work on menus

3 years ago · 70b47dee19
parent ab4606c002
commit 70b47dee19
170 changed files with 10552 additions and 7987 deletions
--- a/Documentation/class
+++ b/Documentation/class
@ -12146,6 +12146,818 @@
 							"headQualifiersCompartment": {
 								"$ref": "AAAAAAGEQrEjjr+QCGI="
 							}
+						},
+						{
+							"_type": "UMLClassView",
+							"_id": "AAAAAAGEQ9ug1LjFZGw=",
+							"_parent": {
+								"$ref": "AAAAAAFF+qBtyKM79qY="
+							},
+							"model": {
+								"$ref": "AAAAAAGEQ9ug1LjDmjM="
+							},
+							"subViews": [
+								{
+									"_type": "UMLNameCompartmentView",
+									"_id": "AAAAAAGEQ9ug1LjG3RM=",
+									"_parent": {
+										"$ref": "AAAAAAGEQ9ug1LjFZGw="
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+									"model": {
+										"$ref": "AAAAAAGEQ9ug1LjDmjM="
+									},
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+										{
+											"_type": "LabelView",
+											"_id": "AAAAAAGEQ9ug1LjHsAo=",
+											"_parent": {
+												"$ref": "AAAAAAGEQ9ug1LjG3RM="
+											},
+											"font": "Arial;13;0",
+											"left": 1285,
+											"top": 397,
+											"width": 75.87353515625,
+											"height": 13,
+											"text": "«template T»"
+										},
+										{
+											"_type": "LabelView",
+											"_id": "AAAAAAGEQ9ug1LjIktA=",
+											"_parent": {
+												"$ref": "AAAAAAGEQ9ug1LjG3RM="
+											},
+											"font": "Arial;13;1",
+											"left": 1285,
+											"top": 412,
+											"width": 75.87353515625,
+											"height": 13,
+											"text": "uiMenuItem"
+										},
+										{
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+											"_id": "AAAAAAGEQ9ug1LjJAng=",
+											"_parent": {
+												"$ref": "AAAAAAGEQ9ug1LjG3RM="
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+											"font": "Arial;13;0",
+											"left": 112,
+											"top": 224,
+											"width": 73.67724609375,
+											"height": 13,
+											"text": "(from Model)"
+										},
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+											"_type": "LabelView",
+											"_id": "AAAAAAGEQ9ug1LjKqVY=",
+											"_parent": {
+												"$ref": "AAAAAAGEQ9ug1LjG3RM="
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+											"font": "Arial;13;0",
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+											"top": 224,
+											"height": 13,
+											"horizontalAlignment": 1
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+									"nameLabel": {
+										"$ref": "AAAAAAGEQ9ug1LjIktA="
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+									"namespaceLabel": {
+										"$ref": "AAAAAAGEQ9ug1LjJAng="
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+										"$ref": "AAAAAAGEQ9ug1LjKqVY="
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  "model/hardware/hw/CMakeLists.txt"
  "model/hardware/ihidapi/CMakeLists.txt"
  "model/hardware/psvr/CMakeLists.txt"
+  "model/patterns/commands/CMakeLists.txt"
  "model/patterns/observer/CMakeLists.txt"
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  "/usr/lib/x86_64-linux-gnu/cmake/TBB/TBBConfigVersion.cmake"
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+  "/usr/lib/x86_64-linux-gnu/cmake/TBB/TBBTargets.cmake"
  "/usr/local/lib/cmake/hidapi/hidapi-config.cmake"
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 all: model/windows/all
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 preinstall: model/hardware/hw/preinstall
 preinstall: model/controllers/preinstall
 preinstall: model/patterns/observer/preinstall
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 preinstall: processing/zbar/preinstall
 preinstall: model/windows/preinstall
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-model/controllers/CMakeFiles/controllers.dir/ui/uiController.cpp.o: /usr/local/include/opencv4/opencv2/video/background_segm.hpp
-model/controllers/CMakeFiles/controllers.dir/ui/uiController.cpp.o: /usr/local/include/opencv4/opencv2/video/tracking.hpp
-model/controllers/CMakeFiles/controllers.dir/ui/uiController.cpp.o: /usr/local/include/opencv4/opencv2/videoio.hpp
-model/controllers/CMakeFiles/controllers.dir/ui/uiController.cpp.o: /usr/local/include/opencv4/opencv2/videoio/legacy/constants_c.h
-model/controllers/CMakeFiles/controllers.dir/ui/uiController.cpp.o: /usr/local/include/opencv4/opencv2/videoio/videoio_c.h
-
+# Empty dependencies file for controllers.
+# This may be replaced when dependencies are built.
--- a/src/model/controllers/CMakeFiles/controllers.dir/flags.make
+++ b/src/model/controllers/CMakeFiles/controllers.dir/flags.make
@ -1,10 +1,10 @@
 # CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 3.18
+# Generated by "Unix Makefiles" Generator, CMake Version 3.22

