Revert LVGL and HighLevelService

Author: Apehaenger

CMakeLists.txt

@@ -36,13 +36,6 @@ set_target_properties(${CMAKE_PROJECT_NAME} PROPERTIES
 
 target_compile_options(${CMAKE_PROJECT_NAME} PUBLIC -Wall -Wextra -Werror)
 
-# Set robot specific lv_conf.h before LVGL get build
-if(ROBOT_PLATFORM STREQUAL "Sabo")
-    set(LV_BUILD_CONF_PATH "${CMAKE_SOURCE_DIR}/src/drivers/ui/SaboCoverUI/lv_conf.h" CACHE PATH "LVGL config" FORCE)
-    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE LV_CONF_INCLUDE_SIMPLE)
-    target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE src/drivers/ui/SaboCoverUI)
-endif()
-
 # Add lib subdirectory
 add_subdirectory(ext)
 target_compile_definitions(ulog PUBLIC ULOG_ENABLED)
@@ -74,7 +67,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         src/services/mower_service/mower_service.cpp
         src/services/gps_service/gps_service.cpp
         src/services/input_service/input_service.cpp
-        src/services/high_level_service/high_level_service.cpp
         # BQ2567 driver
         src/drivers/charger/bq_2576/bq_2576.cpp
         # BQ25679 driver
@@ -95,6 +87,10 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         src/drivers/input/gpio_input_driver.cpp
         src/drivers/input/worx_input_driver.cpp
         $<$<CONFIG:Debug>:src/drivers/input/simulated_input_driver.cpp>
+        # Sabo driver
+        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
         # Raw driver debug interface
         src/debug/debug_tcp_interface.cpp
         src/debug/debug_udp_interface.cpp
@@ -117,7 +113,6 @@ target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
         # Add user defined symbols
         timegm=mktime
         ROBOT_PLATFORM=${ROBOT_PLATFORM}
-        ROBOT_PLATFORM_${ROBOT_PLATFORM}=1
 )
 
 # Add linked libraries
@@ -128,26 +123,16 @@ target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC
         etl::etl
         LittleFS
         lwjson
+        lvgl
 )
 
-# Sabo specific files and libraries (LVGL)
-if(ROBOT_PLATFORM STREQUAL "Sabo")
-    target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC lvgl)
-    target_sources(${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
-    )
-endif()
-
 target_add_service(${CMAKE_PROJECT_NAME} ImuService ${CMAKE_CURRENT_SOURCE_DIR}/services/imu_service.json)
 target_add_service(${CMAKE_PROJECT_NAME} PowerService ${CMAKE_CURRENT_SOURCE_DIR}/services/power_service.json)
 target_add_service(${CMAKE_PROJECT_NAME} EmergencyService ${CMAKE_CURRENT_SOURCE_DIR}/services/emergency_service.json)
 target_add_service(${CMAKE_PROJECT_NAME} DiffDriveService ${CMAKE_CURRENT_SOURCE_DIR}/services/diff_drive_service.json)
 target_add_service(${CMAKE_PROJECT_NAME} MowerService ${CMAKE_CURRENT_SOURCE_DIR}/services/mower_service.json)
 target_add_service(${CMAKE_PROJECT_NAME} GpsService ${CMAKE_CURRENT_SOURCE_DIR}/services/gps_service.json)
 target_add_service(${CMAKE_PROJECT_NAME} InputService ${CMAKE_CURRENT_SOURCE_DIR}/services/input_service.json)
-target_add_service(${CMAKE_PROJECT_NAME} HighLevelService ${CMAKE_CURRENT_SOURCE_DIR}/services/high_level_service.json)
 
 set_target_properties(${CMAKE_PROJECT_NAME}
         PROPERTIES SUFFIX ".elf")

ext/CMakeLists.txt

@@ -10,18 +10,11 @@ target_compile_definitions(xbot-service PUBLIC XBOT_ENABLE_STATIC_STACK)
 add_subdirectory(LSM6DS3TR-C-PID)
 add_subdirectory(etl)
 
