pbio/hmi: Use init and deinit for boot animations.

This lets us run it to completion before showing the UI, and keep variant-specific statuses like BLE_ADVERTISING in a dedicated deinit.

Also drop the pbio/sys/light_matrix abstraction as explained in the prior commits. The HMI and user applications are now just users of the pbio/light_matrix device.

For EV3, this means we can drop the depency of the light matrix. Instead, it will have its dedicated UI. To have something in place, we'll keep the grid-like display for now, but in hmi_lcd so we can easily replace it.

Author: laurensvalk

bricks/_common/sources.mk

@@ -239,7 +239,6 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	sys/hmi_pup.c \
 	sys/hmi_none.c \
 	sys/host.c \
-	sys/light_matrix.c \
 	sys/light.c \
 	sys/main.c \
 	sys/program_stop.c \

lib/pbio/platform/ev3/pbsysconfig.h

@@ -13,8 +13,6 @@
 #define PBSYS_CONFIG_HMI_NUM_SLOTS                  (5)
 #define PBSYS_CONFIG_HOST                           (1)
 #define PBSYS_CONFIG_HOST_STDIN_BUF_SIZE            (21)
-#define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (1)
-#define PBSYS_CONFIG_HUB_LIGHT_MATRIX_DISPLAY       (1)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
 #define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (5)

lib/pbio/platform/prime_hub/pbsysconfig.h

@@ -13,6 +13,7 @@
 #define PBSYS_CONFIG_HMI_STOP_BUTTON                (1 << 5) // center
 #define PBSYS_CONFIG_HMI_NUM_SLOTS                  (5)
 #define PBSYS_CONFIG_HMI_PUP                        (1)
+#define PBSYS_CONFIG_HMI_PUP_LIGHT_MATRIX_INDEX     (0)
 #define PBSYS_CONFIG_HMI_PUP_BLUETOOTH_BUTTON       (1 << 9) // right up
 #define PBSYS_CONFIG_HMI_PUP_LEFT_RIGHT_ENABLE      (1)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (1)

lib/pbio/sys/core.c

@@ -16,7 +16,6 @@
 
 #include "hmi.h"
 #include "light.h"
-#include "light_matrix.h"
 #include "storage.h"
 #include "program_stop.h"
 
@@ -52,9 +51,9 @@ void pbsys_init(void) {
     pbsys_storage_init();
 
     pbsys_battery_init();
+    pbsys_hmi_init();
     pbsys_host_init();
     pbsys_status_light_init();
-    pbsys_hub_light_matrix_init();
 
     process_start(&pbsys_system_process);
 
@@ -65,11 +64,8 @@ void pbsys_init(void) {
 
 void pbsys_deinit(void) {
 
-    pbsys_status_clear(PBIO_PYBRICKS_STATUS_BLE_ADVERTISING);
-    pbsys_status_clear(PBIO_PYBRICKS_STATUS_BLE_HOST_CONNECTED);
-
     pbsys_storage_deinit();
-    pbsys_hub_light_matrix_deinit();
+    pbsys_hmi_deinit();
 
     uint32_t start = pbdrv_clock_get_ms();
 

lib/pbio/sys/hmi.h

@@ -11,10 +11,18 @@
 
 #if PBSYS_CONFIG_HMI
 
+void pbsys_hmi_init(void);
+void pbsys_hmi_deinit(void);
+
 pbio_error_t pbsys_hmi_await_program_selection(void);
 
 #else
 
+static inline void pbsys_hmi_init(void) {
+}
+static inline void pbsys_hmi_deinit(void) {
+}
+
 static inline pbio_error_t pbsys_hmi_await_program_selection(void) {
     return PBIO_ERROR_NOT_SUPPORTED;
 }

lib/pbio/sys/hmi_lcd.c

@@ -25,7 +25,6 @@
 #include <pbsys/storage_settings.h>
 
 #include "hmi.h"
-#include "light_matrix.h"
 
