First version of UI.

src/clinostat-ui/ClinostatControl.h

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+#ifndef CLINOSTAT_COTROL_H
+#define CLINOSTAT_COTROL_H
+
+#import "Motors.h"
+#import "motor_settings.h"
+
+// works with motor controls and provides a higher level interface 
+class ClinostatControl {
+  // these are the speeds of the frames in RPM unlike the speeds of the motors. The motor speeds will need to be adjusted taking 
+  // into account the pulleys sizes.
+  float xSpeed = 9;
+
+  float ySpeed = 20;
+
+  IMotorControl* xMotor;
+
+  IMotorControl* yMotor;
+
+  public:
+
+  ClinostatControl(Motors* motors) {
+    this->xMotor = motors->get(X_MOTOR);
+    this->yMotor = motors->get(Y_MOTOR);
+  }
+
+  // set speeds and compensates for Y
+  void setSpeed(float xSpeed, float ySpeed) {
+    float adjustedXSpeed = xSpeed*xRatio;
+    float adjustedYSpeed = ySpeed*yRatio;
+    xMotor->setSpeed(adjustedXSpeed);
+    yMotor->setSpeed(adjustedYSpeed-adjustedXSpeed);
+    this->xSpeed = xSpeed;
+    this->ySpeed = ySpeed;
+  }
+
+  void setXSpeed(float targetSpeed) {
+    xMotor->setSpeed(targetSpeed*xRatio);
+    xSpeed = targetSpeed;
+  }
+
+  void startX() {
+    xMotor->enable();
+  }
+
+  void stopX() {
+    xMotor->disable();
+  }
+
+  float getXSpeed() {
+    return xSpeed;
+  }
+
+ void setYSpeed(float targetSpeed) {
+    yMotor->setSpeed(targetSpeed*yRatio);
+    ySpeed = targetSpeed;
+  }
+
+  void startY() {
+    yMotor->enable();
+  }
+
+  void stopY() {
+    yMotor->disable();
+  }
+
+  float getYSpeed() {
+    return ySpeed;
+  }
+
+  void start() {
+    if (xSpeed != 0.0 || ySpeed != 0.0) {
+      startX();
+      startY();
+    }
+  }
+
+  void stop() {
+    stopX();
+    stopY();
+  }
+
+  boolean canRun() {
+    return xSpeed != 0.0 || ySpeed != 0.0;
+  }
+};
+
+#endif

