From 18ad21bdc88cd45806a3f005d8c1849df972c855 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Fri, 11 Aug 2023 22:27:49 +0400
Subject: [PATCH 01/82] refactor(Haptics): new effects interface
[skip ci]
---
.clang-format | 2 +
lib/arduino/components/serial_plotter.cpp | 2 +-
lib/core/types.hpp | 17 +--
lib/core/utility.hpp | 2 +-
lib/haptics/haptic_body.cpp | 41 ++++---
lib/haptics/haptic_body.hpp | 27 ++---
lib/haptics/haptic_constants.h | 5 -
lib/haptics/haptic_plane.cpp | 127 +++++++++++-----------
lib/haptics/haptic_plane.hpp | 127 ++++++++++++++--------
lib/haptics/haptics_interface.hpp | 65 +++++++++++
lib/math/point2.hpp | 56 +++++-----
platformio.ini | 2 +-
test/test_haptic_body/main.cpp | 69 ------------
test/test_haptics_body/main.cpp | 117 ++++++++++++++++++++
test/test_haptics_plane/main.cpp | 120 +++++++++++---------
test/test_math_point2/main.cpp | 10 ++
16 files changed, 477 insertions(+), 312 deletions(-)
delete mode 100644 lib/haptics/haptic_constants.h
create mode 100644 lib/haptics/haptics_interface.hpp
delete mode 100644 test/test_haptic_body/main.cpp
create mode 100644 test/test_haptics_body/main.cpp
diff --git a/.clang-format b/.clang-format
index 01908c3b..8972cb76 100644
--- a/.clang-format
+++ b/.clang-format
@@ -7,6 +7,8 @@ AllowAllConstructorInitializersOnNextLine: 'true'
AllowAllParametersOfDeclarationOnNextLine: 'true'
AllowShortBlocksOnASingleLine: 'false'
AllowShortCaseLabelsOnASingleLine: 'false'
+# TODO
+# AllowShortFunctionsOnASingleLine: Inline
AllowShortFunctionsOnASingleLine: Empty
AllowShortIfStatementsOnASingleLine: Never
AllowShortLambdasOnASingleLine: Empty
diff --git a/lib/arduino/components/serial_plotter.cpp b/lib/arduino/components/serial_plotter.cpp
index 4920552e..c3320721 100644
--- a/lib/arduino/components/serial_plotter.cpp
+++ b/lib/arduino/components/serial_plotter.cpp
@@ -8,7 +8,7 @@ void OH::SerialPlotter_OutputStates<_Tp>::run()
oh_output_path_t path = _c.first;
OH::HapticPlane* component = _c.second;
- for (auto& _s : *component->getOutputStates()) {
+ for (auto& _s : *component->getActuatorStates()) {
oh_output_point_t point = _s.first;
oh_output_state_t state = _s.second;
diff --git a/lib/core/types.hpp b/lib/core/types.hpp
index 60866742..3c51c75f 100644
--- a/lib/core/types.hpp
+++ b/lib/core/types.hpp
@@ -9,20 +9,5 @@
#define OH_OUTPUT_COORD_MAX UINT8_MAX
typedef uint8_t oh_output_path_t;
-typedef OH_OUTPUT_COORD_T oh_output_coord_t;
+typedef OH_OUTPUT_COORD_T oh_output_coord_t;
typedef OH::Point2b oh_output_point_t;
-
-namespace OH {
- struct OutputData {
- oh_output_point_t point;
- oh_output_intensity_t intensity;
- };
-
- struct OutputState {
- oh_output_intensity_t intensity;
- };
-} // namespace OH
-
-typedef OH::OutputData oh_output_data_t;
-typedef OH::OutputState oh_output_state_t;
-typedef std::map<oh_output_point_t, OH::AbstractActuator*> oh_output_writers_map_t;
diff --git a/lib/core/utility.hpp b/lib/core/utility.hpp
index 7a60c5b1..3d40497e 100644
--- a/lib/core/utility.hpp
+++ b/lib/core/utility.hpp
@@ -30,7 +30,7 @@ namespace OH {
};
template<typename _Tp>
- inline _Tp accurateMap(_Tp x, _Tp in_min, _Tp in_max, _Tp out_min, _Tp out_max)
+ constexpr _Tp accurateMap(_Tp x, _Tp in_min, _Tp in_max, _Tp out_min, _Tp out_max)
{
const _Tp run = in_max - in_min;
if (run == 0) {
diff --git a/lib/haptics/haptic_body.cpp b/lib/haptics/haptic_body.cpp
index 6abee88d..3718ed41 100644
--- a/lib/haptics/haptic_body.cpp
+++ b/lib/haptics/haptic_body.cpp
@@ -2,24 +2,31 @@
#include <logging.hpp>
-void OH::HapticBody::addComponent(const oh_output_path_t path, OH::HapticPlane* c)
-{
- this->components[path] = c;
-}
+namespace SenseShift::Body::Haptics {
+ void HapticBody::setup()
+ {
+ for (auto& [target, plane] : this->vibroTargets) {
+ plane->setup();
+ }
+ }
-std::map<oh_output_path_t, OH::HapticPlane*>* OH::HapticBody::getComponents()
-{
- return &this->components;
-}
+ void HapticBody::effect(const EffectRequest_t& effect)
+ {
+ if (effect.effect == Effect::Vibro && std::holds_alternative<VibroEffect_t>(effect.data)) {
+ auto it = this->vibroTargets.find(effect.target);
+ if (it == this->vibroTargets.end()) {
+ log_w("No target found for effect: %d", effect.target);
+ return;
+ }
-void OH::HapticBody::writeOutput(const oh_output_path_t path, const oh_output_data_t& data)
-{
- if (this->getComponents()->count(path) == 0) {
- // if no requested component exists, skip
- log_w("No component found for path %d", path);
- return;
+ it->second->effect(effect.position, std::get<VibroEffect_t>(effect.data));
+ } else {
+ log_w("Non-supported effect type: %d", effect.effect);
+ }
}
- auto componentSearch = this->getComponents()->find(path);
- (*componentSearch).second->writeOutput(data);
-}
+ void HapticBody::addTarget(const Target_t target, VibroPlane* plane)
+ {
+ this->vibroTargets[target] = plane;
+ }
+} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/haptic_body.hpp b/lib/haptics/haptic_body.hpp
index b57b853b..33252535 100644
--- a/lib/haptics/haptic_body.hpp
+++ b/lib/haptics/haptic_body.hpp
@@ -1,32 +1,27 @@
#pragma once
-#include "haptic_constants.h"
#include "haptic_plane.hpp"
+#include "haptics_interface.hpp"
#include <types.hpp>
#include <utility.hpp>
#include <map>
-namespace OH {
+namespace SenseShift::Body::Haptics {
class HapticBody {
- private:
- typedef std::map<oh_output_path_t, HapticPlane*> oh_output_components_map_t;
- std::map<oh_output_path_t, HapticPlane*> components{};
-
public:
+ typedef std::map<Target_t, VibroPlane*> VibroTargetMap_t;
+
HapticBody(){};
- void addComponent(const oh_output_path_t, HapticPlane*);
- oh_output_components_map_t* getComponents();
+ void setup();
- void writeOutput(const oh_output_path_t, const oh_output_data_t&);
+ void effect(const EffectRequest_t&);
- void setup()
- {
- for (auto& component : this->components) {
- component.second->setup();
- }
- };
+ void addTarget(const Target_t, VibroPlane* plane);
+
+ private:
+ VibroTargetMap_t vibroTargets{};
};
-} // namespace OH
+} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/haptic_constants.h b/lib/haptics/haptic_constants.h
deleted file mode 100644
index 8184df26..00000000
--- a/lib/haptics/haptic_constants.h
+++ /dev/null
@@ -1,5 +0,0 @@
-#pragma once
-
-#define OUTPUT_PATH_CHEST_FRONT 0x00
-#define OUTPUT_PATH_CHEST_BACK 0x01
-#define OUTPUT_PATH_ACCESSORY 0x02
diff --git a/lib/haptics/haptic_plane.cpp b/lib/haptics/haptic_plane.cpp
index 95929d94..ddbf0e7b 100644
--- a/lib/haptics/haptic_plane.cpp
+++ b/lib/haptics/haptic_plane.cpp
@@ -3,79 +3,78 @@
#include <algorithm>
#include <logging.hpp>
#include <math.h>
-#include <utility.hpp>
-void OH::HapticPlane::setOutputs(oh_output_writers_map_t& outputs)
-{
- this->writers.clear();
- this->writers = outputs;
-
- this->points.clear();
- for (auto& _p : outputs) {
- this->points.push_back(_p.first);
- }
+#include "haptic_plane.hpp"
- this->states.clear();
- for (auto& _p : outputs) {
- this->states[_p.first] = {};
+namespace SenseShift::Body::Haptics {
+ template<typename _Tp>
+ void ActuativePlane<_Tp>::setActuators(const ActuatorMap_t& actuators)
+ {
+ this->actuators.clear();
+ for (const auto& [point, actuator] : actuators) {
+ this->actuators[point] = actuator;
+ }
+
+ this->points.clear();
+ for (const auto& [point, _] : actuators) {
+ this->points.insert(point);
+ }
+
+ this->states.clear();
+ for (const auto& [point, _] : actuators) {
+ this->states[point] = 0;
+ }
}
-}
-void OH::HapticPlane::setup()
-{
- for (const auto& kv : this->writers) {
- kv.second->setup();
+ template<typename _Tp>
+ void ActuativePlane<_Tp>::setup()
+ {
+ for (const auto& [point, actuator] : this->actuators) {
+ actuator->setup();
+ }
}
-}
-void OH::HapticPlane::writeOutput(const oh_output_data_t& data)
-{
- if (this->writers.count(data.point) == 0) {
- log_w("No writer for point (%u, %u)", data.point.x, data.point.y);
- return;
+ template<typename _Tp>
+ void ActuativePlane<_Tp>::effect(const Position_t& pos, const Value_t& val)
+ {
+ auto it = this->actuators.find(pos);
+ if (it == this->actuators.end()) {
+ log_w("No actuator for point (%u, %u)", pos.x, pos.y);
+ return;
+ }
+
+ it->second->writeOutput(val);
+ this->states[pos] = val;
}
- auto state = &this->states[data.point];
- state->intensity = data.intensity;
-
- this->writers.at(data.point)->writeOutput(state->intensity);
-}
-
-oh_output_point_t
- OH::HapticPlane_Closest::findClosestPoints(std::list<oh_output_point_t>& pts, const oh_output_point_t& target)
-{
- if (contains(pts, target)) {
- return target;
+ template<typename _Tp>
+ void ActuativePlane_Closest<_Tp>::effect(const Position_t& pos, const Value_t& val)
+ {
+ auto& closest = this->findClosestPoint(*this->getAvailablePoints(), pos);
+ ActuativePlane<_Tp>::effect(closest, val);
}
- std::multimap<float, oh_output_point_t> mp = {};
-
- for (auto& _p : pts) {
- float dx = abs(((float) target.x / OH_OUTPUT_COORD_MAX) - ((float) _p.x / OH_OUTPUT_COORD_MAX)),
- dy = abs(((float) target.y / OH_OUTPUT_COORD_MAX) - ((float) _p.y / OH_OUTPUT_COORD_MAX));
-
- auto dist = (float) sqrt(pow(dx, 2) + pow(dy, 2));
-
- mp.insert({ dist, _p });
+ template<typename _Tp>
+ const Position_t&
+ ActuativePlane_Closest<_Tp>::findClosestPoint(const PositionSet_t& pts, const Position_t& target) const
+ {
+ // check if exact point exists
+ auto it = pts.find(target);
+ if (it != pts.end()) {
+ return *it;
+ }
+
+ // find closest point by square distance
+ std::multimap<float, Position_t> mp = {};
+ for (const auto& _p : pts) {
+ mp.insert({ (target - _p), _p });
+ }
+
+ auto nearest = std::min_element(mp.begin(), mp.end());
+
+ return nearest->second;
}
- auto nearest = std::min_element(
- mp.begin(),
- mp.end(),
- [](const std::pair<float, oh_output_point_t>& a, const std::pair<float, oh_output_point_t>& b) {
- return a.first < b.first;
- }
- );
-
- return nearest->second;
-}
-
-void OH::HapticPlane_Closest::writeOutput(const oh_output_data_t& data)
-{
- auto closestPoint = this->findClosestPoints(this->points, data.point);
-
- auto state = &this->states[closestPoint];
- state->intensity = data.intensity;
-
- this->writers.at(closestPoint)->writeOutput(state->intensity);
-}
+ template class ActuativePlane<VibroEffect_t>;
+ template class ActuativePlane_Closest<VibroEffect_t>;
+} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/haptic_plane.hpp b/lib/haptics/haptic_plane.hpp
index 49084195..8f565ef6 100644
--- a/lib/haptics/haptic_plane.hpp
+++ b/lib/haptics/haptic_plane.hpp
@@ -1,71 +1,96 @@
#pragma once
+#include "haptics_interface.hpp"
+
#include <abstract_actuator.hpp>
#include <types.hpp>
#include <utility.hpp>
#include <list>
#include <map>
+#include <set>
#include <vector>
-namespace OH {
+namespace SenseShift::Body::Haptics {
+ typedef std::set<Position_t> PositionSet_t;
+
/**
* Output "plane" (e.g. Chest, Palm, Finger, etc.)
+ *
+ * @tparam _Tp The type of the output value.
*/
- class HapticPlane {
- protected:
- std::list<oh_output_point_t> points{};
- oh_output_writers_map_t writers{};
- std::map<oh_output_point_t, oh_output_state_t> states{};
-
- void setOutputs(oh_output_writers_map_t&);
+ template<typename _Tp>
+ class ActuativePlane {
+ static_assert(std::is_same<_Tp, VibroEffect_t>());
public:
- HapticPlane(oh_output_writers_map_t& outputs)
+ typedef _Tp Value_t;
+ typedef std::map<Position_t, Value_t> PositionStateMap_t;
+
+ /**
+ * The type of the actuator.
+ * @TODO: Make this a template parameter
+ */
+ typedef OH::AbstractActuator Actuator_t;
+ typedef std::map<Position_t, Actuator_t*> ActuatorMap_t;
+
+ ActuativePlane(const ActuatorMap_t& actuators)
{
- this->setOutputs(outputs);
- };
- std::list<oh_output_point_t>* getOutputPoints(void)
+ this->setActuators(actuators);
+ }
+
+ void setup();
+ virtual void effect(const Position_t&, const Value_t&);
+
+ [[nodiscard]] const PositionSet_t* getAvailablePoints() const
{
- return &this->points;
- };
- std::map<oh_output_point_t, oh_output_state_t>* getOutputStates(void)
+ return &points;
+ }
+ [[nodiscard]] const PositionStateMap_t* getActuatorStates() const
{
- return &this->states;
- };
- virtual void writeOutput(const oh_output_data_t&);
- void setup();
- };
+ return &states;
+ }
- class HapticPlane_Closest : public HapticPlane {
- protected:
- oh_output_point_t findClosestPoints(std::list<oh_output_point_t>& pts, const oh_output_point_t& target);
- void setOutputs(oh_output_writers_map_t&);
+ private:
+ PositionSet_t points;
+ ActuatorMap_t actuators{};
+ PositionStateMap_t states{};
- public:
- HapticPlane_Closest(oh_output_writers_map_t& outputs) : HapticPlane(outputs){};
- void writeOutput(const oh_output_data_t&) override;
+ void setActuators(const ActuatorMap_t&);
};
- class PlaneMapper_Margin {
+ typedef ActuativePlane<VibroEffect_t> VibroPlane;
+
+ /**
+ * Output plane, finds the closest actuator for the given point.
+ * @deprecated We should guarantee on the driver level, that the actuator is always exists
+ */
+ template<typename _Tp>
+ class ActuativePlane_Closest : public ActuativePlane<_Tp> {
public:
- /**
- * Re-maps a point index to output coordinate.
- * @tparam _Tp The type of the point index.
- */
- template<typename _Tp>
- static inline oh_output_point_t* mapPoint(_Tp x, _Tp y, _Tp x_max, _Tp y_max)
- {
- const oh_output_coord_t x_coord = simpleMap<_Tp>(x + 1, x_max + 2, OH_OUTPUT_COORD_MAX);
- const oh_output_coord_t y_coord = simpleMap<_Tp>(y + 1, y_max + 2, OH_OUTPUT_COORD_MAX);
+ typedef _Tp Value_t;
- return new oh_output_point_t(x_coord, y_coord);
+ ActuativePlane_Closest(const typename ActuativePlane<_Tp>::ActuatorMap_t& actuators) :
+ ActuativePlane<_Tp>(actuators)
+ {
}
+ void effect(const Position_t&, const Value_t&) override;
+
+ private:
+ [[nodiscard]] const Position_t& findClosestPoint(const PositionSet_t&, const Position_t&) const;
+ };
+
+ typedef ActuativePlane_Closest<VibroEffect_t> VibroPlane_Closest;
+
+ // TODO: configurable margin
+ class PlaneMapper_Margin {
+ public:
template<typename _Tp>
- static inline std::map<oh_output_point_t, _Tp*> mapMatrixCoordinates(std::vector<std::vector<_Tp*>> map2d)
+ [[nodiscard]] static constexpr inline std::map<oh_output_point_t, _Tp*>
+ mapMatrixCoordinates(std::vector<std::vector<_Tp*>> map2d)
{
- std::map<oh_output_point_t, _Tp*> points{};
+ std::map<Position_t, _Tp*> points{};
size_t y_size = map2d.size();
size_t y_max = y_size - 1;
@@ -76,14 +101,28 @@ namespace OH {
size_t x_max = x_size - 1;
for (size_t x = 0; x < x_size; ++x) {
- AbstractActuator* wr = row.at(x);
- oh_output_point_t* coord = mapPoint(x, y, x_max, y_max);
+ auto* wr = row.at(x);
+ Position_t coord = PlaneMapper_Margin::mapPoint<Position_t::Value_t>(x, y, x_max, y_max);
- points[*coord] = wr;
+ points[coord] = wr;
}
}
return points;
}
+
+ /**
+ * Re-maps a point index to output coordinate.
+ * @tparam _Tp The type of the point index.
+ */
+ template<typename _Tp>
+ [[nodiscard]] static constexpr inline OH::Point2<_Tp> mapPoint(_Tp x, _Tp y, _Tp x_max, _Tp y_max)
+ {
+ using Point_t = OH::Point2<_Tp>;
+ return Point_t(
+ OH::accurateMap<_Tp>(x + 1, 0, x_max + 2, Point_t::MIN, Point_t::MAX),
+ OH::accurateMap<_Tp>(y + 1, 0, y_max + 2, Point_t::MIN, Point_t::MAX)
+ );
+ }
};
-} // namespace OH
+} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/haptics_interface.hpp b/lib/haptics/haptics_interface.hpp
new file mode 100644
index 00000000..f6734c76
--- /dev/null
+++ b/lib/haptics/haptics_interface.hpp
@@ -0,0 +1,65 @@
+#pragma once
+
+#include <stdint.h>
+#include <variant>
+
+#include <point2.hpp>
+
+namespace SenseShift::Body::Haptics {
+ typedef uint8_t EffectIntex_t;
+ static const EffectIntex_t EFFECT_INVALID = 0xFF;
+ typedef enum class Effect : EffectIntex_t {
+ Invalid = EFFECT_INVALID,
+ Vibro = 0x00,
+ // TODO: thermal, etc.
+ // Thermal = 0x01,
+ } Effect_t;
+
+ typedef uint8_t TargetIndex_t;
+ static const TargetIndex_t TARGET_INVALID = 0xFF;
+ typedef enum class Target : TargetIndex_t {
+ Invalid = TARGET_INVALID,
+ ChestFront = 0x00,
+ ChestBack = 0x01,
+ // Legacy backword compatibility
+ Accessory [[deprecated]] = 0x02,
+
+ // TODO: arms, legs, etc.
+ } Target_t;
+
+ typedef uint8_t Coordinate_t;
+ typedef OH::Point2<Coordinate_t> Position_t;
+
+ // Vibration intensity.
+ typedef struct VibroEffect {
+ using Intensity_t = uint16_t;
+ inline static const Intensity_t INTENSITY_MIN = 0;
+ inline static const Intensity_t INTENSITY_MAX = 4095;
+
+ Intensity_t intensity = 0;
+
+ inline constexpr VibroEffect() = default;
+ inline constexpr VibroEffect(Intensity_t intensity) : intensity(intensity) {}
+ inline constexpr VibroEffect(const VibroEffect& other) = default;
+
+ inline constexpr operator uint16_t() const
+ {
+ return intensity;
+ }
+ } VibroEffect_t;
+
+ // TODO: thermal, etc.
+
+ typedef std::variant<VibroEffect_t
+ // TODO: thermal, etc.
+ // ThermalEffect_t
+ >
+ EffectData_t;
+
+ typedef struct EffectRequest {
+ Effect_t effect = Effect::Invalid;
+ Target_t target = Target::Invalid;
+ Position_t position = Position_t(0, 0);
+ EffectData_t data;
+ } EffectRequest_t;
+} // namespace SenseShift::Body::Haptics
diff --git a/lib/math/point2.hpp b/lib/math/point2.hpp
index 04db618d..0cf151b8 100644
--- a/lib/math/point2.hpp
+++ b/lib/math/point2.hpp
@@ -1,19 +1,43 @@
#pragma once
+#include <cmath>
#include <tuple>
namespace OH {
template<typename _Tp>
struct Point2 {
- _Tp x, y;
+ static_assert(std::is_arithmetic<_Tp>::value, "OH::Point2 only can be used with arithmetic types");
+
+ typedef _Tp Value_t;
- Point2() : x((_Tp) 0), y((_Tp) 0){};
- Point2(_Tp x, _Tp y) : x(x), y(y){};
- Point2(const Point2<_Tp>& v) : x((_Tp) v.x), y((_Tp) v.y){};
+ inline static const _Tp MIN = std::numeric_limits<_Tp>::min();
+ inline static const _Tp MAX = std::numeric_limits<_Tp>::max();
- bool operator==(const Point2& rhs) const;
- bool operator!=(const Point2& rhs) const;
- bool operator<(const Point2& rhs) const;
+ _Tp x, y;
+
+ constexpr Point2() : x((_Tp) 0), y((_Tp) 0){};
+ constexpr Point2(_Tp x, _Tp y) : x(x), y(y){};
+ constexpr Point2(const Point2<_Tp>& v) : x((_Tp) v.x), y((_Tp) v.y){};
+
+ constexpr inline bool operator==(const Point2<_Tp>& rhs) const
+ {
+ return x == rhs.x && y == rhs.y;
+ }
+
+ constexpr inline bool operator!=(const Point2<_Tp>& rhs) const
+ {
+ return !(*this == rhs);
+ }
+
+ constexpr bool operator<(const Point2<_Tp>& rhs) const
+ {
+ return std::tie(x, y) < std::tie(rhs.x, rhs.y);
+ }
+
+ constexpr float operator-(const Point2<_Tp>& rhs) const
+ {
+ return std::sqrt(std::pow(x - rhs.x, 2) + std::pow(y - rhs.y, 2));
+ }
};
typedef Point2<unsigned char> Point2b;
@@ -22,22 +46,4 @@ namespace OH {
typedef Point2<int> Point2i;
typedef Point2<short> Point2s;
typedef Point2<unsigned short> Point2w;
-
- template<typename _Tp>
- inline bool Point2<_Tp>::operator==(const Point2<_Tp>& rhs) const
- {
- return x == rhs.x && y == rhs.y;
- }
-
- template<typename _Tp>
- inline bool Point2<_Tp>::operator!=(const Point2<_Tp>& rhs) const
- {
- return !(*this == rhs);
- }
-
- template<typename _Tp>
- inline bool Point2<_Tp>::operator<(const Point2<_Tp>& rhs) const
- {
- return std::tie(x, y) < std::tie(rhs.x, rhs.y);
- }
}; // namespace OH
diff --git a/platformio.ini b/platformio.ini
index e6e18eec..f88d3a17 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -67,6 +67,6 @@ build_flags = ${common.build_flags}
build_src_filter = ${common.build_src_filter}
+<mode_configs/test.cpp>
lib_deps = ${common.lib_deps}
- fabiobatsilva/ArduinoFake@^0.3.1
+ fabiobatsilva/ArduinoFake@^0.4
test_ignore = test_embedded
diff --git a/test/test_haptic_body/main.cpp b/test/test_haptic_body/main.cpp
deleted file mode 100644
index 81bd6492..00000000
--- a/test/test_haptic_body/main.cpp
+++ /dev/null
@@ -1,69 +0,0 @@
-#include <haptic_body.hpp>
-#include <unity.h>
-
-using namespace OH;
-
-class TestActuator : public AbstractActuator {
- public:
- bool isSetup = false;
- oh_output_intensity_t intensity = 0;
-
- TestActuator() : AbstractActuator() {}
- void setup() override
- {
- this->isSetup = true;
- }
- void writeOutput(oh_output_intensity_t intensity) override
- {
- this->intensity = intensity;
- }
-};
-
-void test_it_sets_up_planes(void)
-{
- auto body = new HapticBody();
-
- oh_output_writers_map_t outputs = {
- { { 0, 0 }, new TestActuator() },
- { { 0, 1 }, new TestActuator() },
- { { 1, 0 }, new TestActuator() },
- { { 1, 1 }, new TestActuator() },
- };
- auto plane = new HapticPlane(outputs);
-
- body->addComponent(0, plane);
- body->setup();
-
- for (auto& kv : outputs) {
- TEST_ASSERT_TRUE(static_cast<TestActuator*>(kv.second)->isSetup);
- }
-}
-
-int process(void)
-{
- UNITY_BEGIN();
-
- RUN_TEST(test_it_sets_up_planes);
-
- return UNITY_END();
-}
-
-#ifdef ARDUINO
-
-#include <Arduino.h>
-
-void setup(void)
-{
- process();
-}
-
-void loop(void) {}
-
-#else
-
-int main(int argc, char** argv)
-{
- return process();
-}
-
-#endif
diff --git a/test/test_haptics_body/main.cpp b/test/test_haptics_body/main.cpp
new file mode 100644
index 00000000..d16ed628
--- /dev/null
+++ b/test/test_haptics_body/main.cpp
@@ -0,0 +1,117 @@
+#include <haptic_body.hpp>
+#include <unity.h>
+
+using namespace SenseShift::Body::Haptics;
+
+class TestActuator : public OH::AbstractActuator {
+ public:
+ bool isSetup = false;
+ oh_output_intensity_t intensity = 0;
+
+ TestActuator() : AbstractActuator() {}
+ void setup() override
+ {
+ this->isSetup = true;
+ }
+ void writeOutput(oh_output_intensity_t intensity) override
+ {
+ this->intensity = intensity;
+ }
+};
+
+void test_it_sets_up_planes(void)
+{
+ auto body = new HapticBody();
+
+ VibroPlane::ActuatorMap_t outputs = {
+ { { 0, 0 }, new TestActuator() },
+ { { 0, 1 }, new TestActuator() },
+ { { 1, 0 }, new TestActuator() },
+ { { 1, 1 }, new TestActuator() },
+ };
+ auto plane = new VibroPlane(outputs);
+
+ body->addTarget(Target::ChestFront, plane);
+ body->setup();
+
+ for (auto& kv : outputs) {
+ TEST_ASSERT_TRUE_MESSAGE(static_cast<TestActuator*>(kv.second)->isSetup, "Actuator was not setup");
+ }
+}
+
+void test_it_handles_effect__vibro(void)
+{
+ auto actuator1 = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
+ actuator4 = new TestActuator();
+
+ auto body = new HapticBody();
+
+ auto plane = new VibroPlane({
+ { { 0, 0 }, actuator1 },
+ { { 0, 1 }, actuator2 },
+ { { 1, 0 }, actuator3 },
+ { { 1, 1 }, actuator4 },
+ });
+
+ body->addTarget(Target::ChestFront, plane);
+
+ body->effect({
+ .effect = Effect::Vibro,
+ .target = Target::ChestFront,
+ .position = { 0, 0 },
+ .data = (VibroEffect_t) 64,
+ });
+ body->effect({
+ .effect = Effect::Vibro,
+ .target = Target::ChestFront,
+ .position = { 0, 1 },
+ .data = (VibroEffect_t) 128,
+ });
+ body->effect({
+ .effect = Effect::Vibro,
+ .target = Target::ChestFront,
+ .position = { 1, 0 },
+ .data = (VibroEffect_t) 192,
+ });
+ body->effect({
+ .effect = Effect::Vibro,
+ .target = Target::ChestFront,
+ .position = { 1, 1 },
+ .data = (VibroEffect_t) 255,
+ });
+
+ TEST_ASSERT_EQUAL(64, actuator1->intensity);
+ TEST_ASSERT_EQUAL(128, actuator2->intensity);
+ TEST_ASSERT_EQUAL(192, actuator3->intensity);
+ TEST_ASSERT_EQUAL(255, actuator4->intensity);
+}
+
+int process(void)
+{
+ UNITY_BEGIN();
+
+ RUN_TEST(test_it_sets_up_planes);
+ RUN_TEST(test_it_handles_effect__vibro);
+
+ return UNITY_END();
+}
+
+#ifdef ARDUINO
+
+#include <Arduino.h>
+
+void setup(void)
+{
+ process();
+}
+
+void loop(void) {}
+
+#else
+
+int main(int argc, char** argv)
+{
+ return process();
+}
+
+#endif
diff --git a/test/test_haptics_plane/main.cpp b/test/test_haptics_plane/main.cpp
index 6077cf80..ec1af818 100644
--- a/test/test_haptics_plane/main.cpp
+++ b/test/test_haptics_plane/main.cpp
@@ -1,9 +1,9 @@
#include <haptic_plane.hpp>
#include <unity.h>
-using namespace OH;
+using namespace SenseShift::Body::Haptics;
-class TestActuator : public AbstractActuator {
+class TestActuator : public OH::AbstractActuator {
public:
bool isSetup = false;
oh_output_intensity_t intensity = 0;
@@ -21,18 +21,21 @@ class TestActuator : public AbstractActuator {
void test_it_sets_up_actuators(void)
{
- oh_output_writers_map_t outputs = {
+ VibroPlane::ActuatorMap_t outputs = {
{ { 0, 0 }, new TestActuator() },
{ { 0, 1 }, new TestActuator() },
{ { 1, 0 }, new TestActuator() },
{ { 1, 1 }, new TestActuator() },
};
- auto plane = new HapticPlane(outputs);
+ auto plane = new VibroPlane(outputs);
plane->setup();
+ TEST_ASSERT_EQUAL(outputs.size(), plane->getAvailablePoints()->size());
for (auto& kv : outputs) {
- TEST_ASSERT_TRUE(static_cast<TestActuator*>(kv.second)->isSetup);
+ TEST_ASSERT_TRUE_MESSAGE(plane->getAvailablePoints()->count(kv.first) > 0, "Expected point was not found");
+ TEST_ASSERT_TRUE_MESSAGE(plane->getActuatorStates()->count(kv.first) > 0, "Expected state was not found");
+ TEST_ASSERT_TRUE_MESSAGE(static_cast<TestActuator*>(kv.second)->isSetup, "Actuator was not setup");
}
}
@@ -41,20 +44,19 @@ void test_it_writes_to_correct_output(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- oh_output_writers_map_t outputs = {
+ VibroPlane::ActuatorMap_t outputs = {
{ { 0, 0 }, actuator },
{ { 0, 1 }, actuator2 },
{ { 1, 0 }, actuator3 },
{ { 1, 1 }, actuator4 },
};
- auto plane = new HapticPlane(outputs);
- plane->setup();
+ auto plane = new VibroPlane(outputs);
- plane->writeOutput({ { 0, 0 }, 64 });
- plane->writeOutput({ { 0, 1 }, 128 });
- plane->writeOutput({ { 1, 0 }, 192 });
- plane->writeOutput({ { 1, 1 }, 255 });
+ plane->effect({ 0, 0 }, 64);
+ plane->effect({ 0, 1 }, 128);
+ plane->effect({ 1, 0 }, 192);
+ plane->effect({ 1, 1 }, 255);
TEST_ASSERT_EQUAL_UINT8(64, actuator->intensity);
TEST_ASSERT_EQUAL_UINT8(128, actuator2->intensity);
@@ -67,25 +69,31 @@ void test_it_updates_state(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- oh_output_writers_map_t outputs = {
+ VibroPlane::ActuatorMap_t outputs = {
{ { 0, 0 }, actuator },
{ { 0, 1 }, actuator2 },
{ { 1, 0 }, actuator3 },
{ { 1, 1 }, actuator4 },
};
- auto plane = new HapticPlane(outputs);
- plane->setup();
+ auto plane = new VibroPlane(outputs);
+
+ plane->effect({ 0, 0 }, 64);
+ plane->effect({ 0, 1 }, 128);
+ plane->effect({ 1, 0 }, 192);
+ plane->effect({ 1, 1 }, 255);
+
+ TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 0, 0 }) > 0);
+ TEST_ASSERT_EQUAL_UINT8(64, plane->getActuatorStates()->at({ 0, 0 }));
- plane->writeOutput({ { 0, 0 }, 64 });
- plane->writeOutput({ { 0, 1 }, 128 });
- plane->writeOutput({ { 1, 0 }, 192 });
- plane->writeOutput({ { 1, 1 }, 255 });
+ TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 0, 1 }) > 0);
+ TEST_ASSERT_EQUAL_UINT8(128, plane->getActuatorStates()->at({ 0, 1 }));
- TEST_ASSERT_EQUAL_UINT8(64, plane->getOutputStates()->at({ 0, 0 }).intensity);
- TEST_ASSERT_EQUAL_UINT8(128, plane->getOutputStates()->at({ 0, 1 }).intensity);
- TEST_ASSERT_EQUAL_UINT8(192, plane->getOutputStates()->at({ 1, 0 }).intensity);
- TEST_ASSERT_EQUAL_UINT8(255, plane->getOutputStates()->at({ 1, 1 }).intensity);
+ TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 1, 0 }) > 0);
+ TEST_ASSERT_EQUAL_UINT8(192, plane->getActuatorStates()->at({ 1, 0 }));
+
+ TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 1, 1 }) > 0);
+ TEST_ASSERT_EQUAL_UINT8(255, plane->getActuatorStates()->at({ 1, 1 }));
}
void test_closest_it_writes_to_correct_if_exact(void)
@@ -93,20 +101,19 @@ void test_closest_it_writes_to_correct_if_exact(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- oh_output_writers_map_t outputs = {
+ VibroPlane_Closest::ActuatorMap_t outputs = {
{ { 0, 0 }, actuator },
{ { 0, 1 }, actuator2 },
{ { 1, 0 }, actuator3 },
{ { 1, 1 }, actuator4 },
};
- auto plane = new HapticPlane_Closest(outputs);
- plane->setup();
+ auto plane = new VibroPlane_Closest(outputs);
- plane->writeOutput({ { 0, 0 }, 1 });
- plane->writeOutput({ { 0, 1 }, 2 });
- plane->writeOutput({ { 1, 0 }, 3 });
- plane->writeOutput({ { 1, 1 }, 4 });
+ plane->effect({ 0, 0 }, 1);
+ plane->effect({ 0, 1 }, 2);
+ plane->effect({ 1, 0 }, 3);
+ plane->effect({ 1, 1 }, 4);
TEST_ASSERT_EQUAL(1, actuator->intensity);
TEST_ASSERT_EQUAL(2, actuator2->intensity);
@@ -119,18 +126,17 @@ void test_closest_it_correctly_finds_closest(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- oh_output_writers_map_t outputs = {
+ VibroPlane_Closest::ActuatorMap_t outputs = {
{ { 0, 0 }, actuator },
{ { 0, 64 }, actuator2 },
{ { 64, 0 }, actuator3 },
{ { 64, 64 }, actuator4 },
};
- auto plane = new HapticPlane_Closest(outputs);
- plane->setup();
+ auto plane = new VibroPlane_Closest(outputs);
- plane->writeOutput({ { 16, 16 }, 16 });
- plane->writeOutput({ { 65, 65 }, 65 });
+ plane->effect({ 16, 16 }, 16);
+ plane->effect({ 65, 65 }, 65);
TEST_ASSERT_EQUAL(16, actuator->intensity);
TEST_ASSERT_EQUAL(0, actuator2->intensity);
@@ -143,41 +149,47 @@ void test_closest_it_updates_state(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- oh_output_writers_map_t outputs = {
+ VibroPlane_Closest::ActuatorMap_t outputs = {
{ { 0, 0 }, actuator },
{ { 0, 64 }, actuator2 },
{ { 64, 0 }, actuator3 },
{ { 64, 64 }, actuator4 },
};
- auto plane = new HapticPlane_Closest(outputs);
- plane->setup();
+ auto plane = new VibroPlane_Closest(outputs);
+
+ plane->effect({ 16, 16 }, 16);
+ plane->effect({ 65, 65 }, 65);
+
+ TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 0, 0 }) > 0);
+ TEST_ASSERT_EQUAL(16, plane->getActuatorStates()->at({ 0, 0 }));
- plane->writeOutput({ { 16, 16 }, 16 });
- plane->writeOutput({ { 65, 65 }, 65 });
+ TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 0, 64 }) > 0);
+ TEST_ASSERT_EQUAL(0, plane->getActuatorStates()->at({ 0, 64 }));
- TEST_ASSERT_EQUAL(16, plane->getOutputStates()->at({ 0, 0 }).intensity);
- TEST_ASSERT_EQUAL(0, plane->getOutputStates()->at({ 0, 64 }).intensity);
- TEST_ASSERT_EQUAL(0, plane->getOutputStates()->at({ 64, 0 }).intensity);
- TEST_ASSERT_EQUAL(65, plane->getOutputStates()->at({ 64, 64 }).intensity);
+ TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 64, 0 }) > 0);
+ TEST_ASSERT_EQUAL(0, plane->getActuatorStates()->at({ 64, 0 }));
+
+ TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 64, 64 }) > 0);
+ TEST_ASSERT_EQUAL(65, plane->getActuatorStates()->at({ 64, 64 }));
}
void test_plain_mapper_margin_map_points(void)
{
- auto point = PlaneMapper_Margin::mapPoint(0, 0, 0, 0);
+ auto point = PlaneMapper_Margin::mapPoint<uint8_t>(0, 0, 0, 0);
- TEST_ASSERT_EQUAL(127, point->x);
- TEST_ASSERT_EQUAL(127, point->y);
+ TEST_ASSERT_EQUAL(127, point.x);
+ TEST_ASSERT_EQUAL(127, point.y);
- point = PlaneMapper_Margin::mapPoint(0, 0, 1, 1);
+ point = PlaneMapper_Margin::mapPoint<uint8_t>(0, 0, 1, 1);
- TEST_ASSERT_EQUAL(85, point->x);
- TEST_ASSERT_EQUAL(85, point->y);
+ TEST_ASSERT_EQUAL(85, point.x);
+ TEST_ASSERT_EQUAL(85, point.y);
- point = PlaneMapper_Margin::mapPoint(1, 1, 1, 1);
+ point = PlaneMapper_Margin::mapPoint<uint8_t>(1, 1, 1, 1);
- TEST_ASSERT_EQUAL(170, point->x);
- TEST_ASSERT_EQUAL(170, point->y);
+ TEST_ASSERT_EQUAL(170, point.x);
+ TEST_ASSERT_EQUAL(170, point.y);
}
int process(void)
@@ -187,9 +199,11 @@ int process(void)
RUN_TEST(test_it_sets_up_actuators);
RUN_TEST(test_it_writes_to_correct_output);
RUN_TEST(test_it_updates_state);
+
RUN_TEST(test_closest_it_writes_to_correct_if_exact);
RUN_TEST(test_closest_it_correctly_finds_closest);
RUN_TEST(test_closest_it_updates_state);
+
RUN_TEST(test_plain_mapper_margin_map_points);
return UNITY_END();
diff --git a/test/test_math_point2/main.cpp b/test/test_math_point2/main.cpp
index 48378b18..8da8b3dd 100644
--- a/test/test_math_point2/main.cpp
+++ b/test/test_math_point2/main.cpp
@@ -33,6 +33,15 @@ void test_operator_less_than(void)
TEST_ASSERT_TRUE(p1 < p3);
}
+void test_operator_minus(void)
+{
+ Point2 p1 = { 32, 32 };
+ Point2 p2 = { 16, 16 };
+
+ TEST_ASSERT_EQUAL_FLOAT(p1 - p2, p2 - p1);
+ TEST_ASSERT_EQUAL_FLOAT(22.6274, p1 - p2);
+}
+
int process(void)
{
UNITY_BEGIN();
@@ -40,6 +49,7 @@ int process(void)
RUN_TEST(test_operator_equal);
RUN_TEST(test_operator_not_equal);
RUN_TEST(test_operator_less_than);
+ RUN_TEST(test_operator_minus);
return UNITY_END();
}
From 2394497e1041e4f0e7ea2d4ed2803a0db5cec098 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sat, 12 Aug 2023 02:22:17 +0400
Subject: [PATCH 02/82] refactor(bHaptics): use new Haptics interfafce
---
lib/bhaptics/bh_constants.hpp | 86 ++++++++--------
lib/bhaptics/bh_utils.cpp | 114 ++++++++++-----------
lib/bhaptics/bh_utils.hpp | 40 ++++++--
lib/core/types.hpp | 2 +-
test/test_bhaptics/main.cpp | 188 ++++++----------------------------
5 files changed, 164 insertions(+), 266 deletions(-)
diff --git a/lib/bhaptics/bh_constants.hpp b/lib/bhaptics/bh_constants.hpp
index 92e8ec60..b28f53e3 100644
--- a/lib/bhaptics/bh_constants.hpp
+++ b/lib/bhaptics/bh_constants.hpp
@@ -1,5 +1,7 @@
#pragma once
+#include <haptic_plane.hpp>
+
#if defined(ESP32)
#include <BLEUUID.h>
#endif
@@ -17,12 +19,12 @@
#define BH_LAYOUT_TACTSUITX16_SIZE_X 4
#define BH_LAYOUT_TACTSUITX16_SIZE_Y 2
-#define BH_LAYOUT_TACTSUITX16_MAKE_POINT(x, y) \
- OH::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTSUITX16_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTSUITX16_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTSUITX16_MAKE_POINT(x, y) \
+ SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ x, \
+ y, \
+ (oh_output_coord_t) (BH_LAYOUT_TACTSUITX16_SIZE_X - 1), \
+ (oh_output_coord_t) (BH_LAYOUT_TACTSUITX16_SIZE_Y - 1) \
)
// X16 suit uses the same packets structure as x40 suit and performs motor grouping in firmware
@@ -95,12 +97,12 @@
#define BH_LAYOUT_TACTSUITX40_SIZE_X 4
#define BH_LAYOUT_TACTSUITX40_SIZE_Y 5
-#define BH_LAYOUT_TACTSUITX40_MAKE_POINT(x, y) \
- OH::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTSUITX40_MAKE_POINT(x, y) \
+ SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ x, \
+ y, \
+ (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_X - 1), \
+ (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_Y - 1) \
)
// X * Y for front and back
@@ -162,12 +164,12 @@
#define BH_LAYOUT_TACTAL_SIZE_X 6
#define BH_LAYOUT_TACTAL_SIZE_Y 1
-#define BH_LAYOUT_TACTAL_MAKE_POINT(x, y) \
- OH::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTAL_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTAL_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTAL_MAKE_POINT(x, y) \
+ SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ x, \
+ y, \
+ (oh_output_coord_t) (BH_LAYOUT_TACTAL_SIZE_X - 1), \
+ (oh_output_coord_t) (BH_LAYOUT_TACTAL_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTAL_SIZE (BH_LAYOUT_TACTAL_SIZE_X * BH_LAYOUT_TACTAL_SIZE_Y)
@@ -188,12 +190,12 @@
#define BH_LAYOUT_TACTVISOR_SIZE_X 4
#define BH_LAYOUT_TACTVISOR_SIZE_Y 1
-#define BH_LAYOUT_TACTVISOR_MAKE_POINT(x, y) \
- OH::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTVISOR_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTVISOR_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTVISOR_MAKE_POINT(x, y) \
+ SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ x, \
+ y, \
+ (oh_output_coord_t) (BH_LAYOUT_TACTVISOR_SIZE_X - 1), \
+ (oh_output_coord_t) (BH_LAYOUT_TACTVISOR_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTVISOR_SIZE (BH_LAYOUT_TACTVISOR_SIZE_X * BH_LAYOUT_TACTVISOR_SIZE_Y)
@@ -212,12 +214,12 @@
#define BH_LAYOUT_TACTOSY2_SIZE_X 3
#define BH_LAYOUT_TACTOSY2_SIZE_Y 2
-#define BH_LAYOUT_TACTOSY2_MAKE_POINT(x, y) \
- OH::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTOSY2_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTOSY2_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTOSY2_MAKE_POINT(x, y) \
+ SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ x, \
+ y, \
+ (oh_output_coord_t) (BH_LAYOUT_TACTOSY2_SIZE_X - 1), \
+ (oh_output_coord_t) (BH_LAYOUT_TACTOSY2_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTOSY2_SIZE (BH_LAYOUT_TACTOSY2_SIZE_X * BH_LAYOUT_TACTOSY2_SIZE_Y)
@@ -234,12 +236,12 @@
#define BH_LAYOUT_TACTOSYH_SIZE_X 1
#define BH_LAYOUT_TACTOSYH_SIZE_Y 3
-#define BH_LAYOUT_TACTOSYH_MAKE_POINT(x, y) \
- OH::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTOSYH_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTOSYH_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTOSYH_MAKE_POINT(x, y) \
+ SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ x, \
+ y, \
+ (oh_output_coord_t) (BH_LAYOUT_TACTOSYH_SIZE_X - 1), \
+ (oh_output_coord_t) (BH_LAYOUT_TACTOSYH_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTOSYH_SIZE (BH_LAYOUT_TACTOSYH_SIZE_X * BH_LAYOUT_TACTOSYH_SIZE_Y)
@@ -253,12 +255,12 @@
#define BH_LAYOUT_TACTOSYF_SIZE_X 1
#define BH_LAYOUT_TACTOSYF_SIZE_Y 3
-#define BH_LAYOUT_TACTOSYF_MAKE_POINT(x, y) \
- OH::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTOSYF_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTOSYF_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTOSYF_MAKE_POINT(x, y) \
+ SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ x, \
+ y, \
+ (oh_output_coord_t) (BH_LAYOUT_TACTOSYF_SIZE_X - 1), \
+ (oh_output_coord_t) (BH_LAYOUT_TACTOSYF_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTOSYF_SIZE (BH_LAYOUT_TACTOSYF_SIZE_X * BH_LAYOUT_TACTOSYF_SIZE_Y)
diff --git a/lib/bhaptics/bh_utils.cpp b/lib/bhaptics/bh_utils.cpp
index 710e53a5..d1a4654a 100644
--- a/lib/bhaptics/bh_utils.cpp
+++ b/lib/bhaptics/bh_utils.cpp
@@ -2,60 +2,54 @@
#include <utility.hpp>
-void BH::plainOutputTransformer(
- OH::HapticBody* output,
- std::string& value,
- const oh_output_point_t* layout[],
- const size_t layoutSize,
- const oh_output_path_t path
-)
-{
- for (size_t i = 0; i < layoutSize; i++) {
- uint8_t byte = value[i];
-
- oh_output_data_t outputData{
- .point = *layout[i],
- // TODO: optimize generic type
- .intensity =
- static_cast<oh_output_intensity_t>(OH::accurateMap<long>(byte, 0, 100, 0, OH_OUTPUT_INTENSITY_MAX)),
- };
-
- output->writeOutput(path, outputData);
+namespace BH {
+ template<size_t N = 20>
+ void vestOutputTransformer(
+ SenseShift::Body::Haptics::HapticBody* output, const char (&value)[N], const oh_output_point_t (&layout)[N * 2]
+ )
+ {
+ for (size_t i = 0; i < N; i++) {
+ uint8_t byte = value[i];
+ uint actIndex = i * 2;
+ const auto target = (actIndex < 10 || actIndex >= 30) ? SenseShift::Body::Haptics::Target::ChestFront
+ : SenseShift::Body::Haptics::Target::ChestBack;
+
+ output->effect({
+ .effect = SenseShift::Body::Haptics::Effect::Vibro,
+ .target = target,
+ .position = layout[actIndex],
+ .data = SenseShift::Body::Haptics::VibroEffect(
+ OH::simpleMap<SenseShift::Body::Haptics::VibroEffect::Intensity_t>(
+ ((byte >> 4) & 0xf),
+ 15,
+ SenseShift::Body::Haptics::VibroEffect::INTENSITY_MAX
+ )
+ ),
+ });
+ output->effect({
+ .effect = SenseShift::Body::Haptics::Effect::Vibro,
+ .target = target,
+ .position = layout[actIndex + 1],
+ .data = SenseShift::Body::Haptics::VibroEffect(
+ OH::simpleMap<SenseShift::Body::Haptics::VibroEffect::Intensity_t>(
+ (byte & 0xf),
+ 15,
+ SenseShift::Body::Haptics::VibroEffect::INTENSITY_MAX
+ )
+ ),
+ });
+ }
}
-}
-
-void BH::vestOutputTransformer(
- OH::HapticBody* output, std::string& value, const oh_output_point_t* layout[], const size_t layoutSize
-)
-{
- for (size_t i = 0; i < layoutSize / 2; i++) {
- uint8_t byte = value[i];
- uint actIndex = i * 2;
- const auto path = (actIndex < 10 || actIndex >= 30) ? OUTPUT_PATH_CHEST_FRONT : OUTPUT_PATH_CHEST_BACK;
-
- const oh_output_data_t outputData0{
- .point = *layout[actIndex],
- // TODO: optimize generic type
- .intensity =
- static_cast<oh_output_intensity_t>(OH::simpleMap<long>(((byte >> 4) & 0xf), 15, OH_OUTPUT_INTENSITY_MAX)),
- };
- const oh_output_data_t outputData1{
- .point = *layout[actIndex + 1],
- // TODO: optimize generic type
- .intensity =
- static_cast<oh_output_intensity_t>(OH::simpleMap<long>((byte & 0xf), 15, OH_OUTPUT_INTENSITY_MAX)),
- };
-
- output->writeOutput(path, outputData0);
- output->writeOutput(path, outputData1);
- }
-}
+ template void vestOutputTransformer<20>(
+ SenseShift::Body::Haptics::HapticBody* output, const char (&value)[20], const oh_output_point_t (&layout)[40]
+ );
+} // namespace BH
void BH::vestX16OutputTransformer(
- OH::HapticBody* output,
- std::string& value,
- const oh_output_point_t* layout[],
+ SenseShift::Body::Haptics::HapticBody* output,
+ const std::string& value,
+ const oh_output_point_t* layout,
const size_t layoutSize,
const uint8_t layoutGroups[],
const size_t layoutGroupsSize
@@ -98,14 +92,16 @@ void BH::vestX16OutputTransformer(
continue;
}
- const auto path = (i < 10 || i >= 30) ? OUTPUT_PATH_CHEST_FRONT : OUTPUT_PATH_CHEST_BACK;
- const oh_output_data_t outputData{
- .point = *layout[i],
- // TODO: optimize generic type
- .intensity =
- static_cast<oh_output_intensity_t>(OH::accurateMap<long>(result[i], 0, 15, 0, OH_OUTPUT_INTENSITY_MAX)),
- };
-
- output->writeOutput(path, outputData);
+ const auto target = (i < 10 || i >= 30) ? SenseShift::Body::Haptics::Target::ChestFront
+ : SenseShift::Body::Haptics::Target::ChestBack;
+
+ output->effect({
+ .effect = SenseShift::Body::Haptics::Effect::Vibro,
+ .target = target,
+ .position = layout[i],
+ .data = SenseShift::Body::Haptics::VibroEffect(
+ static_cast<oh_output_intensity_t>(OH::accurateMap<long>(result[i], 0, 15, 0, OH_OUTPUT_INTENSITY_MAX))
+ ),
+ });
}
}
diff --git a/lib/bhaptics/bh_utils.hpp b/lib/bhaptics/bh_utils.hpp
index b1b42fd6..2825aea7 100644
--- a/lib/bhaptics/bh_utils.hpp
+++ b/lib/bhaptics/bh_utils.hpp
@@ -4,20 +4,40 @@
#include <string>
namespace BH {
+ template<size_t N>
void plainOutputTransformer(
- OH::HapticBody* output,
- std::string& value,
- const oh_output_point_t* layout[],
- const size_t layoutSize,
- const oh_output_path_t path
- );
+ SenseShift::Body::Haptics::HapticBody* output,
+ const char (&value)[N],
+ const oh_output_point_t (&layout)[N],
+ const SenseShift::Body::Haptics::Target_t target
+ )
+ {
+ for (size_t i = 0; i < N; i++) {
+ uint8_t byte = value[i];
+
+ output->effect({
+ .effect = SenseShift::Body::Haptics::Effect::Vibro,
+ .target = target,
+ .position = layout[i],
+ .data = SenseShift::Body::Haptics::VibroEffect(
+ OH::simpleMap<SenseShift::Body::Haptics::VibroEffect::Intensity_t>(
+ byte,
+ 100,
+ SenseShift::Body::Haptics::VibroEffect::INTENSITY_MAX
+ )
+ ),
+ });
+ }
+ }
+
+ template<size_t N = 20>
void vestOutputTransformer(
- OH::HapticBody* output, std::string& value, const oh_output_point_t* layout[], const size_t layoutSize
+ SenseShift::Body::Haptics::HapticBody* output, const char (&value)[N], const oh_output_point_t (&layout)[N * 2]
);
void vestX16OutputTransformer(
- OH::HapticBody* output,
- std::string& value,
- const oh_output_point_t* layout[],
+ SenseShift::Body::Haptics::HapticBody* output,
+ const std::string& value,
+ const oh_output_point_t* layout,
const size_t layoutSize,
const uint8_t layoutGroups[],
const size_t layoutGroupsSize
diff --git a/lib/core/types.hpp b/lib/core/types.hpp
index 3c51c75f..ed2c7a20 100644
--- a/lib/core/types.hpp
+++ b/lib/core/types.hpp
@@ -9,5 +9,5 @@
#define OH_OUTPUT_COORD_MAX UINT8_MAX
typedef uint8_t oh_output_path_t;
-typedef OH_OUTPUT_COORD_T oh_output_coord_t;
+typedef OH_OUTPUT_COORD_T oh_output_coord_t;
typedef OH::Point2b oh_output_point_t;
diff --git a/test/test_bhaptics/main.cpp b/test/test_bhaptics/main.cpp
index 1725cca1..1cc22a18 100644
--- a/test/test_bhaptics/main.cpp
+++ b/test/test_bhaptics/main.cpp
@@ -1,12 +1,13 @@
#include <bh_types.hpp>
#include <bh_utils.hpp>
-#include <haptic_plane.hpp>
+
#include <unity.h>
+using namespace SenseShift::Body::Haptics;
using namespace OH;
using namespace BH;
-class TestActuator : public AbstractActuator {
+class TestActuator : public OH::AbstractActuator {
public:
bool isSetup = false;
oh_output_intensity_t intensity = 0;
@@ -25,7 +26,7 @@ class TestActuator : public AbstractActuator {
void test_layout_tactsuitx16(void)
{
static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
- static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX16;
+ static const oh_output_point_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX16;
static const size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
static const uint8_t layoutGroups[layoutGroupsSize] = BH_LAYOUT_TACTSUITX16_GROUPS;
@@ -49,7 +50,7 @@ void test_layout_tactsuitx16(void)
TestActuator* actuator14 = new TestActuator();
TestActuator* actuator15 = new TestActuator();
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<OH::AbstractActuator>({
{ actuator0, actuator1, actuator2, actuator3 },
{ actuator4, actuator5, actuator6, actuator7 },
});
@@ -58,12 +59,12 @@ void test_layout_tactsuitx16(void)
{ actuator12, actuator13, actuator14, actuator15 },
});
- auto frontPlane = new HapticPlane(frontOutputs);
- auto backPlane = new HapticPlane(backOutputs);
+ auto frontPlane = new VibroPlane(frontOutputs);
+ auto backPlane = new VibroPlane(backOutputs);
- body->addComponent(OUTPUT_PATH_CHEST_FRONT, frontPlane);
- body->addComponent(OUTPUT_PATH_CHEST_BACK, backPlane);
- body->setup();
+ body->addTarget(Target::ChestFront, frontPlane);
+ body->addTarget(Target::ChestBack, backPlane);
+ // body->setup();
uint8_t values[] = {
0x01, 0x00, 0x23, 0x00, 0x00, 0x45, 0x00, 0x67, 0x00, 0x00,
@@ -94,7 +95,7 @@ void test_layout_tactsuitx16(void)
void test_layout_tactsuitx40(void)
{
static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX40_SIZE;
- static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
+ static const oh_output_point_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
auto body = new HapticBody();
@@ -116,20 +117,21 @@ void test_layout_tactsuitx40(void)
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>(frontMatrix);
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>(backMatrix);
- auto frontPlane = new HapticPlane(frontOutputs);
- auto backPlane = new HapticPlane(backOutputs);
-
- body->addComponent(OUTPUT_PATH_CHEST_FRONT, frontPlane);
- body->addComponent(OUTPUT_PATH_CHEST_BACK, backPlane);
- body->setup();
-
- uint8_t values[] = {
- 0x01, 0x23, 0x45, 0x67, 0x89, 0xab, 0xcd, 0xef, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- };
- std::string value = std::string((char*) values, sizeof(values));
-
- vestOutputTransformer(body, value, bhLayout, bhLayoutSize);
+ auto frontPlane = new VibroPlane(frontOutputs);
+ auto backPlane = new VibroPlane(backOutputs);
+
+ body->addTarget(Target::ChestFront, frontPlane);
+ body->addTarget(Target::ChestBack, backPlane);
+ // body->setup();
+
+ vestOutputTransformer(
+ body,
+ {
+ 0x01, 0x23, 0x45, 0x67, (char) 0x89, (char) 0xab, (char) 0xcd, (char) 0xef, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ },
+ bhLayout
+ );
TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[0][0])->intensity);
TEST_ASSERT_EQUAL_INT(273, static_cast<TestActuator*>(frontMatrix[0][1])->intensity);
TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[0][2])->intensity);
@@ -176,7 +178,7 @@ void test_layout_tactsuitx40(void)
void test_layout_tactal(void)
{
static const size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
- static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
+ static const oh_output_point_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
auto body = new HapticBody();
@@ -190,60 +192,11 @@ void test_layout_tactal(void)
auto outputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
{ actuator0, actuator1, actuator2, actuator3, actuator4, actuator5 },
});
- auto plane = new HapticPlane(outputs);
-
- body->addComponent(OUTPUT_PATH_ACCESSORY, plane);
- body->setup();
-
- uint8_t values[] = { 0x64, 0x00, 0x00, 0x00, 0x00, 0x00 };
- std::string value = std::string((char*) values, sizeof(values));
-
- plainOutputTransformer(body, value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
- TEST_ASSERT_EQUAL_INT(4095, actuator0->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator1->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator2->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator3->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator4->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator5->intensity);
-
- value = "\x10\x20\x30\x40\x50\x60";
-
- plainOutputTransformer(body, value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
- TEST_ASSERT_EQUAL_INT(655, actuator0->intensity);
- TEST_ASSERT_EQUAL_INT(1310, actuator1->intensity);
- TEST_ASSERT_EQUAL_INT(1965, actuator2->intensity);
- TEST_ASSERT_EQUAL_INT(2620, actuator3->intensity);
- TEST_ASSERT_EQUAL_INT(3276, actuator4->intensity);
- TEST_ASSERT_EQUAL_INT(3931, actuator5->intensity);
-}
-
-void test_layout_tactosy2(void)
-{
- static const size_t bhLayoutSize = BH_LAYOUT_TACTOSY2_SIZE;
- static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSY2;
-
- auto body = new HapticBody();
-
- TestActuator* actuator0 = new TestActuator();
- TestActuator* actuator1 = new TestActuator();
- TestActuator* actuator2 = new TestActuator();
- TestActuator* actuator3 = new TestActuator();
- TestActuator* actuator4 = new TestActuator();
- TestActuator* actuator5 = new TestActuator();
-
- auto outputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
- { actuator0, actuator1, actuator2 },
- { actuator3, actuator4, actuator5 },
- });
- auto plane = new HapticPlane(outputs);
-
- body->addComponent(OUTPUT_PATH_ACCESSORY, plane);
- body->setup();
+ auto plane = new VibroPlane(outputs);
- uint8_t values[] = { 0x64, 0x00, 0x00, 0x00, 0x00, 0x00 };
- std::string value = std::string((char*) values, sizeof(values));
+ body->addTarget(Target::Accessory, plane);
- plainOutputTransformer(body, value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
+ plainOutputTransformer(body, { 0x64, 0x00, 0x00, 0x00, 0x00, 0x00 }, bhLayout, Target::Accessory);
TEST_ASSERT_EQUAL_INT(4095, actuator0->intensity);
TEST_ASSERT_EQUAL_INT(0, actuator1->intensity);
TEST_ASSERT_EQUAL_INT(0, actuator2->intensity);
@@ -251,8 +204,7 @@ void test_layout_tactosy2(void)
TEST_ASSERT_EQUAL_INT(0, actuator4->intensity);
TEST_ASSERT_EQUAL_INT(0, actuator5->intensity);
- value = "\x10\x20\x30\x40\x50\x60";
- plainOutputTransformer(body, value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
+ plainOutputTransformer(body, { 0x10, 0x20, 0x30, 0x40, 0x50, 0x60 }, bhLayout, Target::Accessory);
TEST_ASSERT_EQUAL_INT(655, actuator0->intensity);
TEST_ASSERT_EQUAL_INT(1310, actuator1->intensity);
TEST_ASSERT_EQUAL_INT(1965, actuator2->intensity);
@@ -261,78 +213,6 @@ void test_layout_tactosy2(void)
TEST_ASSERT_EQUAL_INT(3931, actuator5->intensity);
}
-void test_layout_tactosyh(void)
-{
- static const size_t bhLayoutSize = BH_LAYOUT_TACTOSYH_SIZE;
- static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYH;
-
- auto body = new HapticBody();
-
- TestActuator* actuator0 = new TestActuator();
- TestActuator* actuator1 = new TestActuator();
- TestActuator* actuator2 = new TestActuator();
-
- auto outputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
- { actuator0 },
- { actuator1 },
- { actuator2 },
- });
- auto plane = new HapticPlane(outputs);
-
- body->addComponent(OUTPUT_PATH_ACCESSORY, plane);
- body->setup();
-
- uint8_t values[] = { 0x64, 0x00, 0x00 };
- std::string value = std::string((char*) values, sizeof(values));
-
- plainOutputTransformer(body, value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
- TEST_ASSERT_EQUAL_INT(4095, actuator0->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator1->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator2->intensity);
-
- value = "\x10\x20\x30";
- plainOutputTransformer(body, value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
- TEST_ASSERT_EQUAL_INT(655, actuator0->intensity);
- TEST_ASSERT_EQUAL_INT(1310, actuator1->intensity);
- TEST_ASSERT_EQUAL_INT(1965, actuator2->intensity);
-}
-
-void test_layout_tactosyf(void)
-{
- static const size_t bhLayoutSize = BH_LAYOUT_TACTOSYF_SIZE;
- static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYF;
-
- auto body = new HapticBody();
-
- TestActuator* actuator0 = new TestActuator();
- TestActuator* actuator1 = new TestActuator();
- TestActuator* actuator2 = new TestActuator();
-
- auto outputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
- { actuator0 },
- { actuator1 },
- { actuator2 },
- });
- auto plane = new HapticPlane(outputs);
-
- body->addComponent(OUTPUT_PATH_ACCESSORY, plane);
- body->setup();
-
- uint8_t values[] = { 0x64, 0x00, 0x00 };
- std::string value = std::string((char*) values, sizeof(values));
-
- plainOutputTransformer(body, value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
- TEST_ASSERT_EQUAL_INT(4095, actuator0->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator1->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator2->intensity);
-
- value = "\x10\x20\x30";
- plainOutputTransformer(body, value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
- TEST_ASSERT_EQUAL_INT(655, actuator0->intensity);
- TEST_ASSERT_EQUAL_INT(1310, actuator1->intensity);
- TEST_ASSERT_EQUAL_INT(1965, actuator2->intensity);
-}
-
int process(void)
{
UNITY_BEGIN();
@@ -340,9 +220,9 @@ int process(void)
RUN_TEST(test_layout_tactsuitx16);
RUN_TEST(test_layout_tactsuitx40);
RUN_TEST(test_layout_tactal);
- RUN_TEST(test_layout_tactosy2);
- RUN_TEST(test_layout_tactosyh);
- RUN_TEST(test_layout_tactosyf);
+ // RUN_TEST(test_layout_tactosy2);
+ // RUN_TEST(test_layout_tactosyh);
+ // RUN_TEST(test_layout_tactosyf);
return UNITY_END();
}
From 164f0edd071189f1acbab8b472ea4774894efa0f Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sat, 12 Aug 2023 13:54:05 +0400
Subject: [PATCH 03/82] refactor(bHaptics): update firmwares after refactoring
---
firmware/firmware.cpp | 2 +-
firmware/mode_configs/bhaptics/tactal.cpp | 16 +++++++-----
firmware/senseshift.cpp | 32 ++++++++++++-----------
include/senseshift.h | 30 +++++++++++----------
lib/arduino/components/serial_plotter.cpp | 24 ++++++++++-------
lib/arduino/components/serial_plotter.hpp | 6 ++---
lib/haptics/haptic_body.cpp | 1 +
lib/haptics/haptic_body.hpp | 6 +++++
8 files changed, 68 insertions(+), 49 deletions(-)
diff --git a/firmware/firmware.cpp b/firmware/firmware.cpp
index 28aeed08..ae0f0668 100644
--- a/firmware/firmware.cpp
+++ b/firmware/firmware.cpp
@@ -19,7 +19,7 @@ extern void loopMode();
#if defined(ARDUINO)
-SenseShift App;
+SenseShift::SenseShift App;
void setup()
{
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index 25913016..f4430848 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -15,13 +15,15 @@
#endif
using namespace OH;
+using namespace SenseShift;
+using namespace SenseShift::Body::Haptics;
using namespace BH;
-extern SenseShift App;
-SenseShift* app = &App;
+extern SenseShift::SenseShift App;
+SenseShift::SenseShift* app = &App;
static const size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
-static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
+static const oh_output_point_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
void setupMode()
{
@@ -32,8 +34,8 @@ void setupMode()
// clang-format on
});
- auto* face = new HapticPlane_Closest(faceOutputs);
- app->getHapticBody()->addComponent(OUTPUT_PATH_ACCESSORY, face);
+ auto* face = new VibroPlane_Closest(faceOutputs);
+ app->getHapticBody()->addTarget(Target::Accessory, face);
app->getHapticBody()->setup();
@@ -46,7 +48,9 @@ void setupMode()
auto* bhBleConnection = new ConnectionBHBLE(
config,
[](std::string& value) -> void {
- plainOutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
+ char buf[6];
+ strncpy(buf, value.c_str(), 6);
+ plainOutputTransformer<6>(app->getHapticBody(), buf, bhLayout, Target::Accessory);
},
app
);
diff --git a/firmware/senseshift.cpp b/firmware/senseshift.cpp
index 683ac376..f54fda9a 100644
--- a/firmware/senseshift.cpp
+++ b/firmware/senseshift.cpp
@@ -8,23 +8,25 @@
#include <logging.hpp>
-SenseShift::SenseShift()
-{
- this->pHapticBody = new OH::HapticBody();
-}
+namespace SenseShift {
+ SenseShift::SenseShift()
+ {
+ this->pHapticBody = new Body::Haptics::HapticBody();
+ }
-void SenseShift::postEvent(const OH::IEvent* event)
-{
- log_i("Event dispatched at %u: %s (%p)", millis(), event->eventName.c_str(), event);
+ void SenseShift::postEvent(const OH::IEvent* event)
+ {
+ log_i("Event dispatched at %u: %s (%p)", millis(), event->eventName.c_str(), event);
- for (auto* listener : this->eventListeners) {
- listener->handleEvent(event);
- }
+ for (auto* listener : this->eventListeners) {
+ listener->handleEvent(event);
+ }
- delete event;
-}
+ delete event;
+ }
-void SenseShift::addEventListener(const OH::IEventListener* listener)
-{
- this->eventListeners.push_back(listener);
+ void SenseShift::addEventListener(const OH::IEventListener* listener)
+ {
+ this->eventListeners.push_back(listener);
+ }
}
diff --git a/include/senseshift.h b/include/senseshift.h
index 1251a9fd..f4346148 100644
--- a/include/senseshift.h
+++ b/include/senseshift.h
@@ -12,23 +12,25 @@
#include <vector>
-class SenseShift final : public OH::IEventDispatcher {
- private:
- std::vector<const OH::IEventListener*> eventListeners{};
- OH::HapticBody* pHapticBody;
+namespace SenseShift {
+ class SenseShift final : public OH::IEventDispatcher {
+ private:
+ std::vector<const OH::IEventListener*> eventListeners{};
+ Body::Haptics::HapticBody* pHapticBody;
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
- OH::BatterySensor* battery;
+ OH::BatterySensor* battery;
#endif
- public:
- SenseShift();
+ public:
+ SenseShift();
- OH::HapticBody* getHapticBody()
- {
- return this->pHapticBody;
- };
+ Body::Haptics::HapticBody* getHapticBody()
+ {
+ return this->pHapticBody;
+ };
- void postEvent(const OH::IEvent* event) override;
- void addEventListener(const OH::IEventListener* listener) override;
-};
+ void postEvent(const OH::IEvent* event) override;
+ void addEventListener(const OH::IEventListener* listener) override;
+ };
+}
diff --git a/lib/arduino/components/serial_plotter.cpp b/lib/arduino/components/serial_plotter.cpp
index c3320721..21a1ffb1 100644
--- a/lib/arduino/components/serial_plotter.cpp
+++ b/lib/arduino/components/serial_plotter.cpp
@@ -1,19 +1,23 @@
#include "components/serial_plotter.hpp"
+struct PlaneVisitor {
+ const SenseShift::Body::Haptics::Target_t target;
+ HardwareSerial* serial;
+
+ void operator()(const SenseShift::Body::Haptics::VibroPlane* plane) const
+ {
+ for (const auto& [position, state] : *(plane->getActuatorStates())) {
+ this->serial->printf("Output[%u][%ux%u]:%u, ", this->target, position.x, position.y, state.intensity);
+ }
+ }
+};
+
template<typename _Tp>
void OH::SerialPlotter_OutputStates<_Tp>::run()
{
while (true) {
- for (auto& _c : *output->getComponents()) {
- oh_output_path_t path = _c.first;
- OH::HapticPlane* component = _c.second;
-
- for (auto& _s : *component->getActuatorStates()) {
- oh_output_point_t point = _s.first;
- oh_output_state_t state = _s.second;
-
- this->serial->printf("Output[%u][%ux%u]:%u, ", path, point.x, point.y, state.intensity);
- }
+ for (const auto& [target, plane] : *output->getTargets()) {
+ std::visit(PlaneVisitor{target, this->serial}, plane);
}
this->serial->println();
diff --git a/lib/arduino/components/serial_plotter.hpp b/lib/arduino/components/serial_plotter.hpp
index 70ab445e..e0a9be8a 100644
--- a/lib/arduino/components/serial_plotter.hpp
+++ b/lib/arduino/components/serial_plotter.hpp
@@ -21,7 +21,7 @@ namespace OH {
private:
_Tp* serial;
- HapticBody* output;
+ SenseShift::Body::Haptics::HapticBody* output;
uint32_t sampleRate;
void setup(void){};
@@ -30,12 +30,12 @@ namespace OH {
public:
SerialPlotter_OutputStates(
_Tp& serial,
- HapticBody* output,
+ SenseShift::Body::Haptics::HapticBody* output,
uint32_t sampleRate,
TaskConfig taskConfig = { "Serial Plotter", 2048, 1, tskNO_AFFINITY }
) :
Task<SerialPlotter_OutputStates<_Tp>>(taskConfig), serial(&serial), output(output), sampleRate(sampleRate){};
- SerialPlotter_OutputStates(_Tp& serial, HapticBody* output) : SerialPlotter_OutputStates(serial, output, 100){};
+ SerialPlotter_OutputStates(_Tp& serial, SenseShift::Body::Haptics::HapticBody* output) : SerialPlotter_OutputStates(serial, output, 100){};
void begin() override
{
diff --git a/lib/haptics/haptic_body.cpp b/lib/haptics/haptic_body.cpp
index 3718ed41..c90ce2f1 100644
--- a/lib/haptics/haptic_body.cpp
+++ b/lib/haptics/haptic_body.cpp
@@ -28,5 +28,6 @@ namespace SenseShift::Body::Haptics {
void HapticBody::addTarget(const Target_t target, VibroPlane* plane)
{
this->vibroTargets[target] = plane;
+ this->allTargets.insert({ target, plane });
}
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/haptic_body.hpp b/lib/haptics/haptic_body.hpp
index 33252535..088bad0e 100644
--- a/lib/haptics/haptic_body.hpp
+++ b/lib/haptics/haptic_body.hpp
@@ -11,6 +11,8 @@
namespace SenseShift::Body::Haptics {
class HapticBody {
public:
+ typedef std::variant<VibroPlane*> AuctiativePlane_t;
+ typedef std::multimap<Target_t, AuctiativePlane_t> PlaneTargetMap_t;
typedef std::map<Target_t, VibroPlane*> VibroTargetMap_t;
HapticBody(){};
@@ -21,7 +23,11 @@ namespace SenseShift::Body::Haptics {
void addTarget(const Target_t, VibroPlane* plane);
+ const PlaneTargetMap_t* getTargets() const { return &allTargets; }
+
private:
+ PlaneTargetMap_t allTargets{};
VibroTargetMap_t vibroTargets{};
+
};
} // namespace SenseShift::Body::Haptics
From 6f3b63f124a43dbf2bd3d9a478f38a58251593a2 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Wed, 16 Aug 2023 21:08:22 +0400
Subject: [PATCH 04/82] refactor(bHaptics): add Decoder class
---
firmware/mode_configs/bhaptics/tactal.cpp | 8 +-
lib/bhaptics/bh_encoding.hpp | 202 ++++++++++++++++++
lib/bhaptics/bh_utils.cpp | 107 ----------
lib/bhaptics/bh_utils.hpp | 45 ----
lib/haptics/haptic_body.cpp | 4 +-
lib/haptics/haptic_plane.cpp | 4 +-
lib/haptics/haptic_plane.hpp | 6 +-
lib/haptics/haptics_interface.hpp | 16 +-
.../main.cpp | 19 +-
test/test_haptics_body/main.cpp | 8 +-
10 files changed, 234 insertions(+), 185 deletions(-)
create mode 100644 lib/bhaptics/bh_encoding.hpp
delete mode 100644 lib/bhaptics/bh_utils.cpp
delete mode 100644 lib/bhaptics/bh_utils.hpp
rename test/{test_bhaptics => test_bhaptics_encoding}/main.cpp (93%)
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index f4430848..12bb9063 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -6,7 +6,7 @@
#include "senseshift.h"
-#include <bh_utils.hpp>
+#include <bh_encoding.hpp>
#include <connection_bhble.hpp>
#include <output_writers/pwm.hpp>
@@ -35,7 +35,7 @@ void setupMode()
});
auto* face = new VibroPlane_Closest(faceOutputs);
- app->getHapticBody()->addTarget(Target::Accessory, face);
+ app->getHapticBody()->addTarget(Target::FaceFront, face);
app->getHapticBody()->setup();
@@ -48,9 +48,7 @@ void setupMode()
auto* bhBleConnection = new ConnectionBHBLE(
config,
[](std::string& value) -> void {
- char buf[6];
- strncpy(buf, value.c_str(), 6);
- plainOutputTransformer<6>(app->getHapticBody(), buf, bhLayout, Target::Accessory);
+ Decoder::applyPlain<6>(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
},
app
);
diff --git a/lib/bhaptics/bh_encoding.hpp b/lib/bhaptics/bh_encoding.hpp
new file mode 100644
index 00000000..4a4c7508
--- /dev/null
+++ b/lib/bhaptics/bh_encoding.hpp
@@ -0,0 +1,202 @@
+#pragma once
+
+#include <haptic_body.hpp>
+#include <cstring>
+
+namespace BH
+{
+ class Decoder
+ {
+ public:
+ typedef SenseShift::Body::Haptics::VibroEffectData_t VibroEffectData_t;
+ typedef SenseShift::Body::Haptics::EffectData_t EffectData_t;
+ typedef SenseShift::Body::Haptics::Effect_t Effect_t;
+ typedef SenseShift::Body::Haptics::Target_t Target_t;
+ typedef SenseShift::Body::Haptics::Position_t Position_t;
+ typedef std::tuple<Effect_t, Target_t, Position_t> OutputLayout_t;
+
+ static const size_t VEST_LAYOUT_SIZE = 40;
+ static const size_t VEST_PAYLOAD_SIZE = 20;
+
+ /**
+ * Apply plain-encoded data to the output.
+ */
+ template<size_t N>
+ static void applyPlain(
+ SenseShift::Body::Haptics::HapticBody* output,
+ const uint8_t (&value)[N],
+ const Position_t (&layout)[N],
+ const Effect_t effect,
+ const Target_t target
+ ) {
+ for (size_t i = 0; i < N; i++) {
+ auto position = layout[i];
+ uint8_t byte = value[i];
+
+ output->effect({
+ .effect = effect,
+ .target = target,
+ .position = position,
+ .data = effectDataFromByte(effect, byte),
+ });
+ }
+ }
+
+ template<size_t N>
+ static void applyPlain(
+ SenseShift::Body::Haptics::HapticBody* output,
+ std::string& value,
+ const Position_t (&layout)[N],
+ const Effect_t effect,
+ const Target_t target
+ ) {
+ std::uint8_t buf[6];
+ std::size_t copyLength = std::min(value.size(), sizeof(buf));
+ std::memcpy(buf, value.c_str(), copyLength);
+
+ applyPlain(output, buf, layout, effect, target);
+ }
+
+ /**
+ * Apply vest-encoded data to the output.
+ */
+ static void applyVest(
+ SenseShift::Body::Haptics::HapticBody* output,
+ const uint8_t (&value)[VEST_PAYLOAD_SIZE],
+ const Position_t (&layout)[VEST_LAYOUT_SIZE]
+ ) {
+ for (size_t i = 0; i < VEST_PAYLOAD_SIZE; i++) {
+ uint8_t byte = value[i];
+ uint actIndex = i * 2;
+ const auto target = (actIndex < 10 || actIndex >= 30) ? Target_t::ChestFront : Target_t::ChestBack;
+
+ output->effect({
+ .effect = Effect_t::Vibro,
+ .target = target,
+ .position = layout[actIndex],
+ .data = effectDataFromByte(
+ Effect_t::Vibro,
+ ((byte >> 4) & 0xf),
+ 15
+ ),
+ });
+ output->effect({
+ .effect = Effect_t::Vibro,
+ .target = target,
+ .position = layout[actIndex + 1],
+ .data = effectDataFromByte(
+ Effect_t::Vibro,
+ (byte & 0xf),
+ 15
+ ),
+ });
+ }
+ }
+
+ static void applyVest(
+ SenseShift::Body::Haptics::HapticBody* output,
+ std::string& value,
+ const Position_t (&layout)[VEST_LAYOUT_SIZE]
+ ) {
+ std::uint8_t buf[VEST_PAYLOAD_SIZE];
+ std::size_t copyLength = std::min(value.size(), sizeof(buf));
+ std::memcpy(buf, value.c_str(), copyLength);
+
+ applyVest(output, buf, layout);
+ }
+
+ /**
+ * Apply grouped vest-encoded data to the output.
+ */
+ template <size_t N>
+ static void applyVestGrouped(
+ SenseShift::Body::Haptics::HapticBody* output,
+ const uint8_t (&value)[VEST_PAYLOAD_SIZE],
+ const Position_t (&layout)[VEST_LAYOUT_SIZE],
+ const uint8_t (&layoutGroups)[N]
+ ) {
+ uint8_t result[VEST_LAYOUT_SIZE];
+
+ // Unpack values
+ for (auto i = 0; i < VEST_PAYLOAD_SIZE; i++) {
+ uint8_t byte = value[i];
+ uint actIndex = i * 2;
+
+ result[actIndex] = (byte >> 4) & 0xf;
+ result[actIndex + 1] = (byte & 0xf);
+ }
+
+ // Assign max value into each group
+ for (auto i = 0; i < N; i++) {
+ auto groupIndex = layoutGroups[i];
+
+ if (groupIndex % 10 >= 4) {
+ // Top 3 rows of x40
+ auto maxValue = std::max({ result[groupIndex], result[groupIndex + 2], result[groupIndex + 4] });
+
+ result[groupIndex] = maxValue;
+ result[groupIndex + 2] = maxValue;
+ result[groupIndex + 4] = maxValue;
+ } else {
+ // Bottom 2 rows of x40
+ auto maxValue = std::max({ result[groupIndex], result[groupIndex + 2] });
+
+ result[groupIndex] = maxValue;
+ result[groupIndex + 2] = maxValue;
+ }
+ }
+
+ for (uint8_t i = 0; i < VEST_LAYOUT_SIZE; i++) {
+ // take only meaningful values
+ if (!OH::contains(layoutGroups, VEST_LAYOUT_SIZE, i)) {
+ continue;
+ }
+
+ const auto target = (i < 10 || i >= 30) ? Target_t::ChestFront : Target_t::ChestBack;
+
+ output->effect({
+ .effect = Effect_t::Vibro,
+ .target = target,
+ .position = layout[i],
+ .data = effectDataFromByte(
+ Effect_t::Vibro,
+ result[i],
+ 15
+ ),
+ });
+ }
+ }
+
+ template <size_t N>
+ static void applyVestGrouped(
+ SenseShift::Body::Haptics::HapticBody* output,
+ std::string& value,
+ const Position_t (&layout)[VEST_LAYOUT_SIZE],
+ const uint8_t (&layoutGroups)[N]
+ ) {
+ std::uint8_t buf[VEST_PAYLOAD_SIZE];
+ std::size_t copyLength = std::min(value.size(), sizeof(buf));
+ std::memcpy(buf, value.c_str(), copyLength);
+
+ applyVestGrouped(output, buf, layout, layoutGroups);
+ }
+
+ private:
+ static const EffectData_t effectDataFromByte(
+ const Effect_t& effect,
+ const uint8_t byte,
+ const uint8_t maxValue = 100
+ ) {
+ switch (effect) {
+ case Effect_t::Vibro:
+ return VibroEffectData_t(
+ OH::simpleMap<VibroEffectData_t::Intensity_t>(
+ byte, maxValue, VibroEffectData_t::INTENSITY_MAX
+ )
+ );
+ default:
+ throw std::runtime_error("Unknown effect");
+ }
+ }
+ };
+} // namespace BH
diff --git a/lib/bhaptics/bh_utils.cpp b/lib/bhaptics/bh_utils.cpp
deleted file mode 100644
index d1a4654a..00000000
--- a/lib/bhaptics/bh_utils.cpp
+++ /dev/null
@@ -1,107 +0,0 @@
-#include "bh_utils.hpp"
-
-#include <utility.hpp>
-
-namespace BH {
- template<size_t N = 20>
- void vestOutputTransformer(
- SenseShift::Body::Haptics::HapticBody* output, const char (&value)[N], const oh_output_point_t (&layout)[N * 2]
- )
- {
- for (size_t i = 0; i < N; i++) {
- uint8_t byte = value[i];
- uint actIndex = i * 2;
- const auto target = (actIndex < 10 || actIndex >= 30) ? SenseShift::Body::Haptics::Target::ChestFront
- : SenseShift::Body::Haptics::Target::ChestBack;
-
- output->effect({
- .effect = SenseShift::Body::Haptics::Effect::Vibro,
- .target = target,
- .position = layout[actIndex],
- .data = SenseShift::Body::Haptics::VibroEffect(
- OH::simpleMap<SenseShift::Body::Haptics::VibroEffect::Intensity_t>(
- ((byte >> 4) & 0xf),
- 15,
- SenseShift::Body::Haptics::VibroEffect::INTENSITY_MAX
- )
- ),
- });
- output->effect({
- .effect = SenseShift::Body::Haptics::Effect::Vibro,
- .target = target,
- .position = layout[actIndex + 1],
- .data = SenseShift::Body::Haptics::VibroEffect(
- OH::simpleMap<SenseShift::Body::Haptics::VibroEffect::Intensity_t>(
- (byte & 0xf),
- 15,
- SenseShift::Body::Haptics::VibroEffect::INTENSITY_MAX
- )
- ),
- });
- }
- }
-
- template void vestOutputTransformer<20>(
- SenseShift::Body::Haptics::HapticBody* output, const char (&value)[20], const oh_output_point_t (&layout)[40]
- );
-} // namespace BH
-
-void BH::vestX16OutputTransformer(
- SenseShift::Body::Haptics::HapticBody* output,
- const std::string& value,
- const oh_output_point_t* layout,
- const size_t layoutSize,
- const uint8_t layoutGroups[],
- const size_t layoutGroupsSize
-)
-{
- uint8_t result[layoutSize];
-
- // Unpack values
- for (auto i = 0; i < layoutSize / 2; i++) {
- uint8_t byte = value[i];
- uint actIndex = i * 2;
-
- result[actIndex] = (byte >> 4) & 0xf;
- result[actIndex + 1] = (byte & 0xf);
- }
-
- // Assign max value into each group
- for (auto i = 0; i < layoutGroupsSize; i++) {
- auto groupIndex = layoutGroups[i];
-
- if (groupIndex % 10 >= 4) {
- // Top 3 rows of x40
- auto maxValue = std::max({ result[groupIndex], result[groupIndex + 2], result[groupIndex + 4] });
-
- result[groupIndex] = maxValue;
- result[groupIndex + 2] = maxValue;
- result[groupIndex + 4] = maxValue;
- } else {
- // Bottom 2 rows of x40
- auto maxValue = std::max({ result[groupIndex], result[groupIndex + 2] });
-
- result[groupIndex] = maxValue;
- result[groupIndex + 2] = maxValue;
- }
- }
-
- for (uint8_t i = 0; i < static_cast<uint8_t>(layoutSize); i++) {
- // take only meaningful values
- if (!OH::contains(layoutGroups, layoutSize, i)) {
- continue;
- }
-
- const auto target = (i < 10 || i >= 30) ? SenseShift::Body::Haptics::Target::ChestFront
- : SenseShift::Body::Haptics::Target::ChestBack;
-
- output->effect({
- .effect = SenseShift::Body::Haptics::Effect::Vibro,
- .target = target,
- .position = layout[i],
- .data = SenseShift::Body::Haptics::VibroEffect(
- static_cast<oh_output_intensity_t>(OH::accurateMap<long>(result[i], 0, 15, 0, OH_OUTPUT_INTENSITY_MAX))
- ),
- });
- }
-}
diff --git a/lib/bhaptics/bh_utils.hpp b/lib/bhaptics/bh_utils.hpp
deleted file mode 100644
index 2825aea7..00000000
--- a/lib/bhaptics/bh_utils.hpp
+++ /dev/null
@@ -1,45 +0,0 @@
-#pragma once
-
-#include <haptic_body.hpp>
-#include <string>
-
-namespace BH {
- template<size_t N>
- void plainOutputTransformer(
- SenseShift::Body::Haptics::HapticBody* output,
- const char (&value)[N],
- const oh_output_point_t (&layout)[N],
- const SenseShift::Body::Haptics::Target_t target
- )
- {
- for (size_t i = 0; i < N; i++) {
- uint8_t byte = value[i];
-
- output->effect({
- .effect = SenseShift::Body::Haptics::Effect::Vibro,
- .target = target,
- .position = layout[i],
- .data = SenseShift::Body::Haptics::VibroEffect(
- OH::simpleMap<SenseShift::Body::Haptics::VibroEffect::Intensity_t>(
- byte,
- 100,
- SenseShift::Body::Haptics::VibroEffect::INTENSITY_MAX
- )
- ),
- });
- }
- }
-
- template<size_t N = 20>
- void vestOutputTransformer(
- SenseShift::Body::Haptics::HapticBody* output, const char (&value)[N], const oh_output_point_t (&layout)[N * 2]
- );
- void vestX16OutputTransformer(
- SenseShift::Body::Haptics::HapticBody* output,
- const std::string& value,
- const oh_output_point_t* layout,
- const size_t layoutSize,
- const uint8_t layoutGroups[],
- const size_t layoutGroupsSize
- );
-} // namespace BH
diff --git a/lib/haptics/haptic_body.cpp b/lib/haptics/haptic_body.cpp
index c90ce2f1..fd4cf2cb 100644
--- a/lib/haptics/haptic_body.cpp
+++ b/lib/haptics/haptic_body.cpp
@@ -12,14 +12,14 @@ namespace SenseShift::Body::Haptics {
void HapticBody::effect(const EffectRequest_t& effect)
{
- if (effect.effect == Effect::Vibro && std::holds_alternative<VibroEffect_t>(effect.data)) {
+ if (effect.effect == Effect::Vibro && std::holds_alternative<VibroEffectData_t>(effect.data)) {
auto it = this->vibroTargets.find(effect.target);
if (it == this->vibroTargets.end()) {
log_w("No target found for effect: %d", effect.target);
return;
}
- it->second->effect(effect.position, std::get<VibroEffect_t>(effect.data));
+ it->second->effect(effect.position, std::get<VibroEffectData_t>(effect.data));
} else {
log_w("Non-supported effect type: %d", effect.effect);
}
diff --git a/lib/haptics/haptic_plane.cpp b/lib/haptics/haptic_plane.cpp
index ddbf0e7b..6c10861f 100644
--- a/lib/haptics/haptic_plane.cpp
+++ b/lib/haptics/haptic_plane.cpp
@@ -75,6 +75,6 @@ namespace SenseShift::Body::Haptics {
return nearest->second;
}
- template class ActuativePlane<VibroEffect_t>;
- template class ActuativePlane_Closest<VibroEffect_t>;
+ template class ActuativePlane<VibroEffectData_t>;
+ template class ActuativePlane_Closest<VibroEffectData_t>;
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/haptic_plane.hpp b/lib/haptics/haptic_plane.hpp
index 8f565ef6..66c47818 100644
--- a/lib/haptics/haptic_plane.hpp
+++ b/lib/haptics/haptic_plane.hpp
@@ -21,7 +21,7 @@ namespace SenseShift::Body::Haptics {
*/
template<typename _Tp>
class ActuativePlane {
- static_assert(std::is_same<_Tp, VibroEffect_t>());
+ static_assert(std::is_same<_Tp, VibroEffectData_t>());
public:
typedef _Tp Value_t;
@@ -59,7 +59,7 @@ namespace SenseShift::Body::Haptics {
void setActuators(const ActuatorMap_t&);
};
- typedef ActuativePlane<VibroEffect_t> VibroPlane;
+ typedef ActuativePlane<VibroEffectData_t> VibroPlane;
/**
* Output plane, finds the closest actuator for the given point.
@@ -81,7 +81,7 @@ namespace SenseShift::Body::Haptics {
[[nodiscard]] const Position_t& findClosestPoint(const PositionSet_t&, const Position_t&) const;
};
- typedef ActuativePlane_Closest<VibroEffect_t> VibroPlane_Closest;
+ typedef ActuativePlane_Closest<VibroEffectData_t> VibroPlane_Closest;
// TODO: configurable margin
class PlaneMapper_Margin {
diff --git a/lib/haptics/haptics_interface.hpp b/lib/haptics/haptics_interface.hpp
index f6734c76..26bd2b86 100644
--- a/lib/haptics/haptics_interface.hpp
+++ b/lib/haptics/haptics_interface.hpp
@@ -24,6 +24,8 @@ namespace SenseShift::Body::Haptics {
// Legacy backword compatibility
Accessory [[deprecated]] = 0x02,
+ FaceFront = 0x03,
+
// TODO: arms, legs, etc.
} Target_t;
@@ -31,28 +33,28 @@ namespace SenseShift::Body::Haptics {
typedef OH::Point2<Coordinate_t> Position_t;
// Vibration intensity.
- typedef struct VibroEffect {
+ typedef struct VibroEffectData {
using Intensity_t = uint16_t;
inline static const Intensity_t INTENSITY_MIN = 0;
inline static const Intensity_t INTENSITY_MAX = 4095;
Intensity_t intensity = 0;
- inline constexpr VibroEffect() = default;
- inline constexpr VibroEffect(Intensity_t intensity) : intensity(intensity) {}
- inline constexpr VibroEffect(const VibroEffect& other) = default;
+ inline constexpr VibroEffectData() = default;
+ inline constexpr VibroEffectData(const Intensity_t intensity) : intensity(intensity) {}
+ inline constexpr VibroEffectData(const VibroEffectData& other) = default;
inline constexpr operator uint16_t() const
{
return intensity;
}
- } VibroEffect_t;
+ } VibroEffectData_t;
// TODO: thermal, etc.
- typedef std::variant<VibroEffect_t
+ typedef std::variant<VibroEffectData_t
// TODO: thermal, etc.
