small fixes

It's late and I forgot to commit

.clang-format

@@ -68,7 +68,14 @@ ForEachMacros:
   - BOOST_FOREACH
 IncludeBlocks: Regroup
 IncludeCategories:
-  - Regex: '^[<"](fmt|SDL2)/'
+  # This will hopefully only catch stdlib headers
+  - Regex: "^<[^/]*>"
+    Priority: 5
+    SortPriority: 0
+  - Regex: '^[<"]SDL2/'
+    Priority: 2
+    SortPriority: 0
+  - Regex: '^[<"](fmt|spdlog)/'
     Priority: 3
     SortPriority: 0
   - Regex: "^<"

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.16)
 
 project("FT22 Steering Wheel Display")
 
@@ -11,6 +11,12 @@ set(CMAKE_CXX_STANDARD 17)
 find_package(SDL2 REQUIRED)
 find_package(SDL2TTF REQUIRED)
 find_package(SDL2IMAGE REQUIRED)
+find_library(I2C_LIBRARY i2c REQUIRED)
+if ("${I2C_LIBRARY}" STREQUAL "I2C_LIBRARY-NOTFOUND")
+    message(FATAL_ERROR "libi2c not found!")
+else()
+    message("libi2c found at ${I2C_LIBRARY}")
+endif()
 
 include(FetchContent)
 
@@ -28,7 +34,17 @@ endif()
 if (NOT DEFINED fmt_INCLUDE_DIR)
     set(fmt_INCLUDE_DIR ${fmt_SOURCE_DIR}/${FMT_INC_DIR})
 endif()
-set(BUILD_SHARED_LIBS ${lhotse_orig_BUILD_SHARED_LIBS})
+set(BUILD_SHARED_LIBS ${stw_display_orig_BUILD_SHARED_LIBS})
+
+# spdlog
+set(CMAKE_POSITION_INDEPENDENT_CODE true)
+set(SPDLOG_FMT_EXTERNAL_HO true)
+FetchContent_Declare(
+    spdlog
+    GIT_REPOSITORY https://github.com/gabime/spdlog.git
+    GIT_TAG v1.9.2
+)
+FetchContent_MakeAvailable(spdlog)
 
 # }}}
 
@@ -38,10 +54,15 @@ add_executable(
     stw-display
     src/main.cpp
     src/App.cpp
+    src/AppState.cpp
     src/View.cpp
+    src/MissionSelect.cpp
     src/AMI.cpp
     src/widgets.cpp
     src/util.cpp
+    src/DriverView.cpp
+    src/BaseDataSource.cpp
+    src/DemoDataSource.cpp
 )
 target_include_directories(
     stw-display PUBLIC
@@ -57,5 +78,7 @@ target_link_libraries(
     ${SDL2_LIBRARIES}
     ${SDL2TTF_LIBRARY}
     ${SDL2IMAGE_LIBRARY}
-    fmt)
+    ${I2C_LIBRARY}
+    fmt
+    spdlog::spdlog)
 add_dependencies(stw-display fmt)

include/AMI.h

@@ -1,26 +1,27 @@
 #pragma once
 
+#include "AppState.h"
 #include "View.h"
 #include "widgets.h"
 
-#include <SDL2/SDL.h>
+#include <SDL2/SDL_render.h>
+#include <SDL2/SDL_ttf.h>
 
 #include <memory>
+#include <unordered_map>
 #include <vector>
 
 class AMI final : public View {
 public:
   AMI(SDL_Renderer* renderer);
+  ~AMI();
 
-  void draw() override;
+  void draw(const AppState& state) override;
 
 private:
-  TTF_Font* avenir;
+  TTF_Font* font_medium;
+  TTF_Font* font_large;
 
-  std::vector<Widget*> widgets;
-
-  ImageWidget ft_logo;
-  TextWidget choose;
-  ListWidget missions_widget;
-  std::vector<std::unique_ptr<Widget>> missions;
+  std::unique_ptr<TextWidget> header;
+  std::unordered_map<Mission, std::unique_ptr<TextWidget>> missions;
 };

include/App.h

@@ -1,20 +1,28 @@
 #pragma once
 
 #include "AMI.h"
+#include "AppState.h"
+#include "DriverView.h"
+#include "MissionSelect.h"
 #include "defines.h"
 
 #include <SDL2/SDL.h>
 
 #include <memory>
 
-enum class AppView { AMI, DRIVER, TESTING };
-
 class SDLManager {
 public:
   SDLManager();
   ~SDLManager();
 };
 
+#ifndef NDEBUG
+class KeyboardHandler {
+public:
+  void handle_keyup(const SDL_Event& ev, AppState& state);
+};
+#endif // !NDEBUG
+
 class App {
 public:
   App();
@@ -24,6 +32,7 @@ public:
 
 private:
   void init_sdl();
+  void init_state();
 
   void handle_events();
   void render();
@@ -33,11 +42,17 @@ private:
   // others and its destructor is called after the others.
   SDLManager sdl_manager;
 
+  std::unique_ptr<AppState> state;
+  std::unique_ptr<MissionSelect> mission_select;
   std::unique_ptr<AMI> ami;
+  std::unique_ptr<DriverView> driver_view;
 
   bool running;
-  AppView view;
 