-# LVGL Configuration - Disable examples and demos to reduce compile time and binary size
 set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
-set(CONFIG_LV_BUILD_EXAMPLES OFF CACHE BOOL "Disable LVGL examples" FORCE)
-set(CONFIG_LV_BUILD_DEMOS OFF CACHE BOOL "Disable LVGL demos" FORCE)
+set(CONFIG_LV_BUILD_EXAMPLES OFF)
+set(CONFIG_LV_BUILD_DEMOS OFF)
 set(CONFIG_LV_USE_THORVG_INTERNAL OFF)
-set(LV_CONF_BUILD_DISABLE_EXAMPLES ON CACHE BOOL "Disable LVGL examples build" FORCE)
-set(LV_CONF_BUILD_DISABLE_DEMOS ON CACHE BOOL "Disable LVGL demos build" FORCE)
-
-# Add LVGL only for specific robots
-if(ROBOT_PLATFORM STREQUAL "Sabo")
-    add_subdirectory(lvgl)
-endif()
+add_subdirectory(lvgl)
 
 # Add LittleFS
 add_library(LittleFS littlefs/lfs.c littlefs/lfs_util.c)

src/drivers/ui/SaboCoverUI/lv_conf.h renamed to lv_conf.h

@@ -1,12 +1,27 @@
 /**
  * @file lv_conf.h
- * Configuration file for LVGL v9.3 - Sabo Robot CoverUI
- * This file should only be included via the main lv_conf.h dispatcher
+ * Configuration file for v9.3.0
  */
 
+/*
+ * Copy this file as `lv_conf.h`
+ * 1. simply next to `lvgl` folder
+ * 2. or to any other place and
+ *    - define `LV_CONF_INCLUDE_SIMPLE`;
+ *    - add the path as an include path.
+ */
+
+/* clang-format off */
+#if 1 /* Set this to "1" to enable content */
+
 #ifndef LV_CONF_H
 #define LV_CONF_H
 
+/* If you need to include anything here, do it inside the `__ASSEMBLY__` guard */
+#if  0 && defined(__ASSEMBLY__)
+#include "my_include.h"
+#endif
+
 /*====================
    COLOR SETTINGS
  *====================*/
@@ -603,8 +618,8 @@
 #define LV_FONT_SOURCE_HAN_SANS_SC_16_CJK 0 /**< 1338 most common CJK radicals */
 
 /** Pixel perfect monospaced fonts */
-#define LV_FONT_UNSCII_8 0
-#define LV_FONT_UNSCII_16 0
+#define LV_FONT_UNSCII_8 1
+#define LV_FONT_UNSCII_16 1
 
 /** Optionally declare custom fonts here.
  *
@@ -618,7 +633,7 @@
 #define LV_FONT_CUSTOM_DECLARE
 
 /** Always set a default font */
-#define LV_FONT_DEFAULT &lv_font_montserrat_14
+#define LV_FONT_DEFAULT &lv_font_unscii_8
 
 /** Enable handling large font and/or fonts with a lot of characters.
  *  The limit depends on the font size, font face and bpp.
@@ -799,7 +814,7 @@
  * https://docs.lvgl.io/master/details/common-widget-features/styles/styles.html#themes . */
 
 /** A simple, impressive and very complete theme */
-#define LV_USE_THEME_DEFAULT 1
+#define LV_USE_THEME_DEFAULT 0
 #if LV_USE_THEME_DEFAULT
 /** 0: Light mode; 1: Dark mode */
 #define LV_THEME_DEFAULT_DARK 0
@@ -812,7 +827,7 @@
 #endif /*LV_USE_THEME_DEFAULT*/
 
 /** A very simple theme that is a good starting point for a custom theme */
-#define LV_USE_THEME_SIMPLE 1
+#define LV_USE_THEME_SIMPLE 0
 
 /** A theme designed for monochrome displays */
 #define LV_USE_THEME_MONO 1
@@ -1194,4 +1209,8 @@
 /** Build the demos */
 #define LV_BUILD_DEMOS 0
 
