src/ui/panes/valve_control/commands.rs
@@ -0,0 +1,203 @@
+use std::time::{Duration, Instant};
+
+use skyward_mavlink::orion::WIGGLE_SERVO_TC_DATA;
+
+use crate::mavlink::{
+ ACK_TM_DATA, MavMessage, MessageData, NACK_TM_DATA, SET_ATOMIC_VALVE_TIMING_TC_DATA,
+ SET_VALVE_MAXIMUM_APERTURE_TC_DATA, WACK_TM_DATA,
+};
+
+use super::valves::{ParameterValue, Valve, ValveParameter};
+
+#[derive(Debug, Clone, PartialEq)]
+pub enum CommandSM {
+ Request(Command),
+ WaitingForResponse((Instant, Command)),
+ Response((Valve, Option<ValveParameter>)),
+ Consumed,
+}
+
+impl CommandSM {
+ pub fn pack_and_wait(&mut self) -> Option<MavMessage> {
+ match self {
+ Self::Request(command) => {
+ let message = MavMessage::from(command.clone());
+ *self = CommandSM::WaitingForResponse((Instant::now(), command.clone()));
+ Some(message)
+ }
+ _ => None,
+ }
+ }
+
+ pub fn cancel_expired(&mut self, timeout: Duration) {
+ if let Self::WaitingForResponse((instant, cmd)) = self {
+ if instant.elapsed() > timeout {
+ let Command { kind, valve } = cmd;
+ // *self = Self::Response(valve, kind.to_invalid_parameter(error));
+ todo!() // TODO
+ }
+ }
+ }
+
+ pub fn capture_response(&mut self, message: &MavMessage) {
+ if let Self::WaitingForResponse((_, Command { kind, valve })) = self {
+ let id = kind.message_id() as u8;
+ match message {
+ MavMessage::ACK_TM(ACK_TM_DATA { recv_msgid, .. }) if *recv_msgid == id => {
+ *self = CommandSM::Response((*valve, kind.to_valid_parameter()));
+ }
+ MavMessage::NACK_TM(NACK_TM_DATA {
+ err_id, recv_msgid, ..
+ }) if *recv_msgid == id => {
+ *self = CommandSM::Response((*valve, kind.to_invalid_parameter(*err_id)));
+ }
+ MavMessage::WACK_TM(WACK_TM_DATA {
+ err_id, recv_msgid, ..
+ }) if *recv_msgid == id => {
+ *self = CommandSM::Response((*valve, kind.to_invalid_parameter(*err_id)));
+ }
+ _ => {}
+ }
+ }
+ }
+
+ pub fn consume_response(&mut self) -> Option<(Valve, Option<ValveParameter>)> {
+ match self {
+ Self::Response((valve, parameter)) => {
+ let res = Some((*valve, parameter.clone()));
+ *self = CommandSM::Consumed;
+ res
+ }
+ _ => None,
+ }
+ }
+
+ pub fn is_waiting_for_response(&self) -> bool {
+ matches!(self, Self::WaitingForResponse(_))
+ }
+
+ pub fn is_consumed(&self) -> bool {
+ matches!(self, Self::Consumed)
+ }
+}
+
+impl From<Command> for CommandSM {
+ fn from(value: Command) -> Self {
+ Self::Request(value)
+ }
+}
+
+trait ControllableValves {
+ fn set_atomic_valve_timing(self, timing: u32) -> Command;
+ fn set_valve_maximum_aperture(self, aperture: f32) -> Command;
+}
+
+impl ControllableValves for Valve {
+ fn set_atomic_valve_timing(self, timing: u32) -> Command {
+ Command {
+ kind: CommandKind::SetAtomicValveTiming(timing),
+ valve: self,
+ }
+ }
+
+ fn set_valve_maximum_aperture(self, aperture: f32) -> Command {
+ Command {
+ kind: CommandKind::SetValveMaximumAperture(aperture),
+ valve: self,
+ }
+ }
+}
+
+#[derive(Debug, Clone, PartialEq)]
+pub struct Command {
+ kind: CommandKind,
+ valve: Valve,
+}
+
+impl Command {
+ pub fn wiggle(valve: Valve) -> Self {
+ Self {
+ kind: CommandKind::Wiggle,
+ valve,
+ }
+ }
+
+ pub fn set_atomic_valve_timing(valve: Valve, timing: u32) -> Self {
+ valve.set_atomic_valve_timing(timing)
+ }
+
+ pub fn set_valve_maximum_aperture(valve: Valve, aperture: f32) -> Self {
+ valve.set_valve_maximum_aperture(aperture)
+ }
+}
+
+impl From<Command> for MavMessage {
+ fn from(value: Command) -> Self {
+ match value.kind {
+ CommandKind::Wiggle => Self::WIGGLE_SERVO_TC(WIGGLE_SERVO_TC_DATA {
+ servo_id: value.valve.into(),
+ }),
+ CommandKind::SetAtomicValveTiming(timing) => {
+ Self::SET_ATOMIC_VALVE_TIMING_TC(SET_ATOMIC_VALVE_TIMING_TC_DATA {
+ servo_id: value.valve.into(),
+ maximum_timing: timing,
+ })
+ }
+ CommandKind::SetValveMaximumAperture(aperture) => {
+ Self::SET_VALVE_MAXIMUM_APERTURE_TC(SET_VALVE_MAXIMUM_APERTURE_TC_DATA {
+ servo_id: value.valve.into(),
+ maximum_aperture: aperture,
+ })
+ }
+ }
+ }
+}
+
+#[derive(Debug, Clone, Copy, PartialEq)]
+enum CommandKind {
+ Wiggle,
+ SetAtomicValveTiming(u32),
+ SetValveMaximumAperture(f32),
+}
+
+impl CommandKind {
+ fn message_id(&self) -> u32 {
+ match self {
+ Self::Wiggle => WIGGLE_SERVO_TC_DATA::ID,
