Skip to content

Merge Topside patches for worlds #12

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Peyton-C wants to merge 4 commits into
base: main
Choose a base branch
from
Open

Merge Topside patches for worlds #12

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
a4bdd45
Science Officer GUI: remove leftover files from old location
Peyton-C Jun 14, 2026
06872f3
BlueStar Frontend: Add basic reset ESC key support
Peyton-C Jun 14, 2026
29bfa30
BlueStar Frontend Improvements:
Peyton-C Jun 14, 2026
de409a3
BlueStar Frontend Co Pilot Improvements:
Peyton-C Jun 14, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
205 changes: 125 additions & 80 deletions ros_workspace/src/bluestar_frontend/src/main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -111,6 +111,11 @@ bool dim_led_latch_2 = false;
bool fast_mode_latch = false;
bool invert_controls_latch = false;

bool thruster_macro_latch_1 = false;
bool thruster_macro_latch_2 = false;
bool thruster_macro_latch_3 = false;
bool thruster_macro_latch_4 = false;

int LED_BRIGHTNESS_INCREMENT = 51; // 5 levels
int SERVO_FREQ_INCREMENT = 17; // 15 levels

Expand Down Expand Up @@ -653,6 +658,10 @@ int main(int argc, char **argv) {
bool Servo_4_CCW_Pressed = false;
bool fast_mode_toggle = false;
bool invert_controls_toggle = false;
bool thrusterMacro1_Pressed = false;
bool thrusterMacro2_Pressed = false;
bool thrusterMacro3_Pressed = false;
bool thrusterMacro4_Pressed = false;

//top menu bar
if (ImGui::BeginMainMenuBar()) {
Expand Down Expand Up @@ -767,8 +776,8 @@ int main(int argc, char **argv) {
if (glfwGetKey(window, GLFW_KEY_PAGE_DOWN) == GLFW_PRESS) Servo_2_CCW_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_UP) == GLFW_PRESS) Servo_3_CW_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_DOWN) == GLFW_PRESS) Servo_3_CCW_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_KP_3) == GLFW_PRESS) Servo_4_CW_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_KP_6) == GLFW_PRESS) Servo_4_CCW_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_HOME) == GLFW_PRESS) Servo_4_CW_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_END) == GLFW_PRESS) Servo_4_CCW_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_I) == GLFW_PRESS) flipCam1VerticallyButtonPressed = true;
if (glfwGetKey(window, GLFW_KEY_O) == GLFW_PRESS) flipCam2VerticallyButtonPressed = true;
if (glfwGetKey(window, GLFW_KEY_P) == GLFW_PRESS) flipCam3VerticallyButtonPressed = true;
Expand All @@ -777,7 +786,6 @@ int main(int argc, char **argv) {
if (glfwGetKey(window, GLFW_KEY_N) == GLFW_PRESS) flipCam2HorizontallyButtonPressed = true;
if (glfwGetKey(window, GLFW_KEY_M) == GLFW_PRESS) flipCam3HorizontallyButtonPressed = true;
if (glfwGetKey(window, GLFW_KEY_COMMA) == GLFW_PRESS) flipCam4HorizontallyButtonPressed = true;
if (glfwGetKey(window, GLFW_KEY_V) == GLFW_PRESS) fast_mode_toggle = true;
if (glfwGetKey(window, GLFW_KEY_SPACE) == GLFW_PRESS) invert_controls_toggle = true;
if (glfwGetKey(window, GLFW_KEY_5) == GLFW_PRESS) {
Servo1Angle = bluestar_config.servo_1_preset_angles[0];
Expand All @@ -791,10 +799,10 @@ int main(int argc, char **argv) {
Servo1Angle = bluestar_config.servo_1_preset_angles[2];
Servo2Angle = bluestar_config.servo_2_preset_angles[2];
}
if (glfwGetKey(window, GLFW_KEY_KP_1) == GLFW_PRESS) dc_motor_1 = 127;
if (glfwGetKey(window, GLFW_KEY_KP_2) == GLFW_PRESS) dc_motor_1 = 255;
if (glfwGetKey(window, GLFW_KEY_KP_4) == GLFW_PRESS) dc_motor_2 = 127;
if (glfwGetKey(window, GLFW_KEY_KP_5) == GLFW_PRESS) dc_motor_2 = 255;
if (glfwGetKey(window, GLFW_KEY_F1) == GLFW_PRESS) dc_motor_1 = 127;
if (glfwGetKey(window, GLFW_KEY_F2) == GLFW_PRESS) dc_motor_1 = 255;
if (glfwGetKey(window, GLFW_KEY_F3) == GLFW_PRESS) dc_motor_2 = 127;
if (glfwGetKey(window, GLFW_KEY_F4) == GLFW_PRESS) dc_motor_2 = 255;
}
if (glfwJoystickPresent(GLFW_JOYSTICK_1)) {
int buttonCount, axisCount;
Expand Down Expand Up @@ -974,6 +982,49 @@ int main(int argc, char **argv) {
}
}
}

