LCD System (MENU IS CURRENTLY BROKEN)

src/includes/lcd.h

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+/**
+ * lcd.h
+ * Defines a basic LCD library, with support for a little more than PROS provides by default
+ */
+
+#pragma once
+
+
+namespace lcd {
+
+    void init();
+
+    // Utility
+    static const char * centerText(const char * text);
+
+    // Basic writing
+    void write(int line, char * buffer);
+    void center(int line, char * buffer);
+
+    // Menu system
+    void menu(std::vector<std::string> options[16][12], void(*callback)(int choice));
+    void menuReset();    
+
+    bool menuActive;
+    unsigned int menuPoint = 0;
+    std::vector<std::string> menuOptions[16][12];
+    void ( * menuCallback) (int choice);
+
+};

src/lcd.cpp

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+/**
+ * lcd.cpp
+ * Implements a basic LCD library, with support for a little more than PROS provides by default
+ */
+
+#include "main.h"
+#include "includes/lcd.h"
+#include "includes/util.h"
+#include <stdlib.h>
+
+
+/**
+ * Runs in the background, to perform LCD actions
+ */
+static void lcdTask(void * param) {
+
+    lcdInit(uart1);
+    lcdSetBacklight(uart1, true);
+
+    // Initalization Message
+    lcd::center(1, "Initalizing...");
+    lcd::center(2, "Please wait");
+
+    while(true) {
+        // The state of the buttons is reflected in a bitmask
+        int buttonMask = lcdReadButtons(uart1);
+
+        // Menu Implementation
+        if(lcd::menuActive) {
+            // Control the state of the menu
+            switch(buttonMask) {
+                // Go Back
+                case 0x100:
+                case 0x101:
+                case 0x110:
+                case 0x111: 
+                    if (lcd::menuPoint > 0) lcd::menuPoint--;
+                    break;
+
+                // Confirm
+                case 0x010:
+                    lcd::menuCallback(lcd::menuPoint);
+                    lcd::menuReset();
+                    break;
+
+                // Go Forward
+                case 0x001:
+                case 0x011:
+                    if (lcd::menuPoint < sizeof(lcd::menuOptions)) lcd::menuPoint++;
+                    break;
+
+                default: break;
+            }
+
+            // Display the current menu state
+            lcdPrint(uart1, 1, "< %s >", lcd::menuOptions[lcd::menuPoint]);
+            lcd::center(2, "<  ok  >");
+        }
+        delay(50);
+    }
+
+}
+
+namespace lcd {
+
+    void init() {
+        taskCreate(lcdTask, TASK_DEFAULT_STACK_SIZE, NULL, TASK_PRIORITY_DEFAULT);
+    }
+
+    /**
+     * Converted from @PixelToast's LCD library
+     * https://lab.pxtst.com/PixelToast/8762A-2016/
+     */
+    static const char * centerText(const char * text) {
+        static char buffer[17];
+        strcpy(buffer, "                ");
+        size_t strsize = strlen(text);
+        size_t start = 8 - (strsize / 2);
+        for (size_t i = 0; i < strsize; i++) buffer[start + i] = text[i];
+        return buffer;
+    }
+
+    /**
+     * Basic write functions to make life easier
+     */
+    static void write(int line, const char * buffer) {
+        lcdSetText(uart1, line, buffer);
+    }
+
+    static void center(int line, const char * buffer) {
+        lcdSetText(uart1, line, lcd::centerText(buffer));
+    }
+
+
+    /**
+     * Menu functions
+     */
+    void menu(std::vector<std::string> options[] , void(*callback)(int choice)) {
+        lcd::menuOptions = options;
+        lcd::menuCallback = callback;
+    }
+
+    void menuReset() {
+        lcd::menuActive = false;
+        lcd::menuPoint = 0;
+    }
+}