oled: rewrite the oled UI to have animations, and support a version of sleeping where the display is blank, at least

Cargo.toml

@@ -9,7 +9,7 @@ name = "renderbug-embassy"
 path = "./src/bin/main.rs"
 
 [features]
-default = ["real-output"]
+default = ["real-output", "oled"]
 real-output = []
 simulation = ["dep:rmp"]
 radio = [

assets/boot-logo.pbm

@@ -0,0 +1,121 @@
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src/bin/main.rs

@@ -61,7 +61,7 @@ async fn main(spawner: Spawner) {
     let timer1 = TimerGroup::new(peripherals.TIMG1);
     let mut ui_wdt = timer1.wdt;
     ui_wdt.set_timeout(esp_hal::timer::timg::MwdtStage::Stage0, esp_hal::time::Duration::from_secs(10));
-    ui_wdt.enable(); //FIXME: Re-enable UI watchdog once we have a brain task running
+    ui_wdt.enable();
 
     let garage = BUS_GARAGE.init(Default::default());
 
@@ -104,19 +104,12 @@ async fn main(spawner: Spawner) {
         use esp_hal::i2c::master::{Config, I2c};
 
         let mut rst = Output::new(peripherals.GPIO21, esp_hal::gpio::Level::Low, OutputConfig::default());
-        Timer::after_millis(10).await;
-        rst.set_high();
-        Timer::after_millis(10).await;
-        rst.set_low();
-        Timer::after_millis(10).await;
-        rst.set_high();
-        
         let i2c = I2c::new(
             peripherals.I2C0, 
             Config::default().with_frequency(Rate::from_khz(400))
         ).unwrap().with_scl(peripherals.GPIO18).with_sda(peripherals.GPIO17).into_async();
 
-        spawner.must_spawn(renderbug_embassy::tasks::oled::oled_task(i2c, garage.telemetry.dyn_subscriber().unwrap()));
+        spawner.must_spawn(renderbug_embassy::tasks::oled::oled_task(i2c, rst, garage.telemetry.dyn_subscriber().unwrap()));
     }
 
     #[cfg(feature="simulation")]

src/tasks/oled.rs

@@ -1,15 +1,19 @@
-use core::cell::RefCell;
+use core::{cell::RefCell, f32::consts::PI};
 
 use alloc::format;
 use embassy_sync::pubsub::DynSubscriber;
 use embassy_time::Timer;
 use embedded_graphics::{image::Image, mono_font::{ascii::{FONT_6X10, FONT_10X20, FONT_9X18_BOLD}, MonoTextStyleBuilder}, pixelcolor::BinaryColor, prelude::*, primitives::{Line, PrimitiveStyleBuilder, Rectangle, StyledDrawable}, text::{Alignment, Baseline, Text}};
-use esp_hal::{i2c::master::I2c, Async};
+use esp_hal::{i2c::master::I2c, Async, gpio::Output};
+use figments::{liber8tion::{interpolate::{ease_in_out_quad, scale8}, trig::{cos8, sin8}}, prelude::Fract8Ops};
 use nalgebra::Vector2;
-use ssd1306::{mode::DisplayConfigAsync, prelude::DisplayRotation, size::DisplaySize128x64, I2CDisplayInterface, Ssd1306Async};
+use ssd1306::{mode::{BufferedGraphicsModeAsync, DisplayConfigAsync}, prelude::{DisplayRotation, I2CInterface}, size::DisplaySize128x64, I2CDisplayInterface, Ssd1306Async};
 use log::*;
+use embedded_graphics::mono_font::MonoTextStyle;
+use embedded_graphics::primitives::PrimitiveStyle;
+use nalgebra::ComplexField;
 