//co-pilot controls window
if (showPilotWindow) {
ImGui::Begin("Co-Pilot Window", &showPilotWindow);

ImGui::SliderInt("Power", &power.power, 0, 100);
ImGui::SliderInt("Surge", &power.surge, 0, 100);
ImGui::SliderInt("Sway", &power.sway, 0, 100);
ImGui::SliderInt("Heave", &power.heave, 0, 100);
ImGui::SliderInt("Roll", &power.roll, 0, 100);
ImGui::SliderInt("Yaw", &power.yaw, 0, 100);

ImGui::SeparatorText("Keybinds");
ImGui::Text("1 / KP 1 - Set all to 0%%");
ImGui::Text("2 / KP 2 - Set all to 50%%");
ImGui::Text("3 / KP 3 - Set all to 0%%, set Heave and Power to 100%%");
ImGui::Text("4 ? KP 0 - Set all to 50%%, Heave to 75%% and Yaw to 30%%");
ImGui::Text("V (Toggle) - Fast mode");
ImGui::Text("Escape - Reset ESCs");

if (glfwGetKey(window, GLFW_KEY_1) == GLFW_PRESS) thrusterMacro1_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_2) == GLFW_PRESS) thrusterMacro2_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_3) == GLFW_PRESS) thrusterMacro3_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_4) == GLFW_PRESS) thrusterMacro4_Pressed = true;

if (glfwGetKey(window, GLFW_KEY_KP_1) == GLFW_PRESS) thrusterMacro1_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_KP_2) == GLFW_PRESS) thrusterMacro2_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_KP_3) == GLFW_PRESS) thrusterMacro3_Pressed = true;
if (glfwGetKey(window, GLFW_KEY_KP_0) == GLFW_PRESS) thrusterMacro4_Pressed = true;

if (glfwGetKey(window, GLFW_KEY_ESCAPE) == GLFW_PRESS) power.power = 0;
if (glfwGetKey(window, GLFW_KEY_V) == GLFW_PRESS) fast_mode_toggle = true;

ImGui::SeparatorText("Fast Mode Adjustment");
ImGui::SliderInt("Fast Mode Power", &fast_mode_settings.power, 0, 100);
ImGui::SliderInt("Fast Mode Surge", &fast_mode_settings.surge, 0, 100);
ImGui::SliderInt("Fast Mode Sway", &fast_mode_settings.sway, 0, 100);
ImGui::SliderInt("Fast Mode Heave", &fast_mode_settings.heave, 0, 100);
ImGui::SliderInt("Fast Mode Roll", &fast_mode_settings.roll, 0, 100);
ImGui::SliderInt("Fast Mode Yaw", &fast_mode_settings.yaw, 0, 100);