src/clinostat-ui/ClinostatControlWidget.h

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+#include "extra/widgets/spinbox/lv_spinbox.h"
+
+#ifndef CLINOSTAT_CONTROL_WIDGET_H
+#define CLINOSTAT_CONTROL_WIDGET_H
+#include "LVGLWidget.h"
+#include "ClinostatControl.h"
+#include "core/lv_obj_style.h"
+#include "font/lv_font.h"
+#include "misc/lv_style.h"
+
+// allows controlling speed of clinostat axes
+class ClinostatControlWidget : public LVGLWidget {
+private:
+  ClinostatControl* control;
+
+  lv_obj_t* xSpeedSlider;
+
+  lv_obj_t* ySpeedSlider;
+
+  lv_obj_t* startStopButton;
+
+  volatile boolean running = false;
+
+  char* buttonLabel() {
+    if (running) {
+      return LV_SYMBOL_PAUSE;
+    } else if (control->canRun()) {
+      return LV_SYMBOL_PLAY;
+    } else {
+      return "Set speed please";
+    }
+  }
+
+  void updateStartStopButtonLabel() {
+    lv_obj_t* label = lv_obj_get_child(startStopButton, 0);
+    lv_label_set_text_fmt(label, buttonLabel());
+  }
+
+public:
+  ClinostatControlWidget(ClinostatControl* control, LVGLWidget* parent)
+    : LVGLWidget(parent->getWidget(), parent->getWidget()) {
+    this->control = control;
+
+    // set style so we can reda the values
+    static lv_style_t style;
+    lv_style_init(&style);
+    lv_style_set_text_font(&style, &lv_font_montserrat_28);
+    lv_obj_add_style(widget, &style, 0);
+
+
+    // create x/y spins    
+    xSpeedSlider = createSpinner(30, 5, (int)((double)control->getXSpeed() * 10.0));
+    ySpeedSlider = createSpinner(30, 80, (int)((double)control->getYSpeed() * 10.0));
+
+
+    // start/stop button
+    startStopButton = lv_btn_create(widget);
+    lv_obj_set_pos(startStopButton, 400, 80);
+    lv_obj_add_event_cb(startStopButton, startStopEventHandler, LV_EVENT_CLICKED, this);
+    lv_obj_t* label = lv_label_create(startStopButton);
+    lv_label_set_text(label, buttonLabel());
+    lv_obj_center(label);
+  }
+
+  lv_obj_t* createSpinner(int startX, int startY, int initialSpeed) {
+    lv_obj_t* xSpeedSlider = lv_spinbox_create(widget);
+
+    lv_obj_set_pos(xSpeedSlider, startX + 60, startY);
+    lv_spinbox_set_range(xSpeedSlider, -300, 300);
+    lv_spinbox_set_digit_format(xSpeedSlider, 3, 2);
+    lv_spinbox_step_prev(xSpeedSlider);
+    lv_spinbox_set_value(xSpeedSlider, initialSpeed);
+    lv_obj_add_event_cb(xSpeedSlider, xSpeedSliderEventCb, LV_EVENT_VALUE_CHANGED, this);
+    lv_coord_t h = lv_obj_get_height(xSpeedSlider);
+
+    lv_obj_t* btn = lv_btn_create(widget);
+    lv_obj_set_size(btn, h, h);
+    lv_obj_set_pos(btn, startX + 200, startY);
+    lv_obj_set_style_bg_img_src(btn, LV_SYMBOL_PLUS, 0);
+    lv_obj_add_event_cb(btn, lv_spinbox_increment_event_cb, LV_EVENT_ALL, xSpeedSlider);
+
+    btn = lv_btn_create(widget);
+    lv_obj_set_size(btn, h, h);
+    lv_obj_set_pos(btn, startX, startY);
+    lv_obj_set_style_bg_img_src(btn, LV_SYMBOL_MINUS, 0);
+    lv_obj_add_event_cb(btn, lv_spinbox_decrement_event_cb, LV_EVENT_ALL, xSpeedSlider);
+
+    return xSpeedSlider;
+  }
+
+  void updateSpeed() {
+    control->setSpeed(((float)lv_spinbox_get_value(xSpeedSlider))/10.0, ((float)lv_spinbox_get_value(ySpeedSlider))/10.0);
+    updateStartStopButtonLabel();
+  }
+
+  void toggleRunning() {
+    if (control->canRun()) {
+      running = !running;
+      updateStartStopButtonLabel();
+      if (running) {
+        control->start();
+      } else {
+        control->stop();
+      }
+    }
+  }
+
+
+  static void lv_spinbox_increment_event_cb(lv_event_t* e) {
+    lv_obj_t* spinbox = (lv_obj_t*)lv_event_get_user_data(e);
+    lv_event_code_t code = lv_event_get_code(e);
+    if (code == LV_EVENT_SHORT_CLICKED || code == LV_EVENT_LONG_PRESSED_REPEAT) {
+      lv_spinbox_increment(spinbox);
+    }
+  }
+
+  static void lv_spinbox_decrement_event_cb(lv_event_t* e) {
+    lv_obj_t* spinbox = (lv_obj_t*)lv_event_get_user_data(e);
+    lv_event_code_t code = lv_event_get_code(e);
+    if (code == LV_EVENT_SHORT_CLICKED || code == LV_EVENT_LONG_PRESSED_REPEAT) {
+      lv_spinbox_decrement(spinbox);
+    }
+  }
+
+  static void startStopEventHandler(lv_event_t* e) {
+    ClinostatControlWidget* ctrl = (ClinostatControlWidget*)lv_event_get_user_data(e);
+    ctrl->toggleRunning();
+  }
+
+
+  static void xSpeedSliderEventCb(lv_event_t* e) {
+    ClinostatControlWidget* ctrl = (ClinostatControlWidget*)lv_event_get_user_data(e);
+    ctrl->updateSpeed();
+  }
+};
+
+#endif