+ Self::SetAtomicValveTiming(_) => SET_ATOMIC_VALVE_TIMING_TC_DATA::ID,
+ Self::SetValveMaximumAperture(_) => SET_VALVE_MAXIMUM_APERTURE_TC_DATA::ID,
+ }
+ }
+
+ fn to_valid_parameter(&self) -> Option<ValveParameter> {
+ (*self).try_into().ok()
+ }
+
+ fn to_invalid_parameter(&self, error: u16) -> Option<ValveParameter> {
+ match self {
+ Self::Wiggle => None,
+ Self::SetAtomicValveTiming(_) => Some(ValveParameter::AtomicValveTiming(
+ ParameterValue::Invalid(error),
+ )),
+ Self::SetValveMaximumAperture(_) => Some(ValveParameter::ValveMaximumAperture(
+ ParameterValue::Invalid(error),
+ )),
+ }
+ }
+}
+
+impl TryFrom<CommandKind> for ValveParameter {
+ type Error = ();
+
+ fn try_from(value: CommandKind) -> Result<Self, Self::Error> {
+ match value {
+ CommandKind::Wiggle => Err(()),
+ CommandKind::SetAtomicValveTiming(timing) => {
+ Ok(Self::AtomicValveTiming(ParameterValue::Valid(timing)))
+ }
+ CommandKind::SetValveMaximumAperture(aperture) => {
+ Ok(Self::ValveMaximumAperture(ParameterValue::Valid(aperture)))
+ }
+ }
+ }
+}
diff --git a/src/ui/panes/valve_control/icons.rs b/src/ui/panes/valve_control/icons.rs
new file mode 100644
index 0000000..654acae
--- /dev/null
+++ b/src/ui/panes/valve_control/icons.rs
@@ -0,0 +1,70 @@
+use egui::{Context, Image, ImageSource, SizeHint, TextureOptions, Theme};
+use strum::IntoEnumIterator;
+use strum_macros::EnumIter;
+use tracing::error;
+
+#[derive(Debug, Clone, Copy, EnumIter)]
+pub enum Icon {
+ Wiggle,
+ Aperture,
+ Timing,
+}
+
+impl Icon {
+ fn as_image_source(&self, theme: Theme) -> ImageSource {
+ match (&self, theme) {
+ (Icon::Wiggle, Theme::Light) => {
+ egui::include_image!(concat!(
+ env!("CARGO_MANIFEST_DIR"),
+ "/icons/valve_control/light/wiggle.svg"
+ ))
+ }
+ (Icon::Wiggle, Theme::Dark) => {
+ egui::include_image!(concat!(
+ env!("CARGO_MANIFEST_DIR"),
+ "/icons/valve_control/dark/wiggle.svg"
+ ))
+ }
+ (Icon::Aperture, Theme::Light) => {
+ egui::include_image!(concat!(
+ env!("CARGO_MANIFEST_DIR"),
+ "/icons/valve_control/light/aperture.svg"
+ ))
+ }
+ (Icon::Aperture, Theme::Dark) => {
+ egui::include_image!(concat!(
+ env!("CARGO_MANIFEST_DIR"),
+ "/icons/valve_control/dark/aperture.svg"
+ ))
+ }
+ (Icon::Timing, Theme::Light) => {
+ egui::include_image!(concat!(
+ env!("CARGO_MANIFEST_DIR"),
+ "/icons/valve_control/light/timing.svg"
+ ))
+ }
+ (Icon::Timing, Theme::Dark) => {
+ egui::include_image!(concat!(
+ env!("CARGO_MANIFEST_DIR"),
+ "/icons/valve_control/dark/timing.svg"
+ ))
+ }
+ }
+ }
+
+ pub fn init_cache(ctx: &Context, size_hint: (u32, u32)) {
+ let size_hint = SizeHint::Size(size_hint.0, size_hint.1);
+ for icon in Self::iter() {
+ if let Err(e) =
+ icon.as_image_source(ctx.theme())
+ .load(ctx, TextureOptions::LINEAR, size_hint)
+ {
+ error!("Error loading icons: {}", e);
+ }
+ }
+ }
+
+ pub fn as_image(&self, theme: Theme) -> Image {
+ Image::new(self.as_image_source(theme))
+ }
+}
diff --git a/src/ui/panes/valve_control/ui.rs b/src/ui/panes/valve_control/ui.rs
new file mode 100644
index 0000000..6350f61
--- /dev/null
+++ b/src/ui/panes/valve_control/ui.rs
@@ -0,0 +1,14 @@
+mod shortcut_widget;
+mod valve_control_window;
+
+use egui::{Key, KeyboardShortcut, Modifiers};
+
+// Re-export the modules for the UI modules
+use super::{commands, icons, valves};
+
+pub use {shortcut_widget::ShortcutCard, valve_control_window::ValveControlView};
+
+#[inline]
+pub fn map_key_to_shortcut(key: Key) -> KeyboardShortcut {
+ KeyboardShortcut::new(Modifiers::NONE, key)
+}
diff --git a/src/ui/panes/valve_control/ui/shortcut_widget.rs b/src/ui/panes/valve_control/ui/shortcut_widget.rs
new file mode 100644
index 0000000..212d895
--- /dev/null
+++ b/src/ui/panes/valve_control/ui/shortcut_widget.rs
@@ -0,0 +1,73 @@
+use egui::{
+ Color32, FontId, Frame, KeyboardShortcut, Label, Margin, ModifierNames, RichText, Stroke,
+ Widget,
+};
+
+pub struct ShortcutCard {
+ shortcut: KeyboardShortcut,
+ text_size: f32,
+ margin: Margin,
+ text_color: Option<Color32>,
+ fill_color: Option<Color32>,
+}
+
+impl Widget for ShortcutCard {
+ fn ui(self, ui: &mut egui::Ui) -> egui::Response {
+ #[cfg(target_os = "macos")]
+ let is_mac = true;