ImGui::End();
}

// We only want this input to be registered once per button hit
// rather than toggling every frame as long as button is pressed
Expand Down Expand Up @@ -1054,6 +1105,62 @@ int main(int argc, char **argv) {
cam4ScreenshotButtonPressedLatch = false;
}

if (thrusterMacro1_Pressed) {
if (!thruster_macro_latch_1) {
thruster_macro_latch_1 = true;
power.power = 0;
power.surge = 0;
power.sway = 0;
power.heave = 0;
power.roll = 0;
power.yaw = 0;
}
} else {
thruster_macro_latch_1 = false;
}

if (thrusterMacro2_Pressed) {
if (!thruster_macro_latch_2) {
thruster_macro_latch_2 = true;
power.power = 50;
power.surge = 50;
power.sway = 50;
power.heave = 50;
power.roll = 50;
power.yaw = 50;
}
} else {
thruster_macro_latch_2 = false;
}

if (thrusterMacro3_Pressed) {
if (!thruster_macro_latch_3) {
thruster_macro_latch_3 = true;
power.power = 100;
power.surge = 0;
power.sway = 0;
power.heave = 100;
power.roll = 0;
power.yaw = 0;
}
} else {
thruster_macro_latch_3 = false;
}

if (thrusterMacro4_Pressed) {
if (!thruster_macro_latch_4) {
thruster_macro_latch_4 = true;
power.power = 50;
power.surge = 50;
power.sway = 50;
power.heave = 75;
power.roll = 50;
power.yaw = 30;
}
} else {
thruster_macro_latch_4 = false;
}

// These have to be pointers, for anyone looking at this in the future, i spent so many commits trying to figure out why i couldnt change the values, it looked like a 2010s minecraft letsplay series. -PC
bool* servo_latches_cw[] = {&servo_1_cw_latch, &servo_2_cw_latch, &servo_3_cw_latch, &servo_4_cw_latch};
bool* servo_latches_ccw[] = {&servo_1_ccw_latch, &servo_2_ccw_latch, &servo_3_ccw_latch, &servo_4_ccw_latch};
Expand Down Expand Up @@ -1134,12 +1241,6 @@ int main(int argc, char **argv) {
surge = -surge;
yaw = -yaw;
}

// THIS MUST MATCH THE ORDER IN ROS.hpp -PC
pilotInputNode->sendInput(power, surge, sway, heave, yaw, roll,
dc_motor_1, dc_motor_2, LED1Brightness, LED2Brightness,
Servo1Angle, Servo2Angle, Servo3Angle, Servo4Angle,
configuration_mode, configuration_mode_thruster_number);

//user_config window
if (showConfigWindow) {
Expand Down Expand Up @@ -1460,26 +1561,25 @@ int main(int argc, char **argv) {
ImGui::Text("R - Heave Up");
ImGui::Text("F - Heave Down");
ImGui::Text("SPACE - Invert Controls (Surge, Sway, Roll)");
ImGui::Text("V - Fast Mode");
ImGui::SeparatorText("LEDs");
ImGui::Text("Z - Brighten LED 1");
ImGui::Text("X - Dim LED 1");
ImGui::Text("J - Brighten LED 2");
ImGui::Text("K - Dim LED 2");
ImGui::SeparatorText("DC Motors");
ImGui::Text("Numpad 1 - DC Motor 1 CW");
ImGui::Text("Numpad 2 - DC Motor 1 CCW");
ImGui::Text("Numpad 4 - DC Motor 2 CW");
ImGui::Text("Numpad 5 - DC Motor 2 CCW");
ImGui::Text("F1 - DC Motor 1 CW");
ImGui::Text("F2 - DC Motor 1 CCW");
ImGui::Text("F3 - DC Motor 2 CW");
ImGui::Text("F4 - DC Motor 2 CCW");
ImGui::SeparatorText("Servos");
ImGui::Text("Right Arrow - Turn Servo 1 Clockwise");
ImGui::Text("Left Arrow - Turn Servo 1 Counter-Clockwise");
ImGui::Text("Page Up - Turn Servo 2 Clockwise");
ImGui::Text("Page Down - Turn Servo 2 Counter-Clockwise");
ImGui::Text("Up Arrow - Turn Servo 3 Clockwise");
ImGui::Text("Down Arrow - Turn Servo 3 Counter-Clockwise");
ImGui::Text("Numpad 3 - Turn Servo 4 Clockwise");
ImGui::Text("Numpad 6 - Turn Servo 4 Counter-Clockwise");
ImGui::Text("Home - Turn Servo 4 Clockwise");
ImGui::Text("End - Turn Servo 4 Counter-Clockwise");
ImGui::Text("5 - Use Servo Preset Angle 1");
ImGui::Text("6 - Use Servo Preset Angle 2");
ImGui::Text("7 - Use Servo Preset Angle 3");
Expand Down Expand Up @@ -1639,66 +1739,11 @@ int main(int argc, char **argv) {
ImGui::End();
}