- // ThermalEffect_t
+ // ThermalEffectData_t
>
EffectData_t;
diff --git a/test/test_bhaptics/main.cpp b/test/test_bhaptics_encoding/main.cpp
similarity index 93%
rename from test/test_bhaptics/main.cpp
rename to test/test_bhaptics_encoding/main.cpp
index 1cc22a18..e73993c4 100644
--- a/test/test_bhaptics/main.cpp
+++ b/test/test_bhaptics_encoding/main.cpp
@@ -1,5 +1,5 @@
#include <bh_types.hpp>
-#include <bh_utils.hpp>
+#include <bh_encoding.hpp>
#include <unity.h>
@@ -66,13 +66,12 @@ void test_layout_tactsuitx16(void)
body->addTarget(Target::ChestBack, backPlane);
// body->setup();
- uint8_t values[] = {
+ const uint8_t values[] = {
0x01, 0x00, 0x23, 0x00, 0x00, 0x45, 0x00, 0x67, 0x00, 0x00,
0x89, 0x00, 0xab, 0x00, 0x00, 0xcd, 0x00, 0xef, 0x00, 0x00,
};
- std::string value = std::string((char*) values, sizeof(values));
- vestX16OutputTransformer(body, value, bhLayout, bhLayoutSize, layoutGroups, layoutGroupsSize);
+ Decoder::applyVestGrouped(body, values, bhLayout, layoutGroups);
TEST_ASSERT_EQUAL_INT(0, actuator0->intensity);
TEST_ASSERT_EQUAL_INT(273, actuator1->intensity);
TEST_ASSERT_EQUAL_INT(3276, actuator2->intensity);
@@ -124,11 +123,11 @@ void test_layout_tactsuitx40(void)
body->addTarget(Target::ChestBack, backPlane);
// body->setup();
- vestOutputTransformer(
+ Decoder::applyVest(
body,
{
- 0x01, 0x23, 0x45, 0x67, (char) 0x89, (char) 0xab, (char) 0xcd, (char) 0xef, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x01, 0x23, 0x45, 0x67, 0x89, 0xab, 0xcd, 0xef, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
},
bhLayout
);
@@ -194,9 +193,9 @@ void test_layout_tactal(void)
});
auto plane = new VibroPlane(outputs);
- body->addTarget(Target::Accessory, plane);
+ body->addTarget(Target::FaceFront, plane);
- plainOutputTransformer(body, { 0x64, 0x00, 0x00, 0x00, 0x00, 0x00 }, bhLayout, Target::Accessory);
+ Decoder::applyPlain(body, { 0x64, 0x00, 0x00, 0x00, 0x00, 0x00 }, bhLayout, Effect::Vibro, Target::FaceFront);
TEST_ASSERT_EQUAL_INT(4095, actuator0->intensity);
TEST_ASSERT_EQUAL_INT(0, actuator1->intensity);
TEST_ASSERT_EQUAL_INT(0, actuator2->intensity);
@@ -204,7 +203,7 @@ void test_layout_tactal(void)
TEST_ASSERT_EQUAL_INT(0, actuator4->intensity);
TEST_ASSERT_EQUAL_INT(0, actuator5->intensity);
- plainOutputTransformer(body, { 0x10, 0x20, 0x30, 0x40, 0x50, 0x60 }, bhLayout, Target::Accessory);
+ Decoder::applyPlain(body, { 0x10, 0x20, 0x30, 0x40, 0x50, 0x60 }, bhLayout, Effect::Vibro, Target::FaceFront);
TEST_ASSERT_EQUAL_INT(655, actuator0->intensity);
TEST_ASSERT_EQUAL_INT(1310, actuator1->intensity);
TEST_ASSERT_EQUAL_INT(1965, actuator2->intensity);
diff --git a/test/test_haptics_body/main.cpp b/test/test_haptics_body/main.cpp
index d16ed628..f5ceb76f 100644
--- a/test/test_haptics_body/main.cpp
+++ b/test/test_haptics_body/main.cpp
@@ -59,25 +59,25 @@ void test_it_handles_effect__vibro(void)
.effect = Effect::Vibro,
.target = Target::ChestFront,
.position = { 0, 0 },
- .data = (VibroEffect_t) 64,
+ .data = (VibroEffectData_t) 64,
});
body->effect({
.effect = Effect::Vibro,
.target = Target::ChestFront,
.position = { 0, 1 },
- .data = (VibroEffect_t) 128,
+ .data = (VibroEffectData_t) 128,
});
body->effect({
.effect = Effect::Vibro,
.target = Target::ChestFront,
.position = { 1, 0 },
- .data = (VibroEffect_t) 192,
+ .data = (VibroEffectData_t) 192,
});
body->effect({
.effect = Effect::Vibro,
.target = Target::ChestFront,
.position = { 1, 1 },
- .data = (VibroEffect_t) 255,
+ .data = (VibroEffectData_t) 255,
});
TEST_ASSERT_EQUAL(64, actuator1->intensity);
From 4a6c2a91f30f546a081f16227d59c0e1074131e3 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Wed, 16 Aug 2023 23:41:12 +0400
Subject: [PATCH 05/82] refactor(bHaptics): advanced TactGlove layout
---
firmware/mode_configs/bhaptics/tactal.cpp | 2 +-
firmware/mode_configs/bhaptics/tactglove.cpp | 72 +++-----
include/config/all.h | 1 -
include/config/bluetooth.h | 2 +-
include/config/output.h | 5 -
ini/bhaptics.ini | 2 +
lib/bhaptics/bh_constants.hpp | 79 ++-------
lib/bhaptics/bh_devices.hpp | 95 ++++++++++
lib/bhaptics/bh_encoding.hpp | 176 +++++++++++--------
lib/hands/hand_interface.hpp | 19 ++
lib/haptics/haptics_interface.hpp | 19 +-
platformio.ini | 2 +-
test/test_bhaptics_encoding/main.cpp | 48 ++++-
13 files changed, 317 insertions(+), 205 deletions(-)
delete mode 100644 include/config/output.h
create mode 100644 lib/bhaptics/bh_devices.hpp
create mode 100644 lib/hands/hand_interface.hpp
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index 12bb9063..17982748 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -34,7 +34,7 @@ void setupMode()
// clang-format on
});
- auto* face = new VibroPlane_Closest(faceOutputs);
+ auto* face = new VibroPlane(faceOutputs);
app->getHapticBody()->addTarget(Target::FaceFront, face);
app->getHapticBody()->setup();
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 8466c328..cb4cbea8 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -8,7 +8,8 @@
#include "senseshift.h"
-#include <bh_utils.hpp>
+#include <bh_encoding.hpp>
+#include <bh_devices.hpp>
#include <connection_bhble.hpp>
#include <output_writers/pwm.hpp>
@@ -16,59 +17,36 @@
#include <battery/adc_naive.hpp>
#endif
+#ifndef BH_LAYOUT
+#define BH_LAYOUT BH::TactGloveLeftLayout
+#endif
+
using namespace OH;
+using namespace SenseShift;
+using namespace SenseShift::Body::Haptics;
using namespace BH;
-extern SenseShift App;
-SenseShift* app = &App;
-
-#pragma region bHaptics_trash
-
-// TODO: all of this will need to be re-written to use the new output paths system, when time comes
-
-static const uint16_t _bh_size_x = 6;
-static const uint16_t _bh_size_y = 1;
-
-inline oh_output_point_t* make_point(oh_output_coord_t x, oh_output_coord_t y)
-{
- return PlaneMapper_Margin::mapPoint(
- x,
- y,
- (oh_output_coord_t) (_bh_size_x - 1),
- (oh_output_coord_t) (_bh_size_y - 1)
- );
-}
-
-static const uint16_t bhLayoutSize = _bh_size_x * _bh_size_y;
-static const oh_output_point_t* bhLayout[bhLayoutSize] = {
- // clang-format off
-
- // Thumb, Index, Middle, Ring, Pinky
- make_point(0, 0), make_point(1, 0), make_point(2, 0), make_point(3, 0), make_point(4, 0),
- // Wrist
- make_point(5, 0)
+extern SenseShift::SenseShift App;
+SenseShift::SenseShift* app = &App;
- // clang-format on
-};
-
-#pragma endregion bHaptics_trash
+const auto& bhLayout = BH_LAYOUT;
void setupMode()
{
// Configure PWM pins to their positions on the glove
- auto gloveOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
- // clang-format off
- {
- // Thumb, Index, Middle, Ring, Pinky
- new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26), new PWMOutputWriter(27),
- // Wrist
- new PWMOutputWriter(14)
- },
- // clang-format on
- });
-
- auto* glove = new HapticPlane_Closest(gloveOutputs);
- app->getHapticBody()->addComponent(OUTPUT_PATH_ACCESSORY, glove);
+ auto* motorThumb = new PWMOutputWriter(33); // Thumb
+ auto* motorIndex = new PWMOutputWriter(32); // Index
+ auto* motorMiddle = new PWMOutputWriter(25); // Middle
+ auto* motorRing = new PWMOutputWriter(26); // Ring
+ auto* motorLittle = new PWMOutputWriter(27); // Little
+ auto* motorWrist = new PWMOutputWriter(14); // Wrist
+
+ app->getHapticBody()->addTarget(std::get<0>(bhLayout[0]), new VibroPlane({{ std::get<1>(bhLayout[0]), motorThumb }}));
+ app->getHapticBody()->addTarget(std::get<0>(bhLayout[1]), new VibroPlane({{ std::get<1>(bhLayout[1]), motorIndex }}));
+ app->getHapticBody()->addTarget(std::get<0>(bhLayout[2]), new VibroPlane({{ std::get<1>(bhLayout[2]), motorMiddle }}));
+ app->getHapticBody()->addTarget(std::get<0>(bhLayout[3]), new VibroPlane({{ std::get<1>(bhLayout[3]), motorRing }}));
+ app->getHapticBody()->addTarget(std::get<0>(bhLayout[4]), new VibroPlane({{ std::get<1>(bhLayout[4]), motorLittle }}));
+ app->getHapticBody()->addTarget(std::get<0>(bhLayout[5]), new VibroPlane({{ std::get<1>(bhLayout[5]), motorWrist }}));
app->getHapticBody()->setup();
@@ -81,7 +59,7 @@ void setupMode()
auto* bhBleConnection = new ConnectionBHBLE(
config,
[](std::string& value) -> void {
- plainOutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
+ Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect_t::Vibro);
},
app
);
diff --git a/include/config/all.h b/include/config/all.h
index 1c74f18c..46c9d0b0 100644
--- a/include/config/all.h
+++ b/include/config/all.h
@@ -3,7 +3,6 @@
#pragma once
#include "config/battery.h"
-#include "config/output.h"
#include "config/pwm.h"
#include "config/bluetooth.h"
diff --git a/include/config/bluetooth.h b/include/config/bluetooth.h
index 46f31eb6..b12cff34 100644
--- a/include/config/bluetooth.h
+++ b/include/config/bluetooth.h
@@ -12,5 +12,5 @@
#endif
#ifndef BLUETOOTH_USE_NIMBLE
-#define BLUETOOTH_USE_NIMBLE false
+#define BLUETOOTH_USE_NIMBLE true
#endif
diff --git a/include/config/output.h b/include/config/output.h
deleted file mode 100644
index 8184df26..00000000
--- a/include/config/output.h
+++ /dev/null
@@ -1,5 +0,0 @@
-#pragma once
-
-#define OUTPUT_PATH_CHEST_FRONT 0x00
-#define OUTPUT_PATH_CHEST_BACK 0x01
-#define OUTPUT_PATH_ACCESSORY 0x02
diff --git a/ini/bhaptics.ini b/ini/bhaptics.ini
index ee45ae1e..54c5aa1e 100644
--- a/ini/bhaptics.ini
+++ b/ini/bhaptics.ini
@@ -239,6 +239,7 @@ monitor_speed = ${bhaptics.monitor_speed}
build_flags = ${bhaptics.build_flags}
-D BH_DEVICE_TACTGLOVE
+ -D BH_LAYOUT=BH::TactGloveLeftLayout
-D BH_BLE_APPEARANCE=508
'-D BLUETOOTH_NAME="TactGlove (L"'
'-D BH_SERIAL_NUMBER={ 0xcd, 0x0b, 0x81, 0x45, 0x85, 0xf9, 0x2b, 0x6c, 0xed, 0x5b }'
@@ -257,6 +258,7 @@ monitor_speed = ${bhaptics.monitor_speed}
build_flags = ${bhaptics.build_flags}
-D BH_DEVICE_TACTGLOVE
+ -D BH_LAYOUT=BH::TactGloveRightLayout
-D BH_BLE_APPEARANCE=508
'-D BLUETOOTH_NAME="TactGlove (R"'
'-D BH_SERIAL_NUMBER={ 0x12, 0x0b, 0xae, 0xbf, 0xbc, 0x90, 0x3b, 0x0d, 0x84, 0xdd }'
diff --git a/lib/bhaptics/bh_constants.hpp b/lib/bhaptics/bh_constants.hpp
index b28f53e3..c430911a 100644
--- a/lib/bhaptics/bh_constants.hpp
+++ b/lib/bhaptics/bh_constants.hpp
@@ -8,8 +8,16 @@
#define BH_SERIAL_NUMBER_LENGTH 10
+#ifndef BH_FIRMWARE_VERSION_MAJOR
+#define BH_FIRMWARE_VERSION_MAJOR ((uint8_t) UINT8_MAX)
+#endif
+
+#ifndef BH_FIRMWARE_VERSION_MINOR
+#define BH_FIRMWARE_VERSION_MINOR ((uint8_t) UINT8_MAX)
+#endif
+
#ifndef BH_FIRMWARE_VERSION
-#define BH_FIRMWARE_VERSION (uint16_t) UINT16_MAX
+#define BH_FIRMWARE_VERSION (uint16_t)((BH_FIRMWARE_VERSION_MAJOR << 8) | BH_FIRMWARE_VERSION_MINOR)
#endif
#define NO_AUDIO_CABLE 0
@@ -93,73 +101,6 @@
#pragma endregion BH_DEVICE_TACTSUITX16
-#pragma region BH_DEVICE_TACTSUITX40
-
-#define BH_LAYOUT_TACTSUITX40_SIZE_X 4
-#define BH_LAYOUT_TACTSUITX40_SIZE_Y 5
-#define BH_LAYOUT_TACTSUITX40_MAKE_POINT(x, y) \
- SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_Y - 1) \
- )
-
-// X * Y for front and back
-#define BH_LAYOUT_TACTSUITX40_SIZE 40
-// clang-format off
-#define BH_LAYOUT_TACTSUITX40 { \
- /* Front, left part */ \
- /* 0 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0), \
- /* 1 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0), \
- /* 2 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1), \
- /* 3 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1), \
- /* 4 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2), \
- /* 5 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2), \
- /* 6 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3), \
- /* 7 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3), \
- /* 8 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4), \
- /* 9 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4), \
- \
- /* Back */ \
- /* 11 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0), \
- /* 11 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0), \
- /* 12 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1), \
- /* 13 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1), \
- /* 14 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2), \
- /* 15 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2), \
- /* 16 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3), \
- /* 17 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3), \
- /* 18 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4), \
- /* 19 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4), \
- \
- /* 20 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0), \
- /* 21 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0), \
- /* 22 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1), \
- /* 23 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1), \
- /* 24 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2), \
- /* 25 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2), \
- /* 26 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3), \
- /* 27 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3), \
- /* 28 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4), \
- /* 29 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4), \
- \
- /* Front, again... Now right part */ \
- /* 30 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0), \
- /* 31 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0), \
- /* 32 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1), \
- /* 33 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1), \
- /* 34 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2), \
- /* 35 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2), \
- /* 36 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3), \
- /* 37 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3), \
- /* 38 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4), \
- /* 39 */ BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) \
-}
-// clang-format on
-
-#pragma endregion BH_DEVICE_TACTSUITX40
-
#pragma region BH_DEVICE_TACTAL
#define BH_LAYOUT_TACTAL_SIZE_X 6
@@ -272,7 +213,7 @@
// All below are weird choices of bHaptics engineers...
// Why to use unconventional UUIDs, that are reserved for other purposes?
-// You have an unlimited amount of other UUIDs
+// You have an unlimited amount of other UUIDs
// Main service for communication
#define BH_BLE_SERVICE_MOTOR_UUID BLEUUID("6e400001-b5a3-f393-e0a9-e50e24dcca9e") // Nordic UART Service
diff --git a/lib/bhaptics/bh_devices.hpp b/lib/bhaptics/bh_devices.hpp
new file mode 100644
index 00000000..dd131e20
--- /dev/null
+++ b/lib/bhaptics/bh_devices.hpp
@@ -0,0 +1,95 @@
+#pragma once
+
+#include <hand_interface.hpp>
+
+#pragma region TaxtSuit X16
+
+#define BH_LAYOUT_TACTSUITX40_SIZE_X 4
+#define BH_LAYOUT_TACTSUITX40_SIZE_Y 5
+#define BH_LAYOUT_TACTSUITX40_MAKE_POINT(x, y) \
+ SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ x, \
+ y, \
+ (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_X - 1), \
+ (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_Y - 1) \
+ )
+
+// X * Y for front and back
+#define BH_LAYOUT_TACTSUITX40_SIZE 40
+// clang-format off
+#define BH_LAYOUT_TACTSUITX40 { \
+ /* Front, left part */ \
+ /* 0 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
+ /* 1 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
+ /* 2 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
+ /* 3 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1) }, \
+ /* 4 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2) }, \
+ /* 5 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2) }, \
+ /* 6 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3) }, \
+ /* 7 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
+ /* 8 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
+ /* 9 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
+ \
+ /* Back */ \
+ /* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
+ /* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
+ /* 12 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
+ /* 13 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1) }, \
+ /* 14 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2) }, \
+ /* 15 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2) }, \
+ /* 16 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3) }, \
+ /* 17 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
+ /* 18 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
+ /* 19 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
+ \
+ /* 20 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
+ /* 21 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
+ /* 22 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
+ /* 23 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1) }, \
+ /* 24 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2) }, \
+ /* 25 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2) }, \
+ /* 26 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3) }, \
+ /* 27 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
+ /* 28 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
+ /* 29 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) }, \
+ \
+ /* Front, again... Now right part */ \
+ /* 30 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
+ /* 31 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
+ /* 32 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
+ /* 33 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1) }, \
+ /* 34 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2) }, \
+ /* 35 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2) }, \
+ /* 36 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3) }, \
+ /* 37 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
+ /* 38 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
+ /* 39 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) } \
+}
+// clang-format on
+
+#pragma endregion BH_DEVICE_TACTSUITX40
+
+namespace BH {
+ using namespace SenseShift::Body::Hands::Haptics;
+
+ typedef SenseShift::Body::Haptics::Effect_t Effect_t;
+ typedef SenseShift::Body::Haptics::Target_t Target_t;
+ typedef SenseShift::Body::Haptics::Position_t Position_t;
+ typedef std::tuple<Target_t, Position_t> OutputLayout_t;
+
+ // TactSuit X40 motor positions
+ static constexpr const OutputLayout_t TactSuitX40Layout[] = BH_LAYOUT_TACTSUITX40;
+
+ // TactGlove Wrist motor position
+ static constexpr const Position_t WRIST_MOTOR_POSITION(127, 191);
+ static constexpr const OutputLayout_t TactGloveLeftLayout[] = {
+ { Target_t::HandLeftThumb, FINGERTIP_POSITION }, { Target_t::HandLeftIndex, FINGERTIP_POSITION },
+ { Target_t::HandLeftMiddle, FINGERTIP_POSITION }, { Target_t::HandLeftRing, FINGERTIP_POSITION },
+ { Target_t::HandLeftLittle, FINGERTIP_POSITION }, { Target_t::HandLeftDorsal, WRIST_MOTOR_POSITION },
+ };
+ static constexpr const OutputLayout_t TactGloveRightLayout[] = {
+ { Target_t::HandRightThumb, FINGERTIP_POSITION }, { Target_t::HandRightIndex, FINGERTIP_POSITION },
+ { Target_t::HandRightMiddle, FINGERTIP_POSITION }, { Target_t::HandRightRing, FINGERTIP_POSITION },
+ { Target_t::HandRightLittle, FINGERTIP_POSITION }, { Target_t::HandRightDorsal, WRIST_MOTOR_POSITION },
+ };
+} // namespace BH
diff --git a/lib/bhaptics/bh_encoding.hpp b/lib/bhaptics/bh_encoding.hpp
index 4a4c7508..6a7c5490 100644
--- a/lib/bhaptics/bh_encoding.hpp
+++ b/lib/bhaptics/bh_encoding.hpp
@@ -1,55 +1,91 @@
#pragma once
-#include <haptic_body.hpp>
#include <cstring>
+#include <haptic_body.hpp>
-namespace BH
-{
- class Decoder
- {
+namespace BH {
+ class Decoder {
public:
typedef SenseShift::Body::Haptics::VibroEffectData_t VibroEffectData_t;
typedef SenseShift::Body::Haptics::EffectData_t EffectData_t;
typedef SenseShift::Body::Haptics::Effect_t Effect_t;
typedef SenseShift::Body::Haptics::Target_t Target_t;
typedef SenseShift::Body::Haptics::Position_t Position_t;
- typedef std::tuple<Effect_t, Target_t, Position_t> OutputLayout_t;
+ typedef std::tuple<Target_t, Position_t> OutputLayout_t;
static const size_t VEST_LAYOUT_SIZE = 40;
static const size_t VEST_PAYLOAD_SIZE = 20;
+ template<size_t N>
+ static void applyPlain(
+ SenseShift::Body::Haptics::HapticBody* output,
+ const uint8_t (&value)[N],
+ const OutputLayout_t (&layout)[N],
+ const Effect_t effect
+ )
+ {
+ for (size_t i = 0; i < N; i++) {
+ const auto [target, position] = layout[i];
+ const uint8_t byte = value[i];
+
+ output->effect({
+ .effect = effect,
+ .target = target,
+ .position = position,
+ .data = effectDataFromByte(effect, byte),
+ });
+ }
+ }
+
+ template<size_t N>
+ static void applyPlain(
+ SenseShift::Body::Haptics::HapticBody* output,
+ std::string& value,
+ const OutputLayout_t (&layout)[N],
+ const Effect_t effect
+ )
+ {
+ std::uint8_t buf[N];
+ std::size_t copyLength = std::min(value.size(), sizeof(buf));
+ std::memcpy(buf, value.c_str(), copyLength);
+
+ applyPlain(output, buf, layout, effect);
+ }
+
/**
* Apply plain-encoded data to the output.
*/
template<size_t N>
static void applyPlain(
- SenseShift::Body::Haptics::HapticBody* output,
- const uint8_t (&value)[N],
- const Position_t (&layout)[N],
- const Effect_t effect,
- const Target_t target
- ) {
+ SenseShift::Body::Haptics::HapticBody* output,
+ const uint8_t (&value)[N],
+ const Position_t (&layout)[N],
+ const Effect_t effect,
+ const Target_t target
+ )
+ {
for (size_t i = 0; i < N; i++) {
- auto position = layout[i];
- uint8_t byte = value[i];
+ const auto position = layout[i];
+ const uint8_t byte = value[i];
output->effect({
- .effect = effect,
- .target = target,
- .position = position,
- .data = effectDataFromByte(effect, byte),
+ .effect = effect,
+ .target = target,
+ .position = position,
+ .data = effectDataFromByte(effect, byte),
});
}
}
template<size_t N>
static void applyPlain(
- SenseShift::Body::Haptics::HapticBody* output,
- std::string& value,
- const Position_t (&layout)[N],
- const Effect_t effect,
- const Target_t target
- ) {
+ SenseShift::Body::Haptics::HapticBody* output,
+ std::string& value,
+ const Position_t (&layout)[N],
+ const Effect_t effect,
+ const Target_t target
+ )
+ {
std::uint8_t buf[6];
std::size_t copyLength = std::min(value.size(), sizeof(buf));
std::memcpy(buf, value.c_str(), copyLength);
@@ -61,43 +97,37 @@ namespace BH
* Apply vest-encoded data to the output.
*/
static void applyVest(
- SenseShift::Body::Haptics::HapticBody* output,
- const uint8_t (&value)[VEST_PAYLOAD_SIZE],
- const Position_t (&layout)[VEST_LAYOUT_SIZE]
- ) {
+ SenseShift::Body::Haptics::HapticBody* output,
+ const uint8_t (&value)[VEST_PAYLOAD_SIZE],
+ const Position_t (&layout)[VEST_LAYOUT_SIZE]
+ )
+ {
for (size_t i = 0; i < VEST_PAYLOAD_SIZE; i++) {
uint8_t byte = value[i];
uint actIndex = i * 2;
const auto target = (actIndex < 10 || actIndex >= 30) ? Target_t::ChestFront : Target_t::ChestBack;
output->effect({
- .effect = Effect_t::Vibro,
- .target = target,
- .position = layout[actIndex],
- .data = effectDataFromByte(
- Effect_t::Vibro,
- ((byte >> 4) & 0xf),
- 15
- ),
+ .effect = Effect_t::Vibro,
+ .target = target,
+ .position = layout[actIndex],
+ .data = effectDataFromByte(Effect_t::Vibro, ((byte >> 4) & 0xf), 15),
});
output->effect({
- .effect = Effect_t::Vibro,
- .target = target,
- .position = layout[actIndex + 1],
- .data = effectDataFromByte(
- Effect_t::Vibro,
- (byte & 0xf),
- 15
- ),
+ .effect = Effect_t::Vibro,
+ .target = target,
+ .position = layout[actIndex + 1],
+ .data = effectDataFromByte(Effect_t::Vibro, (byte & 0xf), 15),
});
}
}
static void applyVest(
- SenseShift::Body::Haptics::HapticBody* output,
- std::string& value,
- const Position_t (&layout)[VEST_LAYOUT_SIZE]
- ) {
+ SenseShift::Body::Haptics::HapticBody* output,
+ std::string& value,
+ const Position_t (&layout)[VEST_LAYOUT_SIZE]
+ )
+ {
std::uint8_t buf[VEST_PAYLOAD_SIZE];
std::size_t copyLength = std::min(value.size(), sizeof(buf));
std::memcpy(buf, value.c_str(), copyLength);
@@ -108,13 +138,14 @@ namespace BH
/**
* Apply grouped vest-encoded data to the output.
*/
- template <size_t N>
+ template<size_t N>
static void applyVestGrouped(
- SenseShift::Body::Haptics::HapticBody* output,
- const uint8_t (&value)[VEST_PAYLOAD_SIZE],
- const Position_t (&layout)[VEST_LAYOUT_SIZE],
- const uint8_t (&layoutGroups)[N]
- ) {
+ SenseShift::Body::Haptics::HapticBody* output,
+ const uint8_t (&value)[VEST_PAYLOAD_SIZE],
+ const Position_t (&layout)[VEST_LAYOUT_SIZE],
+ const uint8_t (&layoutGroups)[N]
+ )
+ {
uint8_t result[VEST_LAYOUT_SIZE];
// Unpack values
@@ -155,25 +186,22 @@ namespace BH
const auto target = (i < 10 || i >= 30) ? Target_t::ChestFront : Target_t::ChestBack;
output->effect({
- .effect = Effect_t::Vibro,
- .target = target,
- .position = layout[i],
- .data = effectDataFromByte(
- Effect_t::Vibro,
- result[i],
- 15
- ),
+ .effect = Effect_t::Vibro,
+ .target = target,
+ .position = layout[i],
+ .data = effectDataFromByte(Effect_t::Vibro, result[i], 15),
});
}
}
- template <size_t N>
+ template<size_t N>
static void applyVestGrouped(
- SenseShift::Body::Haptics::HapticBody* output,
- std::string& value,
- const Position_t (&layout)[VEST_LAYOUT_SIZE],
- const uint8_t (&layoutGroups)[N]
- ) {
+ SenseShift::Body::Haptics::HapticBody* output,
+ std::string& value,
+ const Position_t (&layout)[VEST_LAYOUT_SIZE],
+ const uint8_t (&layoutGroups)[N]
+ )
+ {
std::uint8_t buf[VEST_PAYLOAD_SIZE];
std::size_t copyLength = std::min(value.size(), sizeof(buf));
std::memcpy(buf, value.c_str(), copyLength);
@@ -182,17 +210,13 @@ namespace BH
}
private:
- static const EffectData_t effectDataFromByte(
- const Effect_t& effect,
- const uint8_t byte,
- const uint8_t maxValue = 100
- ) {
+ static const EffectData_t
+ effectDataFromByte(const Effect_t effect, const uint8_t byte, const uint8_t maxValue = 100)
+ {
switch (effect) {
case Effect_t::Vibro:
return VibroEffectData_t(
- OH::simpleMap<VibroEffectData_t::Intensity_t>(
- byte, maxValue, VibroEffectData_t::INTENSITY_MAX
- )
+ OH::simpleMap<VibroEffectData_t::Intensity_t>(byte, maxValue, VibroEffectData_t::INTENSITY_MAX)
);
default:
throw std::runtime_error("Unknown effect");
diff --git a/lib/hands/hand_interface.hpp b/lib/hands/hand_interface.hpp
new file mode 100644
index 00000000..34dca343
--- /dev/null
+++ b/lib/hands/hand_interface.hpp
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <cstdint>
+#include <haptics_interface.hpp>
+
+namespace SenseShift::Body {
+ namespace Hands {
+ typedef std::uint8_t HandPositionIndex_t;
+ typedef enum class HandPosition : HandPositionIndex_t { Left, Right } HandPosition_t;
+
+ namespace Haptics {
+ /**
+ * @brief Helper with position of the haptic device on the fingertip.
+ * Distal phalanx of the volar surface of the any finger.
+ */
+ static constexpr const ::SenseShift::Body::Haptics::Position_t FINGERTIP_POSITION(127, 16);
+ } // namespace Haptics
+ } // namespace Hands
+} // namespace SenseShift::Body
diff --git a/lib/haptics/haptics_interface.hpp b/lib/haptics/haptics_interface.hpp
index 26bd2b86..ca926f21 100644
--- a/lib/haptics/haptics_interface.hpp
+++ b/lib/haptics/haptics_interface.hpp
@@ -21,10 +21,27 @@ namespace SenseShift::Body::Haptics {
Invalid = TARGET_INVALID,
ChestFront = 0x00,
ChestBack = 0x01,
+
// Legacy backword compatibility
Accessory [[deprecated]] = 0x02,
- FaceFront = 0x03,
+ FaceFront,
+
+ HandLeftThumb,
+ HandLeftIndex,
+ HandLeftMiddle,
+ HandLeftRing,
+ HandLeftLittle,
+ HandLeftVolar, // Palm
+ HandLeftDorsal, // Back
+
+ HandRightThumb,
+ HandRightIndex,
+ HandRightMiddle,
+ HandRightRing,
+ HandRightLittle,
+ HandRightVolar, // Palm
+ HandRightDorsal, // Back
// TODO: arms, legs, etc.
} Target_t;
diff --git a/platformio.ini b/platformio.ini
index f88d3a17..c11d81a2 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -27,7 +27,7 @@ build_flags =
; -D DEBUG_ESP_PORT=Serial
; -D SERIAL_PLOTTER=true
; -D BATTERY_ENABLED=true
-; -D BLUETOOTH_USE_NIMBLE=false
+ -D BLUETOOTH_USE_NIMBLE=true
build_src_filter =
+<*>
diff --git a/test/test_bhaptics_encoding/main.cpp b/test/test_bhaptics_encoding/main.cpp
index e73993c4..7f153779 100644
--- a/test/test_bhaptics_encoding/main.cpp
+++ b/test/test_bhaptics_encoding/main.cpp
@@ -1,5 +1,6 @@
#include <bh_types.hpp>
#include <bh_encoding.hpp>
+#include <bh_devices.hpp>
#include <unity.h>
@@ -212,6 +213,50 @@ void test_layout_tactal(void)
TEST_ASSERT_EQUAL_INT(3931, actuator5->intensity);
}
+void test_layout_tactglove(void)
+{
+ TestActuator* actuatorThumb = new TestActuator();
+ TestActuator* actuatorIndex = new TestActuator();
+ TestActuator* actuatorMiddle = new TestActuator();
+ TestActuator* actuatorRing = new TestActuator();
+ TestActuator* actuatorLittle = new TestActuator();
+ TestActuator* actuatorWrist = new TestActuator();
+
+ const auto& bhLayout = BH::TactGloveLeftLayout;
+
+ auto thumb = new VibroPlane({{ std::get<2>(bhLayout[0]), actuatorThumb }});
+ auto index = new VibroPlane({{ std::get<2>(bhLayout[1]), actuatorIndex }});
+ auto middle = new VibroPlane({{ std::get<2>(bhLayout[2]), actuatorMiddle }});
+ auto ring = new VibroPlane({{ std::get<2>(bhLayout[3]), actuatorRing }});
+ auto little = new VibroPlane({{ std::get<2>(bhLayout[4]), actuatorLittle }});
+ auto wrist = new VibroPlane({{ std::get<2>(bhLayout[5]), actuatorWrist }});
+
+ auto body = new HapticBody();
+
+ body->addTarget(Target::HandLeftThumb, thumb);
+ body->addTarget(Target::HandLeftIndex, index);
+ body->addTarget(Target::HandLeftMiddle, middle);
+ body->addTarget(Target::HandLeftRing, ring);
+ body->addTarget(Target::HandLeftLittle, little);
+ body->addTarget(Target::HandLeftDorsal, wrist);
+
+ Decoder::applyPlain(body, { 0x64, 0x00, 0x00, 0x00, 0x00, 0x00 }, bhLayout);
+ TEST_ASSERT_EQUAL_INT(4095, actuatorThumb->intensity);
+ TEST_ASSERT_EQUAL_INT(0, actuatorIndex->intensity);
+ TEST_ASSERT_EQUAL_INT(0, actuatorMiddle->intensity);
+ TEST_ASSERT_EQUAL_INT(0, actuatorRing->intensity);
+ TEST_ASSERT_EQUAL_INT(0, actuatorLittle->intensity);
+ TEST_ASSERT_EQUAL_INT(0, actuatorWrist->intensity);
+
+ Decoder::applyPlain(body, { 0x10, 0x20, 0x30, 0x40, 0x50, 0x60 }, bhLayout);
+ TEST_ASSERT_EQUAL_INT(655, actuatorThumb->intensity);
+ TEST_ASSERT_EQUAL_INT(1310, actuatorIndex->intensity);
+ TEST_ASSERT_EQUAL_INT(1965, actuatorMiddle->intensity);
+ TEST_ASSERT_EQUAL_INT(2620, actuatorRing->intensity);
+ TEST_ASSERT_EQUAL_INT(3276, actuatorLittle->intensity);
+ TEST_ASSERT_EQUAL_INT(3931, actuatorWrist->intensity);
+}
+
int process(void)
{
UNITY_BEGIN();
@@ -219,9 +264,6 @@ int process(void)
RUN_TEST(test_layout_tactsuitx16);
RUN_TEST(test_layout_tactsuitx40);
RUN_TEST(test_layout_tactal);
- // RUN_TEST(test_layout_tactosy2);
- // RUN_TEST(test_layout_tactosyh);
- // RUN_TEST(test_layout_tactosyf);
return UNITY_END();
}
From 27c6650b53c888588a899c6b480a5432fe589069 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 21 Aug 2023 14:45:24 +0400
Subject: [PATCH 06/82] refactor(bHaptics): restructure lib
---
firmware/mode_configs/bhaptics/tactal.cpp | 18 +-
lib/bhaptics/bh_devices.hpp | 95 -------
lib/bhaptics/bh_types.hpp | 5 -
lib/bhaptics/bh_types_c.h | 3 -
lib/bhaptics/senseshift/bh/constants.hpp | 17 ++
.../bh/devices.hpp} | 145 ++++++----
.../bh/encoding.hpp} | 36 +--
lib/bhaptics_ble/connection_bhble.cpp | 256 -----------------
.../senseshift/bh/ble/connection.cpp | 260 ++++++++++++++++++
.../bh/ble/connection.hpp} | 68 ++---
.../senseshift/bh/ble/constants.hpp | 59 ++++
test/test_bhaptics_encoding/main.cpp | 16 +-
12 files changed, 501 insertions(+), 477 deletions(-)
delete mode 100644 lib/bhaptics/bh_devices.hpp
delete mode 100644 lib/bhaptics/bh_types.hpp
delete mode 100644 lib/bhaptics/bh_types_c.h
create mode 100644 lib/bhaptics/senseshift/bh/constants.hpp
rename lib/bhaptics/{bh_constants.hpp => senseshift/bh/devices.hpp} (58%)
rename lib/bhaptics/{bh_encoding.hpp => senseshift/bh/encoding.hpp} (88%)
delete mode 100644 lib/bhaptics_ble/connection_bhble.cpp
create mode 100644 lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
rename lib/bhaptics_ble/{connection_bhble.hpp => senseshift/bh/ble/connection.hpp} (67%)
create mode 100644 lib/bhaptics_ble/senseshift/bh/ble/constants.hpp
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index 17982748..89b3a620 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -6,8 +6,9 @@
#include "senseshift.h"
-#include <bh_encoding.hpp>
-#include <connection_bhble.hpp>
+#include <senseshift/bh/devices.hpp>
+#include <senseshift/bh/encoding.hpp>
+#include <senseshift/bh/ble/connection.hpp>
#include <output_writers/pwm.hpp>
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
@@ -17,7 +18,6 @@
using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Body::Haptics;
-using namespace BH;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
@@ -39,16 +39,14 @@ void setupMode()
app->getHapticBody()->setup();
- uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
- ConnectionBHBLE_Config config = {
+ auto* bhBleConnection = new BH::BLE::Connection(
+ {
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
- .serialNumber = serialNumber,
- };
- auto* bhBleConnection = new ConnectionBHBLE(
- config,
+ .serialNumber = BH_SERIAL_NUMBER,
+ },
[](std::string& value) -> void {
- Decoder::applyPlain<6>(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
+ BH::Decoder::applyPlain<6>(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
},
app
);
diff --git a/lib/bhaptics/bh_devices.hpp b/lib/bhaptics/bh_devices.hpp
deleted file mode 100644
index dd131e20..00000000
--- a/lib/bhaptics/bh_devices.hpp
+++ /dev/null
@@ -1,95 +0,0 @@
-#pragma once
-
-#include <hand_interface.hpp>
-
-#pragma region TaxtSuit X16
-
-#define BH_LAYOUT_TACTSUITX40_SIZE_X 4
-#define BH_LAYOUT_TACTSUITX40_SIZE_Y 5
-#define BH_LAYOUT_TACTSUITX40_MAKE_POINT(x, y) \
- SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_Y - 1) \
- )
-
-// X * Y for front and back
-#define BH_LAYOUT_TACTSUITX40_SIZE 40
-// clang-format off
-#define BH_LAYOUT_TACTSUITX40 { \
- /* Front, left part */ \
- /* 0 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
- /* 1 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
- /* 2 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
- /* 3 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1) }, \
- /* 4 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2) }, \
- /* 5 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2) }, \
- /* 6 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3) }, \
- /* 7 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
- /* 8 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
- /* 9 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
- \
- /* Back */ \
- /* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
- /* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
- /* 12 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
- /* 13 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1) }, \
- /* 14 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2) }, \
- /* 15 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2) }, \
- /* 16 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3) }, \
- /* 17 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
- /* 18 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
- /* 19 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
- \
- /* 20 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
- /* 21 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
- /* 22 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
- /* 23 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1) }, \
- /* 24 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2) }, \
- /* 25 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2) }, \
- /* 26 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3) }, \
- /* 27 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
- /* 28 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
- /* 29 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) }, \
- \
- /* Front, again... Now right part */ \
- /* 30 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
- /* 31 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
- /* 32 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
- /* 33 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1) }, \
- /* 34 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2) }, \
- /* 35 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2) }, \
- /* 36 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3) }, \
- /* 37 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
- /* 38 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
- /* 39 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) } \
-}
-// clang-format on
-
-#pragma endregion BH_DEVICE_TACTSUITX40
-
-namespace BH {
- using namespace SenseShift::Body::Hands::Haptics;
-
- typedef SenseShift::Body::Haptics::Effect_t Effect_t;
- typedef SenseShift::Body::Haptics::Target_t Target_t;
- typedef SenseShift::Body::Haptics::Position_t Position_t;
- typedef std::tuple<Target_t, Position_t> OutputLayout_t;
-
- // TactSuit X40 motor positions
- static constexpr const OutputLayout_t TactSuitX40Layout[] = BH_LAYOUT_TACTSUITX40;
-
- // TactGlove Wrist motor position
- static constexpr const Position_t WRIST_MOTOR_POSITION(127, 191);
- static constexpr const OutputLayout_t TactGloveLeftLayout[] = {
- { Target_t::HandLeftThumb, FINGERTIP_POSITION }, { Target_t::HandLeftIndex, FINGERTIP_POSITION },
- { Target_t::HandLeftMiddle, FINGERTIP_POSITION }, { Target_t::HandLeftRing, FINGERTIP_POSITION },
- { Target_t::HandLeftLittle, FINGERTIP_POSITION }, { Target_t::HandLeftDorsal, WRIST_MOTOR_POSITION },
- };
- static constexpr const OutputLayout_t TactGloveRightLayout[] = {
- { Target_t::HandRightThumb, FINGERTIP_POSITION }, { Target_t::HandRightIndex, FINGERTIP_POSITION },
- { Target_t::HandRightMiddle, FINGERTIP_POSITION }, { Target_t::HandRightRing, FINGERTIP_POSITION },
- { Target_t::HandRightLittle, FINGERTIP_POSITION }, { Target_t::HandRightDorsal, WRIST_MOTOR_POSITION },
- };
-} // namespace BH
diff --git a/lib/bhaptics/bh_types.hpp b/lib/bhaptics/bh_types.hpp
deleted file mode 100644
index 3cba875f..00000000
--- a/lib/bhaptics/bh_types.hpp
+++ /dev/null
@@ -1,5 +0,0 @@
-#pragma once
-
-#include "bh_types_c.h"
-
-#include "bh_constants.hpp"
diff --git a/lib/bhaptics/bh_types_c.h b/lib/bhaptics/bh_types_c.h
deleted file mode 100644
index 20bf1928..00000000
--- a/lib/bhaptics/bh_types_c.h
+++ /dev/null
@@ -1,3 +0,0 @@
-#pragma once
-
-#include <stdint.h>
diff --git a/lib/bhaptics/senseshift/bh/constants.hpp b/lib/bhaptics/senseshift/bh/constants.hpp
new file mode 100644
index 00000000..930a7e3e
--- /dev/null
+++ b/lib/bhaptics/senseshift/bh/constants.hpp
@@ -0,0 +1,17 @@
+#pragma once
+
+#ifndef BH_FIRMWARE_VERSION_MAJOR
+#define BH_FIRMWARE_VERSION_MAJOR ((uint8_t) UINT8_MAX)
+#endif
+
+#ifndef BH_FIRMWARE_VERSION_MINOR
+#define BH_FIRMWARE_VERSION_MINOR ((uint8_t) UINT8_MAX)
+#endif
+
+#ifndef BH_FIRMWARE_VERSION
+#define BH_FIRMWARE_VERSION (uint16_t)((BH_FIRMWARE_VERSION_MAJOR << 8) | BH_FIRMWARE_VERSION_MINOR)
+#endif
+
+// TODO: use enum
+#define NO_AUDIO_CABLE 0
+#define AUDIO_CABLE 1
diff --git a/lib/bhaptics/bh_constants.hpp b/lib/bhaptics/senseshift/bh/devices.hpp
similarity index 58%
rename from lib/bhaptics/bh_constants.hpp
rename to lib/bhaptics/senseshift/bh/devices.hpp
index c430911a..e500c09f 100644
--- a/lib/bhaptics/bh_constants.hpp
+++ b/lib/bhaptics/senseshift/bh/devices.hpp
@@ -1,34 +1,81 @@
#pragma once
+#include <hand_interface.hpp>
#include <haptic_plane.hpp>
-#if defined(ESP32)
-#include <BLEUUID.h>
-#endif
+#pragma region BH_DEVICE_TACTSUITX40
-#define BH_SERIAL_NUMBER_LENGTH 10
-
-#ifndef BH_FIRMWARE_VERSION_MAJOR
-#define BH_FIRMWARE_VERSION_MAJOR ((uint8_t) UINT8_MAX)
-#endif
-
-#ifndef BH_FIRMWARE_VERSION_MINOR
-#define BH_FIRMWARE_VERSION_MINOR ((uint8_t) UINT8_MAX)
-#endif
+#define BH_LAYOUT_TACTSUITX40_SIZE_X 4
+#define BH_LAYOUT_TACTSUITX40_SIZE_Y 5
+#define BH_LAYOUT_TACTSUITX40_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ x, \
+ y, \
+ (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_X - 1), \
+ (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_Y - 1) \
+ )
-#ifndef BH_FIRMWARE_VERSION
-#define BH_FIRMWARE_VERSION (uint16_t)((BH_FIRMWARE_VERSION_MAJOR << 8) | BH_FIRMWARE_VERSION_MINOR)
-#endif
+// X * Y for front and back
+#define BH_LAYOUT_TACTSUITX40_SIZE 40
+// clang-format off
+#define BH_LAYOUT_TACTSUITX40 { \
+ /* Front, left part */ \
+ /* 0 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
+ /* 1 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
+ /* 2 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
+ /* 3 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1) }, \
+ /* 4 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2) }, \
+ /* 5 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2) }, \
+ /* 6 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3) }, \
+ /* 7 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
+ /* 8 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
+ /* 9 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
+ \
+ /* Back */ \
+ /* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
+ /* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
+ /* 12 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
+ /* 13 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1) }, \
+ /* 14 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2) }, \
+ /* 15 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2) }, \
+ /* 16 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3) }, \
+ /* 17 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
+ /* 18 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
+ /* 19 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
+ \
+ /* 20 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
+ /* 21 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
+ /* 22 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
+ /* 23 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1) }, \
+ /* 24 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2) }, \
+ /* 25 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2) }, \
+ /* 26 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3) }, \
+ /* 27 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
+ /* 28 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
+ /* 29 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) }, \
+ \
+ /* Front, again... Now right part */ \
+ /* 30 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
+ /* 31 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
+ /* 32 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
+ /* 33 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1) }, \
+ /* 34 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2) }, \
+ /* 35 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2) }, \
+ /* 36 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3) }, \
+ /* 37 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
+ /* 38 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
+ /* 39 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) } \
+}
+// clang-format on
-#define NO_AUDIO_CABLE 0
-#define AUDIO_CABLE 1
+#pragma endregion BH_DEVICE_TACTSUITX40
#pragma region BH_DEVICE_TACTSUITX16
#define BH_LAYOUT_TACTSUITX16_SIZE_X 4
#define BH_LAYOUT_TACTSUITX16_SIZE_Y 2
#define BH_LAYOUT_TACTSUITX16_MAKE_POINT(x, y) \
- SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
x, \
y, \
(oh_output_coord_t) (BH_LAYOUT_TACTSUITX16_SIZE_X - 1), \
@@ -106,7 +153,7 @@
#define BH_LAYOUT_TACTAL_SIZE_X 6
#define BH_LAYOUT_TACTAL_SIZE_Y 1
#define BH_LAYOUT_TACTAL_MAKE_POINT(x, y) \
- SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
x, \
y, \
(oh_output_coord_t) (BH_LAYOUT_TACTAL_SIZE_X - 1), \
@@ -132,7 +179,7 @@
#define BH_LAYOUT_TACTVISOR_SIZE_X 4
#define BH_LAYOUT_TACTVISOR_SIZE_Y 1
#define BH_LAYOUT_TACTVISOR_MAKE_POINT(x, y) \
- SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
x, \
y, \
(oh_output_coord_t) (BH_LAYOUT_TACTVISOR_SIZE_X - 1), \
@@ -156,7 +203,7 @@
#define BH_LAYOUT_TACTOSY2_SIZE_X 3
#define BH_LAYOUT_TACTOSY2_SIZE_Y 2
#define BH_LAYOUT_TACTOSY2_MAKE_POINT(x, y) \
- SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
x, \
y, \
(oh_output_coord_t) (BH_LAYOUT_TACTOSY2_SIZE_X - 1), \
@@ -178,7 +225,7 @@
#define BH_LAYOUT_TACTOSYH_SIZE_X 1
#define BH_LAYOUT_TACTOSYH_SIZE_Y 3
#define BH_LAYOUT_TACTOSYH_MAKE_POINT(x, y) \
- SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
x, \
y, \
(oh_output_coord_t) (BH_LAYOUT_TACTOSYH_SIZE_X - 1), \
@@ -197,7 +244,7 @@
#define BH_LAYOUT_TACTOSYF_SIZE_X 1
#define BH_LAYOUT_TACTOSYF_SIZE_Y 3
#define BH_LAYOUT_TACTOSYF_MAKE_POINT(x, y) \
- SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
x, \
y, \
(oh_output_coord_t) (BH_LAYOUT_TACTOSYF_SIZE_X - 1), \
@@ -211,30 +258,28 @@
#pragma endregion BH_DEVICE_TACTOSYF
-// All below are weird choices of bHaptics engineers...
-// Why to use unconventional UUIDs, that are reserved for other purposes?
-// You have an unlimited amount of other UUIDs
-
-// Main service for communication
-#define BH_BLE_SERVICE_MOTOR_UUID BLEUUID("6e400001-b5a3-f393-e0a9-e50e24dcca9e") // Nordic UART Service
-
-// Legacy Characteristic to create haptic feedback
-#define BH_BLE_SERVICE_MOTOR_CHAR_MOTOR_UUID BLEUUID("6e400002-b5a3-f393-e0a9-e50e24dcca9e") // Nordic UART RX
-
-// Characteristic for Device S/N
-#define BH_BLE_SERVICE_MOTOR_CHAR_SERIAL_KEY_UUID BLEUUID("6e400003-b5a3-f393-e0a9-e50e24dcca9e") // Nordic UART TX
-
-// Glow Color
-#define BH_BLE_SERVICE_MOTOR_CHAR_CONFIG_UUID BLEUUID("6e400005-b5a3-f393-e0a9-e50e24dcca9e")
-#define BH_BLE_SERVICE_MOTOR_CHAR_VERSION_UUID BLEUUID("6e400007-b5a3-f393-e0a9-e50e24dcca9e")
-#define BH_BLE_SERVICE_MOTOR_CHAR_BATTERY_UUID BLEUUID("6e400008-b5a3-f393-e0a9-e50e24dcca9e")
-#define BH_BLE_SERVICE_MOTOR_CHAR_MOTOR_STABLE_UUID BLEUUID("6e40000a-b5a3-f393-e0a9-e50e24dcca9e")
-#define BH_BLE_SERVICE_MOTOR_CHAR_TACTSUIT_MONITOR_UUID BLEUUID("6e40000b-b5a3-f393-e0a9-e50e24dcca9e")
-#define BH_BLE_SERVICE_MOTOR_CHAR_ATH_GLOBAL_CONF_UUID \
- BLEUUID("6e40000c-b5a3-f393-e0a9-e50e24dcca9e") // Audio-to-Haptic
-#define BH_BLE_SERVICE_MOTOR_CHAR_ATH_THEME_UUID BLEUUID("6e40000d-b5a3-f393-e0a9-e50e24dcca9e") // Audio-to-Haptic
-#define BH_BLE_SERVICE_MOTOR_CHAR_MOTTOR_MAPPING_UUID BLEUUID("6e40000e-b5a3-f393-e0a9-e50e24dcca9e")
-#define BH_BLE_SERVICE_MOTOR_CHAR_SIGNATURE_PATTERN_UUID BLEUUID("6e40000f-b5a3-f393-e0a9-e50e24dcca9e")
-
-#define BH_BLE_SERVICE_DFU_UUID BLEUUID("0000fe59-0000-1000-8000-00805f9b34fb")
-#define BH_BLE_SERVICE_DFU_CHAR_CONTROL_UUID BLEUUID("8ec90003-f315-4f60-9fb8-838830daea50")
+namespace SenseShift::BH {
+ using namespace ::SenseShift::Body::Hands::Haptics;
+
+ using Effect_t = ::SenseShift::Body::Haptics::Effect_t;
+ using Target_t = ::SenseShift::Body::Haptics::Target_t;
+ using Position_t = ::SenseShift::Body::Haptics::Position_t;
+
+ typedef std::tuple<Target_t, Position_t> OutputLayout_t;
+
+ // TactSuit X40 motor positions
+ static constexpr const OutputLayout_t TactSuitX40Layout[] = BH_LAYOUT_TACTSUITX40;
+
+ // TactGlove Wrist motor position
+ static constexpr const Position_t WRIST_MOTOR_POSITION(127, 191);
+ static constexpr const OutputLayout_t TactGloveLeftLayout[] = {
+ { Target_t::HandLeftThumb, FINGERTIP_POSITION }, { Target_t::HandLeftIndex, FINGERTIP_POSITION },
+ { Target_t::HandLeftMiddle, FINGERTIP_POSITION }, { Target_t::HandLeftRing, FINGERTIP_POSITION },
+ { Target_t::HandLeftLittle, FINGERTIP_POSITION }, { Target_t::HandLeftDorsal, WRIST_MOTOR_POSITION },
+ };
+ static constexpr const OutputLayout_t TactGloveRightLayout[] = {
+ { Target_t::HandRightThumb, FINGERTIP_POSITION }, { Target_t::HandRightIndex, FINGERTIP_POSITION },
+ { Target_t::HandRightMiddle, FINGERTIP_POSITION }, { Target_t::HandRightRing, FINGERTIP_POSITION },
+ { Target_t::HandRightLittle, FINGERTIP_POSITION }, { Target_t::HandRightDorsal, WRIST_MOTOR_POSITION },
+ };
+} // namespace SenseShift::BH
diff --git a/lib/bhaptics/bh_encoding.hpp b/lib/bhaptics/senseshift/bh/encoding.hpp
similarity index 88%
rename from lib/bhaptics/bh_encoding.hpp
rename to lib/bhaptics/senseshift/bh/encoding.hpp
index 6a7c5490..c6b876e1 100644
--- a/lib/bhaptics/bh_encoding.hpp
+++ b/lib/bhaptics/senseshift/bh/encoding.hpp
@@ -3,14 +3,18 @@
#include <cstring>
#include <haptic_body.hpp>
-namespace BH {
+namespace SenseShift::BH {
class Decoder {
public:
- typedef SenseShift::Body::Haptics::VibroEffectData_t VibroEffectData_t;
- typedef SenseShift::Body::Haptics::EffectData_t EffectData_t;
- typedef SenseShift::Body::Haptics::Effect_t Effect_t;
- typedef SenseShift::Body::Haptics::Target_t Target_t;
- typedef SenseShift::Body::Haptics::Position_t Position_t;
+ using VibroEffectData_t = ::SenseShift::Body::Haptics::VibroEffectData_t;
+ using EffectData_t = ::SenseShift::Body::Haptics::EffectData_t;
+
+ using Effect_t = ::SenseShift::Body::Haptics::Effect_t;
+ using Target_t = ::SenseShift::Body::Haptics::Target_t;
+ using Position_t = ::SenseShift::Body::Haptics::Position_t;
+
+ using HapticBody_t = ::SenseShift::Body::Haptics::HapticBody;
+
typedef std::tuple<Target_t, Position_t> OutputLayout_t;
static const size_t VEST_LAYOUT_SIZE = 40;
@@ -18,7 +22,7 @@ namespace BH {
template<size_t N>
static void applyPlain(
- SenseShift::Body::Haptics::HapticBody* output,
+ HapticBody_t* output,
const uint8_t (&value)[N],
const OutputLayout_t (&layout)[N],
const Effect_t effect
@@ -39,7 +43,7 @@ namespace BH {
template<size_t N>
static void applyPlain(
- SenseShift::Body::Haptics::HapticBody* output,
+ HapticBody_t* output,
std::string& value,
const OutputLayout_t (&layout)[N],
const Effect_t effect
@@ -57,7 +61,7 @@ namespace BH {
*/
template<size_t N>
static void applyPlain(
- SenseShift::Body::Haptics::HapticBody* output,
+ HapticBody_t* output,
const uint8_t (&value)[N],
const Position_t (&layout)[N],
const Effect_t effect,
@@ -79,14 +83,14 @@ namespace BH {
template<size_t N>
static void applyPlain(
- SenseShift::Body::Haptics::HapticBody* output,
+ HapticBody_t* output,
std::string& value,
const Position_t (&layout)[N],
const Effect_t effect,
const Target_t target
)
{
- std::uint8_t buf[6];
+ std::uint8_t buf[N];
std::size_t copyLength = std::min(value.size(), sizeof(buf));
std::memcpy(buf, value.c_str(), copyLength);
@@ -97,7 +101,7 @@ namespace BH {
* Apply vest-encoded data to the output.
*/
static void applyVest(
- SenseShift::Body::Haptics::HapticBody* output,
+ HapticBody_t* output,
const uint8_t (&value)[VEST_PAYLOAD_SIZE],
const Position_t (&layout)[VEST_LAYOUT_SIZE]
)
@@ -123,7 +127,7 @@ namespace BH {
}
static void applyVest(
- SenseShift::Body::Haptics::HapticBody* output,
+ HapticBody_t* output,
std::string& value,
const Position_t (&layout)[VEST_LAYOUT_SIZE]
)
@@ -140,7 +144,7 @@ namespace BH {
*/
template<size_t N>
static void applyVestGrouped(
- SenseShift::Body::Haptics::HapticBody* output,
+ HapticBody_t* output,
const uint8_t (&value)[VEST_PAYLOAD_SIZE],
const Position_t (&layout)[VEST_LAYOUT_SIZE],
const uint8_t (&layoutGroups)[N]
@@ -196,7 +200,7 @@ namespace BH {
template<size_t N>
static void applyVestGrouped(
- SenseShift::Body::Haptics::HapticBody* output,
+ HapticBody_t* output,
std::string& value,
const Position_t (&layout)[VEST_LAYOUT_SIZE],
const uint8_t (&layoutGroups)[N]
@@ -223,4 +227,4 @@ namespace BH {
}
}
};
-} // namespace BH
+} // namespace SenseShift::BH
diff --git a/lib/bhaptics_ble/connection_bhble.cpp b/lib/bhaptics_ble/connection_bhble.cpp
deleted file mode 100644
index 6367b64d..00000000
--- a/lib/bhaptics_ble/connection_bhble.cpp
+++ /dev/null
@@ -1,256 +0,0 @@
-#include "connection_bhble.hpp"
-
-#include <events.hpp>
-#include <haptic_body.hpp>
-
-#include <Arduino.h>
-
-#if defined(BLUETOOTH_USE_NIMBLE) && BLUETOOTH_USE_NIMBLE == true
-// BLE2902 not needed: https://github.com/h2zero/NimBLE-Arduino/blob/release/1.4/docs/Migration_guide.md#descriptors
-
-#define PROPERTY_READ NIMBLE_PROPERTY::READ
-#define PROPERTY_WRITE NIMBLE_PROPERTY::WRITE
-#define PROPERTY_WRITE_NR NIMBLE_PROPERTY::WRITE_NR
-#define PROPERTY_BROADCAST NIMBLE_PROPERTY::BROADCAST
-#define PROPERTY_NOTIFY NIMBLE_PROPERTY::NOTIFY
-#define PROPERTY_INDICATE NIMBLE_PROPERTY::INDICATE
-#else
-#include <BLE2902.h>
-
-#define PROPERTY_READ BLECharacteristic::PROPERTY_READ
-#define PROPERTY_WRITE BLECharacteristic::PROPERTY_WRITE
-#define PROPERTY_WRITE_NR BLECharacteristic::PROPERTY_WRITE_NR
-#define PROPERTY_BROADCAST BLECharacteristic::PROPERTY_BROADCAST
-#define PROPERTY_NOTIFY BLECharacteristic::PROPERTY_NOTIFY
-#define PROPERTY_INDICATE BLECharacteristic::PROPERTY_INDICATE
-#endif
-
-class BHServerCallbacks final : public BLEServerCallbacks {
- private:
- OH::IEventDispatcher* dispatcher;
-
- public:
- BHServerCallbacks(OH::IEventDispatcher* eventDispatcher) : dispatcher(eventDispatcher) {}
-
- void onConnect(BLEServer* pServer)
- {
- this->dispatcher->postEvent(new OH::IEvent(OH_EVENT_CONNECTED));
- }
-
- void onDisconnect(BLEServer* pServer)
- {
- this->dispatcher->postEvent(new OH::IEvent(OH_EVENT_DISCONNECTED));
- pServer->startAdvertising();
- }
-};
-
-class SerialOutputCharCallbacks : public BLECharacteristicCallbacks {
- void onWrite(BLECharacteristic* pCharacteristic) override
- {
- log_d(
- ">>\tonWrite (UUID: %s)\n\tvalue: `%s`, len: %u",
- pCharacteristic->getUUID().toString().c_str(),
- pCharacteristic->getValue().c_str(),
- pCharacteristic->getValue().length()
- );
- };
-
- void onRead(BLECharacteristic* pCharacteristic) override
- {
- log_d(
- ">>\tonRead (UUID: %s)\n\tvalue: `%s`, len: %u",
- pCharacteristic->getUUID().toString().c_str(),
- pCharacteristic->getValue().c_str(),
- pCharacteristic->getValue().length()
- );
- };
-
- void onNotify(BLECharacteristic* pCharacteristic) override
- {
- log_d(
- ">>\tonNotify (UUID: %s)\n\tvalue: `%s`, len: %u",
- pCharacteristic->getUUID().toString().c_str(),
- pCharacteristic->getValue().c_str(),
- pCharacteristic->getValue().length()
- );
- };
-
-#if defined(BLUETOOTH_USE_NIMBLE) && BLUETOOTH_USE_NIMBLE == true
- void onStatus(BLECharacteristic* pCharacteristic, Status s, int code) override
-#else
- void onStatus(BLECharacteristic* pCharacteristic, Status s, uint32_t code) override
-#endif
- {
- log_d(
- ">>\tonNotify (UUID: %s)\n\tstatus: %d, code: %u \n\tvalue: `%s`, len: %u",
- pCharacteristic->getUUID().toString().c_str(),
- s,
- code,
- pCharacteristic->getValue().c_str(),
- pCharacteristic->getValue().length()
- );
- };
-};
-
-class MotorCharCallbacks : public BLECharacteristicCallbacks {
- private:
- bh_motor_handler_t motorTransformer;
-
- public:
- MotorCharCallbacks(bh_motor_handler_t motorTransformer) : motorTransformer(motorTransformer) {}
-
- void onWrite(BLECharacteristic* pCharacteristic) override
- {
- std::string value = pCharacteristic->getValue();
-
- this->motorTransformer(value);
- };
-};
-
-class ConfigCharCallbacks : public BLECharacteristicCallbacks {
- void onWrite(BLECharacteristic* pCharacteristic) override
- {
- auto value = pCharacteristic->getValue();
-
- if (value.length() != 3) {
- return;
- }
-
- auto byte_0 = value[0], byte_1 = value[1], byte_2 = value[2];
-
- log_d(">>\tonWrite (Config Char): %3hhu %2hhu %2hhu", byte_0, byte_1, byte_2);
- };
-};
-
-void BH::ConnectionBHBLE::begin()
-{
- BLEDevice::init(this->config.deviceName);
-
- this->callbacks->postInit();
-
- this->bleServer = BLEDevice::createServer();
-
- this->bleServer->setCallbacks(new BHServerCallbacks(this->eventDispatcher));
-
- auto scanResponseData = new BLEAdvertisementData();
- scanResponseData->setAppearance(this->config.appearance);
- scanResponseData->setName(this->config.deviceName);
-
- this->bleServer->getAdvertising()->setAppearance(this->config.appearance);
- this->bleServer->getAdvertising()->setScanResponseData(*scanResponseData);
-
- // Each characteristic needs 2 handles and descriptor 1 handle.
- this->motorService = this->bleServer->createService(BH_BLE_SERVICE_MOTOR_UUID);
-
- {
- MotorCharCallbacks* motorCallbacks = new MotorCharCallbacks(this->motorHandler);
-
- auto* motorChar =
- this->motorService->createCharacteristic(BH_BLE_SERVICE_MOTOR_CHAR_MOTOR_UUID, PROPERTY_WRITE_NR);
- motorChar->setCallbacks(motorCallbacks);
-
- auto* motorCharStable =
- this->motorService->createCharacteristic(BH_BLE_SERVICE_MOTOR_CHAR_MOTOR_STABLE_UUID, PROPERTY_WRITE);
- motorCharStable->setCallbacks(motorCallbacks);
- }
-
- {
- auto* configChar = this->motorService->createCharacteristic(
- BH_BLE_SERVICE_MOTOR_CHAR_CONFIG_UUID,
- PROPERTY_READ | PROPERTY_WRITE
- );
- configChar->setCallbacks(new ConfigCharCallbacks());
- }
-
- {
- auto* serialNumberChar = this->motorService->createCharacteristic(
- BH_BLE_SERVICE_MOTOR_CHAR_SERIAL_KEY_UUID,
- PROPERTY_READ | PROPERTY_WRITE
- );
- serialNumberChar->setValue(this->config.serialNumber, BH_SERIAL_NUMBER_LENGTH);
- serialNumberChar->setCallbacks(new SerialOutputCharCallbacks());
- }
-
- {
- this->batteryChar = this->motorService->createCharacteristic(
- BH_BLE_SERVICE_MOTOR_CHAR_BATTERY_UUID,
- PROPERTY_READ | PROPERTY_WRITE_NR
- | PROPERTY_NOTIFY // for whatever reason, it have to be writable, otherwise Desktop app crashes
- );
-
-#if !defined(BLUETOOTH_USE_NIMBLE) || BLUETOOTH_USE_NIMBLE != true
- batteryChar->addDescriptor(new BLE2902());
-#endif
-
- // original bHaptics Player require non-null value for battery level, otherwise it crashes
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
- uint16_t defaultLevel = 0;
-#else
- uint16_t defaultLevel = 100;
-#endif
-
- this->batteryChar->setValue(defaultLevel);
- // this->batteryChar->notify();
- }
-
- {
- auto* versionChar =
- this->motorService->createCharacteristic(BH_BLE_SERVICE_MOTOR_CHAR_VERSION_UUID, PROPERTY_READ);
- versionChar->setCallbacks(new SerialOutputCharCallbacks());
- uint16_t firmwareVersion = BH_FIRMWARE_VERSION;
- versionChar->setValue(firmwareVersion);
- }
-
- {
- auto* monitorChar = this->motorService->createCharacteristic(
- BH_BLE_SERVICE_MOTOR_CHAR_TACTSUIT_MONITOR_UUID,
- PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
- );
- monitorChar->setCallbacks(new SerialOutputCharCallbacks());
-
-#if !defined(BLUETOOTH_USE_NIMBLE) || BLUETOOTH_USE_NIMBLE != true
- monitorChar->addDescriptor(new BLE2902());
-#endif
-
- uint16_t audioCableState = NO_AUDIO_CABLE;
- monitorChar->setValue(audioCableState);
- }
-
- // auto* athGlobalChar = this->motorService->createCharacteristic(
- // BH_BLE_SERVICE_MOTOR_CHAR_ATH_GLOBAL_CONF_UUID,
- // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
- // );
- // athGlobalChar->setCallbacks(new SerialOutputCharCallbacks());
-
- // auto* athThemeChar = this->motorService->createCharacteristic(
- // BH_BLE_SERVICE_MOTOR_CHAR_ATH_THEME_UUID,
- // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
- // );
- // athThemeChar->setCallbacks(new SerialOutputCharCallbacks());
-
- // auto* motorMappingChar = this->motorService->createCharacteristic(
- // BH_BLE_SERVICE_MOTOR_CHAR_MOTTOR_MAPPING_UUID,
- // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
- // );
- // motorMappingChar->setCallbacks(new SerialOutputCharCallbacks());
-
- // auto* signatureMappingChar = this->motorService->createCharacteristic(
- // BH_BLE_SERVICE_MOTOR_CHAR_SIGNATURE_PATTERN_UUID,
- // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
- // );
- // signatureMappingChar->setCallbacks(new SerialOutputCharCallbacks());
-
- this->motorService->start();
-
- {
- auto dfuService = this->bleServer->createService(BH_BLE_SERVICE_DFU_UUID);
-
- auto* dfuControlChar = dfuService->createCharacteristic(
- BH_BLE_SERVICE_MOTOR_CHAR_SIGNATURE_PATTERN_UUID,
- PROPERTY_READ | PROPERTY_WRITE
- );
- dfuService->start();
- }
-
- this->bleServer->getAdvertising()->start();
-}
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
new file mode 100644
index 00000000..a4f60bbc
--- /dev/null
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
@@ -0,0 +1,260 @@
+#include "senseshift/bh/ble/connection.hpp"
+
+#include <senseshift/bh/constants.hpp>
+
+#include <events.hpp>
+#include <haptic_body.hpp>
+
+#include <Arduino.h>
+
+#if defined(BLUETOOTH_USE_NIMBLE) && BLUETOOTH_USE_NIMBLE == true
+// BLE2902 not needed: https://github.com/h2zero/NimBLE-Arduino/blob/release/1.4/docs/Migration_guide.md#descriptors
+
+#define PROPERTY_READ NIMBLE_PROPERTY::READ
+#define PROPERTY_WRITE NIMBLE_PROPERTY::WRITE
+#define PROPERTY_WRITE_NR NIMBLE_PROPERTY::WRITE_NR
+#define PROPERTY_BROADCAST NIMBLE_PROPERTY::BROADCAST
+#define PROPERTY_NOTIFY NIMBLE_PROPERTY::NOTIFY
+#define PROPERTY_INDICATE NIMBLE_PROPERTY::INDICATE
+#else
+#include <BLE2902.h>
+
+#define PROPERTY_READ BLECharacteristic::PROPERTY_READ
+#define PROPERTY_WRITE BLECharacteristic::PROPERTY_WRITE
+#define PROPERTY_WRITE_NR BLECharacteristic::PROPERTY_WRITE_NR
+#define PROPERTY_BROADCAST BLECharacteristic::PROPERTY_BROADCAST
+#define PROPERTY_NOTIFY BLECharacteristic::PROPERTY_NOTIFY
+#define PROPERTY_INDICATE BLECharacteristic::PROPERTY_INDICATE
+#endif
+
+namespace SenseShift::BH::BLE {
+ class BHServerCallbacks final : public BLEServerCallbacks {
+ private:
+ OH::IEventDispatcher* dispatcher;
+
+ public:
+ BHServerCallbacks(OH::IEventDispatcher* eventDispatcher) : dispatcher(eventDispatcher) {}
+
+ void onConnect(BLEServer* pServer)
+ {
+ this->dispatcher->postEvent(new OH::IEvent(OH_EVENT_CONNECTED));
+ }
+
+ void onDisconnect(BLEServer* pServer)
+ {
+ this->dispatcher->postEvent(new OH::IEvent(OH_EVENT_DISCONNECTED));
+ pServer->startAdvertising();
+ }
+ };
+
+ class LogOutputCharCallbacks : public BLECharacteristicCallbacks {
+ void onWrite(BLECharacteristic* pCharacteristic) override
+ {
+ log_d(
+ ">>\tonWrite (UUID: %s)\n\tvalue: `%s`, len: %u",
+ pCharacteristic->getUUID().toString().c_str(),
+ pCharacteristic->getValue().c_str(),
+ pCharacteristic->getValue().length()
+ );
+ };
+
+ void onRead(BLECharacteristic* pCharacteristic) override
+ {
+ log_d(
+ ">>\tonRead (UUID: %s)\n\tvalue: `%s`, len: %u",
+ pCharacteristic->getUUID().toString().c_str(),
+ pCharacteristic->getValue().c_str(),
+ pCharacteristic->getValue().length()
+ );
+ };
+
+ void onNotify(BLECharacteristic* pCharacteristic) override
+ {
+ log_d(
+ ">>\tonNotify (UUID: %s)\n\tvalue: `%s`, len: %u",
+ pCharacteristic->getUUID().toString().c_str(),
+ pCharacteristic->getValue().c_str(),
+ pCharacteristic->getValue().length()
+ );
+ };
+
+ #if defined(BLUETOOTH_USE_NIMBLE) && BLUETOOTH_USE_NIMBLE == true
+ void onStatus(BLECharacteristic* pCharacteristic, Status s, int code) override
+ #else
+ void onStatus(BLECharacteristic* pCharacteristic, Status s, uint32_t code) override
+ #endif
+ {
+ log_d(
+ ">>\tonNotify (UUID: %s)\n\tstatus: %d, code: %u \n\tvalue: `%s`, len: %u",
+ pCharacteristic->getUUID().toString().c_str(),
+ s,
+ code,
+ pCharacteristic->getValue().c_str(),
+ pCharacteristic->getValue().length()
+ );
+ };
+ };
+
+ class MotorCharCallbacks : public BLECharacteristicCallbacks {
+ private:
+ Connection::MotorHandler_t motorTransformer;
+
+ public:
+ MotorCharCallbacks(Connection::MotorHandler_t motorTransformer) : motorTransformer(motorTransformer) {}
+
+ void onWrite(BLECharacteristic* pCharacteristic) override
+ {
+ std::string value = pCharacteristic->getValue();
+
+ this->motorTransformer(value);
+ };
+ };
+
+ class ConfigCharCallbacks : public BLECharacteristicCallbacks {
+ void onWrite(BLECharacteristic* pCharacteristic) override
+ {
+ auto value = pCharacteristic->getValue();
+
+ if (value.length() != 3) {
+ return;
+ }
+
+ auto byte_0 = value[0], byte_1 = value[1], byte_2 = value[2];
+
+ log_d(">>\tonWrite (Config Char): %3hhu %2hhu %2hhu", byte_0, byte_1, byte_2);
+ };
+ };
+
+ void Connection::begin()
+ {
+ BLEDevice::init(this->config.deviceName);
+
+ this->callbacks->postInit();
+
+ this->bleServer = BLEDevice::createServer();
+
+ this->bleServer->setCallbacks(new BHServerCallbacks(this->eventDispatcher));
+
+ auto scanResponseData = new BLEAdvertisementData();
+ scanResponseData->setAppearance(this->config.appearance);
+ scanResponseData->setName(this->config.deviceName);
+
+ this->bleServer->getAdvertising()->setAppearance(this->config.appearance);
+ this->bleServer->getAdvertising()->setScanResponseData(*scanResponseData);
+
+ // Each characteristic needs 2 handles and descriptor 1 handle.
+ this->motorService = this->bleServer->createService(BH_BLE_SERVICE_MOTOR_UUID);
+
+ {
+ MotorCharCallbacks* motorCallbacks = new MotorCharCallbacks(this->motorHandler);
+
+ auto* motorChar =
+ this->motorService->createCharacteristic(BH_BLE_SERVICE_MOTOR_CHAR_MOTOR_UUID, PROPERTY_WRITE_NR);
+ motorChar->setCallbacks(motorCallbacks);
+
+ auto* motorCharStable =
+ this->motorService->createCharacteristic(BH_BLE_SERVICE_MOTOR_CHAR_MOTOR_STABLE_UUID, PROPERTY_WRITE);
+ motorCharStable->setCallbacks(motorCallbacks);
+ }
+
+ {
+ auto* configChar = this->motorService->createCharacteristic(
+ BH_BLE_SERVICE_MOTOR_CHAR_CONFIG_UUID,
+ PROPERTY_READ | PROPERTY_WRITE
+ );
+ configChar->setCallbacks(new ConfigCharCallbacks());
+ }
+
+ {
+ auto* serialNumberChar = this->motorService->createCharacteristic(
+ BH_BLE_SERVICE_MOTOR_CHAR_SERIAL_KEY_UUID,
+ PROPERTY_READ | PROPERTY_WRITE
+ );
+ serialNumberChar->setValue(this->config.serialNumber, ConnectionConfig_t::SN_LENGTH);
+ serialNumberChar->setCallbacks(new LogOutputCharCallbacks());
+ }
+
+ {
+ this->batteryChar = this->motorService->createCharacteristic(
+ BH_BLE_SERVICE_MOTOR_CHAR_BATTERY_UUID,
+ PROPERTY_READ | PROPERTY_WRITE_NR
+ | PROPERTY_NOTIFY // for whatever reason, it have to be writable, otherwise Desktop app crashes
+ );
+
+ #if !defined(BLUETOOTH_USE_NIMBLE) || BLUETOOTH_USE_NIMBLE != true
+ batteryChar->addDescriptor(new BLE2902());
+ #endif
+
+ // original bHaptics Player require non-null value for battery level, otherwise it crashes
+ #if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+ uint16_t defaultLevel = 0;
+ #else
+ uint16_t defaultLevel = 100;
+ #endif
+
+ this->batteryChar->setValue(defaultLevel);
+ // this->batteryChar->notify();
+ }
+
+ {
+ auto* versionChar =
+ this->motorService->createCharacteristic(BH_BLE_SERVICE_MOTOR_CHAR_VERSION_UUID, PROPERTY_READ);
+ versionChar->setCallbacks(new LogOutputCharCallbacks());
+ uint16_t firmwareVersion = BH_FIRMWARE_VERSION;
+ versionChar->setValue(firmwareVersion);
+ }
+
+ {
+ auto* monitorChar = this->motorService->createCharacteristic(
+ BH_BLE_SERVICE_MOTOR_CHAR_TACTSUIT_MONITOR_UUID,
+ PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
+ );
+ monitorChar->setCallbacks(new LogOutputCharCallbacks());
+
+ #if !defined(BLUETOOTH_USE_NIMBLE) || BLUETOOTH_USE_NIMBLE != true
+ monitorChar->addDescriptor(new BLE2902());
+ #endif
+
+ uint16_t audioCableState = NO_AUDIO_CABLE;
+ monitorChar->setValue(audioCableState);
+ }
+
+ // auto* athGlobalChar = this->motorService->createCharacteristic(
+ // BH_BLE_SERVICE_MOTOR_CHAR_ATH_GLOBAL_CONF_UUID,
+ // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
+ // );
+ // athGlobalChar->setCallbacks(new LogOutputCharCallbacks());
+
+ // auto* athThemeChar = this->motorService->createCharacteristic(
+ // BH_BLE_SERVICE_MOTOR_CHAR_ATH_THEME_UUID,
+ // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
+ // );
+ // athThemeChar->setCallbacks(new LogOutputCharCallbacks());
+
+ // auto* motorMappingChar = this->motorService->createCharacteristic(
+ // BH_BLE_SERVICE_MOTOR_CHAR_MOTTOR_MAPPING_UUID,
+ // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
+ // );
+ // motorMappingChar->setCallbacks(new LogOutputCharCallbacks());
+
+ // auto* signatureMappingChar = this->motorService->createCharacteristic(
+ // BH_BLE_SERVICE_MOTOR_CHAR_SIGNATURE_PATTERN_UUID,
+ // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
+ // );
+ // signatureMappingChar->setCallbacks(new LogOutputCharCallbacks());
+
+ this->motorService->start();
+
+ {
+ auto dfuService = this->bleServer->createService(BH_BLE_SERVICE_DFU_UUID);
+
+ auto* dfuControlChar = dfuService->createCharacteristic(
+ BH_BLE_SERVICE_MOTOR_CHAR_SIGNATURE_PATTERN_UUID,
+ PROPERTY_READ | PROPERTY_WRITE
+ );
+ dfuService->start();
+ }
+
+ this->bleServer->getAdvertising()->start();
+ }
+}
diff --git a/lib/bhaptics_ble/connection_bhble.hpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
similarity index 67%
rename from lib/bhaptics_ble/connection_bhble.hpp
rename to lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
index 7645000f..f4d10f19 100644
--- a/lib/bhaptics_ble/connection_bhble.hpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
@@ -3,8 +3,8 @@
#include <abstract_connection.hpp>
#include <utility.hpp>
-#include <bh_constants.hpp>
-#include <bh_types.hpp>
+#include <senseshift/bh/constants.hpp>
+#include <senseshift/bh/ble/constants.hpp>
#include <Arduino.h>
#include <esp_wifi.h>
@@ -19,45 +19,30 @@
#include <abstract_battery.hpp>
#endif
-// typedef void (*bh_motor_handler_t)(std::string&);
-typedef std::function<void(std::string&)> bh_motor_handler_t;
+namespace SenseShift::BH::BLE {
+ typedef struct ConnectionConfig {
+ static constexpr size_t SN_LENGTH = 10;
-namespace BH {
- class BHBLEConnectionCallbacks {
+ std::string deviceName;
+ uint16_t appearance;
+ uint8_t serialNumber[SN_LENGTH];
+ } ConnectionConfig_t;
+
+ class ConnectionCallbacks {
public:
virtual void postInit()
{
log_v("Default postInit");
};
};
+ static ConnectionCallbacks defaultCallback;
- static BHBLEConnectionCallbacks defaultCallback;
-
- struct ConnectionBHBLE_Config {
- std::string deviceName;
- uint16_t appearance;
- uint8_t* serialNumber;
- };
-
- class ConnectionBHBLE final : public OH::AbstractConnection, public OH::IEventListener {
- private:
- ConnectionBHBLE_Config config;
- bh_motor_handler_t motorHandler;
- OH::IEventDispatcher* eventDispatcher;
-
- BLEServer* bleServer = nullptr;
- BLEService* motorService = nullptr;
- BLECharacteristic* batteryChar = nullptr;
-
- BHBLEConnectionCallbacks* callbacks = &defaultCallback;
-
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
- void handleBatteryChange(const OH::BatteryLevelEvent* event) const;
-#endif
-
+ class Connection final : public OH::AbstractConnection, public OH::IEventListener {
public:
- ConnectionBHBLE(
- ConnectionBHBLE_Config& config, bh_motor_handler_t motorHandler, OH::IEventDispatcher* eventDispatcher
+ typedef std::function<void(std::string&)> MotorHandler_t;
+
+ Connection(
+ const ConnectionConfig_t& config, MotorHandler_t motorHandler, OH::IEventDispatcher* eventDispatcher
) :
config(config), motorHandler(motorHandler), eventDispatcher(eventDispatcher)
{
@@ -80,7 +65,7 @@ namespace BH {
#endif
};
- void setCallbacks(BHBLEConnectionCallbacks* pCallbacks)
+ void setCallbacks(ConnectionCallbacks* pCallbacks)
{
if (pCallbacks != nullptr) {
this->callbacks = pCallbacks;
@@ -88,5 +73,20 @@ namespace BH {
this->callbacks = &defaultCallback;
}
};
+
+ private:
+ const ConnectionConfig_t& config;
+ MotorHandler_t motorHandler;
+ OH::IEventDispatcher* eventDispatcher;
+
+ BLEServer* bleServer = nullptr;
+ BLEService* motorService = nullptr;
+ BLECharacteristic* batteryChar = nullptr;
+
+ ConnectionCallbacks* callbacks = &defaultCallback;
+
+#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+ void handleBatteryChange(const OH::BatteryLevelEvent* event) const;
+#endif
};
-} // namespace BH
+} // namespace SenseShift::BH::BLE
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/constants.hpp b/lib/bhaptics_ble/senseshift/bh/ble/constants.hpp
new file mode 100644
index 00000000..64d3ebd4
--- /dev/null
+++ b/lib/bhaptics_ble/senseshift/bh/ble/constants.hpp
@@ -0,0 +1,59 @@
+#pragma once
+
+#include <BLEUUID.h>
+
+// All below are weird choices of bHaptics engineers...
+// Why to use unconventional UUIDs, that are reserved for other purposes?
+// You have an unlimited amount of other UUIDs
+
+/**
+ * Main service for bHaptics BLE devices.
+ *
+ * Nordic UART Service (NUS)
+ * @see https://developer.nordicsemi.com/nRF_Connect_SDK/doc/latest/nrf/libraries/bluetooth_services/services/nus.html
+ */
+#define BH_BLE_SERVICE_MOTOR_UUID BLEUUID("6e400001-b5a3-f393-e0a9-e50e24dcca9e")
+
+/**
+ * Legacy Characteristic for driving haptic feedback.
+ *
+ * Nordic UART RX
+ * @see https://developer.nordicsemi.com/nRF_Connect_SDK/doc/latest/nrf/libraries/bluetooth_services/services/nus.html
+ */
+#define BH_BLE_SERVICE_MOTOR_CHAR_MOTOR_UUID BLEUUID("6e400002-b5a3-f393-e0a9-e50e24dcca9e")
+
+/**
+ * Characteristic for Device S/N.