   SDL_Window* window;
   SDL_Renderer* renderer;
+
+#ifndef NDEBUG
+  KeyboardHandler keyboard_handler;
+#endif // !NDEBUG
 };

include/AppState.h

@@ -0,0 +1,55 @@
+#pragma once
+
+#include "DemoDataSource.h"
+
+#include <fmt/ostream.h>
+
+#include <optional>
+#include <ostream>
+#include <string>
+
+constexpr int I2C_SLAVE_ADDR = 0x20;
+constexpr int I2C_POLL_COMMAND = 0x00;
+
+enum class AppView { MISSION_SELECT, AMI, DRIVER, TESTING };
+std::ostream& operator<<(std::ostream& os, AppView view);
+enum class Mission {
+  NONE,
+  ACCELERATION,
+  SKIDPAD,
+  AUTOCROSS,
+  TRACKDRIVE,
+  EBS_TEST,
+  INSPECTION,
+  MANUAL
+};
+std::ostream& operator<<(std::ostream& os, Mission mission);
+
+class AppState {
+public:
+  AppState(const std::string& i2c_dev_path);
+  ~AppState();
+
+  void poll();
+
+  AppView get_view() const;
+  Mission get_mission() const;
+  DemoDataSource get_data_source() const;
+
+private:
+  void unmarshal_mission_select(uint8_t* data);
+  void unmarshal_ami(uint8_t* data);
+
+  // This is optional so that we can still run the code on a PC without I2C
+  std::optional<int> i2c_dev_file;
+
+  AppView view;
+  Mission mission;
+
+#ifndef NDEBUG
+  friend class KeyboardHandler;
+  DemoDataSource data_source;
+#endif // !NDEBUG
+};
+
+extern AppState app_state;

include/BaseDataSource.h

@@ -0,0 +1,34 @@
+#pragma once
+
+class BaseDataSource {
+public:
+  double get_speed();                    // in km/h
+  double get_brake_balance();            // 0.0 - 1.0
+  double get_hv_voltage();               // in V
+  double get_hv_voltage_ratio();         // 0.0 - 1.0
+  double get_lv_voltage();               // in V
+  double get_battery_temperature();      // in °C
+  double get_throttle_ratio();           // 0.0 - 1.0
+  double get_brake_pressure_front_bar(); // in bar
+  double get_brake_pressure_rear_bar();  // in bar
+
+  bool brake_balance_change_is_recent(); // true if the last change was less
+                                         // than 1 second ago
+
+  virtual void poll() = 0;
+
+protected:
+  void set_brake_balance(double value);
+
+  double speed;
+  double brake_balance;
+  double hv_voltage;
+  double hv_voltage_ratio;
+  double lv_voltage;
+  double battery_temperature;
+  double throttle_ratio;
+  double brake_pressure_front_bar;
+  double brake_pressure_rear_bar;
+
+  int time_of_last_brake_balance_change;
+};

include/DemoDataSource.h

@@ -0,0 +1,13 @@
+#pragma once
+
+#include "BaseDataSource.h"
+
+class DemoDataSource final : public BaseDataSource {
+public:
+  DemoDataSource();
+  ~DemoDataSource();
+
+  void poll() override;
+  void bump_brake_balance_up();
+  void bump_brake_balance_down();
+};

include/DriverView.h

@@ -0,0 +1,30 @@
+#pragma once
+#include "View.h"
+#include "defines.h"
+#include "util.h"
+#include "widgets.h"
+
+class DriverView final : public View {
+public:
+  DriverView(SDL_Renderer* renderer);
+  ~DriverView();
+
+  void draw(const AppState& state) override;
+
+private:
+  TTF_Font* font_large;
+  TTF_Font* font_detail;
+  TTF_Font* font_tiny;
+  TTF_Font* font_giant;
+  TTF_Font* font_medium;
+  std::unique_ptr<TextWidget> speed_widget;
+  std::unique_ptr<TextWidget> speed_hint_widget;
+
+  std::unique_ptr<TextWidget> brake_balance_widget;
+  std::unique_ptr<TextWidget> brake_balance_hint_widget;
+
+  std::unique_ptr<TextWidget> general_info_widget;
+
+  std::unique_ptr<TextWidget> focus_widget;
+  std::unique_ptr<TextWidget> focus_hint_widget;
+};

include/MissionSelect.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include "AppState.h"
+#include "View.h"
+#include "events.h"
+#include "widgets.h"
+
+#include <SDL2/SDL.h>
+
+#include <memory>
+#include <queue>
+#include <vector>
+
+class MissionSelect final : public View {
+public:
+  MissionSelect(SDL_Renderer* renderer);
+  ~MissionSelect();
+
+  void draw(const AppState& state) override;
+
+private:
+  TTF_Font* avenir;
+  TTF_Font* chinat;
+
+  std::vector<Widget*> widgets;
+
+  std::unique_ptr<ImageWidget> ft_logo;
+  std::unique_ptr<TextWidget> choose;
+  std::unique_ptr<ListWidget> missions_widget;
+  std::vector<std::unique_ptr<Widget>> missions;
+};

include/View.h

@@ -1,13 +1,18 @@
 #pragma once
 
+#include "AppState.h"
+#include "events.h"
+
 #include <SDL2/SDL.h>
 
+#include <queue>
+
 class View {
 public:
   View(SDL_Renderer* renderer);
   virtual ~View();
 
-  virtual void draw() = 0;
+  virtual void draw(const AppState& state) = 0;
 
 protected:
   SDL_Renderer* renderer;

include/events.h

@@ -0,0 +1,3 @@
+#pragma once
+
+enum class Event { Next, Prev, Confirm };

include/widgets.h

@@ -3,17 +3,30 @@
 #include <SDL2/SDL.h>
 #include <SDL2/SDL_ttf.h>
 
+#include <fmt/ostream.h>
+
 #include <optional>
+#include <ostream>
 #include <string>
 #include <vector>
 
-enum class Alignment { LEFT, RIGHT, CENTER };
+enum class Alignment {
+  START,
+  END,
+  CENTER,
+  LEFT = START,
+  TOP = START,
+  RIGHT = END,
+  BOTTOM = END
+};
+std::ostream& operator<<(std::ostream& os, Alignment align);
 struct PositionInfo {
   PositionInfo();
 
   int x;
   int y;
-  Alignment align;
+  Alignment align_h;
+  Alignment align_v;
 };
 
 class Widget {
@@ -24,7 +37,7 @@ public:
   virtual void set_width(int width, bool preserve_aspect_ratio = true);
   virtual void set_height(int height, bool preserve_aspect_ratio = true);
   virtual void set_position(int x, int y);
-  virtual void set_alignment(Alignment align);
+  virtual void set_alignment(Alignment align_h, Alignment align_v);
 
   int get_width();
   int get_height();
@@ -33,7 +46,7 @@ public:
   virtual void draw() = 0;
 
 protected:
-  void recalculate_rect();
+  void recalculate_pos();
 
