feat ✨: Add controller text support

.devcontainer/Dockerfile

@@ -0,0 +1,62 @@
+FROM rust:1.67 as builder
+
+RUN git clone https://github.com/ion098/vex-v5-qemu.git -b feat/hot-cold --single-branch /vex-v5-qemu
+
+WORKDIR /vex-v5-qemu
+RUN cd packages/kernel; cargo build --target-dir /target/kernel
+
+RUN cd packages/client-cli; cargo install --path . --root /target/client-cli
+
+FROM mcr.microsoft.com/devcontainers/cpp:1.0-jammy
+# ------------
+# Install Required Packages
+# ------------   
+RUN sudo apt-get update
+COPY ./.devcontainer/packagelist /packagelist
+RUN sudo apt-get -y install $(cat /packagelist)
+RUN rm /packagelist # Cleanup image
+RUN sudo apt-get clean # Cleanup image
+
+# ------------
+# Install Clangd
+# ------------
+RUN curl -sLo clangd.zip $(                                                                 \
+    curl -s https://api.github.com/repos/clangd/clangd/releases/latest                      \
+    | jq -r '[.assets[] | select(.name | test ("^clangd-linux"))][0].browser_download_url'  \
+  )                                                                                         \
+  && unzip clangd.zip -d /usr/local/share                                                   \
+  && mv /usr/local/share/clangd_*/ /usr/local/share/clangd                                  \
+  && rm clangd.zip
+
+ENV PATH="$PATH:/usr/local/share/clangd/bin"
+
+# ------------
+# Install PROS CLI
+# ------------
+RUN python3 -m pip install pros-cli
+
+# ------------
+# Install ARM Toolchain
+# ------------
+COPY --from=ghcr.io/lemlib/pros-build:v2.0.2 /gcc-arm-none-eabi-10.3-2021.10 /usr/local/share/arm-none-eabi
+ENV PATH="$PATH:/usr/local/share/arm-none-eabi/bin"  
+
+# Copy the simulator binary
+COPY --from=builder /target/client-cli/bin/client-cli /usr/local/bin/simulator
+
+# Clone pros kernel source so we can reference it when debugging
+COPY ./project.pros /project.pros
+ENV PROS_SOURCE_PATH="$HOME/.pros"
+RUN git clone https://github.com/purduesigbots/pros.git $PROS_SOURCE_PATH   \
+  --depth 1                                                                 \
+  --branch $(</project.pros jq -r '.["py/state"].templates.kernel.version')
+RUN rm /project.pros # Cleanup image
+
+# Copy the sim kernel, as its required to run the simulator
+ENV V5_SIM_PATH="$HOME/.vex-v5-qemu"
+ENV V5_SIM_KERNEL_PATH="$V5_SIM_PATH/kernel"
+COPY --from=builder /target/kernel/armv7a-none-eabi/debug/kernel $V5_SIM_KERNEL_PATH
+
+# Copy the sim source, so we can reference it when debugging
+ENV V5_SIM_SOURCE_PATH="$V5_SIM_PATH/source"
+COPY --from=builder /vex-v5-qemu $V5_SIM_SOURCE_PATH

.devcontainer/devcontainer.json

@@ -1,3 +1,14 @@
 {
-    "postCreateCommand": "chmod 777 .devcontainer/postCreateCommand.bash && .devcontainer/postCreateCommand.bash && source ~/.bashrc"
+    "build": {
+        "dockerfile": "Dockerfile",
+        "context": ".."
+    },
+    "customizations": {
+        "vscode": {
+        "settings": {
+            "clangd.path": "/usr/local/share/clangd/bin/clangd"
+        }
+        }
+    }
+    // "postCreateCommand": "chmod 777 .devcontainer/postCreateCommand.bash && .devcontainer/postCreateCommand.bash && source ~/.bashrc"
 }

.devcontainer/packagelist

@@ -0,0 +1,6 @@
+git
+python3-minimal
+python3-pip
+qemu-system
+gdb-multiarch
+jq

debug.log

@@ -0,0 +1,6 @@
+[0909/102831.528:ERROR:registration_protocol_win.cc(108)] CreateFile: The system cannot find the file specified. (0x2)
+[0909/102852.263:ERROR:registration_protocol_win.cc(108)] CreateFile: The system cannot find the file specified. (0x2)
+[0910/182219.664:ERROR:registration_protocol_win.cc(108)] CreateFile: The system cannot find the file specified. (0x2)
+[0910/183206.884:ERROR:registration_protocol_win.cc(108)] CreateFile: The system cannot find the file specified. (0x2)
+[0910/183223.865:ERROR:registration_protocol_win.cc(108)] CreateFile: The system cannot find the file specified. (0x2)
+[0910/183232.392:ERROR:registration_protocol_win.cc(108)] CreateFile: The system cannot find the file specified. (0x2)

include/gamepad/api.hpp

@@ -1,4 +1,5 @@
 #pragma once
 
 #include "gamepad/event_handler.hpp" // IWYU pragma: export
-#include "gamepad/controller.hpp" // IWYU pragma: export
+#include "gamepad/gamepad.hpp" // IWYU pragma: export
+#include "gamepad/screens/alertScreen.hpp" // IWYU pragma: export

include/gamepad/controller.hpp → include/gamepad/gamepad.hpp

@@ -1,8 +1,13 @@
 #pragma once
 
 #include "pros/misc.h"
+#include "screens/defaultScreen.hpp"
+#include <cstdint>
 #include <string>
-
+#include <memory>
+#include <vector>
+#include <sys/types.h>
+#include "screens/abstractScreen.hpp"
 #include "button.hpp"
 #include "pros/misc.hpp"
 
