From bd05a993ed9857a7da21e8ef6be24be78a3c2657 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 12 Jan 2022 11:45:51 +0100
Subject: [PATCH 01/17] Set-up power before running either custom or default
 menu.

---
 src/Braccio.cpp | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/Braccio.cpp b/src/Braccio.cpp
index a7acda5..085d7ba 100644
--- a/src/Braccio.cpp
+++ b/src/Braccio.cpp
@@ -130,10 +130,14 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
 
   splashScreen();
 
-  if (customMenu) {
-    customMenu();
-  } else {
-    defaultMenu();
+  for(auto const now = millis();
+      ((millis() - now) < 5000) && !PD_UFP.is_PPS_ready();)
+  {
+    i2c_mutex.lock();
+    PD_UFP.print_status(Serial);
+    PD_UFP.set_PPS(PPS_V(7.2), PPS_A(2.0));
+    delay(10);
+    i2c_mutex.unlock();
   }
 
   if (!PD_UFP.is_PPS_ready()) {
@@ -141,14 +145,10 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
     gfx.println("\n\nPlease\nconnect\npower");
   }
 
-  //PD_UFP.print_status(Serial);
-  while (!PD_UFP.is_PPS_ready()) {
-    i2c_mutex.lock();
-    PD_UFP.print_status(Serial);
-    //PD_UFP.print_status(Serial);
-    PD_UFP.set_PPS(PPS_V(7.2), PPS_A(2.0));
-    delay(10);
-    i2c_mutex.unlock();
+  if (customMenu) {
+    customMenu();
+  } else {
+    defaultMenu();
   }
 
 #ifdef __MBED__

From 248243d9676f0df3439871275e324c09213ddc69 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 12 Jan 2022 12:33:33 +0100
Subject: [PATCH 02/17] Enable larger font with size 32px.

---
 src/lv_conf.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/lv_conf.h b/src/lv_conf.h
index 26ebea9..0e64765 100644
--- a/src/lv_conf.h
+++ b/src/lv_conf.h
@@ -274,7 +274,7 @@ e.g. "stm32f769xx.h" or "stm32f429xx.h"*/
 #define LV_FONT_MONTSERRAT_26    0
 #define LV_FONT_MONTSERRAT_28    0
 #define LV_FONT_MONTSERRAT_30    0
-#define LV_FONT_MONTSERRAT_32    0
+#define LV_FONT_MONTSERRAT_32    1
 #define LV_FONT_MONTSERRAT_34    0
 #define LV_FONT_MONTSERRAT_36    0
 #define LV_FONT_MONTSERRAT_38    0

From 263d9dbf1d20e87e54aed235500948741282b0db Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 12 Jan 2022 12:34:04 +0100
Subject: [PATCH 03/17] Use LVGL instead of direct GFX calls for writing power
 message to TFT display.

---
 src/Braccio++.h |  1 +
 src/Braccio.cpp | 14 +++++++++++---
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/src/Braccio++.h b/src/Braccio++.h
index bd32a74..a16160d 100644
--- a/src/Braccio++.h
+++ b/src/Braccio++.h
@@ -195,6 +195,7 @@ class BraccioClass
   lv_color_t buf[240 * 240 / 10];
   lv_group_t* p_objGroup;
   lv_indev_t *kb_indev;
+  lv_style_t _lv_style;
 
   bool _connected[8];
 
diff --git a/src/Braccio.cpp b/src/Braccio.cpp
index 085d7ba..e344308 100644
--- a/src/Braccio.cpp
+++ b/src/Braccio.cpp
@@ -112,6 +112,8 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
   indev_drv.read_cb = read_keypad;
   kb_indev = lv_indev_drv_register(&indev_drv);
 
+  lv_style_init(&_lv_style);
+
   gfx.init();
   gfx.setRotation(4);
   gfx.fillScreen(TFT_BLACK);
@@ -140,9 +142,15 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
     i2c_mutex.unlock();
   }
 
-  if (!PD_UFP.is_PPS_ready()) {
-    gfx.fillScreen(TFT_BLACK);
-    gfx.println("\n\nPlease\nconnect\npower");
+  if (!PD_UFP.is_PPS_ready())
+  {
+    lv_style_set_text_font(&_lv_style, &lv_font_montserrat_32);
+    lv_obj_t * label1 = lv_label_create(lv_scr_act());
+    lv_obj_add_style(label1, &_lv_style, 0);
+    lv_label_set_text(label1, "Please\nconnect\npower.");
+    lv_label_set_long_mode(label1, LV_LABEL_LONG_SCROLL);
+    lv_obj_set_align(label1, LV_ALIGN_CENTER);
+    lv_obj_set_pos(label1, 0, 0);
   }
 
   if (customMenu) {

From bdc99ca32c439c3d6af2773f61c2de2ae4117ea3 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 12 Jan 2022 12:35:00 +0100
Subject: [PATCH 04/17] Delete out-dated/out-commented code.