-use crate::{backoff::Backoff, ego::engine::MotionState, events::{Notification, Prediction, Scene, SensorSource, Telemetry}};
+use crate::{backoff::Backoff, ego::engine::MotionState, events::{Notification, Prediction, Scene, SensorSource, Telemetry}, tasks::ui};
 
 mod images {
     use embedded_graphics::{
@@ -29,15 +33,194 @@ struct OledUI {
     imu_online: bool,
     velocity: f32,
     location: Vector2<f64>,
-    sleep: bool
+    sleep: bool,
 }
 
+struct UiPainter<'a>(&'a mut Ssd1306Async<I2CInterface<I2c<'static, Async>>, DisplaySize128x64, BufferedGraphicsModeAsync<DisplaySize128x64>>);
+
+#[derive(Debug, Default, Clone, Copy)]
+enum Screen {
+    #[default]
+    Blank,
+    Bootsplash,
+    Home,
+    Sleeping,
+    Waking
+}
+
+impl UiPainter<'_> {
+    pub async fn screen_transition(&mut self, from: Screen, to: Screen, state: &OledUI) {
+        warn!("Transitioning screens from {from:?} to {to:?}");
+        for pos in 0..16 {
+            self.blank();
+            // Draw the screen, then paint the swipe across it from left to right
+            self.draw_screen(from, 0, state);
+            Rectangle::new(Point::zero(), Size { width: figments::liber8tion::interpolate::ease_in_out_quad(pos*8) as u32, height: 64}).draw_styled(&DRAW_STYLE, self.0).unwrap();
+            self.commit().await;
+        }
+
+        for pos in 0..16 {
+            self.blank();
+            // Paint the next screen, then cover the right half with the swipe
+            self.draw_screen(to, 0, state);
+            let pos = figments::liber8tion::interpolate::ease_in_out_quad(pos*8) as u32;
+            Rectangle::new(Point::new(pos as i32, 0), Size { width: 128 - pos, height: 64}).draw_styled(&DRAW_STYLE, self.0).unwrap();
+            self.commit().await;
+        }
+
+        // Finally draw the untouched screen
+        self.blank();
+        self.draw_screen(to, 0, state);
+        self.commit().await;
+    }
+
+    pub fn draw_screen(&mut self, screen: Screen, frame: usize, ui_state: &OledUI) {
+        match screen {
+            Screen::Blank => (),
+            Screen::Bootsplash => {
+                Image::new(&images::BOOT_LOGO, Point::zero()).draw(self.0).unwrap();
+                const SPARKLE_COUNT: i32 = 8;
+                for n in 0..SPARKLE_COUNT {
+                    let sparkle_center = Point::new(128u8.scale8(cos8(frame.wrapping_mul(n as usize))) as i32, 64u8.scale8(sin8(frame.wrapping_mul(n as usize) as u8)) as i32);
+                    let offset = (frame / 2 % 32) as i32 - 16;
+                    let rotation = PI * 2.0 * (sin8(frame) as f32 / 255.0);
+                    let normal = Point::new((rotation.cos() * offset as f32) as i32, (rotation.sin() * offset as f32) as i32);
+                    let cross_normal = Point::new((rotation.sin() * offset as f32) as i32, (rotation.cos() * offset as f32) as i32);
+                    // Draw horizontal
+                    Line::new(sparkle_center - normal, sparkle_center + normal)
+                        .draw_styled(&SPARKLE_STYLE, self.0).unwrap();
+                    // Draw vertical
+                    Line::new(sparkle_center - cross_normal, sparkle_center + cross_normal)
+                        .draw_styled(&SPARKLE_STYLE, self.0).unwrap();
+                }
+            },
+            Screen::Home => {
+                // Status bar
+                // Sensor indicators
+                let gps_img = if ui_state.gps_online {
+                    &images::GPS_ON
+                } else {
+                    &images::GPS_OFF
+                };
+                let imu_img = if ui_state.imu_online {
+                    &images::IMU_ON
+                } else {
+                    &images::IMU_OFF
+                };
+                Image::new(gps_img, Point::zero()).draw(self.0).unwrap();
+                Image::new(imu_img, Point::new((gps_img.size().width + 2) as i32, 0)).draw(self.0).unwrap();
+
+                #[cfg(feature="demo")]
+                Text::with_alignment("Demo", Point::new(128, 10), TEXT_STYLE, Alignment::Right)
+                    .draw(self.0)
+                    .unwrap();
+
+                #[cfg(feature="simulation")]
+                Text::with_alignment("Sim", Point::new(128, 10), TEXT_STYLE, Alignment::Right)
+                    .draw(self.0)
+                    .unwrap();
+
+                // Separates the status bar from the UI
+                Line::new(Point::new(0, 18), Point::new(128, 18)).draw_styled(&INACTIVE_STYLE, self.0).unwrap();