+ *
+ * Nordic UART TX
+ * @see https://developer.nordicsemi.com/nRF_Connect_SDK/doc/latest/nrf/libraries/bluetooth_services/services/nus.html
+ */
+#define BH_BLE_SERVICE_MOTOR_CHAR_SERIAL_KEY_UUID BLEUUID("6e400003-b5a3-f393-e0a9-e50e24dcca9e")
+
+// Glow Color
+#define BH_BLE_SERVICE_MOTOR_CHAR_CONFIG_UUID BLEUUID("6e400005-b5a3-f393-e0a9-e50e24dcca9e")
+#define BH_BLE_SERVICE_MOTOR_CHAR_VERSION_UUID BLEUUID("6e400007-b5a3-f393-e0a9-e50e24dcca9e")
+#define BH_BLE_SERVICE_MOTOR_CHAR_BATTERY_UUID BLEUUID("6e400008-b5a3-f393-e0a9-e50e24dcca9e")
+
+// Current Characteristic for driving haptic feedback
+#define BH_BLE_SERVICE_MOTOR_CHAR_MOTOR_STABLE_UUID BLEUUID("6e40000a-b5a3-f393-e0a9-e50e24dcca9e")
+#define BH_BLE_SERVICE_MOTOR_CHAR_TACTSUIT_MONITOR_UUID BLEUUID("6e40000b-b5a3-f393-e0a9-e50e24dcca9e")
+
+// Audio-to-Haptic
+#define BH_BLE_SERVICE_MOTOR_CHAR_ATH_GLOBAL_CONF_UUID BLEUUID("6e40000c-b5a3-f393-e0a9-e50e24dcca9e")
+// Audio-to-Haptic
+#define BH_BLE_SERVICE_MOTOR_CHAR_ATH_THEME_UUID BLEUUID("6e40000d-b5a3-f393-e0a9-e50e24dcca9e")
+
+#define BH_BLE_SERVICE_MOTOR_CHAR_MOTTOR_MAPPING_UUID BLEUUID("6e40000e-b5a3-f393-e0a9-e50e24dcca9e")
+#define BH_BLE_SERVICE_MOTOR_CHAR_SIGNATURE_PATTERN_UUID BLEUUID("6e40000f-b5a3-f393-e0a9-e50e24dcca9e")
+
+/**
+ * Firmware update service
+ * @see https://infocenter.nordicsemi.com/topic/ug_nrfconnect_ble/UG/nRF_Connect_BLE/nRF_Connect_DFU.html
+ */
+#define BH_BLE_SERVICE_DFU_UUID BLEUUID("0000fe59-0000-1000-8000-00805f9b34fb")
+/**
+ * Firmware update control characteristic
+ * @see https://infocenter.nordicsemi.com/topic/ug_nrfconnect_ble/UG/nRF_Connect_BLE/nRF_Connect_DFU.html
+ */
+#define BH_BLE_SERVICE_DFU_CHAR_CONTROL_UUID BLEUUID("8ec90003-f315-4f60-9fb8-838830daea50")
diff --git a/test/test_bhaptics_encoding/main.cpp b/test/test_bhaptics_encoding/main.cpp
index 7f153779..332fb25d 100644
--- a/test/test_bhaptics_encoding/main.cpp
+++ b/test/test_bhaptics_encoding/main.cpp
@@ -1,6 +1,6 @@
-#include <bh_types.hpp>
-#include <bh_encoding.hpp>
#include <bh_devices.hpp>
+#include <bh_encoding.hpp>
+#include <bh_types.hpp>
#include <unity.h>
@@ -224,12 +224,12 @@ void test_layout_tactglove(void)
const auto& bhLayout = BH::TactGloveLeftLayout;
- auto thumb = new VibroPlane({{ std::get<2>(bhLayout[0]), actuatorThumb }});
- auto index = new VibroPlane({{ std::get<2>(bhLayout[1]), actuatorIndex }});
- auto middle = new VibroPlane({{ std::get<2>(bhLayout[2]), actuatorMiddle }});
- auto ring = new VibroPlane({{ std::get<2>(bhLayout[3]), actuatorRing }});
- auto little = new VibroPlane({{ std::get<2>(bhLayout[4]), actuatorLittle }});
- auto wrist = new VibroPlane({{ std::get<2>(bhLayout[5]), actuatorWrist }});
+ auto thumb = new VibroPlane({ { std::get<2>(bhLayout[0]), actuatorThumb } });
+ auto index = new VibroPlane({ { std::get<2>(bhLayout[1]), actuatorIndex } });
+ auto middle = new VibroPlane({ { std::get<2>(bhLayout[2]), actuatorMiddle } });
+ auto ring = new VibroPlane({ { std::get<2>(bhLayout[3]), actuatorRing } });
+ auto little = new VibroPlane({ { std::get<2>(bhLayout[4]), actuatorLittle } });
+ auto wrist = new VibroPlane({ { std::get<2>(bhLayout[5]), actuatorWrist } });
auto body = new HapticBody();
From 445efe758f3aa0ea063d996b0dd1393098119dd5 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 21 Aug 2023 18:56:30 +0400
Subject: [PATCH 07/82] refactor(bHaptics): use updated haptics core
---
.vscode/settings.json | 12 +-
examples/bhaptics-ble-bt-serial.cpp | 2 +-
firmware/mode_configs/bhaptics/tactal.cpp | 17 +-
firmware/mode_configs/bhaptics/tactglove.cpp | 53 ++--
firmware/mode_configs/bhaptics/tactosy2.cpp | 33 ++-
firmware/mode_configs/bhaptics/tactosyf.cpp | 29 +-
firmware/mode_configs/bhaptics/tactosyh.cpp | 35 ++-
.../mode_configs/bhaptics/tactsuit_x16.cpp | 41 ++-
.../bhaptics/tactsuit_x16_pca9685.cpp | 41 ++-
.../mode_configs/bhaptics/tactsuit_x40.cpp | 53 ++--
firmware/mode_configs/bhaptics/tactvisor.cpp | 31 +--
firmware/senseshift.cpp | 2 +-
include/senseshift.h | 6 +-
ini/bhaptics.ini | 4 +-
lib/arduino/components/serial_plotter.cpp | 2 +-
lib/arduino/components/serial_plotter.hpp | 3 +-
lib/bhaptics/senseshift/bh/devices.hpp | 262 +++++++++++-------
lib/bhaptics/senseshift/bh/encoding.hpp | 41 +--
.../senseshift/bh/ble/connection.cpp | 105 +++----
.../senseshift/bh/ble/connection.hpp | 2 +-
lib/core/types.hpp | 7 -
lib/hands/hand_interface.hpp | 12 +-
lib/haptics/haptic_body.hpp | 6 +-
lib/haptics/haptic_plane.hpp | 4 +-
lib/haptics/haptics_interface.hpp | 4 +-
test/test_bhaptics_encoding/main.cpp | 45 ++-
26 files changed, 451 insertions(+), 401 deletions(-)
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 56a04ab3..1af45755 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -59,7 +59,17 @@
"xtree": "cpp",
"xhash": "cpp",
"xlocnum": "cpp",
- "ledc.h": "c"
+ "ledc.h": "c",
+ "variant": "cpp",
+ "bitset": "cpp",
+ "chrono": "cpp",
+ "condition_variable": "cpp",
+ "csignal": "cpp",
+ "ratio": "cpp",
+ "regex": "cpp",
+ "future": "cpp",
+ "mutex": "cpp",
+ "thread": "cpp"
},
"files.eol": "\n",
"files.insertFinalNewline": true,
diff --git a/examples/bhaptics-ble-bt-serial.cpp b/examples/bhaptics-ble-bt-serial.cpp
index 4388d41b..d0c42d95 100644
--- a/examples/bhaptics-ble-bt-serial.cpp
+++ b/examples/bhaptics-ble-bt-serial.cpp
@@ -23,7 +23,7 @@ BluetoothSerial SerialBT;
BluetoothSerial* btSerial = &SerialBT;
static const size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
-static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
+static const ::SenseShift::Body::Haptics::Position_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
class BLECallbacks : public BHBLEConnectionCallbacks {
public:
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index 89b3a620..de7f9560 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -6,10 +6,10 @@
#include "senseshift.h"
+#include <output_writers/pwm.hpp>
+#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/bh/ble/connection.hpp>
-#include <output_writers/pwm.hpp>
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
#include "battery/adc_naive.hpp"
@@ -23,19 +23,18 @@ extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
static const size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
-static const oh_output_point_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
+static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
void setupMode()
{
// Configure PWM pins to their positions on the face
- auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ const auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
// clang-format off
- {new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14)},
+ { new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14) },
// clang-format on
});
- auto* face = new VibroPlane(faceOutputs);
- app->getHapticBody()->addTarget(Target::FaceFront, face);
+ app->getHapticBody()->addTarget(Target::FaceFront, new VibroPlane_Closest(faceOutputs));
app->getHapticBody()->setup();
@@ -44,9 +43,9 @@ void setupMode()
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
.serialNumber = BH_SERIAL_NUMBER,
- },
+ },
[](std::string& value) -> void {
- BH::Decoder::applyPlain<6>(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
+ BH::Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index cb4cbea8..14acadd8 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -8,58 +8,53 @@
#include "senseshift.h"
-#include <bh_encoding.hpp>
-#include <bh_devices.hpp>
-#include <connection_bhble.hpp>
#include <output_writers/pwm.hpp>
+#include <senseshift/bh/ble/connection.hpp>
+#include <senseshift/bh/devices.hpp>
+#include <senseshift/bh/encoding.hpp>
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
#include <battery/adc_naive.hpp>
#endif
-#ifndef BH_LAYOUT
-#define BH_LAYOUT BH::TactGloveLeftLayout
-#endif
-
using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Body::Haptics;
-using namespace BH;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
-const auto& bhLayout = BH_LAYOUT;
+static const Body::Hands::HandSide_t handSide = Body::Hands::HandSide::SENSESHIFT_HAND_SIDE;
+static const size_t bhLayoutSize = BH_LAYOUT_TACTGLOVE_SIZE;
+// clang-format off
+static const BH::OutputLayout_t (&bhLayout)[bhLayoutSize] = handSide == Body::Hands::HandSide::Left ? BH::TactGloveLeftLayout : BH::TactGloveRightLayout;
+// clang-format on
void setupMode()
{
// Configure PWM pins to their positions on the glove
- auto* motorThumb = new PWMOutputWriter(33); // Thumb
- auto* motorIndex = new PWMOutputWriter(32); // Index
- auto* motorMiddle = new PWMOutputWriter(25); // Middle
- auto* motorRing = new PWMOutputWriter(26); // Ring
- auto* motorLittle = new PWMOutputWriter(27); // Little
- auto* motorWrist = new PWMOutputWriter(14); // Wrist
-
- app->getHapticBody()->addTarget(std::get<0>(bhLayout[0]), new VibroPlane({{ std::get<1>(bhLayout[0]), motorThumb }}));
- app->getHapticBody()->addTarget(std::get<0>(bhLayout[1]), new VibroPlane({{ std::get<1>(bhLayout[1]), motorIndex }}));
- app->getHapticBody()->addTarget(std::get<0>(bhLayout[2]), new VibroPlane({{ std::get<1>(bhLayout[2]), motorMiddle }}));
- app->getHapticBody()->addTarget(std::get<0>(bhLayout[3]), new VibroPlane({{ std::get<1>(bhLayout[3]), motorRing }}));
- app->getHapticBody()->addTarget(std::get<0>(bhLayout[4]), new VibroPlane({{ std::get<1>(bhLayout[4]), motorLittle }}));
- app->getHapticBody()->addTarget(std::get<0>(bhLayout[5]), new VibroPlane({{ std::get<1>(bhLayout[5]), motorWrist }}));
+ // Replace `new PWMOutputWriter(...)` with `nullptr` to disable a specific actuator
+ BH::addTactGloveActuators(
+ app->getHapticBody(),
+ handSide,
+ new PWMOutputWriter(32), // Thumb
+ new PWMOutputWriter(33), // Index
+ new PWMOutputWriter(25), // Middle
+ new PWMOutputWriter(26), // Ring
+ new PWMOutputWriter(27), // Little
+ new PWMOutputWriter(14) // Wrist
+ );
app->getHapticBody()->setup();
- uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
- ConnectionBHBLE_Config config = {
+ auto* bhBleConnection = new BH::BLE::Connection(
+ {
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
- .serialNumber = serialNumber,
- };
- auto* bhBleConnection = new ConnectionBHBLE(
- config,
+ .serialNumber = BH_SERIAL_NUMBER,
+ },
[](std::string& value) -> void {
- Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect_t::Vibro);
+ BH::Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect_t::Vibro);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index e42ea4a9..fb6bd77f 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -6,48 +6,47 @@
#include "senseshift.h"
-#include <bh_utils.hpp>
-#include <connection_bhble.hpp>
#include <output_writers/pwm.hpp>
+#include <senseshift/bh/ble/connection.hpp>
+#include <senseshift/bh/devices.hpp>
+#include <senseshift/bh/encoding.hpp>
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
#include <battery/adc_naive.hpp>
#endif
using namespace OH;
-using namespace BH;
+using namespace SenseShift;
+using namespace SenseShift::Body::Haptics;
-extern SenseShift App;
-SenseShift* app = &App;
+extern SenseShift::SenseShift App;
+SenseShift::SenseShift* app = &App;
static const size_t bhLayoutSize = BH_LAYOUT_TACTOSY2_SIZE;
-static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSY2;
+static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSY2;
void setupMode()
{
// Configure PWM pins to their positions on the forearm
auto forearmOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
// clang-format off
- {new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25)},
- {new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14)},
+ { new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25) },
+ { new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14) },
// clang-format on
});
- auto* forearm = new HapticPlane_Closest(forearmOutputs);
- app->getHapticBody()->addComponent(OUTPUT_PATH_ACCESSORY, forearm);
+ app->getHapticBody()->addTarget(Target::Accessory, new VibroPlane_Closest(forearmOutputs));
app->getHapticBody()->setup();
- uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
- ConnectionBHBLE_Config config = {
+ auto* bhBleConnection = new BH::BLE::Connection(
+ {
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
- .serialNumber = serialNumber,
- };
- auto* bhBleConnection = new ConnectionBHBLE(
- config,
+ .serialNumber = BH_SERIAL_NUMBER,
+ },
[](std::string& value) -> void {
- plainOutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
+ BH::Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index 66629aa9..277377ae 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -6,22 +6,24 @@
#include "senseshift.h"
-#include <bh_utils.hpp>
-#include <connection_bhble.hpp>
#include <output_writers/pwm.hpp>
+#include <senseshift/bh/ble/connection.hpp>
+#include <senseshift/bh/devices.hpp>
+#include <senseshift/bh/encoding.hpp>
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
#include <battery/adc_naive.hpp>
#endif
using namespace OH;
-using namespace BH;
+using namespace SenseShift;
+using namespace SenseShift::Body::Haptics;
-extern SenseShift App;
-SenseShift* app = &App;
+extern SenseShift::SenseShift App;
+SenseShift::SenseShift* app = &App;
static const size_t bhLayoutSize = BH_LAYOUT_TACTOSYF_SIZE;
-static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYF;
+static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYF;
void setupMode()
{
@@ -34,21 +36,18 @@ void setupMode()
// clang-format on
});
- auto* foot = new HapticPlane_Closest(footOutputs);
- app->getHapticBody()->addComponent(OUTPUT_PATH_ACCESSORY, foot);
+ app->getHapticBody()->addTarget(Target::Accessory, new VibroPlane_Closest(footOutputs));
app->getHapticBody()->setup();
- uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
- ConnectionBHBLE_Config config = {
+ auto* bhBleConnection = new BH::BLE::Connection(
+ {
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
- .serialNumber = serialNumber,
- };
- auto* bhBleConnection = new ConnectionBHBLE(
- config,
+ .serialNumber = BH_SERIAL_NUMBER,
+ },
[](std::string& value) -> void {
- plainOutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
+ BH::Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index 967b1f84..543f2275 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -6,49 +6,48 @@
#include "senseshift.h"
-#include <bh_utils.hpp>
-#include <connection_bhble.hpp>
#include <output_writers/pwm.hpp>
+#include <senseshift/bh/ble/connection.hpp>
+#include <senseshift/bh/devices.hpp>
+#include <senseshift/bh/encoding.hpp>
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
#include <battery/adc_naive.hpp>
#endif
using namespace OH;
-using namespace BH;
+using namespace SenseShift;
+using namespace SenseShift::Body::Haptics;
-extern SenseShift App;
-SenseShift* app = &App;
+extern SenseShift::SenseShift App;
+SenseShift::SenseShift* app = &App;
static const size_t bhLayoutSize = BH_LAYOUT_TACTOSYH_SIZE;
-static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYH;
+static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYH;
void setupMode()
{
// Configure PWM pins to their positions on the hands
auto handOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
// clang-format off
- {new PWMOutputWriter(32)},
- {new PWMOutputWriter(33)},
- {new PWMOutputWriter(25)}
+ { new PWMOutputWriter(32) },
+ { new PWMOutputWriter(33) },
+ { new PWMOutputWriter(25) }
// clang-format on
});
- auto* hand = new HapticPlane_Closest(handOutputs);
- app->getHapticBody()->addComponent(OUTPUT_PATH_ACCESSORY, hand);
+ app->getHapticBody()->addTarget(Target::Accessory, new VibroPlane_Closest(handOutputs));
app->getHapticBody()->setup();
- uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
- ConnectionBHBLE_Config config = {
+ auto* bhBleConnection = new BH::BLE::Connection(
+ {
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
- .serialNumber = serialNumber,
- };
- auto* bhBleConnection = new ConnectionBHBLE(
- config,
+ .serialNumber = BH_SERIAL_NUMBER,
+ },
[](std::string& value) -> void {
- plainOutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
+ BH::Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index a1a9ba1f..4b4cf7d2 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -6,22 +6,24 @@
#include "senseshift.h"
-#include <bh_utils.hpp>
-#include <connection_bhble.hpp>
#include <output_writers/pwm.hpp>
+#include <senseshift/bh/ble/connection.hpp>
+#include <senseshift/bh/devices.hpp>
+#include <senseshift/bh/encoding.hpp>
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
#include <battery/adc_naive.hpp>
#endif
using namespace OH;
-using namespace BH;
+using namespace SenseShift;
+using namespace SenseShift::Body::Haptics;
-extern SenseShift App;
-SenseShift* app = &App;
+extern SenseShift::SenseShift App;
+SenseShift::SenseShift* app = &App;
-static const oh_output_point_t* bhLayout[] = BH_LAYOUT_TACTSUITX16;
static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
+static const BH::OutputLayout_t bhLayout[BH_LAYOUT_TACTSUITX16_SIZE] = BH_LAYOUT_TACTSUITX16;
// Ouput indices, responsible for x40 => x16 grouping
static const size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
@@ -32,35 +34,30 @@ void setupMode()
// Configure PWM pins to their positions on the vest
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
// clang-format off
- {new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26)},
- {new PWMOutputWriter(27), new PWMOutputWriter(14), new PWMOutputWriter(12), new PWMOutputWriter(13)},
+ { new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26) },
+ { new PWMOutputWriter(27), new PWMOutputWriter(14), new PWMOutputWriter(12), new PWMOutputWriter(13) },
// clang-format on
});
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
// clang-format off
- {new PWMOutputWriter(19), new PWMOutputWriter(18), new PWMOutputWriter(5), new PWMOutputWriter(17)},
- {new PWMOutputWriter(16), new PWMOutputWriter(4), new PWMOutputWriter(2), new PWMOutputWriter(15)},
+ { new PWMOutputWriter(19), new PWMOutputWriter(18), new PWMOutputWriter(5), new PWMOutputWriter(17) },
+ { new PWMOutputWriter(16), new PWMOutputWriter(4), new PWMOutputWriter(2), new PWMOutputWriter(15) },
// clang-format on
});
- auto* chestFront = new HapticPlane_Closest(frontOutputs);
- auto* chestBack = new HapticPlane_Closest(backOutputs);
-
- app->getHapticBody()->addComponent(OUTPUT_PATH_CHEST_FRONT, chestFront);
- app->getHapticBody()->addComponent(OUTPUT_PATH_CHEST_BACK, chestBack);
+ app->getHapticBody()->addTarget(Target::ChestFront, new VibroPlane_Closest(frontOutputs));
+ app->getHapticBody()->addTarget(Target::ChestBack, new VibroPlane_Closest(backOutputs));
app->getHapticBody()->setup();
- uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
- ConnectionBHBLE_Config config = {
+ auto* bhBleConnection = new BH::BLE::Connection(
+ {
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
- .serialNumber = serialNumber,
- };
- auto* bhBleConnection = new ConnectionBHBLE(
- config,
+ .serialNumber = BH_SERIAL_NUMBER,
+ },
[](std::string& value) -> void {
- vestX16OutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize, layoutGroups, layoutGroupsSize);
+ BH::Decoder::applyVestGrouped(app->getHapticBody(), value, bhLayout, layoutGroups);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index fbe1e567..b9051e9e 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -6,22 +6,24 @@
#include "senseshift.h"
-#include <bh_utils.hpp>
-#include <connection_bhble.hpp>
#include <output_writers/pca9685.hpp>
+#include <senseshift/bh/ble/connection.hpp>
+#include <senseshift/bh/devices.hpp>
+#include <senseshift/bh/encoding.hpp>
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
#include <battery/adc_naive.hpp>
#endif
using namespace OH;
-using namespace BH;
+using namespace SenseShift;
+using namespace SenseShift::Body::Haptics;
-extern SenseShift App;
-SenseShift* app = &App;
+extern SenseShift::SenseShift App;
+SenseShift::SenseShift* app = &App;
-static const oh_output_point_t* bhLayout[] = BH_LAYOUT_TACTSUITX16;
static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
+static const BH::OutputLayout_t bhLayout[BH_LAYOUT_TACTSUITX16_SIZE] = BH_LAYOUT_TACTSUITX16;
// Ouput indices, responsible for x40 => x16 grouping
static const size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
@@ -37,35 +39,30 @@ void setupMode()
// Assign the pins on the configured PCA9685 to positions on the vest
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
// clang-format off
- {new PCA9685OutputWriter(pwm, 0), new PCA9685OutputWriter(pwm, 1), new PCA9685OutputWriter(pwm, 2), new PCA9685OutputWriter(pwm, 3)},
- {new PCA9685OutputWriter(pwm, 4), new PCA9685OutputWriter(pwm, 5), new PCA9685OutputWriter(pwm, 6), new PCA9685OutputWriter(pwm, 7)},
+ { new PCA9685OutputWriter(pwm, 0), new PCA9685OutputWriter(pwm, 1), new PCA9685OutputWriter(pwm, 2), new PCA9685OutputWriter(pwm, 3) },
+ { new PCA9685OutputWriter(pwm, 4), new PCA9685OutputWriter(pwm, 5), new PCA9685OutputWriter(pwm, 6), new PCA9685OutputWriter(pwm, 7) },
// clang-format on
});
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
// clang-format off
- {new PCA9685OutputWriter(pwm, 8), new PCA9685OutputWriter(pwm, 9), new PCA9685OutputWriter(pwm, 10), new PCA9685OutputWriter(pwm, 11)},
- {new PCA9685OutputWriter(pwm, 12), new PCA9685OutputWriter(pwm, 13), new PCA9685OutputWriter(pwm, 14), new PCA9685OutputWriter(pwm, 15)},
+ { new PCA9685OutputWriter(pwm, 8), new PCA9685OutputWriter(pwm, 9), new PCA9685OutputWriter(pwm, 10), new PCA9685OutputWriter(pwm, 11) },
+ { new PCA9685OutputWriter(pwm, 12), new PCA9685OutputWriter(pwm, 13), new PCA9685OutputWriter(pwm, 14), new PCA9685OutputWriter(pwm, 15) },
// clang-format on
});
- auto* chestFront = new HapticPlane_Closest(frontOutputs);
- auto* chestBack = new HapticPlane_Closest(backOutputs);
-
- app->getHapticBody()->addComponent(OUTPUT_PATH_CHEST_FRONT, chestFront);
- app->getHapticBody()->addComponent(OUTPUT_PATH_CHEST_BACK, chestBack);
+ app->getHapticBody()->addTarget(Target::ChestFront, new VibroPlane_Closest(frontOutputs));
+ app->getHapticBody()->addTarget(Target::ChestBack, new VibroPlane_Closest(backOutputs));
app->getHapticBody()->setup();
- uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
- ConnectionBHBLE_Config config = {
+ auto* bhBleConnection = new BH::BLE::Connection(
+ {
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
- .serialNumber = serialNumber,
- };
- auto* bhBleConnection = new ConnectionBHBLE(
- config,
+ .serialNumber = BH_SERIAL_NUMBER,
+ },
[](std::string& value) -> void {
- vestX16OutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize, layoutGroups, layoutGroupsSize);
+ BH::Decoder::applyVestGrouped(app->getHapticBody(), value, bhLayout, layoutGroups);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 870a0859..6ec93001 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -6,23 +6,25 @@
#include "senseshift.h"
-#include <bh_utils.hpp>
-#include <connection_bhble.hpp>
#include <output_writers/pca9685.hpp>
#include <output_writers/pwm.hpp>
+#include <senseshift/bh/ble/connection.hpp>
+#include <senseshift/bh/devices.hpp>
+#include <senseshift/bh/encoding.hpp>
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
#include <battery/adc_naive.hpp>
#endif
using namespace OH;
-using namespace BH;
+using namespace SenseShift;
+using namespace SenseShift::Body::Haptics;
-extern SenseShift App;
-SenseShift* app = &App;
+extern SenseShift::SenseShift App;
+SenseShift::SenseShift* app = &App;
static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX40_SIZE;
-static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
+static const BH::OutputLayout_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
void setupMode()
{
@@ -39,41 +41,36 @@ void setupMode()
// vest
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
// clang-format off
- {new PCA9685OutputWriter(pwm0, 0), new PCA9685OutputWriter(pwm0, 1), new PCA9685OutputWriter(pwm0, 2), new PCA9685OutputWriter(pwm0, 3)},
- {new PCA9685OutputWriter(pwm0, 4), new PCA9685OutputWriter(pwm0, 5), new PCA9685OutputWriter(pwm0, 6), new PCA9685OutputWriter(pwm0, 7)},
- {new PCA9685OutputWriter(pwm0, 8), new PCA9685OutputWriter(pwm0, 9), new PCA9685OutputWriter(pwm0, 10), new PCA9685OutputWriter(pwm0, 11)},
- {new PCA9685OutputWriter(pwm0, 12), new PCA9685OutputWriter(pwm0, 13), new PCA9685OutputWriter(pwm0, 14), new PCA9685OutputWriter(pwm0, 15)},
- {new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26)},
+ { new PCA9685OutputWriter(pwm0, 0), new PCA9685OutputWriter(pwm0, 1), new PCA9685OutputWriter(pwm0, 2), new PCA9685OutputWriter(pwm0, 3) },
+ { new PCA9685OutputWriter(pwm0, 4), new PCA9685OutputWriter(pwm0, 5), new PCA9685OutputWriter(pwm0, 6), new PCA9685OutputWriter(pwm0, 7) },
+ { new PCA9685OutputWriter(pwm0, 8), new PCA9685OutputWriter(pwm0, 9), new PCA9685OutputWriter(pwm0, 10), new PCA9685OutputWriter(pwm0, 11) },
+ { new PCA9685OutputWriter(pwm0, 12), new PCA9685OutputWriter(pwm0, 13), new PCA9685OutputWriter(pwm0, 14), new PCA9685OutputWriter(pwm0, 15) },
+ { new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26) },
// clang-format on
});
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
// clang-format off
- {new PCA9685OutputWriter(pwm1, 0), new PCA9685OutputWriter(pwm1, 1), new PCA9685OutputWriter(pwm1, 2), new PCA9685OutputWriter(pwm1, 3)},
- {new PCA9685OutputWriter(pwm1, 4), new PCA9685OutputWriter(pwm1, 5), new PCA9685OutputWriter(pwm1, 6), new PCA9685OutputWriter(pwm1, 7)},
- {new PCA9685OutputWriter(pwm1, 8), new PCA9685OutputWriter(pwm1, 9), new PCA9685OutputWriter(pwm1, 10), new PCA9685OutputWriter(pwm1, 11)},
- {new PCA9685OutputWriter(pwm1, 12), new PCA9685OutputWriter(pwm1, 13), new PCA9685OutputWriter(pwm1, 14), new PCA9685OutputWriter(pwm1, 15)},
- {new PWMOutputWriter(27), new PWMOutputWriter(14), new PWMOutputWriter(12), new PWMOutputWriter(13)},
+ { new PCA9685OutputWriter(pwm1, 0), new PCA9685OutputWriter(pwm1, 1), new PCA9685OutputWriter(pwm1, 2), new PCA9685OutputWriter(pwm1, 3) },
+ { new PCA9685OutputWriter(pwm1, 4), new PCA9685OutputWriter(pwm1, 5), new PCA9685OutputWriter(pwm1, 6), new PCA9685OutputWriter(pwm1, 7) },
+ { new PCA9685OutputWriter(pwm1, 8), new PCA9685OutputWriter(pwm1, 9), new PCA9685OutputWriter(pwm1, 10), new PCA9685OutputWriter(pwm1, 11) },
+ { new PCA9685OutputWriter(pwm1, 12), new PCA9685OutputWriter(pwm1, 13), new PCA9685OutputWriter(pwm1, 14), new PCA9685OutputWriter(pwm1, 15) },
+ { new PWMOutputWriter(27), new PWMOutputWriter(14), new PWMOutputWriter(12), new PWMOutputWriter(13) },
// clang-format on
});
- auto* chestFront = new HapticPlane_Closest(frontOutputs);
- auto* chestBack = new HapticPlane_Closest(backOutputs);
-
- app->getHapticBody()->addComponent(OUTPUT_PATH_CHEST_FRONT, chestFront);
- app->getHapticBody()->addComponent(OUTPUT_PATH_CHEST_BACK, chestBack);
+ app->getHapticBody()->addTarget(Target::ChestFront, new VibroPlane_Closest(frontOutputs));
+ app->getHapticBody()->addTarget(Target::ChestBack, new VibroPlane_Closest(backOutputs));
app->getHapticBody()->setup();
- uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
- ConnectionBHBLE_Config config = {
+ auto* bhBleConnection = new BH::BLE::Connection(
+ {
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
- .serialNumber = serialNumber,
- };
- auto* bhBleConnection = new ConnectionBHBLE(
- config,
+ .serialNumber = BH_SERIAL_NUMBER,
+ },
[](std::string& value) -> void {
- vestOutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize);
+ BH::Decoder::applyVest(app->getHapticBody(), value, bhLayout);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index 2cd4692e..9e2bb10d 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -6,47 +6,46 @@
#include "senseshift.h"
-#include <bh_utils.hpp>
-#include <connection_bhble.hpp>
#include <output_writers/pwm.hpp>
+#include <senseshift/bh/ble/connection.hpp>
+#include <senseshift/bh/devices.hpp>
+#include <senseshift/bh/encoding.hpp>
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
#include "battery/adc_naive.hpp"
#endif
using namespace OH;
-using namespace BH;
+using namespace SenseShift;
+using namespace SenseShift::Body::Haptics;
-extern SenseShift App;
-SenseShift* app = &App;
+extern SenseShift::SenseShift App;
+SenseShift::SenseShift* app = &App;
static const size_t bhLayoutSize = BH_LAYOUT_TACTVISOR_SIZE;
-static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTVISOR;
+static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTVISOR;
void setupMode()
{
// Configure PWM pins to their positions on the face
auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
// clang-format off
- {new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26)},
+ { new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26) },
// clang-format on
});
- auto* face = new HapticPlane_Closest(faceOutputs);
- app->getHapticBody()->addComponent(OUTPUT_PATH_ACCESSORY, face);
+ app->getHapticBody()->addTarget(Target::FaceFront, new VibroPlane_Closest(faceOutputs));
app->getHapticBody()->setup();
- uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
- ConnectionBHBLE_Config config = {
+ auto* bhBleConnection = new BH::BLE::Connection(
+ {
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
- .serialNumber = serialNumber,
- };
- auto* bhBleConnection = new ConnectionBHBLE(
- config,
+ .serialNumber = BH_SERIAL_NUMBER,
+ },
[](std::string& value) -> void {
- plainOutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
+ BH::Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
},
app
);
diff --git a/firmware/senseshift.cpp b/firmware/senseshift.cpp
index f54fda9a..2605ce3e 100644
--- a/firmware/senseshift.cpp
+++ b/firmware/senseshift.cpp
@@ -29,4 +29,4 @@ namespace SenseShift {
{
this->eventListeners.push_back(listener);
}
-}
+} // namespace SenseShift
diff --git a/include/senseshift.h b/include/senseshift.h
index f4346148..f973af46 100644
--- a/include/senseshift.h
+++ b/include/senseshift.h
@@ -14,7 +14,7 @@
namespace SenseShift {
class SenseShift final : public OH::IEventDispatcher {
- private:
+ private:
std::vector<const OH::IEventListener*> eventListeners{};
Body::Haptics::HapticBody* pHapticBody;
@@ -22,7 +22,7 @@ namespace SenseShift {
OH::BatterySensor* battery;
#endif
- public:
+ public:
SenseShift();
Body::Haptics::HapticBody* getHapticBody()
@@ -33,4 +33,4 @@ namespace SenseShift {
void postEvent(const OH::IEvent* event) override;
void addEventListener(const OH::IEventListener* listener) override;
};
-}
+} // namespace SenseShift
diff --git a/ini/bhaptics.ini b/ini/bhaptics.ini
index 54c5aa1e..ac624ea8 100644
--- a/ini/bhaptics.ini
+++ b/ini/bhaptics.ini
@@ -239,7 +239,7 @@ monitor_speed = ${bhaptics.monitor_speed}
build_flags = ${bhaptics.build_flags}
-D BH_DEVICE_TACTGLOVE
- -D BH_LAYOUT=BH::TactGloveLeftLayout
+ -D SENSESHIFT_HAND_SIDE=Left
-D BH_BLE_APPEARANCE=508
'-D BLUETOOTH_NAME="TactGlove (L"'
'-D BH_SERIAL_NUMBER={ 0xcd, 0x0b, 0x81, 0x45, 0x85, 0xf9, 0x2b, 0x6c, 0xed, 0x5b }'
@@ -258,7 +258,7 @@ monitor_speed = ${bhaptics.monitor_speed}
build_flags = ${bhaptics.build_flags}
-D BH_DEVICE_TACTGLOVE
- -D BH_LAYOUT=BH::TactGloveRightLayout
+ -D SENSESHIFT_HAND_SIDE=Right
-D BH_BLE_APPEARANCE=508
'-D BLUETOOTH_NAME="TactGlove (R"'
'-D BH_SERIAL_NUMBER={ 0x12, 0x0b, 0xae, 0xbf, 0xbc, 0x90, 0x3b, 0x0d, 0x84, 0xdd }'
diff --git a/lib/arduino/components/serial_plotter.cpp b/lib/arduino/components/serial_plotter.cpp
index 21a1ffb1..d5be860b 100644
--- a/lib/arduino/components/serial_plotter.cpp
+++ b/lib/arduino/components/serial_plotter.cpp
@@ -17,7 +17,7 @@ void OH::SerialPlotter_OutputStates<_Tp>::run()
{
while (true) {
for (const auto& [target, plane] : *output->getTargets()) {
- std::visit(PlaneVisitor{target, this->serial}, plane);
+ std::visit(PlaneVisitor{ target, this->serial }, plane);
}
this->serial->println();
diff --git a/lib/arduino/components/serial_plotter.hpp b/lib/arduino/components/serial_plotter.hpp
index e0a9be8a..b2b9b085 100644
--- a/lib/arduino/components/serial_plotter.hpp
+++ b/lib/arduino/components/serial_plotter.hpp
@@ -35,7 +35,8 @@ namespace OH {
TaskConfig taskConfig = { "Serial Plotter", 2048, 1, tskNO_AFFINITY }
) :
Task<SerialPlotter_OutputStates<_Tp>>(taskConfig), serial(&serial), output(output), sampleRate(sampleRate){};
- SerialPlotter_OutputStates(_Tp& serial, SenseShift::Body::Haptics::HapticBody* output) : SerialPlotter_OutputStates(serial, output, 100){};
+ SerialPlotter_OutputStates(_Tp& serial, SenseShift::Body::Haptics::HapticBody* output) :
+ SerialPlotter_OutputStates(serial, output, 100){};
void begin() override
{
diff --git a/lib/bhaptics/senseshift/bh/devices.hpp b/lib/bhaptics/senseshift/bh/devices.hpp
index e500c09f..7c5531f0 100644
--- a/lib/bhaptics/senseshift/bh/devices.hpp
+++ b/lib/bhaptics/senseshift/bh/devices.hpp
@@ -1,18 +1,18 @@
#pragma once
#include <hand_interface.hpp>
-#include <haptic_plane.hpp>
+#include <haptic_body.hpp>
#pragma region BH_DEVICE_TACTSUITX40
#define BH_LAYOUT_TACTSUITX40_SIZE_X 4
#define BH_LAYOUT_TACTSUITX40_SIZE_Y 5
-#define BH_LAYOUT_TACTSUITX40_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTSUITX40_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTSUITX40_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTSUITX40_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTSUITX40_SIZE_Y - 1) \
)
// X * Y for front and back
@@ -74,12 +74,12 @@
#define BH_LAYOUT_TACTSUITX16_SIZE_X 4
#define BH_LAYOUT_TACTSUITX16_SIZE_Y 2
-#define BH_LAYOUT_TACTSUITX16_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTSUITX16_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTSUITX16_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTSUITX16_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTSUITX16_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTSUITX16_SIZE_Y - 1) \
)
// X16 suit uses the same packets structure as x40 suit and performs motor grouping in firmware
@@ -87,55 +87,55 @@
// clang-format off
#define BH_LAYOUT_TACTSUITX16 { \
/* Front, left part */ \
- /* 0 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0), /* 0 */ \
- /* 1 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0), /* 1 */ \
- /* 2 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0), /* 4 */ \
- /* 3 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0), /* 5 */ \
+ /* 0 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 0 */ \
+ /* 1 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 1 */ \
+ /* 2 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 4 */ \
+ /* 3 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 5 */ \
\
- /* 4 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1), /* 8 */ \
- /* 5 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1), /* 9 */ \
- /* 6 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1), /* 12 */ \
- /* 7 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1), /* 13 */ \
- /* 8 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1), /* 16 */ \
- /* 9 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1), /* 17 */ \
+ /* 4 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 8 */ \
+ /* 5 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 9 */ \
+ /* 6 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 12 */ \
+ /* 7 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 13 */ \
+ /* 8 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 16 */ \
+ /* 9 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 17 */ \
\
/* Back */ \
- /* 10 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0), /* 0 */ \
- /* 11 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0), /* 1 */ \
- /* 12 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0), /* 4 */ \
- /* 13 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0), /* 5 */ \
+ /* 10 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 0 */ \
+ /* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 1 */ \
+ /* 12 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 4 */ \
+ /* 13 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 5 */ \
\
- /* 14 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1), /* 8 */ \
- /* 15 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1), /* 9 */ \
- /* 16 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1), /* 12 */ \
- /* 17 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1), /* 13 */ \
- /* 18 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1), /* 16 */ \
- /* 19 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1), /* 17 */ \
+ /* 14 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 8 */ \
+ /* 15 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 9 */ \
+ /* 16 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 12 */ \
+ /* 17 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 13 */ \
+ /* 18 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 16 */ \
+ /* 19 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 17 */ \
\
- /* 20 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0), /* 2 */ \
- /* 21 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0), /* 3 */ \
- /* 22 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0), /* 4 */ \
- /* 23 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0), /* 7 */ \
+ /* 20 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 2 */ \
+ /* 21 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 3 */ \
+ /* 22 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 4 */ \
+ /* 23 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 7 */ \
\
- /* 24 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1), /* 10 */ \
- /* 25 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1), /* 11 */ \
- /* 26 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1), /* 14 */ \
- /* 27 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1), /* 15 */ \
- /* 28 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1), /* 18 */ \
- /* 29 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1), /* 19 */ \
+ /* 24 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 10 */ \
+ /* 25 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 11 */ \
+ /* 26 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 14 */ \
+ /* 27 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 15 */ \
+ /* 28 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 18 */ \
+ /* 29 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 19 */ \
\
/* Front, again... Now right part */ \
- /* 30 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0), /* 2 */ \
- /* 31 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0), /* 3 */ \
- /* 32 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0), /* 4 */ \
- /* 33 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0), /* 7 */ \
+ /* 30 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 2 */ \
+ /* 31 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 3 */ \
+ /* 32 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 4 */ \
+ /* 33 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 7 */ \
\
- /* 34 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1), /* 10 */ \
- /* 35 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1), /* 11 */ \
- /* 36 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1), /* 14 */ \
- /* 37 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1), /* 15 */ \
- /* 38 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1), /* 18 */ \
- /* 39 */ BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1), /* 19 */ \
+ /* 34 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 10 */ \
+ /* 35 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 11 */ \
+ /* 36 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 14 */ \
+ /* 37 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 15 */ \
+ /* 38 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 18 */ \
+ /* 39 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 19 */ \
}
// clang-format on
@@ -152,12 +152,12 @@
#define BH_LAYOUT_TACTAL_SIZE_X 6
#define BH_LAYOUT_TACTAL_SIZE_Y 1
-#define BH_LAYOUT_TACTAL_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTAL_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTAL_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTAL_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTAL_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTAL_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTAL_SIZE (BH_LAYOUT_TACTAL_SIZE_X * BH_LAYOUT_TACTAL_SIZE_Y)
@@ -178,12 +178,12 @@
#define BH_LAYOUT_TACTVISOR_SIZE_X 4
#define BH_LAYOUT_TACTVISOR_SIZE_Y 1
-#define BH_LAYOUT_TACTVISOR_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTVISOR_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTVISOR_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTVISOR_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTVISOR_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTVISOR_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTVISOR_SIZE (BH_LAYOUT_TACTVISOR_SIZE_X * BH_LAYOUT_TACTVISOR_SIZE_Y)
@@ -202,12 +202,12 @@
#define BH_LAYOUT_TACTOSY2_SIZE_X 3
#define BH_LAYOUT_TACTOSY2_SIZE_Y 2
-#define BH_LAYOUT_TACTOSY2_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTOSY2_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTOSY2_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTOSY2_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTOSY2_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTOSY2_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTOSY2_SIZE (BH_LAYOUT_TACTOSY2_SIZE_X * BH_LAYOUT_TACTOSY2_SIZE_Y)
@@ -224,12 +224,12 @@
#define BH_LAYOUT_TACTOSYH_SIZE_X 1
#define BH_LAYOUT_TACTOSYH_SIZE_Y 3
-#define BH_LAYOUT_TACTOSYH_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTOSYH_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTOSYH_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTOSYH_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTOSYH_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTOSYH_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTOSYH_SIZE (BH_LAYOUT_TACTOSYH_SIZE_X * BH_LAYOUT_TACTOSYH_SIZE_Y)
@@ -243,12 +243,12 @@
#define BH_LAYOUT_TACTOSYF_SIZE_X 1
#define BH_LAYOUT_TACTOSYF_SIZE_Y 3
-#define BH_LAYOUT_TACTOSYF_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<oh_output_coord_t>( \
- x, \
- y, \
- (oh_output_coord_t) (BH_LAYOUT_TACTOSYF_SIZE_X - 1), \
- (oh_output_coord_t) (BH_LAYOUT_TACTOSYF_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTOSYF_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTOSYF_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTOSYF_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTOSYF_SIZE (BH_LAYOUT_TACTOSYF_SIZE_X * BH_LAYOUT_TACTOSYF_SIZE_Y)
@@ -258,28 +258,92 @@
#pragma endregion BH_DEVICE_TACTOSYF
+#pragma region BH_DEVIDE_TACTGLOVE
+
+#define BH_LAYOUT_TACTGLOVE_SIZE 6
+// TactGlove (Left) motor positions
+#define BH_LAYOUT_TACTGLOVE_LEFT \
+ { \
+ { Target_t::HandLeftThumb, FINGERTIP_POSITION }, { Target_t::HandLeftIndex, FINGERTIP_POSITION }, \
+ { Target_t::HandLeftMiddle, FINGERTIP_POSITION }, { Target_t::HandLeftRing, FINGERTIP_POSITION }, \
+ { Target_t::HandLeftLittle, FINGERTIP_POSITION }, { Target_t::HandLeftDorsal, WRIST_MOTOR_POSITION }, \
+ }
+// TactGlove (Right) motor positions
+#define BH_LAYOUT_TACTGLOVE_RIGHT \
+ { \
+ { Target_t::HandRightThumb, FINGERTIP_POSITION }, { Target_t::HandRightIndex, FINGERTIP_POSITION }, \
+ { Target_t::HandRightMiddle, FINGERTIP_POSITION }, { Target_t::HandRightRing, FINGERTIP_POSITION }, \
+ { Target_t::HandRightLittle, FINGERTIP_POSITION }, \
+ { \
+ Target_t::HandRightDorsal, WRIST_MOTOR_POSITION \
+ } \
+ }
+
+#pragma endregion BH_DEVIDE_TACTGLOVE
+
namespace SenseShift::BH {
using namespace ::SenseShift::Body::Hands::Haptics;
+ using namespace ::SenseShift::Body::Haptics;
- using Effect_t = ::SenseShift::Body::Haptics::Effect_t;
- using Target_t = ::SenseShift::Body::Haptics::Target_t;
- using Position_t = ::SenseShift::Body::Haptics::Position_t;
+ using HandSide_t = ::SenseShift::Body::Hands::HandSide_t;
typedef std::tuple<Target_t, Position_t> OutputLayout_t;
- // TactSuit X40 motor positions
- static constexpr const OutputLayout_t TactSuitX40Layout[] = BH_LAYOUT_TACTSUITX40;
-
// TactGlove Wrist motor position
static constexpr const Position_t WRIST_MOTOR_POSITION(127, 191);
- static constexpr const OutputLayout_t TactGloveLeftLayout[] = {
- { Target_t::HandLeftThumb, FINGERTIP_POSITION }, { Target_t::HandLeftIndex, FINGERTIP_POSITION },
- { Target_t::HandLeftMiddle, FINGERTIP_POSITION }, { Target_t::HandLeftRing, FINGERTIP_POSITION },
- { Target_t::HandLeftLittle, FINGERTIP_POSITION }, { Target_t::HandLeftDorsal, WRIST_MOTOR_POSITION },
- };
- static constexpr const OutputLayout_t TactGloveRightLayout[] = {
- { Target_t::HandRightThumb, FINGERTIP_POSITION }, { Target_t::HandRightIndex, FINGERTIP_POSITION },
- { Target_t::HandRightMiddle, FINGERTIP_POSITION }, { Target_t::HandRightRing, FINGERTIP_POSITION },
- { Target_t::HandRightLittle, FINGERTIP_POSITION }, { Target_t::HandRightDorsal, WRIST_MOTOR_POSITION },
- };
+ static constexpr const OutputLayout_t TactGloveLeftLayout[] = BH_LAYOUT_TACTGLOVE_LEFT;
+ static constexpr const OutputLayout_t TactGloveRightLayout[] = BH_LAYOUT_TACTGLOVE_RIGHT;
+
+ inline void addTactGloveActuators(
+ HapticBody* hapticBody,
+ const HandSide_t side,
+ OH::AbstractActuator* const thumbActuator,
+ OH::AbstractActuator* const indexActuator,
+ OH::AbstractActuator* const middleActuator,
+ OH::AbstractActuator* const ringActuator,
+ OH::AbstractActuator* const littleActuator,
+ OH::AbstractActuator* const wristActuator
+ )
+ {
+ const OutputLayout_t(&layout)[6] = (side == HandSide_t::Left) ? TactGloveLeftLayout : TactGloveRightLayout;
+
+ if (thumbActuator != nullptr) {
+ hapticBody->addTarget(
+ std::get<0>(layout[0]),
+ new VibroPlane({ { std::get<1>(layout[0]), thumbActuator } })
+ );
+ }
+
+ if (indexActuator != nullptr) {
+ hapticBody->addTarget(
+ std::get<0>(layout[1]),
+ new VibroPlane({ { std::get<1>(layout[1]), indexActuator } })
+ );
+ }
+
+ if (middleActuator != nullptr) {
+ hapticBody->addTarget(
+ std::get<0>(layout[2]),
+ new VibroPlane({ { std::get<1>(layout[2]), middleActuator } })
+ );
+ }
+
+ if (ringActuator != nullptr) {
+ hapticBody->addTarget(std::get<0>(layout[3]), new VibroPlane({ { std::get<1>(layout[3]), ringActuator } }));
+ }
+
+ if (littleActuator != nullptr) {
+ hapticBody->addTarget(
+ std::get<0>(layout[4]),
+ new VibroPlane({ { std::get<1>(layout[4]), littleActuator } })
+ );
+ }
+
+ if (wristActuator != nullptr) {
+ hapticBody->addTarget(
+ std::get<0>(layout[5]),
+ new VibroPlane({ { std::get<1>(layout[5]), wristActuator } })
+ );
+ }
+ }
} // namespace SenseShift::BH
diff --git a/lib/bhaptics/senseshift/bh/encoding.hpp b/lib/bhaptics/senseshift/bh/encoding.hpp
index c6b876e1..83575f8c 100644
--- a/lib/bhaptics/senseshift/bh/encoding.hpp
+++ b/lib/bhaptics/senseshift/bh/encoding.hpp
@@ -22,10 +22,7 @@ namespace SenseShift::BH {
template<size_t N>
static void applyPlain(
- HapticBody_t* output,
- const uint8_t (&value)[N],
- const OutputLayout_t (&layout)[N],
- const Effect_t effect
+ HapticBody_t* output, const uint8_t (&value)[N], const OutputLayout_t (&layout)[N], const Effect_t effect
)
{
for (size_t i = 0; i < N; i++) {
@@ -42,12 +39,8 @@ namespace SenseShift::BH {
}
template<size_t N>
- static void applyPlain(
- HapticBody_t* output,
- std::string& value,
- const OutputLayout_t (&layout)[N],
- const Effect_t effect
- )
+ static void
+ applyPlain(HapticBody_t* output, std::string& value, const OutputLayout_t (&layout)[N], const Effect_t effect)
{
std::uint8_t buf[N];
std::size_t copyLength = std::min(value.size(), sizeof(buf));
@@ -103,34 +96,29 @@ namespace SenseShift::BH {
static void applyVest(
HapticBody_t* output,
const uint8_t (&value)[VEST_PAYLOAD_SIZE],
- const Position_t (&layout)[VEST_LAYOUT_SIZE]
+ const OutputLayout_t (&layout)[VEST_LAYOUT_SIZE]
)
{
for (size_t i = 0; i < VEST_PAYLOAD_SIZE; i++) {
uint8_t byte = value[i];
uint actIndex = i * 2;
- const auto target = (actIndex < 10 || actIndex >= 30) ? Target_t::ChestFront : Target_t::ChestBack;
-
output->effect({
.effect = Effect_t::Vibro,
- .target = target,
- .position = layout[actIndex],
+ .target = std::get<0>(layout[actIndex]),
+ .position = std::get<1>(layout[actIndex]),
.data = effectDataFromByte(Effect_t::Vibro, ((byte >> 4) & 0xf), 15),
});
output->effect({
.effect = Effect_t::Vibro,
- .target = target,
- .position = layout[actIndex + 1],
+ .target = std::get<0>(layout[actIndex + 1]),
+ .position = std::get<1>(layout[actIndex + 1]),
.data = effectDataFromByte(Effect_t::Vibro, (byte & 0xf), 15),
});
}
}
- static void applyVest(
- HapticBody_t* output,
- std::string& value,
- const Position_t (&layout)[VEST_LAYOUT_SIZE]
- )
+ static void
+ applyVest(HapticBody_t* output, std::string& value, const OutputLayout_t (&layout)[VEST_LAYOUT_SIZE])
{
std::uint8_t buf[VEST_PAYLOAD_SIZE];
std::size_t copyLength = std::min(value.size(), sizeof(buf));
@@ -146,7 +134,7 @@ namespace SenseShift::BH {
static void applyVestGrouped(
HapticBody_t* output,
const uint8_t (&value)[VEST_PAYLOAD_SIZE],
- const Position_t (&layout)[VEST_LAYOUT_SIZE],
+ const OutputLayout_t (&layout)[VEST_LAYOUT_SIZE],
const uint8_t (&layoutGroups)[N]
)
{
@@ -187,12 +175,13 @@ namespace SenseShift::BH {
continue;
}
- const auto target = (i < 10 || i >= 30) ? Target_t::ChestFront : Target_t::ChestBack;
+ const auto target = std::get<0>(layout[i]);
+ const auto position = std::get<1>(layout[i]);
output->effect({
.effect = Effect_t::Vibro,
.target = target,
- .position = layout[i],
+ .position = position,
.data = effectDataFromByte(Effect_t::Vibro, result[i], 15),
});
}
@@ -202,7 +191,7 @@ namespace SenseShift::BH {
static void applyVestGrouped(
HapticBody_t* output,
std::string& value,
- const Position_t (&layout)[VEST_LAYOUT_SIZE],
+ const OutputLayout_t (&layout)[VEST_LAYOUT_SIZE],
const uint8_t (&layoutGroups)[N]
)
{
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
index a4f60bbc..68de48b5 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
@@ -29,10 +29,10 @@
namespace SenseShift::BH::BLE {
class BHServerCallbacks final : public BLEServerCallbacks {
- private:
+ private:
OH::IEventDispatcher* dispatcher;
- public:
+ public:
BHServerCallbacks(OH::IEventDispatcher* eventDispatcher) : dispatcher(eventDispatcher) {}
void onConnect(BLEServer* pServer)
@@ -51,55 +51,55 @@ namespace SenseShift::BH::BLE {
void onWrite(BLECharacteristic* pCharacteristic) override
{
log_d(
- ">>\tonWrite (UUID: %s)\n\tvalue: `%s`, len: %u",
- pCharacteristic->getUUID().toString().c_str(),
- pCharacteristic->getValue().c_str(),
- pCharacteristic->getValue().length()
+ ">>\tonWrite (UUID: %s)\n\tvalue: `%s`, len: %u",
+ pCharacteristic->getUUID().toString().c_str(),
+ pCharacteristic->getValue().c_str(),
+ pCharacteristic->getValue().length()
);
};
void onRead(BLECharacteristic* pCharacteristic) override
{
log_d(
- ">>\tonRead (UUID: %s)\n\tvalue: `%s`, len: %u",
- pCharacteristic->getUUID().toString().c_str(),
- pCharacteristic->getValue().c_str(),
- pCharacteristic->getValue().length()
+ ">>\tonRead (UUID: %s)\n\tvalue: `%s`, len: %u",
+ pCharacteristic->getUUID().toString().c_str(),
+ pCharacteristic->getValue().c_str(),
+ pCharacteristic->getValue().length()
);
};
void onNotify(BLECharacteristic* pCharacteristic) override
{
log_d(
- ">>\tonNotify (UUID: %s)\n\tvalue: `%s`, len: %u",
- pCharacteristic->getUUID().toString().c_str(),
- pCharacteristic->getValue().c_str(),
- pCharacteristic->getValue().length()
+ ">>\tonNotify (UUID: %s)\n\tvalue: `%s`, len: %u",
+ pCharacteristic->getUUID().toString().c_str(),
+ pCharacteristic->getValue().c_str(),
+ pCharacteristic->getValue().length()
);
};
- #if defined(BLUETOOTH_USE_NIMBLE) && BLUETOOTH_USE_NIMBLE == true
+#if defined(BLUETOOTH_USE_NIMBLE) && BLUETOOTH_USE_NIMBLE == true
void onStatus(BLECharacteristic* pCharacteristic, Status s, int code) override
- #else
+#else
void onStatus(BLECharacteristic* pCharacteristic, Status s, uint32_t code) override
- #endif
+#endif
{
log_d(
- ">>\tonNotify (UUID: %s)\n\tstatus: %d, code: %u \n\tvalue: `%s`, len: %u",
- pCharacteristic->getUUID().toString().c_str(),
- s,
- code,
- pCharacteristic->getValue().c_str(),
- pCharacteristic->getValue().length()
+ ">>\tonNotify (UUID: %s)\n\tstatus: %d, code: %u \n\tvalue: `%s`, len: %u",
+ pCharacteristic->getUUID().toString().c_str(),
+ s,
+ code,
+ pCharacteristic->getValue().c_str(),
+ pCharacteristic->getValue().length()
);
};
};
class MotorCharCallbacks : public BLECharacteristicCallbacks {
- private:
+ private:
Connection::MotorHandler_t motorTransformer;
- public:
+ public:
MotorCharCallbacks(Connection::MotorHandler_t motorTransformer) : motorTransformer(motorTransformer) {}
void onWrite(BLECharacteristic* pCharacteristic) override
@@ -149,26 +149,26 @@ namespace SenseShift::BH::BLE {
MotorCharCallbacks* motorCallbacks = new MotorCharCallbacks(this->motorHandler);
auto* motorChar =
- this->motorService->createCharacteristic(BH_BLE_SERVICE_MOTOR_CHAR_MOTOR_UUID, PROPERTY_WRITE_NR);
+ this->motorService->createCharacteristic(BH_BLE_SERVICE_MOTOR_CHAR_MOTOR_UUID, PROPERTY_WRITE_NR);
motorChar->setCallbacks(motorCallbacks);
auto* motorCharStable =
- this->motorService->createCharacteristic(BH_BLE_SERVICE_MOTOR_CHAR_MOTOR_STABLE_UUID, PROPERTY_WRITE);
+ this->motorService->createCharacteristic(BH_BLE_SERVICE_MOTOR_CHAR_MOTOR_STABLE_UUID, PROPERTY_WRITE);
motorCharStable->setCallbacks(motorCallbacks);
}
{
auto* configChar = this->motorService->createCharacteristic(
- BH_BLE_SERVICE_MOTOR_CHAR_CONFIG_UUID,
- PROPERTY_READ | PROPERTY_WRITE
+ BH_BLE_SERVICE_MOTOR_CHAR_CONFIG_UUID,
+ PROPERTY_READ | PROPERTY_WRITE
);
configChar->setCallbacks(new ConfigCharCallbacks());
}
{
auto* serialNumberChar = this->motorService->createCharacteristic(
- BH_BLE_SERVICE_MOTOR_CHAR_SERIAL_KEY_UUID,
- PROPERTY_READ | PROPERTY_WRITE
+ BH_BLE_SERVICE_MOTOR_CHAR_SERIAL_KEY_UUID,
+ PROPERTY_READ | PROPERTY_WRITE
);
serialNumberChar->setValue(this->config.serialNumber, ConnectionConfig_t::SN_LENGTH);
serialNumberChar->setCallbacks(new LogOutputCharCallbacks());
@@ -176,21 +176,21 @@ namespace SenseShift::BH::BLE {
{
this->batteryChar = this->motorService->createCharacteristic(
- BH_BLE_SERVICE_MOTOR_CHAR_BATTERY_UUID,
- PROPERTY_READ | PROPERTY_WRITE_NR
+ BH_BLE_SERVICE_MOTOR_CHAR_BATTERY_UUID,
+ PROPERTY_READ | PROPERTY_WRITE_NR
| PROPERTY_NOTIFY // for whatever reason, it have to be writable, otherwise Desktop app crashes
);
- #if !defined(BLUETOOTH_USE_NIMBLE) || BLUETOOTH_USE_NIMBLE != true
+#if !defined(BLUETOOTH_USE_NIMBLE) || BLUETOOTH_USE_NIMBLE != true
batteryChar->addDescriptor(new BLE2902());
- #endif
+#endif
// original bHaptics Player require non-null value for battery level, otherwise it crashes
- #if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
uint16_t defaultLevel = 0;
- #else
+#else
uint16_t defaultLevel = 100;
- #endif
+#endif
this->batteryChar->setValue(defaultLevel);
// this->batteryChar->notify();
@@ -198,7 +198,7 @@ namespace SenseShift::BH::BLE {
{
auto* versionChar =
- this->motorService->createCharacteristic(BH_BLE_SERVICE_MOTOR_CHAR_VERSION_UUID, PROPERTY_READ);
+ this->motorService->createCharacteristic(BH_BLE_SERVICE_MOTOR_CHAR_VERSION_UUID, PROPERTY_READ);
versionChar->setCallbacks(new LogOutputCharCallbacks());
uint16_t firmwareVersion = BH_FIRMWARE_VERSION;
versionChar->setValue(firmwareVersion);
@@ -206,14 +206,15 @@ namespace SenseShift::BH::BLE {
{
auto* monitorChar = this->motorService->createCharacteristic(
- BH_BLE_SERVICE_MOTOR_CHAR_TACTSUIT_MONITOR_UUID,
- PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
+ BH_BLE_SERVICE_MOTOR_CHAR_TACTSUIT_MONITOR_UUID,
+ PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE
+ | PROPERTY_WRITE_NR
);
monitorChar->setCallbacks(new LogOutputCharCallbacks());
- #if !defined(BLUETOOTH_USE_NIMBLE) || BLUETOOTH_USE_NIMBLE != true
+#if !defined(BLUETOOTH_USE_NIMBLE) || BLUETOOTH_USE_NIMBLE != true
monitorChar->addDescriptor(new BLE2902());
- #endif
+#endif
uint16_t audioCableState = NO_AUDIO_CABLE;
monitorChar->setValue(audioCableState);
@@ -221,25 +222,29 @@ namespace SenseShift::BH::BLE {
// auto* athGlobalChar = this->motorService->createCharacteristic(
// BH_BLE_SERVICE_MOTOR_CHAR_ATH_GLOBAL_CONF_UUID,
- // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
+ // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE |
+ // PROPERTY_WRITE_NR
// );
// athGlobalChar->setCallbacks(new LogOutputCharCallbacks());
// auto* athThemeChar = this->motorService->createCharacteristic(
// BH_BLE_SERVICE_MOTOR_CHAR_ATH_THEME_UUID,
- // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
+ // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE |
+ // PROPERTY_WRITE_NR
// );
// athThemeChar->setCallbacks(new LogOutputCharCallbacks());
// auto* motorMappingChar = this->motorService->createCharacteristic(
// BH_BLE_SERVICE_MOTOR_CHAR_MOTTOR_MAPPING_UUID,
- // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
+ // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE |
+ // PROPERTY_WRITE_NR
// );
// motorMappingChar->setCallbacks(new LogOutputCharCallbacks());
// auto* signatureMappingChar = this->motorService->createCharacteristic(
// BH_BLE_SERVICE_MOTOR_CHAR_SIGNATURE_PATTERN_UUID,
- // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE | PROPERTY_WRITE_NR
+ // PROPERTY_READ | PROPERTY_WRITE | PROPERTY_NOTIFY | PROPERTY_BROADCAST | PROPERTY_INDICATE |
+ // PROPERTY_WRITE_NR
// );
// signatureMappingChar->setCallbacks(new LogOutputCharCallbacks());
@@ -249,12 +254,12 @@ namespace SenseShift::BH::BLE {
auto dfuService = this->bleServer->createService(BH_BLE_SERVICE_DFU_UUID);
auto* dfuControlChar = dfuService->createCharacteristic(
- BH_BLE_SERVICE_MOTOR_CHAR_SIGNATURE_PATTERN_UUID,
- PROPERTY_READ | PROPERTY_WRITE
+ BH_BLE_SERVICE_MOTOR_CHAR_SIGNATURE_PATTERN_UUID,
+ PROPERTY_READ | PROPERTY_WRITE
);
dfuService->start();
}
this->bleServer->getAdvertising()->start();
}
-}
+} // namespace SenseShift::BH::BLE
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
index f4d10f19..485e0212 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
@@ -3,8 +3,8 @@
#include <abstract_connection.hpp>
#include <utility.hpp>
-#include <senseshift/bh/constants.hpp>
#include <senseshift/bh/ble/constants.hpp>
+#include <senseshift/bh/constants.hpp>
#include <Arduino.h>
#include <esp_wifi.h>
diff --git a/lib/core/types.hpp b/lib/core/types.hpp
index ed2c7a20..49a7c3c3 100644
--- a/lib/core/types.hpp
+++ b/lib/core/types.hpp
@@ -4,10 +4,3 @@
#include <point2.hpp>
#include <map>
-
-#define OH_OUTPUT_COORD_T uint8_t
-#define OH_OUTPUT_COORD_MAX UINT8_MAX
-
-typedef uint8_t oh_output_path_t;
-typedef OH_OUTPUT_COORD_T oh_output_coord_t;
-typedef OH::Point2b oh_output_point_t;
diff --git a/lib/hands/hand_interface.hpp b/lib/hands/hand_interface.hpp
index 34dca343..ee079c5a 100644
--- a/lib/hands/hand_interface.hpp
+++ b/lib/hands/hand_interface.hpp
@@ -5,8 +5,16 @@
namespace SenseShift::Body {
namespace Hands {
- typedef std::uint8_t HandPositionIndex_t;
- typedef enum class HandPosition : HandPositionIndex_t { Left, Right } HandPosition_t;
+ typedef std::uint8_t HandSideIndex_t;
+ typedef enum class HandSide : HandSideIndex_t { Left, Right } HandSide_t;
+ typedef std::uint8_t FingerIndex_t;
+ typedef enum class Finger : FingerIndex_t {
+ Thumb,
+ Index,
+ Middle,
+ Ring,
+ Little,
+ } Finger_t;
namespace Haptics {
/**
diff --git a/lib/haptics/haptic_body.hpp b/lib/haptics/haptic_body.hpp
index 088bad0e..eb1b06f9 100644
--- a/lib/haptics/haptic_body.hpp
+++ b/lib/haptics/haptic_body.hpp
@@ -23,11 +23,13 @@ namespace SenseShift::Body::Haptics {
void addTarget(const Target_t, VibroPlane* plane);
- const PlaneTargetMap_t* getTargets() const { return &allTargets; }
+ [[nodiscard]] const PlaneTargetMap_t* getTargets() const
+ {
+ return &allTargets;
+ }
private:
PlaneTargetMap_t allTargets{};
VibroTargetMap_t vibroTargets{};
-
};
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/haptic_plane.hpp b/lib/haptics/haptic_plane.hpp
index 66c47818..193fb633 100644
--- a/lib/haptics/haptic_plane.hpp
+++ b/lib/haptics/haptic_plane.hpp
@@ -34,6 +34,8 @@ namespace SenseShift::Body::Haptics {
typedef OH::AbstractActuator Actuator_t;
typedef std::map<Position_t, Actuator_t*> ActuatorMap_t;
+ ActuativePlane() = default;
+
ActuativePlane(const ActuatorMap_t& actuators)
{
this->setActuators(actuators);
@@ -87,7 +89,7 @@ namespace SenseShift::Body::Haptics {
class PlaneMapper_Margin {
public:
template<typename _Tp>
- [[nodiscard]] static constexpr inline std::map<oh_output_point_t, _Tp*>
+ [[nodiscard]] static constexpr inline std::map<Position_t, _Tp*>
mapMatrixCoordinates(std::vector<std::vector<_Tp*>> map2d)
{
std::map<Position_t, _Tp*> points{};
diff --git a/lib/haptics/haptics_interface.hpp b/lib/haptics/haptics_interface.hpp
index ca926f21..5afc9ffd 100644
--- a/lib/haptics/haptics_interface.hpp
+++ b/lib/haptics/haptics_interface.hpp
@@ -32,7 +32,7 @@ namespace SenseShift::Body::Haptics {
HandLeftMiddle,
HandLeftRing,
HandLeftLittle,
- HandLeftVolar, // Palm
+ HandLeftVolar, // Palm
HandLeftDorsal, // Back
HandRightThumb,
@@ -40,7 +40,7 @@ namespace SenseShift::Body::Haptics {
HandRightMiddle,
HandRightRing,
HandRightLittle,
- HandRightVolar, // Palm
+ HandRightVolar, // Palm
HandRightDorsal, // Back
// TODO: arms, legs, etc.
diff --git a/test/test_bhaptics_encoding/main.cpp b/test/test_bhaptics_encoding/main.cpp
index 332fb25d..94457355 100644
--- a/test/test_bhaptics_encoding/main.cpp
+++ b/test/test_bhaptics_encoding/main.cpp
@@ -1,12 +1,10 @@
-#include <bh_devices.hpp>
-#include <bh_encoding.hpp>
-#include <bh_types.hpp>
-
+#include <senseshift/bh/devices.hpp>
+#include <senseshift/bh/encoding.hpp>
#include <unity.h>
using namespace SenseShift::Body::Haptics;
+using namespace SenseShift::BH;
using namespace OH;
-using namespace BH;
class TestActuator : public OH::AbstractActuator {
public:
@@ -27,7 +25,7 @@ class TestActuator : public OH::AbstractActuator {
void test_layout_tactsuitx16(void)
{
static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
- static const oh_output_point_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX16;
+ static const OutputLayout_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX16;
static const size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
static const uint8_t layoutGroups[layoutGroupsSize] = BH_LAYOUT_TACTSUITX16_GROUPS;
@@ -95,7 +93,7 @@ void test_layout_tactsuitx16(void)
void test_layout_tactsuitx40(void)
{
static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX40_SIZE;
- static const oh_output_point_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
+ static const OutputLayout_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
auto body = new HapticBody();
@@ -178,7 +176,7 @@ void test_layout_tactsuitx40(void)
void test_layout_tactal(void)
{
static const size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
- static const oh_output_point_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
+ static const ::SenseShift::Body::Haptics::Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
auto body = new HapticBody();
@@ -222,25 +220,21 @@ void test_layout_tactglove(void)
TestActuator* actuatorLittle = new TestActuator();
TestActuator* actuatorWrist = new TestActuator();
- const auto& bhLayout = BH::TactGloveLeftLayout;
-
- auto thumb = new VibroPlane({ { std::get<2>(bhLayout[0]), actuatorThumb } });
- auto index = new VibroPlane({ { std::get<2>(bhLayout[1]), actuatorIndex } });
- auto middle = new VibroPlane({ { std::get<2>(bhLayout[2]), actuatorMiddle } });
- auto ring = new VibroPlane({ { std::get<2>(bhLayout[3]), actuatorRing } });
- auto little = new VibroPlane({ { std::get<2>(bhLayout[4]), actuatorLittle } });
- auto wrist = new VibroPlane({ { std::get<2>(bhLayout[5]), actuatorWrist } });
-
auto body = new HapticBody();
+ const auto& bhLayout = TactGloveLeftLayout;
- body->addTarget(Target::HandLeftThumb, thumb);
- body->addTarget(Target::HandLeftIndex, index);
- body->addTarget(Target::HandLeftMiddle, middle);
- body->addTarget(Target::HandLeftRing, ring);
- body->addTarget(Target::HandLeftLittle, little);
- body->addTarget(Target::HandLeftDorsal, wrist);
+ addTactGloveActuators(
+ body,
+ ::SenseShift::Body::Hands::HandSide::Left,
+ actuatorThumb,
+ actuatorIndex,
+ actuatorMiddle,
+ actuatorRing,
+ actuatorLittle,
+ actuatorWrist
+ );
- Decoder::applyPlain(body, { 0x64, 0x00, 0x00, 0x00, 0x00, 0x00 }, bhLayout);
+ Decoder::applyPlain(body, { 0x64, 0x00, 0x00, 0x00, 0x00, 0x00 }, bhLayout, Effect::Vibro);
TEST_ASSERT_EQUAL_INT(4095, actuatorThumb->intensity);
TEST_ASSERT_EQUAL_INT(0, actuatorIndex->intensity);
TEST_ASSERT_EQUAL_INT(0, actuatorMiddle->intensity);
@@ -248,7 +242,7 @@ void test_layout_tactglove(void)
TEST_ASSERT_EQUAL_INT(0, actuatorLittle->intensity);
TEST_ASSERT_EQUAL_INT(0, actuatorWrist->intensity);
- Decoder::applyPlain(body, { 0x10, 0x20, 0x30, 0x40, 0x50, 0x60 }, bhLayout);
+ Decoder::applyPlain(body, { 0x10, 0x20, 0x30, 0x40, 0x50, 0x60 }, bhLayout, Effect::Vibro);
TEST_ASSERT_EQUAL_INT(655, actuatorThumb->intensity);
TEST_ASSERT_EQUAL_INT(1310, actuatorIndex->intensity);
TEST_ASSERT_EQUAL_INT(1965, actuatorMiddle->intensity);
@@ -264,6 +258,7 @@ int process(void)
RUN_TEST(test_layout_tactsuitx16);
RUN_TEST(test_layout_tactsuitx40);
RUN_TEST(test_layout_tactal);
+ RUN_TEST(test_layout_tactglove);
return UNITY_END();
}
From 0b7a1ecfafb2653930d1a394ca6259c8b1b8c4ec Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 21 Aug 2023 21:56:50 +0400
Subject: [PATCH 08/82] refactor(Output): generic actuators
---
firmware/mode_configs/bhaptics/tactal.cpp | 10 +++--
firmware/mode_configs/bhaptics/tactglove.cpp | 12 ++---
firmware/mode_configs/bhaptics/tactosy2.cpp | 10 +++--
firmware/mode_configs/bhaptics/tactosyf.cpp | 10 +++--
firmware/mode_configs/bhaptics/tactosyh.cpp | 10 +++--
.../mode_configs/bhaptics/tactsuit_x16.cpp | 16 ++++---
.../bhaptics/tactsuit_x16_pca9685.cpp | 14 +++---
.../mode_configs/bhaptics/tactsuit_x40.cpp | 16 ++++---
firmware/mode_configs/bhaptics/tactvisor.cpp | 10 +++--
.../mode_configs/opengloves/opengloves.cpp | 12 ++---
lib/actuators/senseshift/output/actuator.hpp | 22 ++++++++++
lib/arduino/output_writers/pwm.cpp | 29 ------------
lib/arduino/output_writers/pwm.hpp | 20 ---------
lib/arduino/output_writers/servo.hpp | 30 -------------
lib/arduino/senseshift/arduino/output/pwm.hpp | 44 +++++++++++++++++++
.../senseshift/arduino/output/servo.hpp | 32 ++++++++++++++
lib/bhaptics/senseshift/bh/devices.hpp | 12 ++---
lib/core/types.hpp | 6 ---
lib/haptics/haptic_body.hpp | 1 -
lib/haptics/haptic_plane.cpp | 28 ++++++------
lib/haptics/haptic_plane.hpp | 30 ++++++-------
lib/opengloves/og_ffb.hpp | 12 ++---
lib/output/abstract_actuator.hpp | 17 -------
lib/pca9685/output_writers/pca9685.cpp | 7 ---
lib/pca9685/output_writers/pca9685.hpp | 20 ---------
.../senseshift/arduino/output/pca9685.hpp | 26 +++++++++++
test/test_bhaptics_encoding/main.cpp | 26 +++++------
test/test_haptics_body/main.cpp | 9 ++--
test/test_haptics_plane/main.cpp | 9 ++--
29 files changed, 257 insertions(+), 243 deletions(-)
create mode 100644 lib/actuators/senseshift/output/actuator.hpp
delete mode 100644 lib/arduino/output_writers/pwm.cpp
delete mode 100644 lib/arduino/output_writers/pwm.hpp
delete mode 100644 lib/arduino/output_writers/servo.hpp
create mode 100644 lib/arduino/senseshift/arduino/output/pwm.hpp
create mode 100644 lib/arduino/senseshift/arduino/output/servo.hpp
delete mode 100644 lib/core/types.hpp
delete mode 100644 lib/output/abstract_actuator.hpp
delete mode 100644 lib/pca9685/output_writers/pca9685.cpp
delete mode 100644 lib/pca9685/output_writers/pca9685.hpp
create mode 100644 lib/pca9685/senseshift/arduino/output/pca9685.hpp
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index de7f9560..ba2a271e 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -6,7 +6,7 @@
#include "senseshift.h"
-#include <output_writers/pwm.hpp>
+#include <senseshift/arduino/output/pwm.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -17,6 +17,8 @@
using namespace OH;
using namespace SenseShift;
+using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
@@ -28,7 +30,7 @@ static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
void setupMode()
{
// Configure PWM pins to their positions on the face
- const auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ const auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
{ new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14) },
// clang-format on
@@ -38,14 +40,14 @@ void setupMode()
app->getHapticBody()->setup();
- auto* bhBleConnection = new BH::BLE::Connection(
+ auto* bhBleConnection = new BLE::Connection(
{
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- BH::Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
+ Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 14acadd8..6ff9d7c4 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -8,7 +8,7 @@
#include "senseshift.h"
-#include <output_writers/pwm.hpp>
+#include <senseshift/arduino/output/pwm.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -19,6 +19,8 @@
using namespace OH;
using namespace SenseShift;
+using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
@@ -27,14 +29,14 @@ SenseShift::SenseShift* app = &App;
static const Body::Hands::HandSide_t handSide = Body::Hands::HandSide::SENSESHIFT_HAND_SIDE;
static const size_t bhLayoutSize = BH_LAYOUT_TACTGLOVE_SIZE;
// clang-format off
-static const BH::OutputLayout_t (&bhLayout)[bhLayoutSize] = handSide == Body::Hands::HandSide::Left ? BH::TactGloveLeftLayout : BH::TactGloveRightLayout;
+static const OutputLayout_t (&bhLayout)[bhLayoutSize] = handSide == Body::Hands::HandSide::Left ? BH::TactGloveLeftLayout : BH::TactGloveRightLayout;
// clang-format on
void setupMode()
{
// Configure PWM pins to their positions on the glove
// Replace `new PWMOutputWriter(...)` with `nullptr` to disable a specific actuator
- BH::addTactGloveActuators(
+ addTactGloveActuators(
app->getHapticBody(),
handSide,
new PWMOutputWriter(32), // Thumb
@@ -47,14 +49,14 @@ void setupMode()
app->getHapticBody()->setup();
- auto* bhBleConnection = new BH::BLE::Connection(
+ auto* bhBleConnection = new BLE::Connection(
{
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- BH::Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect_t::Vibro);
+ Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect_t::Vibro);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index fb6bd77f..6a4af3a6 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -6,7 +6,7 @@
#include "senseshift.h"
-#include <output_writers/pwm.hpp>
+#include <senseshift/arduino/output/pwm.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -17,6 +17,8 @@
using namespace OH;
using namespace SenseShift;
+using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
@@ -28,7 +30,7 @@ static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSY2;
void setupMode()
{
// Configure PWM pins to their positions on the forearm
- auto forearmOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto forearmOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
{ new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25) },
{ new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14) },
@@ -39,14 +41,14 @@ void setupMode()
app->getHapticBody()->setup();
- auto* bhBleConnection = new BH::BLE::Connection(
+ auto* bhBleConnection = new BLE::Connection(
{
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- BH::Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
+ Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index 277377ae..4595b904 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -6,7 +6,7 @@
#include "senseshift.h"
-#include <output_writers/pwm.hpp>
+#include <senseshift/arduino/output/pwm.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -17,6 +17,8 @@
using namespace OH;
using namespace SenseShift;
+using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
@@ -28,7 +30,7 @@ static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYF;
void setupMode()
{
// Configure PWM pins to their positions on the feet
- auto footOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto footOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
{ new PWMOutputWriter(32) },
{ new PWMOutputWriter(33) },
@@ -40,14 +42,14 @@ void setupMode()
app->getHapticBody()->setup();
- auto* bhBleConnection = new BH::BLE::Connection(
+ auto* bhBleConnection = new BLE::Connection(
{
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- BH::Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
+ Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index 543f2275..c2904352 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -6,7 +6,7 @@
#include "senseshift.h"
-#include <output_writers/pwm.hpp>
+#include <senseshift/arduino/output/pwm.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -17,6 +17,8 @@
using namespace OH;
using namespace SenseShift;
+using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
@@ -28,7 +30,7 @@ static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYH;
void setupMode()
{
// Configure PWM pins to their positions on the hands
- auto handOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto handOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
{ new PWMOutputWriter(32) },
{ new PWMOutputWriter(33) },
@@ -40,14 +42,14 @@ void setupMode()
app->getHapticBody()->setup();
- auto* bhBleConnection = new BH::BLE::Connection(
+ auto* bhBleConnection = new BLE::Connection(
{
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- BH::Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
+ Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index 4b4cf7d2..0fb4875d 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -6,7 +6,7 @@
#include "senseshift.h"
-#include <output_writers/pwm.hpp>
+#include <senseshift/arduino/output/pwm.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -17,13 +17,15 @@
using namespace OH;
using namespace SenseShift;
+using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
-static const BH::OutputLayout_t bhLayout[BH_LAYOUT_TACTSUITX16_SIZE] = BH_LAYOUT_TACTSUITX16;
+static const OutputLayout_t bhLayout[BH_LAYOUT_TACTSUITX16_SIZE] = BH_LAYOUT_TACTSUITX16;
// Ouput indices, responsible for x40 => x16 grouping
static const size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
@@ -32,16 +34,16 @@ static const uint8_t layoutGroups[layoutGroupsSize] = BH_LAYOUT_TACTSUITX16_GROU
void setupMode()
{
// Configure PWM pins to their positions on the vest
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
{ new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26) },
{ new PWMOutputWriter(27), new PWMOutputWriter(14), new PWMOutputWriter(12), new PWMOutputWriter(13) },
// clang-format on
});
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
{ new PWMOutputWriter(19), new PWMOutputWriter(18), new PWMOutputWriter(5), new PWMOutputWriter(17) },
- { new PWMOutputWriter(16), new PWMOutputWriter(4), new PWMOutputWriter(2), new PWMOutputWriter(15) },
+ { new PWMOutputWriter(16), new PWMOutputWriter(4), new PWMOutputWriter(2), new PWMOutputWriter(15) },
// clang-format on
});
@@ -50,14 +52,14 @@ void setupMode()
app->getHapticBody()->setup();
- auto* bhBleConnection = new BH::BLE::Connection(
+ auto* bhBleConnection = new BLE::Connection(
{
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- BH::Decoder::applyVestGrouped(app->getHapticBody(), value, bhLayout, layoutGroups);
+ Decoder::applyVestGrouped(app->getHapticBody(), value, bhLayout, layoutGroups);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index b9051e9e..74df3252 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -6,7 +6,7 @@
#include "senseshift.h"
-#include <output_writers/pca9685.hpp>
+#include <senseshift/arduino/output/pca9685.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -17,13 +17,15 @@
using namespace OH;
using namespace SenseShift;
+using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
-static const BH::OutputLayout_t bhLayout[BH_LAYOUT_TACTSUITX16_SIZE] = BH_LAYOUT_TACTSUITX16;
+static const OutputLayout_t bhLayout[BH_LAYOUT_TACTSUITX16_SIZE] = BH_LAYOUT_TACTSUITX16;
// Ouput indices, responsible for x40 => x16 grouping
static const size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
@@ -37,13 +39,13 @@ void setupMode()
pwm->setPWMFreq(PWM_FREQUENCY);
// Assign the pins on the configured PCA9685 to positions on the vest
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
{ new PCA9685OutputWriter(pwm, 0), new PCA9685OutputWriter(pwm, 1), new PCA9685OutputWriter(pwm, 2), new PCA9685OutputWriter(pwm, 3) },
{ new PCA9685OutputWriter(pwm, 4), new PCA9685OutputWriter(pwm, 5), new PCA9685OutputWriter(pwm, 6), new PCA9685OutputWriter(pwm, 7) },
// clang-format on
});
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
{ new PCA9685OutputWriter(pwm, 8), new PCA9685OutputWriter(pwm, 9), new PCA9685OutputWriter(pwm, 10), new PCA9685OutputWriter(pwm, 11) },
{ new PCA9685OutputWriter(pwm, 12), new PCA9685OutputWriter(pwm, 13), new PCA9685OutputWriter(pwm, 14), new PCA9685OutputWriter(pwm, 15) },
@@ -55,14 +57,14 @@ void setupMode()
app->getHapticBody()->setup();
- auto* bhBleConnection = new BH::BLE::Connection(
+ auto* bhBleConnection = new BLE::Connection(
{
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- BH::Decoder::applyVestGrouped(app->getHapticBody(), value, bhLayout, layoutGroups);
+ Decoder::applyVestGrouped(app->getHapticBody(), value, bhLayout, layoutGroups);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 6ec93001..13a0689f 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -6,8 +6,8 @@
#include "senseshift.h"
-#include <output_writers/pca9685.hpp>
-#include <output_writers/pwm.hpp>
+#include <senseshift/arduino/output/pca9685.hpp>
+#include <senseshift/arduino/output/pwm.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -18,13 +18,15 @@
using namespace OH;
using namespace SenseShift;
+using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX40_SIZE;
-static const BH::OutputLayout_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
+static const OutputLayout_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
void setupMode()
{
@@ -39,7 +41,7 @@ void setupMode()
// Assign the pins on the configured PCA9685s and PWM pins to locations on the
// vest
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
{ new PCA9685OutputWriter(pwm0, 0), new PCA9685OutputWriter(pwm0, 1), new PCA9685OutputWriter(pwm0, 2), new PCA9685OutputWriter(pwm0, 3) },
{ new PCA9685OutputWriter(pwm0, 4), new PCA9685OutputWriter(pwm0, 5), new PCA9685OutputWriter(pwm0, 6), new PCA9685OutputWriter(pwm0, 7) },
@@ -48,7 +50,7 @@ void setupMode()
{ new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26) },
// clang-format on
});
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
{ new PCA9685OutputWriter(pwm1, 0), new PCA9685OutputWriter(pwm1, 1), new PCA9685OutputWriter(pwm1, 2), new PCA9685OutputWriter(pwm1, 3) },
{ new PCA9685OutputWriter(pwm1, 4), new PCA9685OutputWriter(pwm1, 5), new PCA9685OutputWriter(pwm1, 6), new PCA9685OutputWriter(pwm1, 7) },
@@ -63,14 +65,14 @@ void setupMode()
app->getHapticBody()->setup();
- auto* bhBleConnection = new BH::BLE::Connection(
+ auto* bhBleConnection = new BLE::Connection(
{
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- BH::Decoder::applyVest(app->getHapticBody(), value, bhLayout);
+ Decoder::applyVest(app->getHapticBody(), value, bhLayout);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index 9e2bb10d..73c88463 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -6,7 +6,7 @@
#include "senseshift.h"
-#include <output_writers/pwm.hpp>
+#include <senseshift/arduino/output/pwm.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -17,6 +17,8 @@
using namespace OH;
using namespace SenseShift;
+using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
@@ -28,7 +30,7 @@ static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTVISOR;
void setupMode()
{
// Configure PWM pins to their positions on the face
- auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
{ new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26) },
// clang-format on
@@ -38,14 +40,14 @@ void setupMode()
app->getHapticBody()->setup();
- auto* bhBleConnection = new BH::BLE::Connection(
+ auto* bhBleConnection = new BLE::Connection(
{
.deviceName = BLUETOOTH_NAME,
.appearance = BH_BLE_APPEARANCE,
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- BH::Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
+ Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
},
app
);
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index d575a4cb..b1b78eb1 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -2,7 +2,7 @@
#include <og_constants.hpp>
#include <og_serial_communication.hpp>
#include <opengloves_task.hpp>
-#include <output_writers/servo.hpp>
+#include <senseshift/arduino/output/servo.hpp>
#include <sensor.hpp>
#include <sensor/analog.hpp>
#include <sensor/digital.hpp>
@@ -285,23 +285,23 @@ OpenGlovesTrackingTask* trackingTask;
#if FFB_ENABLED
HandActuators handActuators = {
#if FFB_THUMB_ENABLED
- .thumb = new OH::ServoActuator(PIN_FFB_THUMB),
+ .thumb = new SenseShift::Arduino::Output::ServoActuator(PIN_FFB_THUMB),
#endif
#if FFB_INDEX_ENABLED
- .index = new OH::ServoActuator(PIN_FFB_INDEX),
+ .index = new SenseShift::Arduino::Output::ServoActuator(PIN_FFB_INDEX),
#endif
#if FFB_MIDDLE_ENABLED
- .middle = new OH::ServoActuator(PIN_FFB_MIDDLE),
+ .middle = new SenseShift::Arduino::Output::ServoActuator(PIN_FFB_MIDDLE),
#endif
#if FFB_RING_ENABLED
- .ring = new OH::ServoActuator(PIN_FFB_RING),
+ .ring = new SenseShift::Arduino::Output::ServoActuator(PIN_FFB_RING),
#endif
#if FFB_PINKY_ENABLED
- .pinky = new OH::ServoActuator(PIN_FFB_PINKY),
+ .pinky = new SenseShift::Arduino::Output::ServoActuator(PIN_FFB_PINKY),
#endif
};
OpenGlovesForceFeedbackTask* ffbTask;
diff --git a/lib/actuators/senseshift/output/actuator.hpp b/lib/actuators/senseshift/output/actuator.hpp
new file mode 100644
index 00000000..5f56db6b
--- /dev/null
+++ b/lib/actuators/senseshift/output/actuator.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <cstdint>
+
+#include <logging.hpp>
+
+namespace SenseShift::Output {
+ // Singular output point (e.g. vibration motor)
+ template<typename T>
+ class IActuator {
+ public:
+ virtual void setup(){};
+ virtual void writeOutput(T) = 0;
+ };
+
+ template<>
+ class IActuator<std::uint16_t> {
+ public:
+ virtual void setup(){};
+ virtual void writeOutput(std::uint16_t) = 0;
+ };
+} // namespace SenseShift::Output
diff --git a/lib/arduino/output_writers/pwm.cpp b/lib/arduino/output_writers/pwm.cpp
deleted file mode 100644
index 344cce1f..00000000
--- a/lib/arduino/output_writers/pwm.cpp
+++ /dev/null
@@ -1,29 +0,0 @@
-#include <Arduino.h>
-
-#include <output_writers/pwm.hpp>
-#include <utility.hpp>
-
-namespace OH {
- uint8_t PWMOutputWriter::CHANNELS = 0;
-
- void PWMOutputWriter::setup()
- {
- this->chan = PWMOutputWriter::CHANNELS++;
-
-#if defined(ESP32)
- ledcSetup(this->chan, this->freq, this->resolution);
- ledcAttachPin(this->pin, this->chan);
-#else
- pinMode(this->pin, OUTPUT);
-#endif
- };
-
- void PWMOutputWriter::writeOutput(oh_output_intensity_t intensity)
- {
-#if defined(ESP32)
- ledcWrite(chan, simpleMap<uint16_t>(intensity, OH_OUTPUT_INTENSITY_MAX, (1 << this->resolution) - 1));
-#else
- analogWrite(this->pin, simpleMap<uint16_t>(intensity, OH_OUTPUT_INTENSITY_MAX, 255));
-#endif
- };
-}; // namespace OH
diff --git a/lib/arduino/output_writers/pwm.hpp b/lib/arduino/output_writers/pwm.hpp
deleted file mode 100644
index eecdccbf..00000000
--- a/lib/arduino/output_writers/pwm.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include <abstract_actuator.hpp>
-
-namespace OH {
- class PWMOutputWriter : public OH::AbstractActuator {
- private:
- static uint8_t CHANNELS;
- uint8_t pin, chan;
- double freq;
- uint8_t resolution;
-
- public:
- PWMOutputWriter(const uint8_t pin, const double freq = 60, const uint8_t resolution = 12) :
- pin(pin), freq(freq), resolution(resolution){};
-
- void setup() override;
- void writeOutput(oh_output_intensity_t intensity) override;
- };
-}; // namespace OH
diff --git a/lib/arduino/output_writers/servo.hpp b/lib/arduino/output_writers/servo.hpp
deleted file mode 100644
index 6223d265..00000000
--- a/lib/arduino/output_writers/servo.hpp
+++ /dev/null
@@ -1,30 +0,0 @@
-#pragma once
-
-#include <abstract_actuator.hpp>
-#include <utility.hpp>
-
-#include <ESP32Servo.h>
-
-namespace OH {
- class ServoActuator : public AbstractActuator {
- public:
- ServoActuator(const uint8_t pin, const uint16_t min = 500, const uint16_t max = 2400) :
- pin(pin), min(min), max(max){};
-
- void setup() override
- {
- servo.attach(this->pin, this->min, this->max);
- this->writeOutput(0);
- };
-
- void writeOutput(oh_output_intensity_t intensity) override
- {
- servo.writeMicroseconds(accurateMap<uint16_t>(intensity, 0, OH_OUTPUT_INTENSITY_MAX, this->min, this->max));
- };
-
- protected:
- Servo servo = Servo();
- uint8_t pin;
- uint16_t min, max;
- };
-} // namespace OH
diff --git a/lib/arduino/senseshift/arduino/output/pwm.hpp b/lib/arduino/senseshift/arduino/output/pwm.hpp
new file mode 100644
index 00000000..a8145565
--- /dev/null
+++ b/lib/arduino/senseshift/arduino/output/pwm.hpp
@@ -0,0 +1,44 @@
+#pragma once
+
+#include <senseshift/output/actuator.hpp>
+#include <utility.hpp>
+
+#include <Arduino.h>
+
+namespace SenseShift::Arduino::Output {
+ class PWMOutputWriter : public ::SenseShift::Output::IActuator<std::uint16_t> {
+ public:
+ static inline constexpr const std::uint16_t MAX_INTENSITY = 4095;
+
+ PWMOutputWriter(const std::uint8_t pin, const double freq = 60, const std::uint8_t resolution = 12) :
+ pin(pin), freq(freq), resolution(resolution){};
+
+ void setup() override
+ {
+ this->chan = CHANNELS++;
+
+#if defined(ESP32)
+ ledcSetup(this->chan, this->freq, this->resolution);
+ ledcAttachPin(this->pin, this->chan);
+#else
+ pinMode(this->pin, OUTPUT);
+#endif
+ }
+
+ void writeOutput(std::uint16_t intensity) override
+ {
+#if defined(ESP32)
+ ledcWrite(chan, OH::simpleMap<std::uint16_t>(intensity, MAX_INTENSITY, (1 << this->resolution) - 1));
+#else
+ // Arduino only supports 8-bit PWM
+ analogWrite(this->pin, OH::simpleMap<std::uint16_t>(intensity, MAX_INTENSITY, (1 << 8) - 1));
+#endif
+ }
+
+ private:
+ static inline std::uint8_t CHANNELS = 0;
+ std::uint8_t pin, chan;
+ double freq;
+ std::uint8_t resolution;
+ };
+}; // namespace SenseShift::Arduino::Output
diff --git a/lib/arduino/senseshift/arduino/output/servo.hpp b/lib/arduino/senseshift/arduino/output/servo.hpp
new file mode 100644
index 00000000..88fa6c85
--- /dev/null
+++ b/lib/arduino/senseshift/arduino/output/servo.hpp
@@ -0,0 +1,32 @@
+#pragma once
+
+#include <senseshift/output/actuator.hpp>
+#include <utility.hpp>
+
+#include <ESP32Servo.h>
+
+namespace SenseShift::Arduino::Output {
+ class ServoActuator : public ::SenseShift::Output::IActuator<std::uint16_t> {
+ public:
+ static inline constexpr const std::uint16_t MAX_INTENSITY = 4095;
+
+ ServoActuator(const uint8_t pin, const std::uint16_t min = 500, const std::uint16_t max = 2400) :
+ pin(pin), min(min), max(max){};
+
+ void setup() override
+ {
+ servo.attach(this->pin, this->min, this->max);
+ this->writeOutput(0);
+ };
+
+ void writeOutput(std::uint16_t intensity) override
+ {
+ servo.writeMicroseconds(OH::accurateMap<std::uint16_t>(intensity, 0, MAX_INTENSITY, this->min, this->max));
+ };
+
+ private:
+ Servo servo = Servo();
+ uint8_t pin;
+ std::uint16_t min, max;
+ };
+} // namespace SenseShift::Arduino::Output
diff --git a/lib/bhaptics/senseshift/bh/devices.hpp b/lib/bhaptics/senseshift/bh/devices.hpp
index 7c5531f0..d3c24d1b 100644
--- a/lib/bhaptics/senseshift/bh/devices.hpp
+++ b/lib/bhaptics/senseshift/bh/devices.hpp
@@ -297,12 +297,12 @@ namespace SenseShift::BH {
inline void addTactGloveActuators(
HapticBody* hapticBody,
const HandSide_t side,
- OH::AbstractActuator* const thumbActuator,
- OH::AbstractActuator* const indexActuator,
- OH::AbstractActuator* const middleActuator,
- OH::AbstractActuator* const ringActuator,
- OH::AbstractActuator* const littleActuator,
- OH::AbstractActuator* const wristActuator
+ VibroPlane::Actuator_t* const thumbActuator,
+ VibroPlane::Actuator_t* const indexActuator,
+ VibroPlane::Actuator_t* const middleActuator,
+ VibroPlane::Actuator_t* const ringActuator,
+ VibroPlane::Actuator_t* const littleActuator,
+ VibroPlane::Actuator_t* const wristActuator
)
{
const OutputLayout_t(&layout)[6] = (side == HandSide_t::Left) ? TactGloveLeftLayout : TactGloveRightLayout;
diff --git a/lib/core/types.hpp b/lib/core/types.hpp
deleted file mode 100644
index 49a7c3c3..00000000
--- a/lib/core/types.hpp
+++ /dev/null
@@ -1,6 +0,0 @@
-#pragma once
-
-#include <abstract_actuator.hpp>
-#include <point2.hpp>
-
-#include <map>
diff --git a/lib/haptics/haptic_body.hpp b/lib/haptics/haptic_body.hpp
index eb1b06f9..351e31eb 100644
--- a/lib/haptics/haptic_body.hpp
+++ b/lib/haptics/haptic_body.hpp
@@ -3,7 +3,6 @@
#include "haptic_plane.hpp"
#include "haptics_interface.hpp"
-#include <types.hpp>
#include <utility.hpp>
#include <map>
diff --git a/lib/haptics/haptic_plane.cpp b/lib/haptics/haptic_plane.cpp
index 6c10861f..d22c6f55 100644
--- a/lib/haptics/haptic_plane.cpp
+++ b/lib/haptics/haptic_plane.cpp
@@ -7,8 +7,8 @@
#include "haptic_plane.hpp"
namespace SenseShift::Body::Haptics {
- template<typename _Tp>
- void ActuativePlane<_Tp>::setActuators(const ActuatorMap_t& actuators)
+ template<typename _Tp, typename _Ta>
+ void ActuativePlane<_Tp, _Ta>::setActuators(const ActuatorMap_t& actuators)
{
this->actuators.clear();
for (const auto& [point, actuator] : actuators) {
@@ -26,16 +26,16 @@ namespace SenseShift::Body::Haptics {
}
}
- template<typename _Tp>
- void ActuativePlane<_Tp>::setup()
+ template<typename _Tp, typename _Ta>
+ void ActuativePlane<_Tp, _Ta>::setup()
{
for (const auto& [point, actuator] : this->actuators) {
actuator->setup();
}
}
- template<typename _Tp>
- void ActuativePlane<_Tp>::effect(const Position_t& pos, const Value_t& val)
+ template<typename _Tp, typename _Ta>
+ void ActuativePlane<_Tp, _Ta>::effect(const Position_t& pos, const Value_t& val)
{
auto it = this->actuators.find(pos);
if (it == this->actuators.end()) {
@@ -47,16 +47,16 @@ namespace SenseShift::Body::Haptics {
this->states[pos] = val;
}
- template<typename _Tp>
- void ActuativePlane_Closest<_Tp>::effect(const Position_t& pos, const Value_t& val)
+ template<typename _Tp, typename _Ta>
+ void ActuativePlane_Closest<_Tp, _Ta>::effect(const Position_t& pos, const Value_t& val)
{
auto& closest = this->findClosestPoint(*this->getAvailablePoints(), pos);
- ActuativePlane<_Tp>::effect(closest, val);
+ ActuativePlane<_Tp, _Ta>::effect(closest, val);
}
- template<typename _Tp>
+ template<typename _Tp, typename _Ta>
const Position_t&
- ActuativePlane_Closest<_Tp>::findClosestPoint(const PositionSet_t& pts, const Position_t& target) const
+ ActuativePlane_Closest<_Tp, _Ta>::findClosestPoint(const PositionSet_t& pts, const Position_t& target) const
{
// check if exact point exists
auto it = pts.find(target);
@@ -75,6 +75,8 @@ namespace SenseShift::Body::Haptics {
return nearest->second;
}
- template class ActuativePlane<VibroEffectData_t>;
- template class ActuativePlane_Closest<VibroEffectData_t>;
+ template class ActuativePlane<VibroEffectData_t, ::SenseShift::Output::IActuator<VibroEffectData_t::Intensity_t>>;
+ template class ActuativePlane_Closest<
+ VibroEffectData_t,
+ ::SenseShift::Output::IActuator<VibroEffectData_t::Intensity_t>>;
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/haptic_plane.hpp b/lib/haptics/haptic_plane.hpp
index 193fb633..97aac1c9 100644
--- a/lib/haptics/haptic_plane.hpp
+++ b/lib/haptics/haptic_plane.hpp
@@ -2,8 +2,8 @@
#include "haptics_interface.hpp"
-#include <abstract_actuator.hpp>
-#include <types.hpp>
+#include <senseshift/output/actuator.hpp>
+
#include <utility.hpp>
#include <list>
@@ -19,20 +19,16 @@ namespace SenseShift::Body::Haptics {
*
* @tparam _Tp The type of the output value.
*/
- template<typename _Tp>
+ template<typename _Tp, typename _Ta>
class ActuativePlane {
static_assert(std::is_same<_Tp, VibroEffectData_t>());
public:
- typedef _Tp Value_t;
- typedef std::map<Position_t, Value_t> PositionStateMap_t;
+ using Value_t = _Tp;
+ using Actuator_t = _Ta;
- /**
- * The type of the actuator.
- * @TODO: Make this a template parameter
- */
- typedef OH::AbstractActuator Actuator_t;
typedef std::map<Position_t, Actuator_t*> ActuatorMap_t;
+ typedef std::map<Position_t, Value_t> PositionStateMap_t;
ActuativePlane() = default;
@@ -61,19 +57,20 @@ namespace SenseShift::Body::Haptics {
void setActuators(const ActuatorMap_t&);
};
- typedef ActuativePlane<VibroEffectData_t> VibroPlane;
+ typedef ActuativePlane<VibroEffectData_t, ::SenseShift::Output::IActuator<VibroEffectData_t::Intensity_t>>
+ VibroPlane;
/**
* Output plane, finds the closest actuator for the given point.
* @deprecated We should guarantee on the driver level, that the actuator is always exists
*/
- template<typename _Tp>
- class ActuativePlane_Closest : public ActuativePlane<_Tp> {
+ template<typename _Tp, typename _Ta>
+ class ActuativePlane_Closest : public ActuativePlane<_Tp, _Ta> {
public:
typedef _Tp Value_t;
- ActuativePlane_Closest(const typename ActuativePlane<_Tp>::ActuatorMap_t& actuators) :
- ActuativePlane<_Tp>(actuators)
+ ActuativePlane_Closest(const typename ActuativePlane<_Tp, _Ta>::ActuatorMap_t& actuators) :
+ ActuativePlane<_Tp, _Ta>(actuators)
{
}
@@ -83,7 +80,8 @@ namespace SenseShift::Body::Haptics {
[[nodiscard]] const Position_t& findClosestPoint(const PositionSet_t&, const Position_t&) const;
};
- typedef ActuativePlane_Closest<VibroEffectData_t> VibroPlane_Closest;
+ typedef ActuativePlane_Closest<VibroEffectData_t, ::SenseShift::Output::IActuator<VibroEffectData_t::Intensity_t>>
+ VibroPlane_Closest;
// TODO: configurable margin
class PlaneMapper_Margin {
diff --git a/lib/opengloves/og_ffb.hpp b/lib/opengloves/og_ffb.hpp
index c1a8b42a..ca2c5b9d 100644
--- a/lib/opengloves/og_ffb.hpp
+++ b/lib/opengloves/og_ffb.hpp
@@ -1,15 +1,15 @@
#pragma once
-#include <abstract_actuator.hpp>
+#include <senseshift/output/actuator.hpp>
#include <optional>
namespace OpenGloves {
struct HandActuators {
- std::optional<OH::AbstractActuator*> thumb = std::nullopt;
- std::optional<OH::AbstractActuator*> index = std::nullopt;
- std::optional<OH::AbstractActuator*> middle = std::nullopt;
- std::optional<OH::AbstractActuator*> ring = std::nullopt;
- std::optional<OH::AbstractActuator*> pinky = std::nullopt;
+ std::optional<::SenseShift::Output::IActuator<uint16_t>*> thumb = std::nullopt;
+ std::optional<::SenseShift::Output::IActuator<uint16_t>*> index = std::nullopt;
+ std::optional<::SenseShift::Output::IActuator<uint16_t>*> middle = std::nullopt;
+ std::optional<::SenseShift::Output::IActuator<uint16_t>*> ring = std::nullopt;
+ std::optional<::SenseShift::Output::IActuator<uint16_t>*> pinky = std::nullopt;
};
} // namespace OpenGloves
diff --git a/lib/output/abstract_actuator.hpp b/lib/output/abstract_actuator.hpp
deleted file mode 100644
index 50df1752..00000000
--- a/lib/output/abstract_actuator.hpp
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#include <stdint.h>
-
-#define OH_OUTPUT_INTENSITY_T uint16_t
-#define OH_OUTPUT_INTENSITY_MAX 4095
-
-typedef OH_OUTPUT_INTENSITY_T oh_output_intensity_t;
-
-namespace OH {
- //! Singular output point (e.g. vibration motor)
- class AbstractActuator {
- public:
- virtual void setup(){};
- virtual void writeOutput(oh_output_intensity_t intensity) = 0;
- };
-} // namespace OH
diff --git a/lib/pca9685/output_writers/pca9685.cpp b/lib/pca9685/output_writers/pca9685.cpp
deleted file mode 100644
index 4e20d609..00000000
--- a/lib/pca9685/output_writers/pca9685.cpp
+++ /dev/null
@@ -1,7 +0,0 @@
-#include "output_writers/pca9685.hpp"
-#include <utility.hpp>
-
-void OH::PCA9685OutputWriter::writeOutput(oh_output_intensity_t intensity)
-{
- this->driver->setPin(this->num, simpleMap<uint16_t>(intensity, OH_OUTPUT_INTENSITY_MAX, 4095));
-}
diff --git a/lib/pca9685/output_writers/pca9685.hpp b/lib/pca9685/output_writers/pca9685.hpp
deleted file mode 100644
index 69db3fcf..00000000
--- a/lib/pca9685/output_writers/pca9685.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include <Adafruit_PWMServoDriver.h>
-#include <Arduino.h>
-#include <Wire.h>
-
-#include <abstract_actuator.hpp>
-
-namespace OH {
- class PCA9685OutputWriter : public OH::AbstractActuator {
- private:
- Adafruit_PWMServoDriver* driver;
- uint8_t num;
-
- public:
- PCA9685OutputWriter(Adafruit_PWMServoDriver* driver, const uint8_t num) : driver(driver), num(num){};
-
- void writeOutput(oh_output_intensity_t intensity) override;
- };
-} // namespace OH
diff --git a/lib/pca9685/senseshift/arduino/output/pca9685.hpp b/lib/pca9685/senseshift/arduino/output/pca9685.hpp
new file mode 100644
index 00000000..a6529521
--- /dev/null
+++ b/lib/pca9685/senseshift/arduino/output/pca9685.hpp
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <senseshift/output/actuator.hpp>
+#include <utility.hpp>
+
+#include <Adafruit_PWMServoDriver.h>
+#include <Arduino.h>
+#include <Wire.h>
+
+namespace SenseShift::Arduino::Output {
+ class PCA9685OutputWriter : public ::SenseShift::Output::IActuator<std::uint16_t> {
+ public:
+ static inline constexpr const std::uint16_t MAX_INTENSITY = 4095;
+
+ PCA9685OutputWriter(Adafruit_PWMServoDriver* driver, const std::uint8_t num) : driver(driver), num(num){};
+
+ void writeOutput(std::uint16_t intensity) override
+ {
+ this->driver->setPin(this->num, OH::simpleMap<std::uint16_t>(intensity, MAX_INTENSITY, 4095));
+ }
+
+ private:
+ Adafruit_PWMServoDriver* driver;
+ std::uint8_t num;
+ };
+} // namespace SenseShift::Arduino::Output
diff --git a/test/test_bhaptics_encoding/main.cpp b/test/test_bhaptics_encoding/main.cpp
index 94457355..2de6e52e 100644
--- a/test/test_bhaptics_encoding/main.cpp
+++ b/test/test_bhaptics_encoding/main.cpp
@@ -2,21 +2,21 @@
#include <senseshift/bh/encoding.hpp>
#include <unity.h>
-using namespace SenseShift::Body::Haptics;
using namespace SenseShift::BH;
-using namespace OH;
+using namespace SenseShift::Body::Haptics;
+using namespace SenseShift::Output;
-class TestActuator : public OH::AbstractActuator {
+class TestActuator : public IActuator<uint16_t> {
public:
bool isSetup = false;
- oh_output_intensity_t intensity = 0;
+ uint16_t intensity = 0;
- TestActuator() : AbstractActuator() {}
+ TestActuator() : IActuator<uint16_t>() {}
void setup() override
{
this->isSetup = true;
}
- void writeOutput(oh_output_intensity_t intensity) override
+ void writeOutput(uint16_t intensity) override
{
this->intensity = intensity;
}
@@ -49,11 +49,11 @@ void test_layout_tactsuitx16(void)
TestActuator* actuator14 = new TestActuator();
TestActuator* actuator15 = new TestActuator();
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<OH::AbstractActuator>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
{ actuator0, actuator1, actuator2, actuator3 },
{ actuator4, actuator5, actuator6, actuator7 },
});
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
{ actuator8, actuator9, actuator10, actuator11 },
{ actuator12, actuator13, actuator14, actuator15 },
});
@@ -97,14 +97,14 @@ void test_layout_tactsuitx40(void)
auto body = new HapticBody();
- std::vector<std::vector<AbstractActuator*>> frontMatrix = {
+ std::vector<std::vector<VibroPlane::Actuator_t*>> frontMatrix = {
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
};
- std::vector<std::vector<AbstractActuator*>> backMatrix = {
+ std::vector<std::vector<VibroPlane::Actuator_t*>> backMatrix = {
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
@@ -112,8 +112,8 @@ void test_layout_tactsuitx40(void)
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
};
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>(frontMatrix);
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>(backMatrix);
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>(frontMatrix);
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>(backMatrix);
auto frontPlane = new VibroPlane(frontOutputs);
auto backPlane = new VibroPlane(backOutputs);
@@ -187,7 +187,7 @@ void test_layout_tactal(void)
TestActuator* actuator4 = new TestActuator();
TestActuator* actuator5 = new TestActuator();
- auto outputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+ auto outputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
{ actuator0, actuator1, actuator2, actuator3, actuator4, actuator5 },
});
auto plane = new VibroPlane(outputs);
diff --git a/test/test_haptics_body/main.cpp b/test/test_haptics_body/main.cpp
index f5ceb76f..27b8b56e 100644
--- a/test/test_haptics_body/main.cpp
+++ b/test/test_haptics_body/main.cpp
@@ -2,18 +2,19 @@
#include <unity.h>
using namespace SenseShift::Body::Haptics;
+using namespace SenseShift::Output;
-class TestActuator : public OH::AbstractActuator {
+class TestActuator : public IActuator<uint16_t> {
public:
bool isSetup = false;
- oh_output_intensity_t intensity = 0;
+ uint16_t intensity = 0;
- TestActuator() : AbstractActuator() {}
+ TestActuator() : IActuator<uint16_t>() {}
void setup() override
{
this->isSetup = true;
}
- void writeOutput(oh_output_intensity_t intensity) override
+ void writeOutput(uint16_t intensity) override
{
this->intensity = intensity;
}
diff --git a/test/test_haptics_plane/main.cpp b/test/test_haptics_plane/main.cpp
index ec1af818..38e4594b 100644
--- a/test/test_haptics_plane/main.cpp
+++ b/test/test_haptics_plane/main.cpp
@@ -2,18 +2,19 @@
#include <unity.h>
using namespace SenseShift::Body::Haptics;
+using namespace SenseShift::Output;
-class TestActuator : public OH::AbstractActuator {
+class TestActuator : public IActuator<uint16_t> {
public:
bool isSetup = false;
- oh_output_intensity_t intensity = 0;
+ uint16_t intensity = 0;
- TestActuator() : AbstractActuator() {}
+ TestActuator() : IActuator<uint16_t>() {}
void setup() override
{
this->isSetup = true;
}
- void writeOutput(oh_output_intensity_t intensity) override
+ void writeOutput(uint16_t intensity) override
{
this->intensity = intensity;
}
From 4977fd0e3be1560aaaff1459ec9baebe0ae543db Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 21 Aug 2023 22:50:45 +0400
Subject: [PATCH 09/82] refactor(Core): move to `SenseShift` namespace and
directory
---
firmware/mode_configs/bhaptics/tactglove.cpp | 3 +-
.../mode_configs/opengloves/opengloves.cpp | 2 +-
firmware/senseshift.cpp | 6 ++--
include/senseshift.h | 11 ++++----
lib/actuators/senseshift/output/actuator.hpp | 2 +-
lib/arduino/battery/adc_naive.cpp | 4 +--
lib/arduino/senseshift/arduino/output/pwm.hpp | 9 ++++--
.../senseshift/arduino/output/servo.hpp | 6 ++--
lib/battery/abstract_battery.hpp | 13 +++++----
lib/bhaptics/senseshift/bh/encoding.hpp | 10 ++++---
.../senseshift/bh/ble/connection.cpp | 13 ++++-----
.../senseshift/bh/ble/connection.hpp | 20 +++++++------
lib/calibration/calibration.hpp | 28 +++++++++++++------
lib/core/abstract_connection.hpp | 9 ------
lib/core/{ => senseshift}/events.hpp | 4 +--
lib/core/{ => senseshift}/logging.hpp | 4 +++
lib/core/{ => senseshift}/utility.hpp | 6 ++--
lib/freertos/task.hpp | 2 +-
lib/haptics/haptic_body.cpp | 2 +-
lib/haptics/haptic_body.hpp | 2 +-
lib/haptics/haptic_plane.cpp | 4 +--
lib/haptics/haptic_plane.hpp | 7 ++---
lib/opengloves/og_alpha_encoding.hpp | 5 ++--
lib/opengloves_task/opengloves_task.hpp | 2 +-
.../senseshift/arduino/output/pca9685.hpp | 4 +--
lib/sensor/sensor.hpp | 2 +-
test/test_core_utility/main.cpp | 4 +--
27 files changed, 100 insertions(+), 84 deletions(-)
delete mode 100644 lib/core/abstract_connection.hpp
rename lib/core/{ => senseshift}/events.hpp (92%)
rename lib/core/{ => senseshift}/logging.hpp (99%)
rename lib/core/{ => senseshift}/utility.hpp (94%)
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 6ff9d7c4..8f663e62 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -4,14 +4,13 @@
#include <Arduino.h>
#include <Wire.h>
-#include <utility.hpp>
-
#include "senseshift.h"
#include <senseshift/arduino/output/pwm.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
+#include <senseshift/utility.hpp>
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
#include <battery/adc_naive.hpp>
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index b1b78eb1..6fadafdc 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -3,13 +3,13 @@
#include <og_serial_communication.hpp>
#include <opengloves_task.hpp>
#include <senseshift/arduino/output/servo.hpp>
+#include <senseshift/utility.hpp>
#include <sensor.hpp>
#include <sensor/analog.hpp>
#include <sensor/digital.hpp>
#include <sensor/joystick.hpp>
#include <sensor/og_finger.hpp>
#include <sensor/og_gesture.hpp>
-#include <utility.hpp>
#pragma region Communication
diff --git a/firmware/senseshift.cpp b/firmware/senseshift.cpp
index 2605ce3e..3ba2b1f7 100644
--- a/firmware/senseshift.cpp
+++ b/firmware/senseshift.cpp
@@ -6,7 +6,7 @@
#include <Arduino.h>
#endif
-#include <logging.hpp>
+#include <senseshift/logging.hpp>
namespace SenseShift {
SenseShift::SenseShift()
@@ -14,7 +14,7 @@ namespace SenseShift {
this->pHapticBody = new Body::Haptics::HapticBody();
}
- void SenseShift::postEvent(const OH::IEvent* event)
+ void SenseShift::postEvent(const IEvent* event)
{
log_i("Event dispatched at %u: %s (%p)", millis(), event->eventName.c_str(), event);
@@ -25,7 +25,7 @@ namespace SenseShift {
delete event;
}
- void SenseShift::addEventListener(const OH::IEventListener* listener)
+ void SenseShift::addEventListener(const IEventListener* listener)
{
this->eventListeners.push_back(listener);
}
diff --git a/include/senseshift.h b/include/senseshift.h
index f973af46..f2c94937 100644
--- a/include/senseshift.h
+++ b/include/senseshift.h
@@ -2,9 +2,8 @@
#include "config/all.h"
-#include <abstract_connection.hpp>
-#include <events.hpp>
#include <haptic_body.hpp>
+#include <senseshift/events.hpp>
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
#include <abstract_battery.hpp>
@@ -13,9 +12,9 @@
#include <vector>
namespace SenseShift {
- class SenseShift final : public OH::IEventDispatcher {
+ class SenseShift final : public IEventDispatcher {
private:
- std::vector<const OH::IEventListener*> eventListeners{};
+ std::vector<const IEventListener*> eventListeners{};
Body::Haptics::HapticBody* pHapticBody;
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
@@ -30,7 +29,7 @@ namespace SenseShift {
return this->pHapticBody;
};
- void postEvent(const OH::IEvent* event) override;
- void addEventListener(const OH::IEventListener* listener) override;
+ void postEvent(const IEvent* event) override;
+ void addEventListener(const IEventListener* listener) override;
};
} // namespace SenseShift
diff --git a/lib/actuators/senseshift/output/actuator.hpp b/lib/actuators/senseshift/output/actuator.hpp
index 5f56db6b..3938c65f 100644
--- a/lib/actuators/senseshift/output/actuator.hpp
+++ b/lib/actuators/senseshift/output/actuator.hpp
@@ -2,7 +2,7 @@
#include <cstdint>
-#include <logging.hpp>
+#include <senseshift/logging.hpp>
namespace SenseShift::Output {
// Singular output point (e.g. vibration motor)
diff --git a/lib/arduino/battery/adc_naive.cpp b/lib/arduino/battery/adc_naive.cpp
index 6ee9487f..d9991715 100644
--- a/lib/arduino/battery/adc_naive.cpp
+++ b/lib/arduino/battery/adc_naive.cpp
@@ -1,7 +1,7 @@
#include "battery/adc_naive.hpp"
#include <Arduino.h>
-#include <utility.hpp>
+#include <senseshift/utility.hpp>
namespace OH {
void ADCNaiveBattery::setup()
@@ -11,6 +11,6 @@ namespace OH {
BatteryState ADCNaiveBattery::getValue()
{
- return { .level = static_cast<uint8_t>(simpleMap<uint16_t>(analogRead(this->pin), 4095, 255)) };
+ return { .level = static_cast<uint8_t>(::SenseShift::simpleMap<uint16_t>(analogRead(this->pin), 4095, 255)) };
}
} // namespace OH
diff --git a/lib/arduino/senseshift/arduino/output/pwm.hpp b/lib/arduino/senseshift/arduino/output/pwm.hpp
index a8145565..50605e5b 100644
--- a/lib/arduino/senseshift/arduino/output/pwm.hpp
+++ b/lib/arduino/senseshift/arduino/output/pwm.hpp
@@ -1,7 +1,7 @@
#pragma once
#include <senseshift/output/actuator.hpp>
-#include <utility.hpp>
+#include <senseshift/utility.hpp>
#include <Arduino.h>
@@ -28,10 +28,13 @@ namespace SenseShift::Arduino::Output {
void writeOutput(std::uint16_t intensity) override
{
#if defined(ESP32)
- ledcWrite(chan, OH::simpleMap<std::uint16_t>(intensity, MAX_INTENSITY, (1 << this->resolution) - 1));
+ ledcWrite(
+ chan,
+ ::SenseShift::simpleMap<std::uint16_t>(intensity, MAX_INTENSITY, (1 << this->resolution) - 1)
+ );
#else
// Arduino only supports 8-bit PWM
- analogWrite(this->pin, OH::simpleMap<std::uint16_t>(intensity, MAX_INTENSITY, (1 << 8) - 1));
+ analogWrite(this->pin, ::SenseShift::simpleMap<std::uint16_t>(intensity, MAX_INTENSITY, (1 << 8) - 1));
#endif
}
diff --git a/lib/arduino/senseshift/arduino/output/servo.hpp b/lib/arduino/senseshift/arduino/output/servo.hpp
index 88fa6c85..027c0b05 100644
--- a/lib/arduino/senseshift/arduino/output/servo.hpp
+++ b/lib/arduino/senseshift/arduino/output/servo.hpp
@@ -1,7 +1,7 @@
#pragma once
#include <senseshift/output/actuator.hpp>
-#include <utility.hpp>
+#include <senseshift/utility.hpp>
#include <ESP32Servo.h>
@@ -21,7 +21,9 @@ namespace SenseShift::Arduino::Output {
void writeOutput(std::uint16_t intensity) override
{
- servo.writeMicroseconds(OH::accurateMap<std::uint16_t>(intensity, 0, MAX_INTENSITY, this->min, this->max));
+ servo.writeMicroseconds(
+ ::SenseShift::accurateMap<std::uint16_t>(intensity, 0, MAX_INTENSITY, this->min, this->max)
+ );
};
private:
diff --git a/lib/battery/abstract_battery.hpp b/lib/battery/abstract_battery.hpp
index 94c6c71f..feb3cdb1 100644
--- a/lib/battery/abstract_battery.hpp
+++ b/lib/battery/abstract_battery.hpp
@@ -1,6 +1,6 @@
#pragma once
-#include <events.hpp>
+#include <senseshift/events.hpp>
#include <sensor.hpp>
#include <task.hpp>
@@ -45,10 +45,10 @@ namespace OH {
uint8_t level;
};
- class BatteryLevelEvent : public IEvent {
+ class BatteryLevelEvent : public ::SenseShift::IEvent {
public:
const BatteryState state;
- BatteryLevelEvent(const BatteryState state) : IEvent(OH_EVENT_BATTERY_LEVEL), state(state){};
+ BatteryLevelEvent(const BatteryState state) : ::SenseShift::IEvent(OH_EVENT_BATTERY_LEVEL), state(state){};
};
struct BatteryConfig {
@@ -65,11 +65,14 @@ namespace OH {
friend class TaskedSensor<BatteryState>;
private:
- IEventDispatcher* eventDispatcher;
+ ::SenseShift::IEventDispatcher* eventDispatcher;
public:
BatterySensor(
- IBatterySensor* sensor, IEventDispatcher* eventDispatcher, BatteryConfig config, TaskConfig taskConfig
+ IBatterySensor* sensor,
+ ::SenseShift::IEventDispatcher* eventDispatcher,
+ BatteryConfig config,
+ TaskConfig taskConfig
) :
TaskedSensor<BatteryState>(sensor, taskConfig, config.sampleRate), eventDispatcher(eventDispatcher){};
diff --git a/lib/bhaptics/senseshift/bh/encoding.hpp b/lib/bhaptics/senseshift/bh/encoding.hpp
index 83575f8c..e2500cd9 100644
--- a/lib/bhaptics/senseshift/bh/encoding.hpp
+++ b/lib/bhaptics/senseshift/bh/encoding.hpp
@@ -171,7 +171,7 @@ namespace SenseShift::BH {
for (uint8_t i = 0; i < VEST_LAYOUT_SIZE; i++) {
// take only meaningful values
- if (!OH::contains(layoutGroups, VEST_LAYOUT_SIZE, i)) {
+ if (!::SenseShift::contains(layoutGroups, VEST_LAYOUT_SIZE, i)) {
continue;
}
@@ -208,9 +208,11 @@ namespace SenseShift::BH {
{
switch (effect) {
case Effect_t::Vibro:
- return VibroEffectData_t(
- OH::simpleMap<VibroEffectData_t::Intensity_t>(byte, maxValue, VibroEffectData_t::INTENSITY_MAX)
- );
+ return VibroEffectData_t(::SenseShift::simpleMap<VibroEffectData_t::Intensity_t>(
+ byte,
+ maxValue,
+ VibroEffectData_t::INTENSITY_MAX
+ ));
default:
throw std::runtime_error("Unknown effect");
}
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
index 68de48b5..7e54500e 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
@@ -1,9 +1,8 @@
#include "senseshift/bh/ble/connection.hpp"
-#include <senseshift/bh/constants.hpp>
-
-#include <events.hpp>
#include <haptic_body.hpp>
+#include <senseshift/bh/constants.hpp>
+#include <senseshift/events.hpp>
#include <Arduino.h>
@@ -30,19 +29,19 @@
namespace SenseShift::BH::BLE {
class BHServerCallbacks final : public BLEServerCallbacks {
private:
- OH::IEventDispatcher* dispatcher;
+ ::SenseShift::IEventDispatcher* dispatcher;
public:
- BHServerCallbacks(OH::IEventDispatcher* eventDispatcher) : dispatcher(eventDispatcher) {}
+ BHServerCallbacks(::SenseShift::IEventDispatcher* eventDispatcher) : dispatcher(eventDispatcher) {}
void onConnect(BLEServer* pServer)
{
- this->dispatcher->postEvent(new OH::IEvent(OH_EVENT_CONNECTED));
+ this->dispatcher->postEvent(new ::SenseShift::IEvent(OH_EVENT_CONNECTED));
}
void onDisconnect(BLEServer* pServer)
{
- this->dispatcher->postEvent(new OH::IEvent(OH_EVENT_DISCONNECTED));
+ this->dispatcher->postEvent(new ::SenseShift::IEvent(OH_EVENT_DISCONNECTED));
pServer->startAdvertising();
}
};
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
index 485e0212..90247d74 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
@@ -1,10 +1,9 @@
#pragma once
-#include <abstract_connection.hpp>
-#include <utility.hpp>
-
#include <senseshift/bh/ble/constants.hpp>
#include <senseshift/bh/constants.hpp>
+#include <senseshift/events.hpp>
+#include <senseshift/utility.hpp>
#include <Arduino.h>
#include <esp_wifi.h>
@@ -37,12 +36,12 @@ namespace SenseShift::BH::BLE {
};
static ConnectionCallbacks defaultCallback;
- class Connection final : public OH::AbstractConnection, public OH::IEventListener {
+ class Connection final : public ::SenseShift::IEventListener {
public:
typedef std::function<void(std::string&)> MotorHandler_t;
Connection(
- const ConnectionConfig_t& config, MotorHandler_t motorHandler, OH::IEventDispatcher* eventDispatcher
+ const ConnectionConfig_t& config, MotorHandler_t motorHandler, ::SenseShift::IEventDispatcher* eventDispatcher
) :
config(config), motorHandler(motorHandler), eventDispatcher(eventDispatcher)
{
@@ -50,12 +49,15 @@ namespace SenseShift::BH::BLE {
};
void begin(void);
- void handleEvent(const OH::IEvent* event) const override
+ void handleEvent(const ::SenseShift::IEvent* event) const override
{
#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
if (event->eventName == OH_EVENT_BATTERY_LEVEL) {
- uint16_t level =
- OH::simpleMap<uint8_t>(static_cast<const OH::BatteryLevelEvent*>(event)->state.level, 255, 100);
+ uint16_t level = ::SenseShift::simpleMap<uint8_t>(
+ static_cast<const OH::BatteryLevelEvent*>(event)->state.level,
+ 255,
+ 100
+ );
this->batteryChar->setValue(level);
this->batteryChar->notify();
@@ -77,7 +79,7 @@ namespace SenseShift::BH::BLE {
private:
const ConnectionConfig_t& config;
MotorHandler_t motorHandler;
- OH::IEventDispatcher* eventDispatcher;
+ ::SenseShift::IEventDispatcher* eventDispatcher;
BLEServer* bleServer = nullptr;
BLEService* motorService = nullptr;
diff --git a/lib/calibration/calibration.hpp b/lib/calibration/calibration.hpp
index 9654a1ce..fa5faa86 100644
--- a/lib/calibration/calibration.hpp
+++ b/lib/calibration/calibration.hpp
@@ -5,7 +5,7 @@
#pragma once
-#include <utility.hpp>
+#include <senseshift/utility.hpp>
namespace OH {
struct ICalibrated {
@@ -76,7 +76,7 @@ namespace OH {
}
// Map the input range to the output range.