---
 src/Braccio.cpp | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/src/Braccio.cpp b/src/Braccio.cpp
index e344308..cc286bf 100644
--- a/src/Braccio.cpp
+++ b/src/Braccio.cpp
@@ -120,13 +120,6 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
   gfx.setAddrWindow(0, 0, 240, 240);
   gfx.setFreeFont(&FreeSans18pt7b);
 
-/*
-  gfx.drawBitmap(44, 60, ArduinoLogo, 152, 72, 0x04B3);
-  gfx.drawBitmap(48, 145, ArduinoText, 144, 23, 0x04B3);
-*/
-
-  //delay(2000);
-
   p_objGroup = lv_group_create();
   lv_group_set_default(p_objGroup);
 

From 466ff982be03b55171435824dceb79d32772c058 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 12 Jan 2022 12:37:31 +0100
Subject: [PATCH 05/17] Start display thread earlier. This allows to skip
 calling the display task handler manually within 'splashScren'.

---
 src/Braccio.cpp | 17 ++++++++---------
 1 file changed, 8 insertions(+), 9 deletions(-)

diff --git a/src/Braccio.cpp b/src/Braccio.cpp
index cc286bf..efa5917 100644
--- a/src/Braccio.cpp
+++ b/src/Braccio.cpp
@@ -123,6 +123,11 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
   p_objGroup = lv_group_create();
   lv_group_set_default(p_objGroup);
 
+#ifdef __MBED__
+  static rtos::Thread display_th;
+  display_th.start(mbed::callback(this, &BraccioClass::display_thread));
+#endif
+
   splashScreen();
 
   for(auto const now = millis();
@@ -152,11 +157,6 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
     defaultMenu();
   }
 
-#ifdef __MBED__
-  static rtos::Thread display_th;
-  display_th.start(mbed::callback(this, &BraccioClass::display_thread));
-#endif
-
   servos.begin();
   servos.setPositionMode(PositionMode::IMMEDIATE);
 
@@ -223,11 +223,10 @@ void BraccioClass::splashScreen(int duration) {
   lv_gif_set_src(img, &img_bulb_gif);
   lv_obj_align(img, LV_ALIGN_CENTER, 0, 0);
 
-  for (long start = millis(); millis() - start < duration;) {
-    lv_task_handler();
-    lv_tick_inc(LV_DISP_DEF_REFR_PERIOD);
+  /* Wait until the splash screen duration is over. */
+  for (long start = millis(); millis() - start < duration;)
     delay(10);
-  }
+
   lv_obj_del(img);
   lv_obj_clean(lv_scr_act());
 }

From 1a3af7c2864d321d3d2685411227751cbac2a28a Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 12 Jan 2022 12:39:49 +0100
Subject: [PATCH 06/17] mbed is the only platform we run this library on, hence
 we can drop the include guards.

---
 src/Braccio++.h | 5 +++--
 src/Braccio.cpp | 7 ++-----
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/src/Braccio++.h b/src/Braccio++.h
index a16160d..144d325 100644
--- a/src/Braccio++.h
+++ b/src/Braccio++.h
@@ -172,11 +172,12 @@ class BraccioClass
 
 private:
 
-    RS485Class serial485;
-    SmartServoClass servos;
+  RS485Class serial485;
+  SmartServoClass servos;
   PD_UFP_log_c PD_UFP;
   TCA6424A expander;
   Backlight bl;
+  rtos::Thread _display_thread;
 
   speed_grade_t runTime; //ms
 
diff --git a/src/Braccio.cpp b/src/Braccio.cpp
index efa5917..3224d49 100644
--- a/src/Braccio.cpp
+++ b/src/Braccio.cpp
@@ -21,9 +21,9 @@ BraccioClass::BraccioClass()
 , PD_UFP{PD_LOG_LEVEL_VERBOSE}
 , expander{TCA6424A_ADDRESS_ADDR_HIGH}
 , bl{}
+, _display_thread{}
 , runTime{SLOW}
 , _customMenu{nullptr}
-
 {
 