+ #[cfg(not(target_os = "macos"))]
+ let is_mac = false;
+
+ let shortcut_fmt = self.shortcut.format(&ModifierNames::SYMBOLS, is_mac);
+ let default_style = ui.style().noninteractive();
+ let text_color = self.text_color.unwrap_or(default_style.text_color());
+ let fill_color = self.fill_color.unwrap_or(default_style.bg_fill);
+ let corner_radius = default_style.corner_radius;
+
+ let number = RichText::new(shortcut_fmt)
+ .color(text_color)
+ .font(FontId::monospace(self.text_size));
+
+ Frame::canvas(ui.style())
+ .fill(fill_color)
+ .stroke(Stroke::NONE)
+ .inner_margin(self.margin)
+ .corner_radius(corner_radius)
+ .show(ui, |ui| {
+ Label::new(number).selectable(false).ui(ui);
+ })
+ .response
+ }
+}
+
+impl ShortcutCard {
+ pub fn new(shortcut: KeyboardShortcut) -> Self {
+ Self {
+ shortcut,
+ text_size: 20.,
+ margin: Margin::same(5),
+ text_color: None,
+ fill_color: None,
+ }
+ }
+
+ pub fn text_size(mut self, text_size: f32) -> Self {
+ self.text_size = text_size;
+ self
+ }
+
+ pub fn text_color(mut self, text_color: Color32) -> Self {
+ self.text_color = Some(text_color);
+ self
+ }
+
+ pub fn fill_color(mut self, fill_color: Color32) -> Self {
+ self.fill_color = Some(fill_color);
+ self
+ }
+
+ pub fn margin(mut self, margin: Margin) -> Self {
+ self.margin = margin;
+ self
+ }
+}
diff --git a/src/ui/panes/valve_control/ui/valve_control_window.rs b/src/ui/panes/valve_control/ui/valve_control_window.rs
new file mode 100644
index 0000000..c1c71f0
--- /dev/null
+++ b/src/ui/panes/valve_control/ui/valve_control_window.rs
@@ -0,0 +1,623 @@
+use egui::{
+ Align, Color32, Context, Direction, DragValue, Frame, Id, Key, Label, Layout, Margin,
+ Modifiers, Response, RichText, Sense, Stroke, Ui, UiBuilder, Vec2, Widget,
+};
+use egui_extras::{Size, StripBuilder};
+use tracing::info;
+
+use crate::ui::shortcuts::{ShortcutHandler, ShortcutMode};
+
+use super::{
+ commands::Command, icons::Icon, map_key_to_shortcut, shortcut_widget::ShortcutCard,
+ valves::Valve,
+};
+
+const WIGGLE_KEY: Key = Key::Minus;
+/// Key used to focus on the aperture field
+const FOCUS_APERTURE_KEY: Key = Key::Num1;
+/// Key used to focus on the timing field
+const FOCUS_TIMING_KEY: Key = Key::Num2;
+/// Key used to set the parameter and loose focus on the field
+const SET_PAR_KEY: Key = Key::Plus;
+
+#[derive(Debug, Clone, PartialEq)]
+pub struct ValveControlView {
+ valve: Valve,
+ state: ValveViewState,
+ timing_ms: u32,
+ aperture_perc: f32,
+ id: Id,
+}
+
+impl ValveControlView {
+ pub fn new(valve: Valve, id: Id) -> ValveControlView {
+ ValveControlView {
+ valve,
+ state: ValveViewState::Open,
+ timing_ms: 0,
+ aperture_perc: 0.0,
+ id,
+ }
+ }
+
+ pub fn is_closed(&self) -> bool {
+ matches!(self.state, ValveViewState::Closed)
+ }
+
+ #[profiling::function]
+ pub fn ui(&mut self, ui: &mut Ui, shortcut_handler: &mut ShortcutHandler) -> Option<Command> {
+ // Show only if the window is open
+ if self.is_closed() {
+ return None;
+ }
+
+ // Capture the keyboard shortcuts
+ let mut action = self.keyboard_actions(shortcut_handler);
+
+ // Draw the view inside the pane
+ ui.scope(self.draw_view_ui(&mut action));
+
+ // Handle the actions
+ self.handle_actions(action, ui.ctx())
+ }
+
+ // DISCLAIMER: the code for the UI is really ugly, still learning how to use
+ // egui and in a hurry due to deadlines. If you know how to do it better
+ // feel free to help us
+ fn draw_view_ui(&mut self, action: &mut Option<WindowAction>) -> impl FnOnce(&mut Ui) {
+ |ui: &mut Ui| {
+ let aperture_field_focus = self.id.with("aperture_field_focus");
+ let timing_field_focus = self.id.with("timing_field_focus");
+
+ let valid_fill = ui
+ .visuals()
+ .widgets
+ .inactive
+ .bg_fill
+ .lerp_to_gamma(Color32::GREEN, 0.3);
+ let invalid_fill = ui
+ .visuals()
+ .widgets
+ .inactive
+ .bg_fill
+ .lerp_to_gamma(Color32::RED, 0.3);
+
+ fn shortcut_ui(ui: &Ui, key: &Key, upper_response: &Response) -> ShortcutCard {
+ let vis = ui.visuals();
+ let uvis = ui.style().interact(upper_response);
+ ShortcutCard::new(map_key_to_shortcut(*key))
+ .text_color(vis.strong_text_color())
+ .fill_color(vis.gray_out(uvis.bg_fill))
+ .margin(Margin::symmetric(5, 2))
+ .text_size(12.)