-#endif /*LV_CONF_SABO_H*/
+/*--END OF LV_CONF_H--*/
+
+#endif /*LV_CONF_H*/
+
+#endif /*End of "Content enable"*/

robots/src/robot.cpp

@@ -3,28 +3,18 @@
 #include <services.hpp>
 
 #include "../include/lyfco_e1600_robot.hpp"
-#if ROBOT_PLATFORM_Sabo
 #include "../include/sabo_robot.hpp"
-#endif
 #include "../include/worx_robot.hpp"
 #include "../include/xbot_robot.hpp"
 #include "../include/yardforce_robot.hpp"
 
+#define EXPAND(x) x
+#define ROBOT_CLASS_NAME(platform) platform##Robot
+#define CREATE_ROBOT(platform) new EXPAND(ROBOT_CLASS_NAME(platform))()
+
 Robot* GetRobot() {
-// TODO: This should look at the flash to determine the mower type.
-#if ROBOT_PLATFORM_Sabo
-  return new SaboRobot();
-#elif ROBOT_PLATFORM_YardForce
-  return new YardForceRobot();
-#elif ROBOT_PLATFORM_Worx
-  return new WorxRobot();
-#elif ROBOT_PLATFORM_Lyfco_E1600
-  return new Lyfco_E1600Robot();
-#elif ROBOT_PLATFORM_xBot
-  return new xBotRobot();
-#else
-#error "Unknown ROBOT_PLATFORM"
-#endif
+  // TODO: This should look at the flash to determine the mower type.
+  return CREATE_ROBOT(ROBOT_PLATFORM);
 }
 
 void MowerRobot::InitMotors() {

src/drivers/ui/SaboCoverUI/sabo_cover_ui_display.hpp

@@ -5,12 +5,12 @@
 #ifndef OPENMOWER_SABO_COVER_UI_DISPLAY_HPP
 #define OPENMOWER_SABO_COVER_UI_DISPLAY_HPP
 
+#include <lvgl.h>
 #include <ulog.h>
 
 #include <cstring>
 
 #include "ch.h"
-#include "lvgl.h"
 #include "sabo_cover_ui_defs.hpp"
 #include "sabo_cover_ui_display_driver_uc1698.hpp"
 

src/drivers/ui/SaboCoverUI/sabo_cover_ui_display_driver_uc1698.hpp

@@ -24,8 +24,8 @@
 
 #include <ch.h>
 #include <hal.h>
+#include <lvgl.h>
 
-#include "lvgl.h"
 #include "sabo_cover_ui_defs.hpp"
 
 namespace xbot::driver::ui {

src/services.cpp

@@ -15,7 +15,6 @@ ImuService imu_service{xbot::service_ids::IMU};
 PowerService power_service{xbot::service_ids::POWER};
 GpsService gps_service{xbot::service_ids::GPS};
 InputService input_service{xbot::service_ids::INPUT};
-HighLevelService high_level_service{xbot::service_ids::HIGH_LEVEL};
 
 void StartServices() {
 #define START_IF_NEEDED(service, id)                \
@@ -37,5 +36,4 @@ void StartServices() {
   START_IF_NEEDED(mower_service, MOWER)
   START_IF_NEEDED(gps_service, GPS)
   START_IF_NEEDED(input_service, INPUT)
-  START_IF_NEEDED(high_level_service, HIGH_LEVEL)
 }

src/services.hpp

@@ -4,7 +4,6 @@
 #include "services/diff_drive_service/diff_drive_service.hpp"
 #include "services/emergency_service/emergency_service.hpp"
 #include "services/gps_service/gps_service.hpp"
-#include "services/high_level_service/high_level_service.hpp"
 #include "services/imu_service/imu_service.hpp"
 #include "services/input_service/input_service.hpp"
 #include "services/mower_service/mower_service.hpp"
@@ -17,7 +16,6 @@ extern ImuService imu_service;
 extern PowerService power_service;
 extern GpsService gps_service;
 extern InputService input_service;
-extern HighLevelService high_level_service;
 
 void StartServices();