From 89e93b548eea5202e0845b284d6efcab27a089ff Mon Sep 17 00:00:00 2001
From: PAJohnson <pajohns4@ncsu.edu>
Date: Thu, 24 Sep 2020 21:45:05 -0400
Subject: [PATCH] Added CtrlEnum for parameter values that have enums
 associated with them

---
 GUI/src/components/controls/CtrlEnum.vue | 102 ++++++++++++
 GUI/src/views/Dashboard.vue              | 190 ++++++++++++++++++++++-
 2 files changed, 288 insertions(+), 4 deletions(-)
 create mode 100644 GUI/src/components/controls/CtrlEnum.vue

diff --git a/GUI/src/components/controls/CtrlEnum.vue b/GUI/src/components/controls/CtrlEnum.vue
new file mode 100644
index 00000000..cc2a5d12
--- /dev/null
+++ b/GUI/src/components/controls/CtrlEnum.vue
@@ -0,0 +1,102 @@
+<template>
+  <div class="card">
+    <button class="close-button" @click=deleteCtrl>X</button>
+    <span class="ctrlName">{{name}}:</span>
+    <div class="right">
+      <!-- <input v-if="writeAccess" type="number" v-on:change="putVal" /> -->
+      <select class="ctrl-enum" v-model="selected" @change="putVal">
+          <option v-for="option in options" v-bind:key="option.value" v-bind:value="option.value">
+              {{ option.text }}
+          </option>
+      </select>
+    </div>
+  </div>
+</template>
+
+<script>
+import { getVal, getReadonly, putVal } from "../../odrive_utils.js";
+
+export default {
+  name: "CtrlNumeric",
+  //type checking here for properties
+  props: {
+    path: String,
+    odrives: Object,
+    dashID: String,
+    options: Array,
+  },
+  data() {
+      return {
+          selected: undefined,
+      }
+  },
+  computed: {
+    value: function () {
+      let keys = this.path.split('.');
+      keys.shift();
+      return parseFloat(getVal(keys.join('.')));
+    },
+    name: function () {
+      let keys = this.path.split(".");
+      keys.shift();
+      return keys.join(".");
+    },
+    writeAccess: function () {
+      let keys = this.path.split(".");
+      keys.shift(); // don't need first key here
+      return getReadonly(keys.join('.')) === false;
+    },
+  },
+  watch: {
+      value: function(newVal) {
+          this.selected = newVal;
+      }
+  },
+  methods: {
+    putVal: function (e) {
+      let keys = this.path.split('.');
+      keys.shift();
+      console.log("Calling putVal from CtrlEnum");
+      putVal(keys.join('.'), parseFloat(e.target.value));
+    },
+    deleteCtrl: function() {
+      // commit a mutation in the store with the relevant information
+      this.$store.commit("removeCtrlFromDash", {dashID: this.dashID, path: this.path});
+    },
+  },
+  created() {
+      this.selected = this.value;
+      console.log(this.value);
+  }
+};
+</script>
+
+<style scoped>
+.ctrlVal {
+  font-weight: bold;
+}
+
+input {
+  width: 5rem;
+  font-family: inherit;
+  border-style: none;
+  border-bottom: 1px solid grey;
+  text-align: center;
+}
+
+.right {
+  display: flex;
+  flex-direction: row;
+  margin-left: auto;
+}
+
+.card {
+  display: flex;
+}
+
+.ctrl-enum {
+    border: none;
+    border-bottom: 1px solid grey;
+    background-color: var(--fg-color);
+}
+</style>
\ No newline at end of file
diff --git a/GUI/src/views/Dashboard.vue b/GUI/src/views/Dashboard.vue
index 6c412a14..e384cac8 100644
--- a/GUI/src/views/Dashboard.vue
+++ b/GUI/src/views/Dashboard.vue
@@ -24,6 +24,7 @@
             :key="index + '-control'"
             :path="control.path"
             :name="control.name"
+            :options="control.options"
             :odrives="odrives"
             :dashID="dash.id"
           />
@@ -69,6 +70,7 @@ import CtrlBoolean from "../components/controls/CtrlBoolean.vue";
 import CtrlNumeric from "../components/controls/CtrlNumeric.vue";
 import CtrlFunction from "../components/controls/CtrlFunction.vue";
 import CtrlSlider from "../components/controls/CtrlSlider.vue";
+import CtrlEnum from "../components/controls/CtrlEnum.vue";
 import Plot from "../components/plots/Plot.vue";
 import Action from "../components/actions/Action.vue";
 import { JSONView } from "vue-json-component";
@@ -82,6 +84,175 @@ let plotColors = [
   "#d5241a", // red
 ];
 