+ }
+
+ fn add_parameter_btn(ui: &mut Ui, key: Key, action_override: bool) -> Response {
+ ui.scope_builder(UiBuilder::new().id_salt(key).sense(Sense::click()), |ui| {
+ let mut visuals = *ui.style().interact(&ui.response());
+
+ // override the visuals if the button is pressed
+ if action_override {
+ visuals = ui.visuals().widgets.active;
+ }
+
+ let shortcut_card = shortcut_ui(ui, &key, &ui.response());
+
+ Frame::canvas(ui.style())
+ .inner_margin(Margin::symmetric(4, 2))
+ .outer_margin(0)
+ .corner_radius(ui.visuals().noninteractive().corner_radius)
+ .fill(visuals.bg_fill)
+ .stroke(Stroke::new(1., Color32::TRANSPARENT))
+ .show(ui, |ui| {
+ ui.set_height(ui.available_height());
+ ui.horizontal_centered(|ui| {
+ ui.set_height(21.);
+ ui.add_space(1.);
+ Label::new(
+ RichText::new("SET").size(16.).color(visuals.text_color()),
+ )
+ .selectable(false)
+ .ui(ui);
+ shortcut_card.ui(ui);
+ });
+ });
+ })
+ .response
+ }
+
+ // set aperture and timing buttons
+ fn show_aperture_btn(
+ state: &ValveViewState,
+ action: &mut Option<WindowAction>,
+ ui: &mut Ui,
+ ) -> Response {
+ let res = match state {
+ ValveViewState::Open => Some(add_parameter_btn(ui, FOCUS_APERTURE_KEY, false)),
+ ValveViewState::ApertureFocused => Some(add_parameter_btn(
+ ui,
+ SET_PAR_KEY,
+ action.is_some_and(|a| a == WindowAction::SetAperture),
+ )),
+ ValveViewState::TimingFocused | ValveViewState::Closed => None,
+ };
+ if let Some(res) = &res {
+ if res.clicked() {
+ // set the focus on the aperture field
+ action.replace(WindowAction::SetAperture);
+ }
+ }
+ res.unwrap_or_else(|| ui.response())
+ }
+
+ // set timing button
+ fn show_timing_btn(
+ state: &ValveViewState,
+ action: &mut Option<WindowAction>,
+ ui: &mut Ui,
+ ) -> Response {
+ let res = match state {
+ ValveViewState::Open => Some(add_parameter_btn(ui, FOCUS_TIMING_KEY, false)),
+ ValveViewState::TimingFocused => Some(add_parameter_btn(
+ ui,
+ SET_PAR_KEY,
+ action.is_some_and(|a| a == WindowAction::SetTiming),
+ )),
+ ValveViewState::ApertureFocused | ValveViewState::Closed => None,
+ };
+ if let Some(res) = &res {
+ if res.clicked() {
+ // set the focus on the aperture field
+ action.replace(WindowAction::SetTiming);
+ }
+ }
+ res.unwrap_or_else(|| ui.response())
+ }
+
+ // wiggle button with shortcut
+ fn wiggle_btn(ui: &mut Ui, action: &mut Option<WindowAction>) {
+ let res = ui
+ .scope_builder(
+ UiBuilder::new().id_salt(WIGGLE_KEY).sense(Sense::click()),
+ |ui| {
+ let mut visuals = *ui.style().interact(&ui.response());
+
+ // override the visuals if the button is pressed
+ if let Some(WindowAction::Wiggle) = action.as_ref() {
+ visuals = ui.visuals().widgets.active;
+ }
+
+ let shortcut_card = shortcut_ui(ui, &WIGGLE_KEY, &ui.response());
+
+ Frame::canvas(ui.style())
+ .inner_margin(Margin::symmetric(4, 2))
+ .outer_margin(0)
+ .corner_radius(ui.visuals().noninteractive().corner_radius)
+ .fill(visuals.bg_fill)
+ .stroke(Stroke::new(1., Color32::TRANSPARENT))
+ .show(ui, |ui| {
+ ui.set_height(ui.available_height());
+ ui.horizontal_centered(|ui| {
+ ui.set_height(21.);
+ ui.add_space(1.);
+ Label::new(
+ RichText::new("WIGGLE")
+ .size(16.)
+ .color(visuals.text_color()),
+ )
+ .selectable(false)
+ .ui(ui);
+ ui.add(
+ Icon::Wiggle
+ .as_image(ui.ctx().theme())
+ .fit_to_exact_size(Vec2::splat(22.)),
+ );
+ shortcut_card.ui(ui);
+ });
+ });
+ },
+ )
+ .response;
+
+ if res.clicked() {
+ // set the focus on the aperture field
+ action.replace(WindowAction::Wiggle);
+ }
+ }
+
+ // valve header
+ let valve_header = |ui: &mut Ui| {
+ ui.with_layout(Layout::right_to_left(Align::Min), |ui| {
+ Label::new(
+ RichText::new(self.valve.to_string().to_uppercase())
+ .color(ui.visuals().strong_text_color())
+ .size(16.),
+ )
+ .ui(ui);
+ Label::new(RichText::new("VALVE: ").size(16.))
+ .selectable(false)
+ .ui(ui);
+ });
+ };
+
+ ui.with_layout(Layout::centered_and_justified(Direction::TopDown), |ui| {
+ ui.set_max_width(350.);
+ ui.set_min_height(50.);
+ StripBuilder::new(ui)
+ .size(Size::exact(5.))
+ .sizes(Size::initial(5.), 3)
+ .vertical(|mut strip| {
+ strip.empty();
+ strip.strip(|builder| {
+ builder
+ .size(Size::exact(206.))
+ .size(Size::initial(50.))
+ .horizontal(|mut strip| {
+ strip.strip(|builder| {
+ builder
+ .size(Size::remainder())
+ .size(Size::initial(5.))
+ .size(Size::remainder())
+ .vertical(|mut strip| {
+ strip.empty();
+ strip.cell(valve_header);
+ strip.empty();
+ });
+ });
+ strip.cell(|ui| wiggle_btn(ui, action));
+ });
+ });
+ strip.strip(|builder| {
+ builder
+ .sizes(Size::initial(85.), 4)
+ .horizontal(|mut strip| {
+ strip.strip(|builder| {
+ builder
+ .size(Size::remainder())
+ .size(Size::initial(5.))