 #define DEBUG 0
 
@@ -36,6 +35,39 @@
 #define DEBUG_PRINT(...)
 #endif
 
+static void hmi_lcd_grid_show_pixel(uint8_t row, uint8_t col, bool on) {
+    pbio_image_t *display = pbdrv_display_get_image();
+    uint8_t value = on ? pbdrv_display_get_max_value(): 0;
+    const uint32_t size = PBDRV_CONFIG_DISPLAY_NUM_ROWS / PBSYS_CONFIG_HMI_NUM_SLOTS;
+    const uint32_t width = size * 4 / 5;
+    const uint32_t offset = (PBDRV_CONFIG_DISPLAY_NUM_COLS - (PBSYS_CONFIG_HMI_NUM_SLOTS * size)) / 2;
+    pbio_image_fill_rect(display, col * size + offset, row * size, width, width, value);
+    pbdrv_display_update();
+}
+
+static void hmi_lcd_show_program_slot(void) {
+    pbio_image_t *display = pbdrv_display_get_image();
+    pbio_image_fill(display, 0);
+
+    for (uint8_t r = 0; r < PBSYS_CONFIG_HMI_NUM_SLOTS; r++) {
+        for (uint8_t c = 0; c < PBSYS_CONFIG_HMI_NUM_SLOTS; c++) {
+            bool is_on = r < 3 && c > 0 && c < 4;
+            is_on |= (r == 4 && c == pbsys_status_get_selected_slot());
+            hmi_lcd_grid_show_pixel(r, c, is_on);
+        }
+    }
+}
+
+void pbsys_hmi_init(void) {
+
+}
+
+void pbsys_hmi_deinit(void) {
+    pbio_image_t *display = pbdrv_display_get_image();
+    pbio_image_fill(display, 0);
+    pbdrv_display_update();
+}
+
 static pbio_error_t run_ui(pbio_os_state_t *state, pbio_os_timer_t *timer) {
 
     PBIO_OS_ASYNC_BEGIN(state);
@@ -45,7 +77,7 @@ static pbio_error_t run_ui(pbio_os_state_t *state, pbio_os_timer_t *timer) {
         DEBUG_PRINT("Start HMI loop\n");
 
         // Visually indicate current state on supported hubs.
-        pbsys_hub_light_matrix_update_program_slot();
+        hmi_lcd_show_program_slot();
 
         // Buttons could be pressed at the end of the user program, so wait for
         // a release and then a new press, or until we have to exit early.

lib/pbio/sys/hmi_none.c

@@ -17,6 +17,12 @@
 #include <pbsys/main.h>
 #include <pbsys/status.h>
 
+void pbsys_hmi_init(void) {
+}
+
+void pbsys_hmi_deinit(void) {
+}
+
 pbio_error_t pbsys_hmi_await_program_selection(void) {
 
     while (pbdrv_button_get_pressed()) {

lib/pbio/sys/hmi_pup.c

@@ -13,8 +13,11 @@
 #include <stdint.h>
 
 #include <pbdrv/bluetooth.h>
+#include <pbdrv/led.h>
 
 #include <pbio/button.h>
+#include <pbio/busy_count.h>
+#include <pbio/light_matrix.h>
 #include <pbio/os.h>
 #include <pbsys/host.h>
 #include <pbsys/light.h>
@@ -23,7 +26,6 @@
 #include <pbsys/storage_settings.h>
 
 #include "hmi.h"
-#include "light_matrix.h"
 