+let odriveEnums = {
+  // axis requested state
+  requested_state: [
+    {
+      text: "AXIS_STATE_UNDEFINED",
+      value: 0,
+    },
+    {
+      text: "AXIS_STATE_IDLE",
+      value: 1,
+    },
+    {
+      text: "AXIS_STATE_STARTUP_SEQUENCE",
+      value: 2,
+    },
+    {
+      text: "AXIS_STATE_FULL_CALIBRATION_SEQUENCE",
+      value: 3,
+    },
+    {
+      text: "AXIS_STATE_MOTOR_CALIBRATION",
+      value: 4,
+    },
+    {
+      text: "AXIS_STATE_SENSORLESS_CONTROL",
+      value: 5,
+    },
+    {
+      text: "AXIS_STATE_ENCODER_INDEX_SEARCH",
+      value: 6,
+    },
+    {
+      text: "AXIS_STATE_ENCODER_OFFSET_CALIBRATION",
+      value: 7,
+    },
+    {
+      text: "AXIS_STATE_CLOSED_LOOP_CONTROL",
+      value: 8,
+    },
+    {
+      text: "AXIS_STATE_LOCKIN_SPIN",
+      value: 9,
+    },
+    {
+      text: "AXIS_STATE_ENCODER_DIR_FIND",
+      value: 10,
+    },
+    {
+      text: "AXIS_STATE_HOMING",
+      value: 11,
+    }
+  ],
+  current_state: [
+    {
+      text: "AXIS_STATE_UNDEFINED",
+      value: 0,
+    },
+    {
+      text: "AXIS_STATE_IDLE",
+      value: 1,
+    },
+    {
+      text: "AXIS_STATE_STARTUP_SEQUENCE",
+      value: 2,
+    },
+    {
+      text: "AXIS_STATE_FULL_CALIBRATION_SEQUENCE",
+      value: 3,
+    },
+    {
+      text: "AXIS_STATE_MOTOR_CALIBRATION",
+      value: 4,
+    },
+    {
+      text: "AXIS_STATE_SENSORLESS_CONTROL",
+      value: 5,
+    },
+    {
+      text: "AXIS_STATE_ENCODER_INDEX_SEARCH",
+      value: 6,
+    },
+    {
+      text: "AXIS_STATE_ENCODER_OFFSET_CALIBRATION",
+      value: 7,
+    },
+    {
+      text: "AXIS_STATE_CLOSED_LOOP_CONTROL",
+      value: 8,
+    },
+    {
+      text: "AXIS_STATE_LOCKIN_SPIN",
+      value: 9,
+    },
+    {
+      text: "AXIS_STATE_ENCODER_DIR_FIND",
+      value: 10,
+    },
+    {
+      text: "AXIS_STATE_HOMING",
+      value: 11,
+    }
+  ],
+  // encoder mode
+  mode: [
+    {
+      text: "ENCODER_MODE_INCREMENTAL",
+      value: 0,
+    },
+    {
+      text: "ENCODER_MODE_HALL",
+      value: 1,
+    },
+    {
+      text: "ENCODER_MODE_SINCOS",
+      value:  2,
+    },
+    {
+      text: "ENCODER_MODE_SPI_ABS_CUI",
+      value: 256,
+    },
+    {
+      text: "ENCODER_MODE_SPI_ABS_AMS",
+      value: 257,
+    },
+    {
+      text: "ENCODER_MODE_SPI_ABS_AEAT",
+      value: 258,
+    },
+    {
+      text: "ENCODER_MODE_SPI_ABS_RLS",
+      value: 259,
+    },
+  ],
+  // motor type
+  motor_type: [
+    {
+      text: "MOTOR_TYPE_HIGH_CURRENT",
+      value: 0,
+    },
+    {
+      text: "MOTOR_TYPE_GIMBAL",
+      value: 2,
+    },
+    {
+      text: "MOTOR_TYPE_ACIM",
+      value: 3,
+    },
+  ],
+  // controller control mode
+  control_mode: [
+    {
+      text: "CONTROL_MODE_VOLTAGE_CONTROL",
+      value: 0,
+    },
+    {
+      text: "CONTROL_MODE_TORQUE_CONTROL",
+      value: 1,
+    },
+    {
+      text: "CONTROL_MODE_VELOCITY_CONTROL",
+      value: 2,
+    },
+    {
+      text: "CONTROL_MODE_POSITION_CONTROL",
+      value: 3,
+    },
+  ]
+}
+
 export default {
   name: "Dashboard",
   components: {
@@ -89,6 +260,7 @@ export default {
     CtrlNumeric,
     CtrlFunction,
     CtrlSlider,
+    CtrlEnum,
     Plot,
     Action,
     "json-view": JSONView,
@@ -133,6 +305,7 @@ export default {
       //when the parameter tree is open and a parameter is clicked,
       //add the clicked parameter to the list of controls for the
       //current dashboard
+              console.log(e);
       switch (this.addCompType) {
         case "control":
           switch (typeof e.value) {
@@ -144,10 +317,19 @@ export default {
               //this.$store.commit("addSampledProperty", e.path);
               break;
             case "number":
-              this.dash.controls.push({
-                controlType: "CtrlNumeric",
-                path: e.path,
-              });
+              if (Object.keys(odriveEnums).includes(e.key)){
+                this.dash.controls.push({
+                  controlType: "CtrlEnum",
+                  path: e.path,
+                  options: odriveEnums[e.key],
+                })
+              }
+              else {
+                this.dash.controls.push({
+                  controlType: "CtrlNumeric",
+                  path: e.path,
+                });
+              }
               //this.$store.commit("addSampledProperty", e.path);
               break;
             case "string":