+ .size(Size::remainder())
+ .vertical(|mut strip| {
+ strip.empty();
+ strip.cell(|ui| {
+ ui.with_layout(
+ Layout::right_to_left(Align::Min),
+ |ui| {
+ Label::new(
+ RichText::new("APERTURE:")
+ .size(16.),
+ )
+ .selectable(false)
+ .ui(ui);
+ },
+ );
+ });
+ strip.empty();
+ });
+ });
+ strip.cell(|ui| {
+ Frame::canvas(ui.style())
+ .outer_margin(0)
+ .inner_margin(Margin::symmetric(0, 3))
+ .corner_radius(
+ ui.visuals().noninteractive().corner_radius,
+ )
+ .fill(invalid_fill)
+ .stroke(Stroke::new(1., Color32::TRANSPARENT))
+ .show(ui, |ui| {
+ Label::new(
+ RichText::new("0.813").size(14.).strong(),
+ )
+ .ui(ui);
+ });
+ });
+ strip.cell(|ui| {
+ Frame::canvas(ui.style())
+ .inner_margin(Margin::symmetric(0, 3))
+ .outer_margin(0)
+ .corner_radius(
+ ui.visuals().noninteractive().corner_radius,
+ )
+ .fill(ui.visuals().widgets.inactive.bg_fill)
+ .stroke(Stroke::new(1., Color32::TRANSPARENT))
+ .show(ui, |ui| {
+ // caveat used to clear the field and fill with the current value
+ if let Some(WindowAction::SetAperture) =
+ action.as_ref()
+ {
+ ui.ctx().input_mut(|input| {
+ input.events.push(egui::Event::Key {
+ key: Key::A,
+ physical_key: None,
+ pressed: true,
+ repeat: false,
+ modifiers: Modifiers::COMMAND,
+ });
+ input.events.push(egui::Event::Text(
+ self.aperture_perc.to_string(),
+ ));
+ input.events.push(egui::Event::Key {
+ key: Key::A,
+ physical_key: None,
+ pressed: true,
+ repeat: false,
+ modifiers: Modifiers::COMMAND,
+ });
+ });
+ }
+
+ let res = ui.add_sized(
+ Vec2::new(ui.available_width(), 0.0),
+ DragValue::new(&mut self.aperture_perc)
+ .speed(0.5)
+ .range(0.0..=100.0)
+ .fixed_decimals(0)
+ .update_while_editing(true)
+ .suffix("%"),
+ );
+
+ let command_focus = ui.ctx().memory(|m| {
+ m.data.get_temp(aperture_field_focus)
+ });
+
+ // needed for making sure the state changes even
+ // if the pointer clicks inside the field
+ if res.gained_focus() {
+ action.replace(WindowAction::FocusOnAperture);
+ } else if res.lost_focus() {
+ action.replace(WindowAction::LooseFocus);
+ }
+
+ match (command_focus, res.has_focus()) {
+ (Some(true), false) => {
+ res.request_focus();
+ }
+ (Some(false), true) => {
+ res.surrender_focus();
+ }
+ _ => {}
+ }
+ });
+ });
+ strip.cell(|ui| {
+ show_aperture_btn(&self.state, action, ui);
+ });
+ });
+ });
+ strip.strip(|builder| {
+ builder
+ .sizes(Size::initial(85.), 4)
+ .horizontal(|mut strip| {
+ strip.strip(|builder| {
+ builder
+ .size(Size::remainder())
+ .size(Size::initial(10.))
+ .size(Size::remainder())
+ .vertical(|mut strip| {
+ strip.empty();
+ strip.cell(|ui| {
+ ui.with_layout(
+ Layout::right_to_left(Align::Min),
+ |ui| {
+ Label::new(
+ RichText::new("TIMING:").size(16.),
+ )
+ .selectable(false)
+ .ui(ui);
+ },
+ );
+ });
+ strip.empty();
+ });
+ });
+ strip.cell(|ui| {
+ Frame::canvas(ui.style())
+ .inner_margin(Margin::same(4))
+ .corner_radius(
+ ui.visuals().noninteractive().corner_radius,
+ )
+ .fill(valid_fill)
+ .stroke(Stroke::new(1., Color32::TRANSPARENT))
+ .show(ui, |ui| {
+ Label::new(
+ RichText::new("650ms").size(14.).strong(),
+ )
+ .ui(ui);
+ });
+ });
+ strip.cell(|ui| {
+ Frame::canvas(ui.style())
+ .inner_margin(Margin::same(4))
+ .corner_radius(
+ ui.visuals().noninteractive().corner_radius,
+ )
+ .fill(ui.visuals().widgets.inactive.bg_fill)
+ .stroke(Stroke::new(1., Color32::TRANSPARENT))
+ .show(ui, |ui| {
+ // caveat used to clear the field and fill with the current value
+ if let Some(WindowAction::SetTiming) =
+ action.as_ref()
+ {
+ ui.ctx().input_mut(|input| {
+ input.events.push(egui::Event::Key {
+ key: Key::A,
+ physical_key: None,
+ pressed: true,
+ repeat: false,
+ modifiers: Modifiers::COMMAND,
+ });
+ input.events.push(egui::Event::Text(
+ self.timing_ms.to_string(),
+ ));
+ input.events.push(egui::Event::Key {
+ key: Key::A,
+ physical_key: None,
+ pressed: true,
+ repeat: false,
+ modifiers: Modifiers::COMMAND,
+ });
+ });
+ }
+
+ let res = ui.add_sized(
+ Vec2::new(ui.available_width(), 0.0),
+ DragValue::new(&mut self.timing_ms)
+ .speed(1)
+ .range(1..=10000)
+ .fixed_decimals(0)
+ .update_while_editing(true)
+ .suffix(" [ms]"),
+ );
+
+ let command_focus = ui.ctx().memory(|m| {
+ m.data.get_temp(timing_field_focus)
+ });
+
+ // needed for making sure the state changes even
+ // if the pointer clicks inside the field
+ if res.gained_focus() {