 # compile CXX with /usr/bin/c++
 CXX_DEFINES = 

 CXX_INCLUDES = -isystem /usr/local/include/opencv4

-CXX_FLAGS = -std=gnu++17
+CXX_FLAGS = 

--- a/src/model/controllers/CMakeFiles/controllers.dir/link.txt
+++ b/src/model/controllers/CMakeFiles/controllers.dir/link.txt
@ -1,2 +1,2 @@
-/usr/bin/ar qc libcontrollers.a CMakeFiles/controllers.dir/ui/uiController.cpp.o
+/usr/bin/ar qc libcontrollers.a CMakeFiles/controllers.dir/ui/uiController.cpp.o CMakeFiles/controllers.dir/ui/menu.cpp.o
 /usr/bin/ranlib libcontrollers.a
--- a/src/model/controllers/CMakeFiles/controllers.dir/progress.make
+++ b/src/model/controllers/CMakeFiles/controllers.dir/progress.make
@ -1,3 +1,4 @@
-CMAKE_PROGRESS_1 = 4
-CMAKE_PROGRESS_2 = 5
+CMAKE_PROGRESS_1 = 5
+CMAKE_PROGRESS_2 = 6
+CMAKE_PROGRESS_3 = 7

--- a/src/model/controllers/CMakeFiles/progress.marks
+++ b/src/model/controllers/CMakeFiles/progress.marks
@ -1 +1 @@
-17
+18
--- a/src/model/controllers/CMakeLists.txt
+++ b/src/model/controllers/CMakeLists.txt
@ -1,6 +1,9 @@
 set(controllers_source_files
    ./ui/uiController.cpp
    ./ui/uiController.cpp
+    ./ui/menuItem.hpp
+    ./ui/menu.hpp
+    ./ui/menu.cpp
 )
 MESSAGE(STATUS "building controllers")
 add_library(controllers ${controllers_source_files})
--- a/src/model/controllers/Makefile
+++ b/src/model/controllers/Makefile
@ -1,45 +1,36 @@
 # CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 3.18
+# Generated by "Unix Makefiles" Generator, CMake Version 3.22

 # Default target executed when no arguments are given to make.
 default_target: all
-
 .PHONY : default_target

 # Allow only one "make -f Makefile2" at a time, but pass parallelism.
 .NOTPARALLEL:

-
 #=============================================================================
 # Special targets provided by cmake.