 }
@@ -123,10 +123,7 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
   p_objGroup = lv_group_create();
   lv_group_set_default(p_objGroup);
 
-#ifdef __MBED__
-  static rtos::Thread display_th;
-  display_th.start(mbed::callback(this, &BraccioClass::display_thread));
-#endif
+  _display_thread.start(mbed::callback(this, &BraccioClass::display_thread));
 
   splashScreen();
 

From 2db0bde2eefb3279b48cc479087914bcd268bd1c Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 12 Jan 2022 12:45:16 +0100
Subject: [PATCH 07/17] Since the Arduino GIF is white, we may just as well
 configure for white background from the start.

---
 src/Braccio.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Braccio.cpp b/src/Braccio.cpp
index 3224d49..0764f97 100644
--- a/src/Braccio.cpp
+++ b/src/Braccio.cpp
@@ -116,7 +116,7 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
 
   gfx.init();
   gfx.setRotation(4);
-  gfx.fillScreen(TFT_BLACK);
+  gfx.fillScreen(TFT_WHITE);
   gfx.setAddrWindow(0, 0, 240, 240);
   gfx.setFreeFont(&FreeSans18pt7b);
 

From c52923d012d749a64ef1719a539cd0782f830633 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 12 Jan 2022 12:45:35 +0100
Subject: [PATCH 08/17] Prolonge showing of Arduino GIF.

---
 src/Braccio++.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Braccio++.h b/src/Braccio++.h
index 144d325..2b4392f 100644
--- a/src/Braccio++.h
+++ b/src/Braccio++.h
@@ -161,7 +161,7 @@ class BraccioClass
 
   // default display APIs
   void drawMenu();
-  void splashScreen(int duration = 1000);
+  void splashScreen(int duration = 2000);
   void hideMenu();
   void drawImage(char* image);
   void defaultMenu();

From cec317a51c102c946d3e6216771abed19d0ea581 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 12 Jan 2022 12:49:05 +0100
Subject: [PATCH 09/17] Replace 'while(1)' with 'for(;;)' which more
 expressively says 'infinite loop here'.

---
 src/Braccio.cpp | 16 +++++-----------
 1 file changed, 5 insertions(+), 11 deletions(-)

diff --git a/src/Braccio.cpp b/src/Braccio.cpp
index 0764f97..1dbd3ef 100644
--- a/src/Braccio.cpp
+++ b/src/Braccio.cpp
@@ -196,19 +196,13 @@ void BraccioClass::pd_thread() {
   }
 }
 
-void BraccioClass::display_thread() {
-  while (1) {
-    /*
-    if ((braccio::encoder.menu_running) && (braccio::encoder.menu_interrupt)) {
-      braccio::encoder.menu_interrupt = false;
-      braccio::nav.doInput();
-      braccio::nav.doOutput();
-    }
-    yield();
-    */
+void BraccioClass::display_thread()
+{
+  for(;;)
+  {
     lv_task_handler();
     lv_tick_inc(LV_DISP_DEF_REFR_PERIOD);
-    delay(30);
+    delay(LV_DISP_DEF_REFR_PERIOD);
   }
 }
 

From 6d1044cf659418f08e5e40f578e84c6f515ac8a1 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Wed, 12 Jan 2022 12:54:39 +0100
Subject: [PATCH 10/17] Show empty battery symbol in order to entice user to
 connect power.

---
 src/Braccio.cpp | 11 +++++++++++
 src/lv_conf.h   |  2 +-
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/Braccio.cpp b/src/Braccio.cpp
index 1dbd3ef..640946e 100644
--- a/src/Braccio.cpp
+++ b/src/Braccio.cpp
@@ -127,6 +127,15 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
 
   splashScreen();
 
+  {
+    lv_style_set_text_font(&_lv_style, &lv_font_montserrat_48);
+    lv_obj_t * label1 = lv_label_create(lv_scr_act());
+    lv_obj_add_style(label1, &_lv_style, 0);
+    lv_label_set_text(label1, LV_SYMBOL_BATTERY_EMPTY);
+    lv_obj_set_align(label1, LV_ALIGN_CENTER);
+    lv_obj_set_pos(label1, 0, 0);
+  }
+
   for(auto const now = millis();
       ((millis() - now) < 5000) && !PD_UFP.is_PPS_ready();)
   {
@@ -137,6 +146,8 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
     i2c_mutex.unlock();
   }
 