+
+                // Speed display at the top
+                Text::with_alignment(&format!("{}", ui_state.velocity), Point::new(128 / 2, 12), SPEED_STYLE, Alignment::Center)
+                    .draw(self.0)
+                    .unwrap();
+
+                // The main UI content
+                Image::new(&images::BIKE, Point::new((128 / 2 - images::BIKE.size().width / 2) as i32, 24)).draw(self.0).unwrap();
+
+                let headlight_img = if ui_state.headlight {
+                    &images::HEADLIGHT_ON
+                } else {
+                    &images::HEADLIGHT_OFF
+                };
+                let brakelight_img = if ui_state.brakelight {
+                    &images::BRAKELIGHT_ON
+                } else {
+                    &images::BRAKELIGHT_OFF
+                };
+                Image::new(headlight_img, Point::new(((128 / 2 - images::BIKE.size().width / 2) - 18) as i32, 28)).draw(self.0).unwrap();
+                Image::new(brakelight_img, Point::new(((128 / 2 + images::BIKE.size().width / 2) + 2) as i32, 28)).draw(self.0).unwrap();
+
+                // TODO: Replace the state texts with cute animations or smth
+                // Current prediction from the motion engine
+                Text::with_alignment(&format!("{:?}", ui_state.motion), Point::new(128 / 2, 64 - 3), TEXT_STYLE, Alignment::Center)
+                    .draw(self.0)
+                    .unwrap();
+                
+                // Current scene in the UI
+                Text::with_alignment(&format!("{:?}", ui_state.scene), Point::new(128 / 2, 64 - 13), TEXT_STYLE, Alignment::Center)
+                    .draw(self.0)
+                    .unwrap();
+            },
+            Screen::Sleeping => {
+                Text::with_alignment("so eepy Zzz...", Point::new(128 / 2, 64 / 2), LOGO_STYLE, Alignment::Center)
+                    .draw(self.0)
+                    .unwrap();
+            },
+            Screen::Waking => {
+                Text::with_alignment("OwO hewwo again :D", Point::new(128 / 2, 64 / 2), LOGO_STYLE, Alignment::Center)
+                    .draw(self.0)
+                    .unwrap();
+            }
+        }
+    }
+
+    pub fn blank(&mut self) {
+        self.0.clear_buffer();
+    }
+
+    pub async fn commit(&mut self) {
+        self.0.flush().await.expect("Could not commit frame");
+    }
+}
+
+const SPARKLE_STYLE: PrimitiveStyle<BinaryColor> = PrimitiveStyleBuilder::new()
+    .stroke_color(BinaryColor::On)
+    .stroke_width(2)
+    .build();
+
+const TEXT_STYLE: MonoTextStyle<BinaryColor> = MonoTextStyleBuilder::new()
+    .font(&FONT_6X10)
+    .text_color(BinaryColor::On)
+    .build();
+
+const LOGO_STYLE: MonoTextStyle<BinaryColor> = MonoTextStyleBuilder::new()
+    .font(&FONT_9X18_BOLD)
+    .text_color(BinaryColor::On)
+    .build();
+
+const SPEED_STYLE: MonoTextStyle<BinaryColor> = MonoTextStyleBuilder::new()
+    .font(&FONT_10X20)
+    .text_color(BinaryColor::On)
+    .build();
+
+const DRAW_STYLE: PrimitiveStyle<BinaryColor> = PrimitiveStyleBuilder::new()
+    .fill_color(BinaryColor::On)
+    .build();
+
+const INACTIVE_STYLE: PrimitiveStyle<BinaryColor> = PrimitiveStyleBuilder::new()
+    .fill_color(BinaryColor::Off)
+    .stroke_color(BinaryColor::On)
+    .stroke_width(2)
+    .build();
+
 #[embassy_executor::task]
-pub async fn oled_task(i2c: I2c<'static, Async>,  mut events: DynSubscriber<'static, Telemetry>) {
+pub async fn oled_task(i2c: I2c<'static, Async>,  mut reset_pin: Output<'static>, mut events: DynSubscriber<'static, Telemetry>) {
     let interface = RefCell::new(Some(I2CDisplayInterface::new(i2c)));
+    let mut ui_state = OledUI::default();
+
     // initialize the display
     let mut display = Backoff::from_secs(3).forever().attempt(async || {
         info!("Setting up OLED display");
+        Timer::after_millis(10).await;
+        reset_pin.set_high();
+        Timer::after_millis(10).await;
+        reset_pin.set_low();
+        Timer::after_millis(10).await;
+        reset_pin.set_high();
         let mut display = Ssd1306Async::new(interface.replace(None).unwrap(), DisplaySize128x64, DisplayRotation::Rotate0)
             .into_buffered_graphics_mode();
         if let Err(e) = display.init().await {
@@ -52,119 +235,49 @@ pub async fn oled_task(i2c: I2c<'static, Async>,  mut events: DynSubscriber<'sta
     display.clear(BinaryColor::Off).unwrap();
     display.flush().await.unwrap();
 