 # Disable implicit rules so canonical targets will work.
 .SUFFIXES:

-
 # Disable VCS-based implicit rules.
 % : %,v

-
 # Disable VCS-based implicit rules.
 % : RCS/%

-
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-
 # Disable VCS-based implicit rules.
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-
 # Disable VCS-based implicit rules.
 % : s.%

-
 .SUFFIXES: .hpux_make_needs_suffix_list

-
 # Command-line flag to silence nested $(MAKE).
 $(VERBOSE)MAKESILENT = -s

@ -48,7 +39,6 @@ $(VERBOSE).SILENT:

 # A target that is always out of date.
 cmake_force:
-
 .PHONY : cmake_force

 #=============================================================================
@ -83,7 +73,6 @@ edit_cache:

 # Special rule for the target edit_cache
 edit_cache/fast: edit_cache
-
 .PHONY : edit_cache/fast

 # Special rule for the target rebuild_cache
@ -94,7 +83,6 @@ rebuild_cache:

 # Special rule for the target rebuild_cache
 rebuild_cache/fast: rebuild_cache
-
 .PHONY : rebuild_cache/fast

 # The main all target
@ -111,7 +99,6 @@ clean:

 # The main clean target
 clean/fast: clean
-
 .PHONY : clean/fast

 # Prepare targets for installation.
@ -136,7 +123,6 @@ model/controllers/CMakeFiles/controllers.dir/rule:

 # Convenience name for target.
 controllers: model/controllers/CMakeFiles/controllers.dir/rule
-
 .PHONY : controllers

 # fast build rule for target.
@ -144,8 +130,31 @@ controllers/fast:
 	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f model/controllers/CMakeFiles/controllers.dir/build.make model/controllers/CMakeFiles/controllers.dir/build
 .PHONY : controllers/fast

-ui/uiController.o: ui/uiController.cpp.o
+ui/menu.o: ui/menu.cpp.o
+.PHONY : ui/menu.o
+
+# target to build an object file
+ui/menu.cpp.o:
+	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f model/controllers/CMakeFiles/controllers.dir/build.make model/controllers/CMakeFiles/controllers.dir/ui/menu.cpp.o
+.PHONY : ui/menu.cpp.o
+
+ui/menu.i: ui/menu.cpp.i
+.PHONY : ui/menu.i
+
+# target to preprocess a source file
+ui/menu.cpp.i:
+	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f model/controllers/CMakeFiles/controllers.dir/build.make model/controllers/CMakeFiles/controllers.dir/ui/menu.cpp.i
+.PHONY : ui/menu.cpp.i

+ui/menu.s: ui/menu.cpp.s
+.PHONY : ui/menu.s
+
+# target to generate assembly for a file
+ui/menu.cpp.s:
+	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f model/controllers/CMakeFiles/controllers.dir/build.make model/controllers/CMakeFiles/controllers.dir/ui/menu.cpp.s
+.PHONY : ui/menu.cpp.s
+
+ui/uiController.o: ui/uiController.cpp.o
 .PHONY : ui/uiController.o