+  lv_obj_clean(lv_scr_act());
+
   if (!PD_UFP.is_PPS_ready())
   {
     lv_style_set_text_font(&_lv_style, &lv_font_montserrat_32);
diff --git a/src/lv_conf.h b/src/lv_conf.h
index 0e64765..88c0921 100644
--- a/src/lv_conf.h
+++ b/src/lv_conf.h
@@ -282,7 +282,7 @@ e.g. "stm32f769xx.h" or "stm32f429xx.h"*/
 #define LV_FONT_MONTSERRAT_42    0
 #define LV_FONT_MONTSERRAT_44    0
 #define LV_FONT_MONTSERRAT_46    0
-#define LV_FONT_MONTSERRAT_48    0
+#define LV_FONT_MONTSERRAT_48    1
 
 /*Demonstrate special features*/
 #define LV_FONT_MONTSERRAT_12_SUBPX      0

From 00b441c8c2163760a376f57efcacc2d865d19983 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 13 Jan 2022 06:44:36 +0100
Subject: [PATCH 11/17] Delete un-implemented function 'drawImage'.

---
 src/Braccio++.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/Braccio++.h b/src/Braccio++.h
index 2b4392f..c4dc6fe 100644
--- a/src/Braccio++.h
+++ b/src/Braccio++.h
@@ -163,7 +163,6 @@ class BraccioClass
   void drawMenu();
   void splashScreen(int duration = 2000);
   void hideMenu();
-  void drawImage(char* image);
   void defaultMenu();
 
   void setID(int id) {

From 254a01c900037fbb1eb322847e7d2efa32e6ed0e Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 13 Jan 2022 06:45:35 +0100
Subject: [PATCH 12/17] Delete un-implemented function 'hideMenu'.

---
 src/Braccio++.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/Braccio++.h b/src/Braccio++.h
index c4dc6fe..f78a1e6 100644
--- a/src/Braccio++.h
+++ b/src/Braccio++.h
@@ -162,7 +162,6 @@ class BraccioClass
   // default display APIs
   void drawMenu();
   void splashScreen(int duration = 2000);
-  void hideMenu();
   void defaultMenu();
 
   void setID(int id) {

From 5c8fbbfed13c1324d0a8bdf2f8a7e61f3384859a Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 13 Jan 2022 06:46:10 +0100
Subject: [PATCH 13/17] Delete un-implemented function 'drawMenu'.

---
 src/Braccio++.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/Braccio++.h b/src/Braccio++.h
index f78a1e6..6656d45 100644
--- a/src/Braccio++.h
+++ b/src/Braccio++.h
@@ -160,7 +160,6 @@ class BraccioClass
   void digitalWrite(int pin, uint8_t value);
 
   // default display APIs
-  void drawMenu();
   void splashScreen(int duration = 2000);
   void defaultMenu();
 

From d73bcc2100dec5125a73c3b9dc81e8c21497ae21 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 13 Jan 2022 06:50:19 +0100
Subject: [PATCH 14/17] Rename splashScreen to lvgl_splashScreen and remove
 default parameter.

---
 src/Braccio++.h | 2 +-
 src/Braccio.cpp | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/Braccio++.h b/src/Braccio++.h
index 6656d45..ac2f904 100644
--- a/src/Braccio++.h
+++ b/src/Braccio++.h
@@ -160,7 +160,7 @@ class BraccioClass
   void digitalWrite(int pin, uint8_t value);
 
   // default display APIs
-  void splashScreen(int duration = 2000);
+  void lvgl_splashScreen(unsigned long const duration_ms);
   void defaultMenu();
 
   void setID(int id) {
diff --git a/src/Braccio.cpp b/src/Braccio.cpp
index 640946e..a8fbe85 100644
--- a/src/Braccio.cpp
+++ b/src/Braccio.cpp
@@ -125,7 +125,7 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
 
   _display_thread.start(mbed::callback(this, &BraccioClass::display_thread));
 
-  splashScreen();
+  lvgl_splashScreen(2000);
 
   {
     lv_style_set_text_font(&_lv_style, &lv_font_montserrat_48);
@@ -219,15 +219,15 @@ void BraccioClass::display_thread()
 