+ action.replace(WindowAction::FocusOnTiming);
+ } else if res.lost_focus() {
+ action.replace(WindowAction::LooseFocus);
+ }
+
+ match (command_focus, res.has_focus()) {
+ (Some(true), false) => {
+ res.request_focus();
+ }
+ (Some(false), true) => {
+ res.surrender_focus();
+ }
+ _ => {}
+ }
+ });
+ });
+ strip.cell(|ui| {
+ show_timing_btn(&self.state, action, ui);
+ });
+ });
+ });
+ });
+ });
+ }
+ }
+
+ fn handle_actions(&mut self, action: Option<WindowAction>, ctx: &Context) -> Option<Command> {
+ match action {
+ // If the action close is called, close the window
+ Some(WindowAction::CloseWindow) => {
+ self.state = ValveViewState::Closed;
+ None
+ }
+ Some(WindowAction::LooseFocus) => {
+ self.state = ValveViewState::Open;
+ let aperture_field_focus = self.id.with("aperture_field_focus");
+ let timing_field_focus = self.id.with("timing_field_focus");
+ ctx.memory_mut(|m| {
+ m.data.insert_temp(aperture_field_focus, false);
+ m.data.insert_temp(timing_field_focus, false);
+ });
+ None
+ }
+ Some(WindowAction::Wiggle) => {
+ info!("Issued command to Wiggle valve: {:?}", self.valve);
+ Some(Command::wiggle(self.valve))
+ }
+ Some(WindowAction::SetTiming) => {
+ info!(
+ "Issued command to set timing for valve {:?} to {} ms",
+ self.valve, self.timing_ms
+ );
+ self.handle_actions(Some(WindowAction::LooseFocus), ctx);
+ Some(Command::set_atomic_valve_timing(self.valve, self.timing_ms))
+ }
+ Some(WindowAction::SetAperture) => {
+ info!(
+ "Issued command to set aperture for valve {:?} to {}%",
+ self.valve, self.aperture_perc
+ );
+ self.handle_actions(Some(WindowAction::LooseFocus), ctx);
+ Some(Command::set_valve_maximum_aperture(
+ self.valve,
+ self.aperture_perc / 100.,
+ ))
+ }
+ Some(WindowAction::FocusOnTiming) => {
+ self.state = ValveViewState::TimingFocused;
+ let timing_field_focus = self.id.with("timing_field_focus");
+ ctx.memory_mut(|m| {
+ m.data.insert_temp(timing_field_focus, true);
+ });
+ None
+ }
+ Some(WindowAction::FocusOnAperture) => {
+ self.state = ValveViewState::ApertureFocused;
+ let aperture_field_focus = self.id.with("aperture_field_focus");
+ ctx.memory_mut(|m| {
+ m.data.insert_temp(aperture_field_focus, true);
+ });
+ None
+ }
+ _ => None,
+ }
+ }
+}
+
+impl ValveControlView {
+ #[profiling::function]
+ fn keyboard_actions(&self, shortcut_handler: &mut ShortcutHandler) -> Option<WindowAction> {
+ let mut key_action_pairs = Vec::new();
+
+ shortcut_handler.activate_mode(ShortcutMode::valve_control());
+ match self.state {
+ ValveViewState::Open => {
+ // A window is open, so we can map the keys to control the valve
+ key_action_pairs.push((Modifiers::NONE, WIGGLE_KEY, WindowAction::Wiggle));
+ key_action_pairs.push((
+ Modifiers::NONE,
+ FOCUS_TIMING_KEY,
+ WindowAction::FocusOnTiming,
+ ));
+ key_action_pairs.push((
+ Modifiers::NONE,
+ FOCUS_APERTURE_KEY,
+ WindowAction::FocusOnAperture,
+ ));
+ key_action_pairs.push((Modifiers::NONE, Key::Escape, WindowAction::CloseWindow));
+ }
+ ValveViewState::TimingFocused => {
+ // The timing field is focused, so we can map the keys to control the timing
+ key_action_pairs.push((Modifiers::NONE, SET_PAR_KEY, WindowAction::SetTiming));
+ key_action_pairs.push((Modifiers::NONE, Key::Escape, WindowAction::LooseFocus));
+ }
+ ValveViewState::ApertureFocused => {
+ // The aperture field is focused, so we can map the keys to control the aperture
+ key_action_pairs.push((Modifiers::NONE, SET_PAR_KEY, WindowAction::SetAperture));
+ key_action_pairs.push((Modifiers::NONE, Key::Escape, WindowAction::LooseFocus));
+ }
+ ValveViewState::Closed => {}
+ }
+ shortcut_handler.consume_if_mode_is(ShortcutMode::valve_control(), &key_action_pairs[..])
+ }
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+enum ValveViewState {
+ Closed,
+ Open,
+ TimingFocused,
+ ApertureFocused,
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+enum WindowAction {
+ // window actions
+ CloseWindow,
+ LooseFocus,
+ // commands
+ Wiggle,
+ SetTiming,
+ SetAperture,
+ // UI focus
+ FocusOnTiming,
+ FocusOnAperture,
+}
diff --git a/src/ui/panes/valve_control/valves.rs b/src/ui/panes/valve_control/valves.rs
new file mode 100644
index 0000000..cf9b15a
--- /dev/null
+++ b/src/ui/panes/valve_control/valves.rs
@@ -0,0 +1,149 @@
+//! Valve Control Pane
+//!
+//! NOTE: We assume that no more than one entity will sent messages to control valves at a time.
