Show if parameter change has been confirmed by ABX

Core/Inc/main.h

@@ -48,7 +48,10 @@ extern FDCAN_HandleTypeDef hfdcan1;
 
 #define GUI_UPDATE_VEHICLE_STATE (1 << 0)
 #define GUI_UPDATE_NEXT_SCREEN (1 << 1)
-#define GUI_UPDATE_ALL (GUI_UPDATE_VEHICLE_STATE | GUI_UPDATE_NEXT_SCREEN)
+#define GUI_UPDATE_PARAM_CONFIRMED (1 << 2)
+#define GUI_UPDATE_ALL                                                         \
+  (GUI_UPDATE_VEHICLE_STATE | GUI_UPDATE_NEXT_SCREEN |                         \
+   GUI_UPDATE_PARAM_CONFIRMED)
 /* USER CODE END EC */
 
 /* Exported macro ------------------------------------------------------------*/

Core/Inc/vehicle_state.h

@@ -5,6 +5,7 @@
 extern "C" {
 #endif
 
+#include "params.h"
 #include "stw_defines.h"
 #include <stdint.h>
 
@@ -168,6 +169,8 @@ typedef struct {
   float desired_speed;
 
   ConePosition cone_pos[NUM_CONES];
+
+  ParamType last_param_confirmed;
 } VehicleState;
 
 extern VehicleState vehicle_state;

Core/Src/vehicle.c

@@ -28,6 +28,7 @@
 #define CAN_ID_STW_PARAM_SET 0x402
 #define CAN_ID_AS_MISSION_FB 0x410
 #define CAN_ID_STW_STATUS 0x412
+#define CAN_ID_ABX_PARAM_CONFIRMED 0x413
 #define CAN_ID_STW_CONES_BASE 0x414
 #define CAN_ID_STW_CONES_MASK 0x7FC
 #define CAN_ID_SHUNT_CURRENT 0x521
@@ -62,6 +63,7 @@ void vehicle_thread_entry(ULONG hfdcan_addr) {
   ftcan_add_filter(CAN_ID_EPSC_OUT, 0x7FF);
   ftcan_add_filter(CAN_ID_AS_MISSION_FB, 0x7FF);
   ftcan_add_filter(CAN_ID_STW_STATUS, 0x7FF);
+  ftcan_add_filter(CAN_ID_ABX_PARAM_CONFIRMED, 0x7FF);
   ftcan_add_filter(CAN_ID_STW_CONES_BASE, CAN_ID_STW_CONES_MASK);
   ftcan_add_filter(CAN_ID_SHUNT_CURRENT, 0x7FF);
   ftcan_add_filter(CAN_ID_SHUNT_VOLTAGE1, 0x7FF);
@@ -205,6 +207,10 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
       vehicle_state.errors.err_invl = (data[5] >> 3) & 1;
       vehicle_state.errors.err_invr = (data[5] >> 4) & 1;
       break;
+    case CAN_ID_ABX_PARAM_CONFIRMED:
+      vehicle_state.last_param_confirmed = data[0];
+      tx_event_flags_set(&gui_update_events, GUI_UPDATE_PARAM_CONFIRMED, TX_OR);
+      break;
     case CAN_ID_SHUNT_CURRENT: {
       // The first two bytes of shunt result messages are metadata
       const uint8_t *result_ptr = &data[2];

TouchGFX/gui/include/gui/containers/ConfigItem.hpp

@@ -14,6 +14,7 @@ public:
   virtual void initialize() override;
 
   void setSelected(int selected);
+  void setDirty(bool dirty);
 
 protected:
 private:

TouchGFX/gui/include/gui/model/ModelListener.hpp

@@ -15,6 +15,7 @@ public:
 
   virtual void vehicleStateUpdated(){};
   virtual void nextScreen(){};
+  virtual void paramConfirmed(){};
 
 protected:
   Model *model;

TouchGFX/gui/include/gui/vehicleconfig_screen/VehicleConfigPresenter.hpp

@@ -17,18 +17,19 @@ public:
    * The activate function is called automatically when this screen is "switched
    * in" (ie. made active). Initialization logic can be placed here.
    */
-  virtual void activate();
+  virtual void activate() override;
 
   /**
    * The deactivate function is called automatically when this screen is
    * "switched out" (ie. made inactive). Teardown functionality can be placed
    * here.
    */
-  virtual void deactivate();
+  virtual void deactivate() override;
 
   virtual ~VehicleConfigPresenter(){};
 
   void nextScreen() override;
+  void paramConfirmed() override;
 
 private:
   VehicleConfigPresenter();