   SDL_Renderer* renderer;
   SDL_Rect rect;
@@ -66,12 +79,13 @@ public:
   ~TextWidget();
 
   void update_text(const std::string& new_text);
+  void set_wrap_width(int width);
 
 protected:
   TTF_Font* font;
 
   std::string text;
-
+  int wrap_width = -1; // -1 means no wrapping (default behavior)
   SDL_Texture* generate_text(const std::string& text);
 };
 
@@ -85,10 +99,17 @@ public:
 
   virtual void draw() override;
 
+  void select_next();
+  void select_prev();
+  void select(size_t n);
+  size_t get_selection();
+
 protected:
   int element_height;
   Alignment element_alignment;
 
+  size_t selection;
+
   std::vector<Widget*> elements;
 
   void place_element(Widget* element, int index);

src/AMI.cpp

@@ -1,56 +1,64 @@
 #include "AMI.h"
 
+#include "AppState.h"
+#include "SDL_render.h"
+#include "SDL_ttf.h"
 #include "defines.h"
 #include "util.h"
 #include "widgets.h"
 
-#include <array>
+#include <memory>
 
-constexpr const char* FT_LOGO_PATH = "resources/Fasttube_Logo-white.bmp";
-constexpr const char* AVENIR_FONT_PATH = "resources/Avenir-Book.ttf";
-constexpr int AVENIR_PTS = 20;
-constexpr int FT_LOGO_HEIGHT = 40;
-constexpr int GAP = 5;
-constexpr int CHOOSE_Y = FT_LOGO_HEIGHT + GAP;
-constexpr int MISSION_HEIGHT = 30;
-
-constexpr std::array MISSIONS = {"ACCELERATION",  "SKIDPAD",  "AUTOCROSS",
-                                 "TRACKDRIVE",    "EBS TEST", "INSPECTION",
-                                 "MANUAL DRIVING"};
+constexpr const char* CHINAT_FONT_PATH = "resources/CHINAT.ttf";
+constexpr int CHINAT_MEDIUM_PTS = 25;
+constexpr int CHINAT_LARGE_PTS = 40;
+constexpr int HEADER_Y = 10;
 
 AMI::AMI(SDL_Renderer* renderer)
-    : View{renderer}, avenir{util::load_font(AVENIR_FONT_PATH, AVENIR_PTS)},
-      ft_logo{renderer, FT_LOGO_PATH}, choose{renderer, avenir,
-                                              "Choose a mission:"},
-      missions_widget{renderer, MISSION_HEIGHT, Alignment::CENTER} {
-  ft_logo.set_height(FT_LOGO_HEIGHT);
-  ft_logo.set_position(SCREEN_WIDTH / 2, 0);
-  ft_logo.set_alignment(Alignment::CENTER);
-  widgets.push_back(&ft_logo);
+    : View{renderer}, font_medium{util::load_font(CHINAT_FONT_PATH,
+                                                  CHINAT_MEDIUM_PTS)},
+      font_large{util::load_font(CHINAT_FONT_PATH, CHINAT_LARGE_PTS)} {
+  header =
+      std::make_unique<TextWidget>(renderer, font_medium, "Current mission:");
+  header->set_position(SCREEN_WIDTH / 2, HEADER_Y);
+  header->set_alignment(Alignment::CENTER, Alignment::TOP);
 
-  choose.set_position(SCREEN_WIDTH / 2, CHOOSE_Y);
-  choose.set_alignment(Alignment::CENTER);
-  widgets.push_back(&choose);
-
-  int choose_height = choose.get_height();
-  int missions_y = CHOOSE_Y + choose_height + GAP;
-  int missions_height = SCREEN_HEIGHT - CHOOSE_Y - choose_height - 1;
-  missions_widget.set_position(0, missions_y);
-  missions_widget.set_width(SCREEN_WIDTH, false);
-  missions_widget.set_height(missions_height, false);
-  for (const auto mission : MISSIONS) {
-    missions.push_back(std::make_unique<TextWidget>(renderer, avenir, mission));
+  missions.emplace(Mission::NONE,
+                   std::make_unique<TextWidget>(renderer, font_large,
+                                                "NO MISSION SELECTED"));
+  missions.emplace(
+      Mission::ACCELERATION,
+      std::make_unique<TextWidget>(renderer, font_large, "ACCELERATION"));
+  missions.emplace(Mission::SKIDPAD, std::make_unique<TextWidget>(
+                                         renderer, font_large, "SKIDPAD"));
+  missions.emplace(Mission::AUTOCROSS, std::make_unique<TextWidget>(
+                                           renderer, font_large, "AUTOCROSS"));
+  missions.emplace(
+      Mission::TRACKDRIVE,
+      std::make_unique<TextWidget>(renderer, font_large, "TRACKDRIVE"));
+  missions.emplace(Mission::EBS_TEST, std::make_unique<TextWidget>(
+                                          renderer, font_large, "EBS TEST"));
+  missions.emplace(
+      Mission::INSPECTION,
+      std::make_unique<TextWidget>(renderer, font_large, "INSPECTION"));
+  missions.emplace(
+      Mission::MANUAL,
+      std::make_unique<TextWidget>(renderer, font_large, "MANUAL DRIVING"));
+  for (auto& [mission, widget] : missions) {
+    widget->set_position(SCREEN_WIDTH / 2, SCREEN_HEIGHT / 2);
+    widget->set_alignment(Alignment::CENTER, Alignment::CENTER);
   }
-  for (const auto& mission : missions) {
-    missions_widget.add_element(mission.get());
-  }
-  widgets.push_back(&missions_widget);
 }
 
-void AMI::draw() {
+AMI::~AMI() {
+  TTF_CloseFont(font_medium);
+  TTF_CloseFont(font_large);
+}
+
+void AMI::draw(const AppState& state) {
   SDL_SetRenderDrawColor(renderer, 0x00, 0x00, 0x00, 0xFF);
   SDL_RenderClear(renderer);
-  for (const auto& widget : widgets) {
-    widget->draw();
-  }
+
+  header->draw();
+  missions[state.get_mission()]->draw();
 }

src/App.cpp

@@ -1,14 +1,31 @@
 #include "App.h"
 
