drawMenu

//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

///////////////////////////////////////////////////////////////////////////////////////////////////
//
//   Select Tele-Operation Executable Program for FTC Tele-operation Contest Phase
//
// FTC competition programs can be operated in two modes:
// 1. A single user program is used for both autonomous and tele-operated phases of a
//    competition.
// 2. Separate programs are used for each of the two phases.
//
// When dual mode is used, the name of the tele-operated phase is stored in a text file.
// The Competition field management system will read this file to obtain the name of the
// program to run for the tele-op phase.
//
// This nifty little utility is used to setup the configuration file.
//
// It also illustrates the use of easily creating programs using standard menus
// with ROBOTC.
//
///////////////////////////////////////////////////////////////////////////////////////////////////

#include "MenusAndIcons.c"

const string sTextFileName = "FTCConfig.txt"; // Name of the file containg tele-op name

//
// Global variables to hold a list of all executable files
//
const int kMaxFiles = 25;
int nNumbOfFiles;
string sFileNames[kMaxFiles];

const string sSelectModePrompt = "Select Mode";

///////////////////////////////////////////////////////////////////////////////////////////////////
//
//                    Build List of Executable Files
//
///////////////////////////////////////////////////////////////////////////////////////////////////

void buildFileList()
{
   TFileHandle hFileHandle;
   TFileIOResult nIoResult;
   string sFileName;
   short nFileSize;
  const string sFileSearch = "*.rxe"; // Wildcard to search for any executable file

  FindFirstFile(hFileHandle, nIoResult, sFileSearch, sFileName, nFileSize);
   nNumbOfFiles = 0;
   while (nIoResult == ioRsltSuccess)
   {
    StringDelete(sFileName, strlen(sFileName) - 4, 4); // Trim File Extension
    sFileNames[nNumbOfFiles] = sFileName;
    ++nNumbOfFiles;
    FindNextFile(hFileHandle, nIoResult, sFileName, nFileSize);
  }
  Close(hFileHandle, nIoResult);
  return;
}

///////////////////////////////////////////////////////////////////////////////////////////////////
//
//                            displayCommandProgress
//
///////////////////////////////////////////////////////////////////////////////////////////////////

void displayCommandProgress(const string &sProgress)
{
  // Display Message

  nxtDisplayTextLine(5, "");
  nxtDisplayCenteredTextLine(6, sProgress);
  nxtDisplayTextLine(7, "");
  wait1Msec(1250);
}

///////////////////////////////////////////////////////////////////////////////////////////////////
//
//                            displayCommandProgress
//
///////////////////////////////////////////////////////////////////////////////////////////////////

void deleteTeleOpConfigFile()
{
   TFileIOResult nIoResult;

  do // Make a loop in case, due to error, there are multiple copies
  {
     Delete(sTextFileName, nIoResult);
  } while (nIoResult == ioRsltSuccess);
}

///////////////////////////////////////////////////////////////////////////////////////////////////
//
//                            createTeleopConfigFile
//
///////////////////////////////////////////////////////////////////////////////////////////////////

void createTeleopConfigFile(string &sExecutableName)
{
   TFileIOResult nIoResult;
   TFileHandle hFileHandle;
   short nFileSize;

  deleteTeleOpConfigFile(); // Erase existing file

  // Create the file

  nFileSize = strlen(sExecutableName) + 4;
  OpenWrite(hFileHandle, nIoResult, sTextFileName, nFileSize);
  WriteText(hFileHandle, nIoResult, sExecutableName);
  WriteText(hFileHandle, nIoResult, ".rxe");
  Close(hFileHandle, nIoResult);

  // Display Message

  displayCommandProgress((nIoResult == ioRsltSuccess) ? "Entering Tracking" : "Entering Config");
  return;
}

///////////////////////////////////////////////////////////////////////////////////////////////////
//
//                    Menu Processing -- Select an Executable File
//
// Presents a menu of the available executable files on the NXT so that the user can select the
// name of the file to run for the tele-op phase of a FTC competition.
//
///////////////////////////////////////////////////////////////////////////////////////////////////

bool doDualModeFileSelection()
{
   int nFileIndex;
   TMenuAnimationType nDrawType;

   nDrawType = menuOverwrite;
   nFileIndex = 0;
   while (true)
   {
      switch (nNxtButtonTransition)
      {
      case kRightButton:
        ++nFileIndex;
        if (nFileIndex >= nNumbOfFiles)
          nFileIndex = 0;
         nDrawType = menuFromLeft;
        break;

      case kLeftButton:
        --nFileIndex;
        if (nFileIndex < 0)
          nFileIndex = nNumbOfFiles - 1;
         nDrawType = menuFromRight;
        break;

      case kEnterButton:
        createTeleopConfigFile(sFileNames[nFileIndex]);
         nDrawType = menuFromBottom;
        return true;

      case kExitButton:
        return false;

      default:
        break;
      }

      if (nDrawType != menuRefreshComplete)
      {
         drawMenu(nDrawType, iconFileTypeExeFiles, iconFileTypeExeFiles, iconFileTypeExeFiles,
                       sFileNames[nFileIndex], "Select File");
         nDrawType = menuRefreshComplete;
      }
   }
}

