Issue #6: Improve LCD menu and implement function to see safety flags

stm-firmware/include/reflow-controller/ui/menu.h

@@ -35,6 +35,7 @@ typedef void (*menu_func_t)(struct lcd_menu *menu, enum menu_entry_func_entry en
 struct menu_inputs {
 	int16_t rotary_encoder_delta;
 	enum button_state push_button;
+	bool button_ready;
 };
 
 struct lcd_menu {
@@ -76,6 +77,8 @@ int16_t menu_get_rotary_delta(const struct lcd_menu *menu);
 
 enum button_state menu_get_button_state(const struct lcd_menu *menu);
 
+bool menu_get_button_ready_state(const struct lcd_menu *menu);
+
 void menu_list_compute_count(struct menu_list *list);
 
 void menu_list_scroll_down(struct menu_list *list);

stm-firmware/reflow-menu.c

@@ -107,7 +107,6 @@ static void reflow_menu_monitor(struct lcd_menu *menu, enum menu_entry_func_entr
 static void reflow_menu_about(struct lcd_menu *menu, enum menu_entry_func_entry entry_type, void *parent)
 {
 	static void *my_parent;
-	static bool button_ready;
 	static int page = 0;
 	static int last_page = -1;
 	static uint32_t uptime_secs;
@@ -118,13 +117,13 @@ static void reflow_menu_about(struct lcd_menu *menu, enum menu_entry_func_entry
 	int16_t rot_delta;
 	uint32_t ser1, ser2, ser3;
 	enum button_state push_button;
+	bool button_ready;
 
 	if (entry_type == MENU_ENTRY_FIRST_ENTER) {
 		uptime_secs = 0ULL;
 		page = 0;
 		last_page = -1;
 		my_parent = parent;
-		button_ready = false;
 		menu_display_clear(menu);
 		menu_ack_rotary_delta(menu);
 	}
@@ -190,6 +189,7 @@ static void reflow_menu_about(struct lcd_menu *menu, enum menu_entry_func_entry
 		menu_lcd_output(menu, 3, "Page 4/5");
 		break;
 	case 4:
+		last_page = 4;
 		systick_get_uptime_from_tick(&uptime_days, &uptime_hours, &uptime_mins, &new_uptime_secs);
 		if (new_uptime_secs != uptime_secs) {
 			uptime_secs = new_uptime_secs;
@@ -206,6 +206,7 @@ static void reflow_menu_about(struct lcd_menu *menu, enum menu_entry_func_entry
 	}
 
 	push_button = menu_get_button_state(menu);
+	button_ready = menu_get_button_ready_state(menu);
 
 	if (push_button == BUTTON_IDLE)
 		button_ready = true;
@@ -216,20 +217,93 @@ static void reflow_menu_about(struct lcd_menu *menu, enum menu_entry_func_entry
 	}
 }
 
