LVGL, Sabo BootScreen

Author: Apehaenger

CMakeLists.txt

@@ -46,6 +46,12 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
         # Add user defined library search paths
 )
 
+# Add LVGL assets
+file(GLOB LVGL_ASSETS_SRC
+    "src/drivers/ui/lvgl/assets/*.c"
+    "src/drivers/ui/lvgl/assets/Orbitron/*.c"
+)
+
 # Add sources to executable
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         boards/XCORE/board_utils.cpp
@@ -91,14 +97,13 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         src/drivers/ui/SaboCoverUI/sabo_cover_ui_cabo_driver_base.cpp
         src/drivers/ui/SaboCoverUI/sabo_cover_ui_controller.cpp
         src/drivers/ui/SaboCoverUI/sabo_cover_ui_display_driver_uc1698.cpp
-        src/drivers/ui/lvgl/assets/chassis_193x94x1.c
-        src/drivers/ui/lvgl/assets/wheel_83x83x1.c
         # Raw driver debug interface
         src/debug/debug_tcp_interface.cpp
         src/debug/debug_udp_interface.cpp
         src/debug/debuggable_driver.cpp
         robots/src/robot.cpp
         ${PLATFORM_SOURCES}
+        ${LVGL_ASSETS_SRC}
 )
 
 # Add include paths

lv_conf.h

@@ -178,7 +178,7 @@
 #define LV_DRAW_SW_SUPPORT_RGB565A8 0
 #define LV_DRAW_SW_SUPPORT_RGB888 0
 #define LV_DRAW_SW_SUPPORT_XRGB8888 0
-#define LV_DRAW_SW_SUPPORT_ARGB8888 0
+#define LV_DRAW_SW_SUPPORT_ARGB8888 1
 #define LV_DRAW_SW_SUPPORT_ARGB8888_PREMULTIPLIED 0
 #define LV_DRAW_SW_SUPPORT_L8 0
 #define LV_DRAW_SW_SUPPORT_AL88 0
@@ -204,7 +204,7 @@
  * - 0: Use a simple renderer capable of drawing only simple rectangles with gradient, images, text, and straight lines
  * only.
  * - 1: Use a complex renderer capable of drawing rounded corners, shadow, skew lines, and arcs too. */
-#define LV_DRAW_SW_COMPLEX 0
+#define LV_DRAW_SW_COMPLEX 1
 
 #if LV_DRAW_SW_COMPLEX == 1
 /** Allow buffering some shadow calculation.
@@ -373,7 +373,7 @@
  *  - LV_LOG_LEVEL_ERROR    Log only critical issues, when system may fail.
  *  - LV_LOG_LEVEL_USER     Log only custom log messages added by the user.
  *  - LV_LOG_LEVEL_NONE     Do not log anything. */
-#define LV_LOG_LEVEL LV_LOG_LEVEL_INFO
+#define LV_LOG_LEVEL LV_LOG_LEVEL_WARN
 
 /** - 1: Print log with 'printf';
  *  - 0: User needs to register a callback with `lv_log_register_print_cb()`. */
@@ -616,7 +616,7 @@
 
 /** Pixel perfect monospaced fonts */
 #define LV_FONT_UNSCII_8 1
-#define LV_FONT_UNSCII_16 1
+#define LV_FONT_UNSCII_16 0
 
 /** Optionally declare custom fonts here.
  *

robots/include/sabo_robot.hpp

@@ -40,6 +40,10 @@ class SaboRobot : public MowerRobot {
     return 7.0f * 3.0;
   }
 
+  CHARGER_STATUS GetChargerStatus() {
+    return charger_.getChargerStatus();
+  }
+
  private:
   BQ2576 charger_{};
   SaboCoverUIController cover_ui_{};

src/drivers/ui/SaboCoverUI/sabo_cover_ui_controller.cpp

@@ -7,7 +7,9 @@
 
 #include <services.hpp>
 
+#include "chprintf.h"
 #include "hal.h"
+#include "robots/include/sabo_robot.hpp"
 #include "sabo_cover_ui_display.hpp"
 #include "sabo_cover_ui_display_driver_uc1698.hpp"
 
@@ -127,6 +129,111 @@ const char* SaboCoverUIController::ButtonIDToString(const ButtonID id) {
   }
 }
 