///////////////////////////////////////////////////////////////////////////////////////////////////
//
//                    Menu Processing -- Single vs Dual Mode Program Execution
//
///////////////////////////////////////////////////////////////////////////////////////////////////

void doSingleOrDualModeSelection()
{
   bool bSingle;

   bSingle = false;
   drawMenu(menuFromTop, iconNone, iconMyFiles, iconFileTypeExeFiles, "Config", sSelectModePrompt);
   while (true)
   {
      switch (nNxtButtonTransition)
      {
      case kRightButton:
      case kLeftButton:
        // Toggle boolean mode selection with 'left' / 'right' keypress

        if (!bSingle)
            drawMenu(menuFromRight, iconMyFiles, iconFileTypeExeFiles, iconNone, "Tracker", sSelectModePrompt);
        else
            drawMenu(menuFromLeft, iconNone, iconMyFiles, iconFileTypeExeFiles, "Config", sSelectModePrompt);
        bSingle = !bSingle;
        break;

      case kEnterButton:
        if (bSingle)
        {
           deleteTeleOpConfigFile();
        displayCommandProgress("Tracking");
          return;
        }
        else
        if (doDualModeFileSelection())
          return; // File was selected. Exit the program.

        // "Exit" without file selection. Redraw menu.
        drawMenu(menuFromBottom, iconNone, iconMyFiles, iconFileTypeExeFiles, "Config", sSelectModePrompt);
        break;

      case kExitButton:
        return;

      default:
        break;
      }
   }
}


task main()
{
   nNxtButtonTask = -2;
   nNxtExitClicks = 4;
   buildFileList();
   doSingleOrDualModeSelection();
}

#include "MenusAndIcons.c"

//
// Global variables to hold a list of all executable files
//


void one()
{
drawMenu(menuFromTop, iconDataGraph, iconSettings, iconLightAmbient, "Config", sSelectModePrompt);
}

void two()
{
drawMenu(menuFromRight,iconSettings, iconLightAmbient, iconDataGraph, "Tracker", sSelectModePrompt);
}

void three()
{
drawMenu(menuFromRight,iconLightAmbient, iconDataGraph, iconSettings, "Tracker", sSelectModePrompt);
}

//============================================================================================
void displayCommandProgress(const string &sProgress)
{
  // Display Message

  nxtDisplayTextLine(5, "HI");
  nxtDisplayCenteredTextLine(6, sProgress);
  nxtDisplayTextLine(7, "");
  wait1Msec(1250);
}
//============================================================================================
void tracking()
{ eraseDisplay();
 wait10Msec(10);
  nxtDisplayTextLine(5, "TRACKING");
   nxtDisplayTextLine(7, "            %3.1fV", nAvgBatteryLevel / (float) 1000, nImmediateBatteryLevel / (float) 10000);
wait1Msec(1250);

}

//============================================================================================
void ModeSelection()
{
   bool bSingle;

   bSingle = false;
   one();
   while (true)
   {
      switch (nNxtButtonTransition)
      {
      case kRightButton:
      
        // Toggle boolean mode selection with 'right' keypress

        if (!bSingle)
            two();
        else
            one();
        bSingle = !bSingle;
        break;
//==========================================================================================================       
case kLeftButton:
                // Toggle boolean mode selection with 'left' keypress

        if (!bSingle)
            three();
        else
            one();
        bSingle = !bSingle;
        break;
//==========================================================================================================       
      case kEnterButton:
        if (bSingle)
        {
        displayCommandProgress("Tracking");
        tracking();
          return;
        }
        else
                {
          displayCommandProgress("Entering Config");
}

        // "Exit". Redraw menu.
        drawMenu(menuFromBottom, iconDataGraph, iconSettings, iconLightAmbient, "Config", sSelectModePrompt);
        break;

      case kExitButton:
        return;

      default:
        break;
      }
   }
}


task main()
{
   nNxtButtonTask = -2;
   nNxtExitClicks = 4;
   ModeSelection();
}