 #include <extra/libs/gif/lv_gif.h>
 
-void BraccioClass::splashScreen(int duration) {
+void BraccioClass::lvgl_splashScreen(unsigned long const duration_ms)
+{
   LV_IMG_DECLARE(img_bulb_gif);
   lv_obj_t* img = lv_gif_create(lv_scr_act());
   lv_gif_set_src(img, &img_bulb_gif);
   lv_obj_align(img, LV_ALIGN_CENTER, 0, 0);
 
   /* Wait until the splash screen duration is over. */
-  for (long start = millis(); millis() - start < duration;)
-    delay(10);
+  for (unsigned long const start = millis(); millis() - start < duration_ms; delay(10)) { }
 
   lv_obj_del(img);
   lv_obj_clean(lv_scr_act());

From 59ab72c11b8c793163e1a9949f00604bbae2ed46 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 13 Jan 2022 07:10:28 +0100
Subject: [PATCH 15/17] Check for power while the splash screen is shown/only
 show empty battery symbol when power is not ready.

---
 src/Braccio++.h |  1 +
 src/Braccio.cpp | 37 +++++++++++++++++++++++++++----------
 2 files changed, 28 insertions(+), 10 deletions(-)

diff --git a/src/Braccio++.h b/src/Braccio++.h
index ac2f904..e65a86c 100644
--- a/src/Braccio++.h
+++ b/src/Braccio++.h
@@ -161,6 +161,7 @@ class BraccioClass
 
   // default display APIs
   void lvgl_splashScreen(unsigned long const duration_ms);
+  void lvgl_emptyBatterySymbol();
   void defaultMenu();
 
   void setID(int id) {
diff --git a/src/Braccio.cpp b/src/Braccio.cpp
index a8fbe85..dabf912 100644
--- a/src/Braccio.cpp
+++ b/src/Braccio.cpp
@@ -127,14 +127,8 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
 
   lvgl_splashScreen(2000);
 
-  {
-    lv_style_set_text_font(&_lv_style, &lv_font_montserrat_48);
-    lv_obj_t * label1 = lv_label_create(lv_scr_act());
-    lv_obj_add_style(label1, &_lv_style, 0);
-    lv_label_set_text(label1, LV_SYMBOL_BATTERY_EMPTY);
-    lv_obj_set_align(label1, LV_ALIGN_CENTER);
-    lv_obj_set_pos(label1, 0, 0);
-  }
+  if (!PD_UFP.is_PPS_ready())
+    lvgl_emptyBatterySymbol();
 
   for(auto const now = millis();
       ((millis() - now) < 5000) && !PD_UFP.is_PPS_ready();)
@@ -226,13 +220,36 @@ void BraccioClass::lvgl_splashScreen(unsigned long const duration_ms)
   lv_gif_set_src(img, &img_bulb_gif);
   lv_obj_align(img, LV_ALIGN_CENTER, 0, 0);
 
-  /* Wait until the splash screen duration is over. */
-  for (unsigned long const start = millis(); millis() - start < duration_ms; delay(10)) { }
+  /* Wait until the splash screen duration is over.
+   * Meanwhile use the wait time for checking the
+   * power.
+   */
+  for (unsigned long const start = millis(); millis() - start < duration_ms;)
+  {
+    if (!PD_UFP.is_PPS_ready())
+    {
+      i2c_mutex.lock();
+      PD_UFP.print_status(Serial);
+      PD_UFP.set_PPS(PPS_V(7.2), PPS_A(2.0));
+      delay(10);
+      i2c_mutex.unlock();
+    }
+  }
 
   lv_obj_del(img);
   lv_obj_clean(lv_scr_act());
 }
 
+void BraccioClass::lvgl_emptyBatterySymbol()
+{
+  lv_style_set_text_font(&_lv_style, &lv_font_montserrat_48);
+  lv_obj_t * label1 = lv_label_create(lv_scr_act());
+  lv_obj_add_style(label1, &_lv_style, 0);
+  lv_label_set_text(label1, LV_SYMBOL_BATTERY_EMPTY);
+  lv_obj_set_align(label1, LV_ALIGN_CENTER);
+  lv_obj_set_pos(label1, 0, 0);
+}
+
 void BraccioClass::defaultMenu() {
 
   // TODO: create a meaningful default menu

From 1daccfdd94a0b05b01f0dae192a20b816db714e1 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 13 Jan 2022 07:24:04 +0100
Subject: [PATCH 16/17] Rewriting flow to entice user to attach power -
 Directly show 'Please connect power' message. - Verify power while running
 splash screen.