-    let text_style = MonoTextStyleBuilder::new()
-        .font(&FONT_6X10)
-        .text_color(BinaryColor::On)
-        .build();
-
-    let logo_style = MonoTextStyleBuilder::new()
-        .font(&FONT_9X18_BOLD)
-        .text_color(BinaryColor::On)
-        .build();
-
-    let speed_style = MonoTextStyleBuilder::new()
-        .font(&FONT_10X20)
-        .text_color(BinaryColor::On)
-        .build();
-
-    let draw_style = PrimitiveStyleBuilder::new()
-        .fill_color(BinaryColor::On)
-        .build();
-    let erase_style = PrimitiveStyleBuilder::new()
-        .fill_color(BinaryColor::Off)
-        .build();
-
-    let inactive_style = PrimitiveStyleBuilder::new()
-        .fill_color(BinaryColor::Off)
-        .stroke_color(BinaryColor::On)
-        .stroke_width(2)
-        .build();
-
-    let mut ui_state = OledUI::default();
-
     info!("Running boot splash animation");
-    for pos in 0..16 {
+    let mut painter = UiPainter(&mut display);
-        Rectangle::new(Point::zero(), Size { width: figments::liber8tion::interpolate::ease_in_out_quad(pos*8) as u32, height: 64}).draw_styled(&draw_style, &mut display).unwrap();
+    painter.screen_transition(Screen::Blank, Screen::Bootsplash, &ui_state).await;
-        display.flush().await.unwrap();
+    for i in 0..255 {
+        painter.blank();
+        painter.draw_screen(Screen::Bootsplash, i, &ui_state);
+        painter.commit().await;
     }
-
+    painter.screen_transition(Screen::Bootsplash, Screen::Home, &ui_state).await;
-    for pos in 0..16 {
-        Rectangle::new(Point::zero(), Size { width: figments::liber8tion::interpolate::ease_in_out_quad(pos*8) as u32, height: 64}).draw_styled(&erase_style, &mut display).unwrap();
-        Text::with_baseline("Renderbug v4", Point::new(0, 16), logo_style, Baseline::Top)
-            .draw(&mut display)
-            .unwrap();
-        display.flush().await.unwrap();
-    }
-
-    Timer::after_secs(2).await;
 