TouchGFX/gui/include/gui/vehicleconfig_screen/VehicleConfigView.hpp

@@ -19,10 +19,14 @@ public:
   void incParam() override;
   void confirmParam() override;
 
+  void abxParamConfirmed(ParamType param);
+
 protected:
 private:
   int selectedParam;
 
+  bool paramsDirty[ParamType_COUNT] = {false};
+
   void updateSelectedParam(int select);
 };
 

TouchGFX/gui/src/containers/ConfigItem.cpp

@@ -13,6 +13,14 @@ void ConfigItem::setSelected(int selected) {
   bg.invalidate();
 }
 
+void ConfigItem::setDirty(bool dirty) {
+  if (dirty) {
+    value.setColor(touchgfx::Color::getColorFromRGB(0xFF, 0x00, 0x00));
+  } else {
+    value.setColor(touchgfx::Color::getColorFromRGB(0xFF, 0xFF, 0xFF));
+  }
+}
+
 void ConfigItem::typeUpdated() {
   switch (desc->kind) {
   case NamedFieldKind::Float:

TouchGFX/gui/src/model/Model.cpp

@@ -17,9 +17,8 @@ void Model::tick() { modelListener->vehicleStateUpdated(); }
 
 void Model::tick() {
   ULONG events;
-  if (tx_event_flags_get(&gui_update_events,
+  if (tx_event_flags_get(&gui_update_events, GUI_UPDATE_ALL, TX_OR_CLEAR,
-                         GUI_UPDATE_VEHICLE_STATE | GUI_UPDATE_NEXT_SCREEN,
+                         &events, TX_NO_WAIT) != TX_SUCCESS) {
-                         TX_OR_CLEAR, &events, TX_NO_WAIT) != TX_SUCCESS) {
     return;
   }
   if (events & GUI_UPDATE_NEXT_SCREEN) {
@@ -28,6 +27,9 @@ void Model::tick() {
   if (events & GUI_UPDATE_VEHICLE_STATE) {
     modelListener->vehicleStateUpdated();
   }
+  if (events & GUI_UPDATE_PARAM_CONFIRMED) {
+    modelListener->paramConfirmed();
+  }
 }
 
 #endif // SIMULATOR

TouchGFX/gui/src/vehicleconfig_screen/VehicleConfigPresenter.cpp

@@ -1,3 +1,4 @@
+#include "vehicle_state.h"
 #include <gui/vehicleconfig_screen/VehicleConfigPresenter.hpp>
 #include <gui/vehicleconfig_screen/VehicleConfigView.hpp>
 
@@ -12,3 +13,7 @@ void VehicleConfigPresenter::nextScreen() {
   static_cast<FrontendApplication *>(Application::getInstance())
       ->gotoDebugViewScreenNoTransition();
 }
+
+void VehicleConfigPresenter::paramConfirmed() {
+  view.abxParamConfirmed(vehicle_state.last_param_confirmed);
+}

TouchGFX/gui/src/vehicleconfig_screen/VehicleConfigView.cpp

@@ -18,6 +18,7 @@ void VehicleConfigView::tearDownScreen() {
 void VehicleConfigView::paramsUpdateItem(ConfigItem &item, int16_t itemIndex) {
   item.setType(static_cast<ParamType>(itemIndex));
   item.setSelected(itemIndex == selectedParam);
+  item.setDirty(paramsDirty[itemIndex]);
 }
 
 void VehicleConfigView::selectPrevParam() {
@@ -34,10 +35,12 @@ void VehicleConfigView::selectNextParam() {
 
 void VehicleConfigView::decParam() {
   params_dec(static_cast<ParamType>(selectedParam));
+  paramsDirty[selectedParam] = true;
   params.itemChanged(selectedParam);
 }
 void VehicleConfigView::incParam() {
   params_inc(static_cast<ParamType>(selectedParam));
+  paramsDirty[selectedParam] = true;
   params.itemChanged(selectedParam);
 }
 
@@ -45,6 +48,11 @@ void VehicleConfigView::confirmParam() {
   params_broadcast(static_cast<ParamType>(selectedParam));
 }
 
+void VehicleConfigView::abxParamConfirmed(ParamType param) {
+  paramsDirty[param] = false;
+  params.itemChanged(param);
+}
+
 void VehicleConfigView::updateSelectedParam(int select) {
   int previousSelected = selectedParam;
   selectedParam = select;