---
 src/Braccio++.h |  2 +-
 src/Braccio.cpp | 40 ++++++++++++++++++----------------------
 src/lv_conf.h   |  2 +-
 3 files changed, 20 insertions(+), 24 deletions(-)

diff --git a/src/Braccio++.h b/src/Braccio++.h
index e65a86c..b534646 100644
--- a/src/Braccio++.h
+++ b/src/Braccio++.h
@@ -161,7 +161,7 @@ class BraccioClass
 
   // default display APIs
   void lvgl_splashScreen(unsigned long const duration_ms);
-  void lvgl_emptyBatterySymbol();
+  void lvgl_pleaseConnectPower();
   void defaultMenu();
 
   void setID(int id) {
diff --git a/src/Braccio.cpp b/src/Braccio.cpp
index dabf912..b934cca 100644
--- a/src/Braccio.cpp
+++ b/src/Braccio.cpp
@@ -126,33 +126,23 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
   _display_thread.start(mbed::callback(this, &BraccioClass::display_thread));
 
   lvgl_splashScreen(2000);
+  lv_obj_clean(lv_scr_act());
 
   if (!PD_UFP.is_PPS_ready())
-    lvgl_emptyBatterySymbol();
+    lvgl_pleaseConnectPower();
 
-  for(auto const now = millis();
-      ((millis() - now) < 5000) && !PD_UFP.is_PPS_ready();)
+  /* Loop forever, if no power is attached. */
+  while(!PD_UFP.is_PPS_ready())
   {
     i2c_mutex.lock();
     PD_UFP.print_status(Serial);
     PD_UFP.set_PPS(PPS_V(7.2), PPS_A(2.0));
     delay(10);
     i2c_mutex.unlock();
+    Serial.println(millis());
   }
-
   lv_obj_clean(lv_scr_act());
 
-  if (!PD_UFP.is_PPS_ready())
-  {
-    lv_style_set_text_font(&_lv_style, &lv_font_montserrat_32);
-    lv_obj_t * label1 = lv_label_create(lv_scr_act());
-    lv_obj_add_style(label1, &_lv_style, 0);
-    lv_label_set_text(label1, "Please\nconnect\npower.");
-    lv_label_set_long_mode(label1, LV_LABEL_LONG_SCROLL);
-    lv_obj_set_align(label1, LV_ALIGN_CENTER);
-    lv_obj_set_pos(label1, 0, 0);
-  }
-
   if (customMenu) {
     customMenu();
   } else {
@@ -237,23 +227,29 @@ void BraccioClass::lvgl_splashScreen(unsigned long const duration_ms)
   }
 
   lv_obj_del(img);
-  lv_obj_clean(lv_scr_act());
 }
 
-void BraccioClass::lvgl_emptyBatterySymbol()
+void BraccioClass::lvgl_pleaseConnectPower()
 {
-  lv_style_set_text_font(&_lv_style, &lv_font_montserrat_48);
+  lv_style_set_text_font(&_lv_style, &lv_font_montserrat_32);
   lv_obj_t * label1 = lv_label_create(lv_scr_act());
   lv_obj_add_style(label1, &_lv_style, 0);
-  lv_label_set_text(label1, LV_SYMBOL_BATTERY_EMPTY);
+  lv_label_set_text(label1, "Please\nconnect\npower.");
+  lv_label_set_long_mode(label1, LV_LABEL_LONG_SCROLL);
   lv_obj_set_align(label1, LV_ALIGN_CENTER);
   lv_obj_set_pos(label1, 0, 0);
 }
 