 # target to build an object file
@ -154,7 +163,6 @@ ui/uiController.cpp.o:
 .PHONY : ui/uiController.cpp.o

 ui/uiController.i: ui/uiController.cpp.i
-
 .PHONY : ui/uiController.i

 # target to preprocess a source file
@ -163,7 +171,6 @@ ui/uiController.cpp.i:
 .PHONY : ui/uiController.cpp.i

 ui/uiController.s: ui/uiController.cpp.s
-
 .PHONY : ui/uiController.s

 # target to generate assembly for a file
@ -180,6 +187,9 @@ help:
 	@echo "... edit_cache"
 	@echo "... rebuild_cache"
 	@echo "... controllers"
+	@echo "... ui/menu.o"
+	@echo "... ui/menu.i"
+	@echo "... ui/menu.s"
 	@echo "... ui/uiController.o"
 	@echo "... ui/uiController.i"
 	@echo "... ui/uiController.s"
--- a/src/model/controllers/ui/menu.cpp
+++ b/src/model/controllers/ui/menu.cpp
@ -0,0 +1,96 @@
+#include "menu.hpp"
+
+void Menu::selectedUp()
+{
+    if (selecting && _items.at(selectedIndex) != nullptr)
+    {
+        switch (_items.at(selectedIndex)->getTrueType())
+        {
+        case NumberPickerItemT:
+            static_cast<NumberPickerItem *>(_items.at(selectedIndex))->increment();
+            break;
+
+        case CheckerItemT:
+            static_cast<CheckerItem *>(_items.at(selectedIndex))->toggle();
+            break;
+
+        default:
+            selecting = false;  //if a non-selectable item is somehow selected
+            break;
+        }
+    }
+    else
+    {
+        if (selectedIndex < _items.size() - 1)
+            ++selectedIndex;
+        else
+            selectedIndex = 0;
+    }
+}
+
+void Menu::selectedDown()
+{
+    if (selecting && _items.at(selectedIndex) != nullptr)
+    {
+        switch (_items.at(selectedIndex)->getTrueType())
+        {
+        case NumberPickerItemT:
+            static_cast<NumberPickerItem *>(_items.at(selectedIndex))->increment();
+            break;
+
+        case CheckerItemT:
+            static_cast<CheckerItem *>(_items.at(selectedIndex))->toggle();
+            break;
+
+        default:
+            selecting = false;  //if a non-selectable item is somehow selected
+            break;
+        }
+    }
+    else
+    {
+        if (selectedIndex > 0)
+            --selectedIndex;
+        else
+            selectedIndex = _items.size() - 1;
+    }
+}
+
+void Menu::clickb1() {}
+
+void Menu::clickb2() {}
+
+void Menu::clickok()
+{
+    if (_items.at(selectedIndex) != nullptr)
+    {
+        switch (_items.at(selectedIndex)->getTrueType())
+        {
+        case NumberPickerItemT:
+            static_cast<NumberPickerItem *>(_items.at(selectedIndex))->selected = true;
+            break;
+
+        case CheckerItemT:
+            static_cast<CheckerItem *>(_items.at(selectedIndex))->toggle();
+            break;
+
+        case MenuitemT:
+            static_cast<menuitem *>(_items.at(selectedIndex))->navigate();
+            break;
+
+        default:
+            if (selectedIndex > 0)
+                --selectedIndex;
+            else
+                selectedIndex = _items.size() - 1;
+            break;
+        }
+    }
+}
+
+void Menu::clickback(){
+    if(selecting)
+        selecting = false;
+    else
+        _navigateBackCommand->Execute();
+}
--- a/src/model/controllers/ui/menu.hpp
+++ b/src/model/controllers/ui/menu.hpp
@ -0,0 +1,23 @@
+#include "menuItem.hpp"
+
+class Menu
+{
+protected:
+    std::vector<baseItem *> _items;
+    std::string _name;
+    Menu *_previous;
+    Command* _navigateBackCommand;
+    unsigned int selectedIndex = 0;
+
+public:
+    Menu(std::string name, Menu *previous, Command* navigateBackCommand) : _name(name), _previous(previous), _navigateBackCommand(navigateBackCommand) {}
+    void addItem(baseItem *item) { _items.push_back(item); }
+    void selectedUp();
+    void selectedDown();
+    void clickb1();
+    void clickb2();
+    void clickok();
+    void clickback();
+    std::string getName(){return _name;}
+    std::atomic_bool selecting;
+};
--- a/src/model/controllers/ui/menuItem.hpp
+++ b/src/model/controllers/ui/menuItem.hpp
@ -0,0 +1,85 @@
+#include <string>
+#include "./../../hardware/hw/serial.hpp"   //used to include the observer patter? eh...
+#include "../../hardware/psvr/_psvr.hpp"    //used to include the command patter... eh²
+#include <atomic>
+
+enum underlyingType
+{
+    MenuitemT = 0,
+    NumberPickerItemT = 1,
+    CheckerItemT = 2,
+    ExectuableT = 3
+};
+
+class baseItem : public MapObservable   //base abstract 
+{
+protected:
+    underlyingType type;
+public:
+    std::atomic_bool selected = false;
+    std::atomic_bool visible = true;
+    underlyingType getTrueType(){
+        return type;
+    }
+};
+
+class menuitem : public baseItem    //menu item used soley for navigation
+{
+protected:
+    std::string data;
+    Command* _navigateToDestination;
+public:
+    menuitem(Command* navigateToDestination): _navigateToDestination(navigateToDestination){type = MenuitemT;}
+    void setData(std::string newData)
+    {
+        data = newData;
+        sendMessage("data", data);
+    }
+    std::string getData(){return data;}
+    void navigate(){_navigateToDestination->Execute();}
+};
+
+class NumberPickerItem : public baseItem    //menu item used to display and pick a number (increment/decrement)
+{
+protected:
+    int data;
+
+public:
+    NumberPickerItem(){type = NumberPickerItemT;}
+    void decrement(){++data; sendMessage("data", std::to_string(data));}
+    void increment(){--data; sendMessage("data", std::to_string(data));}
+    int getData(){ return data; }
+};
+
+class CheckerItem : public baseItem
+{
+protected:
+    bool data;
+    Command* _ifFalse;
+    Command* _ifTrue;
+public:
+    CheckerItem(Command* ifFalse, Command* ifTrue): _ifFalse(ifFalse), _ifTrue(ifTrue) {type = CheckerItemT;}
+    void toggle()
+    {
+        data = !data;
+        data ? _ifTrue->Execute() : _ifFalse->Execute();
+        sendMessage("data", data ? "true" : "false");
+    }
+
+    bool getData()
+    {
+        return data;
+    }
+};
+
+class ButtonItem : public baseItem
+{
+    protected:
+    std::string data;
+    Command* _toExec;
+    public:
+    ButtonItem(Command* toExec): _toExec(toExec) {type = ExectuableT;}
+    void click(){_toExec->Execute();}
+    void setData(std::string newData){data = newData; sendMessage("data", data);}
+    std::string getData(){return data;}
+};
--- a/src/model/controllers/ui/uiController.cpp
+++ b/src/model/controllers/ui/uiController.cpp
@ -10,37 +10,38 @@ UiController::UiController(psvr::Psvr *hmd) : _hmd(hmd)
    menuItemNames = {"set vr mode", "set cinema mode", "settings","quit"};
    unsigned int i = 0;
    update();
+    buildMenu();
    cout << "done init ui controller" << endl;
 }