- _Tp output = accurateMap<_Tp>(input, value_min, value_max, output_min, output_max);
+ _Tp output = ::SenseShift::accurateMap<_Tp>(input, value_min, value_max, output_min, output_max);
// Lock the range to the output.
return std::clamp(output, output_min, output_max);
@@ -105,9 +105,9 @@ namespace OH {
{
// Update the min and the max.
if (input < range_min)
- range_min = accurateMap<_Tp>(input, output_min, output_max, 0, sensor_max);
+ range_min = ::SenseShift::accurateMap<_Tp>(input, output_min, output_max, 0, sensor_max);
if (input > range_max)
- range_max = accurateMap<_Tp>(input, output_min, output_max, 0, sensor_max);
+ range_max = ::SenseShift::accurateMap<_Tp>(input, output_min, output_max, 0, sensor_max);
}
_Tp calibrate(_Tp input) const
@@ -116,13 +116,19 @@ namespace OH {
_Tp center = (range_min + range_max) / 2.0f;
// Map the input to the sensor range of motion.
- int output = accurateMap<_Tp>(input, output_min, output_max, 0, sensor_max);
+ int output = ::SenseShift::accurateMap<_Tp>(input, output_min, output_max, 0, sensor_max);
// Find the deviation from the center and clamp it to the maximum that the driver supports.
output = std::clamp<int>(output - center, -driver_max_deviation, driver_max_deviation);
// Finally map the deviation from the center back to the output range.
- return (_Tp) accurateMap<int>(output, -driver_max_deviation, driver_max_deviation, output_min, output_max);
+ return (_Tp)::SenseShift::accurateMap<int>(
+ output,
+ -driver_max_deviation,
+ driver_max_deviation,
+ output_min,
+ output_max
+ );
}
private:
@@ -142,13 +148,19 @@ namespace OH {
_Tp center = sensor_max / 2.0f;
// Map the input to the sensor range of motion.
- int output = accurateMap<_Tp>(input, output_min, output_max, 0, sensor_max);
+ int output = ::SenseShift::accurateMap<_Tp>(input, output_min, output_max, 0, sensor_max);
// Find the deviation from the center and clamp it to the maximum that the driver supports.
output = std::clamp<int>(output - center, -driver_max_deviation, driver_max_deviation);
// Finally map the deviation from the center back to the output range.
- return (_Tp) accurateMap<int>(output, -driver_max_deviation, driver_max_deviation, output_min, output_max);
+ return (_Tp)::SenseShift::accurateMap<int>(
+ output,
+ -driver_max_deviation,
+ driver_max_deviation,
+ output_min,
+ output_max
+ );
}
};
} // namespace OH
diff --git a/lib/core/abstract_connection.hpp b/lib/core/abstract_connection.hpp
deleted file mode 100644
index 07a0523e..00000000
--- a/lib/core/abstract_connection.hpp
+++ /dev/null
@@ -1,9 +0,0 @@
-#pragma once
-
-#include "events.hpp"
-namespace OH {
- class AbstractConnection {
- public:
- virtual void begin(void){};
- };
-} // namespace OH
diff --git a/lib/core/events.hpp b/lib/core/senseshift/events.hpp
similarity index 92%
rename from lib/core/events.hpp
rename to lib/core/senseshift/events.hpp
index 0740dc6d..bf09ec22 100644
--- a/lib/core/events.hpp
+++ b/lib/core/senseshift/events.hpp
@@ -6,7 +6,7 @@
#define OH_EVENT_CONNECTED "connected"
#define OH_EVENT_DISCONNECTED "disconnected"
-namespace OH {
+namespace SenseShift {
enum Event {
};
@@ -27,4 +27,4 @@ namespace OH {
virtual void postEvent(const IEvent* event) = 0;
virtual void addEventListener(const IEventListener* handler) = 0;
};
-} // namespace OH
+} // namespace SenseShift
diff --git a/lib/core/logging.hpp b/lib/core/senseshift/logging.hpp
similarity index 99%
rename from lib/core/logging.hpp
rename to lib/core/senseshift/logging.hpp
index 8af17aa8..d3cbc94b 100644
--- a/lib/core/logging.hpp
+++ b/lib/core/senseshift/logging.hpp
@@ -1,6 +1,7 @@
#pragma once
#if defined(ESP32)
+
#include <esp32-hal-log.h>
#elif defined(UNITY_INCLUDE_PRINT_FORMATTED)
#define log_e(...) TEST_PRINTF(__VA_ARGS__)
@@ -8,10 +9,13 @@
#define log_i(...) TEST_PRINTF(__VA_ARGS__)
#define log_d(...) TEST_PRINTF(__VA_ARGS__)
#define log_t(...) TEST_PRINTF(__VA_ARGS__)
+
#else
+
#define log_e(...)
#define log_w(...)
#define log_i(...)
#define log_d(...)
#define log_t(...)
+
#endif
diff --git a/lib/core/utility.hpp b/lib/core/senseshift/utility.hpp
similarity index 94%
rename from lib/core/utility.hpp
rename to lib/core/senseshift/utility.hpp
index 3d40497e..227748f4 100644
--- a/lib/core/utility.hpp
+++ b/lib/core/senseshift/utility.hpp
@@ -2,9 +2,9 @@
#include <algorithm>
#include <iterator>
-#include <logging.hpp>
+#include <senseshift/logging.hpp>
-namespace OH {
+namespace SenseShift {
/**
* Checks if a container contains a value.
*
@@ -48,4 +48,4 @@ namespace OH {
{
return x * out_max / in_max;
}
-} // namespace OH
+} // namespace SenseShift
diff --git a/lib/freertos/task.hpp b/lib/freertos/task.hpp
index e31fb0d0..6a40f33a 100644
--- a/lib/freertos/task.hpp
+++ b/lib/freertos/task.hpp
@@ -1,6 +1,6 @@
#pragma once
-#include "logging.hpp"
+#include <senseshift/logging.hpp>
extern "C" void delay(uint32_t ms);
diff --git a/lib/haptics/haptic_body.cpp b/lib/haptics/haptic_body.cpp
index fd4cf2cb..ddde0702 100644
--- a/lib/haptics/haptic_body.cpp
+++ b/lib/haptics/haptic_body.cpp
@@ -1,6 +1,6 @@
#include "haptic_body.hpp"
-#include <logging.hpp>
+#include <senseshift/logging.hpp>
namespace SenseShift::Body::Haptics {
void HapticBody::setup()
diff --git a/lib/haptics/haptic_body.hpp b/lib/haptics/haptic_body.hpp
index 351e31eb..ff05a1e4 100644
--- a/lib/haptics/haptic_body.hpp
+++ b/lib/haptics/haptic_body.hpp
@@ -3,7 +3,7 @@
#include "haptic_plane.hpp"
#include "haptics_interface.hpp"
-#include <utility.hpp>
+#include <senseshift/utility.hpp>
#include <map>
diff --git a/lib/haptics/haptic_plane.cpp b/lib/haptics/haptic_plane.cpp
index d22c6f55..47af5ae6 100644
--- a/lib/haptics/haptic_plane.cpp
+++ b/lib/haptics/haptic_plane.cpp
@@ -1,8 +1,8 @@
#include "haptic_plane.hpp"
#include <algorithm>
-#include <logging.hpp>
-#include <math.h>
+#include <cmath>
+#include <senseshift/logging.hpp>
#include "haptic_plane.hpp"
diff --git a/lib/haptics/haptic_plane.hpp b/lib/haptics/haptic_plane.hpp
index 97aac1c9..88227f4f 100644
--- a/lib/haptics/haptic_plane.hpp
+++ b/lib/haptics/haptic_plane.hpp
@@ -3,8 +3,7 @@
#include "haptics_interface.hpp"
#include <senseshift/output/actuator.hpp>
-
-#include <utility.hpp>
+#include <senseshift/utility.hpp>
#include <list>
#include <map>
@@ -120,8 +119,8 @@ namespace SenseShift::Body::Haptics {
{
using Point_t = OH::Point2<_Tp>;
return Point_t(
- OH::accurateMap<_Tp>(x + 1, 0, x_max + 2, Point_t::MIN, Point_t::MAX),
- OH::accurateMap<_Tp>(y + 1, 0, y_max + 2, Point_t::MIN, Point_t::MAX)
+ ::SenseShift::accurateMap<_Tp>(x + 1, 0, x_max + 2, Point_t::MIN, Point_t::MAX),
+ ::SenseShift::accurateMap<_Tp>(y + 1, 0, y_max + 2, Point_t::MIN, Point_t::MAX)
);
}
};
diff --git a/lib/opengloves/og_alpha_encoding.hpp b/lib/opengloves/og_alpha_encoding.hpp
index acc3744f..8ca21f07 100644
--- a/lib/opengloves/og_alpha_encoding.hpp
+++ b/lib/opengloves/og_alpha_encoding.hpp
@@ -1,18 +1,19 @@
#pragma once
+#include <cstdint>
#include <functional>
#include <map>
-#include <stdint.h>
#include <string>
#include <vector>
-#include <logging.hpp>
#include <og_protocol.hpp>
+#include <senseshift/logging.hpp>
namespace OpenGloves {
class AlphaEncodingService {
public:
inline static const std::string valueSymbols = "0123456789";
+ // TODO: use Frozen library to save memory
inline static const std::map<std::string, Command> commandMap = {
// clang-format off
{ "A", Command::ThumbCurl },
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index d52f5cd4..89eb9805 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -8,6 +8,7 @@
#include <og_alpha_encoding.hpp>
#include <og_ffb.hpp>
#include <og_serial_communication.hpp>
+#include <senseshift/utility.hpp>
#include <sensor.hpp>
#include <sensor/analog.hpp>
#include <sensor/digital.hpp>
@@ -15,7 +16,6 @@
#include <sensor/og_finger.hpp>
#include <sensor/og_gesture.hpp>
#include <task.hpp>
-#include <utility.hpp>
namespace OpenGloves {
struct OpenGlovesTrackingTaskConfig {
diff --git a/lib/pca9685/senseshift/arduino/output/pca9685.hpp b/lib/pca9685/senseshift/arduino/output/pca9685.hpp
index a6529521..aa8b4ce2 100644
--- a/lib/pca9685/senseshift/arduino/output/pca9685.hpp
+++ b/lib/pca9685/senseshift/arduino/output/pca9685.hpp
@@ -1,7 +1,7 @@
#pragma once
#include <senseshift/output/actuator.hpp>
-#include <utility.hpp>
+#include <senseshift/utility.hpp>
#include <Adafruit_PWMServoDriver.h>
#include <Arduino.h>
@@ -16,7 +16,7 @@ namespace SenseShift::Arduino::Output {
void writeOutput(std::uint16_t intensity) override
{
- this->driver->setPin(this->num, OH::simpleMap<std::uint16_t>(intensity, MAX_INTENSITY, 4095));
+ this->driver->setPin(this->num, ::SenseShift::simpleMap<std::uint16_t>(intensity, MAX_INTENSITY, 4095));
}
private:
diff --git a/lib/sensor/sensor.hpp b/lib/sensor/sensor.hpp
index 714a0a09..8f95ef5a 100644
--- a/lib/sensor/sensor.hpp
+++ b/lib/sensor/sensor.hpp
@@ -3,7 +3,7 @@
#include <type_traits>
#include <calibration.hpp>
-#include <logging.hpp>
+#include <senseshift/logging.hpp>
#if defined(__AVR__)
#define ANALOG_MAX 1023
diff --git a/test/test_core_utility/main.cpp b/test/test_core_utility/main.cpp
index e4539512..a468a49a 100644
--- a/test/test_core_utility/main.cpp
+++ b/test/test_core_utility/main.cpp
@@ -1,7 +1,7 @@
+#include <senseshift/utility.hpp>
#include <unity.h>
-#include <utility.hpp>
-using namespace OH;
+using namespace SenseShift;
void test_contains_container(void)
{
From 169f50e0c6430ea988c572237dcfe815da3fa049 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 21 Aug 2023 23:49:54 +0400
Subject: [PATCH 10/82] refactor(Input): move to `SenseShift` namespace and
directory
---
.../mode_configs/opengloves/opengloves.cpp | 49 ++++++++++++-------
.../arduino/input}/sensor/analog.hpp | 8 +--
.../arduino/input}/sensor/digital.hpp | 9 ++--
lib/battery/abstract_battery.cpp | 1 -
lib/battery/abstract_battery.hpp | 10 ++--
lib/opengloves/sensor/og_finger.hpp | 26 +++++-----
lib/opengloves/sensor/og_gesture.hpp | 2 +-
lib/opengloves/sensor/og_sensor.hpp | 10 ++--
lib/opengloves_task/opengloves_task.hpp | 8 +--
lib/sensor/{ => senseshift/input}/sensor.hpp | 11 +++--
.../senseshift/input}/sensor/joystick.hpp | 8 ++-
test/test_opengloves/main.cpp | 6 +--
test/test_opengloves_finger/main.cpp | 10 ++--
test/test_sensor/main.cpp | 3 +-
14 files changed, 90 insertions(+), 71 deletions(-)
rename lib/arduino/{ => senseshift/arduino/input}/sensor/analog.hpp (73%)
rename lib/arduino/{ => senseshift/arduino/input}/sensor/digital.hpp (76%)
delete mode 100644 lib/battery/abstract_battery.cpp
rename lib/sensor/{ => senseshift/input}/sensor.hpp (90%)
rename lib/{arduino => sensor/senseshift/input}/sensor/joystick.hpp (90%)
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index 6fadafdc..2ac3d7d0 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -2,12 +2,12 @@
#include <og_constants.hpp>
#include <og_serial_communication.hpp>
#include <opengloves_task.hpp>
+#include <senseshift/arduino/input/sensor/analog.hpp>
+#include <senseshift/arduino/input/sensor/digital.hpp>
#include <senseshift/arduino/output/servo.hpp>
+#include <senseshift/input/sensor.hpp>
+#include <senseshift/input/sensor/joystick.hpp>
#include <senseshift/utility.hpp>
-#include <sensor.hpp>
-#include <sensor/analog.hpp>
-#include <sensor/digital.hpp>
-#include <sensor/joystick.hpp>
#include <sensor/og_finger.hpp>
#include <sensor/og_gesture.hpp>
@@ -53,10 +53,13 @@
#define FINGER_MIDDLE_ENABLED (defined(PIN_FINGER_MIDDLE) && (PIN_FINGER_MIDDLE != -1))
#define FINGER_RING_ENABLED (defined(PIN_FINGER_RING) && (PIN_FINGER_RING != -1))
#define FINGER_PINKY_ENABLED (defined(PIN_FINGER_PINKY) && (PIN_FINGER_PINKY != -1))
-#define FINGER_CLASS(type, curl_pin, curl_invert, curl_calib) \
- FingerSensor( \
- new OH::CalibratedSensor<uint16_t>(new OH::AnalogSensor<curl_invert>(curl_pin), new curl_calib()), \
- type \
+#define FINGER_CLASS(type, curl_pin, curl_invert, curl_calib) \
+ FingerSensor( \
+ new ::SenseShift::Input::CalibratedSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
+ new curl_calib() \
+ ), \
+ type \
)
#define FINGER_THUMB_SPLAY (FINGER_THUMB_ENABLED && defined(PIN_FINGER_THUMB_SPLAY) && (PIN_FINGER_THUMB_SPLAY != -1))
#define FINGER_INDEX_SPLAY (FINGER_INDEX_ENABLED && defined(PIN_FINGER_INDEX_SPLAY) && (PIN_FINGER_INDEX_SPLAY != -1))
@@ -64,11 +67,17 @@
(FINGER_MIDDLE_ENABLED && defined(PIN_FINGER_MIDDLE_SPLAY) && (PIN_FINGER_MIDDLE_SPLAY != -1))
#define FINGER_RING_SPLAY (FINGER_RING_ENABLED && defined(PIN_FINGER_RING_SPLAY) && (PIN_FINGER_RING_SPLAY != -1))
#define FINGER_PINKY_SPLAY (FINGER_PINKY_ENABLED && defined(PIN_FINGER_PINKY_SPLAY) && (PIN_FINGER_PINKY_SPLAY != -1))
-#define FINGER_SPLAY_CLASS(type, curl_pin, curl_invert, curl_calib, splay_pin, splay_invert, splay_calib) \
- FingerSensor( \
- new OH::CalibratedSensor<uint16_t>(new OH::AnalogSensor<curl_invert>(curl_pin), new curl_calib()), \
- new OH::CalibratedSensor<uint16_t>(new OH::AnalogSensor<splay_invert>(splay_pin), new splay_calib()), \
- type \
+#define FINGER_SPLAY_CLASS(type, curl_pin, curl_invert, curl_calib, splay_pin, splay_invert, splay_calib) \
+ FingerSensor( \
+ new ::SenseShift::Input::CalibratedSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
+ new curl_calib() \
+ ), \
+ new ::SenseShift::Input::CalibratedSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<splay_invert>(splay_pin), \
+ new splay_calib() \
+ ), \
+ type \
)
#pragma endregion
@@ -78,10 +87,13 @@
#define JOYSTICK_ENABLED \
(defined(PIN_JOYSTICK_X) && defined(PIN_JOYSTICK_Y) && (PIN_JOYSTICK_X != -1) && (PIN_JOYSTICK_Y != -1))
-#define JOYSTICK_CLASS(type, pin, invert, deadzone) \
- StringEncodedMemoizedSensor<uint16_t>( \
- new OH::JoystickAxisSensor<uint16_t>(new OH::AnalogSensor<invert>(pin), deadzone), \
- type \
+#define JOYSTICK_CLASS(type, pin, invert, deadzone) \
+ StringEncodedMemoizedSensor<uint16_t>( \
+ new ::SenseShift::Input::JoystickAxisSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<invert>(pin), \
+ deadzone \
+ ), \
+ type \
)
#pragma endregion
@@ -97,7 +109,8 @@
#define BUTTON_GRAB_ENABLED (!GESTURE_GRAB_ENABLED && defined(PIN_BUTTON_GRAB) && (PIN_BUTTON_GRAB != -1))
#define BUTTON_PINCH_ENABLED (!GESTURE_PINCH_ENABLED && defined(PIN_BUTTON_PINCH) && (PIN_BUTTON_PINCH != -1))
-#define BUTTON_CLASS(type, pin, invert) StringEncodedMemoizedSensor<bool>(new OH::DigitalSensor<invert>(pin), type)
+#define BUTTON_CLASS(type, pin, invert) \
+ StringEncodedMemoizedSensor<bool>(new ::SenseShift::Arduino::Input::DigitalSensor<invert>(pin), type)
#pragma endregion
diff --git a/lib/arduino/sensor/analog.hpp b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
similarity index 73%
rename from lib/arduino/sensor/analog.hpp
rename to lib/arduino/senseshift/arduino/input/sensor/analog.hpp
index 9f8a33a7..d55fc37e 100644
--- a/lib/arduino/sensor/analog.hpp
+++ b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
@@ -1,12 +1,12 @@
#pragma once
-#include <sensor.hpp>
+#include <senseshift/input/sensor.hpp>
#include <Arduino.h>
-namespace OH {
+namespace SenseShift::Arduino::Input {
template<bool invert = false>
- class AnalogSensor : public ISensor<uint16_t> {
+ class AnalogSensor : public ::SenseShift::Input::ISensor<uint16_t> {
private:
uint8_t pin;
@@ -32,4 +32,4 @@ namespace OH {
{
return ANALOG_MAX - analogRead(this->pin);
}
-} // namespace OH
+} // namespace SenseShift::Arduino::Input
diff --git a/lib/arduino/sensor/digital.hpp b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
similarity index 76%
rename from lib/arduino/sensor/digital.hpp
rename to lib/arduino/senseshift/arduino/input/sensor/digital.hpp
index 90b517c1..5a9c2f63 100644
--- a/lib/arduino/sensor/digital.hpp
+++ b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
@@ -1,10 +1,11 @@
#pragma once
+#include <senseshift/input/sensor.hpp>
+
#include <Arduino.h>
-#include <sensor.hpp>
-namespace OH {
- typedef ISensor<bool> IDigitalSensor;
+namespace SenseShift::Arduino::Input {
+ typedef ::SenseShift::Input::ISensor<bool> IDigitalSensor;
template<bool invert = false>
class DigitalSensor : public IDigitalSensor {
@@ -33,4 +34,4 @@ namespace OH {
{
return digitalRead(this->pin) == HIGH;
}
-} // namespace OH
+} // namespace SenseShift::Arduino::Input
diff --git a/lib/battery/abstract_battery.cpp b/lib/battery/abstract_battery.cpp
deleted file mode 100644
index 326b3507..00000000
--- a/lib/battery/abstract_battery.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include "abstract_battery.hpp"
diff --git a/lib/battery/abstract_battery.hpp b/lib/battery/abstract_battery.hpp
index feb3cdb1..0e64c2ad 100644
--- a/lib/battery/abstract_battery.hpp
+++ b/lib/battery/abstract_battery.hpp
@@ -1,7 +1,7 @@
#pragma once
#include <senseshift/events.hpp>
-#include <sensor.hpp>
+#include <senseshift/input/sensor.hpp>
#include <task.hpp>
#include <stdint.h>
@@ -15,7 +15,7 @@ namespace OH {
* Tasked sensor decorator
*/
template<typename _Tp>
- class TaskedSensor : public Task<TaskedSensor<_Tp>>, public MemoizedSensor<_Tp> {
+ class TaskedSensor : public Task<TaskedSensor<_Tp>>, public ::SenseShift::Input::MemoizedSensor<_Tp> {
friend class Task<TaskedSensor<_Tp>>;
private:
@@ -31,8 +31,8 @@ namespace OH {
uint32_t rate;
public:
- TaskedSensor(ISensor<_Tp>* sensor, TaskConfig taskConfig, uint32_t rate) :
- MemoizedSensor<_Tp>(sensor), Task<TaskedSensor<_Tp>>(taskConfig), rate(rate){};
+ TaskedSensor(::SenseShift::Input::ISensor<_Tp>* sensor, TaskConfig taskConfig, uint32_t rate) :
+ ::SenseShift::Input::MemoizedSensor<_Tp>(sensor), Task<TaskedSensor<_Tp>>(taskConfig), rate(rate){};
void begin() override
{
@@ -58,7 +58,7 @@ namespace OH {
/**
* Abstract battery sensor
*/
- typedef ISensor<BatteryState> IBatterySensor;
+ typedef ::SenseShift::Input::ISensor<BatteryState> IBatterySensor;
class BatterySensor : public TaskedSensor<BatteryState> {
friend class Task<TaskedSensor<BatteryState>>;
diff --git a/lib/opengloves/sensor/og_finger.hpp b/lib/opengloves/sensor/og_finger.hpp
index 1b335718..1b5de1a9 100644
--- a/lib/opengloves/sensor/og_finger.hpp
+++ b/lib/opengloves/sensor/og_finger.hpp
@@ -6,17 +6,19 @@
namespace OpenGloves {
struct FingerSensors {
- std::vector<OH::CalibratedSensor<uint16_t>*> curl = std::vector<OH::CalibratedSensor<uint16_t>*>();
- std::optional<OH::CalibratedSensor<uint16_t>*> splay = std::nullopt;
+ std::vector<SenseShift::Input::CalibratedSensor<uint16_t>*> curl =
+ std::vector<SenseShift::Input::CalibratedSensor<uint16_t>*>();
+ std::optional<SenseShift::Input::CalibratedSensor<uint16_t>*> splay = std::nullopt;
FingerSensors(
- std::vector<OH::CalibratedSensor<uint16_t>*> curl,
- std::optional<OH::CalibratedSensor<uint16_t>*> splay = std::nullopt
+ std::vector<SenseShift::Input::CalibratedSensor<uint16_t>*> curl,
+ std::optional<SenseShift::Input::CalibratedSensor<uint16_t>*> splay = std::nullopt
) :
curl(curl), splay(splay){};
FingerSensors(
- OH::CalibratedSensor<uint16_t>* curl1, std::optional<OH::CalibratedSensor<uint16_t>*> splay = std::nullopt
+ SenseShift::Input::CalibratedSensor<uint16_t>* curl1,
+ std::optional<SenseShift::Input::CalibratedSensor<uint16_t>*> splay = std::nullopt
) :
curl({ curl1 }), splay(splay){};
};
@@ -29,14 +31,15 @@ namespace OpenGloves {
virtual uint16_t getCurl() = 0;
};
- typedef OH::ISensor<FingerValue> IFingerSensor;
+ typedef SenseShift::Input::ISensor<FingerValue> IFingerSensor;
class SimpleFingerSensor : public IFingerSensor, public ICurl {
public:
SimpleFingerSensor(FingerSensors sensors) : sensors(sensors){};
SimpleFingerSensor(
- OH::CalibratedSensor<uint16_t>* curl1, std::optional<OH::CalibratedSensor<uint16_t>*> splay = std::nullopt
+ SenseShift::Input::CalibratedSensor<uint16_t>* curl1,
+ std::optional<SenseShift::Input::CalibratedSensor<uint16_t>*> splay = std::nullopt
) :
sensors(curl1, splay){};
@@ -82,7 +85,8 @@ namespace OpenGloves {
CalibratedFingerSensor(FingerSensors sensors) : SimpleFingerSensor(sensors){};
CalibratedFingerSensor(
- OH::CalibratedSensor<uint16_t>* curl1, std::optional<OH::CalibratedSensor<uint16_t>*> splay = std::nullopt
+ SenseShift::Input::CalibratedSensor<uint16_t>* curl1,
+ std::optional<SenseShift::Input::CalibratedSensor<uint16_t>*> splay = std::nullopt
) :
SimpleFingerSensor(curl1, splay){};
@@ -123,13 +127,13 @@ namespace OpenGloves {
StringEncodedMemoizedSensor<FingerValue>(sensor, type){};
FingerSensor(
- OH::CalibratedSensor<uint16_t>* curl1,
- std::optional<OH::CalibratedSensor<uint16_t>*> splay,
+ SenseShift::Input::CalibratedSensor<uint16_t>* curl1,
+ std::optional<SenseShift::Input::CalibratedSensor<uint16_t>*> splay,
IEncodedInput::Type type
) :
StringEncodedMemoizedSensor<FingerValue>(new CalibratedFingerSensor(curl1, splay), type){};
- FingerSensor(OH::CalibratedSensor<uint16_t>* curl1, IEncodedInput::Type type) :
+ FingerSensor(SenseShift::Input::CalibratedSensor<uint16_t>* curl1, IEncodedInput::Type type) :
StringEncodedMemoizedSensor<FingerValue>(new CalibratedFingerSensor(curl1, std::nullopt), type){};
void resetCalibration() override
diff --git a/lib/opengloves/sensor/og_gesture.hpp b/lib/opengloves/sensor/og_gesture.hpp
index 9a35aa8d..3c7e0944 100644
--- a/lib/opengloves/sensor/og_gesture.hpp
+++ b/lib/opengloves/sensor/og_gesture.hpp
@@ -3,7 +3,7 @@
#include <sensor/og_finger.hpp>
namespace OpenGloves {
- class Gesture : public OH::ISensor<bool> {};
+ class Gesture : public SenseShift::Input::ISensor<bool> {};
class GrabGesture : public Gesture {
private:
diff --git a/lib/opengloves/sensor/og_sensor.hpp b/lib/opengloves/sensor/og_sensor.hpp
index 1ab097c9..60e099d7 100644
--- a/lib/opengloves/sensor/og_sensor.hpp
+++ b/lib/opengloves/sensor/og_sensor.hpp
@@ -2,7 +2,7 @@
#include <calibration.hpp>
#include <og_protocol.hpp>
-#include <sensor.hpp>
+#include <senseshift/input/sensor.hpp>
#include <optional>
#include <vector>
@@ -27,10 +27,12 @@ namespace OpenGloves {
};
template<typename _Tp>
- class StringEncodedMemoizedSensor : public IStringEncodedMemoizedSensor, public OH::MemoizedSensor<_Tp> {
+ class StringEncodedMemoizedSensor :
+ public IStringEncodedMemoizedSensor,
+ public SenseShift::Input::MemoizedSensor<_Tp> {
public:
- StringEncodedMemoizedSensor(OH::ISensor<_Tp>* sensor, IEncodedInput::Type type) :
- IStringEncodedMemoizedSensor(type), OH::MemoizedSensor<_Tp>(sensor){};
+ StringEncodedMemoizedSensor(SenseShift::Input::ISensor<_Tp>* sensor, IEncodedInput::Type type) :
+ IStringEncodedMemoizedSensor(type), SenseShift::Input::MemoizedSensor<_Tp>(sensor){};
void setup() override
{
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index 89eb9805..a5dd8b3b 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -8,11 +8,11 @@
#include <og_alpha_encoding.hpp>
#include <og_ffb.hpp>
#include <og_serial_communication.hpp>
+#include <senseshift/arduino/input/sensor/analog.hpp>
+#include <senseshift/arduino/input/sensor/digital.hpp>
+#include <senseshift/input/sensor.hpp>
+#include <senseshift/input/sensor/joystick.hpp>
#include <senseshift/utility.hpp>
-#include <sensor.hpp>
-#include <sensor/analog.hpp>
-#include <sensor/digital.hpp>
-#include <sensor/joystick.hpp>
#include <sensor/og_finger.hpp>
#include <sensor/og_gesture.hpp>
#include <task.hpp>
diff --git a/lib/sensor/sensor.hpp b/lib/sensor/senseshift/input/sensor.hpp
similarity index 90%
rename from lib/sensor/sensor.hpp
rename to lib/sensor/senseshift/input/sensor.hpp
index 8f95ef5a..1b08ec60 100644
--- a/lib/sensor/sensor.hpp
+++ b/lib/sensor/senseshift/input/sensor.hpp
@@ -16,7 +16,7 @@
// #define ANALOG_MAX 4095
#endif
-namespace OH {
+namespace SenseShift::Input {
/**
* Abstract hardware sensor (e.g. potentiometer, flex sensor, etc.)
* @tparam _Tp Type of the sensor value
@@ -90,10 +90,10 @@ namespace OH {
* @tparam _Tp Type of the sensor value
*/
template<typename _Tp>
- class CalibratedSensor : public ISensor<_Tp>, public Calibrated {
+ class CalibratedSensor : public ISensor<_Tp>, public OH::Calibrated {
protected:
ISensor<_Tp>* sensor;
- ICalibrator<_Tp>* calibrator;
+ OH::ICalibrator<_Tp>* calibrator;
_Tp getCalibratedValue()
{
@@ -111,7 +111,8 @@ namespace OH {
* @param sensor Sensor to be decorated
* @param calibrator ICalibrator algorithm to be used
*/
- CalibratedSensor(ISensor<_Tp>* sensor, ICalibrator<_Tp>* calibrator) : sensor(sensor), calibrator(calibrator){};
+ CalibratedSensor(ISensor<_Tp>* sensor, OH::ICalibrator<_Tp>* calibrator) :
+ sensor(sensor), calibrator(calibrator){};
void setup() override
{
@@ -128,4 +129,4 @@ namespace OH {
this->calibrator->reset();
};
};
-} // namespace OH
+} // namespace SenseShift::Input
diff --git a/lib/arduino/sensor/joystick.hpp b/lib/sensor/senseshift/input/sensor/joystick.hpp
similarity index 90%
rename from lib/arduino/sensor/joystick.hpp
rename to lib/sensor/senseshift/input/sensor/joystick.hpp
index 858f36cd..307d49ea 100644
--- a/lib/arduino/sensor/joystick.hpp
+++ b/lib/sensor/senseshift/input/sensor/joystick.hpp
@@ -1,10 +1,8 @@
#pragma once
-#include <sensor.hpp>
+#include "senseshift/input/sensor.hpp"
-#include <Arduino.h>
-
-namespace OH {
+namespace SenseShift::Input {
/**
* Joystick axis sensor decorator
*/
@@ -38,4 +36,4 @@ namespace OH {
return value;
}
};
-}; // namespace OH
+}; // namespace SenseShift::Input
diff --git a/test/test_opengloves/main.cpp b/test/test_opengloves/main.cpp
index 704515b8..646a9785 100644
--- a/test/test_opengloves/main.cpp
+++ b/test/test_opengloves/main.cpp
@@ -3,7 +3,7 @@
using namespace OpenGloves;
-class TestAnalogSensor : public OH::ISensor<uint16_t> {
+class TestAnalogSensor : public SenseShift::Input::ISensor<uint16_t> {
private:
uint16_t count = 0;
@@ -21,7 +21,7 @@ class TestAnalogSensor : public OH::ISensor<uint16_t> {
};
};
-class TestBinarySensor : public OH::ISensor<bool> {
+class TestBinarySensor : public SenseShift::Input::ISensor<bool> {
public:
bool value = false;
int setupCounter = 0;
@@ -37,7 +37,7 @@ class TestBinarySensor : public OH::ISensor<bool> {
};
};
-class TestFingerSensor : public OH::ISensor<FingerValue> {
+class TestFingerSensor : public SenseShift::Input::ISensor<FingerValue> {
public:
FingerValue value;
int setupCounter = 0;
diff --git a/test/test_opengloves_finger/main.cpp b/test/test_opengloves_finger/main.cpp
index 4dd5a74e..0a3a9978 100644
--- a/test/test_opengloves_finger/main.cpp
+++ b/test/test_opengloves_finger/main.cpp
@@ -3,7 +3,7 @@
using namespace OpenGloves;
-class TestAnalogSensor : public OH::ISensor<uint16_t> {
+class TestAnalogSensor : public SenseShift::Input::ISensor<uint16_t> {
private:
uint16_t count = 0;
@@ -45,7 +45,7 @@ void test_simple_finger_sensor_curl(void)
{
auto* inner = new TestAnalogSensor();
auto* calibrator = new DummyCalibrator();
- auto* calibrated = new OH::CalibratedSensor<uint16_t>(inner, calibrator);
+ auto* calibrated = new SenseShift::Input::CalibratedSensor<uint16_t>(inner, calibrator);
auto* sensor = new SimpleFingerSensor(calibrated);
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
@@ -71,11 +71,11 @@ void test_simple_finger_sensor_curl_flex(void)
{
auto* inner_curl = new TestAnalogSensor();
auto* calibrator_curl = new DummyCalibrator();
- auto* calibrated_curl = new OH::CalibratedSensor<uint16_t>(inner_curl, calibrator_curl);
+ auto* calibrated_curl = new SenseShift::Input::CalibratedSensor<uint16_t>(inner_curl, calibrator_curl);
auto* inner_flex = new TestAnalogSensor();
auto* calibrator_flex = new DummyCalibrator();
- auto* calibrated_flex = new OH::CalibratedSensor<uint16_t>(inner_flex, calibrator_flex);
+ auto* calibrated_flex = new SenseShift::Input::CalibratedSensor<uint16_t>(inner_flex, calibrator_flex);
auto* sensor = new SimpleFingerSensor(calibrated_curl, calibrated_flex);
@@ -111,7 +111,7 @@ void test_finger_sensor_curl(void)
{
auto* inner = new TestAnalogSensor();
auto* calibrator = new DummyCalibrator();
- auto* calibrated = new OH::CalibratedSensor<uint16_t>(inner, calibrator);
+ auto* calibrated = new SenseShift::Input::CalibratedSensor<uint16_t>(inner, calibrator);
auto* sensor = new FingerSensor(calibrated, IEncodedInput::Type::INDEX);
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
diff --git a/test/test_sensor/main.cpp b/test/test_sensor/main.cpp
index d026d2a7..7309e65c 100644
--- a/test/test_sensor/main.cpp
+++ b/test/test_sensor/main.cpp
@@ -1,6 +1,7 @@
-#include <sensor.hpp>
+#include <senseshift/input/sensor.hpp>
#include <unity.h>
+using namespace SenseShift::Input;
using namespace OH;
class TestAnalogSensor : public ISensor<int> {
From b9c791ec12e7463f7a2c75d4364f806a7eb6c89e Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 22 Aug 2023 01:20:57 +0400
Subject: [PATCH 11/82] refactor(Battery): use `SenseShift` lib namespace and
dir
---
.github/scripts/get_firmware_name.sh | 2 +-
.github/workflows/ci.yml | 8 +-
.github/workflows/codeql-analysis.yml | 2 +-
.github/workflows/release.yml | 2 +-
firmware/mode_configs/bhaptics/tactal.cpp | 16 ++--
firmware/mode_configs/bhaptics/tactglove.cpp | 16 ++--
firmware/mode_configs/bhaptics/tactosy2.cpp | 16 ++--
firmware/mode_configs/bhaptics/tactosyf.cpp | 16 ++--
firmware/mode_configs/bhaptics/tactosyh.cpp | 16 ++--
.../mode_configs/bhaptics/tactsuit_x16.cpp | 16 ++--
.../bhaptics/tactsuit_x16_pca9685.cpp | 16 ++--
.../mode_configs/bhaptics/tactsuit_x40.cpp | 16 ++--
firmware/mode_configs/bhaptics/tactvisor.cpp | 16 ++--
include/config/battery.h | 16 ++--
include/senseshift.h | 10 +-
lib/arduino/battery/adc_naive.cpp | 16 ----
lib/arduino/battery/adc_naive.hpp | 16 ----
lib/battery/senseshift/battery.hpp | 17 ++++
.../battery/sensor.hpp} | 92 ++++++++++---------
.../senseshift/bh/ble/connection.cpp | 4 -
.../senseshift/bh/ble/connection.hpp | 23 ++---
lib/ina219/battery/ina219.cpp | 25 -----
lib/ina219/battery/ina219.hpp | 19 ----
.../senseshift/arduino/battery/ina219.hpp | 35 +++++++
lib/max17048/battery/max17048.cpp | 32 -------
lib/max17048/battery/max17048.hpp | 20 ----
.../senseshift/arduino/battery/max17048.hpp | 45 +++++++++
platformio.ini | 2 +-
28 files changed, 243 insertions(+), 287 deletions(-)
delete mode 100644 lib/arduino/battery/adc_naive.cpp
delete mode 100644 lib/arduino/battery/adc_naive.hpp
create mode 100644 lib/battery/senseshift/battery.hpp
rename lib/battery/{abstract_battery.hpp => senseshift/battery/sensor.hpp} (50%)
delete mode 100644 lib/ina219/battery/ina219.cpp
delete mode 100644 lib/ina219/battery/ina219.hpp
create mode 100644 lib/ina219/senseshift/arduino/battery/ina219.hpp
delete mode 100644 lib/max17048/battery/max17048.cpp
delete mode 100644 lib/max17048/battery/max17048.hpp
create mode 100644 lib/max17048/senseshift/arduino/battery/max17048.hpp
diff --git a/.github/scripts/get_firmware_name.sh b/.github/scripts/get_firmware_name.sh
index 199e38aa..cd7a2b6d 100755
--- a/.github/scripts/get_firmware_name.sh
+++ b/.github/scripts/get_firmware_name.sh
@@ -13,7 +13,7 @@ getBhapticsName() {
target="$target+nimble"
fi
- if [[ $flags =~ BATTERY_ENABLED=true ]]; then
+ if [[ $flags =~ SENSESHIFT_BATTERY_ENABLED=true ]]; then
echo "::debug::Battery is enabled, appending +battery to the target"
target="$target+battery"
fi
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index aa9c5153..fefeed9d 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -32,7 +32,7 @@ jobs:
- bhaptics_tactal
- bhaptics_tactvisor
- bhaptics_tactglove_right
- battery_flag: [ BATTERY_ENABLED=true ]
+ battery_flag: [ SENSESHIFT_BATTERY_ENABLED=true ]
serial_plotter_flag: [ SERIAL_PLOTTER=false ]
nimble_flag: [ BLUETOOTH_USE_NIMBLE=false ]
coverage: [ false ]
@@ -42,19 +42,19 @@ jobs:
- target: bhaptics_tactsuit_x40
os: ubuntu-latest
coverage: true
- battery_flag: BATTERY_ENABLED=true
+ battery_flag: SENSESHIFT_BATTERY_ENABLED=true
serial_plotter_flag: SERIAL_PLOTTER=true
nimble_flag: BLUETOOTH_USE_NIMBLE=true
# - target: bhaptics_tactsuit_x40
# os: ubuntu-latest
# coverage: true
- # battery_flag: BATTERY_ENABLED=true
+ # battery_flag: SENSESHIFT_BATTERY_ENABLED=true
# serial_plotter_flag: SERIAL_PLOTTER=true
# nimble_flag: BLUETOOTH_USE_NIMBLE=false
- target: bhaptics_tactsuit_x40
os: ubuntu-latest
coverage: false
- battery_flag: BATTERY_ENABLED=true
+ battery_flag: SENSESHIFT_BATTERY_ENABLED=true
serial_plotter_flag: SERIAL_PLOTTER=false
nimble_flag: BLUETOOTH_USE_NIMBLE=true
diff --git a/.github/workflows/codeql-analysis.yml b/.github/workflows/codeql-analysis.yml
index 7e624290..6f82bad4 100644
--- a/.github/workflows/codeql-analysis.yml
+++ b/.github/workflows/codeql-analysis.yml
@@ -31,7 +31,7 @@ jobs:
# Enabling all flags to test build for every feature
battery_flag:
- - BATTERY_ENABLED=true
+ - SENSESHIFT_BATTERY_ENABLED=true
serial_plotter_flag:
- SERIAL_PLOTTER=true
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 65ceb54b..9b11b4a5 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -33,7 +33,7 @@ jobs:
- bhaptics_tactglove_left
- bhaptics_tactglove_right
battery_flag:
- - BATTERY_ENABLED=true
+ - SENSESHIFT_BATTERY_ENABLED=true
nimble_flag:
- BLUETOOTH_USE_NIMBLE=true
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index ba2a271e..991fdce5 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -6,18 +6,18 @@
#include "senseshift.h"
+#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include "battery/adc_naive.hpp"
-#endif
-
using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -53,12 +53,12 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* battery = new BatterySensor(
- new ADCNaiveBattery(36),
+ new NaiveBatterySensor(new AnalogSensor(36)),
&App,
- { .sampleRate = BATTERY_SAMPLE_RATE },
- { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
#endif
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 8f663e62..c7fd1924 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -6,19 +6,19 @@
#include "senseshift.h"
+#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
#include <senseshift/utility.hpp>
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include <battery/adc_naive.hpp>
-#endif
-
using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -61,12 +61,12 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* battery = new BatterySensor(
- new ADCNaiveBattery(36),
+ new NaiveBatterySensor(new AnalogSensor(36)),
&App,
- { .sampleRate = BATTERY_SAMPLE_RATE },
- { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
#endif
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index 6a4af3a6..26937edb 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -6,18 +6,18 @@
#include "senseshift.h"
+#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include <battery/adc_naive.hpp>
-#endif
-
using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -54,12 +54,12 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* battery = new BatterySensor(
- new ADCNaiveBattery(36),
+ new NaiveBatterySensor(new AnalogSensor(36)),
&App,
- { .sampleRate = BATTERY_SAMPLE_RATE },
- { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
#endif
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index 4595b904..33aea620 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -6,18 +6,18 @@
#include "senseshift.h"
+#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include <battery/adc_naive.hpp>
-#endif
-
using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -55,12 +55,12 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* battery = new BatterySensor(
- new ADCNaiveBattery(36),
+ new NaiveBatterySensor(new AnalogSensor(36)),
&App,
- { .sampleRate = BATTERY_SAMPLE_RATE },
- { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
#endif
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index c2904352..068add9e 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -6,18 +6,18 @@
#include "senseshift.h"
+#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include <battery/adc_naive.hpp>
-#endif
-
using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -55,12 +55,12 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* battery = new BatterySensor(
- new ADCNaiveBattery(36),
+ new NaiveBatterySensor(new AnalogSensor(36)),
&App,
- { .sampleRate = BATTERY_SAMPLE_RATE },
- { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
#endif
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index 0fb4875d..300d9535 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -6,18 +6,18 @@
#include "senseshift.h"
+#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include <battery/adc_naive.hpp>
-#endif
-
using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -65,12 +65,12 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* battery = new BatterySensor(
- new ADCNaiveBattery(36),
+ new NaiveBatterySensor(new AnalogSensor(36)),
&App,
- { .sampleRate = BATTERY_SAMPLE_RATE },
- { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
#endif
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index 74df3252..39bb6835 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -6,18 +6,18 @@
#include "senseshift.h"
+#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/pca9685.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include <battery/adc_naive.hpp>
-#endif
-
using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -70,12 +70,12 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* battery = new BatterySensor(
- new ADCNaiveBattery(36),
+ new NaiveBatterySensor(new AnalogSensor(36)),
&App,
- { .sampleRate = BATTERY_SAMPLE_RATE },
- { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
#endif
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 13a0689f..6fe41fc7 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -6,19 +6,19 @@
#include "senseshift.h"
+#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/pca9685.hpp>
#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include <battery/adc_naive.hpp>
-#endif
-
using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -78,12 +78,12 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* battery = new BatterySensor(
- new ADCNaiveBattery(36),
+ new NaiveBatterySensor(new AnalogSensor(36)),
&App,
- { .sampleRate = BATTERY_SAMPLE_RATE },
- { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
#endif
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index 73c88463..f6e063e0 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -6,18 +6,18 @@
#include "senseshift.h"
+#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include "battery/adc_naive.hpp"
-#endif
-
using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -53,12 +53,12 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* battery = new BatterySensor(
- new ADCNaiveBattery(36),
+ new NaiveBatterySensor(new AnalogSensor(36)),
&App,
- { .sampleRate = BATTERY_SAMPLE_RATE },
- { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
#endif
diff --git a/include/config/battery.h b/include/config/battery.h
index 9c34c5e8..67747fa3 100644
--- a/include/config/battery.h
+++ b/include/config/battery.h
@@ -1,17 +1,17 @@
#pragma once
-#ifndef BATTERY_ENABLED
-#define BATTERY_ENABLED false
+#ifndef SENSESHIFT_BATTERY_ENABLED
+#define SENSESHIFT_BATTERY_ENABLED false
#endif
-#ifndef BATTERY_SAMPLE_RATE
-#define BATTERY_SAMPLE_RATE 10000
+#ifndef SENSESHIFT_BATTERY_SAMPLE_RATE
+#define SENSESHIFT_BATTERY_SAMPLE_RATE 10000
#endif
-#ifndef BATTERY_THRESHOLD_PERCENTAGE
-#define BATTERY_THRESHOLD_PERCENTAGE 20
+#ifndef SENSESHIFT_BATTERY_THRESHOLD_PERCENTAGE
+#define SENSESHIFT_BATTERY_THRESHOLD_PERCENTAGE 20
#endif
-#ifndef BATTERY_TASK_PRIORITY
-#define BATTERY_TASK_PRIORITY 1
+#ifndef SENSESHIFT_BATTERY_TASK_PRIORITY
+#define SENSESHIFT_BATTERY_TASK_PRIORITY 1
#endif
diff --git a/include/senseshift.h b/include/senseshift.h
index f2c94937..d48c99bb 100644
--- a/include/senseshift.h
+++ b/include/senseshift.h
@@ -3,12 +3,9 @@
#include "config/all.h"
#include <haptic_body.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/events.hpp>
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include <abstract_battery.hpp>
-#endif
-
#include <vector>
namespace SenseShift {
@@ -16,10 +13,7 @@ namespace SenseShift {
private:
std::vector<const IEventListener*> eventListeners{};
Body::Haptics::HapticBody* pHapticBody;
-
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
- OH::BatterySensor* battery;
-#endif
+ Battery::BatterySensor* battery;
public:
SenseShift();
diff --git a/lib/arduino/battery/adc_naive.cpp b/lib/arduino/battery/adc_naive.cpp
deleted file mode 100644
index d9991715..00000000
--- a/lib/arduino/battery/adc_naive.cpp
+++ /dev/null
@@ -1,16 +0,0 @@
-#include "battery/adc_naive.hpp"
-
-#include <Arduino.h>
-#include <senseshift/utility.hpp>
-
-namespace OH {
- void ADCNaiveBattery::setup()
- {
- pinMode(this->pin, INPUT);
- }
-
- BatteryState ADCNaiveBattery::getValue()
- {
- return { .level = static_cast<uint8_t>(::SenseShift::simpleMap<uint16_t>(analogRead(this->pin), 4095, 255)) };
- }
-} // namespace OH
diff --git a/lib/arduino/battery/adc_naive.hpp b/lib/arduino/battery/adc_naive.hpp
deleted file mode 100644
index c54ced7b..00000000
--- a/lib/arduino/battery/adc_naive.hpp
+++ /dev/null
@@ -1,16 +0,0 @@
-#pragma once
-
-#include <abstract_battery.hpp>
-
-namespace OH {
- class ADCNaiveBattery : public OH::IBatterySensor {
- private:
- uint8_t pin;
-
- public:
- ADCNaiveBattery(const uint8_t pin) : pin(pin){};
-
- BatteryState getValue() override;
- void setup();
- };
-} // namespace OH
diff --git a/lib/battery/senseshift/battery.hpp b/lib/battery/senseshift/battery.hpp
new file mode 100644
index 00000000..10e51896
--- /dev/null
+++ b/lib/battery/senseshift/battery.hpp
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <senseshift/events.hpp>
+
+#include <cstdint>
+
+namespace SenseShift::Battery {
+ typedef struct BatteryState {
+ uint8_t level;
+ } BatteryState_t;
+
+ class BatteryLevelEvent : public IEvent {
+ public:
+ const BatteryState_t& state;
+ BatteryLevelEvent(const BatteryState_t& state) : IEvent(OH_EVENT_BATTERY_LEVEL), state(state){};
+ };
+} // namespace SenseShift::Battery
diff --git a/lib/battery/abstract_battery.hpp b/lib/battery/senseshift/battery/sensor.hpp
similarity index 50%
rename from lib/battery/abstract_battery.hpp
rename to lib/battery/senseshift/battery/sensor.hpp
index 0e64c2ad..bd9106d7 100644
--- a/lib/battery/abstract_battery.hpp
+++ b/lib/battery/senseshift/battery/sensor.hpp
@@ -1,58 +1,48 @@
#pragma once
-#include <senseshift/events.hpp>
+#include "senseshift/battery.hpp"
+
#include <senseshift/input/sensor.hpp>
+#include <senseshift/utility.hpp>
#include <task.hpp>
-#include <stdint.h>
-
-#ifndef BATTERY_TASK_PRIORITY
-#define BATTERY_TASK_PRIORITY 1
+#ifndef SENSESHIFT_BATTERY_TASK_PRIORITY
+#define SENSESHIFT_BATTERY_TASK_PRIORITY 1
#endif
-namespace OH {
+namespace SenseShift::Battery {
+ typedef struct BatteryConfig {
+ uint sampleRate;
+ } BatteryConfig_t;
+
/**
* Tasked sensor decorator
*/
template<typename _Tp>
- class TaskedSensor : public Task<TaskedSensor<_Tp>>, public ::SenseShift::Input::MemoizedSensor<_Tp> {
- friend class Task<TaskedSensor<_Tp>>;
-
- private:
- virtual void run(void)
- {
- while (true) {
- this->updateValue();
- delay(this->rate);
- }
- };
-
- protected:
- uint32_t rate;
+ class TaskedSensor : public OH::Task<TaskedSensor<_Tp>>, public ::SenseShift::Input::MemoizedSensor<_Tp> {
+ friend class OH::Task<TaskedSensor<_Tp>>;
public:
- TaskedSensor(::SenseShift::Input::ISensor<_Tp>* sensor, TaskConfig taskConfig, uint32_t rate) :
- ::SenseShift::Input::MemoizedSensor<_Tp>(sensor), Task<TaskedSensor<_Tp>>(taskConfig), rate(rate){};
+ TaskedSensor(::SenseShift::Input::ISensor<_Tp>* sensor, OH::TaskConfig taskConfig, const uint32_t rate) :
+ ::SenseShift::Input::MemoizedSensor<_Tp>(sensor), OH::Task<TaskedSensor<_Tp>>(taskConfig), rate(rate){};
void begin() override
{
this->setup();
- this->Task<TaskedSensor<_Tp>>::begin();
+ this->OH::Task<TaskedSensor<_Tp>>::begin();
};
- };
-
- struct BatteryState {
- uint8_t level;
- };
- class BatteryLevelEvent : public ::SenseShift::IEvent {
- public:
- const BatteryState state;
- BatteryLevelEvent(const BatteryState state) : ::SenseShift::IEvent(OH_EVENT_BATTERY_LEVEL), state(state){};
- };
+ protected:
+ const uint32_t rate;
- struct BatteryConfig {
- uint sampleRate;
+ private:
+ virtual void run(void)
+ {
+ while (true) {
+ this->updateValue();
+ delay(this->rate);
+ }
+ };
};
/**
@@ -61,18 +51,15 @@ namespace OH {
typedef ::SenseShift::Input::ISensor<BatteryState> IBatterySensor;
class BatterySensor : public TaskedSensor<BatteryState> {
- friend class Task<TaskedSensor<BatteryState>>;
+ friend class OH::Task<TaskedSensor<BatteryState>>;
friend class TaskedSensor<BatteryState>;
- private:
- ::SenseShift::IEventDispatcher* eventDispatcher;
-
public:
BatterySensor(
IBatterySensor* sensor,
::SenseShift::IEventDispatcher* eventDispatcher,
- BatteryConfig config,
- TaskConfig taskConfig
+ const BatteryConfig_t& config,
+ OH::TaskConfig taskConfig
) :
TaskedSensor<BatteryState>(sensor, taskConfig, config.sampleRate), eventDispatcher(eventDispatcher){};
@@ -84,5 +71,26 @@ namespace OH {
delay(this->rate);
}
}
+
+ private:
+ ::SenseShift::IEventDispatcher* eventDispatcher;
+ };
+
+ class NaiveBatterySensor : public IBatterySensor {
+ public:
+ NaiveBatterySensor(::SenseShift::Input::ISensor<uint16_t>* sensor) : sensor(sensor){};
+
+ BatteryState getValue() override
+ {
+ return { .level =
+ static_cast<uint8_t>(::SenseShift::simpleMap<uint16_t>(this->sensor->getValue(), 4095, 255)) };
+ };
+ void setup()
+ {
+ this->sensor->setup();
+ }
+
+ private:
+ ::SenseShift::Input::ISensor<uint16_t>* sensor;
};
-} // namespace OH
+} // namespace SenseShift::Battery
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
index 7e54500e..fd16ec75 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
@@ -185,11 +185,7 @@ namespace SenseShift::BH::BLE {
#endif
// original bHaptics Player require non-null value for battery level, otherwise it crashes
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
uint16_t defaultLevel = 0;
-#else
- uint16_t defaultLevel = 100;
-#endif
this->batteryChar->setValue(defaultLevel);
// this->batteryChar->notify();
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
index 90247d74..49068f52 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
@@ -1,5 +1,6 @@
#pragma once
+#include <senseshift/battery.hpp>
#include <senseshift/bh/ble/constants.hpp>
#include <senseshift/bh/constants.hpp>
#include <senseshift/events.hpp>
@@ -14,10 +15,6 @@
#include <BLEDevice.h>
#endif
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include <abstract_battery.hpp>
-#endif
-
namespace SenseShift::BH::BLE {
typedef struct ConnectionConfig {
static constexpr size_t SN_LENGTH = 10;
@@ -36,25 +33,22 @@ namespace SenseShift::BH::BLE {
};
static ConnectionCallbacks defaultCallback;
- class Connection final : public ::SenseShift::IEventListener {
+ class Connection final : public IEventListener {
public:
typedef std::function<void(std::string&)> MotorHandler_t;
- Connection(
- const ConnectionConfig_t& config, MotorHandler_t motorHandler, ::SenseShift::IEventDispatcher* eventDispatcher
- ) :
+ Connection(const ConnectionConfig_t& config, MotorHandler_t motorHandler, IEventDispatcher* eventDispatcher) :
config(config), motorHandler(motorHandler), eventDispatcher(eventDispatcher)
{
this->eventDispatcher->addEventListener(this);
};
void begin(void);
- void handleEvent(const ::SenseShift::IEvent* event) const override
+ void handleEvent(const IEvent* event) const override
{
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
if (event->eventName == OH_EVENT_BATTERY_LEVEL) {
- uint16_t level = ::SenseShift::simpleMap<uint8_t>(
- static_cast<const OH::BatteryLevelEvent*>(event)->state.level,
+ uint16_t level = simpleMap<uint8_t>(
+ static_cast<const ::SenseShift::Battery::BatteryLevelEvent*>(event)->state.level,
255,
100
);
@@ -64,7 +58,6 @@ namespace SenseShift::BH::BLE {
return;
}
-#endif
};
void setCallbacks(ConnectionCallbacks* pCallbacks)
@@ -86,9 +79,5 @@ namespace SenseShift::BH::BLE {
BLECharacteristic* batteryChar = nullptr;
ConnectionCallbacks* callbacks = &defaultCallback;
-
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
- void handleBatteryChange(const OH::BatteryLevelEvent* event) const;
-#endif
};
} // namespace SenseShift::BH::BLE
diff --git a/lib/ina219/battery/ina219.cpp b/lib/ina219/battery/ina219.cpp
deleted file mode 100644
index 06ac6fb1..00000000
--- a/lib/ina219/battery/ina219.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-#include "battery/ina219.hpp"
-#include <utility.hpp>
-
-namespace OH {
- void OH::INA219_Battery::setup()
- {
- this->active = this->sensor->begin();
- }
-
- BatteryState OH::INA219_Battery::getValue()
- {
- if (!this->active) {
- return { 0 };
- }
-
- auto batteryVoltage = this->sensor->getBusVoltage_V();
- // TODO: change this linear transformation to smth more useful
- auto batteryPercentage = (batteryVoltage - 3.0) / 0.96;
-
- return
- {
- simpleMap<float>(batteryPercentage, 1.0f, 255.0f);
- };
- }
-} // namespace OH
diff --git a/lib/ina219/battery/ina219.hpp b/lib/ina219/battery/ina219.hpp
deleted file mode 100644
index 109400de..00000000
--- a/lib/ina219/battery/ina219.hpp
+++ /dev/null
@@ -1,19 +0,0 @@
-#pragma once
-
-#include <abstract_battery.hpp>
-
-#include <Adafruit_INA219.h>
-
-namespace OH {
- class INA219_Battery : public OH::IBatterySensor {
- private:
- bool active = false;
- Adafruit_INA219* sensor;
-
- public:
- INA219_Battery(Adafruit_INA219* sensor) : sensor(sensor){};
-
- void setup() override;
- BatteryState getValue() override;
- };
-} // namespace OH
diff --git a/lib/ina219/senseshift/arduino/battery/ina219.hpp b/lib/ina219/senseshift/arduino/battery/ina219.hpp
new file mode 100644
index 00000000..0d3487bf
--- /dev/null
+++ b/lib/ina219/senseshift/arduino/battery/ina219.hpp
@@ -0,0 +1,35 @@
+#pragma once
+
+#include <senseshift/battery/sensor.hpp>
+
+#include <Adafruit_INA219.h>
+
+namespace SenseShift::Arduino::Battery {
+ class INA219_Battery : public ::SenseShift::Battery::IBatterySensor {
+ private:
+ bool active = false;
+ Adafruit_INA219* sensor;
+
+ public:
+ INA219_Battery(Adafruit_INA219* sensor) : sensor(sensor){};
+
+ void setup() override
+ {
+ this->active = this->sensor->begin();
+ }
+ ::SenseShift::Battery::BatteryState getValue() override
+ {
+ if (!this->active) {
+ return { 0 };
+ }
+
+ auto batteryVoltage = this->sensor->getBusVoltage_V();
+ // TODO: change this linear transformation to smth more useful
+ auto batteryPercentage = (batteryVoltage - 3.0) / 0.96;
+
+ return {
+ simpleMap<float>(batteryPercentage, 1.0f, 255.0f),
+ };
+ }
+ };
+} // namespace SenseShift::Arduino::Battery
diff --git a/lib/max17048/battery/max17048.cpp b/lib/max17048/battery/max17048.cpp
deleted file mode 100644
index d8d89383..00000000
--- a/lib/max17048/battery/max17048.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-#include "battery/max17048.hpp"
-
-namespace OH {
- /**
- * @see
- * https://github.com/sparkfun/SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library/blob/main/examples/Example1_Simple/Example1_Simple.ino
- */
- void MAX1704_Battery::setup()
- {
- // Set up the MAX17043 LiPo fuel gauge:
- this->active = this->gauge->begin();
-
- if (this->active) {
- // Quick start restarts the MAX17043 in hopes of getting a more accurate
- // guess for the SOC.
- this->gauge->quickStart();
-
- // We can set an interrupt to alert when the battery SoC gets too low.
- // We can alert at anywhere between 1% - 32%:
- // this->gauge->setThreshold(BATTERY_THRESHOLD_PERCENTAGE);
- }
- }
-
- BatteryState MAX1704_Battery::getValue()
- {
- if (!this->active) {
- return { 0 };
- }
-
- return { .level = this->gauge->getSOC() };
- }
-} // namespace OH
diff --git a/lib/max17048/battery/max17048.hpp b/lib/max17048/battery/max17048.hpp
deleted file mode 100644
index 3c43fbcc..00000000
--- a/lib/max17048/battery/max17048.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include <abstract_battery.hpp>
-
-#include <SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library.h>
-
-namespace OH {
- class MAX1704_Battery : public OH::IBatterySensor {
- private:
- bool active = false;
- SFE_MAX1704X* gauge;
-
- protected:
- public:
- MAX1704_Battery(SFE_MAX1704X* gauge) : gauge(gauge){};
-
- void setup() override;
- BatteryState getValue() override;
- };
-} // namespace OH
diff --git a/lib/max17048/senseshift/arduino/battery/max17048.hpp b/lib/max17048/senseshift/arduino/battery/max17048.hpp
new file mode 100644
index 00000000..c95c8e86
--- /dev/null
+++ b/lib/max17048/senseshift/arduino/battery/max17048.hpp
@@ -0,0 +1,45 @@
+#pragma once
+
+#include <senseshift/battery/sensor.hpp>
+
+#include <SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library.h>
+
+namespace SenseShift::Arduino::Battery {
+ class MAX1704_Battery : public ::SenseShift::Battery::IBatterySensor {
+ public:
+ MAX1704_Battery(SFE_MAX1704X* gauge) : gauge(gauge){};
+
+ /**
+ * @see
+ * https://github.com/sparkfun/SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library/blob/main/examples/Example1_Simple/Example1_Simple.ino
+ */
+ void setup() override
+ {
+ // Set up the MAX17043 LiPo fuel gauge:
+ this->active = this->gauge->begin();
+
+ if (this->active) {
+ // Quick start restarts the MAX17043 in hopes of getting a more accurate
+ // guess for the SOC.
+ this->gauge->quickStart();
+
+ // We can set an interrupt to alert when the battery SoC gets too low.
+ // We can alert at anywhere between 1% - 32%:
+ // this->gauge->setThreshold(SENSESHIFT_BATTERY_THRESHOLD_PERCENTAGE);
+ }
+ }
+
+ ::SenseShift::Battery::BatteryState getValue() override
+ {
+ if (!this->active) {
+ return { 0 };
+ }
+
+ return { .level = this->gauge->getSOC() };
+ }
+
+ private:
+ bool active = false;
+ SFE_MAX1704X* gauge;
+ };
+} // namespace SenseShift::Arduino::Battery
diff --git a/platformio.ini b/platformio.ini
index c11d81a2..6d9b15a4 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -26,7 +26,7 @@ build_flags =
; -D DEBUG_MODE=0
; -D DEBUG_ESP_PORT=Serial
; -D SERIAL_PLOTTER=true
-; -D BATTERY_ENABLED=true
+; -D SENSESHIFT_BATTERY_ENABLED=true
-D BLUETOOTH_USE_NIMBLE=true
build_src_filter =
From bfb53df79de2e0d18f41263db9cf77b6b12ffcf1 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 22 Aug 2023 01:42:45 +0400
Subject: [PATCH 12/82] refactor(Core): use `SenseShift` namespace and dir for
math
---
lib/haptics/haptic_plane.hpp | 6 ++++--
lib/haptics/haptics_interface.hpp | 4 ++--
lib/math/{ => senseshift/math}/point2.hpp | 8 +++++---
test/test_math_point2/main.cpp | 4 ++--
4 files changed, 13 insertions(+), 9 deletions(-)
rename lib/math/{ => senseshift/math}/point2.hpp (86%)
diff --git a/lib/haptics/haptic_plane.hpp b/lib/haptics/haptic_plane.hpp
index 88227f4f..4441b03a 100644
--- a/lib/haptics/haptic_plane.hpp
+++ b/lib/haptics/haptic_plane.hpp
@@ -115,9 +115,11 @@ namespace SenseShift::Body::Haptics {
* @tparam _Tp The type of the point index.
*/
template<typename _Tp>
- [[nodiscard]] static constexpr inline OH::Point2<_Tp> mapPoint(_Tp x, _Tp y, _Tp x_max, _Tp y_max)
+ [[nodiscard]] static constexpr inline ::SenseShift::Math::Point2<_Tp>
+ mapPoint(_Tp x, _Tp y, _Tp x_max, _Tp y_max)
{
- using Point_t = OH::Point2<_Tp>;
+ using Point_t = ::SenseShift::Math::Point2<_Tp>;
+
return Point_t(
::SenseShift::accurateMap<_Tp>(x + 1, 0, x_max + 2, Point_t::MIN, Point_t::MAX),
::SenseShift::accurateMap<_Tp>(y + 1, 0, y_max + 2, Point_t::MIN, Point_t::MAX)
diff --git a/lib/haptics/haptics_interface.hpp b/lib/haptics/haptics_interface.hpp
index 5afc9ffd..5b5a13bf 100644
--- a/lib/haptics/haptics_interface.hpp
+++ b/lib/haptics/haptics_interface.hpp
@@ -3,7 +3,7 @@
#include <stdint.h>
#include <variant>
-#include <point2.hpp>
+#include <senseshift/math/point2.hpp>
namespace SenseShift::Body::Haptics {
typedef uint8_t EffectIntex_t;
@@ -47,7 +47,7 @@ namespace SenseShift::Body::Haptics {
} Target_t;
typedef uint8_t Coordinate_t;
- typedef OH::Point2<Coordinate_t> Position_t;
+ typedef ::SenseShift::Math::Point2<Coordinate_t> Position_t;
// Vibration intensity.
typedef struct VibroEffectData {
diff --git a/lib/math/point2.hpp b/lib/math/senseshift/math/point2.hpp
similarity index 86%
rename from lib/math/point2.hpp
rename to lib/math/senseshift/math/point2.hpp
index 0cf151b8..6f8131d5 100644
--- a/lib/math/point2.hpp
+++ b/lib/math/senseshift/math/point2.hpp
@@ -3,10 +3,12 @@
#include <cmath>
#include <tuple>
-namespace OH {
+namespace SenseShift::Math {
template<typename _Tp>
struct Point2 {
- static_assert(std::is_arithmetic<_Tp>::value, "OH::Point2 only can be used with arithmetic types");
+ static_assert(
+ std::is_arithmetic<_Tp>::value, "::SenseShift::Math::Point2 only can be used with arithmetic types"
+ );
typedef _Tp Value_t;
@@ -46,4 +48,4 @@ namespace OH {
typedef Point2<int> Point2i;
typedef Point2<short> Point2s;
typedef Point2<unsigned short> Point2w;
-}; // namespace OH
+}; // namespace SenseShift::Math
diff --git a/test/test_math_point2/main.cpp b/test/test_math_point2/main.cpp
index 8da8b3dd..a4fa7baf 100644
--- a/test/test_math_point2/main.cpp
+++ b/test/test_math_point2/main.cpp
@@ -1,7 +1,7 @@
-#include <point2.hpp>
+#include <senseshift/math/point2.hpp>
#include <unity.h>
-using namespace OH;
+using namespace SenseShift::Math;
void test_operator_equal(void)
{
From ccf35e75f31b895296040fe3ec58a59f95c67d72 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 22 Aug 2023 01:55:30 +0400
Subject: [PATCH 13/82] refactor(Core): use `SenseShift` namespace and dir for
calibration
---
.github/scripts/get_firmware_name.sh | 6 +++---
firmware/mode_configs/opengloves/opengloves.cpp | 6 +++---
lib/calibration/{ => senseshift}/calibration.hpp | 6 ++++--
lib/opengloves/sensor/og_finger.hpp | 7 +++++--
lib/opengloves/sensor/og_sensor.hpp | 1 -
lib/opengloves_task/opengloves_task.hpp | 5 +++--
lib/sensor/senseshift/input/sensor.hpp | 8 ++++----
test/test_calibration/main.cpp | 2 +-
8 files changed, 23 insertions(+), 18 deletions(-)
rename lib/calibration/{ => senseshift}/calibration.hpp (96%)
diff --git a/.github/scripts/get_firmware_name.sh b/.github/scripts/get_firmware_name.sh
index cd7a2b6d..988e2d6c 100755
--- a/.github/scripts/get_firmware_name.sh
+++ b/.github/scripts/get_firmware_name.sh
@@ -50,17 +50,17 @@ getOpenGlovesName() {
target="$target+bluetooth"
fi
- if [[ $flags =~ CALIBRATION_CURL=OH::MinMaxCalibrator ]]; then
+ if [[ $flags =~ CALIBRATION_CURL=::SenseShift::Calibration::MinMaxCalibrator ]]; then
echo "::debug::MinMaxCalibrator is enabled, appending +curl_minmax to the target"
target="$target+curl_minmaxcalib"
fi
- if [[ $flags =~ CALIBRATION_CURL=OH::CenterPointDeviationCalibrator ]]; then
+ if [[ $flags =~ CALIBRATION_CURL=::SenseShift::Calibration::CenterPointDeviationCalibrator ]]; then
echo "::debug::CenterPointDeviationCalibrator is enabled, appending +curl_cpcalib to the target"
target="$target+curl_cpcalib"
fi
- if [[ $flags =~ CALIBRATION_CURL=OH::FixedCenterPointDeviationCalibrator ]]; then
+ if [[ $flags =~ CALIBRATION_CURL=::SenseShift::Calibration::FixedCenterPointDeviationCalibrator ]]; then
echo "::debug::FixedCenterPointDeviationCalibrator is enabled, appending +curl_fcpcalib to the target"
target="$target+curl_fcpcalib"
fi
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index 2ac3d7d0..47d8e289 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -1,10 +1,10 @@
-#include <calibration.hpp>
#include <og_constants.hpp>
#include <og_serial_communication.hpp>
#include <opengloves_task.hpp>
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/input/sensor/digital.hpp>
#include <senseshift/arduino/output/servo.hpp>
+#include <senseshift/calibration.hpp>
#include <senseshift/input/sensor.hpp>
#include <senseshift/input/sensor/joystick.hpp>
#include <senseshift/utility.hpp>
@@ -34,10 +34,10 @@
#pragma region Calibration
#ifndef CALIBRATION_CURL
-#define CALIBRATION_CURL OH::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>
+#define CALIBRATION_CURL ::SenseShift::Calibration::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>
#endif
#ifndef CALIBRATION_SPLAY
-#define CALIBRATION_SPLAY OH::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>
+#define CALIBRATION_SPLAY ::SenseShift::Calibration::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>
#endif
#ifndef CALIBRATION_DURATION
diff --git a/lib/calibration/calibration.hpp b/lib/calibration/senseshift/calibration.hpp
similarity index 96%
rename from lib/calibration/calibration.hpp
rename to lib/calibration/senseshift/calibration.hpp
index fa5faa86..fb48f060 100644
--- a/lib/calibration/calibration.hpp
+++ b/lib/calibration/senseshift/calibration.hpp
@@ -7,7 +7,7 @@
#include <senseshift/utility.hpp>
-namespace OH {
+namespace SenseShift::Calibration {
struct ICalibrated {
virtual void resetCalibration() = 0;
virtual void enableCalibration() = 0;
@@ -34,6 +34,8 @@ namespace OH {
template<typename _Tp>
struct ICalibrator {
+ static_assert(std::is_arithmetic<_Tp>::value, "ICalibrator only can be used with arithmetic types");
+
virtual void reset() = 0;
virtual void update(_Tp input) = 0;
virtual _Tp calibrate(_Tp input) const = 0;
@@ -163,4 +165,4 @@ namespace OH {
);
}
};
-} // namespace OH
+} // namespace SenseShift::Calibration
diff --git a/lib/opengloves/sensor/og_finger.hpp b/lib/opengloves/sensor/og_finger.hpp
index 1b5de1a9..62f4b244 100644
--- a/lib/opengloves/sensor/og_finger.hpp
+++ b/lib/opengloves/sensor/og_finger.hpp
@@ -80,7 +80,7 @@ namespace OpenGloves {
/**
* Simple finger sensor that only provides calibration.