-void BraccioClass::defaultMenu() {
-
+void BraccioClass::defaultMenu()
+{
   // TODO: create a meaningful default menu
-
+  lv_style_set_text_font(&_lv_style, &lv_font_montserrat_32);
+  lv_obj_t * label1 = lv_label_create(lv_scr_act());
+  lv_obj_add_style(label1, &_lv_style, 0);
+  lv_label_set_text(label1, "Braccio++");
+  lv_label_set_long_mode(label1, LV_LABEL_LONG_SCROLL);
+  lv_obj_set_align(label1, LV_ALIGN_CENTER);
+  lv_obj_set_pos(label1, 0, 0);
 }
 
 void BraccioClass::motors_connected_thread() {
diff --git a/src/lv_conf.h b/src/lv_conf.h
index 88c0921..0e64765 100644
--- a/src/lv_conf.h
+++ b/src/lv_conf.h
@@ -282,7 +282,7 @@ e.g. "stm32f769xx.h" or "stm32f429xx.h"*/
 #define LV_FONT_MONTSERRAT_42    0
 #define LV_FONT_MONTSERRAT_44    0
 #define LV_FONT_MONTSERRAT_46    0
-#define LV_FONT_MONTSERRAT_48    1
+#define LV_FONT_MONTSERRAT_48    0
 
 /*Demonstrate special features*/
 #define LV_FONT_MONTSERRAT_12_SUBPX      0

From 90d6a15a07895a84e4fc655383cb398a1aef88e3 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <cto@lxrobotics.com>
Date: Thu, 13 Jan 2022 09:00:21 +0100
Subject: [PATCH 17/17] Pack code for checking power into lambda in order to
 avoid code duplication.

---
 src/Braccio++.h |  2 +-
 src/Braccio.cpp | 34 ++++++++++++++++------------------
 2 files changed, 17 insertions(+), 19 deletions(-)

diff --git a/src/Braccio++.h b/src/Braccio++.h
index b534646..2cc01a8 100644
--- a/src/Braccio++.h
+++ b/src/Braccio++.h
@@ -160,7 +160,7 @@ class BraccioClass
   void digitalWrite(int pin, uint8_t value);
 
   // default display APIs
-  void lvgl_splashScreen(unsigned long const duration_ms);
+  void lvgl_splashScreen(unsigned long const duration_ms, std::function<void()> check_power_func);
   void lvgl_pleaseConnectPower();
   void defaultMenu();
 
diff --git a/src/Braccio.cpp b/src/Braccio.cpp
index b934cca..0a41453 100644
--- a/src/Braccio.cpp
+++ b/src/Braccio.cpp
@@ -125,7 +125,19 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
 
   _display_thread.start(mbed::callback(this, &BraccioClass::display_thread));
 
-  lvgl_splashScreen(2000);
+  auto check_power_func = [this]()
+  {
+    if (!PD_UFP.is_PPS_ready())
+    {
+      i2c_mutex.lock();
+      PD_UFP.print_status(Serial);
+      PD_UFP.set_PPS(PPS_V(7.2), PPS_A(2.0));
+      delay(10);
+      i2c_mutex.unlock();
+    }
+  };
+
+  lvgl_splashScreen(2000, check_power_func);
   lv_obj_clean(lv_scr_act());
 
   if (!PD_UFP.is_PPS_ready())
@@ -133,14 +145,7 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
 
   /* Loop forever, if no power is attached. */
   while(!PD_UFP.is_PPS_ready())
-  {
-    i2c_mutex.lock();
-    PD_UFP.print_status(Serial);
-    PD_UFP.set_PPS(PPS_V(7.2), PPS_A(2.0));
-    delay(10);
-    i2c_mutex.unlock();
-    Serial.println(millis());
-  }
+    check_power_func();
   lv_obj_clean(lv_scr_act());
 
   if (customMenu) {
@@ -203,7 +208,7 @@ void BraccioClass::display_thread()
 
 #include <extra/libs/gif/lv_gif.h>
 
-void BraccioClass::lvgl_splashScreen(unsigned long const duration_ms)
+void BraccioClass::lvgl_splashScreen(unsigned long const duration_ms, std::function<void()> check_power_func)
 {
   LV_IMG_DECLARE(img_bulb_gif);
   lv_obj_t* img = lv_gif_create(lv_scr_act());
@@ -216,14 +221,7 @@ void BraccioClass::lvgl_splashScreen(unsigned long const duration_ms)
    */
   for (unsigned long const start = millis(); millis() - start < duration_ms;)
   {
-    if (!PD_UFP.is_PPS_ready())
-    {
-      i2c_mutex.lock();
-      PD_UFP.print_status(Serial);
-      PD_UFP.set_PPS(PPS_V(7.2), PPS_A(2.0));
-      delay(10);
-      i2c_mutex.unlock();
-    }
+    check_power_func();
   }
 
   lv_obj_del(img);