src/clinostat-ui/IMotorControl.h

@@ -0,0 +1,13 @@
+#ifndef I_MOTOR_CONTROL_H
+#define I_MOTOR_CONTROL_H
+// a motor control interface
+class IMotorControl {
+  public:
+  virtual bool run() = 0;
+  virtual void updateSpeed(float delta) = 0;
+  virtual void setSpeed(float speed) = 0;
+  virtual void enable() = 0;
+  virtual void disable() = 0;
+  virtual void setEnablePin(uint8_t pin = 0xff);
+};
+#endif

src/clinostat-ui/LVGLFlexView.h

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+#ifndef LVGL_FLEX_VIEW_H
+#define LVGL_FLEX_VIEW_H
+
+#include "LVGLWidget.h"
+
+class LVGLFlexView : public LVGLWidget {
+public:
+  LVGLFlexView(LVGLWidget* parent)
+    : LVGLWidget(parent->getWidget(), parent->getWidget()) {
+
+    static lv_style_t style;
+    lv_style_init(&style);
+    lv_style_set_flex_flow(&style, LV_FLEX_FLOW_COLUMN);
+    lv_style_set_flex_main_place(&style, LV_FLEX_ALIGN_SPACE_EVENLY);
+    lv_style_set_layout(&style, LV_LAYOUT_FLEX);
+    lv_obj_add_style(parentWidget, &style, 0);
+  }
+};
+#endif

src/clinostat-ui/LVGLScreen.h

@@ -0,0 +1,16 @@
+#ifndef LVGL_SCREEN_H
+#define LVGL_SCREEN_H
+
+#include "LVGLWidget.h"
+#include "Arduino_H7_Video.h"
+#include "Arduino_GigaDisplayTouch.h"
+
+// the whole screen
+class LVGLScreen : public LVGLWidget {
+public:
+  LVGLScreen(Arduino_H7_Video* display)
+    : LVGLWidget(lv_scr_act()) {
+    lv_obj_set_size(widget, display->width(), display->height());
+  }
+};
+#endif

src/clinostat-ui/LVGLTabView.h

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+#ifndef LVGL_TAB_VIEW_H
+#define LVGL_TAB_VIEW_H
+
+#include "LVGLWidget.h"
+
+// a tab view
+class LVGLTabView : public LVGLWidget {
+public:
+  LVGLTabView(LVGLWidget* parent)
+    : LVGLWidget(parent->getWidget()) {
+
+    widget = lv_tabview_create(lv_scr_act(), LV_DIR_LEFT, 80);
+
+    lv_obj_set_style_bg_color(widget, lv_palette_lighten(LV_PALETTE_RED, 2), 0);
+
+    lv_obj_t* tab_btns = lv_tabview_get_tab_btns(widget);
+    lv_obj_set_style_bg_color(tab_btns, lv_palette_darken(LV_PALETTE_GREY, 3), 0);
+    lv_obj_set_style_text_color(tab_btns, lv_palette_lighten(LV_PALETTE_GREY, 5), 0);
+    lv_obj_set_style_border_side(tab_btns, LV_BORDER_SIDE_RIGHT, LV_PART_ITEMS | LV_STATE_CHECKED);
+    lv_obj_clear_flag(lv_tabview_get_content(widget), LV_OBJ_FLAG_SCROLLABLE);
+  }
+
+  LVGLWidget* addTab(const char* name) {
+    return new LVGLWidget(this->getWidget(), lv_tabview_add_tab(widget, name));
+  }
+};
+
+#endif

src/clinostat-ui/LVGLWidget.h

@@ -0,0 +1,30 @@
+#ifndef LVGL_WIDGET_H
+#define LVGL_WIDGET_H
+
+#include "lvgl.h"
+
+// a generic widget
+class LVGLWidget {
+
+protected:
+  lv_obj_t* widget;
+  lv_obj_t* parentWidget;
+
+public:
+  LVGLWidget(lv_obj_t* parentWidget) {
+    this->parentWidget = parentWidget;
+    this->widget = lv_obj_create(parentWidget);
+  }
+
+  LVGLWidget(lv_obj_t* parentWidget, lv_obj_t* widget) {
+    this->parentWidget = parentWidget;
+    this->widget = widget;
+  }
+
+
+  lv_obj_t* getWidget() {
+    return this->widget;
+  }
+};
+
+#endif