-void UiController::Update(const std::string &message_from_subject)
+void UiController::Update(const std::string &key,const std::string &value)
 {
-    char c = message_from_subject[0];
+    char c = value[0];
    switch (c)
    {
    case 'U':
        cout << c << "++" << endl;
-        selectedUp();
+        menus[_activeMenu]->selectedUp();
        break;
    case 'D':
        cout << c << "--" << endl;
-        selectedDown();
+        menus[_activeMenu]->selectedDown();
        break;
-    case '1':
+    case '1':   //1
        cout << c << "1" << endl;
-        click();
+        menus[_activeMenu]->clickback();
        break;
-    case '2':
+    case '2':   //<
        cout << c << "2" << endl;
-        click();
+        menus[_activeMenu]->clickb1();
        break;
-    case '3':
+    case '3':   //>
        cout << c << "3" << endl;
-        click();
+        menus[_activeMenu]->clickb2();
        break;
-    case '0':
+    case '0':   //2
        cout << c << "0" << endl;
-        click();
+        menus[_activeMenu]->clickok();
        break;
    default:
        cout << c << endl;
@ -55,51 +56,39 @@ void UiController::update()
    menuTitle = std::string("P-OS ") + VERSION + " " + menutime;
 }

-void UiController::selectedUp()
-{
-    if (selectedIndex < menuItems.size() - 1)
-        selectedIndex++;
-}
+void UiController::buildMenu(){
+    menus.clear();
+    _activeMenu = "main menu";