@@ -26,6 +31,37 @@ class Gamepad {
          *
          */
         void update();
+        /**
+         * Add a screen to the sceen update loop that can update the controller's screen
+         *
+         * @param screen the `AbstractScreen` to add to the screen queue
+         */
+        void add_screen(std::shared_ptr<AbstractScreen> screen);
+        /**
+         * print a line to the console like pros (low priority)
+         *
+         * @param line the line number to print the string on (0-2)
+         * @param str the string to print onto the controller (\n to go to the next line)
+         */
+        void print_line(uint8_t line, std::string str);
+        /**
+         * @brief clears all lines on the controller, similar to the pros function (low priority)
+         *
+         */
+        void clear();
+        /**
+         * @brief clears the specific line on the controller, similar to the pros function clear_line (low priority)
+         *
+         * @param line the line to clear (0-2)
+         */
+        void clear(uint8_t line);
+        /**
+         * makes the controller rumble like pros (low priority)
+         *
+         * @param rumble_pattern A string consisting of the characters '.', '-', and ' ', where dots are short rumbles,
+         * dashes are long rumbles, and spaces are pauses. Maximum supported length is 8 characters.
+         */
+        void rumble(std::string rumble_pattern);
         /**
          * @brief Get the state of a button on the controller.
          *
@@ -75,7 +111,9 @@ class Gamepad {
         static Gamepad partner;
     private:
         Gamepad(pros::controller_id_e_t id)
-            : controller(id) {}
+            : controller(id) {
+            this->add_screen(defaultScreen);
+        }
 
         Button m_L1 {}, m_L2 {}, m_R1 {}, m_R2 {}, m_Up {}, m_Down {}, m_Left {}, m_Right {}, m_X {}, m_B {}, m_Y {},
             m_A {};
@@ -90,9 +128,22 @@ class Gamepad {
          * @return std::string A unique listener name
          */
         static std::string unique_name();
-        static Button Gamepad::*button_to_ptr(pros::controller_digital_e_t button);
+        static Button Gamepad::* button_to_ptr(pros::controller_digital_e_t button);
         void updateButton(pros::controller_digital_e_t button_id);
+
+        void updateScreens();
+
+        std::shared_ptr<DefaultScreen> defaultScreen = std::make_shared<DefaultScreen>();
+        std::vector<std::shared_ptr<AbstractScreen>> screens {};
+        ScreenBuffer currentScreen {};
+        ScreenBuffer nextBuffer {};
         pros::Controller controller;
+
+        uint8_t last_printed_line = 0;
+        uint last_print_time = 0;
+        uint last_update_time = 0;
+        bool screenCleared = false;
+        pros::Mutex mut {};
 };
 
 inline Gamepad Gamepad::master {pros::E_CONTROLLER_MASTER};

include/gamepad/screens/abstractScreen.hpp

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <array>
+#include <optional>
+#include <set>
+#include <string>
+#include <sys/types.h>
+#include "pros/misc.h"
+
+namespace gamepad {
+
+/**
+ * @brief type for conveying a full screen with the first 3 being the lines
+ * of text on the controller screen and the last being a rumble pattern
+ */
+typedef std::array<std::optional<std::string>, 4> ScreenBuffer;
+
+class AbstractScreen {
+    public:
+        AbstractScreen(uint priority)
+            : priority(priority) {}
+
+        virtual void update(uint delta_time) {}
+
+        virtual ScreenBuffer get_screen(std::set<uint8_t> visible_lines) = 0;
+
+        virtual void handle_events(std::set<pros::controller_digital_e_t> button_events) {}
+
+        uint get_priority() { return this->priority; }
+    protected:
+        const uint priority;
+};
+
+} // namespace gamepad

include/gamepad/screens/alertScreen.hpp

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <cstdint>
+#include <deque>
+#include <optional>
+#include <string>
+#include "abstractScreen.hpp"
+#include "pros/rtos.hpp"
+#include "gamepad/screens/abstractScreen.hpp"
+
+namespace gamepad {
+
+class AlertScreen : public AbstractScreen {
+    public:
+        AlertScreen()
+            : AbstractScreen(UINT32_MAX - 100) {}
+
+        void update(uint delta_time);
+        ScreenBuffer get_screen(std::set<uint8_t> visible_lines);
+
+        void add_alerts(uint8_t line, std::string strs, uint32_t duration, std::string rumble = "");
+    private:
+        struct AlertBuffer {
+                ScreenBuffer screen;
+                uint duration;
+        };
+
+        std::deque<AlertBuffer> screen_buffer {};
+        std::optional<AlertBuffer> screen_contents {};
+        uint line_set_time = 0;
+        pros::Mutex mut {};
+};
+
+} // namespace gamepad

include/gamepad/screens/defaultScreen.hpp

@@ -0,0 +1,22 @@
+#pragma once
+
+#include "gamepad/screens/abstractScreen.hpp"
+#include "pros/rtos.hpp"
+
+namespace gamepad {
+
+class DefaultScreen : public AbstractScreen {
+    public:
+        DefaultScreen()
+            : AbstractScreen(1) {}
+
+        ScreenBuffer get_screen(std::set<uint8_t> visible_lines);
+
+        void print_line(uint8_t line, std::string str);
+        void rumble(std::string rumble_pattern);
+    private:
+        ScreenBuffer currentBuffer {};
+        pros::Mutex mut {};
+};
+
+} // namespace gamepad