 #include "AMI.h"
+#include "AppState.h"
+#include "DemoDataSource.h"
+#include "DriverView.h"
+#include "MissionSelect.h"
+#include "events.h"
 
 #include <SDL2/SDL.h>
+#include <SDL2/SDL_events.h>
 #include <SDL2/SDL_image.h>
-#include <fmt/format.h>
+#include <SDL2/SDL_keycode.h>
+#include <SDL2/SDL_render.h>
+#include <SDL2/SDL_timer.h>
 
+#include <fmt/format.h>
+#include <spdlog/spdlog.h>
+
+#include <iostream>
+#include <memory>
+#include <queue>
 #include <stdexcept>
 
-App::App() : view{AppView::AMI} { init_sdl(); }
+App::App() {
+  init_sdl();
+  init_state();
+}
 
 App::~App() {
   // Destroy window
@@ -26,21 +43,52 @@ void App::init_sdl() {
     throw std::runtime_error(
         fmt::format("Couldn't create window: {}", SDL_GetError()));
   }
-  renderer = SDL_CreateRenderer(window, -1, SDL_RENDERER_ACCELERATED);
+  // Software renderer is *MUCH* (~50x speedup) faster than hardware accelerated
+  // renderer on a Pi Zero.
+  renderer = SDL_CreateRenderer(window, -1, SDL_RENDERER_SOFTWARE);
   if (renderer == nullptr) {
     throw std::runtime_error(
         fmt::format("Couldn't create renderer: {}", SDL_GetError()));
   }
 }
 
+void App::init_state() {
+  try {
+    state = std::make_unique<AppState>("/dev/i2c-3");
+  } catch (const std::runtime_error& e) {
+    spdlog::error("Couldn't create AppState: {}", e.what());
+  }
+}
+
 int App::run() {
+  mission_select = std::make_unique<MissionSelect>(renderer);
   ami = std::make_unique<AMI>(renderer);
+  driver_view = std::make_unique<DriverView>(renderer);
+
+#ifndef NDEBUG
+  std::cout << "Change brake balance with W (+) and S (-)" << std::endl;
+#endif
 
   running = true;
 
+  uint32_t second_start = SDL_GetTicks();
+  unsigned frames = 0;
   while (running) {
+    uint32_t now = SDL_GetTicks();
+    if (now - second_start > 5000) {
+      spdlog::info("{} FPS", frames / 5);
+      second_start = now;
+      frames = 0;
+    }
+
+    if (state != nullptr) {
+      state->poll();
+    }
+
     handle_events();
     render();
+
+    frames++;
     SDL_Delay(1);
   }
 
@@ -48,21 +96,33 @@ int App::run() {
 }
 
 void App::handle_events() {
+  std::queue<Event> events;
   SDL_Event e;
   while (SDL_PollEvent(&e) != 0) {
     if (e.type == SDL_QUIT) {
       running = false;
+#ifndef NDEBUG
+    } else if (e.type == SDL_KEYUP) {
+      keyboard_handler.handle_keyup(e, *state);
+#endif // !NDEBUG
     }
   }
 }
 
 void App::render() {
+  AppView view = state->get_view();
   switch (view) {
+  case AppView::MISSION_SELECT:
+    mission_select->draw(*state);
+    break;
   case AppView::AMI:
-    ami->draw();
+    ami->draw(*state);
+    break;
+  case AppView::DRIVER:
+    driver_view->draw(*state);
     break;
   default:
-    throw std::runtime_error(fmt::format("Unknown view: {}", (int)view));
+    throw std::runtime_error(fmt::format("Unknown view: {}", view));
   }
   SDL_RenderPresent(renderer);
 }
@@ -88,3 +148,52 @@ SDLManager::~SDLManager() {
   TTF_Quit();
   SDL_Quit();
 }
+
+/*
+Handle key presses
+*/
+void KeyboardHandler::handle_keyup(const SDL_Event& ev, AppState& state) {
+  auto pressed_key = ev.key.keysym.sym;
+
+  // we are in the first screen (mission select)
+  if (state.view == AppView::MISSION_SELECT) {
+
+    // handle change selected mission
+    if (pressed_key == SDLK_DOWN || pressed_key == SDLK_RIGHT) {
+      auto new_mission = static_cast<int>(state.mission) + 1;
+      if (new_mission > 7) {
+        new_mission = 1;
+      }
+      state.mission = static_cast<Mission>(new_mission);
+    } else if (pressed_key == SDLK_UP || pressed_key == SDLK_LEFT) {
+      auto new_mission = static_cast<int>(state.mission) - 1;
+      if (new_mission < 1) {
+        new_mission = 7;
+      }
+      state.mission = static_cast<Mission>(new_mission);
+
+      // commit mission selection
+    } else if (pressed_key == SDLK_RETURN) {
+
+      if (state.mission == Mission::MANUAL) {
+        state.view = AppView::DRIVER;
+      } else {
+        state.view = AppView::AMI;
+      }
+    }
+  }
+
+  // go back to mission select
+  if (state.view == AppView::AMI || state.view == AppView::DRIVER) {
+    if (pressed_key == SDLK_ESCAPE) {
+      state.view = AppView::MISSION_SELECT;
+    }
+  }
+
+  // handle mock brake balance change
+  if (pressed_key == SDLK_w) {
+    state.data_source.bump_brake_balance_up();
+  } else if (pressed_key == SDLK_s) {
+    state.data_source.bump_brake_balance_down();
+  }
+}