-void UiController::selectedDown()
-{
-    if (selectedIndex > 0)
-        selectedIndex--;
-}
+    Command* navigateToMain = new NavigateCommand(_activeMenu,this);
+    Menu* main = new Menu(_activeMenu,main,navigateToMain);     //it's the root so it navigates back to itself
+    menus[main->getName()] = main;

-void UiController::openSettings()
-{
-}
+    Menu* psvrMenu = new Menu("PSVR options",main, navigateToMain);
+    menus[psvrMenu->getName()] = psvrMenu;

-void UiController::cinemaMode()
-{
-    _hmd->cinemaMode();
-}
+    Command* navigateToPsvr = new NavigateCommand(psvrMenu->getName(),this);

-void UiController::vrMode()
-{
-    _hmd->vrmode();
-}
+    menuitem* psvrOptions = new menuitem(navigateToPsvr);
+    psvrOptions->setData("open psvr options");

-void UiController::click()
-{
-    //exitCalled = true;
-    // std::invoke(menuItems[menuItemNames.at(selectedIndex)]);
-    switch (selectedIndex)
-    {
-    case 0:
-    vrMode();
-        break;
-    case 1:
-    cinemaMode();
-        break;
-    case 2:
-    openSettings();
-        break;
-    case 3:
-    exit(0);
-        break;
-    default:
-        break;
-    }
+    Command* startup = new StartupCommand(_hmd);
+    Command* shutdown = new ShutdownCommand(_hmd);
+    Command* vrmode = new VrModeCommand(_hmd);
+    Command* cinemamode = new CinemaModeCommand(_hmd);
+
+    ButtonItem* startBtn = new ButtonItem(startup);
+    ButtonItem* stopBtn = new ButtonItem(shutdown);
+    ButtonItem* vrBtn = new ButtonItem(vrmode);
+    ButtonItem* cinemaBtn = new ButtonItem(cinemamode);
+
+    startBtn->setData("startup psvr");
+    stopBtn->setData("shutdown psvr");
+    vrBtn->setData("set psvr VR mode");
+    cinemaBtn->setData("set psvr Cinema mode");
+
+    psvrMenu->addItem(startBtn);
+    psvrMenu->addItem(stopBtn);
+    psvrMenu->addItem(vrBtn);
+    psvrMenu->addItem(cinemaBtn);
 }
--- a/src/model/controllers/ui/uiController.hpp
+++ b/src/model/controllers/ui/uiController.hpp
@ -9,12 +9,11 @@
 */
 #pragma once
 #include "../../hardware/cameras/_cam.hpp"
-#include "../../hardware/psvr/_psvr.hpp"
 #include <opencv2/imgcodecs/imgcodecs.hpp>
 #include <opencv2/core.hpp>
 #include <opencv2/core/opengl.hpp>

-#include "./../../hardware/hw/serial.hpp"
+#include "menu.hpp"

 using namespace std;
 using namespace cv;
@ -22,18 +21,13 @@ using namespace cv::ogl;
 using namespace psvr;

 /// @brief this class is used to process view logic and interaction [model]
-class UiController : public Observer
+class UiController : public MapObserver
 {
 public:
-    void Update(const std::string &message_from_subject) override;
-    UiController(psvr::Psvr* hmd);
-    void selectedUp();
-    void selectedDown();
-    void click();
+    std::map<std::string, Menu*> menus;
+    void Update(const std::string &key, const std::string &value) override;
+    UiController(psvr::Psvr *hmd);
    void update();
-    void openSettings();
-    void cinemaMode();
-    void vrMode();
    std::vector<std::string> menuItemNames;
    bool showMenu;
    bool exitCalled;
@ -41,9 +35,21 @@ public:
    string menuTitle;
    cv::Size2i menuSize;
    cv::Point2i menuPos;
-    unsigned int selectedIndex;
-    map<std::string, std::function<void()>> menuItems;
    char *menutime;
-    private:
-    psvr::Psvr* _hmd;
+    unsigned int selectedIndex;
+    void activeMenuChange(std::string activeMenu){_activeMenu = activeMenu;}
+private:
+    std::string _activeMenu = "";
+    psvr::Psvr *_hmd;
+
+    void buildMenu();
 };
+
+class NavigateCommand : public Command{
+    private:
+    UiController* _backController;
+    std::string _destination;
+    public:
+    NavigateCommand(std::string menuName, UiController* backController) : _destination(menuName), _backController(backController){}
+    void Execute() const override { _backController->activeMenuChange(_destination);}
+};
--- a/src/model/hardware/cameras/CMakeFiles/CMakeDirectoryInformation.cmake
+++ b/src/model/hardware/cameras/CMakeFiles/CMakeDirectoryInformation.cmake
@ -1,5 +1,5 @@
 # CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 3.18
+# Generated by "Unix Makefiles" Generator, CMake Version 3.22