*/
- class CalibratedFingerSensor : public SimpleFingerSensor, public OH::ICalibrated {
+ class CalibratedFingerSensor : public SimpleFingerSensor, public SenseShift::Calibration::ICalibrated {
public:
CalibratedFingerSensor(FingerSensors sensors) : SimpleFingerSensor(sensors){};
@@ -121,7 +121,10 @@ namespace OpenGloves {
}
};
- class FingerSensor : public StringEncodedMemoizedSensor<FingerValue>, public OH::ICalibrated, public ICurl {
+ class FingerSensor :
+ public StringEncodedMemoizedSensor<FingerValue>,
+ public SenseShift::Calibration::ICalibrated,
+ public ICurl {
public:
FingerSensor(CalibratedFingerSensor* sensor, IEncodedInput::Type type) :
StringEncodedMemoizedSensor<FingerValue>(sensor, type){};
diff --git a/lib/opengloves/sensor/og_sensor.hpp b/lib/opengloves/sensor/og_sensor.hpp
index 60e099d7..71c4c439 100644
--- a/lib/opengloves/sensor/og_sensor.hpp
+++ b/lib/opengloves/sensor/og_sensor.hpp
@@ -1,6 +1,5 @@
#pragma once
-#include <calibration.hpp>
#include <og_protocol.hpp>
#include <senseshift/input/sensor.hpp>
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index a5dd8b3b..9d1f115a 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -4,12 +4,12 @@
#include <optional>
-#include <calibration.hpp>
#include <og_alpha_encoding.hpp>
#include <og_ffb.hpp>
#include <og_serial_communication.hpp>
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/input/sensor/digital.hpp>
+#include <senseshift/calibration.hpp>
#include <senseshift/input/sensor.hpp>
#include <senseshift/input/sensor/joystick.hpp>
#include <senseshift/utility.hpp>
@@ -141,7 +141,8 @@ namespace OpenGloves {
std::vector<IStringEncodedMemoizedSensor*> allSensors;
std::optional<StringEncodedMemoizedSensor<bool>>& calibrationButton;
- std::vector<OH::ICalibrated*> calibrated = std::vector<OH::ICalibrated*>();
+ std::vector<SenseShift::Calibration::ICalibrated*> calibrated =
+ std::vector<SenseShift::Calibration::ICalibrated*>();
unsigned long long calibrationStarted = 0;
void startCalibration()
diff --git a/lib/sensor/senseshift/input/sensor.hpp b/lib/sensor/senseshift/input/sensor.hpp
index 1b08ec60..d721257e 100644
--- a/lib/sensor/senseshift/input/sensor.hpp
+++ b/lib/sensor/senseshift/input/sensor.hpp
@@ -2,7 +2,7 @@
#include <type_traits>
-#include <calibration.hpp>
+#include <senseshift/calibration.hpp>
#include <senseshift/logging.hpp>
#if defined(__AVR__)
@@ -90,10 +90,10 @@ namespace SenseShift::Input {
* @tparam _Tp Type of the sensor value
*/
template<typename _Tp>
- class CalibratedSensor : public ISensor<_Tp>, public OH::Calibrated {
+ class CalibratedSensor : public ISensor<_Tp>, public ::SenseShift::Calibration::Calibrated {
protected:
ISensor<_Tp>* sensor;
- OH::ICalibrator<_Tp>* calibrator;
+ ::SenseShift::Calibration::ICalibrator<_Tp>* calibrator;
_Tp getCalibratedValue()
{
@@ -111,7 +111,7 @@ namespace SenseShift::Input {
* @param sensor Sensor to be decorated
* @param calibrator ICalibrator algorithm to be used
*/
- CalibratedSensor(ISensor<_Tp>* sensor, OH::ICalibrator<_Tp>* calibrator) :
+ CalibratedSensor(ISensor<_Tp>* sensor, ::SenseShift::Calibration::ICalibrator<_Tp>* calibrator) :
sensor(sensor), calibrator(calibrator){};
void setup() override
diff --git a/test/test_calibration/main.cpp b/test/test_calibration/main.cpp
index 52452a67..3455463c 100644
--- a/test/test_calibration/main.cpp
+++ b/test/test_calibration/main.cpp
@@ -1,4 +1,4 @@
-#include <calibration.hpp>
+#include <senseshift/calibration.hpp>
#include <unity.h>
using namespace OH;
From 87e8a2bfbc5ca984aba56572cc92b99edff80301 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 22 Aug 2023 02:07:28 +0400
Subject: [PATCH 14/82] refactor: move serial plotter to `SenseShift`
namespace/dir
---
.github/scripts/get_firmware_name.sh | 2 +-
.github/workflows/ci.yml | 14 +++++-----
.github/workflows/codeql-analysis.yml | 2 +-
firmware/firmware.cpp | 22 ++++++++-------
lib/arduino/components/serial_plotter.cpp | 26 -----------------
.../arduino/components/serial_plotter.cpp | 28 +++++++++++++++++++
.../arduino}/components/serial_plotter.hpp | 25 +++++++++++------
lib/opengloves/og_protocol.hpp | 4 +++
platformio.ini | 2 +-
test/test_calibration/main.cpp | 2 +-
test/test_opengloves_finger/main.cpp | 3 +-
test/test_sensor/main.cpp | 2 +-
12 files changed, 74 insertions(+), 58 deletions(-)
delete mode 100644 lib/arduino/components/serial_plotter.cpp
create mode 100644 lib/arduino/senseshift/arduino/components/serial_plotter.cpp
rename lib/arduino/{ => senseshift/arduino}/components/serial_plotter.hpp (56%)
diff --git a/.github/scripts/get_firmware_name.sh b/.github/scripts/get_firmware_name.sh
index 988e2d6c..75546a23 100755
--- a/.github/scripts/get_firmware_name.sh
+++ b/.github/scripts/get_firmware_name.sh
@@ -18,7 +18,7 @@ getBhapticsName() {
target="$target+battery"
fi
- if [[ $flags =~ SERIAL_PLOTTER=true ]]; then
+ if [[ $flags =~ SENSESHIFT_SERIAL_PLOTTER=true ]]; then
echo "::debug::Serial Plotter is enabled, appending +serialplotter to the target"
target="$target+serialplotter"
fi
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index fefeed9d..66ab3dbd 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -33,7 +33,7 @@ jobs:
- bhaptics_tactvisor
- bhaptics_tactglove_right
battery_flag: [ SENSESHIFT_BATTERY_ENABLED=true ]
- serial_plotter_flag: [ SERIAL_PLOTTER=false ]
+ serial_plotter_flag: [ SENSESHIFT_SERIAL_PLOTTER=false ]
nimble_flag: [ BLUETOOTH_USE_NIMBLE=false ]
coverage: [ false ]
@@ -43,19 +43,19 @@ jobs:
os: ubuntu-latest
coverage: true
battery_flag: SENSESHIFT_BATTERY_ENABLED=true
- serial_plotter_flag: SERIAL_PLOTTER=true
+ serial_plotter_flag: SENSESHIFT_SERIAL_PLOTTER=true
nimble_flag: BLUETOOTH_USE_NIMBLE=true
# - target: bhaptics_tactsuit_x40
# os: ubuntu-latest
# coverage: true
# battery_flag: SENSESHIFT_BATTERY_ENABLED=true
- # serial_plotter_flag: SERIAL_PLOTTER=true
+ # serial_plotter_flag: SENSESHIFT_SERIAL_PLOTTER=true
# nimble_flag: BLUETOOTH_USE_NIMBLE=false
- target: bhaptics_tactsuit_x40
os: ubuntu-latest
coverage: false
battery_flag: SENSESHIFT_BATTERY_ENABLED=true
- serial_plotter_flag: SERIAL_PLOTTER=false
+ serial_plotter_flag: SENSESHIFT_SERIAL_PLOTTER=false
nimble_flag: BLUETOOTH_USE_NIMBLE=true
steps:
@@ -177,15 +177,15 @@ jobs:
include:
- os: ubuntu-latest
target: lucidgloves-prototype4-ffb
- curl_calibration_flag: CALIBRATION_CURL="OH::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>"
+ curl_calibration_flag: CALIBRATION_CURL="::SenseShift::Calibration::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>"
coverage: true
- os: ubuntu-latest
target: lucidgloves-prototype4-ffb
- curl_calibration_flag: CALIBRATION_CURL="OH::CenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
+ curl_calibration_flag: CALIBRATION_CURL="::SenseShift::Calibration::CenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
coverage: true
- os: ubuntu-latest
target: lucidgloves-prototype4-ffb
- curl_calibration_flag: CALIBRATION_CURL="OH::FixedCenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
+ curl_calibration_flag: CALIBRATION_CURL="::SenseShift::Calibration::FixedCenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
coverage: true
- os: ubuntu-latest
target: indexer-csf
diff --git a/.github/workflows/codeql-analysis.yml b/.github/workflows/codeql-analysis.yml
index 6f82bad4..74b3dd8d 100644
--- a/.github/workflows/codeql-analysis.yml
+++ b/.github/workflows/codeql-analysis.yml
@@ -33,7 +33,7 @@ jobs:
battery_flag:
- SENSESHIFT_BATTERY_ENABLED=true
serial_plotter_flag:
- - SERIAL_PLOTTER=true
+ - SENSESHIFT_SERIAL_PLOTTER=true
steps:
- name: Checkout repository
diff --git a/firmware/firmware.cpp b/firmware/firmware.cpp
index ae0f0668..c30147c3 100644
--- a/firmware/firmware.cpp
+++ b/firmware/firmware.cpp
@@ -4,13 +4,13 @@
#include <Arduino.h>
#endif // ARDUINO
-#if defined(SERIAL_PLOTTER) && SERIAL_PLOTTER == true
-#include <components/serial_plotter.hpp>
-#endif // SERIAL_PLOTTER
+#if defined(SENSESHIFT_SERIAL_PLOTTER) && SENSESHIFT_SERIAL_PLOTTER == true
+#include <senseshift/arduino/components/serial_plotter.hpp>
+#endif // SENSESHIFT_SERIAL_PLOTTER
-#ifndef SERIAL_PLOTTER_PORT
-#define SERIAL_PLOTTER_PORT Serial
-#endif // SERIAL_PLOTTER_PORT
+#ifndef SENSESHIFT_SERIAL_PLOTTER_PORT
+#define SENSESHIFT_SERIAL_PLOTTER_PORT Serial
+#endif // SENSESHIFT_SERIAL_PLOTTER_PORT
#ifndef PIO_UNIT_TESTING
@@ -25,11 +25,13 @@ void setup()
{
setupMode();
-#if defined(SERIAL_PLOTTER) && SERIAL_PLOTTER == true
- auto* serialOutputState =
- new OH::SerialPlotter_OutputStates<HardwareSerial>(SERIAL_PLOTTER_PORT, App.getHapticBody());
+#if defined(SENSESHIFT_SERIAL_PLOTTER) && SENSESHIFT_SERIAL_PLOTTER == true
+ auto* serialOutputState = new ::SenseShift::Arduino::SerialPlotter_OutputStates<HardwareSerial>(
+ SENSESHIFT_SERIAL_PLOTTER_PORT,
+ App.getHapticBody()
+ );
serialOutputState->begin();
-#endif // SERIAL_PLOTTER
+#endif // SENSESHIFT_SERIAL_PLOTTER
}
void loop()
diff --git a/lib/arduino/components/serial_plotter.cpp b/lib/arduino/components/serial_plotter.cpp
deleted file mode 100644
index d5be860b..00000000
--- a/lib/arduino/components/serial_plotter.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-#include "components/serial_plotter.hpp"
-
-struct PlaneVisitor {
- const SenseShift::Body::Haptics::Target_t target;
- HardwareSerial* serial;
-
- void operator()(const SenseShift::Body::Haptics::VibroPlane* plane) const
- {
- for (const auto& [position, state] : *(plane->getActuatorStates())) {
- this->serial->printf("Output[%u][%ux%u]:%u, ", this->target, position.x, position.y, state.intensity);
- }
- }
-};
-
-template<typename _Tp>
-void OH::SerialPlotter_OutputStates<_Tp>::run()
-{
- while (true) {
- for (const auto& [target, plane] : *output->getTargets()) {
- std::visit(PlaneVisitor{ target, this->serial }, plane);
- }
- this->serial->println();
-
- delay(this->sampleRate);
- }
-}
diff --git a/lib/arduino/senseshift/arduino/components/serial_plotter.cpp b/lib/arduino/senseshift/arduino/components/serial_plotter.cpp
new file mode 100644
index 00000000..bdd1fb38
--- /dev/null
+++ b/lib/arduino/senseshift/arduino/components/serial_plotter.cpp
@@ -0,0 +1,28 @@
+#include "senseshift/arduino/components/serial_plotter.hpp"
+
+namespace SenseShift::Arduino {
+ struct PlaneVisitor {
+ const SenseShift::Body::Haptics::Target_t target;
+ HardwareSerial* serial;
+
+ void operator()(const SenseShift::Body::Haptics::VibroPlane* plane) const
+ {
+ for (const auto& [position, state] : *(plane->getActuatorStates())) {
+ this->serial->printf("Output[%u][%ux%u]:%u, ", this->target, position.x, position.y, state.intensity);
+ }
+ }
+ };
+
+ template<typename _Tp>
+ void SerialPlotter_OutputStates<_Tp>::run()
+ {
+ while (true) {
+ for (const auto& [target, plane] : *output->getTargets()) {
+ std::visit(PlaneVisitor{ target, this->serial }, plane);
+ }
+ this->serial->println();
+
+ delay(this->sampleRate);
+ }
+ }
+} // namespace SenseShift::Arduino
diff --git a/lib/arduino/components/serial_plotter.hpp b/lib/arduino/senseshift/arduino/components/serial_plotter.hpp
similarity index 56%
rename from lib/arduino/components/serial_plotter.hpp
rename to lib/arduino/senseshift/arduino/components/serial_plotter.hpp
index b2b9b085..02e21b36 100644
--- a/lib/arduino/components/serial_plotter.hpp
+++ b/lib/arduino/senseshift/arduino/components/serial_plotter.hpp
@@ -9,19 +9,23 @@
#define SERIAL_PLOTTER_BAUD 115200
#endif // SERIAL_PLOTTER_BAUD
-namespace OH {
+namespace SenseShift::Arduino {
/**
* Component, that prints the current state of the output to the serial port in Arduino's Serial Plotter format
*
* @tparam _Tp the type of the serial port
*/
template<class _Tp>
- class SerialPlotter_OutputStates : public Task<SerialPlotter_OutputStates<_Tp>> {
- friend class Task<SerialPlotter_OutputStates<_Tp>>;
+ class SerialPlotter_OutputStates : public OH::Task<SerialPlotter_OutputStates<_Tp>> {
+ static_assert(
+ std::is_base_of<Print, _Tp>::value,
+ "SerialPlotter_OutputStates only can be used with types, that inherit from Print"
+ );
+ friend class OH::Task<SerialPlotter_OutputStates<_Tp>>;
private:
_Tp* serial;
- SenseShift::Body::Haptics::HapticBody* output;
+ ::SenseShift::Body::Haptics::HapticBody* output;
uint32_t sampleRate;
void setup(void){};
@@ -30,12 +34,15 @@ namespace OH {
public:
SerialPlotter_OutputStates(
_Tp& serial,
- SenseShift::Body::Haptics::HapticBody* output,
+ ::SenseShift::Body::Haptics::HapticBody* output,
uint32_t sampleRate,
- TaskConfig taskConfig = { "Serial Plotter", 2048, 1, tskNO_AFFINITY }
+ OH::TaskConfig taskConfig = { "Serial Plotter", 2048, 1, tskNO_AFFINITY }
) :
- Task<SerialPlotter_OutputStates<_Tp>>(taskConfig), serial(&serial), output(output), sampleRate(sampleRate){};
- SerialPlotter_OutputStates(_Tp& serial, SenseShift::Body::Haptics::HapticBody* output) :
+ OH::Task<SerialPlotter_OutputStates<_Tp>>(taskConfig),
+ serial(&serial),
+ output(output),
+ sampleRate(sampleRate){};
+ SerialPlotter_OutputStates(_Tp& serial, ::SenseShift::Body::Haptics::HapticBody* output) :
SerialPlotter_OutputStates(serial, output, 100){};
void begin() override
@@ -55,4 +62,4 @@ namespace OH {
}
template class SerialPlotter_OutputStates<HardwareSerial>;
-} // namespace OH
+} // namespace SenseShift::Arduino
diff --git a/lib/opengloves/og_protocol.hpp b/lib/opengloves/og_protocol.hpp
index 3d601656..05e28174 100644
--- a/lib/opengloves/og_protocol.hpp
+++ b/lib/opengloves/og_protocol.hpp
@@ -1,5 +1,9 @@
#pragma once
+#include <cstdint>
+#include <functional>
+#include <vector>
+
namespace OpenGloves {
struct IEncodedInput {
public:
diff --git a/platformio.ini b/platformio.ini
index 6d9b15a4..e626fcaa 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -25,7 +25,7 @@ build_flags =
-D CORE_DEBUG_LEVEL=3
; -D DEBUG_MODE=0
; -D DEBUG_ESP_PORT=Serial
-; -D SERIAL_PLOTTER=true
+; -D SENSESHIFT_SERIAL_PLOTTER=true
; -D SENSESHIFT_BATTERY_ENABLED=true
-D BLUETOOTH_USE_NIMBLE=true
diff --git a/test/test_calibration/main.cpp b/test/test_calibration/main.cpp
index 3455463c..a79a8bc6 100644
--- a/test/test_calibration/main.cpp
+++ b/test/test_calibration/main.cpp
@@ -1,7 +1,7 @@
#include <senseshift/calibration.hpp>
#include <unity.h>
-using namespace OH;
+using namespace SenseShift::Calibration;
void test_minmax_calibrator(void)
{
diff --git a/test/test_opengloves_finger/main.cpp b/test/test_opengloves_finger/main.cpp
index 0a3a9978..019d8b5c 100644
--- a/test/test_opengloves_finger/main.cpp
+++ b/test/test_opengloves_finger/main.cpp
@@ -2,6 +2,7 @@
#include <unity.h>
using namespace OpenGloves;
+using namespace SenseShift::Calibration;
class TestAnalogSensor : public SenseShift::Input::ISensor<uint16_t> {
private:
@@ -21,7 +22,7 @@ class TestAnalogSensor : public SenseShift::Input::ISensor<uint16_t> {
};
};
-class DummyCalibrator : public OH::ICalibrator<uint16_t> {
+class DummyCalibrator : public ICalibrator<uint16_t> {
public:
uint8_t resetCounter = 0;
std::optional<uint16_t> calibrated = std::nullopt;
diff --git a/test/test_sensor/main.cpp b/test/test_sensor/main.cpp
index 7309e65c..02fe6e86 100644
--- a/test/test_sensor/main.cpp
+++ b/test/test_sensor/main.cpp
@@ -2,7 +2,7 @@
#include <unity.h>
using namespace SenseShift::Input;
-using namespace OH;
+using namespace SenseShift::Calibration;
class TestAnalogSensor : public ISensor<int> {
private:
From 4f818909f6da6a6e0cb21227440018d58bf46525 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 22 Aug 2023 10:17:49 +0400
Subject: [PATCH 15/82] refactor(BLE): rename global NimBLE flag
---
.github/scripts/get_firmware_name.sh | 2 +-
.github/workflows/ci.yml | 8 ++++----
.github/workflows/release.yml | 2 +-
include/config/bluetooth.h | 4 ++--
lib/bhaptics_ble/senseshift/bh/ble/connection.cpp | 8 ++++----
lib/bhaptics_ble/senseshift/bh/ble/connection.hpp | 2 +-
platformio.ini | 2 +-
7 files changed, 14 insertions(+), 14 deletions(-)
diff --git a/.github/scripts/get_firmware_name.sh b/.github/scripts/get_firmware_name.sh
index 75546a23..d7c15d7a 100755
--- a/.github/scripts/get_firmware_name.sh
+++ b/.github/scripts/get_firmware_name.sh
@@ -8,7 +8,7 @@ getBhapticsName() {
echo "::debug::Getting bHaptics name for $target"
echo "::debug::Flags are $flags"
- if [[ $flags =~ BLUETOOTH_USE_NIMBLE=true ]]; then
+ if [[ $flags =~ SENSESHIFT_BLE_USE_NIMBLE=true ]]; then
echo "::debug::Nimble is enabled, appending +nimble to the target"
target="$target+nimble"
fi
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 66ab3dbd..5a0bf078 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -34,7 +34,7 @@ jobs:
- bhaptics_tactglove_right
battery_flag: [ SENSESHIFT_BATTERY_ENABLED=true ]
serial_plotter_flag: [ SENSESHIFT_SERIAL_PLOTTER=false ]
- nimble_flag: [ BLUETOOTH_USE_NIMBLE=false ]
+ nimble_flag: [ SENSESHIFT_BLE_USE_NIMBLE=false ]
coverage: [ false ]
include:
@@ -44,19 +44,19 @@ jobs:
coverage: true
battery_flag: SENSESHIFT_BATTERY_ENABLED=true
serial_plotter_flag: SENSESHIFT_SERIAL_PLOTTER=true
- nimble_flag: BLUETOOTH_USE_NIMBLE=true
+ nimble_flag: SENSESHIFT_BLE_USE_NIMBLE=true
# - target: bhaptics_tactsuit_x40
# os: ubuntu-latest
# coverage: true
# battery_flag: SENSESHIFT_BATTERY_ENABLED=true
# serial_plotter_flag: SENSESHIFT_SERIAL_PLOTTER=true
- # nimble_flag: BLUETOOTH_USE_NIMBLE=false
+ # nimble_flag: SENSESHIFT_BLE_USE_NIMBLE=false
- target: bhaptics_tactsuit_x40
os: ubuntu-latest
coverage: false
battery_flag: SENSESHIFT_BATTERY_ENABLED=true
serial_plotter_flag: SENSESHIFT_SERIAL_PLOTTER=false
- nimble_flag: BLUETOOTH_USE_NIMBLE=true
+ nimble_flag: SENSESHIFT_BLE_USE_NIMBLE=true
steps:
- uses: actions/checkout@v3
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 9b11b4a5..e4e216ef 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -35,7 +35,7 @@ jobs:
battery_flag:
- SENSESHIFT_BATTERY_ENABLED=true
nimble_flag:
- - BLUETOOTH_USE_NIMBLE=true
+ - SENSESHIFT_BLE_USE_NIMBLE=true
steps:
- uses: actions/checkout@v3
diff --git a/include/config/bluetooth.h b/include/config/bluetooth.h
index b12cff34..3de034d4 100644
--- a/include/config/bluetooth.h
+++ b/include/config/bluetooth.h
@@ -11,6 +11,6 @@
}
#endif
-#ifndef BLUETOOTH_USE_NIMBLE
-#define BLUETOOTH_USE_NIMBLE true
+#ifndef SENSESHIFT_BLE_USE_NIMBLE
+#define SENSESHIFT_BLE_USE_NIMBLE false
#endif
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
index fd16ec75..7d200d5d 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
@@ -6,7 +6,7 @@
#include <Arduino.h>
-#if defined(BLUETOOTH_USE_NIMBLE) && BLUETOOTH_USE_NIMBLE == true
+#if defined(SENSESHIFT_BLE_USE_NIMBLE) && SENSESHIFT_BLE_USE_NIMBLE == true
// BLE2902 not needed: https://github.com/h2zero/NimBLE-Arduino/blob/release/1.4/docs/Migration_guide.md#descriptors
#define PROPERTY_READ NIMBLE_PROPERTY::READ
@@ -77,7 +77,7 @@ namespace SenseShift::BH::BLE {
);
};
-#if defined(BLUETOOTH_USE_NIMBLE) && BLUETOOTH_USE_NIMBLE == true
+#if defined(SENSESHIFT_BLE_USE_NIMBLE) && SENSESHIFT_BLE_USE_NIMBLE == true
void onStatus(BLECharacteristic* pCharacteristic, Status s, int code) override
#else
void onStatus(BLECharacteristic* pCharacteristic, Status s, uint32_t code) override
@@ -180,7 +180,7 @@ namespace SenseShift::BH::BLE {
| PROPERTY_NOTIFY // for whatever reason, it have to be writable, otherwise Desktop app crashes
);
-#if !defined(BLUETOOTH_USE_NIMBLE) || BLUETOOTH_USE_NIMBLE != true
+#if !defined(SENSESHIFT_BLE_USE_NIMBLE) || SENSESHIFT_BLE_USE_NIMBLE != true
batteryChar->addDescriptor(new BLE2902());
#endif
@@ -207,7 +207,7 @@ namespace SenseShift::BH::BLE {
);
monitorChar->setCallbacks(new LogOutputCharCallbacks());
-#if !defined(BLUETOOTH_USE_NIMBLE) || BLUETOOTH_USE_NIMBLE != true
+#if !defined(SENSESHIFT_BLE_USE_NIMBLE) || SENSESHIFT_BLE_USE_NIMBLE != true
monitorChar->addDescriptor(new BLE2902());
#endif
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
index 49068f52..10dd4643 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
@@ -9,7 +9,7 @@
#include <Arduino.h>
#include <esp_wifi.h>
-#if defined(BLUETOOTH_USE_NIMBLE) && BLUETOOTH_USE_NIMBLE == true
+#if defined(SENSESHIFT_BLE_USE_NIMBLE) && SENSESHIFT_BLE_USE_NIMBLE == true
#include <NimBLEDevice.h>
#else
#include <BLEDevice.h>
diff --git a/platformio.ini b/platformio.ini
index e626fcaa..1a6bb8c3 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -27,7 +27,7 @@ build_flags =
; -D DEBUG_ESP_PORT=Serial
; -D SENSESHIFT_SERIAL_PLOTTER=true
; -D SENSESHIFT_BATTERY_ENABLED=true
- -D BLUETOOTH_USE_NIMBLE=true
+; -D SENSESHIFT_BLE_USE_NIMBLE=true
build_src_filter =
+<*>
From 1e635bc033850aaea778f76d0282be76ad31cdab Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 22 Aug 2023 10:30:55 +0400
Subject: [PATCH 16/82] format(clang): inline short functions
---
.clang-format | 4 +-
examples/bhaptics-ble-bt-serial.cpp | 5 +-
firmware/mode_configs/test.cpp | 5 +-
include/senseshift.h | 5 +-
.../arduino/input/sensor/analog.hpp | 5 +-
.../arduino/input/sensor/digital.hpp | 5 +-
lib/battery/senseshift/battery/sensor.hpp | 5 +-
lib/bhaptics/senseshift/bh/devices.hpp | 189 +++++++++---------
.../senseshift/bh/ble/connection.hpp | 5 +-
lib/calibration/senseshift/calibration.hpp | 10 +-
lib/freertos/task.hpp | 5 +-
lib/haptics/haptic_body.hpp | 5 +-
lib/haptics/haptic_plane.hpp | 15 +-
lib/haptics/haptics_interface.hpp | 5 +-
.../senseshift/arduino/battery/ina219.hpp | 5 +-
lib/math/senseshift/math/point2.hpp | 15 +-
lib/opengloves/og_protocol.hpp | 5 +-
lib/opengloves/sensor/og_finger.hpp | 25 +--
lib/opengloves/sensor/og_gesture.hpp | 5 +-
lib/opengloves/sensor/og_sensor.hpp | 10 +-
.../og_serial_communication.hpp | 5 +-
lib/sensor/senseshift/input/sensor.hpp | 30 +--
.../senseshift/input/sensor/joystick.hpp | 5 +-
test/test_bhaptics_encoding/main.cpp | 10 +-
test/test_haptics_body/main.cpp | 10 +-
test/test_haptics_plane/main.cpp | 10 +-
test/test_opengloves/main.cpp | 32 +--
test/test_opengloves_finger/main.cpp | 20 +-
test/test_opengloves_gesture/main.cpp | 5 +-
test/test_sensor/main.cpp | 20 +-
30 files changed, 155 insertions(+), 325 deletions(-)
diff --git a/.clang-format b/.clang-format
index 8972cb76..f1213235 100644
--- a/.clang-format
+++ b/.clang-format
@@ -7,9 +7,7 @@ AllowAllConstructorInitializersOnNextLine: 'true'
AllowAllParametersOfDeclarationOnNextLine: 'true'
AllowShortBlocksOnASingleLine: 'false'
AllowShortCaseLabelsOnASingleLine: 'false'
-# TODO
-# AllowShortFunctionsOnASingleLine: Inline
-AllowShortFunctionsOnASingleLine: Empty
+AllowShortFunctionsOnASingleLine: Inline
AllowShortIfStatementsOnASingleLine: Never
AllowShortLambdasOnASingleLine: Empty
AllowShortLoopsOnASingleLine: 'false'
diff --git a/examples/bhaptics-ble-bt-serial.cpp b/examples/bhaptics-ble-bt-serial.cpp
index d0c42d95..8adb23d3 100644
--- a/examples/bhaptics-ble-bt-serial.cpp
+++ b/examples/bhaptics-ble-bt-serial.cpp
@@ -27,10 +27,7 @@ static const ::SenseShift::Body::Haptics::Position_t* bhLayout[bhLayoutSize] = B
class BLECallbacks : public BHBLEConnectionCallbacks {
public:
- void postInit()
- {
- btSerial->begin("SenseShift Serial");
- }
+ void postInit() { btSerial->begin("SenseShift Serial"); }
};
void setupMode()
diff --git a/firmware/mode_configs/test.cpp b/firmware/mode_configs/test.cpp
index b6592e1b..943a38a2 100644
--- a/firmware/mode_configs/test.cpp
+++ b/firmware/mode_configs/test.cpp
@@ -22,10 +22,7 @@ class TestOutput : public OH::AbstractActuator {
public:
TestOutput(uint8_t channel) : channel(channel){};
- uint8_t getChannel()
- {
- return channel;
- };
+ uint8_t getChannel() { return channel; };
void writeOutput(oh_output_intensity_t intensity){};
};
diff --git a/include/senseshift.h b/include/senseshift.h
index d48c99bb..27a3c3e9 100644
--- a/include/senseshift.h
+++ b/include/senseshift.h
@@ -18,10 +18,7 @@ namespace SenseShift {
public:
SenseShift();
- Body::Haptics::HapticBody* getHapticBody()
- {
- return this->pHapticBody;
- };
+ Body::Haptics::HapticBody* getHapticBody() { return this->pHapticBody; };
void postEvent(const IEvent* event) override;
void addEventListener(const IEventListener* listener) override;
diff --git a/lib/arduino/senseshift/arduino/input/sensor/analog.hpp b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
index d55fc37e..4d1d5705 100644
--- a/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
+++ b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
@@ -13,10 +13,7 @@ namespace SenseShift::Arduino::Input {
public:
AnalogSensor(uint8_t pin) : pin(pin) {}
- void setup(void)
- {
- pinMode(this->pin, INPUT);
- };
+ void setup(void) { pinMode(this->pin, INPUT); };
uint16_t getValue(void) override;
};
diff --git a/lib/arduino/senseshift/arduino/input/sensor/digital.hpp b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
index 5a9c2f63..16de1b6c 100644
--- a/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
+++ b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
@@ -15,10 +15,7 @@ namespace SenseShift::Arduino::Input {
public:
DigitalSensor(uint8_t pin) : pin(pin) {}
- void setup(void)
- {
- pinMode(this->pin, INPUT_PULLUP);
- };
+ void setup(void) { pinMode(this->pin, INPUT_PULLUP); };
bool getValue(void) override;
};
diff --git a/lib/battery/senseshift/battery/sensor.hpp b/lib/battery/senseshift/battery/sensor.hpp
index bd9106d7..06a5f5b6 100644
--- a/lib/battery/senseshift/battery/sensor.hpp
+++ b/lib/battery/senseshift/battery/sensor.hpp
@@ -85,10 +85,7 @@ namespace SenseShift::Battery {
return { .level =
static_cast<uint8_t>(::SenseShift::simpleMap<uint16_t>(this->sensor->getValue(), 4095, 255)) };
};
- void setup()
- {
- this->sensor->setup();
- }
+ void setup() { this->sensor->setup(); }
private:
::SenseShift::Input::ISensor<uint16_t>* sensor;
diff --git a/lib/bhaptics/senseshift/bh/devices.hpp b/lib/bhaptics/senseshift/bh/devices.hpp
index d3c24d1b..60cac07c 100644
--- a/lib/bhaptics/senseshift/bh/devices.hpp
+++ b/lib/bhaptics/senseshift/bh/devices.hpp
@@ -18,20 +18,20 @@
// X * Y for front and back
#define BH_LAYOUT_TACTSUITX40_SIZE 40
// clang-format off
-#define BH_LAYOUT_TACTSUITX40 { \
- /* Front, left part */ \
- /* 0 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
- /* 1 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
- /* 2 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
- /* 3 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1) }, \
- /* 4 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2) }, \
- /* 5 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2) }, \
- /* 6 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3) }, \
- /* 7 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
- /* 8 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
- /* 9 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
- \
- /* Back */ \
+#define BH_LAYOUT_TACTSUITX40 { \
+ /* Front, left part */ \
+ /* 0 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
+ /* 1 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
+ /* 2 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
+ /* 3 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1) }, \
+ /* 4 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2) }, \
+ /* 5 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2) }, \
+ /* 6 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3) }, \
+ /* 7 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
+ /* 8 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
+ /* 9 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
+ \
+ /* Back */ \
/* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
/* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
/* 12 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
@@ -42,7 +42,7 @@
/* 17 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
/* 18 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
/* 19 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
- \
+ \
/* 20 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
/* 21 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
/* 22 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
@@ -53,18 +53,18 @@
/* 27 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
/* 28 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
/* 29 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) }, \
- \
- /* Front, again... Now right part */ \
- /* 30 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
- /* 31 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
- /* 32 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
- /* 33 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1) }, \
- /* 34 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2) }, \
- /* 35 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2) }, \
- /* 36 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3) }, \
- /* 37 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
- /* 38 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
- /* 39 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) } \
+ \
+ /* Front, again... Now right part */ \
+ /* 30 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
+ /* 31 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
+ /* 32 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
+ /* 33 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1) }, \
+ /* 34 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2) }, \
+ /* 35 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2) }, \
+ /* 36 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3) }, \
+ /* 37 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
+ /* 38 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
+ /* 39 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) } \
}
// clang-format on
@@ -85,57 +85,57 @@
// X16 suit uses the same packets structure as x40 suit and performs motor grouping in firmware
#define BH_LAYOUT_TACTSUITX16_SIZE 40
// clang-format off
-#define BH_LAYOUT_TACTSUITX16 { \
- /* Front, left part */ \
- /* 0 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 0 */ \
- /* 1 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 1 */ \
- /* 2 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 4 */ \
- /* 3 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 5 */ \
- \
- /* 4 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 8 */ \
- /* 5 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 9 */ \
- /* 6 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 12 */ \
- /* 7 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 13 */ \
- /* 8 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 16 */ \
- /* 9 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 17 */ \
- \
- /* Back */ \
- /* 10 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 0 */ \
- /* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 1 */ \
- /* 12 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 4 */ \
- /* 13 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 5 */ \
- \
- /* 14 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 8 */ \
- /* 15 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 9 */ \
- /* 16 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 12 */ \
- /* 17 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 13 */ \
- /* 18 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 16 */ \
- /* 19 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 17 */ \
- \
- /* 20 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 2 */ \
- /* 21 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 3 */ \
- /* 22 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 4 */ \
- /* 23 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 7 */ \
- \
- /* 24 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 10 */ \
- /* 25 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 11 */ \
- /* 26 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 14 */ \
- /* 27 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 15 */ \
- /* 28 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 18 */ \
- /* 29 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 19 */ \
- \
- /* Front, again... Now right part */ \
- /* 30 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 2 */ \
- /* 31 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 3 */ \
- /* 32 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 4 */ \
- /* 33 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 7 */ \
- \
- /* 34 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 10 */ \
- /* 35 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 11 */ \
- /* 36 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 14 */ \
- /* 37 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 15 */ \
- /* 38 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 18 */ \
- /* 39 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 19 */ \
+#define BH_LAYOUT_TACTSUITX16 { \
+ /* Front, left part */ \
+ /* 0 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 0 */ \
+ /* 1 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 1 */ \
+ /* 2 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 4 */ \
+ /* 3 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 5 */ \
+ \
+ /* 4 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 8 */ \
+ /* 5 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 9 */ \
+ /* 6 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 12 */ \
+ /* 7 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 13 */ \
+ /* 8 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 16 */ \
+ /* 9 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 17 */ \
+ \
+ /* Back */ \
+ /* 10 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 0 */ \
+ /* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 1 */ \
+ /* 12 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 4 */ \
+ /* 13 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 5 */ \
+ \
+ /* 14 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 8 */ \
+ /* 15 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 9 */ \
+ /* 16 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 12 */ \
+ /* 17 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 13 */ \
+ /* 18 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 16 */ \
+ /* 19 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 17 */ \
+ \
+ /* 20 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 2 */ \
+ /* 21 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 3 */ \
+ /* 22 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 4 */ \
+ /* 23 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 7 */ \
+ \
+ /* 24 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 10 */ \
+ /* 25 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 11 */ \
+ /* 26 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 14 */ \
+ /* 27 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 15 */ \
+ /* 28 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 18 */ \
+ /* 29 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 19 */ \
+ \
+ /* Front, again... Now right part */ \
+ /* 30 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 2 */ \
+ /* 31 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 3 */ \
+ /* 32 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 4 */ \
+ /* 33 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 7 */ \
+ \
+ /* 34 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 10 */ \
+ /* 35 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 11 */ \
+ /* 36 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 14 */ \
+ /* 37 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 15 */ \
+ /* 38 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 18 */ \
+ /* 39 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 19 */ \
}
// clang-format on
@@ -260,24 +260,27 @@
#pragma region BH_DEVIDE_TACTGLOVE
+// clang-format off
#define BH_LAYOUT_TACTGLOVE_SIZE 6
// TactGlove (Left) motor positions
-#define BH_LAYOUT_TACTGLOVE_LEFT \
- { \
- { Target_t::HandLeftThumb, FINGERTIP_POSITION }, { Target_t::HandLeftIndex, FINGERTIP_POSITION }, \
- { Target_t::HandLeftMiddle, FINGERTIP_POSITION }, { Target_t::HandLeftRing, FINGERTIP_POSITION }, \
- { Target_t::HandLeftLittle, FINGERTIP_POSITION }, { Target_t::HandLeftDorsal, WRIST_MOTOR_POSITION }, \
- }
+#define BH_LAYOUT_TACTGLOVE_LEFT { \
+ { Target_t::HandLeftThumb, FINGERTIP_POSITION }, \
+ { Target_t::HandLeftIndex, FINGERTIP_POSITION }, \
+ { Target_t::HandLeftMiddle, FINGERTIP_POSITION }, \
+ { Target_t::HandLeftRing, FINGERTIP_POSITION }, \
+ { Target_t::HandLeftLittle, FINGERTIP_POSITION }, \
+ { Target_t::HandLeftDorsal, WRIST_MOTOR_POSITION }, \
+}
// TactGlove (Right) motor positions
-#define BH_LAYOUT_TACTGLOVE_RIGHT \
- { \
- { Target_t::HandRightThumb, FINGERTIP_POSITION }, { Target_t::HandRightIndex, FINGERTIP_POSITION }, \
- { Target_t::HandRightMiddle, FINGERTIP_POSITION }, { Target_t::HandRightRing, FINGERTIP_POSITION }, \
- { Target_t::HandRightLittle, FINGERTIP_POSITION }, \
- { \
- Target_t::HandRightDorsal, WRIST_MOTOR_POSITION \
- } \
- }
+#define BH_LAYOUT_TACTGLOVE_RIGHT { \
+ { Target_t::HandRightThumb, FINGERTIP_POSITION }, \
+ { Target_t::HandRightIndex, FINGERTIP_POSITION }, \
+ { Target_t::HandRightMiddle, FINGERTIP_POSITION }, \
+ { Target_t::HandRightRing, FINGERTIP_POSITION }, \
+ { Target_t::HandRightLittle, FINGERTIP_POSITION }, \
+ { Target_t::HandRightDorsal, WRIST_MOTOR_POSITION } \
+}
+// clang-format on
#pragma endregion BH_DEVIDE_TACTGLOVE
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
index 10dd4643..ea5b1ae6 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
@@ -26,10 +26,7 @@ namespace SenseShift::BH::BLE {
class ConnectionCallbacks {
public:
- virtual void postInit()
- {
- log_v("Default postInit");
- };
+ virtual void postInit() { log_v("Default postInit"); };
};
static ConnectionCallbacks defaultCallback;
diff --git a/lib/calibration/senseshift/calibration.hpp b/lib/calibration/senseshift/calibration.hpp
index fb48f060..58c190c0 100644
--- a/lib/calibration/senseshift/calibration.hpp
+++ b/lib/calibration/senseshift/calibration.hpp
@@ -21,15 +21,9 @@ namespace SenseShift::Calibration {
public:
virtual void resetCalibration() = 0;
- void enableCalibration() override
- {
- calibrate = true;
- }
+ void enableCalibration() override { calibrate = true; }
- void disableCalibration() override
- {
- calibrate = false;
- }
+ void disableCalibration() override { calibrate = false; }
};
template<typename _Tp>
diff --git a/lib/freertos/task.hpp b/lib/freertos/task.hpp
index 6a40f33a..e77c7ec4 100644
--- a/lib/freertos/task.hpp
+++ b/lib/freertos/task.hpp
@@ -58,10 +58,7 @@ namespace OH {
Task(TaskConfig config) : taskConfig(config){};
virtual ~Task(){};
- TaskHandle_t getHandle() const
- {
- return taskHandle;
- };
+ TaskHandle_t getHandle() const { return taskHandle; };
virtual void begin()
{
diff --git a/lib/haptics/haptic_body.hpp b/lib/haptics/haptic_body.hpp
index ff05a1e4..d0e536cd 100644
--- a/lib/haptics/haptic_body.hpp
+++ b/lib/haptics/haptic_body.hpp
@@ -22,10 +22,7 @@ namespace SenseShift::Body::Haptics {
void addTarget(const Target_t, VibroPlane* plane);
- [[nodiscard]] const PlaneTargetMap_t* getTargets() const
- {
- return &allTargets;
- }
+ [[nodiscard]] const PlaneTargetMap_t* getTargets() const { return &allTargets; }
private:
PlaneTargetMap_t allTargets{};
diff --git a/lib/haptics/haptic_plane.hpp b/lib/haptics/haptic_plane.hpp
index 4441b03a..e382e01a 100644
--- a/lib/haptics/haptic_plane.hpp
+++ b/lib/haptics/haptic_plane.hpp
@@ -31,22 +31,13 @@ namespace SenseShift::Body::Haptics {
ActuativePlane() = default;
- ActuativePlane(const ActuatorMap_t& actuators)
- {
- this->setActuators(actuators);
- }
+ ActuativePlane(const ActuatorMap_t& actuators) { this->setActuators(actuators); }
void setup();
virtual void effect(const Position_t&, const Value_t&);
- [[nodiscard]] const PositionSet_t* getAvailablePoints() const
- {
- return &points;
- }
- [[nodiscard]] const PositionStateMap_t* getActuatorStates() const
- {
- return &states;
- }
+ [[nodiscard]] const PositionSet_t* getAvailablePoints() const { return &points; }
+ [[nodiscard]] const PositionStateMap_t* getActuatorStates() const { return &states; }
private:
PositionSet_t points;
diff --git a/lib/haptics/haptics_interface.hpp b/lib/haptics/haptics_interface.hpp
index 5b5a13bf..506f0928 100644
--- a/lib/haptics/haptics_interface.hpp
+++ b/lib/haptics/haptics_interface.hpp
@@ -61,10 +61,7 @@ namespace SenseShift::Body::Haptics {
inline constexpr VibroEffectData(const Intensity_t intensity) : intensity(intensity) {}
inline constexpr VibroEffectData(const VibroEffectData& other) = default;
- inline constexpr operator uint16_t() const
- {
- return intensity;
- }
+ inline constexpr operator uint16_t() const { return intensity; }
} VibroEffectData_t;
// TODO: thermal, etc.
diff --git a/lib/ina219/senseshift/arduino/battery/ina219.hpp b/lib/ina219/senseshift/arduino/battery/ina219.hpp
index 0d3487bf..ec2dea00 100644
--- a/lib/ina219/senseshift/arduino/battery/ina219.hpp
+++ b/lib/ina219/senseshift/arduino/battery/ina219.hpp
@@ -13,10 +13,7 @@ namespace SenseShift::Arduino::Battery {
public:
INA219_Battery(Adafruit_INA219* sensor) : sensor(sensor){};
- void setup() override
- {
- this->active = this->sensor->begin();
- }
+ void setup() override { this->active = this->sensor->begin(); }
::SenseShift::Battery::BatteryState getValue() override
{
if (!this->active) {
diff --git a/lib/math/senseshift/math/point2.hpp b/lib/math/senseshift/math/point2.hpp
index 6f8131d5..001d16bf 100644
--- a/lib/math/senseshift/math/point2.hpp
+++ b/lib/math/senseshift/math/point2.hpp
@@ -21,20 +21,11 @@ namespace SenseShift::Math {
constexpr Point2(_Tp x, _Tp y) : x(x), y(y){};
constexpr Point2(const Point2<_Tp>& v) : x((_Tp) v.x), y((_Tp) v.y){};
- constexpr inline bool operator==(const Point2<_Tp>& rhs) const
- {
- return x == rhs.x && y == rhs.y;
- }
+ constexpr inline bool operator==(const Point2<_Tp>& rhs) const { return x == rhs.x && y == rhs.y; }
- constexpr inline bool operator!=(const Point2<_Tp>& rhs) const
- {
- return !(*this == rhs);
- }
+ constexpr inline bool operator!=(const Point2<_Tp>& rhs) const { return !(*this == rhs); }
- constexpr bool operator<(const Point2<_Tp>& rhs) const
- {
- return std::tie(x, y) < std::tie(rhs.x, rhs.y);
- }
+ constexpr bool operator<(const Point2<_Tp>& rhs) const { return std::tie(x, y) < std::tie(rhs.x, rhs.y); }
constexpr float operator-(const Point2<_Tp>& rhs) const
{
diff --git a/lib/opengloves/og_protocol.hpp b/lib/opengloves/og_protocol.hpp
index 05e28174..9c92e98f 100644
--- a/lib/opengloves/og_protocol.hpp
+++ b/lib/opengloves/og_protocol.hpp
@@ -27,10 +27,7 @@ namespace OpenGloves {
IEncodedInput(Type type) : type(type){};
- constexpr Type getType() const
- {
- return this->type;
- }
+ constexpr Type getType() const { return this->type; }
protected:
Type type;
diff --git a/lib/opengloves/sensor/og_finger.hpp b/lib/opengloves/sensor/og_finger.hpp
index 62f4b244..9b5193d3 100644
--- a/lib/opengloves/sensor/og_finger.hpp
+++ b/lib/opengloves/sensor/og_finger.hpp
@@ -68,10 +68,7 @@ namespace OpenGloves {
return value;
}
- uint16_t getCurl() override
- {
- return this->getValue().getTotalCurl();
- }
+ uint16_t getCurl() override { return this->getValue().getTotalCurl(); }
protected:
FingerSensors sensors;
@@ -139,25 +136,13 @@ namespace OpenGloves {
FingerSensor(SenseShift::Input::CalibratedSensor<uint16_t>* curl1, IEncodedInput::Type type) :
StringEncodedMemoizedSensor<FingerValue>(new CalibratedFingerSensor(curl1, std::nullopt), type){};
- void resetCalibration() override
- {
- static_cast<CalibratedFingerSensor*>(this->sensor)->resetCalibration();
- }
+ void resetCalibration() override { static_cast<CalibratedFingerSensor*>(this->sensor)->resetCalibration(); }
- void enableCalibration() override
- {
- static_cast<CalibratedFingerSensor*>(this->sensor)->enableCalibration();
- }
+ void enableCalibration() override { static_cast<CalibratedFingerSensor*>(this->sensor)->enableCalibration(); }
- void disableCalibration() override
- {
- static_cast<CalibratedFingerSensor*>(this->sensor)->disableCalibration();
- }
+ void disableCalibration() override { static_cast<CalibratedFingerSensor*>(this->sensor)->disableCalibration(); }
- uint16_t getCurl() override
- {
- return this->getValue().getTotalCurl();
- }
+ uint16_t getCurl() override { return this->getValue().getTotalCurl(); }
};
struct HandSensors {
diff --git a/lib/opengloves/sensor/og_gesture.hpp b/lib/opengloves/sensor/og_gesture.hpp
index 3c7e0944..324cdb30 100644
--- a/lib/opengloves/sensor/og_gesture.hpp
+++ b/lib/opengloves/sensor/og_gesture.hpp
@@ -36,10 +36,7 @@ namespace OpenGloves {
void setup() override{};
- bool getValue() override
- {
- return this->index.getCurl() > this->threshold;
- }
+ bool getValue() override { return this->index.getCurl() > this->threshold; }
};
class PinchGesture : public Gesture {
diff --git a/lib/opengloves/sensor/og_sensor.hpp b/lib/opengloves/sensor/og_sensor.hpp
index 71c4c439..9fdd4a71 100644
--- a/lib/opengloves/sensor/og_sensor.hpp
+++ b/lib/opengloves/sensor/og_sensor.hpp
@@ -33,15 +33,9 @@ namespace OpenGloves {
StringEncodedMemoizedSensor(SenseShift::Input::ISensor<_Tp>* sensor, IEncodedInput::Type type) :
IStringEncodedMemoizedSensor(type), SenseShift::Input::MemoizedSensor<_Tp>(sensor){};
- void setup() override
- {
- this->sensor->setup();
- }
+ void setup() override { this->sensor->setup(); }
- void updateValue() override
- {
- this->value = this->sensor->getValue();
- }
+ void updateValue() override { this->value = this->sensor->getValue(); }
size_t getEncodedLength() const override;
diff --git a/lib/opengloves_serial/og_serial_communication.hpp b/lib/opengloves_serial/og_serial_communication.hpp
index 45d89a52..800b70e0 100644
--- a/lib/opengloves_serial/og_serial_communication.hpp
+++ b/lib/opengloves_serial/og_serial_communication.hpp
@@ -70,10 +70,7 @@ namespace OpenGloves {
this->ready = true;
}
- bool isReady() override
- {
- return this->ready;
- }
+ bool isReady() override { return this->ready; }
bool hasData() override
{
diff --git a/lib/sensor/senseshift/input/sensor.hpp b/lib/sensor/senseshift/input/sensor.hpp
index d721257e..8de2a7bb 100644
--- a/lib/sensor/senseshift/input/sensor.hpp
+++ b/lib/sensor/senseshift/input/sensor.hpp
@@ -62,26 +62,17 @@ namespace SenseShift::Input {
/**
* Setup the sensor hardware
*/
- void setup() override
- {
- this->sensor->setup();
- };
+ void setup() override { this->sensor->setup(); };
/**
* Get the current memoized value
*/
- _Tp getValue() override
- {
- return this->value;
- };
+ _Tp getValue() override { return this->value; };
/**
* Read actual value from the hardware and memoize it
*/
- void updateValue()
- {
- this->value = this->sensor->getValue();
- };
+ void updateValue() { this->value = this->sensor->getValue(); };
};
/**
@@ -114,19 +105,10 @@ namespace SenseShift::Input {
CalibratedSensor(ISensor<_Tp>* sensor, ::SenseShift::Calibration::ICalibrator<_Tp>* calibrator) :
sensor(sensor), calibrator(calibrator){};
- void setup() override
- {
- this->sensor->setup();
- };
+ void setup() override { this->sensor->setup(); };
- _Tp getValue() override
- {
- return this->getCalibratedValue();
- };
+ _Tp getValue() override { return this->getCalibratedValue(); };
- void resetCalibration() override
- {
- this->calibrator->reset();
- };
+ void resetCalibration() override { this->calibrator->reset(); };
};
} // namespace SenseShift::Input
diff --git a/lib/sensor/senseshift/input/sensor/joystick.hpp b/lib/sensor/senseshift/input/sensor/joystick.hpp
index 307d49ea..b9d28519 100644
--- a/lib/sensor/senseshift/input/sensor/joystick.hpp
+++ b/lib/sensor/senseshift/input/sensor/joystick.hpp
@@ -24,10 +24,7 @@ namespace SenseShift::Input {
public:
JoystickAxisSensor(ISensor<_Tp>* sensor, float dead_zone) : sensor(sensor), dead_zone(dead_zone){};
- void setup(void)
- {
- this->sensor->setup();
- };
+ void setup(void) { this->sensor->setup(); };
uint16_t getValue(void) override
{
diff --git a/test/test_bhaptics_encoding/main.cpp b/test/test_bhaptics_encoding/main.cpp
index 2de6e52e..03a560be 100644
--- a/test/test_bhaptics_encoding/main.cpp
+++ b/test/test_bhaptics_encoding/main.cpp
@@ -12,14 +12,8 @@ class TestActuator : public IActuator<uint16_t> {
uint16_t intensity = 0;
TestActuator() : IActuator<uint16_t>() {}
- void setup() override
- {
- this->isSetup = true;
- }
- void writeOutput(uint16_t intensity) override
- {
- this->intensity = intensity;
- }
+ void setup() override { this->isSetup = true; }
+ void writeOutput(uint16_t intensity) override { this->intensity = intensity; }
};
void test_layout_tactsuitx16(void)
diff --git a/test/test_haptics_body/main.cpp b/test/test_haptics_body/main.cpp
index 27b8b56e..19c8c866 100644
--- a/test/test_haptics_body/main.cpp
+++ b/test/test_haptics_body/main.cpp
@@ -10,14 +10,8 @@ class TestActuator : public IActuator<uint16_t> {
uint16_t intensity = 0;
TestActuator() : IActuator<uint16_t>() {}
- void setup() override
- {
- this->isSetup = true;
- }
- void writeOutput(uint16_t intensity) override
- {
- this->intensity = intensity;
- }
+ void setup() override { this->isSetup = true; }
+ void writeOutput(uint16_t intensity) override { this->intensity = intensity; }
};
void test_it_sets_up_planes(void)
diff --git a/test/test_haptics_plane/main.cpp b/test/test_haptics_plane/main.cpp
index 38e4594b..091ba1c3 100644
--- a/test/test_haptics_plane/main.cpp
+++ b/test/test_haptics_plane/main.cpp
@@ -10,14 +10,8 @@ class TestActuator : public IActuator<uint16_t> {
uint16_t intensity = 0;
TestActuator() : IActuator<uint16_t>() {}
- void setup() override
- {
- this->isSetup = true;
- }
- void writeOutput(uint16_t intensity) override
- {
- this->intensity = intensity;
- }
+ void setup() override { this->isSetup = true; }
+ void writeOutput(uint16_t intensity) override { this->intensity = intensity; }
};
void test_it_sets_up_actuators(void)
diff --git a/test/test_opengloves/main.cpp b/test/test_opengloves/main.cpp
index 646a9785..c711cdc1 100644
--- a/test/test_opengloves/main.cpp
+++ b/test/test_opengloves/main.cpp
@@ -10,15 +10,9 @@ class TestAnalogSensor : public SenseShift::Input::ISensor<uint16_t> {
public:
int setupCounter = 0;
- void setup() override
- {
- this->setupCounter++;
- };
-
- uint16_t getValue() override
- {
- return ++this->count;
- };
+ void setup() override { this->setupCounter++; };
+
+ uint16_t getValue() override { return ++this->count; };
};
class TestBinarySensor : public SenseShift::Input::ISensor<bool> {
@@ -26,15 +20,9 @@ class TestBinarySensor : public SenseShift::Input::ISensor<bool> {
bool value = false;
int setupCounter = 0;
- void setup() override
- {
- this->setupCounter++;
- };
+ void setup() override { this->setupCounter++; };
- bool getValue() override
- {
- return this->value;
- };
+ bool getValue() override { return this->value; };
};
class TestFingerSensor : public SenseShift::Input::ISensor<FingerValue> {
@@ -42,15 +30,9 @@ class TestFingerSensor : public SenseShift::Input::ISensor<FingerValue> {
FingerValue value;
int setupCounter = 0;
- void setup() override
- {
- this->setupCounter++;
- };
+ void setup() override { this->setupCounter++; };
- FingerValue getValue() override
- {
- return this->value;
- };
+ FingerValue getValue() override { return this->value; };
};
void test_string_encoded_sensor_uint16(void)
diff --git a/test/test_opengloves_finger/main.cpp b/test/test_opengloves_finger/main.cpp
index 019d8b5c..ee063582 100644
--- a/test/test_opengloves_finger/main.cpp
+++ b/test/test_opengloves_finger/main.cpp
@@ -11,15 +11,9 @@ class TestAnalogSensor : public SenseShift::Input::ISensor<uint16_t> {
public:
int setupCounter = 0;
- void setup() override
- {
- this->setupCounter++;
- };
+ void setup() override { this->setupCounter++; };
- uint16_t getValue() override
- {
- return this->count++;
- };
+ uint16_t getValue() override { return this->count++; };
};
class DummyCalibrator : public ICalibrator<uint16_t> {
@@ -32,14 +26,8 @@ class DummyCalibrator : public ICalibrator<uint16_t> {
this->resetCounter++;
this->calibrated = std::nullopt;
};
- void update(uint16_t input) override
- {
- this->calibrated = input;
- };
- uint16_t calibrate(uint16_t input) const override
- {
- return this->calibrated.value_or(input);
- };
+ void update(uint16_t input) override { this->calibrated = input; };
+ uint16_t calibrate(uint16_t input) const override { return this->calibrated.value_or(input); };
};
void test_simple_finger_sensor_curl(void)
diff --git a/test/test_opengloves_gesture/main.cpp b/test/test_opengloves_gesture/main.cpp
index 6ee8b066..0d89a11a 100644
--- a/test/test_opengloves_gesture/main.cpp
+++ b/test/test_opengloves_gesture/main.cpp
@@ -9,10 +9,7 @@ class TestCurlFinger : public ICurl {
TestCurlFinger(uint16_t initialValue = 0) : value(initialValue){};
- uint16_t getCurl() override
- {
- return this->value;
- }
+ uint16_t getCurl() override { return this->value; }
};
void test_gesture_grab(void)
diff --git a/test/test_sensor/main.cpp b/test/test_sensor/main.cpp
index 02fe6e86..f9cbcea0 100644
--- a/test/test_sensor/main.cpp
+++ b/test/test_sensor/main.cpp
@@ -11,15 +11,9 @@ class TestAnalogSensor : public ISensor<int> {
public:
int setupCounter = 0;
- void setup() override
- {
- this->setupCounter++;
- };
+ void setup() override { this->setupCounter++; };
- int getValue() override
- {
- return ++this->count;
- };
+ int getValue() override { return ++this->count; };
};
void test_memoized_sensor(void)
@@ -50,14 +44,8 @@ class DummyCalibrator : public ICalibrator<int> {
this->resetCounter++;
this->calibrated = 0;
};
- void update(int input) override
- {
- this->calibrated = input;
- };
- int calibrate(int input) const override
- {
- return calibrated;
- };
+ void update(int input) override { this->calibrated = input; };
+ int calibrate(int input) const override { return calibrated; };
};
void test_calibrated_sensor(void)
From e3c16396516395ebf5e9d50ee8e1669166b15962 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 22 Aug 2023 10:48:43 +0400
Subject: [PATCH 17/82] fix(BLE): non-NimBLE S/N char
---
lib/bhaptics_ble/senseshift/bh/ble/connection.cpp | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
index 7d200d5d..66c91204 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
@@ -169,7 +169,9 @@ namespace SenseShift::BH::BLE {
BH_BLE_SERVICE_MOTOR_CHAR_SERIAL_KEY_UUID,
PROPERTY_READ | PROPERTY_WRITE
);
- serialNumberChar->setValue(this->config.serialNumber, ConnectionConfig_t::SN_LENGTH);
+ uint8_t serialNumber[ConnectionConfig_t::SN_LENGTH];
+ memcpy(serialNumber, this->config.serialNumber, ConnectionConfig_t::SN_LENGTH);
+ serialNumberChar->setValue(serialNumber, ConnectionConfig_t::SN_LENGTH);
serialNumberChar->setCallbacks(new LogOutputCharCallbacks());
}
From 8a1e2b5c086b7ba2c69ce41dc3d28e3476be89f7 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 22 Aug 2023 18:45:07 +0400
Subject: [PATCH 18/82] refactor(FreeRTOS): move to `SenseShift` namespace/dir
---
examples/bhaptics-ble-bt-serial.cpp | 1 -
firmware/mode_configs/bhaptics/tactal.cpp | 1 -
firmware/mode_configs/bhaptics/tactglove.cpp | 1 -
firmware/mode_configs/bhaptics/tactosy2.cpp | 1 -
firmware/mode_configs/bhaptics/tactosyf.cpp | 1 -
firmware/mode_configs/bhaptics/tactosyh.cpp | 1 -
.../mode_configs/bhaptics/tactsuit_x16.cpp | 1 -
.../bhaptics/tactsuit_x16_pca9685.cpp | 1 -
.../mode_configs/bhaptics/tactsuit_x40.cpp | 1 -
firmware/mode_configs/bhaptics/tactvisor.cpp | 1 -
firmware/mode_configs/test.cpp | 42 -------------------
.../arduino/components/serial_plotter.hpp | 12 +++---
lib/battery/senseshift/battery/sensor.hpp | 22 ++++++----
.../{ => senseshift/freertos}/task.hpp | 4 +-
lib/opengloves_task/opengloves_task.hpp | 27 +++++++-----
15 files changed, 38 insertions(+), 79 deletions(-)
delete mode 100644 firmware/mode_configs/test.cpp
rename lib/freertos/{ => senseshift/freertos}/task.hpp (97%)
diff --git a/examples/bhaptics-ble-bt-serial.cpp b/examples/bhaptics-ble-bt-serial.cpp
index 8adb23d3..68dd1482 100644
--- a/examples/bhaptics-ble-bt-serial.cpp
+++ b/examples/bhaptics-ble-bt-serial.cpp
@@ -13,7 +13,6 @@
#include <BluetoothSerial.h>
#include <HardwareSerial.h>
-using namespace OH;
using namespace BH;
extern SenseShift App;
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index 991fdce5..d1886357 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -13,7 +13,6 @@
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index c7fd1924..f3bfc5f4 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -14,7 +14,6 @@
#include <senseshift/bh/encoding.hpp>
#include <senseshift/utility.hpp>
-using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index 26937edb..3063cc98 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -13,7 +13,6 @@
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index 33aea620..ceae8983 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -13,7 +13,6 @@
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index 068add9e..0f8beef4 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -13,7 +13,6 @@
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index 300d9535..8897b400 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -13,7 +13,6 @@
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index 39bb6835..e147a845 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -13,7 +13,6 @@
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 6fe41fc7..5d990130 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -14,7 +14,6 @@
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index f6e063e0..4c9fa3d0 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -13,7 +13,6 @@
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-using namespace OH;
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
diff --git a/firmware/mode_configs/test.cpp b/firmware/mode_configs/test.cpp
deleted file mode 100644
index 943a38a2..00000000
--- a/firmware/mode_configs/test.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// Override you configs in this file (Ctrl+Click)
-#include "config/all.h"
-
-#ifdef UNIT_TEST
-#include "ArduinoFake.h"
-#else
-#include "Arduino.h"
-#endif
-
-#include "senseshift.h"
-
-#include <haptic_body.hpp>
-
-using namespace OH;
-
-extern SenseShift App;
-SenseShift* app = &App;
-
-class TestOutput : public OH::AbstractActuator {
- private:
- uint8_t channel;
-
- public:
- TestOutput(uint8_t channel) : channel(channel){};
- uint8_t getChannel() { return channel; };
- void writeOutput(oh_output_intensity_t intensity){};
-};
-
-void setupMode()
-{
- auto testOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
- { new TestOutput(0), new TestOutput(1) },
- { new TestOutput(2), new TestOutput(3) },
- { new TestOutput(4), new TestOutput(5) },
- { new TestOutput(6), new TestOutput(7) },
- });
-
- auto test = new HapticPlane_Closest(testOutputs);
- App.getHapticBody()->addComponent(OUTPUT_PATH_ACCESSORY, test);
-}
-
-void loopMode() {}
diff --git a/lib/arduino/senseshift/arduino/components/serial_plotter.hpp b/lib/arduino/senseshift/arduino/components/serial_plotter.hpp
index 02e21b36..708111b6 100644
--- a/lib/arduino/senseshift/arduino/components/serial_plotter.hpp
+++ b/lib/arduino/senseshift/arduino/components/serial_plotter.hpp
@@ -1,7 +1,7 @@
#pragma once
#include <haptic_body.hpp>
-#include <task.hpp>
+#include <senseshift/freertos/task.hpp>
#include <HardwareSerial.h>
@@ -16,12 +16,12 @@ namespace SenseShift::Arduino {
* @tparam _Tp the type of the serial port
*/
template<class _Tp>
- class SerialPlotter_OutputStates : public OH::Task<SerialPlotter_OutputStates<_Tp>> {
+ class SerialPlotter_OutputStates : public ::SenseShift::FreeRTOS::Task<SerialPlotter_OutputStates<_Tp>> {
static_assert(
std::is_base_of<Print, _Tp>::value,
"SerialPlotter_OutputStates only can be used with types, that inherit from Print"
);
- friend class OH::Task<SerialPlotter_OutputStates<_Tp>>;
+ friend class ::SenseShift::FreeRTOS::Task<SerialPlotter_OutputStates<_Tp>>;
private:
_Tp* serial;
@@ -36,9 +36,9 @@ namespace SenseShift::Arduino {
_Tp& serial,
::SenseShift::Body::Haptics::HapticBody* output,
uint32_t sampleRate,
- OH::TaskConfig taskConfig = { "Serial Plotter", 2048, 1, tskNO_AFFINITY }
+ ::SenseShift::FreeRTOS::TaskConfig taskConfig = { "Serial Plotter", 2048, 1, tskNO_AFFINITY }
) :
- OH::Task<SerialPlotter_OutputStates<_Tp>>(taskConfig),
+ ::SenseShift::FreeRTOS::Task<SerialPlotter_OutputStates<_Tp>>(taskConfig),
serial(&serial),
output(output),
sampleRate(sampleRate){};
@@ -48,7 +48,7 @@ namespace SenseShift::Arduino {
void begin() override
{
this->setup();
- OH::Task<SerialPlotter_OutputStates<_Tp>>::begin();
+ ::SenseShift::FreeRTOS::Task<SerialPlotter_OutputStates<_Tp>>::begin();
};
};
diff --git a/lib/battery/senseshift/battery/sensor.hpp b/lib/battery/senseshift/battery/sensor.hpp
index 06a5f5b6..b5dea89d 100644
--- a/lib/battery/senseshift/battery/sensor.hpp
+++ b/lib/battery/senseshift/battery/sensor.hpp
@@ -2,9 +2,9 @@
#include "senseshift/battery.hpp"
+#include <senseshift/freertos/task.hpp>
#include <senseshift/input/sensor.hpp>
#include <senseshift/utility.hpp>
-#include <task.hpp>
#ifndef SENSESHIFT_BATTERY_TASK_PRIORITY
#define SENSESHIFT_BATTERY_TASK_PRIORITY 1
@@ -19,17 +19,23 @@ namespace SenseShift::Battery {
* Tasked sensor decorator
*/
template<typename _Tp>
- class TaskedSensor : public OH::Task<TaskedSensor<_Tp>>, public ::SenseShift::Input::MemoizedSensor<_Tp> {
- friend class OH::Task<TaskedSensor<_Tp>>;
+ class TaskedSensor :
+ public ::SenseShift::FreeRTOS::Task<TaskedSensor<_Tp>>,
+ public ::SenseShift::Input::MemoizedSensor<_Tp> {
+ friend class ::SenseShift::FreeRTOS::Task<TaskedSensor<_Tp>>;
public:
- TaskedSensor(::SenseShift::Input::ISensor<_Tp>* sensor, OH::TaskConfig taskConfig, const uint32_t rate) :
- ::SenseShift::Input::MemoizedSensor<_Tp>(sensor), OH::Task<TaskedSensor<_Tp>>(taskConfig), rate(rate){};
+ TaskedSensor(
+ ::SenseShift::Input::ISensor<_Tp>* sensor, ::SenseShift::FreeRTOS::TaskConfig taskConfig, const uint32_t rate
+ ) :
+ ::SenseShift::Input::MemoizedSensor<_Tp>(sensor),
+ ::SenseShift::FreeRTOS::Task<TaskedSensor<_Tp>>(taskConfig),
+ rate(rate){};
void begin() override
{
this->setup();
- this->OH::Task<TaskedSensor<_Tp>>::begin();
+ this->::SenseShift::FreeRTOS::Task<TaskedSensor<_Tp>>::begin();
};
protected:
@@ -51,7 +57,7 @@ namespace SenseShift::Battery {
typedef ::SenseShift::Input::ISensor<BatteryState> IBatterySensor;
class BatterySensor : public TaskedSensor<BatteryState> {
- friend class OH::Task<TaskedSensor<BatteryState>>;
+ friend class ::SenseShift::FreeRTOS::Task<TaskedSensor<BatteryState>>;
friend class TaskedSensor<BatteryState>;
public:
@@ -59,7 +65,7 @@ namespace SenseShift::Battery {
IBatterySensor* sensor,
::SenseShift::IEventDispatcher* eventDispatcher,
const BatteryConfig_t& config,
- OH::TaskConfig taskConfig
+ ::SenseShift::FreeRTOS::TaskConfig taskConfig
) :
TaskedSensor<BatteryState>(sensor, taskConfig, config.sampleRate), eventDispatcher(eventDispatcher){};
diff --git a/lib/freertos/task.hpp b/lib/freertos/senseshift/freertos/task.hpp
similarity index 97%
rename from lib/freertos/task.hpp
rename to lib/freertos/senseshift/freertos/task.hpp
index e77c7ec4..d06aada4 100644
--- a/lib/freertos/task.hpp
+++ b/lib/freertos/senseshift/freertos/task.hpp
@@ -21,7 +21,7 @@ BaseType_t xTaskCreateUniversal(
}
#endif
-namespace OH {
+namespace SenseShift::FreeRTOS {
struct TaskConfig {
const char* name;
uint32_t stackDepth;
@@ -78,4 +78,4 @@ namespace OH {
}
};
};
-} // namespace OH
+} // namespace SenseShift::FreeRTOS
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index 9d1f115a..8fab0ec0 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -10,12 +10,12 @@
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/input/sensor/digital.hpp>
#include <senseshift/calibration.hpp>
+#include <senseshift/freertos/task.hpp>
#include <senseshift/input/sensor.hpp>
#include <senseshift/input/sensor/joystick.hpp>
#include <senseshift/utility.hpp>
#include <sensor/og_finger.hpp>
#include <sensor/og_gesture.hpp>
-#include <task.hpp>
namespace OpenGloves {
struct OpenGlovesTrackingTaskConfig {
@@ -36,8 +36,8 @@ namespace OpenGloves {
}
};
- class OpenGlovesTrackingTask : public OH::Task<OpenGlovesTrackingTask> {
- friend class OH::Task<OpenGlovesTrackingTask>;
+ class OpenGlovesTrackingTask : public SenseShift::FreeRTOS::Task<OpenGlovesTrackingTask> {
+ friend class SenseShift::FreeRTOS::Task<OpenGlovesTrackingTask>;
public:
/**
@@ -58,7 +58,7 @@ namespace OpenGloves {
std::vector<StringEncodedMemoizedSensor<uint16_t>*>& joysticks,
std::vector<IStringEncodedMemoizedSensor*>& otherSensors,
std::optional<StringEncodedMemoizedSensor<bool>>& calibrationButton,
- OH::TaskConfig taskConfig
+ SenseShift::FreeRTOS::TaskConfig taskConfig
) :
config(config),
communication(communication),
@@ -68,7 +68,7 @@ namespace OpenGloves {
otherSensors(otherSensors),
calibrationButton(calibrationButton),
allSensors(std::vector<IStringEncodedMemoizedSensor*>()),
- OH::Task<OpenGlovesTrackingTask>(taskConfig)
+ SenseShift::FreeRTOS::Task<OpenGlovesTrackingTask>(taskConfig)
{
if (fingers.thumb.has_value()) {
auto* thumb = &fingers.thumb.value();
@@ -126,7 +126,7 @@ namespace OpenGloves {
{
log_d("Starting OpenGloves tracking task: %p", this);
this->setup();
- this->OH::Task<OpenGlovesTrackingTask>::begin();
+ this->SenseShift::FreeRTOS::Task<OpenGlovesTrackingTask>::begin();
};
private:
@@ -215,14 +215,19 @@ namespace OpenGloves {
};
};
- class OpenGlovesForceFeedbackTask : public OH::Task<OpenGlovesForceFeedbackTask> {
- friend class OH::Task<OpenGlovesForceFeedbackTask>;
+ class OpenGlovesForceFeedbackTask : public SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask> {
+ friend class SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask>;
public:
OpenGlovesForceFeedbackTask(
- ICommunication& communication, HandActuators& actuators, size_t updateRate, OH::TaskConfig taskConfig
+ ICommunication& communication,
+ HandActuators& actuators,
+ size_t updateRate,
+ SenseShift::FreeRTOS::TaskConfig taskConfig
) :
- communication(communication), actuators(actuators), OH::Task<OpenGlovesForceFeedbackTask>(taskConfig)
+ communication(communication),
+ actuators(actuators),
+ SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask>(taskConfig)
{
this->updateIntervalMs = 1000 / updateRate;
};
@@ -231,7 +236,7 @@ namespace OpenGloves {
{
log_d("Starting OpenGloves force feedback task: %p", this);
this->setup();
- this->OH::Task<OpenGlovesForceFeedbackTask>::begin();
+ this->SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask>::begin();
};
private:
From 46743e918485c6b3ddf0153a4a23e1cab36986e6 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 24 Aug 2023 13:32:33 +0400
Subject: [PATCH 19/82] refactor(Battery): decouple battery API and impl
---
firmware/mode_configs/bhaptics/tactal.cpp | 10 +--
firmware/mode_configs/bhaptics/tactglove.cpp | 10 +--
firmware/mode_configs/bhaptics/tactosy2.cpp | 10 +--
firmware/mode_configs/bhaptics/tactosyf.cpp | 10 +--
firmware/mode_configs/bhaptics/tactosyh.cpp | 10 +--
.../mode_configs/bhaptics/tactsuit_x16.cpp | 10 +--
.../bhaptics/tactsuit_x16_pca9685.cpp | 10 +--
.../mode_configs/bhaptics/tactsuit_x40.cpp | 10 +--
firmware/mode_configs/bhaptics/tactvisor.cpp | 10 +--
include/senseshift.h | 2 +-
lib/battery/senseshift/battery/sensor.hpp | 66 -------------------
.../senseshift/freertos/battery.hpp | 22 +++++++
.../senseshift/freertos/input/sensor.hpp | 59 +++++++++++++++++
lib/freertos/senseshift/freertos/task.hpp | 33 +++++-----
14 files changed, 154 insertions(+), 118 deletions(-)
create mode 100644 lib/battery_task/senseshift/freertos/battery.hpp
create mode 100644 lib/freertos/senseshift/freertos/input/sensor.hpp
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index d1886357..f19d9e7d 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -12,10 +12,13 @@
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
+#include <senseshift/freertos/battery.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::FreeRTOS::Battery;
+using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -53,10 +56,9 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new BatterySensor(
- new NaiveBatterySensor(new AnalogSensor(36)),
- &App,
- { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ auto* battery = new TaskedSensor<BatteryState>(
+ new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index f3bfc5f4..8b123ef4 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -12,11 +12,14 @@
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
+#include <senseshift/freertos/battery.hpp>
#include <senseshift/utility.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::FreeRTOS::Battery;
+using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -61,10 +64,9 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new BatterySensor(
- new NaiveBatterySensor(new AnalogSensor(36)),
- &App,
- { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ auto* battery = new TaskedSensor<BatteryState>(
+ new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index 3063cc98..682a349b 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -12,10 +12,13 @@
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
+#include <senseshift/freertos/battery.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::FreeRTOS::Battery;
+using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -54,10 +57,9 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new BatterySensor(
- new NaiveBatterySensor(new AnalogSensor(36)),
- &App,
- { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ auto* battery = new TaskedSensor<BatteryState>(
+ new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index ceae8983..99b792fd 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -12,10 +12,13 @@
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
+#include <senseshift/freertos/battery.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::FreeRTOS::Battery;
+using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -55,10 +58,9 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new BatterySensor(
- new NaiveBatterySensor(new AnalogSensor(36)),
- &App,
- { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ auto* battery = new TaskedSensor<BatteryState>(
+ new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index 0f8beef4..0e3cc417 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -12,10 +12,13 @@
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
+#include <senseshift/freertos/battery.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::FreeRTOS::Battery;
+using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -55,10 +58,9 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new BatterySensor(
- new NaiveBatterySensor(new AnalogSensor(36)),
- &App,
- { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ auto* battery = new TaskedSensor<BatteryState>(
+ new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index 8897b400..8bc88899 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -12,10 +12,13 @@
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
+#include <senseshift/freertos/battery.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::FreeRTOS::Battery;
+using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -65,10 +68,9 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new BatterySensor(
- new NaiveBatterySensor(new AnalogSensor(36)),
- &App,
- { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ auto* battery = new TaskedSensor<BatteryState>(
+ new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index e147a845..f7a9b099 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -12,10 +12,13 @@
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
+#include <senseshift/freertos/battery.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::FreeRTOS::Battery;
+using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -70,10 +73,9 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new BatterySensor(
- new NaiveBatterySensor(new AnalogSensor(36)),
- &App,
- { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ auto* battery = new TaskedSensor<BatteryState>(
+ new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 5d990130..e8668bcf 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -13,10 +13,13 @@
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
+#include <senseshift/freertos/battery.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::FreeRTOS::Battery;
+using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -78,10 +81,9 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new BatterySensor(
- new NaiveBatterySensor(new AnalogSensor(36)),
- &App,
- { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ auto* battery = new TaskedSensor<BatteryState>(
+ new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index 4c9fa3d0..68cd1188 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -12,10 +12,13 @@
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
+#include <senseshift/freertos/battery.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::FreeRTOS::Battery;
+using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
@@ -53,10 +56,9 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new BatterySensor(
- new NaiveBatterySensor(new AnalogSensor(36)),
- &App,
- { .sampleRate = SENSESHIFT_BATTERY_SAMPLE_RATE },
+ auto* battery = new TaskedSensor<BatteryState>(
+ new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
battery->begin();
diff --git a/include/senseshift.h b/include/senseshift.h
index 27a3c3e9..c63f5659 100644
--- a/include/senseshift.h
+++ b/include/senseshift.h
@@ -13,7 +13,7 @@ namespace SenseShift {
private:
std::vector<const IEventListener*> eventListeners{};
Body::Haptics::HapticBody* pHapticBody;
- Battery::BatterySensor* battery;
+ ::SenseShift::Battery::IBatterySensor* battery;
public:
SenseShift();
diff --git a/lib/battery/senseshift/battery/sensor.hpp b/lib/battery/senseshift/battery/sensor.hpp
index b5dea89d..0ae63ba3 100644
--- a/lib/battery/senseshift/battery/sensor.hpp
+++ b/lib/battery/senseshift/battery/sensor.hpp
@@ -11,77 +11,11 @@
#endif
namespace SenseShift::Battery {
- typedef struct BatteryConfig {
- uint sampleRate;
- } BatteryConfig_t;
-
- /**
- * Tasked sensor decorator
- */
- template<typename _Tp>
- class TaskedSensor :
- public ::SenseShift::FreeRTOS::Task<TaskedSensor<_Tp>>,
- public ::SenseShift::Input::MemoizedSensor<_Tp> {
- friend class ::SenseShift::FreeRTOS::Task<TaskedSensor<_Tp>>;
-
- public:
- TaskedSensor(
- ::SenseShift::Input::ISensor<_Tp>* sensor, ::SenseShift::FreeRTOS::TaskConfig taskConfig, const uint32_t rate
- ) :
- ::SenseShift::Input::MemoizedSensor<_Tp>(sensor),
- ::SenseShift::FreeRTOS::Task<TaskedSensor<_Tp>>(taskConfig),
- rate(rate){};
-
- void begin() override
- {
- this->setup();
- this->::SenseShift::FreeRTOS::Task<TaskedSensor<_Tp>>::begin();
- };
-
- protected:
- const uint32_t rate;
-
- private:
- virtual void run(void)
- {
- while (true) {
- this->updateValue();
- delay(this->rate);
- }
- };
- };
-
/**
* Abstract battery sensor
*/
typedef ::SenseShift::Input::ISensor<BatteryState> IBatterySensor;
- class BatterySensor : public TaskedSensor<BatteryState> {
- friend class ::SenseShift::FreeRTOS::Task<TaskedSensor<BatteryState>>;
- friend class TaskedSensor<BatteryState>;
-
- public:
- BatterySensor(
- IBatterySensor* sensor,
- ::SenseShift::IEventDispatcher* eventDispatcher,
- const BatteryConfig_t& config,
- ::SenseShift::FreeRTOS::TaskConfig taskConfig
- ) :
- TaskedSensor<BatteryState>(sensor, taskConfig, config.sampleRate), eventDispatcher(eventDispatcher){};
-
- void run() override
- {
- while (true) {
- this->updateValue();
- this->eventDispatcher->postEvent(new BatteryLevelEvent(this->value));
- delay(this->rate);
- }
- }
-
- private:
- ::SenseShift::IEventDispatcher* eventDispatcher;
- };
-
class NaiveBatterySensor : public IBatterySensor {
public:
NaiveBatterySensor(::SenseShift::Input::ISensor<uint16_t>* sensor) : sensor(sensor){};
diff --git a/lib/battery_task/senseshift/freertos/battery.hpp b/lib/battery_task/senseshift/freertos/battery.hpp
new file mode 100644
index 00000000..688459a2
--- /dev/null
+++ b/lib/battery_task/senseshift/freertos/battery.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <senseshift/battery/sensor.hpp>
+#include <senseshift/freertos/input/sensor.hpp>
+
+namespace SenseShift::FreeRTOS::Battery {
+ class BatterySensor : public ::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState> {
+ public:
+ BatterySensor(::SenseShift::Battery::IBatterySensor* sensor, ::SenseShift::IEventDispatcher* eventDispatcher) :
+ ::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState>(sensor),
+ eventDispatcher(eventDispatcher){};
+
+ void updateValue() override
+ {
+ this->::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState>::updateValue();
+ this->eventDispatcher->postEvent(new ::SenseShift::Battery::BatteryLevelEvent(this->value));
+ }
+
+ private:
+ ::SenseShift::IEventDispatcher* eventDispatcher;
+ };
+} // namespace SenseShift::FreeRTOS::Battery
diff --git a/lib/freertos/senseshift/freertos/input/sensor.hpp b/lib/freertos/senseshift/freertos/input/sensor.hpp
new file mode 100644
index 00000000..b4b273b8
--- /dev/null
+++ b/lib/freertos/senseshift/freertos/input/sensor.hpp
@@ -0,0 +1,59 @@
+#pragma once
+
+#include <senseshift/freertos/task.hpp>
+#include <senseshift/input/sensor.hpp>
+
+#include <cstdint>
+
+namespace SenseShift::FreeRTOS::Input {
+ /**
+ * Sensor update task
+ */
+ class SensorUpdateTask : public Task<SensorUpdateTask> {
+ friend class Task<SensorUpdateTask>;
+
+ private:
+ using Sensor_t = ::SenseShift::Input::IMemoizedSensor;
+
+ public:
+ SensorUpdateTask(Sensor_t* sensor, std::uint32_t updateDelay, TaskConfig taskConfig) :
+ Task<SensorUpdateTask>(taskConfig), updateDelay(updateDelay){};
+
+ protected:
+ Sensor_t* sensor;
+ std::uint32_t updateDelay;
+
+ void run()
+ {
+ while (true) {
+ this->sensor->updateValue();
+ ::delay(this->updateDelay);
+ }
+ }
+ };
+
+ template<typename _Tp>
+ class TaskedSensor : public SensorUpdateTask, public ::SenseShift::Input::ISensor<_Tp> {
+ friend class SensorUpdateTask;
+
+ private:
+ using Sensor_t = ::SenseShift::Input::MemoizedSensor<_Tp>;
+
+ public:
+ TaskedSensor(Sensor_t* sensor, std::uint32_t updateDelay, TaskConfig taskConfig) :
+ SensorUpdateTask(sensor, updateDelay, taskConfig), sensor(sensor){};
+
+ void begin() override
+ {
+ this->setup();
+ SensorUpdateTask::begin();
+ };
+
+ void setup() override { this->sensor->setup(); };
+
+ _Tp getValue() override { return this->sensor->getValue(); };
+
+ private:
+ Sensor_t* sensor;
+ };
+} // namespace SenseShift::FreeRTOS::Input
diff --git a/lib/freertos/senseshift/freertos/task.hpp b/lib/freertos/senseshift/freertos/task.hpp
index d06aada4..d41355ec 100644
--- a/lib/freertos/senseshift/freertos/task.hpp
+++ b/lib/freertos/senseshift/freertos/task.hpp
@@ -38,25 +38,18 @@ namespace SenseShift::FreeRTOS {
template<typename>
friend class Task;
- private:
- TaskConfig taskConfig;
- TaskHandle_t taskHandle = nullptr;
-
- static void taskFunction(void* params)
- {
- _Tp* task = static_cast<_Tp*>(params);
- task->run();
- }
-
public:
Task(const char* name, uint32_t stackDepth, UBaseType_t priority, const BaseType_t coreId = tskNO_AFFINITY)
{
- TaskConfig config = { name, stackDepth, priority, coreId };
-
- this->taskConfig = config;
+ this->taskConfig = { name, stackDepth, priority, coreId };
+ };
+ Task(TaskConfig& config) : taskConfig(config){};
+ virtual ~Task()
+ {
+ if (taskHandle) {
+ vTaskDelete(taskHandle);
+ }
};
- Task(TaskConfig config) : taskConfig(config){};
- virtual ~Task(){};
TaskHandle_t getHandle() const { return taskHandle; };
@@ -77,5 +70,15 @@ namespace SenseShift::FreeRTOS {
log_e("Failed to create task %s", this->taskConfig.name);
}
};
+
+ private:
+ const TaskConfig& taskConfig;
+ TaskHandle_t taskHandle = nullptr;
+
+ static void taskFunction(void* params)
+ {
+ _Tp* task = static_cast<_Tp*>(params);
+ task->run();
+ }
};
} // namespace SenseShift::FreeRTOS
From bb73823f8a6d562888e9a12f9d9637a26a793d21 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 24 Aug 2023 14:52:58 +0400
Subject: [PATCH 20/82] ci(GitHub): easier build flag handling
---
.github/scripts/get_firmware_name.sh | 45 +++++++++++++++++-----------
1 file changed, 27 insertions(+), 18 deletions(-)
diff --git a/.github/scripts/get_firmware_name.sh b/.github/scripts/get_firmware_name.sh
index d7c15d7a..63b0b610 100755
--- a/.github/scripts/get_firmware_name.sh
+++ b/.github/scripts/get_firmware_name.sh
@@ -32,6 +32,22 @@ getBhapticsName() {
fi
}
+handleCalibrationFlag() {
+ local target=$1
+ local flag=$2
+ local prefix=$3
+
+ if [[ $flag =~ MinMaxCalibrator ]]; then
+ target="$target+${prefix}_minmax"
+ elif [[ $flag =~ FixedCenterPointDeviationCalibrator ]]; then
+ target="$target+${prefix}_fcpd"
+ elif [[ $flag =~ CenterPointDeviationCalibrator ]]; then
+ target="$target+${prefix}_cpd"
+ fi
+
+ echo "$target"
+}
+
getOpenGlovesName() {
local target=$1
# rest of params
@@ -43,27 +59,20 @@ getOpenGlovesName() {
if [[ $flags =~ OPENGLOVES_COMM_SERIAL ]]; then
echo "::debug::Serial is enabled, appending +serial to the target"
target="$target+serial"
- fi
-
- if [[ $flags =~ OPENGLOVES_COMM_BTSERIAL ]]; then
+ elif [[ $flags =~ OPENGLOVES_COMM_BTSERIAL ]]; then
echo "::debug::Bluetooth Serial is enabled, appending +bluetooth to the target"
target="$target+bluetooth"
fi
- if [[ $flags =~ CALIBRATION_CURL=::SenseShift::Calibration::MinMaxCalibrator ]]; then
- echo "::debug::MinMaxCalibrator is enabled, appending +curl_minmax to the target"
- target="$target+curl_minmaxcalib"
- fi
-
- if [[ $flags =~ CALIBRATION_CURL=::SenseShift::Calibration::CenterPointDeviationCalibrator ]]; then
- echo "::debug::CenterPointDeviationCalibrator is enabled, appending +curl_cpcalib to the target"
- target="$target+curl_cpcalib"
- fi
+ for flag in "${@:2}"; do
+ if [[ $flag =~ CALIBRATION_CURL ]]; then
+ target=$(handleCalibrationFlag "$target" "$flag" "curl_calib")
+ fi
- if [[ $flags =~ CALIBRATION_CURL=::SenseShift::Calibration::FixedCenterPointDeviationCalibrator ]]; then
- echo "::debug::FixedCenterPointDeviationCalibrator is enabled, appending +curl_fcpcalib to the target"
- target="$target+curl_fcpcalib"
- fi
+ if [[ $flag =~ CALIBRATION_SPLAY ]]; then
+ target=$(handleCalibrationFlag "$target" "$flag" "splay_calib")
+ fi
+ done
echo "firmware=$target"
if [[ -n "$GITHUB_ACTIONS" ]]; then
@@ -77,9 +86,9 @@ getOpenGlovesName() {
target=$1
echo "::debug::Target is $target"
if [[ $target =~ ^(bhaptics) ]]; then
- getBhapticsName $@
+ getBhapticsName "${@}"
elif [[ $target =~ ^(opengloves|lucidgloves|indexer) ]]; then
- getOpenGlovesName $@
+ getOpenGlovesName "${@}"
else
echo "::error::Unknown target $target"
exit 1
From 854f5c532dba357f85170b2cdc2e03610a7d6338 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 29 Aug 2023 01:24:25 +0400
Subject: [PATCH 21/82] refactor(Input): use memoized sensor by default
---
.../mode_configs/opengloves/opengloves.cpp | 6 +-
.../arduino/input/sensor/analog.hpp | 10 +--
.../arduino/input/sensor/digital.hpp | 10 +--
lib/battery/senseshift/battery/sensor.hpp | 8 +-
.../senseshift/freertos/battery.hpp | 4 +-
lib/calibration/senseshift/calibration.hpp | 2 -
lib/core/senseshift/interface.hpp | 11 +++
.../senseshift/freertos/input/sensor.hpp | 10 +--
lib/opengloves/og_protocol.hpp | 2 +-
lib/opengloves/sensor/og_finger.hpp | 36 ++++-----
lib/opengloves/sensor/og_gesture.hpp | 8 +-
lib/opengloves/sensor/og_sensor.hpp | 4 +-
lib/opengloves_task/opengloves_task.hpp | 2 +-
lib/sensor/senseshift/input/sensor.hpp | 77 +++++++++----------
.../senseshift/input/sensor/joystick.hpp | 8 +-
test/test_opengloves/main.cpp | 18 ++---
test/test_opengloves_finger/main.cpp | 18 ++---
test/test_sensor/main.cpp | 12 +--
18 files changed, 126 insertions(+), 120 deletions(-)
create mode 100644 lib/core/senseshift/interface.hpp
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index 47d8e289..5af9b961 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -55,7 +55,7 @@
#define FINGER_PINKY_ENABLED (defined(PIN_FINGER_PINKY) && (PIN_FINGER_PINKY != -1))
#define FINGER_CLASS(type, curl_pin, curl_invert, curl_calib) \
FingerSensor( \
- new ::SenseShift::Input::CalibratedSensor<uint16_t>( \
+ new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
new curl_calib() \
), \
@@ -69,11 +69,11 @@
#define FINGER_PINKY_SPLAY (FINGER_PINKY_ENABLED && defined(PIN_FINGER_PINKY_SPLAY) && (PIN_FINGER_PINKY_SPLAY != -1))
#define FINGER_SPLAY_CLASS(type, curl_pin, curl_invert, curl_calib, splay_pin, splay_invert, splay_calib) \
FingerSensor( \
- new ::SenseShift::Input::CalibratedSensor<uint16_t>( \
+ new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
new curl_calib() \
), \
- new ::SenseShift::Input::CalibratedSensor<uint16_t>( \
+ new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
new ::SenseShift::Arduino::Input::AnalogSensor<splay_invert>(splay_pin), \
new splay_calib() \
), \
diff --git a/lib/arduino/senseshift/arduino/input/sensor/analog.hpp b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
index 4d1d5705..4dabd41b 100644
--- a/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
+++ b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
@@ -6,26 +6,26 @@
namespace SenseShift::Arduino::Input {
template<bool invert = false>
- class AnalogSensor : public ::SenseShift::Input::ISensor<uint16_t> {
+ class AnalogSensor : public ::SenseShift::Input::ISimpleSensor<uint16_t> {
private:
uint8_t pin;
public:
AnalogSensor(uint8_t pin) : pin(pin) {}
- void setup(void) { pinMode(this->pin, INPUT); };
+ void init() override { pinMode(this->pin, INPUT); };
- uint16_t getValue(void) override;
+ uint16_t getValue() override;
};
template<>
- uint16_t AnalogSensor<false>::getValue(void)
+ uint16_t AnalogSensor<false>::getValue()
{
return analogRead(this->pin);
}
template<>
- uint16_t AnalogSensor<true>::getValue(void)
+ uint16_t AnalogSensor<true>::getValue()
{
return ANALOG_MAX - analogRead(this->pin);
}
diff --git a/lib/arduino/senseshift/arduino/input/sensor/digital.hpp b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
index 16de1b6c..31b77bbf 100644
--- a/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
+++ b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
@@ -5,7 +5,7 @@
#include <Arduino.h>
namespace SenseShift::Arduino::Input {
- typedef ::SenseShift::Input::ISensor<bool> IDigitalSensor;
+ typedef ::SenseShift::Input::ISimpleSensor<bool> IDigitalSensor;
template<bool invert = false>
class DigitalSensor : public IDigitalSensor {
@@ -15,19 +15,19 @@ namespace SenseShift::Arduino::Input {
public:
DigitalSensor(uint8_t pin) : pin(pin) {}
- void setup(void) { pinMode(this->pin, INPUT_PULLUP); };
+ void init() override { pinMode(this->pin, INPUT_PULLUP); };
- bool getValue(void) override;
+ bool getValue() override;
};
template<>
- bool DigitalSensor<false>::getValue(void)
+ bool DigitalSensor<false>::getValue()
{
return digitalRead(this->pin) == LOW;
}
template<>
- bool DigitalSensor<true>::getValue(void)
+ bool DigitalSensor<true>::getValue()
{
return digitalRead(this->pin) == HIGH;
}
diff --git a/lib/battery/senseshift/battery/sensor.hpp b/lib/battery/senseshift/battery/sensor.hpp
index 0ae63ba3..5897564e 100644
--- a/lib/battery/senseshift/battery/sensor.hpp
+++ b/lib/battery/senseshift/battery/sensor.hpp
@@ -14,20 +14,20 @@ namespace SenseShift::Battery {
/**
* Abstract battery sensor
*/
- typedef ::SenseShift::Input::ISensor<BatteryState> IBatterySensor;
+ typedef ::SenseShift::Input::ISimpleSensor<BatteryState> IBatterySensor;
class NaiveBatterySensor : public IBatterySensor {
public:
- NaiveBatterySensor(::SenseShift::Input::ISensor<uint16_t>* sensor) : sensor(sensor){};
+ NaiveBatterySensor(::SenseShift::Input::ISimpleSensor<uint16_t>* sensor) : sensor(sensor){};
BatteryState getValue() override
{
return { .level =
static_cast<uint8_t>(::SenseShift::simpleMap<uint16_t>(this->sensor->getValue(), 4095, 255)) };
};
- void setup() { this->sensor->setup(); }
+ void init() override { this->sensor->init(); }
private:
- ::SenseShift::Input::ISensor<uint16_t>* sensor;
+ ::SenseShift::Input::ISimpleSensor<uint16_t>* sensor;
};
} // namespace SenseShift::Battery
diff --git a/lib/battery_task/senseshift/freertos/battery.hpp b/lib/battery_task/senseshift/freertos/battery.hpp
index 688459a2..8a1199fe 100644
--- a/lib/battery_task/senseshift/freertos/battery.hpp
+++ b/lib/battery_task/senseshift/freertos/battery.hpp
@@ -10,9 +10,9 @@ namespace SenseShift::FreeRTOS::Battery {
::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState>(sensor),
eventDispatcher(eventDispatcher){};
- void updateValue() override
+ void tick() override
{
- this->::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState>::updateValue();
+ this->::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState>::tick();
this->eventDispatcher->postEvent(new ::SenseShift::Battery::BatteryLevelEvent(this->value));
}
diff --git a/lib/calibration/senseshift/calibration.hpp b/lib/calibration/senseshift/calibration.hpp
index 58c190c0..13a9834b 100644
--- a/lib/calibration/senseshift/calibration.hpp
+++ b/lib/calibration/senseshift/calibration.hpp
@@ -20,9 +20,7 @@ namespace SenseShift::Calibration {
public:
virtual void resetCalibration() = 0;
-
void enableCalibration() override { calibrate = true; }
-
void disableCalibration() override { calibrate = false; }
};
diff --git a/lib/core/senseshift/interface.hpp b/lib/core/senseshift/interface.hpp
new file mode 100644
index 00000000..af428cc6
--- /dev/null
+++ b/lib/core/senseshift/interface.hpp
@@ -0,0 +1,11 @@
+#pragma once
+
+namespace SenseShift {
+ struct IInitializable {
+ virtual void init() = 0;
+ };
+
+ struct ITickable {
+ virtual void tick() = 0;
+ };
+} // namespace SenseShift
diff --git a/lib/freertos/senseshift/freertos/input/sensor.hpp b/lib/freertos/senseshift/freertos/input/sensor.hpp
index b4b273b8..cf7a1f45 100644
--- a/lib/freertos/senseshift/freertos/input/sensor.hpp
+++ b/lib/freertos/senseshift/freertos/input/sensor.hpp
@@ -13,7 +13,7 @@ namespace SenseShift::FreeRTOS::Input {
friend class Task<SensorUpdateTask>;
private:
- using Sensor_t = ::SenseShift::Input::IMemoizedSensor;
+ using Sensor_t = ::SenseShift::ITickable;
public:
SensorUpdateTask(Sensor_t* sensor, std::uint32_t updateDelay, TaskConfig taskConfig) :
@@ -26,14 +26,14 @@ namespace SenseShift::FreeRTOS::Input {
void run()
{
while (true) {
- this->sensor->updateValue();
+ this->sensor->tick();
::delay(this->updateDelay);
}
}
};
template<typename _Tp>
- class TaskedSensor : public SensorUpdateTask, public ::SenseShift::Input::ISensor<_Tp> {
+ class TaskedSensor : public SensorUpdateTask, public ::SenseShift::Input::ISimpleSensor<_Tp> {
friend class SensorUpdateTask;
private:
@@ -45,11 +45,11 @@ namespace SenseShift::FreeRTOS::Input {
void begin() override
{
- this->setup();
+ this->init();
SensorUpdateTask::begin();
};
- void setup() override { this->sensor->setup(); };
+ void init() override { this->sensor->init(); };
_Tp getValue() override { return this->sensor->getValue(); };
diff --git a/lib/opengloves/og_protocol.hpp b/lib/opengloves/og_protocol.hpp
index 9c92e98f..0e863109 100644
--- a/lib/opengloves/og_protocol.hpp
+++ b/lib/opengloves/og_protocol.hpp
@@ -45,7 +45,7 @@ namespace OpenGloves {
public:
IStringEncodedMemoizedSensor(Type type) : IStringEncoded(type){};
- virtual void setup() = 0;
+ virtual void init() = 0;
virtual void updateValue() = 0;
};
diff --git a/lib/opengloves/sensor/og_finger.hpp b/lib/opengloves/sensor/og_finger.hpp
index 9b5193d3..1be50ec0 100644
--- a/lib/opengloves/sensor/og_finger.hpp
+++ b/lib/opengloves/sensor/og_finger.hpp
@@ -6,19 +6,19 @@
namespace OpenGloves {
struct FingerSensors {
- std::vector<SenseShift::Input::CalibratedSensor<uint16_t>*> curl =
- std::vector<SenseShift::Input::CalibratedSensor<uint16_t>*>();
- std::optional<SenseShift::Input::CalibratedSensor<uint16_t>*> splay = std::nullopt;
+ std::vector<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> curl =
+ std::vector<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*>();
+ std::optional<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> splay = std::nullopt;
FingerSensors(
- std::vector<SenseShift::Input::CalibratedSensor<uint16_t>*> curl,
- std::optional<SenseShift::Input::CalibratedSensor<uint16_t>*> splay = std::nullopt
+ std::vector<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> curl,
+ std::optional<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> splay = std::nullopt
) :
curl(curl), splay(splay){};
FingerSensors(
- SenseShift::Input::CalibratedSensor<uint16_t>* curl1,
- std::optional<SenseShift::Input::CalibratedSensor<uint16_t>*> splay = std::nullopt
+ SenseShift::Input::CalibratedSimpleSensor<uint16_t>* curl1,
+ std::optional<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> splay = std::nullopt
) :
curl({ curl1 }), splay(splay){};
};
@@ -31,25 +31,25 @@ namespace OpenGloves {
virtual uint16_t getCurl() = 0;
};
- typedef SenseShift::Input::ISensor<FingerValue> IFingerSensor;
+ typedef SenseShift::Input::ISimpleSensor<FingerValue> IFingerSensor;
class SimpleFingerSensor : public IFingerSensor, public ICurl {
public:
SimpleFingerSensor(FingerSensors sensors) : sensors(sensors){};
SimpleFingerSensor(
- SenseShift::Input::CalibratedSensor<uint16_t>* curl1,
- std::optional<SenseShift::Input::CalibratedSensor<uint16_t>*> splay = std::nullopt
+ SenseShift::Input::CalibratedSimpleSensor<uint16_t>* curl1,
+ std::optional<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> splay = std::nullopt
) :
sensors(curl1, splay){};
- void setup() override
+ void init() override
{
for (auto sensor : sensors.curl) {
- sensor->setup();
+ sensor->init();
}
if (sensors.splay.has_value()) {
- sensors.splay.value()->setup();
+ sensors.splay.value()->init();
}
}
@@ -82,8 +82,8 @@ namespace OpenGloves {
CalibratedFingerSensor(FingerSensors sensors) : SimpleFingerSensor(sensors){};
CalibratedFingerSensor(
- SenseShift::Input::CalibratedSensor<uint16_t>* curl1,
- std::optional<SenseShift::Input::CalibratedSensor<uint16_t>*> splay = std::nullopt
+ SenseShift::Input::CalibratedSimpleSensor<uint16_t>* curl1,
+ std::optional<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> splay = std::nullopt
) :
SimpleFingerSensor(curl1, splay){};
@@ -127,13 +127,13 @@ namespace OpenGloves {
StringEncodedMemoizedSensor<FingerValue>(sensor, type){};
FingerSensor(
- SenseShift::Input::CalibratedSensor<uint16_t>* curl1,
- std::optional<SenseShift::Input::CalibratedSensor<uint16_t>*> splay,
+ SenseShift::Input::CalibratedSimpleSensor<uint16_t>* curl1,
+ std::optional<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> splay,
IEncodedInput::Type type
) :
StringEncodedMemoizedSensor<FingerValue>(new CalibratedFingerSensor(curl1, splay), type){};
- FingerSensor(SenseShift::Input::CalibratedSensor<uint16_t>* curl1, IEncodedInput::Type type) :
+ FingerSensor(SenseShift::Input::CalibratedSimpleSensor<uint16_t>* curl1, IEncodedInput::Type type) :
StringEncodedMemoizedSensor<FingerValue>(new CalibratedFingerSensor(curl1, std::nullopt), type){};
void resetCalibration() override { static_cast<CalibratedFingerSensor*>(this->sensor)->resetCalibration(); }
diff --git a/lib/opengloves/sensor/og_gesture.hpp b/lib/opengloves/sensor/og_gesture.hpp
index 324cdb30..9bb0e375 100644
--- a/lib/opengloves/sensor/og_gesture.hpp
+++ b/lib/opengloves/sensor/og_gesture.hpp
@@ -3,7 +3,7 @@
#include <sensor/og_finger.hpp>
namespace OpenGloves {
- class Gesture : public SenseShift::Input::ISensor<bool> {};
+ class Gesture : public SenseShift::Input::ISimpleSensor<bool> {};
class GrabGesture : public Gesture {
private:
@@ -17,7 +17,7 @@ namespace OpenGloves {
GrabGesture(ICurl& index, ICurl& middle, ICurl& ring, ICurl& pinky, uint16_t threshold) :
index(index), middle(middle), ring(ring), pinky(pinky), threshold(threshold){};
- void setup() override{};
+ void init() override{};
bool getValue() override
{
@@ -34,7 +34,7 @@ namespace OpenGloves {
public:
TriggerGesture(ICurl& index, uint16_t threshold) : index(index), threshold(threshold){};
- void setup() override{};
+ void init() override{};
bool getValue() override { return this->index.getCurl() > this->threshold; }
};
@@ -49,7 +49,7 @@ namespace OpenGloves {
PinchGesture(ICurl& index, ICurl& thumb, uint16_t threshold) :
index(index), thumb(thumb), threshold(threshold){};
- void setup() override{};
+ void init() override{};
bool getValue() override
{
diff --git a/lib/opengloves/sensor/og_sensor.hpp b/lib/opengloves/sensor/og_sensor.hpp
index 9fdd4a71..42c722de 100644
--- a/lib/opengloves/sensor/og_sensor.hpp
+++ b/lib/opengloves/sensor/og_sensor.hpp
@@ -30,10 +30,10 @@ namespace OpenGloves {
public IStringEncodedMemoizedSensor,
public SenseShift::Input::MemoizedSensor<_Tp> {
public:
- StringEncodedMemoizedSensor(SenseShift::Input::ISensor<_Tp>* sensor, IEncodedInput::Type type) :
+ StringEncodedMemoizedSensor(SenseShift::Input::ISimpleSensor<_Tp>* sensor, IEncodedInput::Type type) :
IStringEncodedMemoizedSensor(type), SenseShift::Input::MemoizedSensor<_Tp>(sensor){};
- void setup() override { this->sensor->setup(); }
+ void init() override { this->sensor->init(); }
void updateValue() override { this->value = this->sensor->getValue(); }
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index 8fab0ec0..630d6d8a 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -160,7 +160,7 @@ namespace OpenGloves {
log_d("There is a total of %d sensors", this->allSensors.size());
for (auto* input : this->allSensors) {
log_d("Setting up sensor: %c", input->getType());
- input->setup();
+ input->init();
}
// Start calibration if no calibration button is present or if configured to always calibrate.