+static void reflow_menu_err_flags(struct lcd_menu *menu, enum menu_entry_func_entry entry_type, void *parent)
+{
+	static void *my_parent = NULL;
+	static uint8_t offset;
+	static uint64_t timestamp;
+	bool state;
+	enum button_state push_button;
+	int16_t rot;
+	uint32_t i;
+	char name[64];
+	int32_t line_counter;
+	bool skip_err_flag_prefix;
+	bool try_ack = false;
+	enum safety_flag flag;
+	bool button_ready;
+
+	push_button = menu_get_button_state(menu);
+	rot = menu_get_rotary_delta(menu);
+
+	if (entry_type != MENU_ENTRY_CONTINUE) {
+		if (entry_type == MENU_ENTRY_FIRST_ENTER) {
+			my_parent = parent;
+			offset = 0;
+		}
+	} else {
+		if (push_button == BUTTON_IDLE && rot == 0) {
+			if (!systick_ticks_have_passed(timestamp, 150))
+				return;
+		}
+
+	}
+
+	button_ready = menu_get_button_ready_state(menu);
+	if (push_button == BUTTON_SHORT_RELEASED && button_ready) {
+		menu_entry_dropback(menu, my_parent);
+	} if (push_button == BUTTON_LONG && button_ready) {
+		try_ack = true;
+	}
+
+	if (rot >= 4 || rot <= -4) {
+		menu_ack_rotary_delta(menu);
+		if (rot > 0) {
+			offset++;
+		} else {
+			if (offset > 0)
+				offset--;
+		}
+	}
+
+	menu_display_clear(menu);
+
+	line_counter = -offset;
+	for (i = 0; i < safety_controller_get_flag_count(); i++) {
+		(void)safety_controller_get_flag_by_index(i, &state, &flag);
+		if (try_ack)
+			safety_controller_ack_flag(flag);
+		if (state) {
+			if (line_counter >= 0 && line_counter < 4) {
+				safety_controller_get_flag_name_by_index(i, name, sizeof(name));
+				if (!strncmp(name, "ERR_FLAG_", 9)) {
+					skip_err_flag_prefix = true;
+				} else {
+					skip_err_flag_prefix = false;
+				}
+				menu_lcd_outputf(menu, line_counter, "%s", (skip_err_flag_prefix ? &name[9] : name));
+			}
+			line_counter++;
+		}
+	}
+	timestamp = systick_get_global_tick();
+}
+
 static void reflow_menu_root_entry(struct lcd_menu *menu, enum menu_entry_func_entry entry_type, void *parent)
 {
 	(void)parent;
 	static struct menu_list list;
-	static bool button_valid;
 	bool menu_changed = false;
 	static const char * const root_entry_names[] = {
 		"About",
 		"Monitoring",
+		"Error Flags",
 		NULL
 	};
 	static const menu_func_t root_entry_funcs[] = {
 		reflow_menu_about,
-		reflow_menu_monitor
+		reflow_menu_monitor,
+		reflow_menu_err_flags,
 	};
 	enum button_state push_button;
 	int16_t rot_delta;
@@ -240,7 +314,6 @@ static void reflow_menu_root_entry(struct lcd_menu *menu, enum menu_entry_func_e
 		update_display_buffer(0, "Main Menu");
 		menu_ack_rotary_delta(menu);
 		if (entry_type == MENU_ENTRY_FIRST_ENTER) {
-			button_valid = false;
 			list.entry_names = root_entry_names;
 			list.submenu_list = root_entry_funcs;
 			list.update_display = menu->update_display;
@@ -252,9 +325,7 @@ static void reflow_menu_root_entry(struct lcd_menu *menu, enum menu_entry_func_e
 	push_button = menu_get_button_state(menu);
 	rot_delta = menu_get_rotary_delta(menu);
 
-	if (push_button == BUTTON_IDLE) {
+	if (menu_get_button_ready_state(menu) && push_button == BUTTON_SHORT_RELEASED) {
-		button_valid = true;
-	} else if (button_valid && push_button == BUTTON_SHORT_RELEASED) {
 		/* Enter currently selected menu_entry */
 		menu_list_enter_selected_entry(&list, menu);
 	}

stm-firmware/ui/menu.c

@@ -27,6 +27,7 @@ void menu_handle(struct lcd_menu *menu, int16_t rotary_encoder_delta, enum butto
 {
 	menu_func_t tmp;
 
+
 	if (!menu)
 		return;
 
@@ -38,6 +39,9 @@ void menu_handle(struct lcd_menu *menu, int16_t rotary_encoder_delta, enum butto
 
 	tmp = menu->active_entry;
 
+	if (menu->active_entry_type == MENU_ENTRY_FIRST_ENTER && push_button != BUTTON_IDLE) {
+		menu->inputs.button_ready = false;
+	}
 
 	if (menu->active_entry_type == MENU_ENTRY_FIRST_ENTER) {
 		menu->active_entry(menu, menu->active_entry_type, menu->init_parent);
@@ -48,6 +52,9 @@ void menu_handle(struct lcd_menu *menu, int16_t rotary_encoder_delta, enum butto
 	if (menu->active_entry_type != MENU_ENTRY_CONTINUE && tmp == menu->active_entry) {
 		menu->active_entry_type = MENU_ENTRY_CONTINUE;
 	}
+
+	if (push_button == BUTTON_IDLE)
+		menu->inputs.button_ready = true;
 }
 
 void menu_init(struct lcd_menu *menu, menu_func_t root_node, void (*display_update)(uint8_t row, const char *data))
@@ -59,6 +66,7 @@ void menu_init(struct lcd_menu *menu, menu_func_t root_node, void (*display_upda
 	menu->active_entry = root_node;
 	menu->init_parent = NULL;
 	menu->inputs.push_button = BUTTON_IDLE;
+	menu->inputs.button_ready = false;
 	menu->inputs.rotary_encoder_delta = 0;
 	menu->active_entry_type = MENU_ENTRY_FIRST_ENTER;
 	menu->update_display = display_update;
@@ -243,6 +251,16 @@ enum button_state menu_get_button_state(const struct lcd_menu *menu)
 	return ret;
 }
 
+bool menu_get_button_ready_state(const struct lcd_menu *menu)
+{
+	bool ret = false;
+
+	if (menu)
+		ret = menu->inputs.button_ready;
+
+	return ret;
+}
+
 void menu_display_clear(struct lcd_menu *menu)
 {
 	uint8_t i;