src/AppState.cpp

@@ -0,0 +1,118 @@
+#include "AppState.h"
+
+#include <fmt/format.h>
+#include <spdlog/spdlog.h>
+
+#include <fcntl.h>
+#include <optional>
+extern "C" {
+#include <i2c/smbus.h>
+}
+#include <linux/i2c-dev.h>
+#include <sys/ioctl.h>
+
+#include <cstdint>
+#include <stdexcept>
+#include <unistd.h>
+
+std::ostream& operator<<(std::ostream& os, AppView view) {
+  switch (view) {
+  case AppView::MISSION_SELECT:
+    return os << "MISSION_SELECT";
+  case AppView::AMI:
+    return os << "AMI";
+  case AppView::DRIVER:
+    return os << "DRIVER";
+  case AppView::TESTING:
+    return os << "TESTING";
+  default:
+    return os << "UNKNOWN_VIEW[" << static_cast<int>(view) << "]";
+  }
+}
+
+std::ostream& operator<<(std::ostream& os, Mission mission) {
+  switch (mission) {
+  case Mission::NONE:
+    return os << "NONE";
+  case Mission::ACCELERATION:
+    return os << "ACCELERATION";
+  case Mission::SKIDPAD:
+    return os << "SKIDPAD";
+  case Mission::AUTOCROSS:
+    return os << "AUTOCROSS";
+  case Mission::TRACKDRIVE:
+    return os << "TRACKDRIVE";
+  case Mission::EBS_TEST:
+    return os << "EBS_TEST";
+  case Mission::INSPECTION:
+    return os << "INSPECTION";
+  case Mission::MANUAL:
+    return os << "MANUAL";
+  default:
+    return os << "UNKNOWN_MISSION[" << static_cast<int>(mission) << "]";
+  }
+}
+
+AppState::AppState(const std::string& i2c_dev_path)
+    : view{AppView::MISSION_SELECT}, mission{Mission::ACCELERATION} {
+  i2c_dev_file = open(i2c_dev_path.c_str(), O_RDWR);
+  if (i2c_dev_file < 0) {
+    spdlog::error("Couldn't open I2C device: {}", strerror(errno));
+    i2c_dev_file = std::nullopt;
+    return;
+  }
+
+  if (ioctl(*i2c_dev_file, I2C_SLAVE, I2C_SLAVE_ADDR) < 0) {
+    spdlog::error("Couldn't set I2C slave address: {}", strerror(errno));
+    close(*i2c_dev_file);
+    i2c_dev_file = std::nullopt;
+  }
+}
+
+AppState::~AppState() {
+  if (i2c_dev_file) {
+    close(*i2c_dev_file);
+  }
+}
+
+void AppState::poll() {
+  data_source.poll();
+  if (!i2c_dev_file) {
+    return;
+  }
+
+  uint8_t data[32];
+  int count = i2c_smbus_read_block_data(*i2c_dev_file, I2C_POLL_COMMAND, data);
+  if (count < 0) {
+    throw std::runtime_error(
+        fmt::format("Couldn't poll I2C slave: {}", strerror(errno)));
+  }
+  view = static_cast<AppView>(data[0]);
+  spdlog::info("View after poll: {}", view);
+  switch (view) {
+  case AppView::MISSION_SELECT:
+    unmarshal_mission_select(data);
+    break;
+  case AppView::AMI:
+    unmarshal_ami(data);
+    break;
+  default:
+    throw std::runtime_error(fmt::format("Unknown view: {}", view));
+  }
+}
+
+AppView AppState::get_view() const { return view; }
+
+Mission AppState::get_mission() const { return mission; }
+
+void AppState::unmarshal_mission_select(uint8_t* data) {
+  mission = static_cast<Mission>(data[1]);
+  spdlog::info("Mission after poll: {}", mission);
+}
+
+void AppState::unmarshal_ami(uint8_t* data) {
+  mission = static_cast<Mission>(data[1]);
+  spdlog::info("Mission after poll: {}", mission);
+}
+
+DemoDataSource AppState::get_data_source() const { return data_source; }

src/BaseDataSource.cpp

@@ -0,0 +1,35 @@
+#include "BaseDataSource.h"
+
+#include <SDL2/SDL.h>
+double BaseDataSource::get_speed() { return speed; }
+
+double BaseDataSource::get_brake_balance() { return brake_balance; }
+
+double BaseDataSource::get_hv_voltage() { return hv_voltage; }
+
+double BaseDataSource::get_hv_voltage_ratio() { return hv_voltage_ratio; }
+
+double BaseDataSource::get_lv_voltage() { return lv_voltage; }
+
+double BaseDataSource::get_battery_temperature() { return battery_temperature; }
+
+double BaseDataSource::get_throttle_ratio() { return throttle_ratio; }
+
+double BaseDataSource::get_brake_pressure_front_bar() {
+  return brake_pressure_front_bar;
+}
+
+double BaseDataSource::get_brake_pressure_rear_bar() {
+  return brake_pressure_rear_bar;
+}
+
+void BaseDataSource::set_brake_balance(double value) {
+  brake_balance = value;
+  time_of_last_brake_balance_change = SDL_GetTicks();
+}
+
+bool BaseDataSource::brake_balance_change_is_recent() {
+
+  return time_of_last_brake_balance_change != 0 &&
+         SDL_GetTicks() - time_of_last_brake_balance_change < 500;
+}

src/DemoDataSource.cpp

@@ -0,0 +1,33 @@
+#include "DemoDataSource.h"
+
+#include <cmath>
+#include <iostream>
+DemoDataSource::DemoDataSource() {
+  brake_balance = 0.5;
+
+  lv_voltage = 13.1;
+  battery_temperature = 20.1;
+  throttle_ratio = 0.01;
+  brake_pressure_front_bar = 1;
+  brake_pressure_rear_bar = 1;
+}
+
+DemoDataSource::~DemoDataSource() {}
+
+void DemoDataSource::poll() {
+  int min_voltage = 150;
+  int max_voltage = 480;
+  static int count = 0;
+  count++;
+  hv_voltage = 220.1 + std::cos(count / 1000.0 + 2) * 50;
+  hv_voltage_ratio = (hv_voltage - min_voltage) / (max_voltage - min_voltage);
+  speed = 10 + std::sin(count / 100.0) * 5;
+}
+
+void DemoDataSource::bump_brake_balance_up() {
+  set_brake_balance(brake_balance + 0.01);
+}
+
+void DemoDataSource::bump_brake_balance_down() {
+  set_brake_balance(brake_balance - 0.01);
+}