+
+use std::fmt::Display;
+
+use strum::IntoEnumIterator;
+use strum_macros::EnumIter;
+
+use crate::{error::ErrInstrument, mavlink::Servoslist};
+
+#[derive(Clone, Debug, PartialEq)]
+pub struct ValveStateManager {
+ settings: Vec<(Valve, ValveParameter)>,
+}
+
+impl Default for ValveStateManager {
+ fn default() -> Self {
+ Self::new()
+ }
+}
+
+impl ValveStateManager {
+ pub fn new() -> Self {
+ let settings = Valve::iter()
+ .flat_map(|valve| ValveParameter::iter().map(move |parameter| (valve, parameter)))
+ .collect();
+ Self { settings }
+ }
+
+ pub fn set_parameter_of(&mut self, valve: Valve, parameter: ValveParameter) {
+ let (_, par) = self
+ .settings
+ .iter_mut()
+ .find(|(v, _)| *v == valve)
+ .log_unwrap();
+ *par = parameter;
+ }
+
+ pub fn get_timing_for(&self, valve: Valve) -> ParameterValue<u32, u16> {
+ for (_, par) in self.settings.iter().filter(|(v, _)| *v == valve) {
+ match par {
+ ValveParameter::AtomicValveTiming(parameter_value) => {
+ return parameter_value.clone();
+ }
+ _ => continue,
+ };
+ }
+ unreachable!()
+ }
+
+ pub fn get_aperture_for(&self, valve: Valve) -> ParameterValue<f32, u16> {
+ for (_, par) in self.settings.iter().filter(|(v, _)| *v == valve) {
+ match par {
+ ValveParameter::ValveMaximumAperture(parameter_value) => {
+ return parameter_value.clone();
+ }
+ _ => continue,
+ };
+ }
+ unreachable!()
+ }
+}
+
+#[allow(non_camel_case_types)]
+#[derive(Clone, Copy, Debug, PartialEq, Eq, EnumIter, Hash)]
+pub enum Valve {
+ OxFilling,
+ OxRelease,
+ OxVenting,
+ N2Filling,
+ N2Release,
+ N2Quenching,
+ N23Way,
+ Main,
+ Nitrogen,
+}
+
+impl From<Valve> for Servoslist {
+ fn from(valve: Valve) -> Servoslist {
+ match valve {
+ Valve::OxFilling => Servoslist::OX_FILLING_VALVE,
+ Valve::OxRelease => Servoslist::OX_RELEASE_VALVE,
+ Valve::OxVenting => Servoslist::OX_VENTING_VALVE,
+ Valve::N2Filling => Servoslist::N2_FILLING_VALVE,
+ Valve::N2Release => Servoslist::N2_RELEASE_VALVE,
+ Valve::N2Quenching => Servoslist::N2_QUENCHING_VALVE,
+ Valve::N23Way => Servoslist::N2_3WAY_VALVE,
+ Valve::Main => Servoslist::MAIN_VALVE,
+ Valve::Nitrogen => Servoslist::NITROGEN_VALVE,
+ }
+ }
+}
+
+impl From<Valve> for u8 {
+ fn from(valve: Valve) -> u8 {
+ Servoslist::from(valve) as u8
+ }
+}
+
+impl Display for Valve {
+ fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+ match self {
+ Valve::OxFilling => write!(f, "Oxidizer Filling"),
+ Valve::OxRelease => write!(f, "Oxidizer Release"),
+ Valve::OxVenting => write!(f, "Oxidizer Venting"),
+ Valve::N2Filling => write!(f, "Nitrogen Filling"),
+ Valve::N2Release => write!(f, "Nitrogen Release"),
+ Valve::N2Quenching => write!(f, "Nitrogen Quenching"),
+ Valve::N23Way => write!(f, "Nitrogen 3-Way"),
+ Valve::Main => write!(f, "Main"),
+ Valve::Nitrogen => write!(f, "Nitrogen"),
+ }
+ }
+}
+
+#[derive(Clone, Debug, PartialEq, EnumIter)]
+pub enum ValveParameter {
+ AtomicValveTiming(ParameterValue<u32, u16>),
+ ValveMaximumAperture(ParameterValue<f32, u16>),
+}
+
+#[derive(Clone, Debug, PartialEq, Default)]
+pub enum ParameterValue<T, E> {
+ Valid(T), // T is the valid parameter value
+ #[default]
+ Missing, // The parameter is missing
+ Invalid(E), // E is the reason why the parameter is invalid
+}
+
+impl<T, E> ParameterValue<T, E> {
+ pub fn valid_or(self, default: T) -> T {
+ match self {
+ Self::Valid(value) => value,
+ Self::Missing => default,
+ Self::Invalid(_) => default,
+ }
+ }
+}
+
+impl<T: Display, E: Display> Display for ParameterValue<T, E> {
+ fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+ match self {
+ Self::Valid(value) => write!(f, "{}", value),
+ Self::Missing => write!(f, "MISSING"),
+ Self::Invalid(error) => write!(f, "INVALID: {}", error),
+ }
+ }
+}
diff --git a/src/ui/shortcuts.rs b/src/ui/shortcuts.rs
index 7efa69f..d95bcaf 100644
--- a/src/ui/shortcuts.rs
+++ b/src/ui/shortcuts.rs
@@ -1,10 +1,165 @@
+use std::collections::HashSet;
+
use egui::{Context, Key, KeyboardShortcut, Modifiers};
-pub fn map_to_action<A: Clone>(ctx: &Context, pairs: &[((Modifiers, Key), A)]) -> Option<A> {
- ctx.input_mut(|i| {
- pairs.iter().find_map(|((modifier, key), action)| {
- i.consume_shortcut(&KeyboardShortcut::new(*modifier, *key))
- .then_some(action.to_owned())
- })
- })
+/// Contains all keyboard shortcuts added by the UI.
+///
+/// [`ShortcutHandler`] is used to register shortcuts and consume them, while
+/// keeping tracks of all enabled shortcuts and filter active shortcut based on
+/// UI views and modes (see [`ShortcutModeStack`]).
+#[derive(Debug, Clone)]
+pub struct ShortcutHandler {
+ /// The egui context. Needed to consume shortcuts.
+ ctx: Context,
+
+ /// Set of all enabled shortcuts.
+ enabled_shortcuts: HashSet<KeyboardShortcut>,
+
+ /// Stack layers of keyboard shortcuts. Controls which shortcuts are active at any given time.
+ mode_stack: ShortcutModeStack,
+}
+
+impl ShortcutHandler {
+ pub fn new(ctx: Context) -> Self {
+ Self {
+ ctx,
+ enabled_shortcuts: Default::default(),
+ mode_stack: Default::default(),
+ }
+ }
+
+ fn add_shortcut_action_pair<A>(
+ &mut self,
+ modifier: Modifiers,
+ key: Key,
+ action: A,
+ mode: ShortcutMode,
+ ) -> Option<A> {
+ let shortcut = KeyboardShortcut::new(modifier, key);
+ if self.mode_stack.is_active(mode) {
+ let action = self
+ .ctx
+ .input_mut(|i| i.consume_shortcut(&shortcut).then_some(action));
+ self.enabled_shortcuts.insert(shortcut);
+ action
+ } else {
+ None
+ }
+ }
+
+ /// Consume the keyboard shortcut provided and return the action associated
+ /// with it if the active mode is the provided one.
