Show initial checkup state & hydraulic pressures

TouchGFX/gui/include/gui/ami_screen/AMIView.hpp

@@ -30,6 +30,8 @@ public:
   virtual void tearDownScreen();
 
   void setMission(Mission mission);
+  void setASState(ASState state);
+  void setIniChkState(IniChkState state);
 
   void updateDataFields();
   void setJetsonTimeout(bool timeout);
@@ -38,11 +40,17 @@ public:
   void setConePositions(ConePosition *positions, size_t count);
 
 protected:
+  AMIDataField paField;
+  AMIDataField pbField;
+  AMIDataField pfField;
+  AMIDataField prField;
+
   AMIDataField desiredAngleField;
   AMIDataField measuredAngleField;
   AMIDataField desiredSpeedField;
   AMIDataField measuredSpeedField;
 
+  touchgfx::Unicode::UnicodeChar progressBuffer[16];
   touchgfx::Shape<3> cones[NUM_CONES] = {cone0, cone1, cone2, cone3, cone4,
                                          cone5, cone6, cone7, cone8, cone9};
 };

TouchGFX/gui/src/ami_screen/AMIPresenter.cpp

@@ -1,9 +1,12 @@
 #include <gui/ami_screen/AMIPresenter.hpp>
 #include <gui/ami_screen/AMIView.hpp>
 
-#include "stm32h7xx_hal.h"
 #include "vehicle_state.h"
 
+#ifndef SIMULATOR
+#include "stm32h7xx_hal.h"
+#endif
+
 AMIPresenter::AMIPresenter(AMIView &v) : view(v) {}
 
 void AMIPresenter::activate() { vehicleStateUpdated(); }
@@ -12,6 +15,7 @@ void AMIPresenter::deactivate() {}
 
 void AMIPresenter::vehicleStateUpdated() {
   view.setMission(vehicle_state.active_mission);
+  view.setASState(vehicle_state.as_state);
   view.updateDataFields();
 #ifndef SIMULATOR
   view.setJetsonTimeout(HAL_GetTick() - vehicle_state.last_jetson_msg > 500);

TouchGFX/gui/src/ami_screen/AMIView.cpp

@@ -1,3 +1,6 @@
+#include <gui/ami_screen/AMIView.hpp>
+
+#include "gui/containers/DriverViewStatusItem.hpp"
 #include "gui_generated/ami_screen/AMIViewBase.hpp"
 #include "stw_defines.h"
 #include "texts/TextKeysAndLanguages.hpp"
@@ -6,7 +9,6 @@
 #include "touchgfx/Unicode.hpp"
 #include "touchgfx/widgets/TextAreaWithWildcard.hpp"
 #include "vehicle_state.h"
-#include <gui/ami_screen/AMIView.hpp>
 
 AMIDataField::AMIDataField(touchgfx::TextAreaWithOneWildcard &textArea,
                            const char *fmt)
@@ -19,7 +21,9 @@ void AMIDataField::setValue(float value) {
 }
 
 AMIView::AMIView()
-    : AMIViewBase(), desiredAngleField(desiredAngle, "%5.2f"),
+    : AMIViewBase(), paField(pressA, "%5.1f"), pbField(pressB, "%5.1f"),
+      pfField(pressFront, "%5.1f"), prField(pressRear, "%5.1f"),
+      desiredAngleField(desiredAngle, "%5.2f"),
       measuredAngleField(measuredAngle, "%5.2f"),
       desiredSpeedField(desiredSpeed, "%5.1f"),
       measuredSpeedField(measuredSpeed, "%5.1f") {}
@@ -57,7 +61,79 @@ void AMIView::setMission(Mission mission) {
   currentMission.invalidate();
 }
 
+void AMIView::setASState(ASState state) {
+  if (state == AS_READY || state == AS_DRIVING) {
+    init.setVisible(false);
+    driving.setVisible(true);
+  } else {
+    init.setVisible(true);
+    driving.setVisible(false);
+  }
+  init.invalidate();
+  driving.invalidate();
+}
+
+void AMIView::setIniChkState(IniChkState state) {
+  if (state == INICHK_ERROR) {
+    progressBar.setColor(DriverViewStatusItem::COLOR_ERROR);
+    progressBar.setValue(100);
+  } else {
+    if (state == INICHK_WAIT_TS) {
+      progressBar.setColor(DriverViewStatusItem::COLOR_TS);
+    } else {
+      progressBar.setColor(DriverViewStatusItem::COLOR_OK);
+    }
+    float prog = ((float)vehicle_state.ini_chk_state) / INICHK_DONE;
+    progressBar.setValue(prog * 100);
+  }
+  progressBar.invalidate();
+
+  const char *label;
+  switch (vehicle_state.ini_chk_state) {
+  case INICHK_START:
+    label = "START";
+    break;
+  case INICHK_WD_CHECK:
+    label = "WD CHK";
+    break;
+  case INICHK_WD_OK:
+    label = "WD OK";
+    break;
+  case INICHK_ASB_CHECK_1:
+    label = "ASB CHK 1";
+    break;
+  case INICHK_ASB_CHECK_2:
+    label = "ASB CHK 2";
+    break;
+  case INICHK_WAIT_TS:
+    label = "WAIT TS";
+    break;
+  case INICHK_EBS_CHECK_A:
+    label = "EBS CHK A";
+    break;
+  case INICHK_EBS_CHECK_B:
+    label = "EBS CHK B";
+    break;
+  case INICHK_DONE:
+    label = "DONE";
+    break;
+  case INICHK_ERROR:
+    label = "ERROR";
+    break;
+  }
+  touchgfx::Unicode::strncpy(progressBuffer, label,
+                             sizeof(progressBuffer) / sizeof(*progressBuffer));
+  progressLabel.setWildcard(progressBuffer);
+  progressLabel.invalidate();
+}
+
 void AMIView::updateDataFields() {
+  // TODO: Accumulator pressures aren't transmitted yet
+  paField.setValue(0);
+  pbField.setValue(0);
+  pfField.setValue(vehicle_state.brake_press_f);
+  prField.setValue(vehicle_state.brake_press_r);
+
   desiredAngleField.setValue(vehicle_state.desired_angle);
   measuredAngleField.setValue(vehicle_state.measured_angle);
   desiredSpeedField.setValue(vehicle_state.desired_speed);