src/DriverView.cpp

@@ -0,0 +1,131 @@
+#include "DriverView.h"
+
+#include "DemoDataSource.h"
+#include "defines.h"
+
+#include <fmt/format.h>
+
+#include <iostream>
+
+#define LARGE_FONT_SIZE_POINTS 170
+#define GIANT_FONT_SIZE_POINTS 250
+#define MEDIUM_FONT_SIZE_POINTS 50
+#define SOC_BAR_HEIGHT 80
+#define SPEED_TEXT_X 22
+#define SPEED_TEXT_Y 50
+
+DriverView::DriverView(SDL_Renderer* renderer)
+    : View{renderer}, font_large{util::load_font("resources/Avenir-Book.ttf",
+                                                 LARGE_FONT_SIZE_POINTS)},
+      font_detail{util::load_font("resources/Avenir-Book.ttf", 20)},
+      font_tiny{util::load_font("resources/Avenir-Book.ttf", 15)},
+      font_giant{
+          util::load_font("resources/Avenir-Book.ttf", GIANT_FONT_SIZE_POINTS)},
+      font_medium{util::load_font("resources/Avenir-Book.ttf",
+                                  MEDIUM_FONT_SIZE_POINTS)} {
+  speed_widget = std::make_unique<TextWidget>(renderer, font_large, "");
+  speed_widget->set_position(SPEED_TEXT_X, SPEED_TEXT_Y);
+  speed_widget->set_alignment(Alignment::CENTER, Alignment::TOP);
+
+  speed_hint_widget = std::make_unique<TextWidget>(renderer, font_tiny, "SPD");
+  speed_hint_widget->set_position(20, 210);
+  speed_hint_widget->set_alignment(Alignment::CENTER, Alignment::TOP);
+
+  brake_balance_widget = std::make_unique<TextWidget>(renderer, font_large, "");
+  brake_balance_widget->set_position(SPEED_TEXT_X + SCREEN_WIDTH / 2,
+                                     SPEED_TEXT_Y);
+  brake_balance_widget->set_alignment(Alignment::CENTER, Alignment::TOP);
+  brake_balance_hint_widget =
+      std::make_unique<TextWidget>(renderer, font_tiny, "BB");
+  brake_balance_hint_widget->set_position(20 + SCREEN_WIDTH / 2, 210);
+  brake_balance_hint_widget->set_alignment(Alignment::CENTER, Alignment::TOP);
+
+  general_info_widget = std::make_unique<TextWidget>(renderer, font_detail, "");
+  general_info_widget->set_position(SPEED_TEXT_X, SPEED_TEXT_Y + 200);
+  general_info_widget->set_alignment(Alignment::LEFT, Alignment::TOP);
+  general_info_widget->set_wrap_width(SCREEN_WIDTH - 50);
+
+  focus_widget = std::make_unique<TextWidget>(renderer, font_giant, "");
+  focus_widget->set_position(120, 50);
+  focus_widget->set_alignment(Alignment::LEFT, Alignment::TOP);
+  focus_hint_widget = std::make_unique<TextWidget>(renderer, font_medium, "");
+  focus_hint_widget->set_position(120, 30);
+  // focus_hint_widget->set_alignment(Alignment::CENTER, Alignment::CENTER);
+}
+
+DriverView::~DriverView() {
+
+  TTF_CloseFont(font_medium);
+  TTF_CloseFont(font_large);
+  TTF_CloseFont(font_detail);
+  TTF_CloseFont(font_tiny);
+  TTF_CloseFont(font_giant);
+}
+
+void DriverView::draw(const AppState& state) {
+  auto ds = state.get_data_source();
+  auto hv_ratio = ds.get_hv_voltage_ratio();
+  SDL_Rect rect;
+  rect.x = 0;
+  rect.y = 0;
+  rect.w = SCREEN_WIDTH;
+  rect.h = SCREEN_HEIGHT;
+
+  static auto hv_low = false;
+  // hysteresis for the hv voltage low
+  if (hv_ratio < 0.15) {
+    hv_low = true;
+  } else if (hv_ratio > 0.2) {
+    hv_low = false;
+  }
+
+  int red = hv_low ? 0xa0 : 0x30;
+  SDL_SetRenderDrawColor(renderer, red, 0x30, 0x30, 255);
+  SDL_RenderFillRect(renderer, &rect);
+
+  auto brake_balance_text = fmt::format("{:.0f}", ds.get_brake_balance() * 100);
+
+  if (ds.brake_balance_change_is_recent()) {
+    SDL_SetRenderDrawColor(renderer, 255, 69, 100, 255);
+    SDL_RenderFillRect(renderer, &rect);
+    focus_widget->update_text(brake_balance_text);
+    focus_widget->draw();
+    focus_hint_widget->update_text("BBAL");
+    focus_hint_widget->draw();
+    return;
+  }
+
+  rect.w = SCREEN_WIDTH * hv_ratio;
+  rect.h = SOC_BAR_HEIGHT;
+  SDL_SetRenderDrawColor(renderer, 76, 255, 0, 255);
+  SDL_RenderFillRect(renderer, &rect);
+
+  speed_widget->update_text(fmt::format("{:02.0f}", ds.get_speed()));
+  speed_widget->draw();
+  speed_hint_widget->draw();
+
+  brake_balance_widget->update_text(brake_balance_text);
+
+  brake_balance_widget->draw();
+  brake_balance_hint_widget->draw();
+
+  // draw rectangles around the speed and brake balance widgets
+  SDL_SetRenderDrawColor(renderer, 0xFF, 0xFF, 0xFF, 255);
+  rect.x = 0;
+  rect.y = SOC_BAR_HEIGHT;
+  rect.w = SCREEN_WIDTH / 2;
+  rect.h = 150;
+  SDL_RenderDrawRect(renderer, &rect);
+  rect.x = SCREEN_WIDTH / 2;
+  SDL_RenderDrawRect(renderer, &rect);
+
+  auto general_string = fmt::format(
+      "HV: {:.0f}V | LV: {:.1f}V | B_TEMP: {:.1f}C\nAPPS: {:.0f}% | BPF: "
+      "{:.0f} bar | BPR: {:.0f} bar",
+      ds.get_hv_voltage(), ds.get_lv_voltage(), ds.get_battery_temperature(),
+      ds.get_throttle_ratio() * 100, ds.get_brake_pressure_front_bar(),
+      ds.get_brake_pressure_rear_bar());
+
+  general_info_widget->update_text(general_string);
+  general_info_widget->draw();
+}