diff --git a/lib/sensor/senseshift/input/sensor.hpp b/lib/sensor/senseshift/input/sensor.hpp
index 8de2a7bb..a4f5e160 100644
--- a/lib/sensor/senseshift/input/sensor.hpp
+++ b/lib/sensor/senseshift/input/sensor.hpp
@@ -3,6 +3,7 @@
#include <type_traits>
#include <senseshift/calibration.hpp>
+#include <senseshift/interface.hpp>
#include <senseshift/logging.hpp>
#if defined(__AVR__)
@@ -22,93 +23,89 @@ namespace SenseShift::Input {
* @tparam _Tp Type of the sensor value
*/
template<typename _Tp>
- class ISensor {
- public:
- /**
- * Setup the sensor hardware
- */
- virtual void setup() = 0;
+ struct ISimpleSensor : public virtual IInitializable {
+ using ValueType = _Tp;
/**
* Get the current sensor value
*/
- virtual _Tp getValue() = 0;
+ virtual ValueType getValue() = 0;
};
- class IMemoizedSensor {
- public:
- /**
- * Update the memoized value
- */
- virtual void updateValue() = 0;
- };
+ template<typename _Tp>
+ struct ISensor : public virtual ISimpleSensor<_Tp>, ITickable {};
/**
* Memoized sensor decorator
* @tparam _Tp Type of the sensor value
*/
template<typename _Tp>
- class MemoizedSensor : public ISensor<_Tp>, public virtual IMemoizedSensor {
+ class MemoizedSensor : public ISensor<_Tp> {
protected:
- ISensor<_Tp>* sensor;
+ ISimpleSensor<_Tp>* sensor;
_Tp value;
public:
/**
* @param sensor Sensor to be decorated
*/
- MemoizedSensor(ISensor<_Tp>* sensor) : sensor(sensor){};
+ MemoizedSensor(ISimpleSensor<_Tp>* sensor) : sensor(sensor){};
/**
* Setup the sensor hardware
*/
- void setup() override { this->sensor->setup(); };
+ void init() override { this->sensor->init(); };
/**
- * Get the current memoized value
+ * Read actual value from the hardware and memoize it
*/
- _Tp getValue() override { return this->value; };
+ void tick() override { this->value = this->sensor->getValue(); };
/**
- * Read actual value from the hardware and memoize it
+ * Get the current memoized value
*/
- void updateValue() { this->value = this->sensor->getValue(); };
+ _Tp getValue() override { return this->value; };
};
+ template<typename _Tp>
+ class ICalibratedSimpleSensor : public ISimpleSensor<_Tp>, public Calibration::ICalibrated {};
+
/**
* Calibrated sensor decorator
*
* @tparam _Tp Type of the sensor value
*/
template<typename _Tp>
- class CalibratedSensor : public ISensor<_Tp>, public ::SenseShift::Calibration::Calibrated {
+ class CalibratedSimpleSensor : public ICalibratedSimpleSensor<_Tp> {
+ public:
+ /**
+ * @param sensor Sensor to be decorated
+ * @param calibrator ICalibrator algorithm to be used
+ */
+ CalibratedSimpleSensor(ISimpleSensor<_Tp>* sensor, Calibration::ICalibrator<_Tp>* calibrator) :
+ sensor(sensor), calibrator(calibrator){};
+
+ void init() override { this->sensor->init(); };
+ _Tp getValue() override { return this->getCalibratedValue(); };
+
+ void resetCalibration() override { this->calibrator->reset(); };
+ void enableCalibration() override { calibrating = true; }
+ void disableCalibration() override { calibrating = false; }
+
protected:
- ISensor<_Tp>* sensor;
- ::SenseShift::Calibration::ICalibrator<_Tp>* calibrator;
+ ISimpleSensor<_Tp>* sensor;
+ Calibration::ICalibrator<_Tp>* calibrator;
+ bool calibrating = false;
_Tp getCalibratedValue()
{
auto value = this->sensor->getValue();
- if (this->calibrate) {
+ if (this->calibrating) {
this->calibrator->update(value);
}
return this->calibrator->calibrate(value);
}
-
- public:
- /**
- * @param sensor Sensor to be decorated
- * @param calibrator ICalibrator algorithm to be used
- */
- CalibratedSensor(ISensor<_Tp>* sensor, ::SenseShift::Calibration::ICalibrator<_Tp>* calibrator) :
- sensor(sensor), calibrator(calibrator){};
-
- void setup() override { this->sensor->setup(); };
-
- _Tp getValue() override { return this->getCalibratedValue(); };
-
- void resetCalibration() override { this->calibrator->reset(); };
};
} // namespace SenseShift::Input
diff --git a/lib/sensor/senseshift/input/sensor/joystick.hpp b/lib/sensor/senseshift/input/sensor/joystick.hpp
index b9d28519..a03af6f7 100644
--- a/lib/sensor/senseshift/input/sensor/joystick.hpp
+++ b/lib/sensor/senseshift/input/sensor/joystick.hpp
@@ -7,9 +7,9 @@ namespace SenseShift::Input {
* Joystick axis sensor decorator
*/
template<typename _Tp>
- class JoystickAxisSensor : public ISensor<_Tp> {
+ class JoystickAxisSensor : public ISimpleSensor<_Tp> {
private:
- ISensor<_Tp>* sensor;
+ ISimpleSensor<_Tp>* sensor;
float dead_zone;
int filterDeadZone(int in)
@@ -22,9 +22,9 @@ namespace SenseShift::Input {
}
public:
- JoystickAxisSensor(ISensor<_Tp>* sensor, float dead_zone) : sensor(sensor), dead_zone(dead_zone){};
+ JoystickAxisSensor(ISimpleSensor<_Tp>* sensor, float dead_zone) : sensor(sensor), dead_zone(dead_zone){};
- void setup(void) { this->sensor->setup(); };
+ void init() override { this->sensor->init(); };
uint16_t getValue(void) override
{
diff --git a/test/test_opengloves/main.cpp b/test/test_opengloves/main.cpp
index c711cdc1..7f607d6f 100644
--- a/test/test_opengloves/main.cpp
+++ b/test/test_opengloves/main.cpp
@@ -3,34 +3,34 @@
using namespace OpenGloves;
-class TestAnalogSensor : public SenseShift::Input::ISensor<uint16_t> {
+class TestAnalogSensor : public SenseShift::Input::ISimpleSensor<uint16_t> {
private:
uint16_t count = 0;
public:
int setupCounter = 0;
- void setup() override { this->setupCounter++; };
+ void init() override { this->setupCounter++; };
uint16_t getValue() override { return ++this->count; };
};
-class TestBinarySensor : public SenseShift::Input::ISensor<bool> {
+class TestBinarySensor : public SenseShift::Input::ISimpleSensor<bool> {
public:
bool value = false;
int setupCounter = 0;
- void setup() override { this->setupCounter++; };
+ void init() override { this->setupCounter++; };
bool getValue() override { return this->value; };
};
-class TestFingerSensor : public SenseShift::Input::ISensor<FingerValue> {
+class TestFingerSensor : public SenseShift::Input::ISimpleSensor<FingerValue> {
public:
FingerValue value;
int setupCounter = 0;
- void setup() override { this->setupCounter++; };
+ void init() override { this->setupCounter++; };
FingerValue getValue() override { return this->value; };
};
@@ -41,7 +41,7 @@ void test_string_encoded_sensor_uint16(void)
auto sensor = new StringEncodedMemoizedSensor<uint16_t>(inner, IEncodedInput::Type::INDEX);
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->setup();
+ sensor->init();
TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
TEST_ASSERT_EQUAL_INT(0, sensor->getValue());
@@ -63,7 +63,7 @@ void test_string_encoded_sensor_bool(void)
auto sensor = new StringEncodedMemoizedSensor<bool>(inner, IEncodedInput::Type::A_BTN);
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->setup();
+ sensor->init();
TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
TEST_ASSERT_FALSE(sensor->getValue());
@@ -94,7 +94,7 @@ void test_string_encoded_sensor_fingervalue(void)
auto sensor = new StringEncodedMemoizedSensor<FingerValue>(inner, IEncodedInput::Type::THUMB);
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->setup();
+ sensor->init();
TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
// curl-only
diff --git a/test/test_opengloves_finger/main.cpp b/test/test_opengloves_finger/main.cpp
index ee063582..569bcda8 100644
--- a/test/test_opengloves_finger/main.cpp
+++ b/test/test_opengloves_finger/main.cpp
@@ -4,14 +4,14 @@
using namespace OpenGloves;
using namespace SenseShift::Calibration;
-class TestAnalogSensor : public SenseShift::Input::ISensor<uint16_t> {
+class TestAnalogSensor : public SenseShift::Input::ISimpleSensor<uint16_t> {
private:
uint16_t count = 0;
public:
int setupCounter = 0;
- void setup() override { this->setupCounter++; };
+ void init() override { this->setupCounter++; };
uint16_t getValue() override { return this->count++; };
};
@@ -34,11 +34,11 @@ void test_simple_finger_sensor_curl(void)
{
auto* inner = new TestAnalogSensor();
auto* calibrator = new DummyCalibrator();
- auto* calibrated = new SenseShift::Input::CalibratedSensor<uint16_t>(inner, calibrator);
+ auto* calibrated = new SenseShift::Input::CalibratedSimpleSensor<uint16_t>(inner, calibrator);
auto* sensor = new SimpleFingerSensor(calibrated);
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->setup();
+ sensor->init();
TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
// since the sensor is not memoized, the value is updated on every call
@@ -60,17 +60,17 @@ void test_simple_finger_sensor_curl_flex(void)
{
auto* inner_curl = new TestAnalogSensor();
auto* calibrator_curl = new DummyCalibrator();
- auto* calibrated_curl = new SenseShift::Input::CalibratedSensor<uint16_t>(inner_curl, calibrator_curl);
+ auto* calibrated_curl = new SenseShift::Input::CalibratedSimpleSensor<uint16_t>(inner_curl, calibrator_curl);
auto* inner_flex = new TestAnalogSensor();
auto* calibrator_flex = new DummyCalibrator();
- auto* calibrated_flex = new SenseShift::Input::CalibratedSensor<uint16_t>(inner_flex, calibrator_flex);
+ auto* calibrated_flex = new SenseShift::Input::CalibratedSimpleSensor<uint16_t>(inner_flex, calibrator_flex);
auto* sensor = new SimpleFingerSensor(calibrated_curl, calibrated_flex);
TEST_ASSERT_EQUAL_INT(0, inner_curl->setupCounter);
TEST_ASSERT_EQUAL_INT(0, inner_flex->setupCounter);
- sensor->setup();
+ sensor->init();
TEST_ASSERT_EQUAL_INT(1, inner_curl->setupCounter);
TEST_ASSERT_EQUAL_INT(1, inner_flex->setupCounter);
@@ -100,11 +100,11 @@ void test_finger_sensor_curl(void)
{
auto* inner = new TestAnalogSensor();
auto* calibrator = new DummyCalibrator();
- auto* calibrated = new SenseShift::Input::CalibratedSensor<uint16_t>(inner, calibrator);
+ auto* calibrated = new SenseShift::Input::CalibratedSimpleSensor<uint16_t>(inner, calibrator);
auto* sensor = new FingerSensor(calibrated, IEncodedInput::Type::INDEX);
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->setup();
+ sensor->init();
TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
TEST_ASSERT_EQUAL_INT(0, sensor->getValue().curl[0]);
diff --git a/test/test_sensor/main.cpp b/test/test_sensor/main.cpp
index f9cbcea0..c0b75acb 100644
--- a/test/test_sensor/main.cpp
+++ b/test/test_sensor/main.cpp
@@ -4,14 +4,14 @@
using namespace SenseShift::Input;
using namespace SenseShift::Calibration;
-class TestAnalogSensor : public ISensor<int> {
+class TestAnalogSensor : public ISimpleSensor<int> {
private:
int count = 0;
public:
int setupCounter = 0;
- void setup() override { this->setupCounter++; };
+ void init() override { this->setupCounter++; };
int getValue() override { return ++this->count; };
};
@@ -22,13 +22,13 @@ void test_memoized_sensor(void)
auto sensor = new MemoizedSensor<int>(inner);
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->setup();
+ sensor->init();
TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
TEST_ASSERT_EQUAL_INT(0, sensor->getValue());
TEST_ASSERT_EQUAL_INT(0, sensor->getValue());
- sensor->updateValue();
+ sensor->tick();
TEST_ASSERT_EQUAL_INT(1, sensor->getValue());
TEST_ASSERT_EQUAL_INT(1, sensor->getValue());
@@ -52,10 +52,10 @@ void test_calibrated_sensor(void)
{
auto inner = new TestAnalogSensor();
auto calibrator = new DummyCalibrator();
- auto sensor = new CalibratedSensor<int>(inner, calibrator);
+ auto sensor = new CalibratedSimpleSensor<int>(inner, calibrator);
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->setup();
+ sensor->init();
TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
calibrator->update(-1);
From 985e4c01f69a4ef8f65815de7f770205c0132465 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Wed, 30 Aug 2023 19:42:26 +0400
Subject: [PATCH 22/82] refactor: use advanced PlatformIO LDF
---
examples/bhaptics-ble-bt-serial.cpp | 2 +-
firmware/mode_configs/bhaptics/tactal.cpp | 7 ++--
firmware/mode_configs/bhaptics/tactglove.cpp | 17 +++++-----
firmware/mode_configs/bhaptics/tactosy2.cpp | 9 +++---
firmware/mode_configs/bhaptics/tactosyf.cpp | 11 +++----
firmware/mode_configs/bhaptics/tactosyh.cpp | 11 +++----
.../mode_configs/bhaptics/tactsuit_x16.cpp | 13 ++++----
.../bhaptics/tactsuit_x16_pca9685.cpp | 13 ++++----
.../mode_configs/bhaptics/tactsuit_x40.cpp | 27 ++++++++--------
firmware/mode_configs/bhaptics/tactvisor.cpp | 7 ++--
.../mode_configs/opengloves/opengloves.cpp | 12 +++----
lib/arduino/library.json | 13 ++++++++
.../senseshift/arduino/battery/ina219.hpp | 3 +-
.../senseshift/arduino/battery/max17048.hpp | 4 +--
.../arduino/output/actuator}/pca9685.hpp | 4 +--
.../arduino/output/{ => actuator}/pwm.hpp | 4 +--
.../arduino/output/{ => actuator}/servo.hpp | 4 +--
lib/battery/senseshift/battery/sensor.hpp | 16 ++++++++++
.../senseshift/freertos/battery.hpp | 22 -------------
lib/bhaptics_ble/library.json | 10 ++++++
lib/core/senseshift/events.hpp | 4 +++
lib/core/senseshift/logging.hpp | 2 ++
.../senseshift/input/sensor.hpp | 0
.../senseshift/input/sensor/joystick.hpp | 0
.../senseshift/output/actuator.hpp | 0
.../senseshift/calibration.hpp | 0
.../senseshift/container.hpp} | 32 +++++++------------
lib/util/senseshift/range.hpp | 30 +++++++++++++++++
lib/util/senseshift/utility.hpp | 8 +++++
platformio.ini | 13 +-------
test/{test_sensor => test_io_sensor}/main.cpp | 0
.../{test_core_utility => test_util}/main.cpp | 1 +
.../main.cpp | 0
33 files changed, 166 insertions(+), 133 deletions(-)
create mode 100644 lib/arduino/library.json
rename lib/{ina219 => arduino}/senseshift/arduino/battery/ina219.hpp (92%)
rename lib/{max17048 => arduino}/senseshift/arduino/battery/max17048.hpp (92%)
rename lib/{pca9685/senseshift/arduino/output => arduino/senseshift/arduino/output/actuator}/pca9685.hpp (75%)
rename lib/arduino/senseshift/arduino/output/{ => actuator}/pwm.hpp (86%)
rename lib/arduino/senseshift/arduino/output/{ => actuator}/servo.hpp (87%)
delete mode 100644 lib/battery_task/senseshift/freertos/battery.hpp
create mode 100644 lib/bhaptics_ble/library.json
rename lib/{sensor => io}/senseshift/input/sensor.hpp (100%)
rename lib/{sensor => io}/senseshift/input/sensor/joystick.hpp (100%)
rename lib/{actuators => io}/senseshift/output/actuator.hpp (100%)
rename lib/{calibration => util}/senseshift/calibration.hpp (100%)
rename lib/{core/senseshift/utility.hpp => util/senseshift/container.hpp} (54%)
create mode 100644 lib/util/senseshift/range.hpp
create mode 100644 lib/util/senseshift/utility.hpp
rename test/{test_sensor => test_io_sensor}/main.cpp (100%)
rename test/{test_core_utility => test_util}/main.cpp (99%)
rename test/{test_calibration => test_util_calibration}/main.cpp (100%)
diff --git a/examples/bhaptics-ble-bt-serial.cpp b/examples/bhaptics-ble-bt-serial.cpp
index 68dd1482..3a532691 100644
--- a/examples/bhaptics-ble-bt-serial.cpp
+++ b/examples/bhaptics-ble-bt-serial.cpp
@@ -34,7 +34,7 @@ void setupMode()
// Configure PWM pins to their positions on the face
auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
// clang-format off
- {new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14)},
+ {new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26), new ActuatorPWM(27), new ActuatorPWM(14)},
// clang-format on
});
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index f19d9e7d..2c99a8fc 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -7,17 +7,16 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/arduino/output/actuator/pwm.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/battery.hpp>
+#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Battery;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
@@ -34,7 +33,7 @@ void setupMode()
// Configure PWM pins to their positions on the face
const auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
- { new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14) },
+ { new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26), new ActuatorPWM(27), new ActuatorPWM(14) },
// clang-format on
});
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 8b123ef4..8d2138f6 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -7,18 +7,17 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/arduino/output/actuator/pwm.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/battery.hpp>
+#include <senseshift/freertos/input/sensor.hpp>
#include <senseshift/utility.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Battery;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
@@ -40,12 +39,12 @@ void setupMode()
addTactGloveActuators(
app->getHapticBody(),
handSide,
- new PWMOutputWriter(32), // Thumb
- new PWMOutputWriter(33), // Index
- new PWMOutputWriter(25), // Middle
- new PWMOutputWriter(26), // Ring
- new PWMOutputWriter(27), // Little
- new PWMOutputWriter(14) // Wrist
+ new ActuatorPWM(32), // Thumb
+ new ActuatorPWM(33), // Index
+ new ActuatorPWM(25), // Middle
+ new ActuatorPWM(26), // Ring
+ new ActuatorPWM(27), // Little
+ new ActuatorPWM(14) // Wrist
);
app->getHapticBody()->setup();
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index 682a349b..38743a78 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -7,17 +7,16 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/arduino/output/actuator/pwm.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/battery.hpp>
+#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Battery;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
@@ -34,8 +33,8 @@ void setupMode()
// Configure PWM pins to their positions on the forearm
auto forearmOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
- { new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25) },
- { new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14) },
+ { new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25) },
+ { new ActuatorPWM(26), new ActuatorPWM(27), new ActuatorPWM(14) },
// clang-format on
});
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index 99b792fd..0dd2733f 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -7,17 +7,16 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/arduino/output/actuator/pwm.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/battery.hpp>
+#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Battery;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
@@ -34,9 +33,9 @@ void setupMode()
// Configure PWM pins to their positions on the feet
auto footOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
- { new PWMOutputWriter(32) },
- { new PWMOutputWriter(33) },
- { new PWMOutputWriter(25) },
+ { new ActuatorPWM(32) },
+ { new ActuatorPWM(33) },
+ { new ActuatorPWM(25) },
// clang-format on
});
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index 0e3cc417..ae3de9da 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -7,17 +7,16 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/arduino/output/actuator/pwm.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/battery.hpp>
+#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Battery;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
@@ -34,9 +33,9 @@ void setupMode()
// Configure PWM pins to their positions on the hands
auto handOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
- { new PWMOutputWriter(32) },
- { new PWMOutputWriter(33) },
- { new PWMOutputWriter(25) }
+ { new ActuatorPWM(32) },
+ { new ActuatorPWM(33) },
+ { new ActuatorPWM(25) }
// clang-format on
});
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index 8bc88899..88b46536 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -7,17 +7,16 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/arduino/output/actuator/pwm.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/battery.hpp>
+#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Battery;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
@@ -38,14 +37,14 @@ void setupMode()
// Configure PWM pins to their positions on the vest
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
- { new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26) },
- { new PWMOutputWriter(27), new PWMOutputWriter(14), new PWMOutputWriter(12), new PWMOutputWriter(13) },
+ { new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26) },
+ { new ActuatorPWM(27), new ActuatorPWM(14), new ActuatorPWM(12), new ActuatorPWM(13) },
// clang-format on
});
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
- { new PWMOutputWriter(19), new PWMOutputWriter(18), new PWMOutputWriter(5), new PWMOutputWriter(17) },
- { new PWMOutputWriter(16), new PWMOutputWriter(4), new PWMOutputWriter(2), new PWMOutputWriter(15) },
+ { new ActuatorPWM(19), new ActuatorPWM(18), new ActuatorPWM(5), new ActuatorPWM(17) },
+ { new ActuatorPWM(16), new ActuatorPWM(4), new ActuatorPWM(2), new ActuatorPWM(15) },
// clang-format on
});
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index f7a9b099..6782ecee 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -7,17 +7,16 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/pca9685.hpp>
+#include <senseshift/arduino/output/actuator/pca9685.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/battery.hpp>
+#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Battery;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
@@ -43,14 +42,14 @@ void setupMode()
// Assign the pins on the configured PCA9685 to positions on the vest
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
- { new PCA9685OutputWriter(pwm, 0), new PCA9685OutputWriter(pwm, 1), new PCA9685OutputWriter(pwm, 2), new PCA9685OutputWriter(pwm, 3) },
- { new PCA9685OutputWriter(pwm, 4), new PCA9685OutputWriter(pwm, 5), new PCA9685OutputWriter(pwm, 6), new PCA9685OutputWriter(pwm, 7) },
+ { new ActuatorPCA9685(pwm, 0), new ActuatorPCA9685(pwm, 1), new ActuatorPCA9685(pwm, 2), new ActuatorPCA9685(pwm, 3) },
+ { new ActuatorPCA9685(pwm, 4), new ActuatorPCA9685(pwm, 5), new ActuatorPCA9685(pwm, 6), new ActuatorPCA9685(pwm, 7) },
// clang-format on
});
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
- { new PCA9685OutputWriter(pwm, 8), new PCA9685OutputWriter(pwm, 9), new PCA9685OutputWriter(pwm, 10), new PCA9685OutputWriter(pwm, 11) },
- { new PCA9685OutputWriter(pwm, 12), new PCA9685OutputWriter(pwm, 13), new PCA9685OutputWriter(pwm, 14), new PCA9685OutputWriter(pwm, 15) },
+ { new ActuatorPCA9685(pwm, 8), new ActuatorPCA9685(pwm, 9), new ActuatorPCA9685(pwm, 10), new ActuatorPCA9685(pwm, 11) },
+ { new ActuatorPCA9685(pwm, 12), new ActuatorPCA9685(pwm, 13), new ActuatorPCA9685(pwm, 14), new ActuatorPCA9685(pwm, 15) },
// clang-format on
});
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index e8668bcf..318e6ef6 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -7,18 +7,17 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/pca9685.hpp>
-#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/arduino/output/actuator/pca9685.hpp>
+#include <senseshift/arduino/output/actuator/pwm.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/battery.hpp>
+#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Battery;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
@@ -45,20 +44,20 @@ void setupMode()
// vest
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
- { new PCA9685OutputWriter(pwm0, 0), new PCA9685OutputWriter(pwm0, 1), new PCA9685OutputWriter(pwm0, 2), new PCA9685OutputWriter(pwm0, 3) },
- { new PCA9685OutputWriter(pwm0, 4), new PCA9685OutputWriter(pwm0, 5), new PCA9685OutputWriter(pwm0, 6), new PCA9685OutputWriter(pwm0, 7) },
- { new PCA9685OutputWriter(pwm0, 8), new PCA9685OutputWriter(pwm0, 9), new PCA9685OutputWriter(pwm0, 10), new PCA9685OutputWriter(pwm0, 11) },
- { new PCA9685OutputWriter(pwm0, 12), new PCA9685OutputWriter(pwm0, 13), new PCA9685OutputWriter(pwm0, 14), new PCA9685OutputWriter(pwm0, 15) },
- { new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26) },
+ { new ActuatorPCA9685(pwm0, 0), new ActuatorPCA9685(pwm0, 1), new ActuatorPCA9685(pwm0, 2), new ActuatorPCA9685(pwm0, 3) },
+ { new ActuatorPCA9685(pwm0, 4), new ActuatorPCA9685(pwm0, 5), new ActuatorPCA9685(pwm0, 6), new ActuatorPCA9685(pwm0, 7) },
+ { new ActuatorPCA9685(pwm0, 8), new ActuatorPCA9685(pwm0, 9), new ActuatorPCA9685(pwm0, 10), new ActuatorPCA9685(pwm0, 11) },
+ { new ActuatorPCA9685(pwm0, 12), new ActuatorPCA9685(pwm0, 13), new ActuatorPCA9685(pwm0, 14), new ActuatorPCA9685(pwm0, 15) },
+ { new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26) },
// clang-format on
});
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
- { new PCA9685OutputWriter(pwm1, 0), new PCA9685OutputWriter(pwm1, 1), new PCA9685OutputWriter(pwm1, 2), new PCA9685OutputWriter(pwm1, 3) },
- { new PCA9685OutputWriter(pwm1, 4), new PCA9685OutputWriter(pwm1, 5), new PCA9685OutputWriter(pwm1, 6), new PCA9685OutputWriter(pwm1, 7) },
- { new PCA9685OutputWriter(pwm1, 8), new PCA9685OutputWriter(pwm1, 9), new PCA9685OutputWriter(pwm1, 10), new PCA9685OutputWriter(pwm1, 11) },
- { new PCA9685OutputWriter(pwm1, 12), new PCA9685OutputWriter(pwm1, 13), new PCA9685OutputWriter(pwm1, 14), new PCA9685OutputWriter(pwm1, 15) },
- { new PWMOutputWriter(27), new PWMOutputWriter(14), new PWMOutputWriter(12), new PWMOutputWriter(13) },
+ { new ActuatorPCA9685(pwm1, 0), new ActuatorPCA9685(pwm1, 1), new ActuatorPCA9685(pwm1, 2), new ActuatorPCA9685(pwm1, 3) },
+ { new ActuatorPCA9685(pwm1, 4), new ActuatorPCA9685(pwm1, 5), new ActuatorPCA9685(pwm1, 6), new ActuatorPCA9685(pwm1, 7) },
+ { new ActuatorPCA9685(pwm1, 8), new ActuatorPCA9685(pwm1, 9), new ActuatorPCA9685(pwm1, 10), new ActuatorPCA9685(pwm1, 11) },
+ { new ActuatorPCA9685(pwm1, 12), new ActuatorPCA9685(pwm1, 13), new ActuatorPCA9685(pwm1, 14), new ActuatorPCA9685(pwm1, 15) },
+ { new ActuatorPWM(27), new ActuatorPWM(14), new ActuatorPWM(12), new ActuatorPWM(13) },
// clang-format on
});
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index 68cd1188..758ab9aa 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -7,17 +7,16 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/arduino/output/actuator/pwm.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/battery.hpp>
+#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Battery;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::BH;
@@ -34,7 +33,7 @@ void setupMode()
// Configure PWM pins to their positions on the face
auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
// clang-format off
- { new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26) },
+ { new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26) },
// clang-format on
});
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index 5af9b961..c58e221c 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -3,7 +3,7 @@
#include <opengloves_task.hpp>
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/input/sensor/digital.hpp>
-#include <senseshift/arduino/output/servo.hpp>
+#include <senseshift/arduino/output/actuator/servo.hpp>
#include <senseshift/calibration.hpp>
#include <senseshift/input/sensor.hpp>
#include <senseshift/input/sensor/joystick.hpp>
@@ -298,23 +298,23 @@ OpenGlovesTrackingTask* trackingTask;
#if FFB_ENABLED
HandActuators handActuators = {
#if FFB_THUMB_ENABLED
- .thumb = new SenseShift::Arduino::Output::ServoActuator(PIN_FFB_THUMB),
+ .thumb = new SenseShift::Arduino::Output::ActuatorServo(PIN_FFB_THUMB),
#endif
#if FFB_INDEX_ENABLED
- .index = new SenseShift::Arduino::Output::ServoActuator(PIN_FFB_INDEX),
+ .index = new SenseShift::Arduino::Output::ActuatorServo(PIN_FFB_INDEX),
#endif
#if FFB_MIDDLE_ENABLED
- .middle = new SenseShift::Arduino::Output::ServoActuator(PIN_FFB_MIDDLE),
+ .middle = new SenseShift::Arduino::Output::ActuatorServo(PIN_FFB_MIDDLE),
#endif
#if FFB_RING_ENABLED
- .ring = new SenseShift::Arduino::Output::ServoActuator(PIN_FFB_RING),
+ .ring = new SenseShift::Arduino::Output::ActuatorServo(PIN_FFB_RING),
#endif
#if FFB_PINKY_ENABLED
- .pinky = new SenseShift::Arduino::Output::ServoActuator(PIN_FFB_PINKY),
+ .pinky = new SenseShift::Arduino::Output::ActuatorServo(PIN_FFB_PINKY),
#endif
};
OpenGlovesForceFeedbackTask* ffbTask;
diff --git a/lib/arduino/library.json b/lib/arduino/library.json
new file mode 100644
index 00000000..8601c003
--- /dev/null
+++ b/lib/arduino/library.json
@@ -0,0 +1,13 @@
+{
+ "$schema": "https://raw.githubusercontent.com/platformio/platformio-core/develop/platformio/assets/schema/library.json",
+ "frameworks": "arduino",
+ "platforms": "*",
+ "dependencies": {
+ "adafruit/Adafruit BusIO": "^1.14.1",
+ "adafruit/Adafruit Unified Sensor": "^1.1.4",
+ "adafruit/Adafruit PWM Servo Driver Library": "^2.4.0",
+ "adafruit/Adafruit INA219": "^1.2.1",
+ "sparkfun/SparkFun MAX1704x Fuel Gauge Arduino Library": "^1.0.4",
+ "madhephaestus/ESP32Servo": "^0.13.0"
+ }
+}
diff --git a/lib/ina219/senseshift/arduino/battery/ina219.hpp b/lib/arduino/senseshift/arduino/battery/ina219.hpp
similarity index 92%
rename from lib/ina219/senseshift/arduino/battery/ina219.hpp
rename to lib/arduino/senseshift/arduino/battery/ina219.hpp
index ec2dea00..a343488d 100644
--- a/lib/ina219/senseshift/arduino/battery/ina219.hpp
+++ b/lib/arduino/senseshift/arduino/battery/ina219.hpp
@@ -13,7 +13,8 @@ namespace SenseShift::Arduino::Battery {
public:
INA219_Battery(Adafruit_INA219* sensor) : sensor(sensor){};
- void setup() override { this->active = this->sensor->begin(); }
+ void init() override { this->active = this->sensor->begin(); }
+
::SenseShift::Battery::BatteryState getValue() override
{
if (!this->active) {
diff --git a/lib/max17048/senseshift/arduino/battery/max17048.hpp b/lib/arduino/senseshift/arduino/battery/max17048.hpp
similarity index 92%
rename from lib/max17048/senseshift/arduino/battery/max17048.hpp
rename to lib/arduino/senseshift/arduino/battery/max17048.hpp
index c95c8e86..dc886cc2 100644
--- a/lib/max17048/senseshift/arduino/battery/max17048.hpp
+++ b/lib/arduino/senseshift/arduino/battery/max17048.hpp
@@ -13,7 +13,7 @@ namespace SenseShift::Arduino::Battery {
* @see
* https://github.com/sparkfun/SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library/blob/main/examples/Example1_Simple/Example1_Simple.ino
*/
- void setup() override
+ void init() override
{
// Set up the MAX17043 LiPo fuel gauge:
this->active = this->gauge->begin();
@@ -35,7 +35,7 @@ namespace SenseShift::Arduino::Battery {
return { 0 };
}
- return { .level = this->gauge->getSOC() };
+ return { .level = simpleMap(this->gauge->getSOC(), 1.0f, 255.0f) };
}
private:
diff --git a/lib/pca9685/senseshift/arduino/output/pca9685.hpp b/lib/arduino/senseshift/arduino/output/actuator/pca9685.hpp
similarity index 75%
rename from lib/pca9685/senseshift/arduino/output/pca9685.hpp
rename to lib/arduino/senseshift/arduino/output/actuator/pca9685.hpp
index aa8b4ce2..4d28f92d 100644
--- a/lib/pca9685/senseshift/arduino/output/pca9685.hpp
+++ b/lib/arduino/senseshift/arduino/output/actuator/pca9685.hpp
@@ -8,11 +8,11 @@
#include <Wire.h>
namespace SenseShift::Arduino::Output {
- class PCA9685OutputWriter : public ::SenseShift::Output::IActuator<std::uint16_t> {
+ class ActuatorPCA9685 : public ::SenseShift::Output::IActuator<std::uint16_t> {
public:
static inline constexpr const std::uint16_t MAX_INTENSITY = 4095;
- PCA9685OutputWriter(Adafruit_PWMServoDriver* driver, const std::uint8_t num) : driver(driver), num(num){};
+ ActuatorPCA9685(Adafruit_PWMServoDriver* driver, const std::uint8_t num) : driver(driver), num(num){};
void writeOutput(std::uint16_t intensity) override
{
diff --git a/lib/arduino/senseshift/arduino/output/pwm.hpp b/lib/arduino/senseshift/arduino/output/actuator/pwm.hpp
similarity index 86%
rename from lib/arduino/senseshift/arduino/output/pwm.hpp
rename to lib/arduino/senseshift/arduino/output/actuator/pwm.hpp
index 50605e5b..5f2a595e 100644
--- a/lib/arduino/senseshift/arduino/output/pwm.hpp
+++ b/lib/arduino/senseshift/arduino/output/actuator/pwm.hpp
@@ -6,11 +6,11 @@
#include <Arduino.h>
namespace SenseShift::Arduino::Output {
- class PWMOutputWriter : public ::SenseShift::Output::IActuator<std::uint16_t> {
+ class ActuatorPWM : public ::SenseShift::Output::IActuator<std::uint16_t> {
public:
static inline constexpr const std::uint16_t MAX_INTENSITY = 4095;
- PWMOutputWriter(const std::uint8_t pin, const double freq = 60, const std::uint8_t resolution = 12) :
+ ActuatorPWM(const std::uint8_t pin, const double freq = 60, const std::uint8_t resolution = 12) :
pin(pin), freq(freq), resolution(resolution){};
void setup() override
diff --git a/lib/arduino/senseshift/arduino/output/servo.hpp b/lib/arduino/senseshift/arduino/output/actuator/servo.hpp
similarity index 87%
rename from lib/arduino/senseshift/arduino/output/servo.hpp
rename to lib/arduino/senseshift/arduino/output/actuator/servo.hpp
index 027c0b05..29bfa5e1 100644
--- a/lib/arduino/senseshift/arduino/output/servo.hpp
+++ b/lib/arduino/senseshift/arduino/output/actuator/servo.hpp
@@ -6,11 +6,11 @@
#include <ESP32Servo.h>
namespace SenseShift::Arduino::Output {
- class ServoActuator : public ::SenseShift::Output::IActuator<std::uint16_t> {
+ class ActuatorServo : public ::SenseShift::Output::IActuator<std::uint16_t> {
public:
static inline constexpr const std::uint16_t MAX_INTENSITY = 4095;
- ServoActuator(const uint8_t pin, const std::uint16_t min = 500, const std::uint16_t max = 2400) :
+ ActuatorServo(const uint8_t pin, const std::uint16_t min = 500, const std::uint16_t max = 2400) :
pin(pin), min(min), max(max){};
void setup() override
diff --git a/lib/battery/senseshift/battery/sensor.hpp b/lib/battery/senseshift/battery/sensor.hpp
index 5897564e..f2c2968a 100644
--- a/lib/battery/senseshift/battery/sensor.hpp
+++ b/lib/battery/senseshift/battery/sensor.hpp
@@ -30,4 +30,20 @@ namespace SenseShift::Battery {
private:
::SenseShift::Input::ISimpleSensor<uint16_t>* sensor;
};
+
+ class BatterySensor : public ::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState> {
+ public:
+ BatterySensor(::SenseShift::Battery::IBatterySensor* sensor, ::SenseShift::IEventDispatcher* eventDispatcher) :
+ ::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState>(sensor),
+ eventDispatcher(eventDispatcher){};
+
+ void tick() override
+ {
+ this->::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState>::tick();
+ this->eventDispatcher->postEvent(new ::SenseShift::Battery::BatteryLevelEvent(this->value));
+ }
+
+ private:
+ ::SenseShift::IEventDispatcher* eventDispatcher;
+ };
} // namespace SenseShift::Battery
diff --git a/lib/battery_task/senseshift/freertos/battery.hpp b/lib/battery_task/senseshift/freertos/battery.hpp
deleted file mode 100644
index 8a1199fe..00000000
--- a/lib/battery_task/senseshift/freertos/battery.hpp
+++ /dev/null
@@ -1,22 +0,0 @@
-#pragma once
-
-#include <senseshift/battery/sensor.hpp>
-#include <senseshift/freertos/input/sensor.hpp>
-
-namespace SenseShift::FreeRTOS::Battery {
- class BatterySensor : public ::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState> {
- public:
- BatterySensor(::SenseShift::Battery::IBatterySensor* sensor, ::SenseShift::IEventDispatcher* eventDispatcher) :
- ::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState>(sensor),
- eventDispatcher(eventDispatcher){};
-
- void tick() override
- {
- this->::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState>::tick();
- this->eventDispatcher->postEvent(new ::SenseShift::Battery::BatteryLevelEvent(this->value));
- }
-
- private:
- ::SenseShift::IEventDispatcher* eventDispatcher;
- };
-} // namespace SenseShift::FreeRTOS::Battery
diff --git a/lib/bhaptics_ble/library.json b/lib/bhaptics_ble/library.json
new file mode 100644
index 00000000..7ab73cce
--- /dev/null
+++ b/lib/bhaptics_ble/library.json
@@ -0,0 +1,10 @@
+{
+ "$schema": "https://raw.githubusercontent.com/platformio/platformio-core/develop/platformio/assets/schema/library.json",
+ "frameworks": "arduino",
+ "platforms": [
+ "espressif32"
+ ],
+ "dependencies": {
+ "h2zero/NimBLE-Arduino": "^1.4.0"
+ }
+}
diff --git a/lib/core/senseshift/events.hpp b/lib/core/senseshift/events.hpp
index bf09ec22..f9f404f2 100644
--- a/lib/core/senseshift/events.hpp
+++ b/lib/core/senseshift/events.hpp
@@ -6,6 +6,10 @@
#define OH_EVENT_CONNECTED "connected"
#define OH_EVENT_DISCONNECTED "disconnected"
+// TODO: Use ETL
+// https://www.etlcpp.com/observer.html
+// https://www.etlcpp.com/messages.html
+
namespace SenseShift {
enum Event {
diff --git a/lib/core/senseshift/logging.hpp b/lib/core/senseshift/logging.hpp
index d3cbc94b..9cf54f37 100644
--- a/lib/core/senseshift/logging.hpp
+++ b/lib/core/senseshift/logging.hpp
@@ -3,7 +3,9 @@
#if defined(ESP32)
#include <esp32-hal-log.h>
+
#elif defined(UNITY_INCLUDE_PRINT_FORMATTED)
+
#define log_e(...) TEST_PRINTF(__VA_ARGS__)
#define log_w(...) TEST_PRINTF(__VA_ARGS__)
#define log_i(...) TEST_PRINTF(__VA_ARGS__)
diff --git a/lib/sensor/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
similarity index 100%
rename from lib/sensor/senseshift/input/sensor.hpp
rename to lib/io/senseshift/input/sensor.hpp
diff --git a/lib/sensor/senseshift/input/sensor/joystick.hpp b/lib/io/senseshift/input/sensor/joystick.hpp
similarity index 100%
rename from lib/sensor/senseshift/input/sensor/joystick.hpp
rename to lib/io/senseshift/input/sensor/joystick.hpp
diff --git a/lib/actuators/senseshift/output/actuator.hpp b/lib/io/senseshift/output/actuator.hpp
similarity index 100%
rename from lib/actuators/senseshift/output/actuator.hpp
rename to lib/io/senseshift/output/actuator.hpp
diff --git a/lib/calibration/senseshift/calibration.hpp b/lib/util/senseshift/calibration.hpp
similarity index 100%
rename from lib/calibration/senseshift/calibration.hpp
rename to lib/util/senseshift/calibration.hpp
diff --git a/lib/core/senseshift/utility.hpp b/lib/util/senseshift/container.hpp
similarity index 54%
rename from lib/core/senseshift/utility.hpp
rename to lib/util/senseshift/container.hpp
index 227748f4..7f0ab894 100644
--- a/lib/core/senseshift/utility.hpp
+++ b/lib/util/senseshift/container.hpp
@@ -2,7 +2,7 @@
#include <algorithm>
#include <iterator>
-#include <senseshift/logging.hpp>
+#include <type_traits>
namespace SenseShift {
/**
@@ -17,6 +17,12 @@ namespace SenseShift {
return std::find(std::begin(c), std::end(c), val) != std::end(c);
};
+ template<>
+ inline bool contains<std::string&, char>(std::string& s, char val)
+ {
+ return s.find(val) != std::string::npos;
+ };
+
template<typename _Tp>
inline bool contains(_Tp* begin, _Tp* end, const _Tp& val)
{
@@ -26,26 +32,10 @@ namespace SenseShift {
template<typename _Tp>
constexpr inline bool contains(const _Tp* arr, const std::size_t size, const _Tp& val)
{
+ static_assert(
+ std::is_same<_Tp, typename std::iterator_traits<_Tp*>::value_type>::value,
+ "Container and value must be of the same type"
+ );
return std::find(arr, arr + size, val) != arr + size;
};
-
- template<typename _Tp>
- constexpr _Tp accurateMap(_Tp x, _Tp in_min, _Tp in_max, _Tp out_min, _Tp out_max)
- {
- const _Tp run = in_max - in_min;
- if (run == 0) {
- log_e("map(): Invalid input range, min == max");
- return (out_min + out_max) / 2;
- }
- const _Tp rise = out_max - out_min;
- const _Tp delta = x - in_min;
- return (delta * rise) / run + out_min;
- }
-
- // Same as the above, but both mins are 0.
- template<typename _Tp>
- constexpr inline _Tp simpleMap(_Tp x, _Tp in_max, _Tp out_max)
- {
- return x * out_max / in_max;
- }
} // namespace SenseShift
diff --git a/lib/util/senseshift/range.hpp b/lib/util/senseshift/range.hpp
new file mode 100644
index 00000000..ea563482
--- /dev/null
+++ b/lib/util/senseshift/range.hpp
@@ -0,0 +1,30 @@
+#include <cstdint>
+#include <type_traits>
+
+#include <senseshift/logging.hpp>
+
+namespace SenseShift {
+ template<typename _Tp>
+ constexpr _Tp accurateMap(_Tp x, _Tp in_min, _Tp in_max, _Tp out_min, _Tp out_max)
+ {
+ static_assert(std::is_arithmetic<_Tp>::value, "Type must be arithmetic");
+
+ const _Tp run = in_max - in_min;
+ if (run == 0) {
+ log_e("map(): Invalid input range, min == max");
+ return (out_min + out_max) / 2;
+ }
+ const _Tp rise = out_max - out_min;
+ const _Tp delta = x - in_min;
+ return (delta * rise) / run + out_min;
+ }
+
+ // Same as the above, but both mins are 0.
+ template<typename _Tp>
+ constexpr inline _Tp simpleMap(_Tp x, _Tp in_max, _Tp out_max)
+ {
+ static_assert(std::is_arithmetic<_Tp>::value, "Type must be arithmetic");
+
+ return x * out_max / in_max;
+ }
+} // namespace SenseShift
diff --git a/lib/util/senseshift/utility.hpp b/lib/util/senseshift/utility.hpp
new file mode 100644
index 00000000..5c95fd01
--- /dev/null
+++ b/lib/util/senseshift/utility.hpp
@@ -0,0 +1,8 @@
+#pragma once
+
+#include <algorithm>
+#include <iterator>
+#include <type_traits>
+
+#include "senseshift/container.hpp"
+#include "senseshift/range.hpp"
diff --git a/platformio.ini b/platformio.ini
index 1a6bb8c3..d2a48669 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -34,28 +34,17 @@ build_src_filter =
-<mode_configs>
lib_deps =
- Wire
- SPI
- adafruit/Adafruit BusIO@^1.14.1
- adafruit/Adafruit PWM Servo Driver Library@^2.4.0
- adafruit/Adafruit INA219@^1.2.1
- sparkfun/SparkFun MAX1704x Fuel Gauge Arduino Library@^1.0.4
- h2zero/NimBLE-Arduino@^1.4.0
- madhephaestus/ESP32Servo @ ^0.13.0
[env]
build_flags = ${common.build_flags}
build_unflags = ${common.build_unflags}
build_src_filter = ${common.build_src_filter}
lib_deps = ${common.lib_deps}
+lib_ldf_mode = deep+
check_tool = clangtidy
check_flags =
clangtidy: --config-file=./.clang-tidy --fix
-check_src_filters =
- +<firmware>
- +<include>
- +<lib>
[env:native]
platform = native
diff --git a/test/test_sensor/main.cpp b/test/test_io_sensor/main.cpp
similarity index 100%
rename from test/test_sensor/main.cpp
rename to test/test_io_sensor/main.cpp
diff --git a/test/test_core_utility/main.cpp b/test/test_util/main.cpp
similarity index 99%
rename from test/test_core_utility/main.cpp
rename to test/test_util/main.cpp
index a468a49a..4be719ba 100644
--- a/test/test_core_utility/main.cpp
+++ b/test/test_util/main.cpp
@@ -76,6 +76,7 @@ int process(void)
RUN_TEST(test_contains_container);
RUN_TEST(test_contains_iterator);
RUN_TEST(test_contains_string);
+
RUN_TEST(test_accurate_map);
RUN_TEST(test_simple_map);
diff --git a/test/test_calibration/main.cpp b/test/test_util_calibration/main.cpp
similarity index 100%
rename from test/test_calibration/main.cpp
rename to test/test_util_calibration/main.cpp
From f1dd8cca1e73b02cbd5d17db0ea5d573c707463e Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 24 Aug 2023 17:24:20 +0400
Subject: [PATCH 23/82] refactor(Haptics): move into `SenseShift` dir/namespace
---
include/senseshift.h | 2 +-
.../senseshift/arduino/components/serial_plotter.hpp | 2 +-
lib/bhaptics/senseshift/bh/devices.hpp | 2 +-
lib/bhaptics/senseshift/bh/encoding.hpp | 2 +-
lib/bhaptics_ble/senseshift/bh/ble/connection.cpp | 2 +-
lib/hands/hand_interface.hpp | 2 +-
.../body/haptics/body.cpp} | 2 +-
.../body/haptics/body.hpp} | 4 ++--
.../body/haptics/interface.hpp} | 12 ++++++------
.../body/haptics/plane.cpp} | 4 +---
.../body/haptics/plane.hpp} | 2 +-
test/test_haptics_body/main.cpp | 2 +-
test/test_haptics_plane/main.cpp | 2 +-
13 files changed, 19 insertions(+), 21 deletions(-)
rename lib/haptics/{haptic_body.cpp => senseshift/body/haptics/body.cpp} (95%)
rename lib/haptics/{haptic_body.hpp => senseshift/body/haptics/body.hpp} (88%)
rename lib/haptics/{haptics_interface.hpp => senseshift/body/haptics/interface.hpp} (88%)
rename lib/haptics/{haptic_plane.cpp => senseshift/body/haptics/plane.cpp} (97%)
rename lib/haptics/{haptic_plane.hpp => senseshift/body/haptics/plane.hpp} (98%)
diff --git a/include/senseshift.h b/include/senseshift.h
index c63f5659..95c5603e 100644
--- a/include/senseshift.h
+++ b/include/senseshift.h
@@ -2,8 +2,8 @@
#include "config/all.h"
-#include <haptic_body.hpp>
#include <senseshift/battery/sensor.hpp>
+#include <senseshift/body/haptics/body.hpp>
#include <senseshift/events.hpp>
#include <vector>
diff --git a/lib/arduino/senseshift/arduino/components/serial_plotter.hpp b/lib/arduino/senseshift/arduino/components/serial_plotter.hpp
index 708111b6..2cc04d92 100644
--- a/lib/arduino/senseshift/arduino/components/serial_plotter.hpp
+++ b/lib/arduino/senseshift/arduino/components/serial_plotter.hpp
@@ -1,6 +1,6 @@
#pragma once
-#include <haptic_body.hpp>
+#include <senseshift/body/haptics/body.hpp>
#include <senseshift/freertos/task.hpp>
#include <HardwareSerial.h>
diff --git a/lib/bhaptics/senseshift/bh/devices.hpp b/lib/bhaptics/senseshift/bh/devices.hpp
index 60cac07c..b78bbb9f 100644
--- a/lib/bhaptics/senseshift/bh/devices.hpp
+++ b/lib/bhaptics/senseshift/bh/devices.hpp
@@ -1,7 +1,7 @@
#pragma once
#include <hand_interface.hpp>
-#include <haptic_body.hpp>
+#include <senseshift/body/haptics/body.hpp>
#pragma region BH_DEVICE_TACTSUITX40
diff --git a/lib/bhaptics/senseshift/bh/encoding.hpp b/lib/bhaptics/senseshift/bh/encoding.hpp
index e2500cd9..3b75f8f0 100644
--- a/lib/bhaptics/senseshift/bh/encoding.hpp
+++ b/lib/bhaptics/senseshift/bh/encoding.hpp
@@ -1,7 +1,7 @@
#pragma once
#include <cstring>
-#include <haptic_body.hpp>
+#include <senseshift/body/haptics/body.hpp>
namespace SenseShift::BH {
class Decoder {
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
index 66c91204..48e11876 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
@@ -1,7 +1,7 @@
#include "senseshift/bh/ble/connection.hpp"
-#include <haptic_body.hpp>
#include <senseshift/bh/constants.hpp>
+#include <senseshift/body/haptics/body.hpp>
#include <senseshift/events.hpp>
#include <Arduino.h>
diff --git a/lib/hands/hand_interface.hpp b/lib/hands/hand_interface.hpp
index ee079c5a..71249f0c 100644
--- a/lib/hands/hand_interface.hpp
+++ b/lib/hands/hand_interface.hpp
@@ -1,7 +1,7 @@
#pragma once
#include <cstdint>
-#include <haptics_interface.hpp>
+#include <senseshift/body/haptics/interface.hpp>
namespace SenseShift::Body {
namespace Hands {
diff --git a/lib/haptics/haptic_body.cpp b/lib/haptics/senseshift/body/haptics/body.cpp
similarity index 95%
rename from lib/haptics/haptic_body.cpp
rename to lib/haptics/senseshift/body/haptics/body.cpp
index ddde0702..ed97efd4 100644
--- a/lib/haptics/haptic_body.cpp
+++ b/lib/haptics/senseshift/body/haptics/body.cpp
@@ -1,4 +1,4 @@
-#include "haptic_body.hpp"
+#include "senseshift/body/haptics/body.hpp"
#include <senseshift/logging.hpp>
diff --git a/lib/haptics/haptic_body.hpp b/lib/haptics/senseshift/body/haptics/body.hpp
similarity index 88%
rename from lib/haptics/haptic_body.hpp
rename to lib/haptics/senseshift/body/haptics/body.hpp
index d0e536cd..2b049c83 100644
--- a/lib/haptics/haptic_body.hpp
+++ b/lib/haptics/senseshift/body/haptics/body.hpp
@@ -1,7 +1,7 @@
#pragma once
-#include "haptic_plane.hpp"
-#include "haptics_interface.hpp"
+#include "senseshift/body/haptics/interface.hpp"
+#include "senseshift/body/haptics/plane.hpp"
#include <senseshift/utility.hpp>
diff --git a/lib/haptics/haptics_interface.hpp b/lib/haptics/senseshift/body/haptics/interface.hpp
similarity index 88%
rename from lib/haptics/haptics_interface.hpp
rename to lib/haptics/senseshift/body/haptics/interface.hpp
index 506f0928..4ab0df0e 100644
--- a/lib/haptics/haptics_interface.hpp
+++ b/lib/haptics/senseshift/body/haptics/interface.hpp
@@ -1,12 +1,12 @@
#pragma once
-#include <stdint.h>
+#include <cstdint>
#include <variant>
#include <senseshift/math/point2.hpp>
namespace SenseShift::Body::Haptics {
- typedef uint8_t EffectIntex_t;
+ typedef std::uint8_t EffectIntex_t;
static const EffectIntex_t EFFECT_INVALID = 0xFF;
typedef enum class Effect : EffectIntex_t {
Invalid = EFFECT_INVALID,
@@ -15,7 +15,7 @@ namespace SenseShift::Body::Haptics {
// Thermal = 0x01,
} Effect_t;
- typedef uint8_t TargetIndex_t;
+ typedef std::uint8_t TargetIndex_t;
static const TargetIndex_t TARGET_INVALID = 0xFF;
typedef enum class Target : TargetIndex_t {
Invalid = TARGET_INVALID,
@@ -46,12 +46,12 @@ namespace SenseShift::Body::Haptics {
// TODO: arms, legs, etc.
} Target_t;
- typedef uint8_t Coordinate_t;
+ typedef std::uint8_t Coordinate_t;
typedef ::SenseShift::Math::Point2<Coordinate_t> Position_t;
// Vibration intensity.
typedef struct VibroEffectData {
- using Intensity_t = uint16_t;
+ using Intensity_t = std::uint16_t;
inline static const Intensity_t INTENSITY_MIN = 0;
inline static const Intensity_t INTENSITY_MAX = 4095;
@@ -61,7 +61,7 @@ namespace SenseShift::Body::Haptics {
inline constexpr VibroEffectData(const Intensity_t intensity) : intensity(intensity) {}
inline constexpr VibroEffectData(const VibroEffectData& other) = default;
- inline constexpr operator uint16_t() const { return intensity; }
+ inline constexpr operator std::uint16_t() const { return intensity; }
} VibroEffectData_t;
// TODO: thermal, etc.
diff --git a/lib/haptics/haptic_plane.cpp b/lib/haptics/senseshift/body/haptics/plane.cpp
similarity index 97%
rename from lib/haptics/haptic_plane.cpp
rename to lib/haptics/senseshift/body/haptics/plane.cpp
index 47af5ae6..21614dcc 100644
--- a/lib/haptics/haptic_plane.cpp
+++ b/lib/haptics/senseshift/body/haptics/plane.cpp
@@ -1,11 +1,9 @@
-#include "haptic_plane.hpp"
+#include "senseshift/body/haptics/plane.hpp"
#include <algorithm>
#include <cmath>
#include <senseshift/logging.hpp>
-#include "haptic_plane.hpp"
-
namespace SenseShift::Body::Haptics {
template<typename _Tp, typename _Ta>
void ActuativePlane<_Tp, _Ta>::setActuators(const ActuatorMap_t& actuators)
diff --git a/lib/haptics/haptic_plane.hpp b/lib/haptics/senseshift/body/haptics/plane.hpp
similarity index 98%
rename from lib/haptics/haptic_plane.hpp
rename to lib/haptics/senseshift/body/haptics/plane.hpp
index e382e01a..5c2cf7be 100644
--- a/lib/haptics/haptic_plane.hpp
+++ b/lib/haptics/senseshift/body/haptics/plane.hpp
@@ -1,6 +1,6 @@
#pragma once
-#include "haptics_interface.hpp"
+#include "senseshift/body/haptics/interface.hpp"
#include <senseshift/output/actuator.hpp>
#include <senseshift/utility.hpp>
diff --git a/test/test_haptics_body/main.cpp b/test/test_haptics_body/main.cpp
index 19c8c866..5abefa7d 100644
--- a/test/test_haptics_body/main.cpp
+++ b/test/test_haptics_body/main.cpp
@@ -1,4 +1,4 @@
-#include <haptic_body.hpp>
+#include <senseshift/body/haptics/body.hpp>
#include <unity.h>
using namespace SenseShift::Body::Haptics;
diff --git a/test/test_haptics_plane/main.cpp b/test/test_haptics_plane/main.cpp
index 091ba1c3..0be53a48 100644
--- a/test/test_haptics_plane/main.cpp
+++ b/test/test_haptics_plane/main.cpp
@@ -1,4 +1,4 @@
-#include <haptic_plane.hpp>
+#include <senseshift/body/haptics/plane.hpp>
#include <unity.h>
using namespace SenseShift::Body::Haptics;
From ae5355e776251862ad98303ea154f8539ebd694e Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 27 Aug 2023 14:17:44 +0400
Subject: [PATCH 24/82] feat(OpenGloves): use Frozen for command mapping
---
.github/workflows/ci.yml | 8 +++++++-
.github/workflows/codeql-analysis.yml | 1 +
.github/workflows/release.yml | 4 ++++
.gitmodules | 3 +++
docs/DEVELOPMENT.md | 7 +++++++
lib/frozen | 1 +
lib/opengloves/og_alpha_encoding.cpp | 2 +-
lib/opengloves/og_alpha_encoding.hpp | 16 ++++++++++------
lib/opengloves/og_protocol.hpp | 3 ++-
9 files changed, 36 insertions(+), 9 deletions(-)
create mode 100644 .gitmodules
create mode 100644 docs/DEVELOPMENT.md
create mode 160000 lib/frozen
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 5a0bf078..4ecc2720 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -60,6 +60,8 @@ jobs:
steps:
- uses: actions/checkout@v3
+ with:
+ submodules: 'recursive'
- name: Get firmware name
id: firmware_name
@@ -194,6 +196,8 @@ jobs:
steps:
- uses: actions/checkout@v3
+ with:
+ submodules: 'recursive'
- name: Get firmware name
id: firmware_name
@@ -298,6 +302,8 @@ jobs:
steps:
- uses: actions/checkout@v3
+ with:
+ submodules: 'recursive'
- name: Speedup package installation
uses: abbbi/github-actions-tune@v1
@@ -382,7 +388,7 @@ jobs:
ls -lahR ./build/lcov/
find ./build/lcov -name 'lcov.info.*' -exec echo -a {} \; | xargs lcov -o ./build/lcov/lcov.info
- lcov --remove ./build/lcov/lcov.info '/usr/include/*' '*.platformio/*' '*/.pio/*' '*/tool-unity/*' '*/test/*' '*/MockArduino/*' -o ./build/lcov/lcov.info.cleaned
+ lcov --remove ./build/lcov/lcov.info '/usr/include/*' '*.platformio/*' '*/.pio/*' '*/tool-unity/*' '*/test/*' '*/MockArduino/*' '*/lib/frozen/*' -o ./build/lcov/lcov.info.cleaned
- name: Generate HTML report
run: genhtml -p $PWD -o ./build/coverage/ --demangle-cpp ./build/lcov/lcov.info.cleaned
diff --git a/.github/workflows/codeql-analysis.yml b/.github/workflows/codeql-analysis.yml
index 74b3dd8d..ed8f6731 100644
--- a/.github/workflows/codeql-analysis.yml
+++ b/.github/workflows/codeql-analysis.yml
@@ -42,6 +42,7 @@ jobs:
# We must fetch at least the immediate parents so that if this is
# a pull request then we can checkout the head.
fetch-depth: 2
+ submodules: 'recursive'
# If this run was triggered by a pull request event, then checkout
# the head of the pull request instead of the merge commit.
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index e4e216ef..6eb7910a 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -39,6 +39,8 @@ jobs:
steps:
- uses: actions/checkout@v3
+ with:
+ submodules: 'recursive'
- name: Get firmware name
id: firmware_name
@@ -134,6 +136,8 @@ jobs:
- OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_BTSERIAL
steps:
- uses: actions/checkout@v3
+ with:
+ submodules: 'recursive'
- name: Get firmware name
id: firmware_name
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 00000000..cd1f2794
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "lib/frozen"]
+ path = lib/frozen
+ url = git@github.com:senseshift/frozen.git
diff --git a/docs/DEVELOPMENT.md b/docs/DEVELOPMENT.md
new file mode 100644
index 00000000..e7d53aef
--- /dev/null
+++ b/docs/DEVELOPMENT.md
@@ -0,0 +1,7 @@
+## Useful Scripts
+
+### Fix `clang-format`
+
+```shell
+find lib include firmware test examples -type f -regex '.*\.\(cpp\|hpp\|cu\|c\|h\)' ! -regex '^lib/frozen\(/.*\)' -exec clang-format-16 -style=file -i {} \;
+```
diff --git a/lib/frozen b/lib/frozen
new file mode 160000
index 00000000..eb113465
--- /dev/null
+++ b/lib/frozen
@@ -0,0 +1 @@
+Subproject commit eb113465791905f29384a9deac6650fc323f4d53
diff --git a/lib/opengloves/og_alpha_encoding.cpp b/lib/opengloves/og_alpha_encoding.cpp
index ed30cbf4..da70fbe7 100644
--- a/lib/opengloves/og_alpha_encoding.cpp
+++ b/lib/opengloves/og_alpha_encoding.cpp
@@ -33,7 +33,7 @@ namespace OpenGloves {
}
// Split the command into prefix and number
- size_t split_index = current_command.find_last_not_of(valueSymbols) + 1;
+ size_t split_index = current_command.find_last_not_of(valueSymbols.data()) + 1;
if (split_index >= current_command.size()) {
log_w("Invalid command: %s", current_command.c_str());
diff --git a/lib/opengloves/og_alpha_encoding.hpp b/lib/opengloves/og_alpha_encoding.hpp
index 8ca21f07..f2ad57d1 100644
--- a/lib/opengloves/og_alpha_encoding.hpp
+++ b/lib/opengloves/og_alpha_encoding.hpp
@@ -1,21 +1,25 @@
#pragma once
+#include <algorithm>
#include <cstdint>
#include <functional>
#include <map>
#include <string>
#include <vector>
+#include <frozen/map.h>
+#include <frozen/string.h>
+#include <frozen/unordered_map.h>
+
#include <og_protocol.hpp>
#include <senseshift/logging.hpp>
namespace OpenGloves {
class AlphaEncodingService {
public:
- inline static const std::string valueSymbols = "0123456789";
- // TODO: use Frozen library to save memory
- inline static const std::map<std::string, Command> commandMap = {
- // clang-format off
+ inline static constexpr frozen::string valueSymbols = "0123456789";
+ inline static const auto commandMap = frozen::make_map<std::string, Command>({
+ // clang-format off
{ "A", Command::ThumbCurl },
{ "(AB)", Command::ThumbSplay },
{ "B", Command::IndexCurl },
@@ -26,8 +30,8 @@ namespace OpenGloves {
{ "(DB)", Command::RingSplay },
{ "E", Command::PinkyCurl },
{ "(EB)", Command::PinkySplay },
- // clang-format on
- };
+ // clang-format on
+ });
AlphaEncodingService() = default;
diff --git a/lib/opengloves/og_protocol.hpp b/lib/opengloves/og_protocol.hpp
index 0e863109..3b8dcccc 100644
--- a/lib/opengloves/og_protocol.hpp
+++ b/lib/opengloves/og_protocol.hpp
@@ -57,7 +57,8 @@ namespace OpenGloves {
virtual size_t readCommand(char* buffer, size_t length) = 0;
};
- typedef enum Command {
+ typedef uint16_t CommandIndex_t;
+ typedef enum Command : CommandIndex_t {
ThumbCurl,
ThumbSplay,
From 6629ccdfecb0a348d0e7519cf4ddecb0b5e1bb26 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 5 Sep 2023 07:28:21 +0000
Subject: [PATCH 25/82] chore: add devcontainer codespace
---
.devcontainer/Dockerfile | 48 +++++++++++++++++++++++++++++++++
.devcontainer/devcontainer.json | 34 +++++++++++++++++++++++
2 files changed, 82 insertions(+)
create mode 100644 .devcontainer/Dockerfile
create mode 100644 .devcontainer/devcontainer.json
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
new file mode 100644
index 00000000..238133e3
--- /dev/null
+++ b/.devcontainer/Dockerfile
@@ -0,0 +1,48 @@
+FROM mcr.microsoft.com/vscode/devcontainers/base:ubuntu
+
+ARG CLANG_VERSION=16
+
+RUN apt-get update \
+ && apt-get -qqy install \
+ lsb-release \
+ wget \
+ software-properties-common \
+ gnupg \
+ bc \
+ sudo \
+ build-essential \
+ ca-certificates \
+ clang \
+ curl \
+ gcc \
+ git \
+ python3 \
+ python3-dev \
+ python3-pip \
+ python3-venv \
+ python3-distutils \
+ python3-setuptools \
+ srecord \
+ udev \
+ xz-utils \
+ && wget --quiet https://apt.llvm.org/llvm.sh \
+ && chmod +x llvm.sh \
+ && ./llvm.sh $CLANG_VERSION && rm -rf llvm.sh \
+ && apt-get --no-install-recommends -y install clang-format-$CLANG_VERSION clang-tidy-$CLANG_VERSION \
+ && ln -s /usr/bin/clang-format-$CLANG_VERSION /usr/bin/clang-format \
+ && ln -s /usr/bin/clang-tidy-$CLANG_VERSION /usr/bin/clang-tidy \
+ && ln -s /usr/bin/python3 /usr/bin/python \
+ && apt-get autoremove -y \
+ && apt-get clean -y \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN curl -fLo /etc/udev/rules.d/99-platformio-udev.rules --create-dirs https://raw.githubusercontent.com/platformio/platformio-core/develop/platformio/assets/system/99-platformio-udev.rules
+
+USER $USERNAME
+
+# RUN wget https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py -O get-platformio.py \
+# && python3 get-platformio.py \
+# && rm -rf get-platformio.py
+
+RUN python -m pip install --upgrade pip \
+ && pip install --upgrade platformio
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 00000000..01be1c44
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,34 @@
+{
+ // "name": "SenseShift",
+ "dockerFile": "Dockerfile",
+ "runArgs": [
+ "--privileged"
+ ],
+ "forwardPorts": [
+ 8008
+ ],
+ "mounts": [
+ "source=/dev/,target=/dev/,type=bind,consistency=consistent"
+ ],
+ "postAttachCommand": "sudo service udev restart",
+ "customizations": {
+ "vscode": {
+ "settings": {
+ "terminal.integrated.defaultProfile.linux": "zsh",
+ "editor.formatOnSave": true,
+ "platformio-ide.useBuiltinPIOCore": false,
+ "platformio-ide.useBuiltinPython": false,
+ "platformio-ide.disablePIOHomeStartup": true,
+ "platformio-ide.pioHomeServerHttpPort": 8008
+ },
+ "extensions": [
+ "ms-vscode.cpptools",
+ "platformio.platformio-ide",
+ "xaver.clang-format",
+ "GitHub.copilot",
+ "GitHub.copilot-labs",
+ "GitHub.copilot-chat"
+ ]
+ }
+ }
+}
From ba92af52b32cc527bbe65d1f1e61e1ea61da4fad Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Wed, 6 Sep 2023 13:31:29 +0000
Subject: [PATCH 26/82] ci(GitHub): add Wokwi testing
---
.devcontainer/Dockerfile | 3 +
.devcontainer/devcontainer.json | 6 +-
.github/workflows/ci.yml | 80 ++++-
.gitmodules | 2 +-
.../diagram.json | 314 ++++++++++++++++++
.../lucidgloves-prototype3+serial/test.yaml | 76 +++++
.../lucidgloves-prototype3+serial/wokwi.toml | 4 +
7 files changed, 465 insertions(+), 20 deletions(-)
create mode 100644 .wokwi/lucidgloves-prototype3+serial/diagram.json
create mode 100644 .wokwi/lucidgloves-prototype3+serial/test.yaml
create mode 100644 .wokwi/lucidgloves-prototype3+serial/wokwi.toml
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 238133e3..eac4101c 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -46,3 +46,6 @@ USER $USERNAME
RUN python -m pip install --upgrade pip \
&& pip install --upgrade platformio
+
+RUN sudo wget -O /usr/local/bin/wokwi-cli https://github.com/wokwi/wokwi-cli/releases/latest/download/wokwi-cli-linuxstatic-x64 \
+ && sudo chmod +x /usr/local/bin/wokwi-cli
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 01be1c44..4ec06d5d 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -10,7 +10,10 @@
"mounts": [
"source=/dev/,target=/dev/,type=bind,consistency=consistent"
],
- "postAttachCommand": "sudo service udev restart",
+ "postAttachCommand": {
+ "submodules": ["git", "submodule", "update", "--recursive", "--init"],
+ "udev": ["sudo", "service", "udev", "restart"]
+ },
"customizations": {
"vscode": {
"settings": {
@@ -24,6 +27,7 @@
"extensions": [
"ms-vscode.cpptools",
"platformio.platformio-ide",
+ "Wokwi.wokwi-vscode",
"xaver.clang-format",
"GitHub.copilot",
"GitHub.copilot-labs",
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 4ecc2720..1119c892 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -6,13 +6,13 @@ on:
- master
- develop
paths-ignore:
- - '**/*.md'
+ - "**/*.md"
push:
branches:
- master
- develop
paths-ignore:
- - '**/*.md'
+ - "**/*.md"
jobs:
build-bhaptics:
@@ -21,7 +21,7 @@ jobs:
strategy:
fail-fast: false
matrix:
- os: [ ubuntu-latest ]
+ os: [ubuntu-latest]
target:
- bhaptics_tactsuit_x16
- bhaptics_tactsuit_x16_pca9685
@@ -32,10 +32,10 @@ jobs:
- bhaptics_tactal
- bhaptics_tactvisor
- bhaptics_tactglove_right
- battery_flag: [ SENSESHIFT_BATTERY_ENABLED=true ]
- serial_plotter_flag: [ SENSESHIFT_SERIAL_PLOTTER=false ]
- nimble_flag: [ SENSESHIFT_BLE_USE_NIMBLE=false ]
- coverage: [ false ]
+ battery_flag: [SENSESHIFT_BATTERY_ENABLED=true]
+ serial_plotter_flag: [SENSESHIFT_SERIAL_PLOTTER=false]
+ nimble_flag: [SENSESHIFT_BLE_USE_NIMBLE=false]
+ coverage: [false]
include:
# Extra tests for x40, as it uses the most features
@@ -61,7 +61,7 @@ jobs:
steps:
- uses: actions/checkout@v3
with:
- submodules: 'recursive'
+ submodules: "recursive"
- name: Get firmware name
id: firmware_name
@@ -120,7 +120,7 @@ jobs:
- name: Set up Python
uses: actions/setup-python@v4
with:
- python-version: '3.9'
+ python-version: "3.9"
- name: Install PlatformIO
run: |
@@ -156,14 +156,14 @@ jobs:
with:
name: lcov.info.${{ steps.firmware_name.outputs.firmware }}
path: ./build/lcov/lcov.info.${{ steps.firmware_name.outputs.firmware }}
- retention-days: 5
+ retention-days: 1
build-opengloves:
runs-on: ${{ matrix.os }}
strategy:
fail-fast: false
matrix:
- os: [ ubuntu-latest ]
+ os: [ubuntu-latest]
target:
- lucidgloves-prototype3
- lucidgloves-prototype4
@@ -174,7 +174,7 @@ jobs:
comm_flag:
- COMMUNICATION_PROTOCOL=OPENGLOVES_COMM_SERIAL
- COMMUNICATION_PROTOCOL=OPENGLOVES_COMM_BTSERIAL
- coverage: [ false ]
+ coverage: [false]
include:
- os: ubuntu-latest
@@ -197,7 +197,7 @@ jobs:
steps:
- uses: actions/checkout@v3
with:
- submodules: 'recursive'
+ submodules: "recursive"
- name: Get firmware name
id: firmware_name
@@ -234,7 +234,7 @@ jobs:
- name: Set up Python
uses: actions/setup-python@v4
with:
- python-version: '3.9'
+ python-version: "3.9"
- name: Enable coverage (non-macOS)
if: runner.os != 'macOS' && matrix.coverage
@@ -278,6 +278,17 @@ jobs:
echo "::endgroup::"
pio run --environment ${{matrix.target}}
+ - name: Upload firmware Artifact
+ if: matrix.coverage == false
+ uses: actions/upload-artifact@v3
+ with:
+ name: ${{ steps.firmware_name.outputs.firmware }}
+ path: |
+ ./.pio/build/${{matrix.target}}/firmware.bin
+ ./.pio/build/${{matrix.target}}/firmware.elf
+ retention-days: 1
+ if-no-files-found: error
+
- name: Collect initial coverage
if: matrix.coverage
run: |
@@ -290,7 +301,8 @@ jobs:
with:
name: lcov.info.${{ steps.firmware_name.outputs.firmware }}
path: ./build/lcov/lcov.info.${{ steps.firmware_name.outputs.firmware }}
- retention-days: 5
+ retention-days: 1
+ if-no-files-found: error
test:
runs-on: ubuntu-latest
@@ -303,7 +315,7 @@ jobs:
steps:
- uses: actions/checkout@v3
with:
- submodules: 'recursive'
+ submodules: "recursive"
- name: Speedup package installation
uses: abbbi/github-actions-tune@v1
@@ -333,7 +345,7 @@ jobs:
- name: Set up Python
uses: actions/setup-python@v4
with:
- python-version: '3.9'
+ python-version: "3.9"
- name: Install PlatformIO
run: |
@@ -398,7 +410,6 @@ jobs:
with:
name: coverage-report
path: |
- ./build/lcov/
./build/coverage/
retention-days: 5
@@ -406,3 +417,36 @@ jobs:
with:
github-token: ${{ secrets.GITHUB_TOKEN }}
lcov-file: ./build/lcov/lcov.info.cleaned
+
+ wokwi:
+ needs:
+ - build-opengloves
+ - test
+ runs-on: ubuntu-latest
+
+ strategy:
+ matrix:
+ variant:
+ - lucidgloves-prototype3+serial
+
+ steps:
+ - uses: actions/checkout@v3
+
+ - name: Extract target
+ id: target_name
+ run: |
+ target=$(echo ${{ matrix.variant }} | cut -d'+' -f1)
+ echo "target=$target" >> $GITHUB_OUTPUT
+
+ - name: Download firmware artifact
+ uses: actions/download-artifact@v3
+ with:
+ name: ${{ matrix.variant }}
+ path: ./.pio/build/${{ steps.target_name.outputs.target }}
+
+ - name: Run Wokwi scenario
+ uses: wokwi/wokwi-ci-action@v1
+ with:
+ token: ${{ secrets.WOKWI_CLI_TOKEN }}
+ path: ./.wokwi/${{ matrix.variant }}
+ scenario: "test.yaml"
diff --git a/.gitmodules b/.gitmodules
index cd1f2794..fb9d97bc 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,3 @@
[submodule "lib/frozen"]
path = lib/frozen
- url = git@github.com:senseshift/frozen.git
+ url = https://github.com/senseshift/frozen.git
diff --git a/.wokwi/lucidgloves-prototype3+serial/diagram.json b/.wokwi/lucidgloves-prototype3+serial/diagram.json
new file mode 100644
index 00000000..e20e4916
--- /dev/null
+++ b/.wokwi/lucidgloves-prototype3+serial/diagram.json
@@ -0,0 +1,314 @@
+{
+ "version": 1,
+ "author": "Leonid Meleshin",
+ "editor": "wokwi",
+ "parts": [
+ {
+ "type": "wokwi-esp32-devkit-v1",
+ "id": "esp",
+ "top": 110.3,
+ "left": 523,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-potentiometer",
+ "id": "pot-thumb",
+ "top": -87.7,
+ "left": -278.6,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-potentiometer",
+ "id": "pot-index",
+ "top": -87.7,
+ "left": -192.2,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-potentiometer",
+ "id": "pot-middle",
+ "top": -87.7,
+ "left": -105.8,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-potentiometer",
+ "id": "pot-ring",
+ "top": -87.7,
+ "left": -19.4,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-potentiometer",
+ "id": "pot-pinky",
+ "top": -87.7,
+ "left": 67,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-analog-joystick",
+ "id": "joystick1",
+ "top": -135,
+ "left": 149.4,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-pushbutton",
+ "id": "btn1",
+ "top": 6.2,
+ "left": 268.8,
+ "attrs": {
+ "color": "green",
+ "key": "a",
+ "bounce": "1",
+ "label": "A"
+ }
+ },
+ {
+ "type": "wokwi-pushbutton",
+ "id": "btn2",
+ "top": 6.2,
+ "left": 355.2,
+ "attrs": {
+ "color": "green",
+ "key": "b",
+ "bounce": "1",
+ "label": "B"
+ }
+ },
+ {
+ "type": "wokwi-gnd",
+ "id": "gnd1",
+ "top": 307.2,
+ "left": 729,
+ "attrs": {}
+ }
+ ],
+ "connections": [
+ [
+ "esp:TX0",
+ "$serialMonitor:RX",
+ "",
+ []
+ ],
+ [
+ "esp:RX0",
+ "$serialMonitor:TX",
+ "",
+ []
+ ],
+ [
+ "pot-thumb:VCC",
+ "pot-index:VCC",
+ "red",
+ [
+ "v28.8",
+ "h76.8"
+ ]
+ ],
+ [
+ "pot-index:VCC",
+ "pot-middle:VCC",
+ "red",
+ [
+ "v28.8",
+ "h76.8"
+ ]
+ ],
+ [
+ "pot-middle:VCC",
+ "pot-ring:VCC",
+ "red",
+ [
+ "v28.8",
+ "h76.8"
+ ]
+ ],
+ [
+ "pot-thumb:GND",
+ "pot-index:GND",
+ "black",
+ [
+ "v38.4",
+ "h76.8"
+ ]
+ ],
+ [
+ "pot-index:GND",
+ "pot-middle:GND",
+ "black",
+ [
+ "v38.4",
+ "h76.8"
+ ]
+ ],
+ [
+ "pot-middle:GND",
+ "pot-ring:GND",
+ "black",
+ [
+ "v38.4",
+ "h76.8"
+ ]
+ ],
+ [
+ "pot-ring:GND",
+ "pot-pinky:GND",
+ "black",
+ [
+ "v38.4",
+ "h76.8"
+ ]
+ ],
+ [
+ "esp:VP",
+ "pot-pinky:SIG",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:VN",
+ "pot-ring:SIG",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:D34",
+ "pot-middle:SIG",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:D35",
+ "pot-index:SIG",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:D32",
+ "pot-thumb:SIG",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "joystick1:GND",
+ "pot-pinky:GND",
+ "black",
+ [
+ "v38.4",
+ "h-124.8"
+ ]
+ ],
+ [
+ "esp:D33",
+ "joystick1:HORZ",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:D25",
+ "joystick1:VERT",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:D26",
+ "joystick1:SEL",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:GND.2",
+ "joystick1:GND",
+ "black",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:VIN",
+ "joystick1:VCC",
+ "red",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "pot-ring:VCC",
+ "pot-pinky:VCC",
+ "red",
+ [
+ "v28.8",
+ "h37.6"
+ ]
+ ],
+ [
+ "joystick1:VCC",
+ "pot-pinky:VCC",
+ "red",
+ [
+ "v28.8",
+ "h-38.4"
+ ]
+ ],
+ [
+ "btn1:2.r",
+ "esp:D27",
+ "green",
+ [
+ "h0.2",
+ "v249.8"
+ ]
+ ],
+ [
+ "btn2:2.r",
+ "esp:D14",
+ "green",
+ [
+ "h0.2",
+ "v259.4"
+ ]
+ ],
+ [
+ "btn1:1.r",
+ "btn2:1.l",
+ "black",
+ [
+ "v0"
+ ]
+ ],
+ [
+ "joystick1:GND",
+ "btn1:1.l",
+ "black",
+ [
+ "v0"
+ ]
+ ],
+ [
+ "esp:GND.1",
+ "gnd1:GND",
+ "black",
+ [
+ "h0"
+ ]
+ ]
+ ],
+ "dependencies": {}
+}
diff --git a/.wokwi/lucidgloves-prototype3+serial/test.yaml b/.wokwi/lucidgloves-prototype3+serial/test.yaml
new file mode 100644
index 00000000..0639c5cc
--- /dev/null
+++ b/.wokwi/lucidgloves-prototype3+serial/test.yaml
@@ -0,0 +1,76 @@
+name: Test LucidGloves Prototype 3
+version: 1
+author: Leonid Meleshin
+
+steps:
+ - wait-serial: "A0B0C0D0E0F2047G2047"
+
+ # Press the 'A' button
+ - set-control:
+ part-id: btn1
+ control: pressed
+ value: 1
+ - wait-serial: 'A0B0C0D0E0F2047G2047J'
+
+ # Press the 'B' button
+ - set-control:
+ part-id: btn2
+ control: pressed
+ value: 1
+ - wait-serial: 'A0B0C0D0E0F2047G2047JK'
+
+ # Release the 'A' button
+ - set-control:
+ part-id: btn1
+ control: pressed
+ value: 0
+ - wait-serial: 'A0B0C0D0E0F2047G2047K'
+
+ # Release the 'B' button
+ - set-control:
+ part-id: btn2
+ control: pressed
+ value: 0
+ - wait-serial: 'A0B0C0D0E0F2047G2047'
+
+ # Curl Index finger
+ - set-control:
+ part-id: pot-index
+ control: position
+ value: 1
+ - wait-serial: 'A0B4095C0D0E0F2047G2047I' # I is for Trigger gesture
+
+ # Curl Thumb finger
+ - set-control:
+ part-id: pot-thumb
+ control: position
+ value: 1
+ - wait-serial: 'A4095B4095C0D0E0F2047G2047IM' # M is for Pinch gesture
+
+ # Curl Middle finger
+ - set-control:
+ part-id: pot-middle
+ control: position
+ value: 1
+ - wait-serial: 'A4095B4095C4095D0E0F2047G2047IM'
+
+ # Curl Ring finger
+ - set-control:
+ part-id: pot-ring
+ control: position
+ value: 1
+ - wait-serial: 'A4095B4095C4095D4095E0F2047G2047IM'
+
+ # Curl Pinky finger
+ - set-control:
+ part-id: pot-pinky
+ control: position
+ value: 1
+ - wait-serial: 'A4095B4095C4095D4095E4095F2047G2047ILM' # L is for the Grab gesture
+
+ # Release Thumb finger
+ - set-control:
+ part-id: pot-thumb
+ control: position
+ value: 0
+ - wait-serial: 'A0B4095C4095D4095E4095F2047G2047IL'
diff --git a/.wokwi/lucidgloves-prototype3+serial/wokwi.toml b/.wokwi/lucidgloves-prototype3+serial/wokwi.toml
new file mode 100644
index 00000000..54e28de8
--- /dev/null
+++ b/.wokwi/lucidgloves-prototype3+serial/wokwi.toml
@@ -0,0 +1,4 @@
+[wokwi]
+version = 1
+firmware = "../../.pio/build/lucidgloves-prototype3/firmware.bin"
+elf = "../../.pio/build/lucidgloves-prototype3/firmware.elf"
From e7db5fbe43f70e9a0bd7190660ae37304f0c8b78 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 3 Sep 2023 13:19:03 +0400
Subject: [PATCH 27/82] refactor(OpenGloves): decouple transport and
serialization
---
.../mode_configs/opengloves/opengloves.cpp | 8 +-
.../opengloves/encoding/alpha.cpp} | 31 +++-
.../opengloves/encoding/alpha.hpp} | 18 ++-
.../senseshift/opengloves/interface.hpp | 21 +++
lib/opengloves/sensor/og_sensor.hpp | 1 -
.../opengloves/transport/stream.hpp | 121 ++++++++++++++++
.../og_serial_communication.hpp | 137 ------------------
lib/opengloves_task/opengloves_task.hpp | 24 +--
test/test_opengloves_alpha_encoding/main.cpp | 7 +-
9 files changed, 206 insertions(+), 162 deletions(-)
rename lib/opengloves/{og_alpha_encoding.cpp => senseshift/opengloves/encoding/alpha.cpp} (65%)
rename lib/opengloves/{og_alpha_encoding.hpp => senseshift/opengloves/encoding/alpha.hpp} (67%)
create mode 100644 lib/opengloves/senseshift/opengloves/interface.hpp
create mode 100644 lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
delete mode 100644 lib/opengloves_serial/og_serial_communication.hpp
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index c58e221c..95c5f9c0 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -1,5 +1,4 @@
#include <og_constants.hpp>
-#include <og_serial_communication.hpp>
#include <opengloves_task.hpp>
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/input/sensor/digital.hpp>
@@ -7,6 +6,7 @@
#include <senseshift/calibration.hpp>
#include <senseshift/input/sensor.hpp>
#include <senseshift/input/sensor/joystick.hpp>
+#include <senseshift/opengloves/transport/stream.hpp>
#include <senseshift/utility.hpp>
#include <sensor/og_finger.hpp>
#include <sensor/og_gesture.hpp>
@@ -146,6 +146,7 @@
(FFB_THUMB_ENABLED || FFB_INDEX_ENABLED || FFB_MIDDLE_ENABLED || FFB_RING_ENABLED || FFB_PINKY_ENABLED)
using namespace OpenGloves;
+using namespace SenseShift::OpenGloves;
HandSensors handSensors = {
#if FINGER_THUMB_SPLAY
@@ -323,15 +324,16 @@ OpenGlovesForceFeedbackTask* ffbTask;
void setupMode()
{
#if OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_SERIAL
- auto* communication = new SerialCommunication(SERIAL_PORT, SERIAL_BAUDRATE);
+ SERIAL_PORT.begin(SERIAL_BAUDRATE);
+ auto* communication = new StreamTransport(SERIAL_PORT);
#elif OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BTSERIAL
#ifdef BTSERIAL_NAME
std::string name = BTSERIAL_NAME;
#else
char suffix[4];
sprintf(suffix, "%04X", (uint16_t) (ESP.getEfuseMac() >> 32));
- log_i("Generated Bluetooth suffix: %s", suffix);
std::string name = BTSERIAL_PREFIX + std::string(suffix);
+ log_i("Generated Bluetooth name: %s", name.c_str());
#endif
BluetoothSerial* bt_serial = new BluetoothSerial();
auto* communication = new BTSerialCommunication(*bt_serial, name);
diff --git a/lib/opengloves/og_alpha_encoding.cpp b/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp
similarity index 65%
rename from lib/opengloves/og_alpha_encoding.cpp
rename to lib/opengloves/senseshift/opengloves/encoding/alpha.cpp
index da70fbe7..702a157c 100644
--- a/lib/opengloves/og_alpha_encoding.cpp
+++ b/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp
@@ -1,7 +1,10 @@
-#include "og_alpha_encoding.hpp"
+#include "senseshift/opengloves/encoding/alpha.hpp"
-namespace OpenGloves {
- std::map<Command, uint16_t> AlphaEncodingService::splitCommands(std::string input_string)
+#include <string.h>
+
+namespace SenseShift::OpenGloves {
+ const std::map<AlphaEncodingService::Command, uint16_t> AlphaEncodingService::deserialize(const std::string& input_string
+ ) const
{
std::map<Command, uint16_t> commands;
@@ -54,4 +57,24 @@ namespace OpenGloves {
Command command = it->second;
commands[command] = number;
}
-} // namespace OpenGloves
+
+ const std::string AlphaEncodingService::serialize(const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors
+ )
+ {
+ memset(this->writeBuffer, 0, 256);
+ this->writeBuffer[0] = '\0';
+
+ size_t offset = 0;
+
+ for (size_t i = 0; i < sensors.size(); i++) {
+ // The offset is the total charecters already added to the string.
+ offset += sensors[i]->encodeString(this->writeBuffer + offset);
+ }
+
+ // Add a newline and terminator to the end of the encoded string.
+ this->writeBuffer[offset++] = '\n';
+ this->writeBuffer[offset] = '\0';
+
+ return std::string(this->writeBuffer, offset);
+ }
+} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves/og_alpha_encoding.hpp b/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp
similarity index 67%
rename from lib/opengloves/og_alpha_encoding.hpp
rename to lib/opengloves/senseshift/opengloves/encoding/alpha.hpp
index f2ad57d1..59830803 100644
--- a/lib/opengloves/og_alpha_encoding.hpp
+++ b/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp
@@ -13,9 +13,12 @@
#include <og_protocol.hpp>
#include <senseshift/logging.hpp>
+#include <senseshift/opengloves/interface.hpp>
+
+namespace SenseShift::OpenGloves {
+ class AlphaEncodingService : public IEncoding {
+ using Command = ::OpenGloves::Command;
-namespace OpenGloves {
- class AlphaEncodingService {
public:
inline static constexpr frozen::string valueSymbols = "0123456789";
inline static const auto commandMap = frozen::make_map<std::string, Command>({
@@ -33,15 +36,18 @@ namespace OpenGloves {
// clang-format on
});
- AlphaEncodingService() = default;
+ AlphaEncodingService() : writeBuffer(new char[256]){};
+
+ virtual const std::map<Command, uint16_t> deserialize(const std::string& buffer) const override;
- static std::map<Command, uint16_t> splitCommands(std::string input_string);
+ virtual const std::string serialize(const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors
+ ) override;
private:
- CommandCallback callback = nullptr;
+ char* writeBuffer;
static void splitCommand(
const std::string& input_string, size_t start, size_t end, std::map<Command, uint16_t>& commands
);
};
-} // namespace OpenGloves
+} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves/senseshift/opengloves/interface.hpp b/lib/opengloves/senseshift/opengloves/interface.hpp
new file mode 100644
index 00000000..17815845
--- /dev/null
+++ b/lib/opengloves/senseshift/opengloves/interface.hpp
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+
+#include "og_protocol.hpp"
+
+namespace SenseShift::OpenGloves {
+ struct ITransport {
+ virtual void setup(){};
+ virtual size_t send(const char* buffer, size_t length) = 0;
+ virtual bool hasData() = 0;
+ virtual size_t read(char* buffer, size_t length) = 0;
+ };
+
+ struct IEncoding {
+ virtual const std::string serialize(const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors
+ ) = 0;
+ virtual const std::map<::OpenGloves::Command, uint16_t> deserialize(const std::string& buffer) const = 0;
+ };
+} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves/sensor/og_sensor.hpp b/lib/opengloves/sensor/og_sensor.hpp
index 42c722de..caa4a9c8 100644
--- a/lib/opengloves/sensor/og_sensor.hpp
+++ b/lib/opengloves/sensor/og_sensor.hpp
@@ -82,7 +82,6 @@ namespace OpenGloves {
size_t StringEncodedMemoizedSensor<FingerValue>::encodeString(char* buffer) const
{
size_t offset = 0;
-
offset += snprintf(buffer + offset, 6, "%c%d", this->type, this->value.getTotalCurl());
if (this->value.curl.size() > 1) {
diff --git a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
new file mode 100644
index 00000000..b198aac5
--- /dev/null
+++ b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
@@ -0,0 +1,121 @@
+#pragma once
+
+#include <BluetoothSerial.h>
+#include <HardwareSerial.h>
+#include <Print.h>
+#include <WiFi.h>
+
+#include <og_protocol.hpp>
+#include <senseshift/opengloves/interface.hpp>
+
+namespace SenseShift::OpenGloves {
+ class IStreamTransport : public ITransport {
+ using IStringEncodedMemoizedSensor = ::OpenGloves::IStringEncodedMemoizedSensor;
+
+ protected:
+ Stream* channel;
+ char* buffer = new char[256];
+
+ public:
+ IStreamTransport(Stream* channel) : channel(channel){};
+
+ size_t send(const char* buffer, size_t length) override
+ {
+ if (!this->isReady()) {
+ return 0;
+ }
+
+ const auto written = this->channel->write(buffer);
+ this->channel->flush();
+
+ return written;
+ }
+
+ virtual bool isReady() = 0;
+
+ virtual bool hasData() override
+ {
+ return this->isReady() && this->channel != nullptr && this->channel->available() > 0;
+ }
+
+ virtual size_t read(char* buffer, size_t length)
+ {
+ if (!this->hasData()) {
+ return false;
+ }
+
+ size_t bytesRead = this->channel->readBytesUntil('\n', buffer, length);
+ buffer[bytesRead] = '\0';
+
+ return bytesRead;
+ }
+ };
+
+ class StreamTransport : public IStreamTransport {
+ public:
+ StreamTransport(Stream& channel) : IStreamTransport(&channel){};
+ StreamTransport(Stream* channel) : IStreamTransport(channel){};
+
+ void setup() override { this->mReady = true; }
+
+ bool isReady() override { return this->channel != nullptr && this->mReady; }
+
+ private:
+ bool mReady = false;
+ };
+
+ class BluetoothSerialTransport : public IStreamTransport {
+ private:
+ std::string name;
+
+ public:
+ BluetoothSerialTransport(BluetoothSerial& channel, std::string name) : IStreamTransport(&channel), name(name){};
+
+ void setup() override
+ {
+ auto* serial = static_cast<BluetoothSerial*>(this->channel);
+ if (serial->isReady()) {
+ return;
+ }
+
+ serial->begin(name.c_str());
+ }
+
+ bool isReady() override
+ {
+ auto* serial = static_cast<BluetoothSerial*>(this->channel);
+ return serial->isReady() && serial->hasClient();
+ }
+ };
+
+ class WiFiSerialTransport : public IStreamTransport {
+ public:
+ WiFiSerialTransport(WiFiServer& server) : IStreamTransport(nullptr), m_server(server){};
+
+ void setup() override
+ {
+ auto* client = static_cast<WiFiClient*>(this->channel);
+ if (client != nullptr) {
+ if (client->connected()) {
+ return;
+ }
+ }
+
+ this->m_server.begin();
+ this->channel = new WiFiClient(this->m_server.available());
+ }
+
+ bool isReady() override
+ {
+ if (this->channel == nullptr) {
+ return false;
+ }
+
+ auto* client = static_cast<WiFiClient*>(this->channel);
+ return client->connected();
+ }
+
+ private:
+ WiFiServer& m_server;
+ };
+} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves_serial/og_serial_communication.hpp b/lib/opengloves_serial/og_serial_communication.hpp
deleted file mode 100644
index 800b70e0..00000000
--- a/lib/opengloves_serial/og_serial_communication.hpp
+++ /dev/null
@@ -1,137 +0,0 @@
-#pragma once
-
-#include <BluetoothSerial.h>
-#include <HardwareSerial.h>
-#include <Print.h>
-#include <WiFi.h>
-
-#include <og_protocol.hpp>
-
-namespace OpenGloves {
- class ISerialCommunication : public ICommunication {
- protected:
- Print& channel;
- char* buffer = new char[256];
-
- public:
- ISerialCommunication(Print& channel) : channel(channel){};
-
- void send(std::vector<IStringEncodedMemoizedSensor*>& sensors) override
- {
- if (!this->isReady()) {
- return;
- }
-
- // Encode all of the sensors into a single string.
- size_t length = encodeAll(buffer, sensors);
- // Send the encoded string over serial.
- this->channel.print(buffer);
- this->channel.flush();
- }
-
- virtual bool isReady() = 0;
-
- static size_t encodeAll(char* buffer, std::vector<IStringEncodedMemoizedSensor*>& sensors)
- {
- size_t offset = 0;
- // Loop over all of the encoders and encode them to the output string.
- for (size_t i = 0; i < sensors.size(); i++) {
- // The offset is the total charecters already added to the string.
- offset += sensors[i]->encodeString(buffer + offset);
- }
-
- // Add a new line to the end of the encoded string.
- buffer[offset++] = '\n';
- buffer[offset] = '\0';
-
- return offset;
- }
-
- virtual bool hasData() = 0;
-
- virtual size_t readCommand(char* buffer, size_t length) = 0;
- };
-
- class SerialCommunication : public ISerialCommunication {
- private:
- unsigned long baud;
- bool ready = false;
-
- public:
- SerialCommunication(HardwareSerial& channel, unsigned long baud) : baud(baud), ISerialCommunication(channel){};
-
- void setup() override
- {
- if (this->ready) {
- return;
- }
-
- static_cast<HardwareSerial&>(this->channel).begin(this->baud);
- this->ready = true;
- }
-
- bool isReady() override { return this->ready; }
-
- bool hasData() override
- {
- return this->isReady() && static_cast<HardwareSerial&>(this->channel).available() > 0;
- }
-
- size_t readCommand(char* buffer, size_t length) override
- {
- if (!this->hasData()) {
- return false;
- }
-
- size_t bytesRead = static_cast<HardwareSerial&>(this->channel).readBytesUntil('\n', buffer, length);
- buffer[bytesRead] = '\0';
-
- return bytesRead;
- }
- };
-
- class BTSerialCommunication : public ISerialCommunication {
- private:
- std::string name;
-
- public:
- BTSerialCommunication(BluetoothSerial& channel, std::string name) : ISerialCommunication(channel), name(name){};
-
- void setup() override
- {
- auto& serial = static_cast<BluetoothSerial&>(this->channel);
- if (serial.isReady()) {
- return;
- }
-
- // serial.register_callback([](esp_spp_cb_event_t event, esp_spp_cb_param_t *param) {
- // log_i("Bluetooth event: %d", event);
- // });
- // serial.setTimeout(4);
- serial.begin(name.c_str());
- }
-
- bool isReady() override
- {
- auto& serial = static_cast<BluetoothSerial&>(this->channel);
- return serial.isReady() && serial.hasClient();
- }
-
- bool hasData() override
- {
- return this->isReady() && static_cast<BluetoothSerial&>(this->channel).available() > 0;
- }
-
- size_t readCommand(char* buffer, size_t length) override
- {
- if (!this->hasData()) {
- return false;
- }
-
- size_t bytesRead = static_cast<BluetoothSerial&>(this->channel).readBytesUntil('\n', buffer, length);
- buffer[bytesRead] = '\0';
-
- return bytesRead;
- }
- };
-} // namespace OpenGloves
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index 630d6d8a..5d4b90db 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -4,15 +4,15 @@
#include <optional>
-#include <og_alpha_encoding.hpp>
#include <og_ffb.hpp>
-#include <og_serial_communication.hpp>
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/input/sensor/digital.hpp>
#include <senseshift/calibration.hpp>
#include <senseshift/freertos/task.hpp>
#include <senseshift/input/sensor.hpp>
#include <senseshift/input/sensor/joystick.hpp>
+#include <senseshift/opengloves/encoding/alpha.hpp>
+#include <senseshift/opengloves/interface.hpp>
#include <senseshift/utility.hpp>
#include <sensor/og_finger.hpp>
#include <sensor/og_gesture.hpp>
@@ -52,7 +52,7 @@ namespace OpenGloves {
*/
OpenGlovesTrackingTask(
OpenGlovesTrackingTaskConfig& config,
- ICommunication& communication,
+ ::SenseShift::OpenGloves::ITransport& communication,
HandSensors& fingers,
std::vector<StringEncodedMemoizedSensor<bool>*>& buttons,
std::vector<StringEncodedMemoizedSensor<uint16_t>*>& joysticks,
@@ -133,7 +133,10 @@ namespace OpenGloves {
OpenGlovesTrackingTaskConfig& config;
HandSensors& fingers;
- ICommunication& communication;
+ ::SenseShift::OpenGloves::ITransport& communication;
+ ::SenseShift::OpenGloves::AlphaEncodingService encodingService =
+ ::SenseShift::OpenGloves::AlphaEncodingService();
+
std::vector<StringEncodedMemoizedSensor<bool>*>& buttons;
std::vector<StringEncodedMemoizedSensor<uint16_t>*>& joysticks;
std::vector<IStringEncodedMemoizedSensor*>& otherSensors;
@@ -194,7 +197,8 @@ namespace OpenGloves {
}
// Send the sensor values.
- this->communication.send(this->allSensors);
+ auto command = this->encodingService.serialize(this->allSensors);
+ this->communication.send(command.c_str(), command.size());
// Check if the calibration has finished.
if (!(this->config.alwaysCalibrate) && calibrationStarted > 0 && (now - calibrationStarted) > CALIBRATION_DURATION) {
@@ -220,7 +224,7 @@ namespace OpenGloves {
public:
OpenGlovesForceFeedbackTask(
- ICommunication& communication,
+ ::SenseShift::OpenGloves::ITransport& communication,
HandActuators& actuators,
size_t updateRate,
SenseShift::FreeRTOS::TaskConfig taskConfig
@@ -240,9 +244,11 @@ namespace OpenGloves {
};
private:
- ICommunication& communication;
+ ::SenseShift::OpenGloves::ITransport& communication;
HandActuators& actuators;
size_t updateIntervalMs;
+ ::SenseShift::OpenGloves::AlphaEncodingService encodingService =
+ ::SenseShift::OpenGloves::AlphaEncodingService();
void setup()
{
@@ -278,14 +284,14 @@ namespace OpenGloves {
auto now = millis();
if (this->communication.hasData()) {
- auto bytesRead = this->communication.readCommand(commandBuffer, sizeof(commandBuffer));
+ auto bytesRead = this->communication.read(commandBuffer, sizeof(commandBuffer));
if (bytesRead == 0) {
continue;
}
command.assign(commandBuffer, bytesRead);
- auto commands = AlphaEncodingService::splitCommands(command);
+ auto commands = this->encodingService.deserialize(command);
for (auto& [command, value] : commands) {
this->handleCommand(command, value);
diff --git a/test/test_opengloves_alpha_encoding/main.cpp b/test/test_opengloves_alpha_encoding/main.cpp
index 7f5f7200..1f71136c 100644
--- a/test/test_opengloves_alpha_encoding/main.cpp
+++ b/test/test_opengloves_alpha_encoding/main.cpp
@@ -1,7 +1,8 @@
-#include <og_alpha_encoding.hpp>
+#include <senseshift/opengloves/encoding/alpha.hpp>
#include <unity.h>
using namespace OpenGloves;
+using namespace SenseShift::OpenGloves;
void testSplitCommands(void)
{
@@ -90,8 +91,10 @@ void testSplitCommands(void)
},
};
+ auto encoding_service = AlphaEncodingService();
+
for (auto& [input_string, expected_commands] : input_strings) {
- std::map<Command, uint16_t> commands = AlphaEncodingService::splitCommands(input_string);
+ std::map<Command, uint16_t> commands = encoding_service.deserialize(input_string);
TEST_ASSERT_EQUAL_size_t_MESSAGE(
expected_commands.size(),
From efae0e039051dd806d45ac6f4ca18cbcdcaccca9 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <lm@devolt.one>
Date: Sun, 3 Sep 2023 23:40:49 +0400
Subject: [PATCH 28/82] feat(Input): add averaged sensor
---
.../mode_configs/opengloves/opengloves.cpp | 32 +++++++++++++------
lib/io/senseshift/input/sensor.hpp | 26 +++++++++++++++
2 files changed, 48 insertions(+), 10 deletions(-)
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index 95c5f9c0..706e3b57 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -53,13 +53,16 @@
#define FINGER_MIDDLE_ENABLED (defined(PIN_FINGER_MIDDLE) && (PIN_FINGER_MIDDLE != -1))
#define FINGER_RING_ENABLED (defined(PIN_FINGER_RING) && (PIN_FINGER_RING != -1))
#define FINGER_PINKY_ENABLED (defined(PIN_FINGER_PINKY) && (PIN_FINGER_PINKY != -1))
-#define FINGER_CLASS(type, curl_pin, curl_invert, curl_calib) \
- FingerSensor( \
- new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
- new curl_calib() \
- ), \
- type \
+#define FINGER_CLASS(type, curl_pin, curl_invert, curl_calib) \
+ FingerSensor( \
+ new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
+ new ::SenseShift::Input::AverageSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
+ 5 \
+ ), \
+ new curl_calib() \
+ ), \
+ type \
)
#define FINGER_THUMB_SPLAY (FINGER_THUMB_ENABLED && defined(PIN_FINGER_THUMB_SPLAY) && (PIN_FINGER_THUMB_SPLAY != -1))
#define FINGER_INDEX_SPLAY (FINGER_INDEX_ENABLED && defined(PIN_FINGER_INDEX_SPLAY) && (PIN_FINGER_INDEX_SPLAY != -1))
@@ -70,11 +73,17 @@
#define FINGER_SPLAY_CLASS(type, curl_pin, curl_invert, curl_calib, splay_pin, splay_invert, splay_calib) \
FingerSensor( \
new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
+ new ::SenseShift::Input::AverageSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
+ 5 \
+ ), \
new curl_calib() \
), \
new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<splay_invert>(splay_pin), \
+ new ::SenseShift::Input::AverageSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<splay_invert>(splay_pin), \
+ 5 \
+ ), \
new splay_calib() \
), \
type \
@@ -90,7 +99,10 @@
#define JOYSTICK_CLASS(type, pin, invert, deadzone) \
StringEncodedMemoizedSensor<uint16_t>( \
new ::SenseShift::Input::JoystickAxisSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<invert>(pin), \
+ new ::SenseShift::Input::AverageSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<invert>(pin), \
+ 5 \
+ ), \
deadzone \
), \
type \
diff --git a/lib/io/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
index a4f5e160..c3ce962c 100644
--- a/lib/io/senseshift/input/sensor.hpp
+++ b/lib/io/senseshift/input/sensor.hpp
@@ -108,4 +108,30 @@ namespace SenseShift::Input {
return this->calibrator->calibrate(value);
}
};
+
+ template <typename _Tp>
+ class AverageSensor : public ISimpleSensor<_Tp>
+ {
+ static_assert(std::is_arithmetic<_Tp>::value, "AverageSensor only supports arithmetic types");
+
+ public:
+ AverageSensor(ISimpleSensor<_Tp>* sensor, size_t samples) : sensor(sensor), samples(samples){ }
+
+ void init() override { this->sensor->init(); };
+
+ _Tp getValue() override
+ {
+ // TODO: another type for sum?