 # Relative path conversion top directories.
 set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/kanken/code/AHRS_core/src")
--- a/src/model/hardware/cameras/CMakeFiles/cameras.dir/DependInfo.cmake
+++ b/src/model/hardware/cameras/CMakeFiles/cameras.dir/DependInfo.cmake
@ -1,17 +1,15 @@
+
+# Consider dependencies only in project.
+set(CMAKE_DEPENDS_IN_PROJECT_ONLY OFF)
+
 # The set of languages for which implicit dependencies are needed:
 set(CMAKE_DEPENDS_LANGUAGES
-  "CXX"
-  )
-# The set of files for implicit dependencies of each language:
-set(CMAKE_DEPENDS_CHECK_CXX
-  "/home/kanken/code/AHRS_core/src/model/hardware/cameras/camEnum.cpp" "/home/kanken/code/AHRS_core/src/model/hardware/cameras/CMakeFiles/cameras.dir/camEnum.cpp.o"
-  "/home/kanken/code/AHRS_core/src/model/hardware/cameras/cameraManager.cpp" "/home/kanken/code/AHRS_core/src/model/hardware/cameras/CMakeFiles/cameras.dir/cameraManager.cpp.o"
  )
-set(CMAKE_CXX_COMPILER_ID "GNU")

-# The include file search paths:
-set(CMAKE_CXX_TARGET_INCLUDE_PATH
-  "/usr/local/include/opencv4"
+# The set of dependency files which are needed:
+set(CMAKE_DEPENDS_DEPENDENCY_FILES
+  "/home/kanken/code/AHRS_core/src/model/hardware/cameras/camEnum.cpp" "model/hardware/cameras/CMakeFiles/cameras.dir/camEnum.cpp.o" "gcc" "model/hardware/cameras/CMakeFiles/cameras.dir/camEnum.cpp.o.d"
+  "/home/kanken/code/AHRS_core/src/model/hardware/cameras/cameraManager.cpp" "model/hardware/cameras/CMakeFiles/cameras.dir/cameraManager.cpp.o" "gcc" "model/hardware/cameras/CMakeFiles/cameras.dir/cameraManager.cpp.o.d"
  )

 # Targets to which this target links.
--- a/src/model/hardware/cameras/CMakeFiles/cameras.dir/build.make
+++ b/src/model/hardware/cameras/CMakeFiles/cameras.dir/build.make
@ -1,40 +1,32 @@
 # CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 3.18
+# Generated by "Unix Makefiles" Generator, CMake Version 3.22

 # Delete rule output on recipe failure.
 .DELETE_ON_ERROR:

-
 #=============================================================================
 # Special targets provided by cmake.