 #define DEBUG 0
 
@@ -34,6 +36,110 @@
 #define DEBUG_PRINT(...)
 #endif
 
+#if PBIO_CONFIG_LIGHT_MATRIX
+
+pbio_light_matrix_t *pbsys_hub_light_matrix;
+
+/**
+ * Displays the idle UI. Has a square stop sign and selected slot on bottom row.
+ *
+ * @param brightness   Brightness (0--100%).
+ */
+static void light_matrix_show_idle_ui(uint8_t brightness) {
+    for (uint8_t r = 0; r < PBSYS_CONFIG_HMI_NUM_SLOTS; r++) {
+        for (uint8_t c = 0; c < PBSYS_CONFIG_HMI_NUM_SLOTS; c++) {
+            bool is_on = r < 3 && c > 0 && c < 4;
+            is_on |= (r == 4 && c == pbsys_status_get_selected_slot());
+            pbio_light_matrix_set_pixel(pbsys_hub_light_matrix, r, c, is_on ? brightness : 0, true);
+        }
+    }
+}
+
+/**
+ * Bootup and shutdown animation. This is a process rather than an animation
+ * process so we can await completion, and later add sound.
+ */
+static pbio_error_t boot_animation_process_boot_thread(pbio_os_state_t *state, void *context) {
+
+    static pbio_os_timer_t timer;
+    static uint8_t step;
+
+    const int num_steps = 10;
+
+    // Makes the brightness increment or decrement.
+    bool booting = context;
+
+    PBIO_OS_ASYNC_BEGIN(state);
+
+    for (step = 1; step <= num_steps; step++) {
+        uint8_t brightness = booting ? step * (100 / num_steps) : 100 - (100 / num_steps) * step;
+        light_matrix_show_idle_ui(brightness);
+        PBIO_OS_AWAIT_MS(state, &timer, 200 / num_steps);
+    }
+    pbio_busy_count_down();
+
+    PBIO_OS_ASYNC_END(PBIO_SUCCESS);
+}
+
+/**
+ * Animation frame for program running animation.
+ */
+static uint32_t pbio_light_matrix_5x5_spinner_animation_next(pbio_light_animation_t *animation) {
+
+    // The indexes of pixels to light up
+    static const uint8_t indexes[] = { 1, 2, 3, 8, 13, 12, 11, 6 };
+
+    // Each pixel has a repeating brightness pattern of the form /\_ through
+    // which we can cycle in 256 steps.
+    static uint8_t cycle = 0;
+
+    for (size_t i = 0; i < PBIO_ARRAY_SIZE(indexes); i++) {
+        // The pixels are spread equally across the pattern.
+        uint8_t offset = cycle + i * (UINT8_MAX / PBIO_ARRAY_SIZE(indexes));
+        uint8_t brightness = offset > 200 ? 0 : (offset < 100 ? offset : 200 - offset);
+
+        // Set the brightness for this pixel
+        pbio_light_matrix_set_pixel(pbsys_hub_light_matrix, indexes[i] / 5, indexes[i] % 5, brightness, false);
+    }
+    // This increment controls the speed of the pattern
+    cycle += 9;
+
+    return 40;
+}
+
+static void light_matrix_start_run_animation(void) {
+    // Central pixel in spinner is off and will not be updated.
+    pbio_light_matrix_set_pixel(pbsys_hub_light_matrix, 1, 2, 0, true);
+    pbio_light_animation_init(&pbsys_hub_light_matrix->animation, pbio_light_matrix_5x5_spinner_animation_next);
+    pbio_light_animation_start(&pbsys_hub_light_matrix->animation);
+}
+
+static pbio_os_process_t boot_animation_process;
+
+#endif
+
+void pbsys_hmi_init(void) {
+    #if PBIO_CONFIG_LIGHT_MATRIX
+    pbio_busy_count_up();
+    pbio_error_t err = pbio_light_matrix_get_dev(0, 5, &pbsys_hub_light_matrix);
+    if (err != PBIO_SUCCESS) {
+        // Effectively stopping boot if we can't get hardware.
+        return;
+    }
+    pbio_os_process_start(&boot_animation_process, boot_animation_process_boot_thread, (void *)true);
+    #endif
+}
+
+void pbsys_hmi_deinit(void) {
+    pbsys_status_clear(PBIO_PYBRICKS_STATUS_BLE_ADVERTISING);
+    pbsys_status_clear(PBIO_PYBRICKS_STATUS_BLE_HOST_CONNECTED);
+
+    #if PBIO_CONFIG_LIGHT_MATRIX
+    pbio_busy_count_up();
+    pbio_os_process_start(&boot_animation_process, boot_animation_process_boot_thread, (void *)false);
+    #endif
+}
+
 /**
  * The HMI is a loop running the following steps:
  *
@@ -67,7 +173,9 @@ static pbio_error_t run_ui(pbio_os_state_t *state, pbio_os_timer_t *timer) {
         DEBUG_PRINT("Start HMI loop\n");
 
         // Visually indicate current state on supported hubs.
-        pbsys_hub_light_matrix_update_program_slot();
+        #if PBIO_CONFIG_LIGHT_MATRIX
+        light_matrix_show_idle_ui(100);
+        #endif
 
         // Initialize Bluetooth depending on current state.
         if (pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_LE)) {
@@ -215,7 +323,10 @@ static pbio_error_t run_ui(pbio_os_state_t *state, pbio_os_timer_t *timer) {
     pbsys_status_clear(PBIO_PYBRICKS_STATUS_BLE_ADVERTISING);
 
     // Start run animations
-    pbsys_hub_light_matrix_handle_user_program_start();
+    #if PBIO_CONFIG_LIGHT_MATRIX
+    light_matrix_start_run_animation();
+    #endif
+
     #if PBSYS_CONFIG_STATUS_LIGHT_STATE_ANIMATIONS
     pbio_color_light_start_breathe_animation(pbsys_status_light_main, PBSYS_CONFIG_STATUS_LIGHT_STATE_ANIMATIONS_HUE);
     #else