     info!("OLED display is ready!");
     loop {
-        // FIXME: Need to implement sleep handling to electrically turn the display on/off and do a sleep animation
+        // FIXME: Need to implement sleep handling to electrically turn the display on/off
-        display.clear(BinaryColor::Off).unwrap();
         if !ui_state.sleep {
-
+            painter.blank();
-            // Sensor indicators
+            painter.draw_screen(Screen::Home, 0, &ui_state);
-            let gps_img = if ui_state.gps_online {
+            painter.commit().await;
-                &images::GPS_ON
-            } else {
-                &images::GPS_OFF
-            };
-            let imu_img = if ui_state.imu_online {
-                &images::IMU_ON
-            } else {
-                &images::IMU_OFF
-            };
-            Image::new(gps_img, Point::zero()).draw(&mut display).unwrap();
-            Image::new(imu_img, Point::new((gps_img.size().width + 2) as i32, 0)).draw(&mut display).unwrap();
-
-            Image::new(&images::BIKE, Point::new((128 / 2 - images::BIKE.size().width / 2) as i32, 24)).draw(&mut display).unwrap();
-
-            let headlight_img = if ui_state.headlight {
-                &images::HEADLIGHT_ON
-            } else {
-                &images::HEADLIGHT_OFF
-            };
-            let brakelight_img = if ui_state.brakelight {
-                &images::BRAKELIGHT_ON
-            } else {
-                &images::BRAKELIGHT_OFF
-            };
-            Image::new(headlight_img, Point::new(((128 / 2 - images::BIKE.size().width / 2) - 18) as i32, 28)).draw(&mut display).unwrap();
-            Image::new(brakelight_img, Point::new(((128 / 2 + images::BIKE.size().width / 2) + 2) as i32, 28)).draw(&mut display).unwrap();
-
-            Text::with_alignment(&format!("{}", ui_state.velocity), Point::new(128 / 2, 12), speed_style, Alignment::Center)
-                .draw(&mut display)
-                .unwrap();
-
-            // TODO: Replace the state texts with cute animations or smth
-            Text::with_alignment(&format!("{:?}", ui_state.motion), Point::new(128 / 2, 64 - 3), text_style, Alignment::Center)
-                .draw(&mut display)
-                .unwrap();
-            
-            Text::with_alignment(&format!("{:?}", ui_state.scene), Point::new(128 / 2, 64 - 13), text_style, Alignment::Center)
-                .draw(&mut display)
-                .unwrap();
-
-            Line::new(Point::new(0, 18), Point::new(128, 18)).draw_styled(&inactive_style, &mut display).unwrap();
         }
 