 # Disable implicit rules so canonical targets will work.
 .SUFFIXES:

-
 # Disable VCS-based implicit rules.
 % : %,v

-
 # Disable VCS-based implicit rules.
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-
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-
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-
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 % : s.%

-
 .SUFFIXES: .hpux_make_needs_suffix_list

-
 # Command-line flag to silence nested $(MAKE).
 $(VERBOSE)MAKESILENT = -s

@ -43,7 +35,6 @@ $(VERBOSE).SILENT:

 # A target that is always out of date.
 cmake_force:
-
 .PHONY : cmake_force

 #=============================================================================
@ -69,6 +60,8 @@ CMAKE_BINARY_DIR = /home/kanken/code/AHRS_core/src

 # Include any dependencies generated for this target.
 include model/hardware/cameras/CMakeFiles/cameras.dir/depend.make
+# Include any dependencies generated by the compiler for this target.
+include model/hardware/cameras/CMakeFiles/cameras.dir/compiler_depend.make

 # Include the progress variables for this target.
 include model/hardware/cameras/CMakeFiles/cameras.dir/progress.make
@ -78,8 +71,9 @@ include model/hardware/cameras/CMakeFiles/cameras.dir/flags.make

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 # target to generate assembly for a file
--- a/src/model/hardware/psvr/_psvr.hpp
+++ b/src/model/hardware/psvr/_psvr.hpp
@ -1,29 +1,68 @@
 #include "../ihidapi/_hidapi.hpp"
+#include "../../../model/patterns/commands/commands.hpp"

-const unsigned char psvr_vrmode_off[8] {0x23,0x00,0xaa,0x04,0x00,0x00,0x00,0x00};
-const unsigned char psvr_vrmode_on[8] {0x23,0x00,0xaa,0x04,0x01,0x00,0x00,0x00};
-const unsigned char psvr_power_off[8] {0x17,0x00,0xaa,0x04,0x01,0x00,0x00,0x00};
-const unsigned char psvr_power_on[8] {0x17,0x00,0xaa,0x04,0x00,0x00,0x00,0x00};
+const unsigned char psvr_vrmode_off[8]{0x23, 0x00, 0xaa, 0x04, 0x00, 0x00, 0x00, 0x00};
+const unsigned char psvr_vrmode_on[8]{0x23, 0x00, 0xaa, 0x04, 0x01, 0x00, 0x00, 0x00};
+const unsigned char psvr_power_off[8]{0x17, 0x00, 0xaa, 0x04, 0x01, 0x00, 0x00, 0x00};
+const unsigned char psvr_power_on[8]{0x17, 0x00, 0xaa, 0x04, 0x00, 0x00, 0x00, 0x00};

 #define sony_vid 0x054c
 #define psvr_pid 0x09af
 #define ctrl_device_iface 5
 #define ld_device_iface 4

-namespace psvr{
-    class Psvr{
-        public:
-        hid_device* handle;
+namespace psvr
+{
+    class Psvr
+    {
+    public:
+        hid_device *handle;
        bool vrMode;
        bool powered;

-        Psvr(); //default constructor
+        Psvr(); // default constructor
        ~Psvr();

        void startup();
        void shutdown();
        void vrmode();
        void cinemaMode();
-        void close();//default destructor
+        void close(); // default destructor
+    };
+
+    class StartupCommand : public Command
+    {
+    private:
+        Psvr *_internal;
+    public:
+        StartupCommand(Psvr *internal) : _internal(internal) {}
+        void Execute() const override {_internal->startup();}
+    };
+
+    class ShutdownCommand : public Command
+    {
+    private:
+        Psvr *_internal;
+    public:
+        ShutdownCommand(Psvr *internal) : _internal(internal) {}
+        void Execute() const override { _internal->shutdown();}
+    };
+
+    class CinemaModeCommand : public Command
+    {
+    private:
+        Psvr *_internal;
+    public:
+        CinemaModeCommand(Psvr *internal) : _internal(internal) {}
+        void Execute() const override { _internal->cinemaMode();}
+    };
+
+    class VrModeCommand : public Command
+    {
+    private:
+        Psvr *_internal;
+    public:
+        VrModeCommand(Psvr *internal) : _internal(internal) {}
+        void Execute() const override { _internal->vrmode(); }
    };
 }
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