src/MissionSelect.cpp

@@ -0,0 +1,74 @@
+#include "MissionSelect.h"
+
+#include "AppState.h"
+#include "DriverView.h"
+#include "defines.h"
+#include "events.h"
+#include "util.h"
+#include "widgets.h"
+
+#include <fmt/format.h>
+
+#include <array>
+#include <iostream>
+#include <memory>
+
+constexpr const char* FT_LOGO_PATH = "resources/Fasttube_Logo-white.bmp";
+constexpr const char* AVENIR_FONT_PATH = "resources/Avenir-Book.ttf";
+constexpr int AVENIR_PTS = 20;
+constexpr const char* CHINAT_FONT_PATH = "resources/CHINAT.ttf";
+constexpr int CHINAT_PTS = 24;
+constexpr int FT_LOGO_HEIGHT = 40;
+constexpr int GAP = 5;
+constexpr int CHOOSE_Y = FT_LOGO_HEIGHT + GAP;
+
+constexpr std::array MISSIONS = {"ACCELERATION",  "SKIDPAD",  "AUTOCROSS",
+                                 "TRACKDRIVE",    "EBS TEST", "INSPECTION",
+                                 "MANUAL DRIVING"};
+
+MissionSelect::MissionSelect(SDL_Renderer* renderer)
+    : View{renderer}, avenir{util::load_font(AVENIR_FONT_PATH, AVENIR_PTS)},
+      chinat{util::load_font(CHINAT_FONT_PATH, CHINAT_PTS)} {
+  ft_logo = std::make_unique<ImageWidget>(renderer, FT_LOGO_PATH);
+  ft_logo->set_height(FT_LOGO_HEIGHT);
+  ft_logo->set_position(SCREEN_WIDTH / 2, 0);
+  ft_logo->set_alignment(Alignment::CENTER, Alignment::TOP);
+  widgets.push_back(ft_logo.get());
+
+  choose = std::make_unique<TextWidget>(renderer, avenir, "Choose a mission:");
+  choose->set_position(SCREEN_WIDTH / 2, CHOOSE_Y);
+  choose->set_alignment(Alignment::CENTER, Alignment::TOP);
+  widgets.push_back(choose.get());
+
+  for (const auto mission : MISSIONS) {
+    missions.push_back(std::make_unique<TextWidget>(renderer, chinat, mission));
+  }
+  int choose_height = choose->get_height();
+  int missions_y = CHOOSE_Y + choose_height + GAP;
+  int missions_height = SCREEN_HEIGHT - CHOOSE_Y - choose_height - 1;
+  missions_widget = std::make_unique<ListWidget>(
+      renderer, missions[0]->get_height(), Alignment::CENTER);
+  missions_widget->set_position(0, missions_y);
+  missions_widget->set_width(SCREEN_WIDTH, false);
+  missions_widget->set_height(missions_height, false);
+  for (const auto& mission : missions) {
+    missions_widget->add_element(mission.get());
+  }
+  widgets.push_back(missions_widget.get());
+}
+
+MissionSelect::~MissionSelect() {
+  TTF_CloseFont(avenir);
+  TTF_CloseFont(chinat);
+}
+
+void MissionSelect::draw(const AppState& state) {
+  size_t n = static_cast<int>(state.get_mission()) - 1;
+  missions_widget->select(n);
+
+  SDL_SetRenderDrawColor(renderer, 0x00, 0x00, 0x00, 0xFF);
+  SDL_RenderClear(renderer);
+  for (const auto& widget : widgets) {
+    widget->draw();
+  }
+}

src/widgets.cpp

@@ -5,11 +5,37 @@
 
 #include <SDL2/SDL.h>
 #include <SDL2/SDL_image.h>
+
 #include <fmt/format.h>
 
+#include <cstdint>
 #include <stdexcept>
 
-PositionInfo::PositionInfo() : x{0}, y{0}, align{Alignment::LEFT} {}
+constexpr uint8_t LIST_SELECTION_BG_R = 0x77;
+constexpr uint8_t LIST_SELECTION_BG_G = 0x33;
+constexpr uint8_t LIST_SELECTION_BG_B = 0x33;
+constexpr uint8_t LIST_OTHER_BG_R = 0x22;
+constexpr uint8_t LIST_OTHER_BG_G = 0x22;
+constexpr uint8_t LIST_OTHER_BG_B = 0x22;
+constexpr uint8_t LIST_NORMAL_BG_R = 0x00;
+constexpr uint8_t LIST_NORMAL_BG_G = 0x00;
+constexpr uint8_t LIST_NORMAL_BG_B = 0x00;
+
+std::ostream& operator<<(std::ostream& os, Alignment align) {
+  switch (align) {
+  case Alignment::START:
+    return os << "START";
+  case Alignment::CENTER:
+    return os << "CENTER";
+  case Alignment::END:
+    return os << "END";
+  default:
+    return os << "UNKNOWN ALIGNMENT[" << static_cast<int>(align) << "]";
+  }
+}
+
+PositionInfo::PositionInfo()
+    : x{0}, y{0}, align_h{Alignment::LEFT}, align_v{Alignment::LEFT} {}
 
 Widget::Widget(SDL_Renderer* renderer) : renderer{renderer}, rect{0, 0, 0, 0} {}
 
@@ -21,12 +47,14 @@ void Widget::set_width(int width, bool preserve_aspect_ratio) {
     rect.h = round(rect.h * scale);
   }
   rect.w = width;
+  recalculate_pos();
 }
 
 void Widget::set_height(int height, bool preserve_aspect_ratio) {
   if (preserve_aspect_ratio) {
     float scale = ((float)height) / rect.h;
     rect.w = round(rect.w * scale);
+    recalculate_pos();
   }
   rect.h = height;
 }
@@ -34,12 +62,13 @@ void Widget::set_height(int height, bool preserve_aspect_ratio) {
 void Widget::set_position(int x, int y) {
   pos.x = x;
   pos.y = y;
-  recalculate_rect();
+  recalculate_pos();
 }
 