//co-pilot controls window
if (showPilotWindow) {
ImGui::Begin("Co-Pilot Window", &showPilotWindow);

ImGui::SliderInt("Power", &power.power, 0, 100);
ImGui::SliderInt("Surge", &power.surge, 0, 100);
ImGui::SliderInt("Sway", &power.sway, 0, 100);
ImGui::SliderInt("Heave", &power.heave, 0, 100);
ImGui::SliderInt("Roll", &power.roll, 0, 100);
ImGui::SliderInt("Yaw", &power.yaw, 0, 100);

ImGui::SeparatorText("Keybinds");
ImGui::Text("1 - Set all to 0%%");
ImGui::Text("2 - Set all to 50%%");
ImGui::Text("3 - Set all to 0%%, set Heave and Power to 100%%");
ImGui::Text("4 - Set all to 50%%, Heave to 75%% and Yaw to 30%%");
ImGui::Text("V (Toggle) - Fast mode");
if (ImGui::IsKeyPressed(ImGuiKey_1)) {
power.power = 0;
power.surge = 0;
power.sway = 0;
power.heave = 0;
power.roll = 0;
power.yaw = 0;
}
if (ImGui::IsKeyPressed(ImGuiKey_2)) {
power.power = 50;
power.surge = 50;
power.sway = 50;
power.heave = 50;
power.roll = 50;
power.yaw = 50;
}
if (ImGui::IsKeyPressed(ImGuiKey_3)) {
power.power = 100;
power.surge = 0;
power.sway = 0;
power.heave = 100;
power.roll = 0;
power.yaw = 0;
}
if (ImGui::IsKeyPressed(ImGuiKey_4)) {
power.power = 50;
power.surge = 50;
power.sway = 50;
power.heave = 75;
power.roll = 50;
power.yaw = 30;
}

ImGui::SeparatorText("Fast Mode Adjustment");
ImGui::SliderInt("Fast Mode Power", &fast_mode_settings.power, 0, 100);
ImGui::SliderInt("Fast Mode Surge", &fast_mode_settings.surge, 0, 100);
ImGui::SliderInt("Fast Mode Sway", &fast_mode_settings.sway, 0, 100);
ImGui::SliderInt("Fast Mode Heave", &fast_mode_settings.heave, 0, 100);
ImGui::SliderInt("Fast Mode Roll", &fast_mode_settings.roll, 0, 100);
ImGui::SliderInt("Fast Mode Yaw", &fast_mode_settings.yaw, 0, 100);

ImGui::End();
}
// THIS MUST MATCH THE ORDER IN ROS.hpp -PC
pilotInputNode->sendInput(power, surge, sway, heave, yaw, roll,
dc_motor_1, dc_motor_2, LED1Brightness, LED2Brightness,
Servo1Angle, Servo2Angle, Servo3Angle, Servo4Angle,
configuration_mode, configuration_mode_thruster_number);

glClear(GL_COLOR_BUFFER_BIT);

Expand Down
1 change: 0 additions & 1 deletion ros_workspace/src/bluestar_officer_frontend/include/glfw
Open in desktop
Submodule glfw deleted from b00e6a
1 change: 0 additions & 1 deletion ros_workspace/src/bluestar_officer_frontend/include/imgui
Open in desktop
Submodule imgui deleted from b2546a
1 change: 0 additions & 1 deletion ros_workspace/src/bluestar_officer_frontend/include/json
Open in desktop
Submodule json deleted from a0a4e7
1 change: 0 additions & 1 deletion ros_workspace/src/bluestar_officer_frontend/include/stb
Open in desktop
Submodule stb deleted from 31c1ad