+ double sum = 0;
+ for (size_t i = 0; i < this->samples; i++) {
+ sum += this->sensor->getValue();
+ }
+
+ return sum / this->samples;
+ }
+
+ private:
+ ISimpleSensor<_Tp>* sensor;
+ size_t samples;
+ };
} // namespace SenseShift::Input
From e28d5dfa45e84c1f403cbbce70d7c2b81f77d0a6 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <lm@devolt.one>
Date: Sun, 3 Sep 2023 23:56:08 +0400
Subject: [PATCH 29/82] refactor(OpenGloves): auto-configure transport
---
.../mode_configs/opengloves/opengloves.cpp | 163 +--------------
.../senseshift/opengloves/autoconfig.hpp | 185 ++++++++++++++++++
.../opengloves/transport/stream.hpp | 7 +-
3 files changed, 188 insertions(+), 167 deletions(-)
create mode 100644 lib/opengloves/senseshift/opengloves/autoconfig.hpp
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index 706e3b57..ff39cdff 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -6,157 +6,12 @@
#include <senseshift/calibration.hpp>
#include <senseshift/input/sensor.hpp>
#include <senseshift/input/sensor/joystick.hpp>
+#include <senseshift/opengloves/autoconfig.hpp>
#include <senseshift/opengloves/transport/stream.hpp>
#include <senseshift/utility.hpp>
#include <sensor/og_finger.hpp>
#include <sensor/og_gesture.hpp>
-#pragma region Communication
-
-#ifndef OPENGLOVES_COMMUNCATION
-#define OPENGLOVES_COMMUNCATION OPENGLOVES_COMM_SERIAL
-#endif
-
-#ifndef SERIAL_PORT
-#define SERIAL_PORT Serial
-#endif
-
-#ifndef SERIAL_BAUDRATE
-#define SERIAL_BAUDRATE 115200
-#endif
-
-#ifndef BTSERIAL_PREFIX
-#define BTSERIAL_PREFIX "SenseShift_OG"
-#endif
-
-#pragma endregion
-
-#pragma region Calibration
-
-#ifndef CALIBRATION_CURL
-#define CALIBRATION_CURL ::SenseShift::Calibration::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>
-#endif
-#ifndef CALIBRATION_SPLAY
-#define CALIBRATION_SPLAY ::SenseShift::Calibration::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>
-#endif
-
-#ifndef CALIBRATION_DURATION
-#define CALIBRATION_DURATION 2000 // duration in milliseconds
-#endif
-
-#pragma endregion
-
-#pragma region Fingers
-
-#define FINGER_THUMB_ENABLED (defined(PIN_FINGER_THUMB) && (PIN_FINGER_THUMB != -1))
-#define FINGER_INDEX_ENABLED (defined(PIN_FINGER_INDEX) && (PIN_FINGER_INDEX != -1))
-#define FINGER_MIDDLE_ENABLED (defined(PIN_FINGER_MIDDLE) && (PIN_FINGER_MIDDLE != -1))
-#define FINGER_RING_ENABLED (defined(PIN_FINGER_RING) && (PIN_FINGER_RING != -1))
-#define FINGER_PINKY_ENABLED (defined(PIN_FINGER_PINKY) && (PIN_FINGER_PINKY != -1))
-#define FINGER_CLASS(type, curl_pin, curl_invert, curl_calib) \
- FingerSensor( \
- new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Input::AverageSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
- 5 \
- ), \
- new curl_calib() \
- ), \
- type \
- )
-#define FINGER_THUMB_SPLAY (FINGER_THUMB_ENABLED && defined(PIN_FINGER_THUMB_SPLAY) && (PIN_FINGER_THUMB_SPLAY != -1))
-#define FINGER_INDEX_SPLAY (FINGER_INDEX_ENABLED && defined(PIN_FINGER_INDEX_SPLAY) && (PIN_FINGER_INDEX_SPLAY != -1))
-#define FINGER_MIDDLE_SPLAY \
- (FINGER_MIDDLE_ENABLED && defined(PIN_FINGER_MIDDLE_SPLAY) && (PIN_FINGER_MIDDLE_SPLAY != -1))
-#define FINGER_RING_SPLAY (FINGER_RING_ENABLED && defined(PIN_FINGER_RING_SPLAY) && (PIN_FINGER_RING_SPLAY != -1))
-#define FINGER_PINKY_SPLAY (FINGER_PINKY_ENABLED && defined(PIN_FINGER_PINKY_SPLAY) && (PIN_FINGER_PINKY_SPLAY != -1))
-#define FINGER_SPLAY_CLASS(type, curl_pin, curl_invert, curl_calib, splay_pin, splay_invert, splay_calib) \
- FingerSensor( \
- new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Input::AverageSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
- 5 \
- ), \
- new curl_calib() \
- ), \
- new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Input::AverageSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<splay_invert>(splay_pin), \
- 5 \
- ), \
- new splay_calib() \
- ), \
- type \
- )
-
-#pragma endregion
-
-#pragma region Joysticks
-
-#define JOYSTICK_ENABLED \
- (defined(PIN_JOYSTICK_X) && defined(PIN_JOYSTICK_Y) && (PIN_JOYSTICK_X != -1) && (PIN_JOYSTICK_Y != -1))
-
-#define JOYSTICK_CLASS(type, pin, invert, deadzone) \
- StringEncodedMemoizedSensor<uint16_t>( \
- new ::SenseShift::Input::JoystickAxisSensor<uint16_t>( \
- new ::SenseShift::Input::AverageSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<invert>(pin), \
- 5 \
- ), \
- deadzone \
- ), \
- type \
- )
-
-#pragma endregion
-
-#pragma region Buttons
-
-#define BUTTON_A_ENABLED (defined(PIN_BUTTON_A) && (PIN_BUTTON_A != -1))
-#define BUTTON_B_ENABLED (defined(PIN_BUTTON_B) && (PIN_BUTTON_B != -1))
-#define BUTTON_MENU_ENABLED (defined(PIN_BUTTON_MENU) && (PIN_BUTTON_MENU != -1))
-#define BUTTON_JOYSTICK_ENABLED (JOYSTICK_ENABLED && defined(PIN_BUTTON_JOYSTICK) && (PIN_BUTTON_JOYSTICK != -1))
-#define BUTTON_CALIBRATE_ENABLED (defined(PIN_BUTTON_CALIBRATE) && (PIN_BUTTON_CALIBRATE != -1))
-#define BUTTON_TRIGGER_ENABLED (!GESTURE_TRIGGER_ENABLED && defined(PIN_BUTTON_TRIGGER) && (PIN_BUTTON_TRIGGER != -1))
-#define BUTTON_GRAB_ENABLED (!GESTURE_GRAB_ENABLED && defined(PIN_BUTTON_GRAB) && (PIN_BUTTON_GRAB != -1))
-#define BUTTON_PINCH_ENABLED (!GESTURE_PINCH_ENABLED && defined(PIN_BUTTON_PINCH) && (PIN_BUTTON_PINCH != -1))
-
-#define BUTTON_CLASS(type, pin, invert) \
- StringEncodedMemoizedSensor<bool>(new ::SenseShift::Arduino::Input::DigitalSensor<invert>(pin), type)
-
-#pragma endregion
-
-#pragma region Gestures
-
-#ifndef GESTURE_TRIGGER_THRESHOLD
-#define GESTURE_TRIGGER_THRESHOLD (ANALOG_MAX / 2)
-#endif
-
-#ifndef GESTURE_GRAB_THRESHOLD
-#define GESTURE_GRAB_THRESHOLD (ANALOG_MAX / 2)
-#endif
-
-#ifndef GESTURE_PINCH_THRESHOLD
-#define GESTURE_PINCH_THRESHOLD (ANALOG_MAX / 2)
-#endif
-
-#define GESTURE_CLASS(type, sensor) StringEncodedMemoizedSensor<bool>(sensor, type)
-
-#pragma endregion
-
-#ifndef UPDATE_RATE
-#define UPDATE_RATE 90
-#endif
-
-#define FFB_THUMB_ENABLED (defined(PIN_FFB_THUMB) && (PIN_FFB_THUMB != -1))
-#define FFB_INDEX_ENABLED (defined(PIN_FFB_INDEX) && (PIN_FFB_INDEX != -1))
-#define FFB_MIDDLE_ENABLED (defined(PIN_FFB_MIDDLE) && (PIN_FFB_MIDDLE != -1))
-#define FFB_RING_ENABLED (defined(PIN_FFB_RING) && (PIN_FFB_RING != -1))
-#define FFB_PINKY_ENABLED (defined(PIN_FFB_PINKY) && (PIN_FFB_PINKY != -1))
-
-#define FFB_ENABLED \
- (FFB_THUMB_ENABLED || FFB_INDEX_ENABLED || FFB_MIDDLE_ENABLED || FFB_RING_ENABLED || FFB_PINKY_ENABLED)
-
using namespace OpenGloves;
using namespace SenseShift::OpenGloves;
@@ -335,21 +190,7 @@ OpenGlovesForceFeedbackTask* ffbTask;
void setupMode()
{
-#if OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_SERIAL
- SERIAL_PORT.begin(SERIAL_BAUDRATE);
- auto* communication = new StreamTransport(SERIAL_PORT);
-#elif OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BTSERIAL
-#ifdef BTSERIAL_NAME
- std::string name = BTSERIAL_NAME;
-#else
- char suffix[4];
- sprintf(suffix, "%04X", (uint16_t) (ESP.getEfuseMac() >> 32));
- std::string name = BTSERIAL_PREFIX + std::string(suffix);
- log_i("Generated Bluetooth name: %s", name.c_str());
-#endif
- BluetoothSerial* bt_serial = new BluetoothSerial();
- auto* communication = new BTSerialCommunication(*bt_serial, name);
-#endif
+ auto* communication = AutoConfig::setupTransport();
trackingTask = new OpenGlovesTrackingTask(
config,
diff --git a/lib/opengloves/senseshift/opengloves/autoconfig.hpp b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
new file mode 100644
index 00000000..ed585ef4
--- /dev/null
+++ b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
@@ -0,0 +1,185 @@
+#pragma once
+
+#include <senseshift/opengloves/interface.hpp>
+
+#ifdef ARDUINO
+#include <senseshift/opengloves/transport/stream.hpp>
+#endif
+
+#pragma region Communication
+
+#ifndef OPENGLOVES_COMMUNCATION
+#define OPENGLOVES_COMMUNCATION OPENGLOVES_COMM_SERIAL
+#endif
+
+#ifndef SERIAL_PORT
+#define SERIAL_PORT Serial
+#endif
+
+#ifndef SERIAL_BAUDRATE
+#define SERIAL_BAUDRATE 115200
+#endif
+
+#ifndef BTSERIAL_PREFIX
+#define BTSERIAL_PREFIX "SenseShift_OG"
+#endif
+
+#pragma endregion
+
+#pragma region Calibration
+
+#ifndef CALIBRATION_CURL
+#define CALIBRATION_CURL ::SenseShift::Calibration::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>
+#endif
+#ifndef CALIBRATION_SPLAY
+#define CALIBRATION_SPLAY ::SenseShift::Calibration::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>
+#endif
+
+#ifndef CALIBRATION_DURATION
+#define CALIBRATION_DURATION 2000 // duration in milliseconds
+#endif
+
+#pragma endregion
+
+#pragma region Fingers
+
+#define FINGER_THUMB_ENABLED (defined(PIN_FINGER_THUMB) && (PIN_FINGER_THUMB != -1))
+#define FINGER_INDEX_ENABLED (defined(PIN_FINGER_INDEX) && (PIN_FINGER_INDEX != -1))
+#define FINGER_MIDDLE_ENABLED (defined(PIN_FINGER_MIDDLE) && (PIN_FINGER_MIDDLE != -1))
+#define FINGER_RING_ENABLED (defined(PIN_FINGER_RING) && (PIN_FINGER_RING != -1))
+#define FINGER_PINKY_ENABLED (defined(PIN_FINGER_PINKY) && (PIN_FINGER_PINKY != -1))
+#define FINGER_CLASS(type, curl_pin, curl_invert, curl_calib) \
+ FingerSensor( \
+ new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
+ new ::SenseShift::Input::AverageSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
+ 5 \
+ ), \
+ new curl_calib() \
+ ), \
+ type \
+ )
+#define FINGER_THUMB_SPLAY (FINGER_THUMB_ENABLED && defined(PIN_FINGER_THUMB_SPLAY) && (PIN_FINGER_THUMB_SPLAY != -1))
+#define FINGER_INDEX_SPLAY (FINGER_INDEX_ENABLED && defined(PIN_FINGER_INDEX_SPLAY) && (PIN_FINGER_INDEX_SPLAY != -1))
+#define FINGER_MIDDLE_SPLAY \
+ (FINGER_MIDDLE_ENABLED && defined(PIN_FINGER_MIDDLE_SPLAY) && (PIN_FINGER_MIDDLE_SPLAY != -1))
+#define FINGER_RING_SPLAY (FINGER_RING_ENABLED && defined(PIN_FINGER_RING_SPLAY) && (PIN_FINGER_RING_SPLAY != -1))
+#define FINGER_PINKY_SPLAY (FINGER_PINKY_ENABLED && defined(PIN_FINGER_PINKY_SPLAY) && (PIN_FINGER_PINKY_SPLAY != -1))
+#define FINGER_SPLAY_CLASS(type, curl_pin, curl_invert, curl_calib, splay_pin, splay_invert, splay_calib) \
+ FingerSensor( \
+ new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
+ new ::SenseShift::Input::AverageSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
+ 5 \
+ ), \
+ new curl_calib() \
+ ), \
+ new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
+ new ::SenseShift::Input::AverageSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<splay_invert>(splay_pin), \
+ 5 \
+ ), \
+ new splay_calib() \
+ ), \
+ type \
+ )
+
+#pragma endregion
+
+#pragma region Joysticks
+
+#define JOYSTICK_ENABLED \
+ (defined(PIN_JOYSTICK_X) && defined(PIN_JOYSTICK_Y) && (PIN_JOYSTICK_X != -1) && (PIN_JOYSTICK_Y != -1))
+
+#define JOYSTICK_CLASS(type, pin, invert, deadzone) \
+ StringEncodedMemoizedSensor<uint16_t>( \
+ new ::SenseShift::Input::JoystickAxisSensor<uint16_t>( \
+ new ::SenseShift::Input::AverageSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<invert>(pin), \
+ 5 \
+ ), \
+ deadzone \
+ ), \
+ type \
+ )
+
+#pragma endregion
+
+#pragma region Buttons
+
+#define BUTTON_A_ENABLED (defined(PIN_BUTTON_A) && (PIN_BUTTON_A != -1))
+#define BUTTON_B_ENABLED (defined(PIN_BUTTON_B) && (PIN_BUTTON_B != -1))
+#define BUTTON_MENU_ENABLED (defined(PIN_BUTTON_MENU) && (PIN_BUTTON_MENU != -1))
+#define BUTTON_JOYSTICK_ENABLED (JOYSTICK_ENABLED && defined(PIN_BUTTON_JOYSTICK) && (PIN_BUTTON_JOYSTICK != -1))
+#define BUTTON_CALIBRATE_ENABLED (defined(PIN_BUTTON_CALIBRATE) && (PIN_BUTTON_CALIBRATE != -1))
+#define BUTTON_TRIGGER_ENABLED (!GESTURE_TRIGGER_ENABLED && defined(PIN_BUTTON_TRIGGER) && (PIN_BUTTON_TRIGGER != -1))
+#define BUTTON_GRAB_ENABLED (!GESTURE_GRAB_ENABLED && defined(PIN_BUTTON_GRAB) && (PIN_BUTTON_GRAB != -1))
+#define BUTTON_PINCH_ENABLED (!GESTURE_PINCH_ENABLED && defined(PIN_BUTTON_PINCH) && (PIN_BUTTON_PINCH != -1))
+
+#define BUTTON_CLASS(_type, _pin, _invert) \
+ StringEncodedMemoizedSensor<bool>(new ::SenseShift::Arduino::Input::DigitalSensor<_invert>(_pin), _type)
+
+#pragma endregion
+
+#pragma region Gestures
+
+#ifndef GESTURE_TRIGGER_THRESHOLD
+#define GESTURE_TRIGGER_THRESHOLD (ANALOG_MAX / 2)
+#endif
+
+#ifndef GESTURE_GRAB_THRESHOLD
+#define GESTURE_GRAB_THRESHOLD (ANALOG_MAX / 2)
+#endif
+
+#ifndef GESTURE_PINCH_THRESHOLD
+#define GESTURE_PINCH_THRESHOLD (ANALOG_MAX / 2)
+#endif
+
+#define GESTURE_CLASS(_type, _sensor) StringEncodedMemoizedSensor<bool>(_sensor, _type)
+
+#pragma endregion
+
+#define FFB_THUMB_ENABLED (defined(PIN_FFB_THUMB) && (PIN_FFB_THUMB != -1))
+#define FFB_INDEX_ENABLED (defined(PIN_FFB_INDEX) && (PIN_FFB_INDEX != -1))
+#define FFB_MIDDLE_ENABLED (defined(PIN_FFB_MIDDLE) && (PIN_FFB_MIDDLE != -1))
+#define FFB_RING_ENABLED (defined(PIN_FFB_RING) && (PIN_FFB_RING != -1))
+#define FFB_PINKY_ENABLED (defined(PIN_FFB_PINKY) && (PIN_FFB_PINKY != -1))
+
+#define FFB_ENABLED \
+ (FFB_THUMB_ENABLED || FFB_INDEX_ENABLED || FFB_MIDDLE_ENABLED || FFB_RING_ENABLED || FFB_PINKY_ENABLED)
+
+#ifndef UPDATE_RATE
+#define UPDATE_RATE 90
+#endif
+
+namespace SenseShift::OpenGloves::AutoConfig {
+
+ /**
+ * Setup the transport for the OpenGloves interface.
+ */
+ [[nodiscard]] ITransport* setupTransport(void)
+ {
+#if OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_SERIAL // Serial
+ auto* pSerial = &SERIAL_PORT;
+ pSerial->begin(SERIAL_BAUDRATE);
+ return new StreamTransport(pSerial);
+#elif OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BTSERIAL // Bluetooth Serial
+ std::string name;
+#ifdef BTSERIAL_NAME
+ name = BTSERIAL_NAME;
+#else
+ char suffix[4];
+ snprintf(suffix, 4, "%04X", (uint16_t) (ESP.getEfuseMac() >> 32));
+ name = BTSERIAL_PREFIX + std::string(suffix);
+
+ log_i("Generated Bluetooth name: %s", name.c_str());
+#endif
+ BluetoothSerial* pBtSerial = new BluetoothSerial();
+ pBtSerial->begin(name.c_str());
+ return new BluetoothSerialTransport(*pBtSerial);
+#else // Fallback
+#error "Unsupported communication type"
+ return nullptr;
+#endif
+ }
+} // namespace SenseShift::OpenGloves::AutoConfig
diff --git a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
index b198aac5..f0cb609a 100644
--- a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
+++ b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
@@ -65,11 +65,8 @@ namespace SenseShift::OpenGloves {
};
class BluetoothSerialTransport : public IStreamTransport {
- private:
- std::string name;
-
public:
- BluetoothSerialTransport(BluetoothSerial& channel, std::string name) : IStreamTransport(&channel), name(name){};
+ BluetoothSerialTransport(BluetoothSerial& channel) : IStreamTransport(&channel){};
void setup() override
{
@@ -77,8 +74,6 @@ namespace SenseShift::OpenGloves {
if (serial->isReady()) {
return;
}
-
- serial->begin(name.c_str());
}
bool isReady() override
From 83e95fea73ca8c8d4920ee5878e1d88037e5ea4a Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <lm@devolt.one>
Date: Sun, 3 Sep 2023 23:56:24 +0400
Subject: [PATCH 30/82] feat(OpenGloves): debug performance
---
ini/opengloves.ini | 4 ++--
lib/opengloves_task/opengloves_task.hpp | 3 +++
2 files changed, 5 insertions(+), 2 deletions(-)
diff --git a/ini/opengloves.ini b/ini/opengloves.ini
index 15732211..f4526043 100644
--- a/ini/opengloves.ini
+++ b/ini/opengloves.ini
@@ -5,7 +5,7 @@ platform_packages =
framework = arduino
board = esp32doit-devkit-v1
upload_speed = 921600
-monitor_speed = 115200
+monitor_speed = 921600
build_flags = ${common.build_flags}
-D OPENGLOVES
@@ -13,7 +13,7 @@ build_flags = ${common.build_flags}
; Communication
; -D OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_SERIAL ; OPENGLOVES_COMM_SERIAL, OPENGLOVES_COMM_BTSERIAL
; Serial
- -D SERIAL_BAUDRATE=115200
+ -D SERIAL_BAUDRATE=921600
-D SERIAL_PORT=Serial ; Serial, Serial1, Serial2, Serial3
; BTSerial
'-D BTSERIAL_PREFIX="SenseShift_OG"'
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index 5d4b90db..87afffca 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -212,6 +212,9 @@ namespace OpenGloves {
// Delay until the next update.
auto elapsed = millis() - now;
+
+ log_d("Update took %d ms, theoretical max rate is %dHz (target is %dHz)", elapsed, 1000 / elapsed, 1000 / this->config.updateIntervalMs);
+
if (elapsed < this->config.updateIntervalMs) {
delay(this->config.updateIntervalMs - elapsed);
}
From 1f21404aa2d09dfd20717c562b9249f59d1739b0 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <lm@devolt.one>
Date: Mon, 4 Sep 2023 00:25:52 +0400
Subject: [PATCH 31/82] feat(OpenGloves): add BLE stream
---
.github/scripts/get_firmware_name.sh | 3 +
.../mode_configs/opengloves/opengloves.cpp | 29 ++-
ini/opengloves.ini | 6 +-
lib/ble_serial/BLESerial.hpp | 224 ++++++++++++++++++
lib/ble_serial/library.json | 7 +
lib/opengloves/og_constants.hpp | 1 +
.../senseshift/opengloves/autoconfig.hpp | 9 +-
.../opengloves/transport/stream.hpp | 28 ++-
lib/opengloves_task/opengloves_task.hpp | 2 +-
9 files changed, 282 insertions(+), 27 deletions(-)
create mode 100644 lib/ble_serial/BLESerial.hpp
create mode 100644 lib/ble_serial/library.json
diff --git a/.github/scripts/get_firmware_name.sh b/.github/scripts/get_firmware_name.sh
index 63b0b610..36b1bfb9 100755
--- a/.github/scripts/get_firmware_name.sh
+++ b/.github/scripts/get_firmware_name.sh
@@ -62,6 +62,9 @@ getOpenGlovesName() {
elif [[ $flags =~ OPENGLOVES_COMM_BTSERIAL ]]; then
echo "::debug::Bluetooth Serial is enabled, appending +bluetooth to the target"
target="$target+bluetooth"
+ elif [[ $flags =~ OPENGLOVES_COMM_BLESERIAL ]]; then
+ echo "::debug::BLE Serial is enabled, appending +ble to the target"
+ target="$target+ble"
fi
for flag in "${@:2}"; do
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index ff39cdff..76706b73 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -206,22 +206,21 @@ void setupMode()
.priority = OPENGLOVES_FINGERS_TASK_PRIORITY,
}
);
-
-#if FFB_ENABLED
- ffbTask = new OpenGlovesForceFeedbackTask(
- *communication,
- handActuators,
- UPDATE_RATE,
- {
- .name = "OpenGlovesForceFeedbackTask",
- .stackDepth = 8192,
- .priority = OPENGLOVES_FINGERS_TASK_PRIORITY,
- }
- );
- ffbTask->begin();
-#endif
-
trackingTask->begin();
+
+// #if FFB_ENABLED
+// ffbTask = new OpenGlovesForceFeedbackTask(
+// *communication,
+// handActuators,
+// UPDATE_RATE,
+// {
+// .name = "OpenGlovesForceFeedbackTask",
+// .stackDepth = 8192,
+// .priority = OPENGLOVES_FINGERS_TASK_PRIORITY,
+// }
+// );
+// ffbTask->begin();
+// #endif
}
void loopMode()
diff --git a/ini/opengloves.ini b/ini/opengloves.ini
index f4526043..0160ae8d 100644
--- a/ini/opengloves.ini
+++ b/ini/opengloves.ini
@@ -5,15 +5,15 @@ platform_packages =
framework = arduino
board = esp32doit-devkit-v1
upload_speed = 921600
-monitor_speed = 921600
+monitor_speed = 115200
build_flags = ${common.build_flags}
-D OPENGLOVES
; Communication
- ; -D OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_SERIAL ; OPENGLOVES_COMM_SERIAL, OPENGLOVES_COMM_BTSERIAL
+ ; -D OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_SERIAL ; OPENGLOVES_COMM_SERIAL, OPENGLOVES_COMM_BTSERIAL, OPENGLOVES_COMM_BLESERIAL
; Serial
- -D SERIAL_BAUDRATE=921600
+ -D SERIAL_BAUDRATE=115200
-D SERIAL_PORT=Serial ; Serial, Serial1, Serial2, Serial3
; BTSerial
'-D BTSERIAL_PREFIX="SenseShift_OG"'
diff --git a/lib/ble_serial/BLESerial.hpp b/lib/ble_serial/BLESerial.hpp
new file mode 100644
index 00000000..89572837
--- /dev/null
+++ b/lib/ble_serial/BLESerial.hpp
@@ -0,0 +1,224 @@
+#pragma once
+#ifndef BLESERIAL_H
+#define BLESERIAL_H
+
+#include <Arduino.h>
+#include <BLEDevice.h>
+#include <BLEUtils.h>
+#include <BLEServer.h>
+#include <BLE2902.h>
+
+#define BLESERIAL_ATTRIBUTE_MAX_VALUE_LENGTH 20
+#define BLESERIAL_RECEIVE_BUFFER_SIZE 256
+
+template<typename _Tp, size_t N>
+class ByteRingBuffer {
+ public:
+ using ValueType = _Tp;
+
+ void add(ValueType value) {
+ ringBuffer[newestIndex] = value;
+ newestIndex = (newestIndex + 1) % N;
+ length = min(length + 1, N);
+ }
+
+ int pop() { // pops the oldest value off the ring buffer
+ if (length == 0) {
+ return -1;
+ }
+ ValueType result = ringBuffer[(N + newestIndex - length) % N];
+ length -= 1;
+ return result;
+ }
+
+ void clear() {
+ newestIndex = 0;
+ length = 0;
+ }
+
+ int get(size_t index) { // this.get(0) is the oldest value, this.get(this.getLength() - 1) is the newest value
+ if (index < 0 || index >= length) {
+ return -1;
+ }
+ return ringBuffer[(N + newestIndex - length + index) % N];
+ }
+
+ size_t getLength() { return length; }
+
+ private:
+ ValueType ringBuffer[N];
+ size_t newestIndex = 0;
+ size_t length = 0;
+};
+
+class BLESerialCharacteristicCallbacks;
+class BLESerialServerCallbacks;
+
+class BLESerial : public Stream
+{
+ friend class BLESerialCharacteristicCallbacks;
+ friend class BLESerialServerCallbacks;
+
+ public:
+ inline static const char *SERVICE_UUID = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E";
+ inline static const char *RX_UUID = "6E400002-B5A3-F393-E0A9-E50E24DCCA9E";
+ inline static const char *TX_UUID = "6E400003-B5A3-F393-E0A9-E50E24DCCA9E";
+
+ BLESerial() : m_receiveBuffer() {}
+
+ virtual int available() override
+ {
+ return m_receiveBuffer.getLength();
+ }
+
+ virtual int peek() override
+ {
+ return m_receiveBuffer.get(0);
+ }
+
+ virtual int read() override
+ {
+ return m_receiveBuffer.pop();
+ }
+
+ virtual size_t write(const uint8_t *buffer, size_t bufferSize) override
+ {
+ if (this->m_pTxCharacteristic == nullptr || !this->connected())
+ {
+ return 0;
+ }
+
+ this->m_pTxCharacteristic->setValue(const_cast<uint8_t *>(buffer), bufferSize);
+ this->flush();
+
+ return bufferSize;
+ }
+
+ virtual size_t write(uint8_t byte) override
+ {
+ if (this->m_pTxCharacteristic == nullptr || !this->connected())
+ {
+ return 0;
+ }
+
+ this->m_pTxCharacteristic->setValue(&byte, 1);
+ this->flush();
+
+ return 1;
+ }
+
+ virtual void flush(void) override
+ {
+ this->m_pTxCharacteristic->notify(true);
+ }
+
+ void begin(const char *deviceName, const char *serviceUuid = SERVICE_UUID, const char *rxUuid = RX_UUID, const char *txUuid = TX_UUID)
+ {
+ // Create the BLE Device
+ log_d("Creating BLE device with name '%s'", deviceName);
+ BLEDevice::init(deviceName);
+
+ BLEServer *pServer = BLEDevice::createServer();
+
+ this->begin(pServer, serviceUuid, rxUuid, txUuid);
+ }
+
+ void begin(BLEServer* pServer, const char *serviceUuid = SERVICE_UUID, const char *rxUuid = RX_UUID, const char *txUuid = TX_UUID)
+ {
+ log_d("Creating BLE service with UUID '%s'", serviceUuid);
+ BLEService *pService = pServer->getServiceByUUID(serviceUuid);
+ if (pService == nullptr) {
+ pService = pServer->createService(serviceUuid);
+ }
+
+ log_d("Creating BLE characteristics with UUIDs '%s' (RX) and '%s' (TX)", rxUuid, txUuid);
+ auto pRxCharacteristic = pService->createCharacteristic(rxUuid, BLECharacteristic::PROPERTY_WRITE);
+ auto pTxCharacteristic = pService->createCharacteristic(txUuid, BLECharacteristic::PROPERTY_READ | BLECharacteristic::PROPERTY_NOTIFY);
+
+ this->begin(pServer, pRxCharacteristic, pTxCharacteristic);
+
+ pService->start();
+ log_d("Started BLE service");
+
+ BLEAdvertising *pAdvertising = pServer->getAdvertising();
+ pAdvertising->start();
+ log_d("Started BLE advertising");
+ }
+
+ void begin(BLEServer* pServer, BLECharacteristic *pRxCharacteristic, BLECharacteristic *pTxCharacteristic);
+
+ bool connected()
+ {
+ return m_pServer != nullptr && m_pServer->getConnectedCount() > 0;
+ }
+
+ private:
+ BLESerial(BLESerial const &other) = delete; // disable copy constructor
+ void operator=(BLESerial const &other) = delete; // disable assign constructor
+
+ ByteRingBuffer<uint8_t, BLESERIAL_RECEIVE_BUFFER_SIZE> m_receiveBuffer;
+
+ BLEServer *m_pServer;
+ BLECharacteristic *m_pRxCharacteristic;
+ BLECharacteristic *m_pTxCharacteristic;
+};
+
+class BLESerialServerCallbacks : public BLEServerCallbacks
+{
+ void onConnect(BLEServer *pServer) override
+ {
+
+ }
+
+ void onDisconnect(BLEServer *pServer) override
+ {
+ auto* pAdvertising = pServer->getAdvertising();
+ if (pAdvertising == nullptr)
+ {
+ return;
+ }
+ pAdvertising->start();
+ }
+};
+
+class BLESerialCharacteristicCallbacks : public BLECharacteristicCallbacks
+{
+ public:
+ BLESerialCharacteristicCallbacks(BLESerial *bleSerial) : bleSerial(bleSerial) {}
+
+ void onWrite(BLECharacteristic *pCharacteristic)
+ {
+ if (pCharacteristic != bleSerial->m_pRxCharacteristic)
+ {
+ return;
+ }
+
+ std::string rxValue = pCharacteristic->getValue();
+ for (int i = 0; i < rxValue.length(); i++)
+ {
+ bleSerial->m_receiveBuffer.add(rxValue[i]);
+ }
+ }
+
+ private:
+ BLESerial *bleSerial;
+};
+
+void BLESerial::begin(BLEServer* pServer, BLECharacteristic *pRxCharacteristic, BLECharacteristic *pTxCharacteristic)
+{
+ this->m_pServer = pServer;
+ this->m_pRxCharacteristic = pRxCharacteristic;
+ this->m_pTxCharacteristic = pTxCharacteristic;
+
+ // this->m_pRxCharacteristic->setAccessPermissions(ESP_GATT_PERM_WRITE_ENCRYPTED);
+ this->m_pRxCharacteristic->addDescriptor(new BLE2902());
+ this->m_pRxCharacteristic->setCallbacks(new BLESerialCharacteristicCallbacks(this));
+ this->m_pRxCharacteristic->setWriteProperty(true);
+
+ // this->m_pTxCharacteristic->setAccessPermissions(ESP_GATT_PERM_READ_ENCRYPTED);
+ this->m_pTxCharacteristic->addDescriptor(new BLE2902());
+ this->m_pTxCharacteristic->setReadProperty(true);
+ this->m_pTxCharacteristic->setNotifyProperty(true);
+}
+
+#endif // BLESERIAL_H
diff --git a/lib/ble_serial/library.json b/lib/ble_serial/library.json
new file mode 100644
index 00000000..e237d1ef
--- /dev/null
+++ b/lib/ble_serial/library.json
@@ -0,0 +1,7 @@
+{
+ "$schema": "https://raw.githubusercontent.com/platformio/platformio-core/develop/platformio/assets/schema/library.json",
+ "frameworks": "arduino",
+ "platforms": [
+ "espressif32"
+ ]
+}
diff --git a/lib/opengloves/og_constants.hpp b/lib/opengloves/og_constants.hpp
index 6d612517..df163940 100644
--- a/lib/opengloves/og_constants.hpp
+++ b/lib/opengloves/og_constants.hpp
@@ -4,3 +4,4 @@
#define OPENGLOVES_COMM_SERIAL 0x1
#define OPENGLOVES_COMM_BTSERIAL 0x2
+#define OPENGLOVES_COMM_BLESERIAL 0x3
diff --git a/lib/opengloves/senseshift/opengloves/autoconfig.hpp b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
index ed585ef4..0fbe65fa 100644
--- a/lib/opengloves/senseshift/opengloves/autoconfig.hpp
+++ b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
@@ -163,7 +163,7 @@ namespace SenseShift::OpenGloves::AutoConfig {
auto* pSerial = &SERIAL_PORT;
pSerial->begin(SERIAL_BAUDRATE);
return new StreamTransport(pSerial);
-#elif OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BTSERIAL // Bluetooth Serial
+#elif (OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BTSERIAL) || (OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BLESERIAL) // Bluetooth Serial
std::string name;
#ifdef BTSERIAL_NAME
name = BTSERIAL_NAME;
@@ -174,9 +174,16 @@ namespace SenseShift::OpenGloves::AutoConfig {
log_i("Generated Bluetooth name: %s", name.c_str());
#endif
+
+#if OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BTSERIAL // Bluetooth Classic
BluetoothSerial* pBtSerial = new BluetoothSerial();
pBtSerial->begin(name.c_str());
return new BluetoothSerialTransport(*pBtSerial);
+#elif OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BLESERIAL // Bluetooth Low Energy
+ BLESerial* pBleSerial = new BLESerial();
+ pBleSerial->begin(name.c_str());
+ return new BLESerialTransport(*pBleSerial);
+#endif
#else // Fallback
#error "Unsupported communication type"
return nullptr;
diff --git a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
index f0cb609a..72c94048 100644
--- a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
+++ b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
@@ -1,6 +1,7 @@
#pragma once
#include <BluetoothSerial.h>
+#include <BLESerial.hpp>
#include <HardwareSerial.h>
#include <Print.h>
#include <WiFi.h>
@@ -25,7 +26,7 @@ namespace SenseShift::OpenGloves {
return 0;
}
- const auto written = this->channel->write(buffer);
+ const auto written = this->channel->write(buffer, length);
this->channel->flush();
return written;
@@ -68,18 +69,31 @@ namespace SenseShift::OpenGloves {
public:
BluetoothSerialTransport(BluetoothSerial& channel) : IStreamTransport(&channel){};
- void setup() override
+ bool isReady() override
{
auto* serial = static_cast<BluetoothSerial*>(this->channel);
- if (serial->isReady()) {
- return;
- }
+ return serial->isReady() && serial->hasClient();
}
+ virtual size_t send(const char* buffer, size_t length) override
+ {
+ auto written = this->channel->write(buffer, length);
+
+ // TODO: This is a hack to ensure the data is sent
+ delay(2);
+
+ return written;
+ }
+ };
+
+ class BLESerialTransport : public IStreamTransport {
+ public:
+ BLESerialTransport(BLESerial& channel) : IStreamTransport(&channel){};
+
bool isReady() override
{
- auto* serial = static_cast<BluetoothSerial*>(this->channel);
- return serial->isReady() && serial->hasClient();
+ auto* serial = static_cast<BLESerial*>(this->channel);
+ return serial->connected();
}
};
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index 87afffca..c45ea604 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -213,7 +213,7 @@ namespace OpenGloves {
// Delay until the next update.
auto elapsed = millis() - now;
- log_d("Update took %d ms, theoretical max rate is %dHz (target is %dHz)", elapsed, 1000 / elapsed, 1000 / this->config.updateIntervalMs);
+ log_i("Update took %d ms, theoretical max rate is %dHz (target is %dHz)", elapsed, 1000 / elapsed, 1000 / this->config.updateIntervalMs);
if (elapsed < this->config.updateIntervalMs) {
delay(this->config.updateIntervalMs - elapsed);
From f8a9deb3ffb985082e4adcbdec547430b21cf763 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 4 Sep 2023 01:09:19 +0400
Subject: [PATCH 32/82] style(clang-format): fix formatting
---
.../mode_configs/opengloves/opengloves.cpp | 26 +--
lib/ble_serial/BLESerial.hpp | 155 ++++++++----------
lib/io/senseshift/input/sensor.hpp | 7 +-
.../senseshift/opengloves/autoconfig.hpp | 33 ++--
.../senseshift/opengloves/encoding/alpha.cpp | 8 +-
.../opengloves/transport/stream.hpp | 2 +-
lib/opengloves_task/opengloves_task.hpp | 7 +-
7 files changed, 116 insertions(+), 122 deletions(-)
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index 76706b73..3ebfca56 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -208,19 +208,19 @@ void setupMode()
);
trackingTask->begin();
-// #if FFB_ENABLED
-// ffbTask = new OpenGlovesForceFeedbackTask(
-// *communication,
-// handActuators,
-// UPDATE_RATE,
-// {
-// .name = "OpenGlovesForceFeedbackTask",
-// .stackDepth = 8192,
-// .priority = OPENGLOVES_FINGERS_TASK_PRIORITY,
-// }
-// );
-// ffbTask->begin();
-// #endif
+#if FFB_ENABLED
+ ffbTask = new OpenGlovesForceFeedbackTask(
+ *communication,
+ handActuators,
+ UPDATE_RATE,
+ {
+ .name = "OpenGlovesForceFeedbackTask",
+ .stackDepth = 8192,
+ .priority = OPENGLOVES_FINGERS_TASK_PRIORITY,
+ }
+ );
+ ffbTask->begin();
+#endif
}
void loopMode()
diff --git a/lib/ble_serial/BLESerial.hpp b/lib/ble_serial/BLESerial.hpp
index 89572837..781e3840 100644
--- a/lib/ble_serial/BLESerial.hpp
+++ b/lib/ble_serial/BLESerial.hpp
@@ -3,10 +3,10 @@
#define BLESERIAL_H
#include <Arduino.h>
+#include <BLE2902.h>
#include <BLEDevice.h>
-#include <BLEUtils.h>
#include <BLEServer.h>
-#include <BLE2902.h>
+#include <BLEUtils.h>
#define BLESERIAL_ATTRIBUTE_MAX_VALUE_LENGTH 20
#define BLESERIAL_RECEIVE_BUFFER_SIZE 256
@@ -16,31 +16,35 @@ class ByteRingBuffer {
public:
using ValueType = _Tp;
- void add(ValueType value) {
- ringBuffer[newestIndex] = value;
- newestIndex = (newestIndex + 1) % N;
- length = min(length + 1, N);
+ void add(ValueType value)
+ {
+ ringBuffer[newestIndex] = value;
+ newestIndex = (newestIndex + 1) % N;
+ length = min(length + 1, N);
}
- int pop() { // pops the oldest value off the ring buffer
- if (length == 0) {
- return -1;
- }
- ValueType result = ringBuffer[(N + newestIndex - length) % N];
- length -= 1;
- return result;
+ int pop()
+ { // pops the oldest value off the ring buffer
+ if (length == 0) {
+ return -1;
+ }
+ ValueType result = ringBuffer[(N + newestIndex - length) % N];
+ length -= 1;
+ return result;
}
- void clear() {
- newestIndex = 0;
- length = 0;
+ void clear()
+ {
+ newestIndex = 0;
+ length = 0;
}
- int get(size_t index) { // this.get(0) is the oldest value, this.get(this.getLength() - 1) is the newest value
- if (index < 0 || index >= length) {
- return -1;
- }
- return ringBuffer[(N + newestIndex - length + index) % N];
+ int get(size_t index)
+ { // this.get(0) is the oldest value, this.get(this.getLength() - 1) is the newest value
+ if (index < 0 || index >= length) {
+ return -1;
+ }
+ return ringBuffer[(N + newestIndex - length + index) % N];
}
size_t getLength() { return length; }
@@ -54,41 +58,30 @@ class ByteRingBuffer {
class BLESerialCharacteristicCallbacks;
class BLESerialServerCallbacks;
-class BLESerial : public Stream
-{
+class BLESerial : public Stream {
friend class BLESerialCharacteristicCallbacks;
friend class BLESerialServerCallbacks;
public:
- inline static const char *SERVICE_UUID = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E";
- inline static const char *RX_UUID = "6E400002-B5A3-F393-E0A9-E50E24DCCA9E";
- inline static const char *TX_UUID = "6E400003-B5A3-F393-E0A9-E50E24DCCA9E";
+ inline static const char* SERVICE_UUID = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E";
+ inline static const char* RX_UUID = "6E400002-B5A3-F393-E0A9-E50E24DCCA9E";
+ inline static const char* TX_UUID = "6E400003-B5A3-F393-E0A9-E50E24DCCA9E";
BLESerial() : m_receiveBuffer() {}
- virtual int available() override
- {
- return m_receiveBuffer.getLength();
- }
+ virtual int available() override { return m_receiveBuffer.getLength(); }
- virtual int peek() override
- {
- return m_receiveBuffer.get(0);
- }
+ virtual int peek() override { return m_receiveBuffer.get(0); }
- virtual int read() override
- {
- return m_receiveBuffer.pop();
- }
+ virtual int read() override { return m_receiveBuffer.pop(); }
- virtual size_t write(const uint8_t *buffer, size_t bufferSize) override
+ virtual size_t write(const uint8_t* buffer, size_t bufferSize) override
{
- if (this->m_pTxCharacteristic == nullptr || !this->connected())
- {
+ if (this->m_pTxCharacteristic == nullptr || !this->connected()) {
return 0;
}
- this->m_pTxCharacteristic->setValue(const_cast<uint8_t *>(buffer), bufferSize);
+ this->m_pTxCharacteristic->setValue(const_cast<uint8_t*>(buffer), bufferSize);
this->flush();
return bufferSize;
@@ -96,8 +89,7 @@ class BLESerial : public Stream
virtual size_t write(uint8_t byte) override
{
- if (this->m_pTxCharacteristic == nullptr || !this->connected())
- {
+ if (this->m_pTxCharacteristic == nullptr || !this->connected()) {
return 0;
}
@@ -107,104 +99,101 @@ class BLESerial : public Stream
return 1;
}
- virtual void flush(void) override
- {
- this->m_pTxCharacteristic->notify(true);
- }
+ virtual void flush(void) override { this->m_pTxCharacteristic->notify(true); }
- void begin(const char *deviceName, const char *serviceUuid = SERVICE_UUID, const char *rxUuid = RX_UUID, const char *txUuid = TX_UUID)
+ void begin(
+ const char* deviceName,
+ const char* serviceUuid = SERVICE_UUID,
+ const char* rxUuid = RX_UUID,
+ const char* txUuid = TX_UUID
+ )
{
// Create the BLE Device
log_d("Creating BLE device with name '%s'", deviceName);
BLEDevice::init(deviceName);
- BLEServer *pServer = BLEDevice::createServer();
+ BLEServer* pServer = BLEDevice::createServer();
this->begin(pServer, serviceUuid, rxUuid, txUuid);
}
- void begin(BLEServer* pServer, const char *serviceUuid = SERVICE_UUID, const char *rxUuid = RX_UUID, const char *txUuid = TX_UUID)
+ void begin(
+ BLEServer* pServer,
+ const char* serviceUuid = SERVICE_UUID,
+ const char* rxUuid = RX_UUID,
+ const char* txUuid = TX_UUID
+ )
{
log_d("Creating BLE service with UUID '%s'", serviceUuid);
- BLEService *pService = pServer->getServiceByUUID(serviceUuid);
+ BLEService* pService = pServer->getServiceByUUID(serviceUuid);
if (pService == nullptr) {
pService = pServer->createService(serviceUuid);
}
log_d("Creating BLE characteristics with UUIDs '%s' (RX) and '%s' (TX)", rxUuid, txUuid);
auto pRxCharacteristic = pService->createCharacteristic(rxUuid, BLECharacteristic::PROPERTY_WRITE);
- auto pTxCharacteristic = pService->createCharacteristic(txUuid, BLECharacteristic::PROPERTY_READ | BLECharacteristic::PROPERTY_NOTIFY);
+ auto pTxCharacteristic =
+ pService->createCharacteristic(txUuid, BLECharacteristic::PROPERTY_READ | BLECharacteristic::PROPERTY_NOTIFY);
this->begin(pServer, pRxCharacteristic, pTxCharacteristic);
pService->start();
log_d("Started BLE service");
- BLEAdvertising *pAdvertising = pServer->getAdvertising();
+ BLEAdvertising* pAdvertising = pServer->getAdvertising();
pAdvertising->start();
log_d("Started BLE advertising");
}
- void begin(BLEServer* pServer, BLECharacteristic *pRxCharacteristic, BLECharacteristic *pTxCharacteristic);
+ void begin(BLEServer* pServer, BLECharacteristic* pRxCharacteristic, BLECharacteristic* pTxCharacteristic);
- bool connected()
- {
- return m_pServer != nullptr && m_pServer->getConnectedCount() > 0;
- }
+ bool connected() { return m_pServer != nullptr && m_pServer->getConnectedCount() > 0; }
private:
- BLESerial(BLESerial const &other) = delete; // disable copy constructor
- void operator=(BLESerial const &other) = delete; // disable assign constructor
+ BLESerial(BLESerial const& other) = delete; // disable copy constructor
+ void operator=(BLESerial const& other) = delete; // disable assign constructor
ByteRingBuffer<uint8_t, BLESERIAL_RECEIVE_BUFFER_SIZE> m_receiveBuffer;
- BLEServer *m_pServer;
- BLECharacteristic *m_pRxCharacteristic;
- BLECharacteristic *m_pTxCharacteristic;
+ BLEServer* m_pServer;
+ BLECharacteristic* m_pRxCharacteristic;
+ BLECharacteristic* m_pTxCharacteristic;
};
-class BLESerialServerCallbacks : public BLEServerCallbacks
-{
- void onConnect(BLEServer *pServer) override
- {
-
- }
+class BLESerialServerCallbacks : public BLEServerCallbacks {
+ void onConnect(BLEServer* pServer) override {}
- void onDisconnect(BLEServer *pServer) override
+ void onDisconnect(BLEServer* pServer) override
{
auto* pAdvertising = pServer->getAdvertising();
- if (pAdvertising == nullptr)
- {
+ if (pAdvertising == nullptr) {
return;
}
pAdvertising->start();
}
};
-class BLESerialCharacteristicCallbacks : public BLECharacteristicCallbacks
-{
+class BLESerialCharacteristicCallbacks : public BLECharacteristicCallbacks {
public:
- BLESerialCharacteristicCallbacks(BLESerial *bleSerial) : bleSerial(bleSerial) {}
+ BLESerialCharacteristicCallbacks(BLESerial* bleSerial) : bleSerial(bleSerial) {}
- void onWrite(BLECharacteristic *pCharacteristic)
+ void onWrite(BLECharacteristic* pCharacteristic)
{
- if (pCharacteristic != bleSerial->m_pRxCharacteristic)
- {
+ if (pCharacteristic != bleSerial->m_pRxCharacteristic) {
return;
}
std::string rxValue = pCharacteristic->getValue();
- for (int i = 0; i < rxValue.length(); i++)
- {
+ for (int i = 0; i < rxValue.length(); i++) {
bleSerial->m_receiveBuffer.add(rxValue[i]);
}
}
private:
- BLESerial *bleSerial;
+ BLESerial* bleSerial;
};
-void BLESerial::begin(BLEServer* pServer, BLECharacteristic *pRxCharacteristic, BLECharacteristic *pTxCharacteristic)
+void BLESerial::begin(BLEServer* pServer, BLECharacteristic* pRxCharacteristic, BLECharacteristic* pTxCharacteristic)
{
this->m_pServer = pServer;
this->m_pRxCharacteristic = pRxCharacteristic;
diff --git a/lib/io/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
index c3ce962c..d1fe8b51 100644
--- a/lib/io/senseshift/input/sensor.hpp
+++ b/lib/io/senseshift/input/sensor.hpp
@@ -109,13 +109,12 @@ namespace SenseShift::Input {
}
};
- template <typename _Tp>
- class AverageSensor : public ISimpleSensor<_Tp>
- {
+ template<typename _Tp>
+ class AverageSensor : public ISimpleSensor<_Tp> {
static_assert(std::is_arithmetic<_Tp>::value, "AverageSensor only supports arithmetic types");
public:
- AverageSensor(ISimpleSensor<_Tp>* sensor, size_t samples) : sensor(sensor), samples(samples){ }
+ AverageSensor(ISimpleSensor<_Tp>* sensor, size_t samples) : sensor(sensor), samples(samples) {}
void init() override { this->sensor->init(); };
diff --git a/lib/opengloves/senseshift/opengloves/autoconfig.hpp b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
index 0fbe65fa..cebdefe2 100644
--- a/lib/opengloves/senseshift/opengloves/autoconfig.hpp
+++ b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
@@ -75,10 +75,10 @@
new curl_calib() \
), \
new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Input::AverageSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<splay_invert>(splay_pin), \
- 5 \
- ), \
+ new ::SenseShift::Input::AverageSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<splay_invert>(splay_pin), \
+ 5 \
+ ), \
new splay_calib() \
), \
type \
@@ -91,16 +91,16 @@
#define JOYSTICK_ENABLED \
(defined(PIN_JOYSTICK_X) && defined(PIN_JOYSTICK_Y) && (PIN_JOYSTICK_X != -1) && (PIN_JOYSTICK_Y != -1))
-#define JOYSTICK_CLASS(type, pin, invert, deadzone) \
- StringEncodedMemoizedSensor<uint16_t>( \
- new ::SenseShift::Input::JoystickAxisSensor<uint16_t>( \
- new ::SenseShift::Input::AverageSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<invert>(pin), \
- 5 \
- ), \
- deadzone \
- ), \
- type \
+#define JOYSTICK_CLASS(type, pin, invert, deadzone) \
+ StringEncodedMemoizedSensor<uint16_t>( \
+ new ::SenseShift::Input::JoystickAxisSensor<uint16_t>( \
+ new ::SenseShift::Input::AverageSensor<uint16_t>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<invert>(pin), \
+ 5 \
+ ), \
+ deadzone \
+ ), \
+ type \
)
#pragma endregion
@@ -163,7 +163,8 @@ namespace SenseShift::OpenGloves::AutoConfig {
auto* pSerial = &SERIAL_PORT;
pSerial->begin(SERIAL_BAUDRATE);
return new StreamTransport(pSerial);
-#elif (OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BTSERIAL) || (OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BLESERIAL) // Bluetooth Serial
+#elif (OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BTSERIAL) \
+ || (OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BLESERIAL) // Bluetooth Serial
std::string name;
#ifdef BTSERIAL_NAME
name = BTSERIAL_NAME;
@@ -175,7 +176,7 @@ namespace SenseShift::OpenGloves::AutoConfig {
log_i("Generated Bluetooth name: %s", name.c_str());
#endif
-#if OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BTSERIAL // Bluetooth Classic
+#if OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BTSERIAL // Bluetooth Classic
BluetoothSerial* pBtSerial = new BluetoothSerial();
pBtSerial->begin(name.c_str());
return new BluetoothSerialTransport(*pBtSerial);
diff --git a/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp b/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp
index 702a157c..ad1f4a1e 100644
--- a/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp
+++ b/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp
@@ -3,8 +3,8 @@
#include <string.h>
namespace SenseShift::OpenGloves {
- const std::map<AlphaEncodingService::Command, uint16_t> AlphaEncodingService::deserialize(const std::string& input_string
- ) const
+ const std::map<AlphaEncodingService::Command, uint16_t>
+ AlphaEncodingService::deserialize(const std::string& input_string) const
{
std::map<Command, uint16_t> commands;
@@ -58,8 +58,8 @@ namespace SenseShift::OpenGloves {
commands[command] = number;
}
- const std::string AlphaEncodingService::serialize(const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors
- )
+ const std::string
+ AlphaEncodingService::serialize(const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors)
{
memset(this->writeBuffer, 0, 256);
this->writeBuffer[0] = '\0';
diff --git a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
index 72c94048..f249f954 100644
--- a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
+++ b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
@@ -1,7 +1,7 @@
#pragma once
-#include <BluetoothSerial.h>
#include <BLESerial.hpp>
+#include <BluetoothSerial.h>
#include <HardwareSerial.h>
#include <Print.h>
#include <WiFi.h>
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index c45ea604..80f2cd9e 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -213,7 +213,12 @@ namespace OpenGloves {
// Delay until the next update.
auto elapsed = millis() - now;
- log_i("Update took %d ms, theoretical max rate is %dHz (target is %dHz)", elapsed, 1000 / elapsed, 1000 / this->config.updateIntervalMs);
+ log_i(
+ "Update took %d ms, theoretical max rate is %dHz (target is %dHz)",
+ elapsed,
+ 1000 / elapsed,
+ 1000 / this->config.updateIntervalMs
+ );
if (elapsed < this->config.updateIntervalMs) {
delay(this->config.updateIntervalMs - elapsed);
From b3ef92ad7c2e0e42b4dd4bf40d46167a4592705a Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 4 Sep 2023 01:09:50 +0400
Subject: [PATCH 33/82] ci(GitHub): cover BLE transport
---
.github/workflows/ci.yml | 22 +++++++++++++++++++---
ini/opengloves.ini | 2 +-
lib/opengloves_task/opengloves_task.hpp | 2 +-
platformio.ini | 2 ++
4 files changed, 23 insertions(+), 5 deletions(-)
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 1119c892..fbba23fe 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -16,7 +16,7 @@ on:
jobs:
build-bhaptics:
- name: Build ${{ matrix.target }} on ${{ matrix.os }} ${{ matrix.coverage && 'with coverage' || 'without coverage' }}, -D ${{ matrix.battery_flag }} -D ${{ matrix.serial_plotter_flag }} -D ${{ matrix.nimble_flag }}
+ name: Build ${{ matrix.target }} ${{ matrix.coverage && 'with coverage' || 'without coverage' }}, -D ${{ matrix.battery_flag }} -D ${{ matrix.serial_plotter_flag }} -D ${{ matrix.nimble_flag }}
runs-on: ${{ matrix.os }}
strategy:
fail-fast: false
@@ -135,7 +135,8 @@ jobs:
- name: Change memory segments
if: matrix.coverage
run: |
- sed -i "s/len\s=\s0x2c200\s-\s0xdb5c/len = 289888/" ~/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/ld/memory.ld
+ sed -i "s/len\s=\s0x2c200\s-\s0xdb5c/len = 2898880/" ~/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/ld/memory.ld
+ sed -i "/\[env\]/p; s/\[env\]/board_build.partitions = huge_app.csv/" platformio.ini
- name: Build
run: |
@@ -159,6 +160,7 @@ jobs:
retention-days: 1
build-opengloves:
+ name: Build ${{ matrix.target }} ${{ matrix.coverage && 'with coverage' || 'without coverage' }}, -D ${{ matrix.comm_flag }} -D ${{ matrix.curl_calibration_flag }}
runs-on: ${{ matrix.os }}
strategy:
fail-fast: false
@@ -193,6 +195,10 @@ jobs:
target: indexer-csf
comm_flag: COMMUNICATION_PROTOCOL=OPENGLOVES_COMM_BTSERIAL
coverage: true
+ - os: ubuntu-latest
+ target: indexer-csf
+ comm_flag: COMMUNICATION_PROTOCOL=OPENGLOVES_COMM_BLESERIAL
+ coverage: true
steps:
- uses: actions/checkout@v3
@@ -269,14 +275,23 @@ jobs:
- name: Change memory segments
if: matrix.coverage
run: |
- sed -i "s/len\s=\s0x2c200\s-\s0xdb5c/len = 289888/" ~/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/ld/memory.ld
+ sed -i "s/len\s=\s0x2c200\s-\s0xdb5c/len = 2898880/" ~/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/ld/memory.ld
+ sed -i "/\[env\]/p; s/\[env\]/board_build.partitions = huge_app.csv/" platformio.ini
- name: Build
+ if: matrix.coverage == false
run: |
echo "::group::platformio.ini"
cat platformio.ini
echo "::endgroup::"
pio run --environment ${{matrix.target}}
+ - name: Build (debug)
+ if: matrix.coverage
+ run: |
+ echo "::group::platformio.ini"
+ cat platformio.ini
+ echo "::endgroup::"
+ pio debug --environment ${{matrix.target}}
- name: Upload firmware Artifact
if: matrix.coverage == false
@@ -420,6 +435,7 @@ jobs:
wokwi:
needs:
+ - build-bhaptics
- build-opengloves
- test
runs-on: ubuntu-latest
diff --git a/ini/opengloves.ini b/ini/opengloves.ini
index 0160ae8d..15e91d29 100644
--- a/ini/opengloves.ini
+++ b/ini/opengloves.ini
@@ -11,7 +11,7 @@ build_flags = ${common.build_flags}
-D OPENGLOVES
; Communication
- ; -D OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_SERIAL ; OPENGLOVES_COMM_SERIAL, OPENGLOVES_COMM_BTSERIAL, OPENGLOVES_COMM_BLESERIAL
+ -D OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_BLESERIAL ; OPENGLOVES_COMM_SERIAL, OPENGLOVES_COMM_BTSERIAL, OPENGLOVES_COMM_BLESERIAL
; Serial
-D SERIAL_BAUDRATE=115200
-D SERIAL_PORT=Serial ; Serial, Serial1, Serial2, Serial3
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index 80f2cd9e..a04c2f11 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -213,7 +213,7 @@ namespace OpenGloves {
// Delay until the next update.
auto elapsed = millis() - now;
- log_i(
+ log_d(
"Update took %d ms, theoretical max rate is %dHz (target is %dHz)",
elapsed,
1000 / elapsed,
diff --git a/platformio.ini b/platformio.ini
index d2a48669..6787808b 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -46,6 +46,8 @@ check_tool = clangtidy
check_flags =
clangtidy: --config-file=./.clang-tidy --fix
+debug_build_flags = -Os
+
[env:native]
platform = native
From 1b91c221309e83a9f7b94967781772c5277af34a Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 4 Sep 2023 09:22:16 +0400
Subject: [PATCH 34/82] feat(IO): add Median Filter sensor
---
lib/io/senseshift/input/sensor.hpp | 26 ++++++++++
.../senseshift/opengloves/autoconfig.hpp | 48 +++++++++----------
test/test_io_sensor/main.cpp | 44 +++++++++++++++--
3 files changed, 89 insertions(+), 29 deletions(-)
diff --git a/lib/io/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
index d1fe8b51..2520cd76 100644
--- a/lib/io/senseshift/input/sensor.hpp
+++ b/lib/io/senseshift/input/sensor.hpp
@@ -133,4 +133,30 @@ namespace SenseShift::Input {
ISimpleSensor<_Tp>* sensor;
size_t samples;
};
+
+ template<typename _Tp, size_t _Samples>
+ class StaticMedianSensor : public ISimpleSensor<_Tp> {
+ static_assert(std::is_arithmetic<_Tp>::value, "StaticMedianSensor only supports arithmetic types");
+ static_assert(_Samples % 2 == 1, "StaticMedianSensor only supports odd sample sizes");
+
+ public:
+ StaticMedianSensor(ISimpleSensor<_Tp>* sensor) : sensor(sensor) {}
+
+ void init() override { this->sensor->init(); };
+
+ _Tp getValue() override
+ {
+ for (size_t i = 0; i < _Samples; i++) {
+ this->values[i] = this->sensor->getValue();
+ }
+
+ std::sort(this->values, this->values + _Samples);
+
+ return this->values[_Samples / 2];
+ }
+
+ private:
+ _Tp values[_Samples];
+ ISimpleSensor<_Tp>* sensor;
+ };
} // namespace SenseShift::Input
diff --git a/lib/opengloves/senseshift/opengloves/autoconfig.hpp b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
index cebdefe2..191a8c06 100644
--- a/lib/opengloves/senseshift/opengloves/autoconfig.hpp
+++ b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
@@ -48,16 +48,15 @@
#define FINGER_MIDDLE_ENABLED (defined(PIN_FINGER_MIDDLE) && (PIN_FINGER_MIDDLE != -1))
#define FINGER_RING_ENABLED (defined(PIN_FINGER_RING) && (PIN_FINGER_RING != -1))
#define FINGER_PINKY_ENABLED (defined(PIN_FINGER_PINKY) && (PIN_FINGER_PINKY != -1))
-#define FINGER_CLASS(type, curl_pin, curl_invert, curl_calib) \
- FingerSensor( \
- new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Input::AverageSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
- 5 \
- ), \
- new curl_calib() \
- ), \
- type \
+#define FINGER_CLASS(type, curl_pin, curl_invert, curl_calib) \
+ FingerSensor( \
+ new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
+ new ::SenseShift::Input::StaticMedianSensor<uint16_t, 5>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin) \
+ ), \
+ new curl_calib() \
+ ), \
+ type \
)
#define FINGER_THUMB_SPLAY (FINGER_THUMB_ENABLED && defined(PIN_FINGER_THUMB_SPLAY) && (PIN_FINGER_THUMB_SPLAY != -1))
#define FINGER_INDEX_SPLAY (FINGER_INDEX_ENABLED && defined(PIN_FINGER_INDEX_SPLAY) && (PIN_FINGER_INDEX_SPLAY != -1))
@@ -68,16 +67,14 @@
#define FINGER_SPLAY_CLASS(type, curl_pin, curl_invert, curl_calib, splay_pin, splay_invert, splay_calib) \
FingerSensor( \
new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Input::AverageSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin), \
- 5 \
+ new ::SenseShift::Input::StaticMedianSensor<uint16_t, 5>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin) \
), \
new curl_calib() \
), \
new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Input::AverageSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<splay_invert>(splay_pin), \
- 5 \
+ new ::SenseShift::Input::StaticMedianSensor<uint16_t, 5>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<splay_invert>(splay_pin) \
), \
new splay_calib() \
), \
@@ -91,16 +88,15 @@
#define JOYSTICK_ENABLED \
(defined(PIN_JOYSTICK_X) && defined(PIN_JOYSTICK_Y) && (PIN_JOYSTICK_X != -1) && (PIN_JOYSTICK_Y != -1))
-#define JOYSTICK_CLASS(type, pin, invert, deadzone) \
- StringEncodedMemoizedSensor<uint16_t>( \
- new ::SenseShift::Input::JoystickAxisSensor<uint16_t>( \
- new ::SenseShift::Input::AverageSensor<uint16_t>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<invert>(pin), \
- 5 \
- ), \
- deadzone \
- ), \
- type \
+#define JOYSTICK_CLASS(type, pin, invert, deadzone) \
+ StringEncodedMemoizedSensor<uint16_t>( \
+ new ::SenseShift::Input::JoystickAxisSensor<uint16_t>( \
+ new ::SenseShift::Input::StaticMedianSensor<uint16_t, 5>( \
+ new ::SenseShift::Arduino::Input::AnalogSensor<invert>(pin) \
+ ), \
+ deadzone \
+ ), \
+ type \
)
#pragma endregion
diff --git a/test/test_io_sensor/main.cpp b/test/test_io_sensor/main.cpp
index c0b75acb..74b4ace3 100644
--- a/test/test_io_sensor/main.cpp
+++ b/test/test_io_sensor/main.cpp
@@ -5,10 +5,8 @@ using namespace SenseShift::Input;
using namespace SenseShift::Calibration;
class TestAnalogSensor : public ISimpleSensor<int> {
- private:
- int count = 0;
-
public:
+ int count = 0;
int setupCounter = 0;
void init() override { this->setupCounter++; };
@@ -72,12 +70,52 @@ void test_calibrated_sensor(void)
TEST_ASSERT_EQUAL_INT(1, calibrator->resetCounter);
}
+void test_average_sensor(void)
+{
+ auto inner = new TestAnalogSensor();
+ auto sensor = new AverageSensor<int>(inner, 3);
+
+ TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
+ sensor->init();
+ TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
+
+ // TODO: mock inner sensor, to return more interesting values
+ TEST_ASSERT_EQUAL_INT(2, sensor->getValue()); // (1 + 2 + 3) / 3 = 2
+ TEST_ASSERT_EQUAL_INT(5, sensor->getValue()); // (4 + 5 + 6) / 3 = 5
+ TEST_ASSERT_EQUAL_INT(8, sensor->getValue()); // (7 + 8 + 9) / 3 = 8
+ TEST_ASSERT_EQUAL_INT(11, sensor->getValue()); // (10 + 11 + 12) / 3 = 11
+
+ inner->count = 0;
+ sensor = new AverageSensor<int>(inner, 10);
+
+ TEST_ASSERT_EQUAL_INT(5, sensor->getValue()); // (1 + 2 + 3 + 4 + 5 + 6 + 7 + 8 + 9 + 10) / 10 = 5
+}
+
+void test_static_median_sensor(void)
+{
+ auto inner = new TestAnalogSensor();
+ auto sensor = new StaticMedianSensor<int, 3>(inner);
+
+ TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
+ sensor->init();
+ TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
+
+ // lmao, literally the same as average sensor
+ // TODO: mock inner sensor, to return more interesting values
+ TEST_ASSERT_EQUAL_INT(2, sensor->getValue()); // (1, 2, 3) = 2
+ TEST_ASSERT_EQUAL_INT(5, sensor->getValue()); // (4, 5, 6) = 5
+ TEST_ASSERT_EQUAL_INT(8, sensor->getValue()); // (7, 8, 9) = 8
+ TEST_ASSERT_EQUAL_INT(11, sensor->getValue()); // (10, 11, 12) = 11
+}
+
int process(void)
{
UNITY_BEGIN();
RUN_TEST(test_memoized_sensor);
RUN_TEST(test_calibrated_sensor);
+ RUN_TEST(test_average_sensor);
+ RUN_TEST(test_static_median_sensor);
return UNITY_END();
}
From 3161613f18985f04751fb0bfb4a36367797b6915 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 4 Sep 2023 19:54:36 +0400
Subject: [PATCH 35/82] refactor: decouple buffer from BLE Serial
---
ini/opengloves.ini | 2 +-
lib/ble_serial/BLESerial.hpp | 66 ++++---------
lib/util/senseshift/buffer.hpp | 123 ++++++++++++++++++++++++
test/test_util_buffer/main.cpp | 169 +++++++++++++++++++++++++++++++++
4 files changed, 313 insertions(+), 47 deletions(-)
create mode 100644 lib/util/senseshift/buffer.hpp
create mode 100644 test/test_util_buffer/main.cpp
diff --git a/ini/opengloves.ini b/ini/opengloves.ini
index 15e91d29..0160ae8d 100644
--- a/ini/opengloves.ini
+++ b/ini/opengloves.ini
@@ -11,7 +11,7 @@ build_flags = ${common.build_flags}
-D OPENGLOVES
; Communication
- -D OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_BLESERIAL ; OPENGLOVES_COMM_SERIAL, OPENGLOVES_COMM_BTSERIAL, OPENGLOVES_COMM_BLESERIAL
+ ; -D OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_SERIAL ; OPENGLOVES_COMM_SERIAL, OPENGLOVES_COMM_BTSERIAL, OPENGLOVES_COMM_BLESERIAL
; Serial
-D SERIAL_BAUDRATE=115200
-D SERIAL_PORT=Serial ; Serial, Serial1, Serial2, Serial3
diff --git a/lib/ble_serial/BLESerial.hpp b/lib/ble_serial/BLESerial.hpp
index 781e3840..8e4cd4bc 100644
--- a/lib/ble_serial/BLESerial.hpp
+++ b/lib/ble_serial/BLESerial.hpp
@@ -8,52 +8,12 @@
#include <BLEServer.h>
#include <BLEUtils.h>
-#define BLESERIAL_ATTRIBUTE_MAX_VALUE_LENGTH 20
-#define BLESERIAL_RECEIVE_BUFFER_SIZE 256
-
-template<typename _Tp, size_t N>
-class ByteRingBuffer {
- public:
- using ValueType = _Tp;
-
- void add(ValueType value)
- {
- ringBuffer[newestIndex] = value;
- newestIndex = (newestIndex + 1) % N;
- length = min(length + 1, N);
- }
-
- int pop()
- { // pops the oldest value off the ring buffer
- if (length == 0) {
- return -1;
- }
- ValueType result = ringBuffer[(N + newestIndex - length) % N];
- length -= 1;
- return result;
- }
-
- void clear()
- {
- newestIndex = 0;
- length = 0;
- }
-
- int get(size_t index)
- { // this.get(0) is the oldest value, this.get(this.getLength() - 1) is the newest value
- if (index < 0 || index >= length) {
- return -1;
- }
- return ringBuffer[(N + newestIndex - length + index) % N];
- }
+#include <algorithm>
- size_t getLength() { return length; }
+#include <senseshift/buffer.hpp>
- private:
- ValueType ringBuffer[N];
- size_t newestIndex = 0;
- size_t length = 0;
-};
+#define BLESERIAL_ATTRIBUTE_MAX_VALUE_LENGTH 20
+#define BLESERIAL_RECEIVE_BUFFER_SIZE 256
class BLESerialCharacteristicCallbacks;
class BLESerialServerCallbacks;
@@ -80,6 +40,20 @@ class BLESerial : public Stream {
if (this->m_pTxCharacteristic == nullptr || !this->connected()) {
return 0;
}
+ // uint16_t mtu = BLEDevice::getMTU();
+ // uint16_t packetSize = mtu > 3 ? mtu - 3 : 20;
+
+ // chunk the buffer into packets
+ // for (size_t i = 0; i < bufferSize; i += packetSize) {
+ // auto chunkSize = static_cast<uint16_t>(std::min(static_cast<size_t>(packetSize), bufferSize - i));
+ // this->m_pTxCharacteristic->setValue(const_cast<uint8_t*>(buffer + i), chunkSize);
+ // this->flush();
+
+ // // delay if not last packet
+ // if (i + chunkSize < bufferSize) {
+ // delay(10);
+ // }
+ // }
this->m_pTxCharacteristic->setValue(const_cast<uint8_t*>(buffer), bufferSize);
this->flush();
@@ -131,7 +105,7 @@ class BLESerial : public Stream {
}
log_d("Creating BLE characteristics with UUIDs '%s' (RX) and '%s' (TX)", rxUuid, txUuid);
- auto pRxCharacteristic = pService->createCharacteristic(rxUuid, BLECharacteristic::PROPERTY_WRITE);
+ auto pRxCharacteristic = pService->createCharacteristic(rxUuid, BLECharacteristic::PROPERTY_WRITE_NR);
auto pTxCharacteristic =
pService->createCharacteristic(txUuid, BLECharacteristic::PROPERTY_READ | BLECharacteristic::PROPERTY_NOTIFY);
@@ -153,7 +127,7 @@ class BLESerial : public Stream {
BLESerial(BLESerial const& other) = delete; // disable copy constructor
void operator=(BLESerial const& other) = delete; // disable assign constructor
- ByteRingBuffer<uint8_t, BLESERIAL_RECEIVE_BUFFER_SIZE> m_receiveBuffer;
+ SenseShift::RingBuffer<uint8_t, BLESERIAL_RECEIVE_BUFFER_SIZE> m_receiveBuffer;
BLEServer* m_pServer;
BLECharacteristic* m_pRxCharacteristic;
diff --git a/lib/util/senseshift/buffer.hpp b/lib/util/senseshift/buffer.hpp
new file mode 100644
index 00000000..4b21a1cd
--- /dev/null
+++ b/lib/util/senseshift/buffer.hpp
@@ -0,0 +1,123 @@
+#pragma once
+
+#include <algorithm>
+#include <stddef.h>
+
+namespace SenseShift {
+ template<typename _Tp>
+ struct IBuffer {
+ using ValueType = _Tp;
+
+ virtual void add(ValueType value) = 0;
+ virtual void clear() = 0;
+ virtual ValueType pop() = 0;
+ virtual ValueType get(size_t index) = 0;
+ virtual size_t getLength() = 0;
+ };
+
+ template<typename _Tp, size_t N>
+ class RingBuffer : public IBuffer<_Tp> {
+ public:
+ using ValueType = _Tp;
+
+ void add(ValueType value) override
+ {
+ this->mRingBuffer[this->mNewestIndex] = value;
+ this->mNewestIndex = (this->mNewestIndex + 1) % N;
+ this->mLength = std::min(this->mLength + 1, N);
+ }
+
+ void clear() override
+ {
+ this->mNewestIndex = 0;
+ this->mLength = 0;
+ }
+
+ /**
+ * @brief Remove the oldest value from the buffer and return it.
+ * If the buffer is empty, `-1` is returned.
+ */
+ ValueType pop() override
+ {
+ if (this->mLength == 0) {
+ return -1;
+ }
+ ValueType result = this->mRingBuffer[(N + this->mNewestIndex - this->mLength) % N];
+ this->mLength -= 1;
+ return result;
+ }
+
+ /**
+ * @brief Get the value at the given index.
+ *
+ * `get(0)` is the oldest value, `get(this.getLength() - 1)` is the newest value
+ */
+ ValueType get(size_t index) override
+ {
+ if (index < 0 || index >= this->mLength) {
+ return -1;
+ }
+ return this->mRingBuffer[(N + this->mNewestIndex - this->mLength + index) % N];
+ }
+
+ size_t getLength() override { return this->mLength; }
+
+ private:
+ ValueType mRingBuffer[N];
+ size_t mNewestIndex = 0;
+ size_t mLength = 0;
+ };
+
+ template<typename _Tp, size_t N>
+ class FlatBuffer : public IBuffer<_Tp> {
+ public:
+ using ValueType = _Tp;
+
+ void add(ValueType value) override
+ {
+ if (this->mLength == N) {
+ return;
+ }
+ this->mBuffer[this->mLength] = value;
+ this->mLength += 1;
+ }
+
+ void clear() override { this->mLength = 0; }
+
+ /**
+ * @brief Remove the oldest value from the buffer and return it.
+ * If the buffer is empty, `-1` is returned.
+ */
+ ValueType pop() override
+ {
+ if (this->mLength == 0) {
+ return -1;
+ }
+ ValueType result = this->mBuffer[0];
+ for (size_t i = 1; i < this->mLength; i++) {
+ this->mBuffer[i - 1] = this->mBuffer[i];
+ }
+ this->mLength -= 1;
+ return result;
+ }
+
+ /**
+ * @brief Get the value at the given index.
+ *
+ * `get(0)` is the oldest value, `get(this.getLength() - 1)` is the newest value
+ */
+ ValueType get(size_t index) override
+ {
+ if (index < 0 || index >= this->mLength) {
+ return -1;
+ }
+ return this->mBuffer[index];
+ }
+
+ size_t getLength() override { return this->mLength; }
+
+ private:
+ ValueType mBuffer[N];
+ size_t mLength = 0;
+ };
+} // namespace SenseShift
diff --git a/test/test_util_buffer/main.cpp b/test/test_util_buffer/main.cpp
new file mode 100644
index 00000000..595c6184
--- /dev/null
+++ b/test/test_util_buffer/main.cpp
@@ -0,0 +1,169 @@
+#include <senseshift/utility.hpp>
+#include <unity.h>
+
+#include <senseshift/buffer.hpp>
+
+using namespace SenseShift;
+
+void test_ring_buffer(void)
+{
+ auto buffer = RingBuffer<char, 5>();
+
+ TEST_ASSERT_EQUAL_UINT8(0, buffer.getLength());
+
+ buffer.add('a'); // [] => [a]
+ TEST_ASSERT_EQUAL_UINT8(1, buffer.getLength());
+ TEST_ASSERT_EQUAL_INT8('a', buffer.get(0));
+ TEST_ASSERT_EQUAL_UINT8(-1, buffer.get(1));
+ TEST_ASSERT_EQUAL_UINT8(-1, buffer.get(2));
+
+ // pop value and check length
+ TEST_ASSERT_EQUAL_INT8('a', buffer.pop()); // [a] => []
+ TEST_ASSERT_EQUAL_UINT8(0, buffer.getLength());
+
+ // add 5 values and check length
+ buffer.add('a'); // [] => [a]
+ buffer.add('b'); // [a] => [a, b]
+ buffer.add('c'); // [a, b] => [a, b, c]
+ buffer.add('d'); // [a, b, c] => [a, b, c, d]
+ buffer.add('e'); // [a, b, c, d] => [a, b, c, d, e]
+ TEST_ASSERT_EQUAL_UINT8(5, buffer.getLength());
+
+ // check values
+ TEST_ASSERT_EQUAL_INT8('a', buffer.get(0));
+ TEST_ASSERT_EQUAL_INT8('b', buffer.get(1));
+ TEST_ASSERT_EQUAL_INT8('c', buffer.get(2));
+ TEST_ASSERT_EQUAL_INT8('d', buffer.get(3));
+ TEST_ASSERT_EQUAL_INT8('e', buffer.get(4));
+
+ // check values after pop
+ TEST_ASSERT_EQUAL_INT8('a', buffer.pop()); // [a, b, c, d, e] => [b, c, d, e]
+ TEST_ASSERT_EQUAL_INT8('b', buffer.pop()); // [b, c, d, e] => [c, d, e]
+
+ TEST_ASSERT_EQUAL_INT8('c', buffer.get(0));
+ TEST_ASSERT_EQUAL_INT8('d', buffer.get(1));
+ TEST_ASSERT_EQUAL_INT8('e', buffer.get(2));
+
+ // check clear
+ buffer.clear();
+ TEST_ASSERT_EQUAL_UINT8(0, buffer.getLength());
+ TEST_ASSERT_EQUAL_INT8(-1, buffer.get(0));
+ TEST_ASSERT_EQUAL_INT8(-1, buffer.get(1));
+ TEST_ASSERT_EQUAL_INT8(-1, buffer.get(2));
+ TEST_ASSERT_EQUAL_INT8(-1, buffer.get(3));
+
+ // check overflow
+ buffer.add('c'); // [] => [c]
+ buffer.add('d'); // [c] => [c, d]
+ buffer.add('e'); // [c, d] => [c, d, e]
+ buffer.add('f'); // [c, d, e] => [c, d, e, f]
+ buffer.add('g'); // [c, d, e, f] => [c, d, e, f, g]
+ buffer.add('h'); // [c, d, e, f, g] => [d, e, f, g, h]
+
+ // Buffer must shift values to the left when it is full
+ TEST_ASSERT_EQUAL_INT8('d', buffer.get(0));
+ TEST_ASSERT_EQUAL_INT8('e', buffer.get(1));
+ TEST_ASSERT_EQUAL_INT8('f', buffer.get(2));
+ TEST_ASSERT_EQUAL_INT8('g', buffer.get(3));
+ TEST_ASSERT_EQUAL_INT8('h', buffer.get(4));
+
+ // check underflow
+ TEST_ASSERT_EQUAL_INT8('d', buffer.pop()); // [d, e, f, g, h] => [e, f, g, h]
+ TEST_ASSERT_EQUAL_INT8('e', buffer.pop()); // [e, f, g, h] => [f, g, h]
+ TEST_ASSERT_EQUAL_INT8('f', buffer.pop()); // [f, g, h] => [g, h]
+ TEST_ASSERT_EQUAL_INT8('g', buffer.pop()); // [g, h] => [h]
+ TEST_ASSERT_EQUAL_INT8('h', buffer.pop()); // [h] => []
+}
+
+void test_flat_buffer(void)
+{
+ auto buffer = FlatBuffer<char, 5>();
+
+ TEST_ASSERT_EQUAL_UINT8(0, buffer.getLength());
+
+ buffer.add('a'); // [] => [a]
+ TEST_ASSERT_EQUAL_UINT8(1, buffer.getLength());
+ TEST_ASSERT_EQUAL_INT8('a', buffer.get(0));
+ TEST_ASSERT_EQUAL_UINT8(-1, buffer.get(1));
+ TEST_ASSERT_EQUAL_UINT8(-1, buffer.get(2));
+
+ // pop value and check length
+ TEST_ASSERT_EQUAL_INT8('a', buffer.pop()); // [a] => []
+ TEST_ASSERT_EQUAL_UINT8(0, buffer.getLength());
+
+ // add 5 values and check length
+ buffer.add('a'); // [] => [a]
+ buffer.add('b'); // [a] => [a, b]
+ buffer.add('c'); // [a, b] => [a, b, c]
+ buffer.add('d'); // [a, b, c] => [a, b, c, d]
+ buffer.add('e'); // [a, b, c, d] => [a, b, c, d, e]
+ TEST_ASSERT_EQUAL_UINT8(5, buffer.getLength());
+
+ // check values
+ TEST_ASSERT_EQUAL_INT8('a', buffer.get(0));
+ TEST_ASSERT_EQUAL_INT8('b', buffer.get(1));
+ TEST_ASSERT_EQUAL_INT8('c', buffer.get(2));
+ TEST_ASSERT_EQUAL_INT8('d', buffer.get(3));
+ TEST_ASSERT_EQUAL_INT8('e', buffer.get(4));
+
+ // check values after pop
+ TEST_ASSERT_EQUAL_INT8('a', buffer.pop()); // [a, b, c, d, e] => [b, c, d, e]
+ TEST_ASSERT_EQUAL_INT8('b', buffer.pop()); // [b, c, d, e] => [c, d, e]
+
+ TEST_ASSERT_EQUAL_INT8('c', buffer.get(0));
+ TEST_ASSERT_EQUAL_INT8('d', buffer.get(1));
+ TEST_ASSERT_EQUAL_INT8('e', buffer.get(2));
+ TEST_ASSERT_EQUAL_INT8(-1, buffer.get(3));
+
+ // check clear
+ buffer.clear();
+ TEST_ASSERT_EQUAL_UINT8(0, buffer.getLength());
+ TEST_ASSERT_EQUAL_INT8(-1, buffer.get(0));
+ TEST_ASSERT_EQUAL_INT8(-1, buffer.get(1));
+ TEST_ASSERT_EQUAL_INT8(-1, buffer.get(2));
+
+ // check overflow
+ buffer.add('c'); // [] => [c]
+ buffer.add('d'); // [c] => [c, d]
+ buffer.add('e'); // [c, d] => [c, d, e]
+ buffer.add('f'); // [c, d, e] => [c, d, e, f]
+ buffer.add('g'); // [c, d, e, f] => [c, d, e, f, g]
+ buffer.add('h'); // [c, d, e, f, g] => [c, d, e, f, g]
+
+ // Buffer must not change values when it is full
+ TEST_ASSERT_EQUAL_INT8('c', buffer.get(0));
+ TEST_ASSERT_EQUAL_INT8('d', buffer.get(1));
+ TEST_ASSERT_EQUAL_INT8('e', buffer.get(2));
+ TEST_ASSERT_EQUAL_INT8('f', buffer.get(3));
+ TEST_ASSERT_EQUAL_INT8('g', buffer.get(4));
+}
+
+int process(void)
+{
+ UNITY_BEGIN();
+
+ RUN_TEST(test_ring_buffer);
+ RUN_TEST(test_flat_buffer);
+
+ return UNITY_END();
+}
+
+#ifdef ARDUINO
+
+#include <Arduino.h>
+
+void setup(void)
+{
+ process();
+}
+
+void loop(void) {}
+
+#else
+
+int main(int argc, char** argv)
+{
+ return process();
+}
+
+#endif
From 295ecc50790115b95137c91576fcd2b892895c54 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <leon.03.99@gmail.com>
Date: Wed, 6 Sep 2023 16:20:37 +0400
Subject: [PATCH 36/82] refactor(BLE): optimize Serial lib
---
lib/ble_serial/BLESerial.hpp | 182 +++++++++++++++++++++++++++--------
lib/ble_serial/library.json | 2 +
2 files changed, 143 insertions(+), 41 deletions(-)
diff --git a/lib/ble_serial/BLESerial.hpp b/lib/ble_serial/BLESerial.hpp
index 8e4cd4bc..6b0fbe54 100644
--- a/lib/ble_serial/BLESerial.hpp
+++ b/lib/ble_serial/BLESerial.hpp
@@ -40,20 +40,6 @@ class BLESerial : public Stream {
if (this->m_pTxCharacteristic == nullptr || !this->connected()) {
return 0;
}
- // uint16_t mtu = BLEDevice::getMTU();
- // uint16_t packetSize = mtu > 3 ? mtu - 3 : 20;
-
- // chunk the buffer into packets
- // for (size_t i = 0; i < bufferSize; i += packetSize) {
- // auto chunkSize = static_cast<uint16_t>(std::min(static_cast<size_t>(packetSize), bufferSize - i));
- // this->m_pTxCharacteristic->setValue(const_cast<uint8_t*>(buffer + i), chunkSize);
- // this->flush();
-
- // // delay if not last packet
- // if (i + chunkSize < bufferSize) {
- // delay(10);
- // }
- // }
this->m_pTxCharacteristic->setValue(const_cast<uint8_t*>(buffer), bufferSize);
this->flush();
@@ -75,22 +61,35 @@ class BLESerial : public Stream {
virtual void flush(void) override { this->m_pTxCharacteristic->notify(true); }
+ /**
+ * Begin BLE serial. This will create and start BLE server, service and characteristics.
+ *
+ * @note This will manage the BLE server, service and characteristics. If you want to manage them yourself, use the
+ * other begin().
+ *
+ * @param deviceName Name of the BLE device
+ * @param serviceUuid UUID of the BLE service
+ * @param rxUuid UUID of the BLE characteristic for receiving data
+ * @param txUuid UUID of the BLE characteristic for transmitting data
+ */
void begin(
const char* deviceName,
const char* serviceUuid = SERVICE_UUID,
const char* rxUuid = RX_UUID,
const char* txUuid = TX_UUID
- )
- {
- // Create the BLE Device
- log_d("Creating BLE device with name '%s'", deviceName);
- BLEDevice::init(deviceName);
-
- BLEServer* pServer = BLEDevice::createServer();
-
- this->begin(pServer, serviceUuid, rxUuid, txUuid);
- }
-
+ );
+
+ /**
+ * Begin BLE serial. This will create and start BLE service and characteristics.
+ *
+ * @note This will manage the BLE service and characteristics. If you want to manage them yourself, use the other
+ * begin().
+ *
+ * @param pServer BLE server instance
+ * @param serviceUuid UUID of the BLE service
+ * @param rxUuid UUID of the BLE characteristic for receiving data
+ * @param txUuid UUID of the BLE characteristic for transmitting data
+ */
void begin(
BLEServer* pServer,
const char* serviceUuid = SERVICE_UUID,
@@ -98,46 +97,124 @@ class BLESerial : public Stream {
const char* txUuid = TX_UUID
)
{
- log_d("Creating BLE service with UUID '%s'", serviceUuid);
BLEService* pService = pServer->getServiceByUUID(serviceUuid);
if (pService == nullptr) {
+ log_d("Creating BLE service with UUID '%s'", serviceUuid);
pService = pServer->createService(serviceUuid);
+ } else {
+ log_w("BLE service with UUID '%s' already exists", serviceUuid);
}
- log_d("Creating BLE characteristics with UUIDs '%s' (RX) and '%s' (TX)", rxUuid, txUuid);
- auto pRxCharacteristic = pService->createCharacteristic(rxUuid, BLECharacteristic::PROPERTY_WRITE_NR);
- auto pTxCharacteristic =
- pService->createCharacteristic(txUuid, BLECharacteristic::PROPERTY_READ | BLECharacteristic::PROPERTY_NOTIFY);
+ // Store the service so we know if we're managing it
+ this->m_pService = pService;
- this->begin(pServer, pRxCharacteristic, pTxCharacteristic);
+ this->begin(pService, rxUuid, txUuid);
pService->start();
log_d("Started BLE service");
+ }
- BLEAdvertising* pAdvertising = pServer->getAdvertising();
- pAdvertising->start();
- log_d("Started BLE advertising");
+ /**
+ * Begin BLE serial. This will create and start BLE characteristics.
+ *
+ * @note If you want to create characteristics yourself, use the other begin().
+ *
+ * @param pService BLE service instance
+ * @param rxUuid UUID of the BLE characteristic for receiving data
+ * @param txUuid UUID of the BLE characteristic for transmitting data
+ */
+ void begin(BLEService* pService, const char* rxUuid = RX_UUID, const char* txUuid = TX_UUID)
+ {
+ auto pRxCharacteristic = pService->getCharacteristic(rxUuid);
+ if (pRxCharacteristic == nullptr) {
+ log_d("Creating BLE characteristic with UUIDs '%s' (RX)", rxUuid);
+ pRxCharacteristic = pService->createCharacteristic(rxUuid, BLECharacteristic::PROPERTY_WRITE_NR);
+ } else {
+ log_w("BLE characteristic with UUID '%s' (RX) already exists", rxUuid);
+ }
+
+ auto pTxCharacteristic = pService->getCharacteristic(txUuid);
+ if (pTxCharacteristic == nullptr) {
+ log_d("Creating BLE characteristic with UUIDs '%s' (TX)", txUuid);
+ pTxCharacteristic = pService->createCharacteristic(
+ txUuid,
+ BLECharacteristic::PROPERTY_READ | BLECharacteristic::PROPERTY_NOTIFY
+ );
+ } else {
+ log_w("BLE characteristic with UUID '%s' (TX) already exists", txUuid);
+ }
+
+ this->begin(pRxCharacteristic, pTxCharacteristic);
}
- void begin(BLEServer* pServer, BLECharacteristic* pRxCharacteristic, BLECharacteristic* pTxCharacteristic);
+ /**
+ * Begin BLE serial. This will setup the BLE characteristics.
+ *
+ * @param pServer BLE server instance
+ * @param pRxCharacteristic BLE characteristic instance for receiving data
+ * @param pTxCharacteristic BLE characteristic instance for transmitting data
+ */
+ void begin(BLECharacteristic* pRxCharacteristic, BLECharacteristic* pTxCharacteristic);
+
+ void end()
+ {
+ if (this->m_pService != nullptr) {
+ this->m_pService->stop();
+ }
+
+ if (this->m_pServer != nullptr) {
+ this->m_pServer->getAdvertising()->stop();
+ }
+
+ this->m_pServer = nullptr;
+ }
bool connected() { return m_pServer != nullptr && m_pServer->getConnectedCount() > 0; }
+ BLECharacteristic* getRxCharacteristic() { return m_pRxCharacteristic; }
+
+ BLECharacteristic* getTxCharacteristic() { return m_pTxCharacteristic; }
+
private:
BLESerial(BLESerial const& other) = delete; // disable copy constructor
void operator=(BLESerial const& other) = delete; // disable assign constructor
SenseShift::RingBuffer<uint8_t, BLESERIAL_RECEIVE_BUFFER_SIZE> m_receiveBuffer;
- BLEServer* m_pServer;
- BLECharacteristic* m_pRxCharacteristic;
- BLECharacteristic* m_pTxCharacteristic;
+ /**
+ * BLE server instance
+ * @note This is only used if the BLESerial instance is managing the BLE server
+ */
+ BLEServer* m_pServer = nullptr;
+
+ /**
+ * BLE service instance
+ * @note This is only used if the BLESerial instance is managing the BLE service
+ */
+ BLEService* m_pService = nullptr;
+
+ /**
+ * BLE characteristic instance for receiving data
+ */
+ BLECharacteristic* m_pRxCharacteristic = nullptr;
+
+ /**
+ * BLE characteristic instance for transmitting data
+ */
+ BLECharacteristic* m_pTxCharacteristic = nullptr;
};
class BLESerialServerCallbacks : public BLEServerCallbacks {
- void onConnect(BLEServer* pServer) override {}
+ public:
+ BLESerialServerCallbacks(BLESerial* bleSerial) : bleSerial(bleSerial) {}
- void onDisconnect(BLEServer* pServer) override
+ void onConnect(BLEServer* pServer, esp_ble_gatts_cb_param_t* param) override
+ {
+ uint16_t conn_id = param->connect.conn_id;
+ pServer->updatePeerMTU(conn_id, BLESERIAL_ATTRIBUTE_MAX_VALUE_LENGTH);
+ }
+
+ void onDisconnect(BLEServer* pServer, esp_ble_gatts_cb_param_t* param) override
{
auto* pAdvertising = pServer->getAdvertising();
if (pAdvertising == nullptr) {
@@ -145,6 +222,9 @@ class BLESerialServerCallbacks : public BLEServerCallbacks {
}
pAdvertising->start();
}
+
+ private:
+ BLESerial* bleSerial;
};
class BLESerialCharacteristicCallbacks : public BLECharacteristicCallbacks {
@@ -167,9 +247,29 @@ class BLESerialCharacteristicCallbacks : public BLECharacteristicCallbacks {
BLESerial* bleSerial;
};
-void BLESerial::begin(BLEServer* pServer, BLECharacteristic* pRxCharacteristic, BLECharacteristic* pTxCharacteristic)
+void BLESerial::begin(const char* deviceName, const char* serviceUuid, const char* rxUuid, const char* txUuid)
{
+ // Create the BLE Device
+ log_d("Initializing BLE device with name '%s'", deviceName);
+ BLEDevice::init(deviceName);
+
+ log_d("Creating BLE server");
+ BLEServer* pServer = BLEDevice::createServer();
+ pServer->setCallbacks(new BLESerialServerCallbacks(this));
+
+ // Store the server so we know if we're managing it
this->m_pServer = pServer;
+
+ this->begin(pServer, serviceUuid, rxUuid, txUuid);
+
+ BLEAdvertising* pAdvertising = pServer->getAdvertising();
+ pAdvertising->start();
+ log_d("Started BLE advertising");
+}
+
+void BLESerial::begin(BLECharacteristic* pRxCharacteristic, BLECharacteristic* pTxCharacteristic)
+{
+ // Store the characteristics so we know if we're managing them
this->m_pRxCharacteristic = pRxCharacteristic;
this->m_pTxCharacteristic = pTxCharacteristic;
diff --git a/lib/ble_serial/library.json b/lib/ble_serial/library.json
index e237d1ef..7c2d9618 100644
--- a/lib/ble_serial/library.json
+++ b/lib/ble_serial/library.json
@@ -1,5 +1,7 @@
{
"$schema": "https://raw.githubusercontent.com/platformio/platformio-core/develop/platformio/assets/schema/library.json",
+ "name": "BLE Serial",
+ "description": "Arduino BLE Serial Stream library",
"frameworks": "arduino",
"platforms": [
"espressif32"
From 82d996cc1e126785eea14e6a73e66dde7acb306c Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Wed, 6 Sep 2023 22:48:55 +0400
Subject: [PATCH 37/82] docs: add Wokwi debug guide
---
.devcontainer/Dockerfile | 1 +
.devcontainer/devcontainer.json | 22 +++++++++++++--
.../lucidgloves-prototype3+serial/test.yaml | 6 ++--
.../lucidgloves-prototype3+serial/wokwi.toml | 2 ++
docs/DEVELOPMENT.md | 28 +++++++++++++++++++
5 files changed, 54 insertions(+), 5 deletions(-)
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index eac4101c..01f13c27 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -22,6 +22,7 @@ RUN apt-get update \
python3-venv \
python3-distutils \
python3-setuptools \
+ libpython2.7-dev \
srecord \
udev \
xz-utils \
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 4ec06d5d..c629151a 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,6 +1,8 @@
{
// "name": "SenseShift",
- "dockerFile": "Dockerfile",
+ "build": {
+ "dockerfile": "Dockerfile"
+ },
"runArgs": [
"--privileged"
],
@@ -18,17 +20,33 @@
"vscode": {
"settings": {
"terminal.integrated.defaultProfile.linux": "zsh",
+ "editor.formatOnPaste": false,
"editor.formatOnSave": true,
+ "editor.formatOnType": true,
"platformio-ide.useBuiltinPIOCore": false,
"platformio-ide.useBuiltinPython": false,
"platformio-ide.disablePIOHomeStartup": true,
- "platformio-ide.pioHomeServerHttpPort": 8008
+ "platformio-ide.pioHomeServerHttpPort": 8008,
+ "platformio-ide.autoOpenPlatformIOIniFile": false,
+ "files.exclude": {
+ "**/.git": true,
+ "**/.DS_Store": true
+ },
+ "files.associations": {
+ "**/.vscode/*.json": "jsonc"
+ },
+ "C_Cpp.clang_format_path": "clang-format"
},
"extensions": [
"ms-vscode.cpptools",
+ "redhat.vscode-yaml",
+
"platformio.platformio-ide",
"Wokwi.wokwi-vscode",
+
"xaver.clang-format",
+ "editorconfig.editorconfig",
+
"GitHub.copilot",
"GitHub.copilot-labs",
"GitHub.copilot-chat"
diff --git a/.wokwi/lucidgloves-prototype3+serial/test.yaml b/.wokwi/lucidgloves-prototype3+serial/test.yaml
index 0639c5cc..4cd7043b 100644
--- a/.wokwi/lucidgloves-prototype3+serial/test.yaml
+++ b/.wokwi/lucidgloves-prototype3+serial/test.yaml
@@ -68,9 +68,9 @@ steps:
value: 1
- wait-serial: 'A4095B4095C4095D4095E4095F2047G2047ILM' # L is for the Grab gesture
- # Release Thumb finger
+ # Partially Release Thumb finger
- set-control:
part-id: pot-thumb
control: position
- value: 0
- - wait-serial: 'A0B4095C4095D4095E4095F2047G2047IL'
+ value: 0.25
+ - wait-serial: 'A1024B4095C4095D4095E4095F2047G2047IL'
diff --git a/.wokwi/lucidgloves-prototype3+serial/wokwi.toml b/.wokwi/lucidgloves-prototype3+serial/wokwi.toml
index 54e28de8..5878bf60 100644
--- a/.wokwi/lucidgloves-prototype3+serial/wokwi.toml
+++ b/.wokwi/lucidgloves-prototype3+serial/wokwi.toml
@@ -2,3 +2,5 @@
version = 1
firmware = "../../.pio/build/lucidgloves-prototype3/firmware.bin"
elf = "../../.pio/build/lucidgloves-prototype3/firmware.elf"
+
+gdbServerPort=3333
diff --git a/docs/DEVELOPMENT.md b/docs/DEVELOPMENT.md
index e7d53aef..dafd8ccf 100644
--- a/docs/DEVELOPMENT.md
+++ b/docs/DEVELOPMENT.md
@@ -1,3 +1,31 @@
+# Debugging
+
+## Debugging in Wokwi
+
+Run and debug firmware in Wokwi Simulator
+
+1. Run this command:
+ ```shell
+ pio debug -e lucidgloves-prototype3
+ ```
+2. `Ctrl+Shift+P` => `> Wokwi: Start Simulator and Wait for Debugger`,
+3. Add launch option (this step is required until PlatformIO fixes this issue: [#3824](https://github.com/platformio/platformio-core/issues/3824)):
+ ```json
+ ...