-void Widget::set_alignment(Alignment align) {
-  pos.align = align;
-  recalculate_rect();
+void Widget::set_alignment(Alignment align_h, Alignment align_v) {
+  pos.align_h = align_h;
+  pos.align_v = align_v;
+  recalculate_pos();
 }
 
 int Widget::get_width() { return rect.w; }
@@ -48,22 +77,35 @@ int Widget::get_height() { return rect.h; }
 
 const PositionInfo& Widget::get_position() { return pos; }
 
-void Widget::recalculate_rect() {
+void Widget::recalculate_pos() {
   int x = pos.x;
   int y = pos.y;
-  switch (pos.align) {
-  case Alignment::LEFT:
+
+  switch (pos.align_h) {
+  case Alignment::START:
     break;
-  case Alignment::RIGHT:
+  case Alignment::END:
     x -= rect.w;
     break;
   case Alignment::CENTER:
     x -= rect.w / 2;
     break;
   default:
-    throw std::runtime_error(
-        fmt::format("Unknown alignment: {}", (int)pos.align));
+    throw std::runtime_error(fmt::format("Unknown alignment: {}", pos.align_h));
   }
+  switch (pos.align_v) {
+  case Alignment::START:
+    break;
+  case Alignment::END:
+    y -= rect.h;
+    break;
+  case Alignment::CENTER:
+    y -= rect.h / 2;
+    break;
+  default:
+    throw std::runtime_error(fmt::format("Unknown alignment: {}", pos.align_v));
+  }
+
   rect.x = x;
   rect.y = y;
 }
@@ -125,8 +167,13 @@ void TextWidget::update_text(const std::string& new_text) {
 }
 
 SDL_Texture* TextWidget::generate_text(const std::string& text) {
-  SDL_Surface* surf =
-      TTF_RenderText_Solid(font, text.c_str(), {0xFF, 0xFF, 0XFF, 0xFF});
+  SDL_Surface* surf;
+  if (wrap_width == -1) {
+    surf = TTF_RenderText_Blended(font, text.c_str(), {0xFF, 0xFF, 0XFF, 0xFF});
+  } else {
+    surf = TTF_RenderText_Blended_Wrapped(font, text.c_str(),
+                                          {0xFF, 0xFF, 0XFF, 0xFF}, wrap_width);
+  }
   if (surf == nullptr) {
     throw std::runtime_error(
         fmt::format("Unable to render text surface: {}", TTF_GetError()));
@@ -139,10 +186,12 @@ SDL_Texture* TextWidget::generate_text(const std::string& text) {
   return texture;
 }
 
+void TextWidget::set_wrap_width(int width) { wrap_width = width; }
+
 ListWidget::ListWidget(SDL_Renderer* renderer, int element_height,
                        Alignment element_alignment)
     : Widget{renderer}, element_height{element_height},
-      element_alignment{element_alignment} {}
+      element_alignment{element_alignment}, selection{0} {}
 
 ListWidget::~ListWidget() {}
 
@@ -161,12 +210,19 @@ void ListWidget::draw() {
       // Since the elements are sorted, we can stop the loop now.
       break;
     }
-    if (i % 2 == 1) {
-      SDL_SetRenderDrawColor(renderer, 0x11, 0x11, 0x11, 0xFF);
+    if (i == selection) {
+      SDL_SetRenderDrawColor(renderer, LIST_SELECTION_BG_R, LIST_SELECTION_BG_G,
+                             LIST_SELECTION_BG_B, 0xFF);
+    } else if (i % 2 == 1) {
+      SDL_SetRenderDrawColor(renderer, LIST_OTHER_BG_R, LIST_OTHER_BG_G,
+                             LIST_OTHER_BG_B, 0xFF);
+    } else {
+      SDL_SetRenderDrawColor(renderer, LIST_NORMAL_BG_R, LIST_NORMAL_BG_G,
+                             LIST_NORMAL_BG_B, 0xFF);
+    }
     SDL_Rect fill_rect = {
         .x = pos.x, .y = element_pos.y, .w = rect.w, .h = element_height};
     SDL_RenderFillRect(renderer, &fill_rect);
-    }
     element->draw();
     if (i != elements.size() - 1) {
       int border_y = element_pos.y + element->get_height();
@@ -176,6 +232,37 @@ void ListWidget::draw() {
   }
 }
 
+void ListWidget::select_next() {
+  size_t n = elements.size();
+  if (n == 0) {
+    return;
+  }
+  selection = (selection + 1) % n;
+}
+
+void ListWidget::select_prev() {
+  size_t n = elements.size();
+  if (n == 0) {
+    return;
+  }
+  if (selection == 0) {
+    selection = n - 1;
+  } else {
+    selection = selection - 1;
+  }
+}
+
+void ListWidget::select(size_t n) {
+  if (n > elements.size()) {
+    throw std::runtime_error(fmt::format(
+        "Tried to select element {}, but there are only {} elements!", n,
+        elements.size()));
+  }
+  selection = n;
+}
+
+size_t ListWidget::get_selection() { return selection; }
+
 void ListWidget::place_element(Widget* element, int index) {
   int x = rect.x;
   switch (element_alignment) {
@@ -189,11 +276,11 @@ void ListWidget::place_element(Widget* element, int index) {
     break;
   default:
     throw std::runtime_error(
-        fmt::format("Unknown alignment: {}", (int)pos.align));
+        fmt::format("Unknown alignment: {}", element_alignment));
   }
   // Additional pixel for border
   int y = rect.y + index * (element_height + 1);
   element->set_position(x, y);
-  element->set_alignment(element_alignment);
+  element->set_alignment(element_alignment, Alignment::TOP);
   element->set_height(element_height);
 }