+/**
+ * @brief Handle the boot sequence
+ *
+ */
+void SaboCoverUIController::HandleBootSequence() {
+  auto boot_screen = display_->GetBootScreen();
+  if (boot_screen == nullptr) return;
+
+  // All boot steps done...
+  if (current_boot_step_ >= boot_steps_.size()) {
+    if (boot_screen->GetAnimationState() == SaboScreenBoot::AnimationState::NONE) {
+      display_->SetBootStatus("Ready to mow", 100);
+      boot_screen->StartForwardAnimation();
+    } else if (boot_screen->GetAnimationState() == SaboScreenBoot::AnimationState::DONE) {
+      display_->ShowMainScreen();
+    }
+    return;
+  }
+
+  BootStep& step = boot_steps_[current_boot_step_];
+  systime_t now = chVTGetSystemTimeX();
+  uint32_t elapsed_ms = TIME_I2MS(now - step.last_action_time);
+
+  switch (step.state) {
+    case BootStepState::WAIT:
+      step.state = BootStepState::RUNNING;
+      step.last_action_time = now;
+      display_->SetBootStatus(step.name, (current_boot_step_ * 100) / boot_steps_.size());
+      break;
+
+    case BootStepState::RUNNING:
+      if (elapsed_ms >= 1000) {
+        if (step.test_func()) {
+          step.state = BootStepState::DONE;
+          current_boot_step_++;
+          boot_step_retry_count_ = 0;
+        } else {
+          boot_step_retry_count_++;
+          if (boot_step_retry_count_ < BOOT_STEP_RETRIES) {
+            etl::string<48> fail_msg;
+            chsnprintf(fail_msg.data(), fail_msg.max_size(), "%s (%d/%d)", step.name, boot_step_retry_count_,
+                       BOOT_STEP_RETRIES);
+            display_->SetBootStatus(fail_msg, (current_boot_step_ * 100) / boot_steps_.size());
+            step.last_action_time = now;
+          } else {
+            etl::string<48> fail_msg = step.name;
+            fail_msg += " failed!";
+            display_->SetBootStatus(fail_msg, (current_boot_step_ * 100) / boot_steps_.size());
+            step.state = BootStepState::ERROR;
+            step.last_action_time = now;
+          }
+        }
+      }
+      break;
+
+    case BootStepState::ERROR:
+      if (elapsed_ms >= 60000 || cabo_->IsAnyButtonPressed()) {
+        step.state = BootStepState::DONE;
+        current_boot_step_++;
+        boot_step_retry_count_ = 0;
+      }
+      break;
+
+    case BootStepState::DONE:
+      // NOP. Next step get handled in next tick
+      break;
+  }
+}
+
+bool SaboCoverUIController::TestIMU() {
+  return imu_service.IsFound();
+}
+
+bool SaboCoverUIController::TestCharger() {
+  Robot* robot = GetRobot();
+  if (!robot) return false;
+
+  auto* sabo = static_cast<SaboRobot*>(robot);
+  if (!sabo) return false;
+
+  const CHARGER_STATUS status = sabo->GetChargerStatus();
+  // TODO: Why do I get COMMS_ERROR here?
+  // return status != CHARGER_STATUS::FAULT && status != CHARGER_STATUS::COMMS_ERROR;
+  return status != CHARGER_STATUS::FAULT;
+}
+
+bool SaboCoverUIController::TestGPS() {
+  return true;
+}
+
+bool SaboCoverUIController::TestLeftESC() {
+  auto esc_state = diff_drive.GetLeftESCState();
+  return esc_state.status == MotorDriver::ESCState::ESCStatus::ESC_STATUS_OK;
+}
+
+bool SaboCoverUIController::TestRightESC() {
+  auto esc_state = diff_drive.GetRightESCState();
+  return esc_state.status == MotorDriver::ESCState::ESCStatus::ESC_STATUS_OK;
+}
+
+bool SaboCoverUIController::TestMowerESC() {
+  auto esc_state = mower_service.GetESCState();
+  return esc_state.status == MotorDriver::ESCState::ESCStatus::ESC_STATUS_OK;
+}
+
 void SaboCoverUIController::ThreadFunc() {
   if (display_) {
     display_->Start();
@@ -139,6 +246,10 @@ void SaboCoverUIController::ThreadFunc() {
     if (cabo_->IsReady() && display_) {
       display_->Tick();
       if (cabo_->IsAnyButtonPressed()) display_->WakeUp();
+
+      if (current_boot_step_ <= boot_steps_.size() && display_->GetActiveScreen()->GetScreenId() == ScreenId::BOOT) {
+        HandleBootSequence();
+      }
     }
 
     // ----- Debug -----

src/drivers/ui/SaboCoverUI/sabo_cover_ui_controller.hpp

@@ -5,6 +5,8 @@
 #ifndef OPENMOWER_SABO_COVER_UI_CONTROLLER_HPP
 #define OPENMOWER_SABO_COVER_UI_CONTROLLER_HPP
 
+#include <etl/array.h>
+
 #include "ch.h"
 #include "sabo_cover_ui_cabo_driver_v01.hpp"
 #include "sabo_cover_ui_cabo_driver_v02.hpp"
@@ -24,7 +26,7 @@ class SaboCoverUIController {
   static const char* ButtonIDToString(const ButtonID id);  // Get string for ButtonID
 
  private:
-  THD_WORKING_AREA(wa_, 4096);  // AH20250714 In use = 2912. Let's be save for LVGL GUI development
+  THD_WORKING_AREA(wa_, 5120);  // AH20250801 In use = 3808. Let's be save (+1k) for LVGL GUI development
   thread_t* thread_ = nullptr;
 
   bool configured_ = false;
@@ -35,6 +37,39 @@ class SaboCoverUIController {
 
   SaboCoverUIDisplay* display_ = nullptr;  // Pointer to the Display driver
 
+  enum class BootStepState { WAIT, RUNNING, ERROR, DONE };
+  struct BootStep {
+    const char* name;
+    bool (*test_func)();
+    BootStepState state = BootStepState::WAIT;
+    systime_t last_action_time = 0;
+  };
+  static constexpr size_t BOOT_STEP_COUNT_ = 7;
+  etl::array<SaboCoverUIController::BootStep, BOOT_STEP_COUNT_> boot_steps_ = {{
+      {"Motion Sensor", &TestIMU},
+      {"Charger", &TestCharger},
+      {"GPS", &TestGPS},
+      {"Left Motor", &TestLeftESC},
+      {"Right Motor", &TestRightESC},
+      {"Mower Motor", &TestMowerESC},
+      {"Flux Compensator", &TestFluxCompensator},
+  }};
+  size_t current_boot_step_ = 0;
+  static constexpr size_t BOOT_STEP_RETRIES = 3;
+  size_t boot_step_retry_count_ = 0;
+
+  void HandleBootSequence();
+
+  static bool TestIMU();
+  static bool TestCharger();
+  static bool TestGPS();
+  static bool TestLeftESC();
+  static bool TestRightESC();
+  static bool TestMowerESC();
+  static bool TestFluxCompensator() {
+    return false;  // Placeholder for a non-existent service
+  }
+
   static void ThreadHelper(void* instance);
   void ThreadFunc();
 };