-        display.flush().await.unwrap();
-
         let evt = events.next_message_pure().await;
         match evt {
             Telemetry::Prediction(Prediction::Velocity(v)) => ui_state.velocity = v,
             Telemetry::Prediction(Prediction::Location(loc)) => ui_state.location = loc,
             Telemetry::Prediction(Prediction::Motion(motion)) => ui_state.motion = motion,
-            Telemetry::Notification(crate::events::Notification::SceneChange(scene)) => ui_state.scene = scene,
+            Telemetry::Notification(Notification::SceneChange(scene)) => ui_state.scene = scene,
             Telemetry::Notification(Notification::SetBrakelight(b)) => ui_state.brakelight = b,
             Telemetry::Notification(Notification::SetHeadlight(b)) => ui_state.headlight = b,
             Telemetry::Notification(Notification::SensorOffline(SensorSource::IMU)) => ui_state.imu_online = false,
             Telemetry::Notification(Notification::SensorOnline(SensorSource::IMU)) => ui_state.imu_online = true,
             Telemetry::Notification(Notification::SensorOffline(SensorSource::GPS)) => ui_state.gps_online = false,
             Telemetry::Notification(Notification::SensorOnline(SensorSource::GPS)) => ui_state.gps_online = true,
-            Telemetry::Notification(Notification::Sleep) => ui_state.sleep = true,
+            Telemetry::Notification(Notification::Sleep) => {
-            Telemetry::Notification(Notification::WakeUp) => ui_state.sleep = false,
+                painter.screen_transition(Screen::Home, Screen::Sleeping, &ui_state).await;
+                Timer::after_secs(1).await;
+                painter.screen_transition(Screen::Sleeping, Screen::Blank, &ui_state).await;
+                ui_state.sleep = true
+            },
+            Telemetry::Notification(Notification::WakeUp) => {
+                painter.screen_transition(Screen::Blank, Screen::Waking, &ui_state).await;
+                Timer::after_secs(1).await;
+                painter.screen_transition(Screen::Waking, Screen::Home, &ui_state).await;
+                ui_state.sleep = false
+            },
             _ => ()
         }
     }

src/tasks/safetyui.rs

@@ -45,9 +45,8 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
 
     pub async fn sleep(&mut self) {
         info!("Running sleep sequence");
-        let fade_out = Animation::default().duration(Duration::from_secs(1)).from(255).to(0);
         let mut disp_anim = AnimDisplay(&mut self.display);
-        fade_out.apply(&mut disp_anim).await;
+        TURN_OFF.apply(&mut disp_anim).await;
 
         warn!("Resetting safety lights");
         self.brakelight.set_visible(false);
@@ -87,15 +86,14 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
             fade_in.apply(&mut self.brakelight)
         );
 
-        let fade_out = Animation::default().duration(Duration::from_secs(1)).from(255).to(0);
         info!("Fade out overlay");
-        fade_out.apply(&mut self.overlay).await;
+        TURN_OFF.apply(&mut self.overlay).await;
         self.overlay.set_visible(false);
         Timer::after_secs(3).await;
         warn!("Turning off safety lights");
         join!(
-            fade_out.apply(&mut self.headlight),
+            TURN_OFF.apply(&mut self.headlight),
-            fade_out.apply(&mut self.brakelight)
+            TURN_OFF.apply(&mut self.brakelight)
         );
         info!("Wakeup complete!");
     }
@@ -109,8 +107,20 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
         match event {
             // Toggling head and brake lights
             // FIXME: These should be a Off/Low/High enum, so the stopping brake looks different from the dayrunning brake.
-            Notification::SetBrakelight(is_on) => self.brakelight.set_on(is_on).await,
+            Notification::SetBrakelight(is_on) => {
-            Notification::SetHeadlight(is_on) => self.headlight.set_on(is_on).await,
+                if is_on {
+                    TURN_ON.apply(&mut self.brakelight).await;
+                } else {
+                    TURN_OFF.apply(&mut self.brakelight).await;
+                }
+            },
+            Notification::SetHeadlight(is_on) => {
+                if is_on {
+                    TURN_ON.apply(&mut self.headlight).await;
+                } else {
+                    TURN_OFF.apply(&mut self.headlight).await;
+                }
+            },
 
             Notification::Sleep => self.sleep().await,
             Notification::WakeUp => self.wake().await,
@@ -119,6 +129,9 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
     }
 }
 
+const TURN_ON: Animation = Animation::new().duration(Duration::from_secs(1)).from(0).to(255);
+const TURN_OFF: Animation = Animation::new().duration(Duration::from_secs(1)).from(255).to(0);
+
 #[embassy_executor::task]
 pub async fn safety_ui_main(mut events: DynSubscriber<'static, Notification>, mut ui: SafetyUi<<UiSurfacePool as Surfaces<SegmentSpace>>::Surface>) {
     // Wait for the renderer to start running