+ pub fn consume_if_mode_is<A: Clone>(
+ &mut self,
+ mode: ShortcutMode,
+ shortcuts: &[(Modifiers, Key, A)],
+ ) -> Option<A> {
+ for (modifier, key, action) in shortcuts {
+ if let Some(action) = self.add_shortcut_action_pair(*modifier, *key, action, mode) {
+ return Some(action.clone());
+ };
+ }
+ None
+ }
+
+ /// Activate a mode (see [`ShortcutModeStack`] for more).
+ #[inline]
+ pub fn activate_mode(&mut self, mode: ShortcutMode) {
+ if !self.mode_stack.is_active(mode) {
+ self.mode_stack.activate(mode);
+ self.enabled_shortcuts.clear();
+ }
+ }
+
+ /// Deactivate a mode, switching back to the previous layer (if any).
+ #[inline]
+ pub fn deactivate_mode(&mut self, mode: ShortcutMode) {
+ if self.mode_stack.is_active(mode) {
+ self.mode_stack.deactivate(mode);
+ self.enabled_shortcuts.clear();
+ }
+ }
+}
+
+/// Stack layers of keyboard shortcuts. Controls which shortcuts are active at any given time.
+///
+/// The first layer is the default layer, which is active when the user is in the main view.
+/// The second layer is active when the user is in a modal/dialog/window that needs full keyboard control.
+/// When the modal/dialog/window is closed the second layer is removed and the first layer is active again.
+#[derive(Debug, Default, Clone, Copy, PartialEq, Eq)]
+struct ShortcutModeStack {
+ first: FirstLayerModes,
+ second: Option<SecondLayerModes>,
+}
+
+impl ShortcutModeStack {
+ fn is_active(&self, mode: ShortcutMode) -> bool {
+ match mode {
+ ShortcutMode::FirstLayer(first) => self.first == first && self.second.is_none(),
+ ShortcutMode::SecondLayer(second) => self.second == Some(second),
+ }
+ }
+
+ fn activate(&mut self, mode: ShortcutMode) {
+ match mode {
+ ShortcutMode::FirstLayer(first) => {
+ self.first = first;
+ self.second = None;
+ }
+ ShortcutMode::SecondLayer(second) => self.second = Some(second),
+ }
+ }
+
+ fn deactivate(&mut self, mode: ShortcutMode) {
+ match mode {
+ ShortcutMode::FirstLayer(first) => {
+ if self.first == first {
+ self.first = FirstLayerModes::default();
+ }
+ }
+ ShortcutMode::SecondLayer(second) => {
+ if self.second == Some(second) {
+ self.second = None;
+ }
+ }
+ }
+ }
+}
+
+/// Layers of keyboard shortcuts. See [`ShortcutModeStack`].
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum ShortcutMode {
+ FirstLayer(FirstLayerModes),
+ SecondLayer(SecondLayerModes),
+}
+
+impl ShortcutMode {
+ #[inline]
+ pub fn composition() -> Self {
+ Self::FirstLayer(FirstLayerModes::Composition)
+ }
+
+ #[inline]
+ pub fn valve_control() -> Self {
+ Self::SecondLayer(SecondLayerModes::ValveControl)
+ }
+}
+
+/// First layer of keyboard shortcuts.
+///
+/// Active when the user is on the main view choosing how to customize their layout.
+#[derive(Debug, Default, Clone, Copy, PartialEq, Eq)]
+pub enum FirstLayerModes {
+ /// Shortcuts that are active when the user is in the main menu.
+ #[default]
+ Composition,
+}
+
+/// Second layer of keyboard shortcuts, sits on top of the first layer.
+///
+/// Active when the user is in a modal, dialog or window that needs full keyboard control.
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum SecondLayerModes {
+ /// Shortcuts that are active when the user is in the main menu.
+ ValveControl,
}
diff --git a/src/ui/utils.rs b/src/ui/utils.rs
index 0c2ae3f..7d1b193 100644
--- a/src/ui/utils.rs
+++ b/src/ui/utils.rs
@@ -1,17 +1,19 @@
use egui::containers::Frame;
use egui::{Response, Shadow, Stroke, Style, Ui};
-use egui_tiles::TileId;
-use super::panes::{Pane, PaneBehavior};
+use super::{
+ panes::{Pane, PaneBehavior},
+ shortcuts::ShortcutHandler,
+};
/// This function wraps a ui into a popup frame intended for the pane that needs
/// to be maximized on screen.
-pub fn maximized_pane_ui(ui: &mut Ui, tile_id: TileId, pane: &mut Pane) {
+pub fn maximized_pane_ui(ui: &mut Ui, pane: &mut Pane, shortcut_handler: &mut ShortcutHandler) {
Frame::popup(&Style::default())
.fill(egui::Color32::TRANSPARENT)
.shadow(Shadow::NONE)
.stroke(Stroke::NONE)
- .show(ui, |ui| pane.ui(ui, tile_id));
+ .show(ui, |ui| pane.ui(ui, shortcut_handler));
}
#[derive(Debug, Default, Clone)]
diff --git a/src/ui/widget_gallery.rs b/src/ui/widget_gallery.rs
index ad8796d..80ef01e 100644
--- a/src/ui/widget_gallery.rs
+++ b/src/ui/widget_gallery.rs
@@ -19,7 +19,7 @@ impl WidgetGallery {
self.open = true;
}
- pub fn show(&mut self, ctx: &Context) -> Option<PaneAction> {
+ pub fn show(&mut self, ctx: &Context) -> Option<(TileId, PaneAction)> {
let mut window_visible = self.open;
let resp = egui::Window::new("Widget Gallery")
.collapsible(false)
@@ -31,7 +31,7 @@ impl WidgetGallery {
} else if let Some(message) = pane.get_message() {
if ui.button(message).clicked() {
if let Some(tile_id) = self.tile_id {
- return Some(PaneAction::Replace(tile_id, Pane::boxed(pane)));
+ return Some((tile_id, PaneAction::Replace(Pane::boxed(pane))));
}
}
}
--
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