+
+ {
+ "name": "Wokwi GDB - lucidgloves-prototype3",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "${workspaceFolder}/.pio/build/lucidgloves-prototype3/firmware.elf",
+ "cwd": "${workspaceFolder}",
+ "MIMode": "gdb",
+ "miDebuggerPath": "${userHome}/.platformio/packages/toolchain-xtensa-esp32/bin/xtensa-esp32-elf-gdb",
+ "miDebuggerServerAddress": "localhost:3333",
+ },
+ ...
+ ```
+
## Useful Scripts
### Fix `clang-format`
From d8e45a0318215fc13ee01d8972ac16fb2fcc989d Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 7 Sep 2023 01:01:40 +0400
Subject: [PATCH 38/82] refactor(OpenGloves): optimize encoding
---
lib/ble_serial/BLESerial.hpp | 2 +-
.../senseshift/opengloves/encoding/alpha.cpp | 51 +++++++--------
.../senseshift/opengloves/encoding/alpha.hpp | 14 ++--
.../senseshift/opengloves/interface.hpp | 11 +++-
lib/opengloves_task/opengloves_task.hpp | 10 +--
lib/util/senseshift/buffer.hpp | 65 +++++++++++++++----
lib/util/senseshift/range.hpp | 4 +-
test/test_opengloves_alpha_encoding/main.cpp | 3 +-
test/test_util_buffer/main.cpp | 50 +++++++-------
9 files changed, 129 insertions(+), 81 deletions(-)
diff --git a/lib/ble_serial/BLESerial.hpp b/lib/ble_serial/BLESerial.hpp
index 6b0fbe54..b239eec2 100644
--- a/lib/ble_serial/BLESerial.hpp
+++ b/lib/ble_serial/BLESerial.hpp
@@ -239,7 +239,7 @@ class BLESerialCharacteristicCallbacks : public BLECharacteristicCallbacks {
std::string rxValue = pCharacteristic->getValue();
for (int i = 0; i < rxValue.length(); i++) {
- bleSerial->m_receiveBuffer.add(rxValue[i]);
+ bleSerial->m_receiveBuffer.push(rxValue[i]);
}
}
diff --git a/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp b/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp
index ad1f4a1e..c9dc738d 100644
--- a/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp
+++ b/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp
@@ -3,14 +3,33 @@
#include <string.h>
namespace SenseShift::OpenGloves {
- const std::map<AlphaEncodingService::Command, uint16_t>
- AlphaEncodingService::deserialize(const std::string& input_string) const
+ size_t AlphaEncodingService::serialize(
+ const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors, char* buffer
+ ) const
{
- std::map<Command, uint16_t> commands;
+ buffer[0] = '\0';
+ size_t offset = 0;
+
+ for (size_t i = 0; i < sensors.size(); i++) {
+ auto* sensor = sensors[i];
+ offset += sensor->encodeString(buffer + offset);
+ }
+
+ buffer[offset++] = '\n';
+ buffer[offset] = '\0';
+
+ return offset;
+ }
+
+ bool AlphaEncodingService::deserialize(
+ const char* buffer, const size_t length, std::map<::OpenGloves::Command, uint16_t>& commands
+ ) const
+ {
+ std::string input_string(buffer, length);
size_t start = 0; // Start of the current command
- for (size_t i = 0; i < input_string.size(); i++) {
- char ch = input_string[i];
+ for (size_t i = 0; i < input_string.length(); i++) {
+ const char ch = input_string[i];
// Start a new command if the character is non-numeric or an opening parenthesis
// and previous character is a numeric character
@@ -22,7 +41,7 @@ namespace SenseShift::OpenGloves {
AlphaEncodingService::splitCommand(input_string, start, input_string.size(), commands);
- return commands;
+ return true;
}
void AlphaEncodingService::splitCommand(
@@ -57,24 +76,4 @@ namespace SenseShift::OpenGloves {
Command command = it->second;
commands[command] = number;
}
-
- const std::string
- AlphaEncodingService::serialize(const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors)
- {
- memset(this->writeBuffer, 0, 256);
- this->writeBuffer[0] = '\0';
-
- size_t offset = 0;
-
- for (size_t i = 0; i < sensors.size(); i++) {
- // The offset is the total charecters already added to the string.
- offset += sensors[i]->encodeString(this->writeBuffer + offset);
- }
-
- // Add a newline and terminator to the end of the encoded string.
- this->writeBuffer[offset++] = '\n';
- this->writeBuffer[offset] = '\0';
-
- return std::string(this->writeBuffer, offset);
- }
} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp b/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp
index 59830803..49d223cf 100644
--- a/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp
+++ b/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp
@@ -15,6 +15,8 @@
#include <senseshift/logging.hpp>
#include <senseshift/opengloves/interface.hpp>
+#define SENSESHIFT_OPENGLOVES_ALPHA_ENCODING_BUFFER_SIZE 256
+
namespace SenseShift::OpenGloves {
class AlphaEncodingService : public IEncoding {
using Command = ::OpenGloves::Command;
@@ -36,16 +38,16 @@ namespace SenseShift::OpenGloves {
// clang-format on
});
- AlphaEncodingService() : writeBuffer(new char[256]){};
+ AlphaEncodingService(){};
- virtual const std::map<Command, uint16_t> deserialize(const std::string& buffer) const override;
+ virtual size_t serialize(const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors, char* buffer)
+ const override;
- virtual const std::string serialize(const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors
- ) override;
+ virtual bool deserialize(
+ const char* buffer, const size_t length, std::map<::OpenGloves::Command, uint16_t>& commands
+ ) const override;
private:
- char* writeBuffer;
-
static void splitCommand(
const std::string& input_string, size_t start, size_t end, std::map<Command, uint16_t>& commands
);
diff --git a/lib/opengloves/senseshift/opengloves/interface.hpp b/lib/opengloves/senseshift/opengloves/interface.hpp
index 17815845..5e94b1e9 100644
--- a/lib/opengloves/senseshift/opengloves/interface.hpp
+++ b/lib/opengloves/senseshift/opengloves/interface.hpp
@@ -3,6 +3,8 @@
#include <cstddef>
#include <cstdint>
+#include <senseshift/buffer.hpp>
+
#include "og_protocol.hpp"
namespace SenseShift::OpenGloves {
@@ -14,8 +16,11 @@ namespace SenseShift::OpenGloves {
};
struct IEncoding {
- virtual const std::string serialize(const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors
- ) = 0;
- virtual const std::map<::OpenGloves::Command, uint16_t> deserialize(const std::string& buffer) const = 0;
+ virtual size_t
+ serialize(const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors, char* buffer) const = 0;
+
+ virtual bool deserialize(
+ const char* buffer, const size_t length, std::map<::OpenGloves::Command, uint16_t>& commands
+ ) const = 0;
};
} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index a04c2f11..2f7bc581 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -197,8 +197,9 @@ namespace OpenGloves {
}
// Send the sensor values.
- auto command = this->encodingService.serialize(this->allSensors);
- this->communication.send(command.c_str(), command.size());
+ char command[256];
+ size_t length = this->encodingService.serialize(this->allSensors, command);
+ this->communication.send(command, length);
// Check if the calibration has finished.
if (!(this->config.alwaysCalibrate) && calibrationStarted > 0 && (now - calibrationStarted) > CALIBRATION_DURATION) {
@@ -297,9 +298,8 @@ namespace OpenGloves {
continue;
}
- command.assign(commandBuffer, bytesRead);
-
- auto commands = this->encodingService.deserialize(command);
+ std::map<::OpenGloves::Command, uint16_t> commands = {};
+ this->encodingService.deserialize(commandBuffer, bytesRead, commands);
for (auto& [command, value] : commands) {
this->handleCommand(command, value);
diff --git a/lib/util/senseshift/buffer.hpp b/lib/util/senseshift/buffer.hpp
index 4b21a1cd..0dd1c85d 100644
--- a/lib/util/senseshift/buffer.hpp
+++ b/lib/util/senseshift/buffer.hpp
@@ -2,17 +2,24 @@
#include <algorithm>
#include <stddef.h>
+#include <string.h>
namespace SenseShift {
template<typename _Tp>
struct IBuffer {
using ValueType = _Tp;
- virtual void add(ValueType value) = 0;
+ IBuffer() = default;
+ virtual ~IBuffer() = default;
+
+ virtual bool push(const ValueType value) = 0;
+ virtual bool push(const ValueType* values, size_t length) = 0;
virtual void clear() = 0;
virtual ValueType pop() = 0;
- virtual ValueType get(size_t index) = 0;
- virtual size_t getLength() = 0;
+ virtual ValueType get(size_t index) const = 0;
+ virtual size_t getLength() const = 0;
+
+ virtual ValueType operator[](size_t index) const { return this->get(index); }
};
template<typename _Tp, size_t N>
@@ -20,11 +27,26 @@ namespace SenseShift {
public:
using ValueType = _Tp;
- void add(ValueType value) override
+ bool push(const ValueType value) override
{
this->mRingBuffer[this->mNewestIndex] = value;
this->mNewestIndex = (this->mNewestIndex + 1) % N;
this->mLength = std::min(this->mLength + 1, N);
+
+ return true;
+ }
+
+ bool push(const ValueType* values, size_t length) override
+ {
+ if (this->mLength + length > N) {
+ return false;
+ }
+
+ for (size_t i = 0; i < length; i++) {
+ this->push(values[i]);
+ }
+
+ return true;
}
void clear() override
@@ -52,7 +74,7 @@ namespace SenseShift {
*
* `get(0)` is the oldest value, `get(this.getLength() - 1)` is the newest value
*/
- ValueType get(size_t index) override
+ ValueType get(size_t index) const override
{
if (index < 0 || index >= this->mLength) {
return -1;
@@ -60,7 +82,7 @@ namespace SenseShift {
return this->mRingBuffer[(N + this->mNewestIndex - this->mLength + index) % N];
}
- size_t getLength() override { return this->mLength; }
+ size_t getLength() const override { return this->mLength; }
private:
ValueType mRingBuffer[N];
@@ -69,17 +91,34 @@ namespace SenseShift {
};
template<typename _Tp, size_t N>
- class FlatBuffer : public IBuffer<_Tp> {
+ class FixedSizeBuffer : public IBuffer<_Tp> {
public:
using ValueType = _Tp;
- void add(ValueType value) override
+ FixedSizeBuffer() = default;
+ virtual ~FixedSizeBuffer() = default;
+
+ bool push(const ValueType value) override
{
if (this->mLength == N) {
- return;
+ return false;
}
this->mBuffer[this->mLength] = value;
this->mLength += 1;
+
+ return true;
+ }
+
+ bool push(const ValueType* values, size_t length) override
+ {
+ if (this->mLength + length > N) {
+ return false;
+ }
+
+ memcpy(this->mBuffer.data() + this->mLength, values, length);
+ this->mLength += length;
+
+ return true;
}
void clear() override { this->mLength = 0; }
@@ -106,7 +145,7 @@ namespace SenseShift {
*
* `get(0)` is the oldest value, `get(this.getLength() - 1)` is the newest value
*/
- ValueType get(size_t index) override
+ ValueType get(size_t index) const override
{
if (index < 0 || index >= this->mLength) {
return -1;
@@ -114,10 +153,12 @@ namespace SenseShift {
return this->mBuffer[index];
}
- size_t getLength() override { return this->mLength; }
+ ValueType* getData() { return this->mBuffer.data(); }
+
+ size_t getLength() const override { return this->mLength; }
private:
- ValueType mBuffer[N];
+ std::array<ValueType, N> mBuffer;
size_t mLength = 0;
};
} // namespace SenseShift
diff --git a/lib/util/senseshift/range.hpp b/lib/util/senseshift/range.hpp
index ea563482..6dac8598 100644
--- a/lib/util/senseshift/range.hpp
+++ b/lib/util/senseshift/range.hpp
@@ -5,7 +5,7 @@
namespace SenseShift {
template<typename _Tp>
- constexpr _Tp accurateMap(_Tp x, _Tp in_min, _Tp in_max, _Tp out_min, _Tp out_max)
+ constexpr _Tp accurateMap(_Tp x, _Tp in_min, _Tp in_max, _Tp out_min, _Tp out_max) noexcept
{
static_assert(std::is_arithmetic<_Tp>::value, "Type must be arithmetic");
@@ -21,7 +21,7 @@ namespace SenseShift {
// Same as the above, but both mins are 0.
template<typename _Tp>
- constexpr inline _Tp simpleMap(_Tp x, _Tp in_max, _Tp out_max)
+ constexpr inline _Tp simpleMap(_Tp x, _Tp in_max, _Tp out_max) noexcept
{
static_assert(std::is_arithmetic<_Tp>::value, "Type must be arithmetic");
diff --git a/test/test_opengloves_alpha_encoding/main.cpp b/test/test_opengloves_alpha_encoding/main.cpp
index 1f71136c..68be53cd 100644
--- a/test/test_opengloves_alpha_encoding/main.cpp
+++ b/test/test_opengloves_alpha_encoding/main.cpp
@@ -94,7 +94,8 @@ void testSplitCommands(void)
auto encoding_service = AlphaEncodingService();
for (auto& [input_string, expected_commands] : input_strings) {
- std::map<Command, uint16_t> commands = encoding_service.deserialize(input_string);
+ std::map<Command, uint16_t> commands = {};
+ encoding_service.deserialize(input_string.c_str(), input_string.length(), commands);
TEST_ASSERT_EQUAL_size_t_MESSAGE(
expected_commands.size(),
diff --git a/test/test_util_buffer/main.cpp b/test/test_util_buffer/main.cpp
index 595c6184..40f1221c 100644
--- a/test/test_util_buffer/main.cpp
+++ b/test/test_util_buffer/main.cpp
@@ -11,7 +11,7 @@ void test_ring_buffer(void)
TEST_ASSERT_EQUAL_UINT8(0, buffer.getLength());
- buffer.add('a'); // [] => [a]
+ buffer.push('a'); // [] => [a]
TEST_ASSERT_EQUAL_UINT8(1, buffer.getLength());
TEST_ASSERT_EQUAL_INT8('a', buffer.get(0));
TEST_ASSERT_EQUAL_UINT8(-1, buffer.get(1));
@@ -22,11 +22,11 @@ void test_ring_buffer(void)
TEST_ASSERT_EQUAL_UINT8(0, buffer.getLength());
// add 5 values and check length
- buffer.add('a'); // [] => [a]
- buffer.add('b'); // [a] => [a, b]
- buffer.add('c'); // [a, b] => [a, b, c]
- buffer.add('d'); // [a, b, c] => [a, b, c, d]
- buffer.add('e'); // [a, b, c, d] => [a, b, c, d, e]
+ buffer.push('a'); // [] => [a]
+ buffer.push('b'); // [a] => [a, b]
+ buffer.push('c'); // [a, b] => [a, b, c]
+ buffer.push('d'); // [a, b, c] => [a, b, c, d]
+ buffer.push('e'); // [a, b, c, d] => [a, b, c, d, e]
TEST_ASSERT_EQUAL_UINT8(5, buffer.getLength());
// check values
@@ -53,12 +53,12 @@ void test_ring_buffer(void)
TEST_ASSERT_EQUAL_INT8(-1, buffer.get(3));
// check overflow
- buffer.add('c'); // [] => [c]
- buffer.add('d'); // [c] => [c, d]
- buffer.add('e'); // [c, d] => [c, d, e]
- buffer.add('f'); // [c, d, e] => [c, d, e, f]
- buffer.add('g'); // [c, d, e, f] => [c, d, e, f, g]
- buffer.add('h'); // [c, d, e, f, g] => [d, e, f, g, h]
+ buffer.push('c'); // [] => [c]
+ buffer.push('d'); // [c] => [c, d]
+ buffer.push('e'); // [c, d] => [c, d, e]
+ buffer.push('f'); // [c, d, e] => [c, d, e, f]
+ buffer.push('g'); // [c, d, e, f] => [c, d, e, f, g]
+ buffer.push('h'); // [c, d, e, f, g] => [d, e, f, g, h]
// Buffer must shift values to the left when it is full
TEST_ASSERT_EQUAL_INT8('d', buffer.get(0));
@@ -77,11 +77,11 @@ void test_ring_buffer(void)
void test_flat_buffer(void)
{
- auto buffer = FlatBuffer<char, 5>();
+ auto buffer = FixedSizeBuffer<char, 5>();
TEST_ASSERT_EQUAL_UINT8(0, buffer.getLength());
- buffer.add('a'); // [] => [a]
+ buffer.push('a'); // [] => [a]
TEST_ASSERT_EQUAL_UINT8(1, buffer.getLength());
TEST_ASSERT_EQUAL_INT8('a', buffer.get(0));
TEST_ASSERT_EQUAL_UINT8(-1, buffer.get(1));
@@ -92,11 +92,11 @@ void test_flat_buffer(void)
TEST_ASSERT_EQUAL_UINT8(0, buffer.getLength());
// add 5 values and check length
- buffer.add('a'); // [] => [a]
- buffer.add('b'); // [a] => [a, b]
- buffer.add('c'); // [a, b] => [a, b, c]
- buffer.add('d'); // [a, b, c] => [a, b, c, d]
- buffer.add('e'); // [a, b, c, d] => [a, b, c, d, e]
+ buffer.push('a'); // [] => [a]
+ buffer.push('b'); // [a] => [a, b]
+ buffer.push('c'); // [a, b] => [a, b, c]
+ buffer.push('d'); // [a, b, c] => [a, b, c, d]
+ buffer.push('e'); // [a, b, c, d] => [a, b, c, d, e]
TEST_ASSERT_EQUAL_UINT8(5, buffer.getLength());
// check values
@@ -123,12 +123,12 @@ void test_flat_buffer(void)
TEST_ASSERT_EQUAL_INT8(-1, buffer.get(2));
// check overflow
- buffer.add('c'); // [] => [c]
- buffer.add('d'); // [c] => [c, d]
- buffer.add('e'); // [c, d] => [c, d, e]
- buffer.add('f'); // [c, d, e] => [c, d, e, f]
- buffer.add('g'); // [c, d, e, f] => [c, d, e, f, g]
- buffer.add('h'); // [c, d, e, f, g] => [c, d, e, f, g]
+ buffer.push('c'); // [] => [c]
+ buffer.push('d'); // [c] => [c, d]
+ buffer.push('e'); // [c, d] => [c, d, e]
+ buffer.push('f'); // [c, d, e] => [c, d, e, f]
+ buffer.push('g'); // [c, d, e, f] => [c, d, e, f, g]
+ buffer.push('h'); // [c, d, e, f, g] => [c, d, e, f, g]
// Buffer must not change values when it is full
TEST_ASSERT_EQUAL_INT8('c', buffer.get(0));
From 9acd9a3fd5deda6249edaae75f2200a37b0dfbfd Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Fri, 8 Sep 2023 20:02:20 +0400
Subject: [PATCH 39/82] test(Calibration): cover center point deviation
---
lib/util/senseshift/buffer.hpp | 4 ++--
lib/util/senseshift/calibration.hpp | 5 +----
test/test_util_calibration/main.cpp | 21 +++++++++++++++++++++
3 files changed, 24 insertions(+), 6 deletions(-)
diff --git a/lib/util/senseshift/buffer.hpp b/lib/util/senseshift/buffer.hpp
index 0dd1c85d..a6756cb8 100644
--- a/lib/util/senseshift/buffer.hpp
+++ b/lib/util/senseshift/buffer.hpp
@@ -72,7 +72,7 @@ namespace SenseShift {
/**
* @brief Get the value at the given index.
*
- * `get(0)` is the oldest value, `get(this.getLength() - 1)` is the newest value
+ * @example `get(0)` is the oldest value, `get(this.getLength() - 1)` is the newest value
*/
ValueType get(size_t index) const override
{
@@ -143,7 +143,7 @@ namespace SenseShift {
/**
* @brief Get the value at the given index.
*
- * `get(0)` is the oldest value, `get(this.getLength() - 1)` is the newest value
+ * @example `get(0)` is the oldest value, `get(this.getLength() - 1)` is the newest value
*/
ValueType get(size_t index) const override
{
diff --git a/lib/util/senseshift/calibration.hpp b/lib/util/senseshift/calibration.hpp
index 13a9834b..53411728 100644
--- a/lib/util/senseshift/calibration.hpp
+++ b/lib/util/senseshift/calibration.hpp
@@ -84,10 +84,7 @@ namespace SenseShift::Calibration {
template<typename _Tp, _Tp sensor_max, _Tp driver_max_deviation, _Tp output_min, _Tp output_max>
class CenterPointDeviationCalibrator : public ICalibrator<_Tp> {
public:
- CenterPointDeviationCalibrator() : range_min(sensor_max), range_max(0)
- {
-#warning "CenterPointDeviationCalibrator is untested and may not work as expected."
- }
+ CenterPointDeviationCalibrator() : range_min(sensor_max), range_max(0) {}
void reset()
{
diff --git a/test/test_util_calibration/main.cpp b/test/test_util_calibration/main.cpp
index a79a8bc6..1fa42a23 100644
--- a/test/test_util_calibration/main.cpp
+++ b/test/test_util_calibration/main.cpp
@@ -35,6 +35,26 @@ void test_minmax_calibrator(void)
TEST_ASSERT_EQUAL_UINT16(2048, calibrator->calibrate(4096));
}
+void test_center_point_deviation_calibrator(void)
+{
+ CenterPointDeviationCalibrator<int, 100, 10, 0, 255> calibrator;
+
+ // Test reset function
+ calibrator.reset();
+
+ // Test update function
+ calibrator.update(50);
+ calibrator.update(75);
+ calibrator.update(25);
+
+ // Test calibrate function
+ TEST_ASSERT_EQUAL_INT(255, calibrator.calibrate(100));
+ TEST_ASSERT_EQUAL_INT(191, calibrator.calibrate(75));
+ TEST_ASSERT_EQUAL_INT(63, calibrator.calibrate(50));
+ TEST_ASSERT_EQUAL_INT(0, calibrator.calibrate(25));
+ TEST_ASSERT_EQUAL_INT(0, calibrator.calibrate(0));
+}
+
void test_fixed_center_point_deviation_calibrator(void)
{
auto calibrator = new FixedCenterPointDeviationCalibrator<uint16_t, 512, 64, 0, 4096>();
@@ -91,6 +111,7 @@ int process(void)
UNITY_BEGIN();
RUN_TEST(test_minmax_calibrator);
+ RUN_TEST(test_center_point_deviation_calibrator);
RUN_TEST(test_fixed_center_point_deviation_calibrator);
return UNITY_END();
From 14a2b5b68716bd133e1cc39c745c557c75e9d779 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Fri, 8 Sep 2023 18:34:45 +0000
Subject: [PATCH 40/82] ci(GitHub): add Wokwi for lucidglove proto 4
---
.github/workflows/ci.yml | 1 +
.../lucidgloves-prototype3+serial/test.yaml | 122 ++---
.../diagram.json | 485 ++++++++++++++++++
.../lucidgloves-prototype4+serial/test.yaml | 76 +++
.../lucidgloves-prototype4+serial/wokwi.toml | 6 +
5 files changed, 629 insertions(+), 61 deletions(-)
create mode 100644 .wokwi/lucidgloves-prototype4+serial/diagram.json
create mode 100644 .wokwi/lucidgloves-prototype4+serial/test.yaml
create mode 100644 .wokwi/lucidgloves-prototype4+serial/wokwi.toml
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 1119c892..9c373108 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -428,6 +428,7 @@ jobs:
matrix:
variant:
- lucidgloves-prototype3+serial
+ - lucidgloves-prototype4+serial
steps:
- uses: actions/checkout@v3
diff --git a/.wokwi/lucidgloves-prototype3+serial/test.yaml b/.wokwi/lucidgloves-prototype3+serial/test.yaml
index 0639c5cc..db653793 100644
--- a/.wokwi/lucidgloves-prototype3+serial/test.yaml
+++ b/.wokwi/lucidgloves-prototype3+serial/test.yaml
@@ -3,74 +3,74 @@ version: 1
author: Leonid Meleshin
steps:
- - wait-serial: "A0B0C0D0E0F2047G2047"
+ - wait-serial: "A0B0C0D0E0F2047G2047"
- # Press the 'A' button
- - set-control:
- part-id: btn1
- control: pressed
- value: 1
- - wait-serial: 'A0B0C0D0E0F2047G2047J'
+ # Press the 'A' button
+ - set-control:
+ part-id: btn1
+ control: pressed
+ value: 1
+ - wait-serial: "A0B0C0D0E0F2047G2047J"
- # Press the 'B' button
- - set-control:
- part-id: btn2
- control: pressed
- value: 1
- - wait-serial: 'A0B0C0D0E0F2047G2047JK'
+ # Press the 'B' button
+ - set-control:
+ part-id: btn2
+ control: pressed
+ value: 1
+ - wait-serial: "A0B0C0D0E0F2047G2047JK"
- # Release the 'A' button
- - set-control:
- part-id: btn1
- control: pressed
- value: 0
- - wait-serial: 'A0B0C0D0E0F2047G2047K'
+ # Release the 'A' button
+ - set-control:
+ part-id: btn1
+ control: pressed
+ value: 0
+ - wait-serial: "A0B0C0D0E0F2047G2047K"
- # Release the 'B' button
- - set-control:
- part-id: btn2
- control: pressed
- value: 0
- - wait-serial: 'A0B0C0D0E0F2047G2047'
+ # Release the 'B' button
+ - set-control:
+ part-id: btn2
+ control: pressed
+ value: 0
+ - wait-serial: "A0B0C0D0E0F2047G2047"
- # Curl Index finger
- - set-control:
- part-id: pot-index
- control: position
- value: 1
- - wait-serial: 'A0B4095C0D0E0F2047G2047I' # I is for Trigger gesture
+ # Curl Index finger
+ - set-control:
+ part-id: pot-index
+ control: position
+ value: 1
+ - wait-serial: "A0B4095C0D0E0F2047G2047I" # I is for Trigger gesture
- # Curl Thumb finger
- - set-control:
- part-id: pot-thumb
- control: position
- value: 1
- - wait-serial: 'A4095B4095C0D0E0F2047G2047IM' # M is for Pinch gesture
+ # Curl Thumb finger
+ - set-control:
+ part-id: pot-thumb
+ control: position
+ value: 1
+ - wait-serial: "A4095B4095C0D0E0F2047G2047IM" # M is for Pinch gesture
- # Curl Middle finger
- - set-control:
- part-id: pot-middle
- control: position
- value: 1
- - wait-serial: 'A4095B4095C4095D0E0F2047G2047IM'
+ # Curl Middle finger
+ - set-control:
+ part-id: pot-middle
+ control: position
+ value: 1
+ - wait-serial: "A4095B4095C4095D0E0F2047G2047IM"
- # Curl Ring finger
- - set-control:
- part-id: pot-ring
- control: position
- value: 1
- - wait-serial: 'A4095B4095C4095D4095E0F2047G2047IM'
+ # Curl Ring finger
+ - set-control:
+ part-id: pot-ring
+ control: position
+ value: 1
+ - wait-serial: "A4095B4095C4095D4095E0F2047G2047IM"
- # Curl Pinky finger
- - set-control:
- part-id: pot-pinky
- control: position
- value: 1
- - wait-serial: 'A4095B4095C4095D4095E4095F2047G2047ILM' # L is for the Grab gesture
+ # Curl Pinky finger
+ - set-control:
+ part-id: pot-pinky
+ control: position
+ value: 1
+ - wait-serial: "A4095B4095C4095D4095E4095F2047G2047ILM" # L is for the Grab gesture
- # Release Thumb finger
- - set-control:
- part-id: pot-thumb
- control: position
- value: 0
- - wait-serial: 'A0B4095C4095D4095E4095F2047G2047IL'
+ # Release Thumb finger
+ - set-control:
+ part-id: pot-thumb
+ control: position
+ value: 0
+ - wait-serial: "A0B4095C4095D4095E4095F2047G2047IL"
diff --git a/.wokwi/lucidgloves-prototype4+serial/diagram.json b/.wokwi/lucidgloves-prototype4+serial/diagram.json
new file mode 100644
index 00000000..70ab1ebc
--- /dev/null
+++ b/.wokwi/lucidgloves-prototype4+serial/diagram.json
@@ -0,0 +1,485 @@
+{
+ "version": 1,
+ "author": "Leonid Meleshin",
+ "editor": "wokwi",
+ "parts": [
+ {
+ "type": "wokwi-esp32-devkit-v1",
+ "id": "esp",
+ "top": 110.3,
+ "left": 599.8,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-potentiometer",
+ "id": "pot-thumb",
+ "top": -87.7,
+ "left": -278.6,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-potentiometer",
+ "id": "pot-index",
+ "top": -87.7,
+ "left": -192.2,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-potentiometer",
+ "id": "pot-middle",
+ "top": -87.7,
+ "left": -105.8,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-potentiometer",
+ "id": "pot-ring",
+ "top": -87.7,
+ "left": -19.4,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-potentiometer",
+ "id": "pot-pinky",
+ "top": -87.7,
+ "left": 67,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-analog-joystick",
+ "id": "joystick1",
+ "top": -135,
+ "left": 149.4,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-pushbutton",
+ "id": "btn1",
+ "top": 6.2,
+ "left": 268.8,
+ "attrs": {
+ "color": "green",
+ "key": "a",
+ "bounce": "1",
+ "label": "A"
+ }
+ },
+ {
+ "type": "wokwi-pushbutton",
+ "id": "btn2",
+ "top": 6.2,
+ "left": 355.2,
+ "attrs": {
+ "color": "green",
+ "key": "b",
+ "bounce": "1",
+ "label": "B"
+ }
+ },
+ {
+ "type": "wokwi-pushbutton",
+ "id": "btn3",
+ "top": 6.2,
+ "left": 451.2,
+ "attrs": {
+ "color": "green"
+ }
+ },
+ {
+ "type": "wokwi-servo",
+ "id": "servo1",
+ "top": -30.8,
+ "left": 912,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-servo",
+ "id": "servo2",
+ "top": 103.6,
+ "left": 912,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-servo",
+ "id": "servo3",
+ "top": 238,
+ "left": 912,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-servo",
+ "id": "servo4",
+ "top": 372.4,
+ "left": 912,
+ "attrs": {}
+ },
+ {
+ "type": "wokwi-servo",
+ "id": "servo5",
+ "top": -165.2,
+ "left": 912,
+ "attrs": {}
+ }
+ ],
+ "connections": [
+ [
+ "esp:TX0",
+ "$serialMonitor:RX",
+ "",
+ []
+ ],
+ [
+ "esp:RX0",
+ "$serialMonitor:TX",
+ "",
+ []
+ ],
+ [
+ "pot-thumb:VCC",
+ "pot-index:VCC",
+ "red",
+ [
+ "v28.8",
+ "h76.8"
+ ]
+ ],
+ [
+ "pot-index:VCC",
+ "pot-middle:VCC",
+ "red",
+ [
+ "v28.8",
+ "h76.8"
+ ]
+ ],
+ [
+ "pot-middle:VCC",
+ "pot-ring:VCC",
+ "red",
+ [
+ "v28.8",
+ "h76.8"
+ ]
+ ],
+ [
+ "pot-thumb:GND",
+ "pot-index:GND",
+ "black",
+ [
+ "v38.4",
+ "h76.8"
+ ]
+ ],
+ [
+ "pot-index:GND",
+ "pot-middle:GND",
+ "black",
+ [
+ "v38.4",
+ "h76.8"
+ ]
+ ],
+ [
+ "pot-middle:GND",
+ "pot-ring:GND",
+ "black",
+ [
+ "v38.4",
+ "h76.8"
+ ]
+ ],
+ [
+ "pot-ring:GND",
+ "pot-pinky:GND",
+ "black",
+ [
+ "v38.4",
+ "h76.8"
+ ]
+ ],
+ [
+ "esp:VP",
+ "pot-pinky:SIG",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:VN",
+ "pot-ring:SIG",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:D34",
+ "pot-middle:SIG",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:D35",
+ "pot-index:SIG",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:D32",
+ "pot-thumb:SIG",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "joystick1:GND",
+ "pot-pinky:GND",
+ "black",
+ [
+ "v38.4",
+ "h-124.8"
+ ]
+ ],
+ [
+ "esp:D33",
+ "joystick1:HORZ",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:D25",
+ "joystick1:VERT",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:D26",
+ "joystick1:SEL",
+ "green",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:GND.2",
+ "joystick1:GND",
+ "black",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "esp:VIN",
+ "joystick1:VCC",
+ "red",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "pot-ring:VCC",
+ "pot-pinky:VCC",
+ "red",
+ [
+ "v28.8",
+ "h37.6"
+ ]
+ ],
+ [
+ "joystick1:VCC",
+ "pot-pinky:VCC",
+ "red",
+ [
+ "v28.8",
+ "h-38.4"
+ ]
+ ],
+ [
+ "btn1:2.r",
+ "esp:D27",
+ "green",
+ [
+ "h0.2",
+ "v249.8"
+ ]
+ ],
+ [
+ "btn2:2.r",
+ "esp:D14",
+ "green",
+ [
+ "h0.2",
+ "v259.4"
+ ]
+ ],
+ [
+ "btn3:2.r",
+ "esp:D12",
+ "green",
+ [
+ "h0.2",
+ "v211.4"
+ ]
+ ],
+ [
+ "servo2:GND",
+ "servo3:GND",
+ "black",
+ [
+ "h-19.2",
+ "v134.4"
+ ]
+ ],
+ [
+ "servo3:GND",
+ "servo4:GND",
+ "black",
+ [
+ "h-19.2",
+ "v115.2"
+ ]
+ ],
+ [
+ "joystick1:GND",
+ "btn1:1.l",
+ "black",
+ [
+ "v0"
+ ]
+ ],
+ [
+ "btn1:1.r",
+ "btn2:1.l",
+ "black",
+ [
+ "v0"
+ ]
+ ],
+ [
+ "btn2:1.r",
+ "btn3:1.l",
+ "black",
+ [
+ "v0"
+ ]
+ ],
+ [
+ "servo1:GND",
+ "servo2:GND",
+ "black",
+ [
+ "h-19.2",
+ "v96"
+ ]
+ ],
+ [
+ "servo1:GND",
+ "btn3:1.r",
+ "black",
+ [
+ "h0"
+ ]
+ ],
+ [
+ "servo1:V+",
+ "servo2:V+",
+ "red",
+ [
+ "h-28.8",
+ "v96.1"
+ ]
+ ],
+ [
+ "servo2:V+",
+ "servo3:V+",
+ "red",
+ [
+ "h-28.8",
+ "v86.5"
+ ]
+ ],
+ [
+ "servo3:V+",
+ "servo4:V+",
+ "red",
+ [
+ "h-28.8",
+ "v134.4"
+ ]
+ ],
+ [
+ "esp:D5",
+ "servo4:PWM",
+ "green",
+ [
+ "h38.1",
+ "v239.8"
+ ]
+ ],
+ [
+ "esp:D18",
+ "servo3:PWM",
+ "green",
+ [
+ "h57.3",
+ "v115"
+ ]
+ ],
+ [
+ "esp:D21",
+ "servo1:PWM",
+ "green",
+ [
+ "h38.1",
+ "v-135"
+ ]
+ ],
+ [
+ "esp:D19",
+ "servo2:PWM",
+ "green",
+ [
+ "h57.3",
+ "v-9.9"
+ ]
+ ],
+ [
+ "servo1:V+",
+ "servo5:V+",
+ "red",
+ [
+ "h-28.8",
+ "v-134.3"
+ ]
+ ],
+ [
+ "servo1:GND",
+ "servo5:GND",
+ "black",
+ [
+ "h-19.2",
+ "v-134.4"
+ ]
+ ],
+ [
+ "esp:TX2",
+ "servo5:PWM",
+ "green",
+ [
+ "h18.9",
+ "v-307.3"
+ ]
+ ]
+ ],
+ "dependencies": {}
+}
diff --git a/.wokwi/lucidgloves-prototype4+serial/test.yaml b/.wokwi/lucidgloves-prototype4+serial/test.yaml
new file mode 100644
index 00000000..f89d70f4
--- /dev/null
+++ b/.wokwi/lucidgloves-prototype4+serial/test.yaml
@@ -0,0 +1,76 @@
+name: Test LucidGloves Prototype 4
+version: 1
+author: Leonid Meleshin
+
+steps:
+ - wait-serial: "A0B0C0D0E0F2047G2047"
+
+ # Press the 'A' button
+ - set-control:
+ part-id: btn1
+ control: pressed
+ value: 1
+ - wait-serial: "A0B0C0D0E0F2047G2047J"
+
+ # Press the 'B' button
+ - set-control:
+ part-id: btn2
+ control: pressed
+ value: 1
+ - wait-serial: "A0B0C0D0E0F2047G2047JK"
+
+ # Release the 'A' button
+ - set-control:
+ part-id: btn1
+ control: pressed
+ value: 0
+ - wait-serial: "A0B0C0D0E0F2047G2047K"
+
+ # Release the 'B' button
+ - set-control:
+ part-id: btn2
+ control: pressed
+ value: 0
+ - wait-serial: "A0B0C0D0E0F2047G2047"
+
+ # Curl Index finger
+ - set-control:
+ part-id: pot-index
+ control: position
+ value: 1
+ - wait-serial: "A0B4095C0D0E0F2047G2047I" # I is for Trigger gesture
+
+ # Curl Thumb finger
+ - set-control:
+ part-id: pot-thumb
+ control: position
+ value: 1
+ - wait-serial: "A4095B4095C0D0E0F2047G2047IM" # M is for Pinch gesture
+
+ # Curl Middle finger
+ - set-control:
+ part-id: pot-middle
+ control: position
+ value: 1
+ - wait-serial: "A4095B4095C4095D0E0F2047G2047IM"
+
+ # Curl Ring finger
+ - set-control:
+ part-id: pot-ring
+ control: position
+ value: 1
+ - wait-serial: "A4095B4095C4095D4095E0F2047G2047IM"
+
+ # Curl Pinky finger
+ - set-control:
+ part-id: pot-pinky
+ control: position
+ value: 1
+ - wait-serial: "A4095B4095C4095D4095E4095F2047G2047ILM" # L is for the Grab gesture
+
+ # Partially Release Thumb finger
+ - set-control:
+ part-id: pot-thumb
+ control: position
+ value: 0.25
+ - wait-serial: "A1024B4095C4095D4095E4095F2047G2047IL"
diff --git a/.wokwi/lucidgloves-prototype4+serial/wokwi.toml b/.wokwi/lucidgloves-prototype4+serial/wokwi.toml
new file mode 100644
index 00000000..316b68c7
--- /dev/null
+++ b/.wokwi/lucidgloves-prototype4+serial/wokwi.toml
@@ -0,0 +1,6 @@
+[wokwi]
+version = 1
+firmware = "../../.pio/build/lucidgloves-prototype4/firmware.bin"
+elf = "../../.pio/build/lucidgloves-prototype4/firmware.elf"
+
+gdbServerPort=3333
From 3a2b887b788c51f9bba60dbf90caabec16227724 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 10 Sep 2023 13:35:32 +0400
Subject: [PATCH 41/82] fix(Wokwi): test scenario indentation
---
.wokwi/lucidgloves-prototype3+serial/test.yaml | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/.wokwi/lucidgloves-prototype3+serial/test.yaml b/.wokwi/lucidgloves-prototype3+serial/test.yaml
index b5c030bc..95f55e39 100644
--- a/.wokwi/lucidgloves-prototype3+serial/test.yaml
+++ b/.wokwi/lucidgloves-prototype3+serial/test.yaml
@@ -68,9 +68,9 @@ steps:
value: 1
- wait-serial: "A4095B4095C4095D4095E4095F2047G2047ILM" # L is for the Grab gesture
- # Partially Release Thumb finger
- - set-control:
- part-id: pot-thumb
- control: position
- value: 0.25
- - wait-serial: 'A1024B4095C4095D4095E4095F2047G2047IL'
+ # Partially Release Thumb finger
+ - set-control:
+ part-id: pot-thumb
+ control: position
+ value: 0.25
+ - wait-serial: 'A1024B4095C4095D4095E4095F2047G2047IL'
From a373ccdce2a0f2fb786a32c66b325079a7dc5ab8 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 28 Sep 2023 20:41:17 +0400
Subject: [PATCH 42/82] chore: add Wakatime to devcontainer
---
.devcontainer/devcontainer.json | 24 ++++++++++++++----------
1 file changed, 14 insertions(+), 10 deletions(-)
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index c629151a..1fee0e22 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -12,10 +12,16 @@
"mounts": [
"source=/dev/,target=/dev/,type=bind,consistency=consistent"
],
- "postAttachCommand": {
- "submodules": ["git", "submodule", "update", "--recursive", "--init"],
- "udev": ["sudo", "service", "udev", "restart"]
+ "updateContentCommand": {
+ "submodule": "git submodule update --init --recursive",
+ "pio": "pio pkg install"
},
+ "postAttachCommand": [
+ "sudo",
+ "service",
+ "udev",
+ "restart"
+ ],
"customizations": {
"vscode": {
"settings": {
@@ -29,27 +35,25 @@
"platformio-ide.pioHomeServerHttpPort": 8008,
"platformio-ide.autoOpenPlatformIOIniFile": false,
"files.exclude": {
- "**/.git": true,
- "**/.DS_Store": true
+ "**/.git": true,
+ "**/.DS_Store": true
},
"files.associations": {
- "**/.vscode/*.json": "jsonc"
+ "**/.vscode/*.json": "jsonc"
},
"C_Cpp.clang_format_path": "clang-format"
},
"extensions": [
"ms-vscode.cpptools",
"redhat.vscode-yaml",
-
"platformio.platformio-ide",
"Wokwi.wokwi-vscode",
-
"xaver.clang-format",
"editorconfig.editorconfig",
-
"GitHub.copilot",
"GitHub.copilot-labs",
- "GitHub.copilot-chat"
+ "GitHub.copilot-chat",
+ "wakatime.vscode-wakatime"
]
}
}
From af9df068fa0c02e9ab7fb20002859ce281049f7f Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Fri, 29 Sep 2023 13:56:06 +0400
Subject: [PATCH 43/82] refactor: remove C-styled `_t` typedefs
---
examples/bhaptics-ble-bt-serial.cpp | 4 +-
firmware/mode_configs/bhaptics/tactal.cpp | 6 +-
firmware/mode_configs/bhaptics/tactglove.cpp | 8 +-
firmware/mode_configs/bhaptics/tactosy2.cpp | 6 +-
firmware/mode_configs/bhaptics/tactosyf.cpp | 6 +-
firmware/mode_configs/bhaptics/tactosyh.cpp | 6 +-
.../mode_configs/bhaptics/tactsuit_x16.cpp | 10 +-
.../bhaptics/tactsuit_x16_pca9685.cpp | 10 +-
.../mode_configs/bhaptics/tactsuit_x40.cpp | 8 +-
firmware/mode_configs/bhaptics/tactvisor.cpp | 6 +-
.../arduino/components/serial_plotter.cpp | 2 +-
.../arduino/input/sensor/digital.hpp | 2 +-
lib/battery/senseshift/battery.hpp | 8 +-
lib/battery/senseshift/battery/sensor.hpp | 2 +-
lib/bhaptics/senseshift/bh/devices.hpp | 294 +++++++++---------
lib/bhaptics/senseshift/bh/encoding.hpp | 73 ++---
.../senseshift/bh/ble/connection.cpp | 10 +-
.../senseshift/bh/ble/connection.hpp | 12 +-
.../senseshift/freertos/input/sensor.hpp | 12 +-
lib/hands/hand_interface.hpp | 12 +-
lib/haptics/senseshift/body/haptics/body.cpp | 8 +-
lib/haptics/senseshift/body/haptics/body.hpp | 16 +-
.../senseshift/body/haptics/interface.hpp | 54 ++--
lib/haptics/senseshift/body/haptics/plane.cpp | 18 +-
lib/haptics/senseshift/body/haptics/plane.hpp | 57 ++--
lib/math/senseshift/math/point2.hpp | 18 +-
lib/opengloves/og_protocol.hpp | 8 +-
lib/opengloves/sensor/og_finger.hpp | 2 +-
test/test_bhaptics_encoding/main.cpp | 28 +-
test/test_haptics_body/main.cpp | 10 +-
test/test_haptics_plane/main.cpp | 12 +-
31 files changed, 357 insertions(+), 371 deletions(-)
diff --git a/examples/bhaptics-ble-bt-serial.cpp b/examples/bhaptics-ble-bt-serial.cpp
index 3a532691..9f1f9820 100644
--- a/examples/bhaptics-ble-bt-serial.cpp
+++ b/examples/bhaptics-ble-bt-serial.cpp
@@ -21,8 +21,8 @@ SenseShift* app = &App;
BluetoothSerial SerialBT;
BluetoothSerial* btSerial = &SerialBT;
-static const size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
-static const ::SenseShift::Body::Haptics::Position_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
+static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
+static const ::SenseShift::Body::Haptics::Position* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
class BLECallbacks : public BHBLEConnectionCallbacks {
public:
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index 2c99a8fc..54bd226f 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -25,13 +25,13 @@ using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
-static const size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
-static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
+static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
+static const Position bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
void setupMode()
{
// Configure PWM pins to their positions on the face
- const auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ const auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
// clang-format off
{ new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26), new ActuatorPWM(27), new ActuatorPWM(14) },
// clang-format on
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 8d2138f6..3091a5d6 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -26,10 +26,10 @@ using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
-static const Body::Hands::HandSide_t handSide = Body::Hands::HandSide::SENSESHIFT_HAND_SIDE;
-static const size_t bhLayoutSize = BH_LAYOUT_TACTGLOVE_SIZE;
+static constexpr Body::Hands::HandSide handSide = Body::Hands::HandSide::SENSESHIFT_HAND_SIDE;
+static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTGLOVE_SIZE;
// clang-format off
-static const OutputLayout_t (&bhLayout)[bhLayoutSize] = handSide == Body::Hands::HandSide::Left ? BH::TactGloveLeftLayout : BH::TactGloveRightLayout;
+static const OutputLayout (&bhLayout)[bhLayoutSize] = handSide == Body::Hands::HandSide::Left ? BH::TactGloveLeftLayout : BH::TactGloveRightLayout;
// clang-format on
void setupMode()
@@ -56,7 +56,7 @@ void setupMode()
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect_t::Vibro);
+ Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index 38743a78..20751691 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -25,13 +25,13 @@ using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
-static const size_t bhLayoutSize = BH_LAYOUT_TACTOSY2_SIZE;
-static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSY2;
+static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTOSY2_SIZE;
+static const Position bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSY2;
void setupMode()
{
// Configure PWM pins to their positions on the forearm
- auto forearmOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto forearmOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
// clang-format off
{ new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25) },
{ new ActuatorPWM(26), new ActuatorPWM(27), new ActuatorPWM(14) },
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index 0dd2733f..b7667f0f 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -25,13 +25,13 @@ using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
-static const size_t bhLayoutSize = BH_LAYOUT_TACTOSYF_SIZE;
-static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYF;
+static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTOSYF_SIZE;
+static const Position bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYF;
void setupMode()
{
// Configure PWM pins to their positions on the feet
- auto footOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto footOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
// clang-format off
{ new ActuatorPWM(32) },
{ new ActuatorPWM(33) },
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index ae3de9da..50b46ec9 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -25,13 +25,13 @@ using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
-static const size_t bhLayoutSize = BH_LAYOUT_TACTOSYH_SIZE;
-static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYH;
+static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTOSYH_SIZE;
+static const Position bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYH;
void setupMode()
{
// Configure PWM pins to their positions on the hands
- auto handOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto handOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
// clang-format off
{ new ActuatorPWM(32) },
{ new ActuatorPWM(33) },
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index 88b46536..62fc1e45 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -25,23 +25,23 @@ using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
-static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
-static const OutputLayout_t bhLayout[BH_LAYOUT_TACTSUITX16_SIZE] = BH_LAYOUT_TACTSUITX16;
+static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
+static const OutputLayout bhLayout[BH_LAYOUT_TACTSUITX16_SIZE] = BH_LAYOUT_TACTSUITX16;
// Ouput indices, responsible for x40 => x16 grouping
-static const size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
+static constexpr size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
static const uint8_t layoutGroups[layoutGroupsSize] = BH_LAYOUT_TACTSUITX16_GROUPS;
void setupMode()
{
// Configure PWM pins to their positions on the vest
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
// clang-format off
{ new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26) },
{ new ActuatorPWM(27), new ActuatorPWM(14), new ActuatorPWM(12), new ActuatorPWM(13) },
// clang-format on
});
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
// clang-format off
{ new ActuatorPWM(19), new ActuatorPWM(18), new ActuatorPWM(5), new ActuatorPWM(17) },
{ new ActuatorPWM(16), new ActuatorPWM(4), new ActuatorPWM(2), new ActuatorPWM(15) },
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index 6782ecee..8d3383e8 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -25,11 +25,11 @@ using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
-static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
-static const OutputLayout_t bhLayout[BH_LAYOUT_TACTSUITX16_SIZE] = BH_LAYOUT_TACTSUITX16;
+static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
+static const OutputLayout bhLayout[BH_LAYOUT_TACTSUITX16_SIZE] = BH_LAYOUT_TACTSUITX16;
// Ouput indices, responsible for x40 => x16 grouping
-static const size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
+static constexpr size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
static const uint8_t layoutGroups[layoutGroupsSize] = BH_LAYOUT_TACTSUITX16_GROUPS;
void setupMode()
@@ -40,13 +40,13 @@ void setupMode()
pwm->setPWMFreq(PWM_FREQUENCY);
// Assign the pins on the configured PCA9685 to positions on the vest
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
// clang-format off
{ new ActuatorPCA9685(pwm, 0), new ActuatorPCA9685(pwm, 1), new ActuatorPCA9685(pwm, 2), new ActuatorPCA9685(pwm, 3) },
{ new ActuatorPCA9685(pwm, 4), new ActuatorPCA9685(pwm, 5), new ActuatorPCA9685(pwm, 6), new ActuatorPCA9685(pwm, 7) },
// clang-format on
});
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
// clang-format off
{ new ActuatorPCA9685(pwm, 8), new ActuatorPCA9685(pwm, 9), new ActuatorPCA9685(pwm, 10), new ActuatorPCA9685(pwm, 11) },
{ new ActuatorPCA9685(pwm, 12), new ActuatorPCA9685(pwm, 13), new ActuatorPCA9685(pwm, 14), new ActuatorPCA9685(pwm, 15) },
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 318e6ef6..13fce314 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -26,8 +26,8 @@ using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
-static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX40_SIZE;
-static const OutputLayout_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
+static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTSUITX40_SIZE;
+static const OutputLayout bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
void setupMode()
{
@@ -42,7 +42,7 @@ void setupMode()
// Assign the pins on the configured PCA9685s and PWM pins to locations on the
// vest
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
// clang-format off
{ new ActuatorPCA9685(pwm0, 0), new ActuatorPCA9685(pwm0, 1), new ActuatorPCA9685(pwm0, 2), new ActuatorPCA9685(pwm0, 3) },
{ new ActuatorPCA9685(pwm0, 4), new ActuatorPCA9685(pwm0, 5), new ActuatorPCA9685(pwm0, 6), new ActuatorPCA9685(pwm0, 7) },
@@ -51,7 +51,7 @@ void setupMode()
{ new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26) },
// clang-format on
});
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
// clang-format off
{ new ActuatorPCA9685(pwm1, 0), new ActuatorPCA9685(pwm1, 1), new ActuatorPCA9685(pwm1, 2), new ActuatorPCA9685(pwm1, 3) },
{ new ActuatorPCA9685(pwm1, 4), new ActuatorPCA9685(pwm1, 5), new ActuatorPCA9685(pwm1, 6), new ActuatorPCA9685(pwm1, 7) },
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index 758ab9aa..f7e7ab44 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -25,13 +25,13 @@ using namespace SenseShift::Body::Haptics;
extern SenseShift::SenseShift App;
SenseShift::SenseShift* app = &App;
-static const size_t bhLayoutSize = BH_LAYOUT_TACTVISOR_SIZE;
-static const Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTVISOR;
+static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTVISOR_SIZE;
+static const Position bhLayout[bhLayoutSize] = BH_LAYOUT_TACTVISOR;
void setupMode()
{
// Configure PWM pins to their positions on the face
- auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
// clang-format off
{ new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26) },
// clang-format on
diff --git a/lib/arduino/senseshift/arduino/components/serial_plotter.cpp b/lib/arduino/senseshift/arduino/components/serial_plotter.cpp
index bdd1fb38..8cd48978 100644
--- a/lib/arduino/senseshift/arduino/components/serial_plotter.cpp
+++ b/lib/arduino/senseshift/arduino/components/serial_plotter.cpp
@@ -2,7 +2,7 @@
namespace SenseShift::Arduino {
struct PlaneVisitor {
- const SenseShift::Body::Haptics::Target_t target;
+ const SenseShift::Body::Haptics::Target target;
HardwareSerial* serial;
void operator()(const SenseShift::Body::Haptics::VibroPlane* plane) const
diff --git a/lib/arduino/senseshift/arduino/input/sensor/digital.hpp b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
index 31b77bbf..3cb68b3f 100644
--- a/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
+++ b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
@@ -5,7 +5,7 @@
#include <Arduino.h>
namespace SenseShift::Arduino::Input {
- typedef ::SenseShift::Input::ISimpleSensor<bool> IDigitalSensor;
+ using IDigitalSensor = ::SenseShift::Input::ISimpleSensor<bool>;
template<bool invert = false>
class DigitalSensor : public IDigitalSensor {
diff --git a/lib/battery/senseshift/battery.hpp b/lib/battery/senseshift/battery.hpp
index 10e51896..a89455fb 100644
--- a/lib/battery/senseshift/battery.hpp
+++ b/lib/battery/senseshift/battery.hpp
@@ -5,13 +5,13 @@
#include <cstdint>
namespace SenseShift::Battery {
- typedef struct BatteryState {
+ struct BatteryState {
uint8_t level;
- } BatteryState_t;
+ };
class BatteryLevelEvent : public IEvent {
public:
- const BatteryState_t& state;
- BatteryLevelEvent(const BatteryState_t& state) : IEvent(OH_EVENT_BATTERY_LEVEL), state(state){};
+ const BatteryState& state;
+ BatteryLevelEvent(const BatteryState& state) : IEvent(OH_EVENT_BATTERY_LEVEL), state(state){};
};
} // namespace SenseShift::Battery
diff --git a/lib/battery/senseshift/battery/sensor.hpp b/lib/battery/senseshift/battery/sensor.hpp
index f2c2968a..01b1ae96 100644
--- a/lib/battery/senseshift/battery/sensor.hpp
+++ b/lib/battery/senseshift/battery/sensor.hpp
@@ -14,7 +14,7 @@ namespace SenseShift::Battery {
/**
* Abstract battery sensor
*/
- typedef ::SenseShift::Input::ISimpleSensor<BatteryState> IBatterySensor;
+ using IBatterySensor = ::SenseShift::Input::ISimpleSensor<BatteryState>;
class NaiveBatterySensor : public IBatterySensor {
public:
diff --git a/lib/bhaptics/senseshift/bh/devices.hpp b/lib/bhaptics/senseshift/bh/devices.hpp
index b78bbb9f..f4c168de 100644
--- a/lib/bhaptics/senseshift/bh/devices.hpp
+++ b/lib/bhaptics/senseshift/bh/devices.hpp
@@ -7,12 +7,12 @@
#define BH_LAYOUT_TACTSUITX40_SIZE_X 4
#define BH_LAYOUT_TACTSUITX40_SIZE_Y 5
-#define BH_LAYOUT_TACTSUITX40_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
- x, \
- y, \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTSUITX40_SIZE_X - 1), \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTSUITX40_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTSUITX40_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTSUITX40_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTSUITX40_SIZE_Y - 1) \
)
// X * Y for front and back
@@ -20,51 +20,51 @@
// clang-format off
#define BH_LAYOUT_TACTSUITX40 { \
/* Front, left part */ \
- /* 0 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
- /* 1 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
- /* 2 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
- /* 3 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1) }, \
- /* 4 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2) }, \
- /* 5 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2) }, \
- /* 6 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3) }, \
- /* 7 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
- /* 8 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
- /* 9 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
+ /* 0 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
+ /* 1 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
+ /* 2 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
+ /* 3 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1) }, \
+ /* 4 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2) }, \
+ /* 5 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2) }, \
+ /* 6 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3) }, \
+ /* 7 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
+ /* 8 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
+ /* 9 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
\
/* Back */ \
- /* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
- /* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
- /* 12 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
- /* 13 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1) }, \
- /* 14 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2) }, \
- /* 15 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2) }, \
- /* 16 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3) }, \
- /* 17 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
- /* 18 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
- /* 19 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
+ /* 11 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
+ /* 11 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
+ /* 12 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
+ /* 13 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 1) }, \
+ /* 14 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 2) }, \
+ /* 15 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 2) }, \
+ /* 16 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 3) }, \
+ /* 17 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
+ /* 18 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
+ /* 19 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
\
- /* 20 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
- /* 21 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
- /* 22 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
- /* 23 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1) }, \
- /* 24 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2) }, \
- /* 25 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2) }, \
- /* 26 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3) }, \
- /* 27 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
- /* 28 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
- /* 29 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) }, \
+ /* 20 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
+ /* 21 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
+ /* 22 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
+ /* 23 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1) }, \
+ /* 24 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2) }, \
+ /* 25 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2) }, \
+ /* 26 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3) }, \
+ /* 27 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
+ /* 28 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
+ /* 29 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) }, \
\
/* Front, again... Now right part */ \
- /* 30 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
- /* 31 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
- /* 32 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
- /* 33 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1) }, \
- /* 34 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2) }, \
- /* 35 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2) }, \
- /* 36 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3) }, \
- /* 37 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
- /* 38 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
- /* 39 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) } \
+ /* 30 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
+ /* 31 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
+ /* 32 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
+ /* 33 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 1) }, \
+ /* 34 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 2) }, \
+ /* 35 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 2) }, \
+ /* 36 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 3) }, \
+ /* 37 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
+ /* 38 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
+ /* 39 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) } \
}
// clang-format on
@@ -74,12 +74,12 @@
#define BH_LAYOUT_TACTSUITX16_SIZE_X 4
#define BH_LAYOUT_TACTSUITX16_SIZE_Y 2
-#define BH_LAYOUT_TACTSUITX16_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
- x, \
- y, \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTSUITX16_SIZE_X - 1), \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTSUITX16_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTSUITX16_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTSUITX16_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTSUITX16_SIZE_Y - 1) \
)
// X16 suit uses the same packets structure as x40 suit and performs motor grouping in firmware
@@ -87,55 +87,55 @@
// clang-format off
#define BH_LAYOUT_TACTSUITX16 { \
/* Front, left part */ \
- /* 0 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 0 */ \
- /* 1 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 1 */ \
- /* 2 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 4 */ \
- /* 3 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 5 */ \
+ /* 0 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 0 */ \
+ /* 1 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 1 */ \
+ /* 2 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 4 */ \
+ /* 3 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 5 */ \
\
- /* 4 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 8 */ \
- /* 5 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 9 */ \
- /* 6 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 12 */ \
- /* 7 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 13 */ \
- /* 8 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 16 */ \
- /* 9 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 17 */ \
+ /* 4 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 8 */ \
+ /* 5 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 9 */ \
+ /* 6 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 12 */ \
+ /* 7 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 13 */ \
+ /* 8 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 16 */ \
+ /* 9 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 17 */ \
\
/* Back */ \
- /* 10 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 0 */ \
- /* 11 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 1 */ \
- /* 12 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 4 */ \
- /* 13 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 5 */ \
+ /* 10 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 0 */ \
+ /* 11 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 1 */ \
+ /* 12 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 4 */ \
+ /* 13 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 5 */ \
\
- /* 14 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 8 */ \
- /* 15 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 9 */ \
- /* 16 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 12 */ \
- /* 17 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 13 */ \
- /* 18 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 16 */ \
- /* 19 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 17 */ \
+ /* 14 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 8 */ \
+ /* 15 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 9 */ \
+ /* 16 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 12 */ \
+ /* 17 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 13 */ \
+ /* 18 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 16 */ \
+ /* 19 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 17 */ \
\
- /* 20 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 2 */ \
- /* 21 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 3 */ \
- /* 22 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 4 */ \
- /* 23 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 7 */ \
+ /* 20 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 2 */ \
+ /* 21 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 3 */ \
+ /* 22 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 4 */ \
+ /* 23 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 7 */ \
\
- /* 24 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 10 */ \
- /* 25 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 11 */ \
- /* 26 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 14 */ \
- /* 27 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 15 */ \
- /* 28 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 18 */ \
- /* 29 */ { Target_t::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 19 */ \
+ /* 24 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 10 */ \
+ /* 25 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 11 */ \
+ /* 26 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 14 */ \
+ /* 27 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 15 */ \
+ /* 28 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 18 */ \
+ /* 29 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 19 */ \
\
/* Front, again... Now right part */ \
- /* 30 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 2 */ \
- /* 31 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 3 */ \
- /* 32 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 4 */ \
- /* 33 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 7 */ \
+ /* 30 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 2 */ \
+ /* 31 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 3 */ \
+ /* 32 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 4 */ \
+ /* 33 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 7 */ \
\
- /* 34 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 10 */ \
- /* 35 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 11 */ \
- /* 36 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 14 */ \
- /* 37 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 15 */ \
- /* 38 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 18 */ \
- /* 39 */ { Target_t::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 19 */ \
+ /* 34 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 10 */ \
+ /* 35 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 11 */ \
+ /* 36 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 14 */ \
+ /* 37 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 15 */ \
+ /* 38 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 18 */ \
+ /* 39 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 19 */ \
}
// clang-format on
@@ -152,12 +152,12 @@
#define BH_LAYOUT_TACTAL_SIZE_X 6
#define BH_LAYOUT_TACTAL_SIZE_Y 1
-#define BH_LAYOUT_TACTAL_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
- x, \
- y, \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTAL_SIZE_X - 1), \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTAL_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTAL_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTAL_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTAL_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTAL_SIZE (BH_LAYOUT_TACTAL_SIZE_X * BH_LAYOUT_TACTAL_SIZE_Y)
@@ -178,12 +178,12 @@
#define BH_LAYOUT_TACTVISOR_SIZE_X 4
#define BH_LAYOUT_TACTVISOR_SIZE_Y 1
-#define BH_LAYOUT_TACTVISOR_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
- x, \
- y, \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTVISOR_SIZE_X - 1), \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTVISOR_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTVISOR_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTVISOR_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTVISOR_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTVISOR_SIZE (BH_LAYOUT_TACTVISOR_SIZE_X * BH_LAYOUT_TACTVISOR_SIZE_Y)
@@ -202,12 +202,12 @@
#define BH_LAYOUT_TACTOSY2_SIZE_X 3
#define BH_LAYOUT_TACTOSY2_SIZE_Y 2
-#define BH_LAYOUT_TACTOSY2_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
- x, \
- y, \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTOSY2_SIZE_X - 1), \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTOSY2_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTOSY2_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTOSY2_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTOSY2_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTOSY2_SIZE (BH_LAYOUT_TACTOSY2_SIZE_X * BH_LAYOUT_TACTOSY2_SIZE_Y)
@@ -224,12 +224,12 @@
#define BH_LAYOUT_TACTOSYH_SIZE_X 1
#define BH_LAYOUT_TACTOSYH_SIZE_Y 3
-#define BH_LAYOUT_TACTOSYH_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
- x, \
- y, \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTOSYH_SIZE_X - 1), \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTOSYH_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTOSYH_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTOSYH_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTOSYH_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTOSYH_SIZE (BH_LAYOUT_TACTOSYH_SIZE_X * BH_LAYOUT_TACTOSYH_SIZE_Y)
@@ -243,12 +243,12 @@
#define BH_LAYOUT_TACTOSYF_SIZE_X 1
#define BH_LAYOUT_TACTOSYF_SIZE_Y 3
-#define BH_LAYOUT_TACTOSYF_MAKE_POINT(x, y) \
- ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate_t>( \
- x, \
- y, \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTOSYF_SIZE_X - 1), \
- (::SenseShift::Body::Haptics::Coordinate_t)(BH_LAYOUT_TACTOSYF_SIZE_Y - 1) \
+#define BH_LAYOUT_TACTOSYF_MAKE_POINT(x, y) \
+ ::SenseShift::Body::Haptics::PlaneMapper_Margin::mapPoint<::SenseShift::Body::Haptics::Coordinate>( \
+ x, \
+ y, \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTOSYF_SIZE_X - 1), \
+ (::SenseShift::Body::Haptics::Coordinate)(BH_LAYOUT_TACTOSYF_SIZE_Y - 1) \
)
#define BH_LAYOUT_TACTOSYF_SIZE (BH_LAYOUT_TACTOSYF_SIZE_X * BH_LAYOUT_TACTOSYF_SIZE_Y)
@@ -264,21 +264,21 @@
#define BH_LAYOUT_TACTGLOVE_SIZE 6
// TactGlove (Left) motor positions
#define BH_LAYOUT_TACTGLOVE_LEFT { \
- { Target_t::HandLeftThumb, FINGERTIP_POSITION }, \
- { Target_t::HandLeftIndex, FINGERTIP_POSITION }, \
- { Target_t::HandLeftMiddle, FINGERTIP_POSITION }, \
- { Target_t::HandLeftRing, FINGERTIP_POSITION }, \
- { Target_t::HandLeftLittle, FINGERTIP_POSITION }, \
- { Target_t::HandLeftDorsal, WRIST_MOTOR_POSITION }, \
+ { Target::HandLeftThumb, FINGERTIP_POSITION }, \
+ { Target::HandLeftIndex, FINGERTIP_POSITION }, \
+ { Target::HandLeftMiddle, FINGERTIP_POSITION }, \
+ { Target::HandLeftRing, FINGERTIP_POSITION }, \
+ { Target::HandLeftLittle, FINGERTIP_POSITION }, \
+ { Target::HandLeftDorsal, WRIST_MOTOR_POSITION }, \
}
// TactGlove (Right) motor positions
#define BH_LAYOUT_TACTGLOVE_RIGHT { \
- { Target_t::HandRightThumb, FINGERTIP_POSITION }, \
- { Target_t::HandRightIndex, FINGERTIP_POSITION }, \
- { Target_t::HandRightMiddle, FINGERTIP_POSITION }, \
- { Target_t::HandRightRing, FINGERTIP_POSITION }, \
- { Target_t::HandRightLittle, FINGERTIP_POSITION }, \
- { Target_t::HandRightDorsal, WRIST_MOTOR_POSITION } \
+ { Target::HandRightThumb, FINGERTIP_POSITION }, \
+ { Target::HandRightIndex, FINGERTIP_POSITION }, \
+ { Target::HandRightMiddle, FINGERTIP_POSITION }, \
+ { Target::HandRightRing, FINGERTIP_POSITION }, \
+ { Target::HandRightLittle, FINGERTIP_POSITION }, \
+ { Target::HandRightDorsal, WRIST_MOTOR_POSITION } \
}
// clang-format on
@@ -288,27 +288,27 @@ namespace SenseShift::BH {
using namespace ::SenseShift::Body::Hands::Haptics;
using namespace ::SenseShift::Body::Haptics;
- using HandSide_t = ::SenseShift::Body::Hands::HandSide_t;
+ using HandSide = ::SenseShift::Body::Hands::HandSide;
- typedef std::tuple<Target_t, Position_t> OutputLayout_t;
+ using OutputLayout = std::tuple<Target, Position>;
// TactGlove Wrist motor position
- static constexpr const Position_t WRIST_MOTOR_POSITION(127, 191);
- static constexpr const OutputLayout_t TactGloveLeftLayout[] = BH_LAYOUT_TACTGLOVE_LEFT;
- static constexpr const OutputLayout_t TactGloveRightLayout[] = BH_LAYOUT_TACTGLOVE_RIGHT;
+ static constexpr const Position WRIST_MOTOR_POSITION(127, 191);
+ static constexpr const OutputLayout TactGloveLeftLayout[] = BH_LAYOUT_TACTGLOVE_LEFT;
+ static constexpr const OutputLayout TactGloveRightLayout[] = BH_LAYOUT_TACTGLOVE_RIGHT;
inline void addTactGloveActuators(
HapticBody* hapticBody,
- const HandSide_t side,
- VibroPlane::Actuator_t* const thumbActuator,
- VibroPlane::Actuator_t* const indexActuator,
- VibroPlane::Actuator_t* const middleActuator,
- VibroPlane::Actuator_t* const ringActuator,
- VibroPlane::Actuator_t* const littleActuator,
- VibroPlane::Actuator_t* const wristActuator
+ const HandSide side,
+ VibroPlane::Actuator* const thumbActuator,
+ VibroPlane::Actuator* const indexActuator,
+ VibroPlane::Actuator* const middleActuator,
+ VibroPlane::Actuator* const ringActuator,
+ VibroPlane::Actuator* const littleActuator,
+ VibroPlane::Actuator* const wristActuator
)
{
- const OutputLayout_t(&layout)[6] = (side == HandSide_t::Left) ? TactGloveLeftLayout : TactGloveRightLayout;
+ const OutputLayout(&layout)[6] = (side == HandSide::Left) ? TactGloveLeftLayout : TactGloveRightLayout;
if (thumbActuator != nullptr) {
hapticBody->addTarget(
diff --git a/lib/bhaptics/senseshift/bh/encoding.hpp b/lib/bhaptics/senseshift/bh/encoding.hpp
index 3b75f8f0..273b98c7 100644
--- a/lib/bhaptics/senseshift/bh/encoding.hpp
+++ b/lib/bhaptics/senseshift/bh/encoding.hpp
@@ -6,23 +6,23 @@
namespace SenseShift::BH {
class Decoder {
public:
- using VibroEffectData_t = ::SenseShift::Body::Haptics::VibroEffectData_t;
- using EffectData_t = ::SenseShift::Body::Haptics::EffectData_t;
+ using VibroEffectData = ::SenseShift::Body::Haptics::VibroEffectData;
+ using EffectData = ::SenseShift::Body::Haptics::EffectData;
- using Effect_t = ::SenseShift::Body::Haptics::Effect_t;
- using Target_t = ::SenseShift::Body::Haptics::Target_t;
- using Position_t = ::SenseShift::Body::Haptics::Position_t;
+ using Effect = ::SenseShift::Body::Haptics::Effect;
+ using Target = ::SenseShift::Body::Haptics::Target;
+ using Position = ::SenseShift::Body::Haptics::Position;
- using HapticBody_t = ::SenseShift::Body::Haptics::HapticBody;
+ using HapticBody = ::SenseShift::Body::Haptics::HapticBody;
- typedef std::tuple<Target_t, Position_t> OutputLayout_t;
+ using OutputLayout = std::tuple<Target, Position>;
- static const size_t VEST_LAYOUT_SIZE = 40;
- static const size_t VEST_PAYLOAD_SIZE = 20;
+ static constexpr size_t VEST_LAYOUT_SIZE = 40;
+ static constexpr size_t VEST_PAYLOAD_SIZE = 20;
template<size_t N>
static void applyPlain(
- HapticBody_t* output, const uint8_t (&value)[N], const OutputLayout_t (&layout)[N], const Effect_t effect
+ HapticBody* output, const uint8_t (&value)[N], const OutputLayout (&layout)[N], const Effect effect
)
{
for (size_t i = 0; i < N; i++) {
@@ -40,7 +40,7 @@ namespace SenseShift::BH {
template<size_t N>
static void
- applyPlain(HapticBody_t* output, std::string& value, const OutputLayout_t (&layout)[N], const Effect_t effect)
+ applyPlain(HapticBody* output, std::string& value, const OutputLayout (&layout)[N], const Effect effect)
{
std::uint8_t buf[N];
std::size_t copyLength = std::min(value.size(), sizeof(buf));
@@ -54,11 +54,11 @@ namespace SenseShift::BH {
*/
template<size_t N>
static void applyPlain(
- HapticBody_t* output,
+ HapticBody* output,
const uint8_t (&value)[N],
- const Position_t (&layout)[N],
- const Effect_t effect,
- const Target_t target
+ const Position (&layout)[N],
+ const Effect effect,
+ const Target target
)
{
for (size_t i = 0; i < N; i++) {
@@ -76,11 +76,7 @@ namespace SenseShift::BH {
template<size_t N>
static void applyPlain(
- HapticBody_t* output,
- std::string& value,
- const Position_t (&layout)[N],
- const Effect_t effect,
- const Target_t target
+ HapticBody* output, std::string& value, const Position (&layout)[N], const Effect effect, const Target target
)
{
std::uint8_t buf[N];
@@ -94,31 +90,28 @@ namespace SenseShift::BH {
* Apply vest-encoded data to the output.
*/
static void applyVest(
- HapticBody_t* output,
- const uint8_t (&value)[VEST_PAYLOAD_SIZE],
- const OutputLayout_t (&layout)[VEST_LAYOUT_SIZE]
+ HapticBody* output, const uint8_t (&value)[VEST_PAYLOAD_SIZE], const OutputLayout (&layout)[VEST_LAYOUT_SIZE]
)
{
for (size_t i = 0; i < VEST_PAYLOAD_SIZE; i++) {
uint8_t byte = value[i];
uint actIndex = i * 2;
output->effect({
- .effect = Effect_t::Vibro,
+ .effect = Effect::Vibro,
.target = std::get<0>(layout[actIndex]),
.position = std::get<1>(layout[actIndex]),
- .data = effectDataFromByte(Effect_t::Vibro, ((byte >> 4) & 0xf), 15),
+ .data = effectDataFromByte(Effect::Vibro, ((byte >> 4) & 0xf), 15),
});
output->effect({
- .effect = Effect_t::Vibro,
+ .effect = Effect::Vibro,
.target = std::get<0>(layout[actIndex + 1]),
.position = std::get<1>(layout[actIndex + 1]),
- .data = effectDataFromByte(Effect_t::Vibro, (byte & 0xf), 15),
+ .data = effectDataFromByte(Effect::Vibro, (byte & 0xf), 15),
});
}
}
- static void
- applyVest(HapticBody_t* output, std::string& value, const OutputLayout_t (&layout)[VEST_LAYOUT_SIZE])
+ static void applyVest(HapticBody* output, std::string& value, const OutputLayout (&layout)[VEST_LAYOUT_SIZE])
{
std::uint8_t buf[VEST_PAYLOAD_SIZE];
std::size_t copyLength = std::min(value.size(), sizeof(buf));
@@ -132,9 +125,9 @@ namespace SenseShift::BH {
*/
template<size_t N>
static void applyVestGrouped(
- HapticBody_t* output,
+ HapticBody* output,
const uint8_t (&value)[VEST_PAYLOAD_SIZE],
- const OutputLayout_t (&layout)[VEST_LAYOUT_SIZE],
+ const OutputLayout (&layout)[VEST_LAYOUT_SIZE],
const uint8_t (&layoutGroups)[N]
)
{
@@ -179,19 +172,19 @@ namespace SenseShift::BH {
const auto position = std::get<1>(layout[i]);
output->effect({
- .effect = Effect_t::Vibro,
+ .effect = Effect::Vibro,
.target = target,
.position = position,
- .data = effectDataFromByte(Effect_t::Vibro, result[i], 15),
+ .data = effectDataFromByte(Effect::Vibro, result[i], 15),
});
}
}
template<size_t N>
static void applyVestGrouped(
- HapticBody_t* output,
+ HapticBody* output,
std::string& value,
- const OutputLayout_t (&layout)[VEST_LAYOUT_SIZE],
+ const OutputLayout (&layout)[VEST_LAYOUT_SIZE],
const uint8_t (&layoutGroups)[N]
)
{
@@ -203,15 +196,15 @@ namespace SenseShift::BH {
}
private:
- static const EffectData_t
- effectDataFromByte(const Effect_t effect, const uint8_t byte, const uint8_t maxValue = 100)
+ static const EffectData
+ effectDataFromByte(const Effect effect, const uint8_t byte, const uint8_t maxValue = 100)
{
switch (effect) {
- case Effect_t::Vibro:
- return VibroEffectData_t(::SenseShift::simpleMap<VibroEffectData_t::Intensity_t>(
+ case Effect::Vibro:
+ return VibroEffectData(::SenseShift::simpleMap<VibroEffectData::Intensity>(
byte,
maxValue,
- VibroEffectData_t::INTENSITY_MAX
+ VibroEffectData::INTENSITY_MAX
));
default:
throw std::runtime_error("Unknown effect");
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
index 48e11876..db642a43 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
@@ -96,10 +96,10 @@ namespace SenseShift::BH::BLE {
class MotorCharCallbacks : public BLECharacteristicCallbacks {
private:
- Connection::MotorHandler_t motorTransformer;
+ Connection::MotorHandler motorTransformer;
public:
- MotorCharCallbacks(Connection::MotorHandler_t motorTransformer) : motorTransformer(motorTransformer) {}
+ MotorCharCallbacks(Connection::MotorHandler motorTransformer) : motorTransformer(motorTransformer) {}
void onWrite(BLECharacteristic* pCharacteristic) override
{
@@ -169,9 +169,9 @@ namespace SenseShift::BH::BLE {
BH_BLE_SERVICE_MOTOR_CHAR_SERIAL_KEY_UUID,
PROPERTY_READ | PROPERTY_WRITE
);
- uint8_t serialNumber[ConnectionConfig_t::SN_LENGTH];
- memcpy(serialNumber, this->config.serialNumber, ConnectionConfig_t::SN_LENGTH);
- serialNumberChar->setValue(serialNumber, ConnectionConfig_t::SN_LENGTH);
+ uint8_t serialNumber[ConnectionConfig::SN_LENGTH];
+ memcpy(serialNumber, this->config.serialNumber, ConnectionConfig::SN_LENGTH);
+ serialNumberChar->setValue(serialNumber, ConnectionConfig::SN_LENGTH);
serialNumberChar->setCallbacks(new LogOutputCharCallbacks());
}
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
index ea5b1ae6..a0265f74 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
@@ -16,13 +16,13 @@
#endif
namespace SenseShift::BH::BLE {
- typedef struct ConnectionConfig {
+ struct ConnectionConfig {
static constexpr size_t SN_LENGTH = 10;
std::string deviceName;
uint16_t appearance;
uint8_t serialNumber[SN_LENGTH];
- } ConnectionConfig_t;
+ };
class ConnectionCallbacks {
public:
@@ -32,9 +32,9 @@ namespace SenseShift::BH::BLE {
class Connection final : public IEventListener {
public:
- typedef std::function<void(std::string&)> MotorHandler_t;
+ using MotorHandler = std::function<void(std::string&)>;
- Connection(const ConnectionConfig_t& config, MotorHandler_t motorHandler, IEventDispatcher* eventDispatcher) :
+ Connection(const ConnectionConfig& config, MotorHandler motorHandler, IEventDispatcher* eventDispatcher) :
config(config), motorHandler(motorHandler), eventDispatcher(eventDispatcher)
{
this->eventDispatcher->addEventListener(this);
@@ -67,8 +67,8 @@ namespace SenseShift::BH::BLE {
};
private:
- const ConnectionConfig_t& config;
- MotorHandler_t motorHandler;
+ const ConnectionConfig& config;
+ MotorHandler motorHandler;
::SenseShift::IEventDispatcher* eventDispatcher;
BLEServer* bleServer = nullptr;
diff --git a/lib/freertos/senseshift/freertos/input/sensor.hpp b/lib/freertos/senseshift/freertos/input/sensor.hpp
index cf7a1f45..8209aa3f 100644
--- a/lib/freertos/senseshift/freertos/input/sensor.hpp
+++ b/lib/freertos/senseshift/freertos/input/sensor.hpp
@@ -13,14 +13,14 @@ namespace SenseShift::FreeRTOS::Input {
friend class Task<SensorUpdateTask>;
private:
- using Sensor_t = ::SenseShift::ITickable;
+ using Sensor = ::SenseShift::ITickable;
public:
- SensorUpdateTask(Sensor_t* sensor, std::uint32_t updateDelay, TaskConfig taskConfig) :
+ SensorUpdateTask(Sensor* sensor, std::uint32_t updateDelay, TaskConfig taskConfig) :
Task<SensorUpdateTask>(taskConfig), updateDelay(updateDelay){};
protected:
- Sensor_t* sensor;
+ Sensor* sensor;
std::uint32_t updateDelay;
void run()
@@ -37,10 +37,10 @@ namespace SenseShift::FreeRTOS::Input {
friend class SensorUpdateTask;
private:
- using Sensor_t = ::SenseShift::Input::MemoizedSensor<_Tp>;
+ using Sensor = ::SenseShift::Input::MemoizedSensor<_Tp>;
public:
- TaskedSensor(Sensor_t* sensor, std::uint32_t updateDelay, TaskConfig taskConfig) :
+ TaskedSensor(Sensor* sensor, std::uint32_t updateDelay, TaskConfig taskConfig) :
SensorUpdateTask(sensor, updateDelay, taskConfig), sensor(sensor){};
void begin() override
@@ -54,6 +54,6 @@ namespace SenseShift::FreeRTOS::Input {
_Tp getValue() override { return this->sensor->getValue(); };
private:
- Sensor_t* sensor;
+ Sensor* sensor;
};
} // namespace SenseShift::FreeRTOS::Input
diff --git a/lib/hands/hand_interface.hpp b/lib/hands/hand_interface.hpp
index 71249f0c..907a553b 100644
--- a/lib/hands/hand_interface.hpp
+++ b/lib/hands/hand_interface.hpp
@@ -5,23 +5,23 @@
namespace SenseShift::Body {
namespace Hands {
- typedef std::uint8_t HandSideIndex_t;
- typedef enum class HandSide : HandSideIndex_t { Left, Right } HandSide_t;
- typedef std::uint8_t FingerIndex_t;
- typedef enum class Finger : FingerIndex_t {
+ using HandSideIndex = std::uint8_t;
+ enum class HandSide : HandSideIndex { Left, Right };
+ using FingerIndex = std::uint8_t;
+ enum class Finger : FingerIndex {
Thumb,
Index,
Middle,
Ring,
Little,
- } Finger_t;
+ };
namespace Haptics {
/**
* @brief Helper with position of the haptic device on the fingertip.
* Distal phalanx of the volar surface of the any finger.
*/
- static constexpr const ::SenseShift::Body::Haptics::Position_t FINGERTIP_POSITION(127, 16);
+ static constexpr const ::SenseShift::Body::Haptics::Position FINGERTIP_POSITION(127, 16);
} // namespace Haptics
} // namespace Hands
} // namespace SenseShift::Body
diff --git a/lib/haptics/senseshift/body/haptics/body.cpp b/lib/haptics/senseshift/body/haptics/body.cpp
index ed97efd4..edd3ee6e 100644
--- a/lib/haptics/senseshift/body/haptics/body.cpp
+++ b/lib/haptics/senseshift/body/haptics/body.cpp
@@ -10,22 +10,22 @@ namespace SenseShift::Body::Haptics {
}
}
- void HapticBody::effect(const EffectRequest_t& effect)
+ void HapticBody::effect(const EffectRequest& effect)
{
- if (effect.effect == Effect::Vibro && std::holds_alternative<VibroEffectData_t>(effect.data)) {
+ if (effect.effect == Effect::Vibro && std::holds_alternative<VibroEffectData>(effect.data)) {
auto it = this->vibroTargets.find(effect.target);
if (it == this->vibroTargets.end()) {
log_w("No target found for effect: %d", effect.target);
return;
}
- it->second->effect(effect.position, std::get<VibroEffectData_t>(effect.data));
+ it->second->effect(effect.position, std::get<VibroEffectData>(effect.data));
} else {
log_w("Non-supported effect type: %d", effect.effect);
}
}
- void HapticBody::addTarget(const Target_t target, VibroPlane* plane)
+ void HapticBody::addTarget(const Target target, VibroPlane* plane)
{
this->vibroTargets[target] = plane;
this->allTargets.insert({ target, plane });
diff --git a/lib/haptics/senseshift/body/haptics/body.hpp b/lib/haptics/senseshift/body/haptics/body.hpp
index 2b049c83..b0c9068e 100644
--- a/lib/haptics/senseshift/body/haptics/body.hpp
+++ b/lib/haptics/senseshift/body/haptics/body.hpp
@@ -10,22 +10,22 @@
namespace SenseShift::Body::Haptics {
class HapticBody {
public:
- typedef std::variant<VibroPlane*> AuctiativePlane_t;
- typedef std::multimap<Target_t, AuctiativePlane_t> PlaneTargetMap_t;
- typedef std::map<Target_t, VibroPlane*> VibroTargetMap_t;
+ using AuctiativePlane = std::variant<VibroPlane*>;
+ using PlaneTargetMap = std::multimap<Target, AuctiativePlane>;
+ using VibroTargetMap = std::map<Target, VibroPlane*>;
HapticBody(){};
void setup();
- void effect(const EffectRequest_t&);
+ void effect(const EffectRequest&);
- void addTarget(const Target_t, VibroPlane* plane);
+ void addTarget(const Target, VibroPlane* plane);
- [[nodiscard]] const PlaneTargetMap_t* getTargets() const { return &allTargets; }
+ [[nodiscard]] const PlaneTargetMap* getTargets() const { return &allTargets; }
private:
- PlaneTargetMap_t allTargets{};
- VibroTargetMap_t vibroTargets{};
+ PlaneTargetMap allTargets{};
+ VibroTargetMap vibroTargets{};
};
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/interface.hpp b/lib/haptics/senseshift/body/haptics/interface.hpp
index 4ab0df0e..c4084531 100644
--- a/lib/haptics/senseshift/body/haptics/interface.hpp
+++ b/lib/haptics/senseshift/body/haptics/interface.hpp
@@ -6,18 +6,18 @@
#include <senseshift/math/point2.hpp>
namespace SenseShift::Body::Haptics {
- typedef std::uint8_t EffectIntex_t;
- static const EffectIntex_t EFFECT_INVALID = 0xFF;
- typedef enum class Effect : EffectIntex_t {
+ using EffectIntex = std::uint8_t;
+ static constexpr EffectIntex EFFECT_INVALID = 0xFF;
+ enum class Effect : EffectIntex {
Invalid = EFFECT_INVALID,
Vibro = 0x00,
// TODO: thermal, etc.
// Thermal = 0x01,
- } Effect_t;
+ };
- typedef std::uint8_t TargetIndex_t;
- static const TargetIndex_t TARGET_INVALID = 0xFF;
- typedef enum class Target : TargetIndex_t {
+ using TargetIndex = std::uint8_t;
+ static constexpr TargetIndex TARGET_INVALID = 0xFF;
+ enum class Target : TargetIndex {
Invalid = TARGET_INVALID,
ChestFront = 0x00,
ChestBack = 0x01,
@@ -44,38 +44,34 @@ namespace SenseShift::Body::Haptics {
HandRightDorsal, // Back
// TODO: arms, legs, etc.
- } Target_t;
+ };
- typedef std::uint8_t Coordinate_t;
- typedef ::SenseShift::Math::Point2<Coordinate_t> Position_t;
+ using Coordinate = std::uint8_t;
+ using Position = ::SenseShift::Math::Point2<Coordinate>;
// Vibration intensity.
- typedef struct VibroEffectData {
- using Intensity_t = std::uint16_t;
- inline static const Intensity_t INTENSITY_MIN = 0;
- inline static const Intensity_t INTENSITY_MAX = 4095;
+ struct VibroEffectData {
+ using Intensity = std::uint16_t;
+ static constexpr Intensity INTENSITY_MIN = 0;
+ static constexpr Intensity INTENSITY_MAX = 4095;
- Intensity_t intensity = 0;
+ Intensity intensity = 0;
inline constexpr VibroEffectData() = default;
- inline constexpr VibroEffectData(const Intensity_t intensity) : intensity(intensity) {}
+ inline constexpr VibroEffectData(const Intensity intensity) : intensity(intensity) {}
inline constexpr VibroEffectData(const VibroEffectData& other) = default;
inline constexpr operator std::uint16_t() const { return intensity; }
- } VibroEffectData_t;
+ };
// TODO: thermal, etc.
- typedef std::variant<VibroEffectData_t
- // TODO: thermal, etc.
- // ThermalEffectData_t
- >
- EffectData_t;
-
- typedef struct EffectRequest {
- Effect_t effect = Effect::Invalid;
- Target_t target = Target::Invalid;
- Position_t position = Position_t(0, 0);
- EffectData_t data;
- } EffectRequest_t;
+ using EffectData = std::variant<VibroEffectData>;
+
+ struct EffectRequest {
+ Effect effect = Effect::Invalid;
+ Target target = Target::Invalid;
+ Position position = Position(0, 0);
+ EffectData data;
+ };
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/plane.cpp b/lib/haptics/senseshift/body/haptics/plane.cpp
index 21614dcc..ab11c81b 100644
--- a/lib/haptics/senseshift/body/haptics/plane.cpp
+++ b/lib/haptics/senseshift/body/haptics/plane.cpp
@@ -6,7 +6,7 @@
namespace SenseShift::Body::Haptics {
template<typename _Tp, typename _Ta>
- void ActuativePlane<_Tp, _Ta>::setActuators(const ActuatorMap_t& actuators)
+ void ActuativePlane<_Tp, _Ta>::setActuators(const ActuatorMap& actuators)
{
this->actuators.clear();
for (const auto& [point, actuator] : actuators) {
@@ -33,7 +33,7 @@ namespace SenseShift::Body::Haptics {
}
template<typename _Tp, typename _Ta>
- void ActuativePlane<_Tp, _Ta>::effect(const Position_t& pos, const Value_t& val)
+ void ActuativePlane<_Tp, _Ta>::effect(const Position& pos, const Value& val)
{
auto it = this->actuators.find(pos);
if (it == this->actuators.end()) {
@@ -46,15 +46,15 @@ namespace SenseShift::Body::Haptics {
}
template<typename _Tp, typename _Ta>
- void ActuativePlane_Closest<_Tp, _Ta>::effect(const Position_t& pos, const Value_t& val)
+ void ActuativePlane_Closest<_Tp, _Ta>::effect(const Position& pos, const Value& val)
{
auto& closest = this->findClosestPoint(*this->getAvailablePoints(), pos);
ActuativePlane<_Tp, _Ta>::effect(closest, val);
}
template<typename _Tp, typename _Ta>
- const Position_t&
- ActuativePlane_Closest<_Tp, _Ta>::findClosestPoint(const PositionSet_t& pts, const Position_t& target) const
+ const Position&
+ ActuativePlane_Closest<_Tp, _Ta>::findClosestPoint(const PositionSet& pts, const Position& target) const
{
// check if exact point exists
auto it = pts.find(target);
@@ -63,7 +63,7 @@ namespace SenseShift::Body::Haptics {
}
// find closest point by square distance
- std::multimap<float, Position_t> mp = {};
+ std::multimap<float, Position> mp = {};
for (const auto& _p : pts) {
mp.insert({ (target - _p), _p });
}
@@ -73,8 +73,6 @@ namespace SenseShift::Body::Haptics {
return nearest->second;
}
- template class ActuativePlane<VibroEffectData_t, ::SenseShift::Output::IActuator<VibroEffectData_t::Intensity_t>>;
- template class ActuativePlane_Closest<
- VibroEffectData_t,
- ::SenseShift::Output::IActuator<VibroEffectData_t::Intensity_t>>;
+ template class ActuativePlane<VibroEffectData, ::SenseShift::Output::IActuator<VibroEffectData::Intensity>>;
+ template class ActuativePlane_Closest<VibroEffectData, ::SenseShift::Output::IActuator<VibroEffectData::Intensity>>;
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/plane.hpp b/lib/haptics/senseshift/body/haptics/plane.hpp
index 5c2cf7be..b8ac0727 100644
--- a/lib/haptics/senseshift/body/haptics/plane.hpp
+++ b/lib/haptics/senseshift/body/haptics/plane.hpp
@@ -11,7 +11,7 @@
#include <vector>
namespace SenseShift::Body::Haptics {
- typedef std::set<Position_t> PositionSet_t;
+ using PositionSet = std::set<Position>;
/**
* Output "plane" (e.g. Chest, Palm, Finger, etc.)
@@ -20,35 +20,34 @@ namespace SenseShift::Body::Haptics {
*/
template<typename _Tp, typename _Ta>
class ActuativePlane {
- static_assert(std::is_same<_Tp, VibroEffectData_t>());
+ static_assert(std::is_same<_Tp, VibroEffectData>());
public:
- using Value_t = _Tp;
- using Actuator_t = _Ta;
+ using Value = _Tp;
+ using Actuator = _Ta;
- typedef std::map<Position_t, Actuator_t*> ActuatorMap_t;
- typedef std::map<Position_t, Value_t> PositionStateMap_t;
+ using ActuatorMap = std::map<Position, Actuator*>;
+ using PositionStateMap = std::map<Position, Value>;
ActuativePlane() = default;
- ActuativePlane(const ActuatorMap_t& actuators) { this->setActuators(actuators); }
+ ActuativePlane(const ActuatorMap& actuators) { this->setActuators(actuators); }
void setup();
- virtual void effect(const Position_t&, const Value_t&);
+ virtual void effect(const Position&, const Value&);
- [[nodiscard]] const PositionSet_t* getAvailablePoints() const { return &points; }
- [[nodiscard]] const PositionStateMap_t* getActuatorStates() const { return &states; }
+ [[nodiscard]] const PositionSet* getAvailablePoints() const { return &points; }
+ [[nodiscard]] const PositionStateMap* getActuatorStates() const { return &states; }
private:
- PositionSet_t points;
- ActuatorMap_t actuators{};
- PositionStateMap_t states{};
+ PositionSet points;
+ ActuatorMap actuators{};
+ PositionStateMap states{};
- void setActuators(const ActuatorMap_t&);
+ void setActuators(const ActuatorMap&);
};
- typedef ActuativePlane<VibroEffectData_t, ::SenseShift::Output::IActuator<VibroEffectData_t::Intensity_t>>
- VibroPlane;
+ using VibroPlane = ActuativePlane<VibroEffectData, ::SenseShift::Output::IActuator<VibroEffectData::Intensity>>;
/**
* Output plane, finds the closest actuator for the given point.
@@ -57,30 +56,30 @@ namespace SenseShift::Body::Haptics {
template<typename _Tp, typename _Ta>
class ActuativePlane_Closest : public ActuativePlane<_Tp, _Ta> {
public:
- typedef _Tp Value_t;
+ using Value = _Tp;
- ActuativePlane_Closest(const typename ActuativePlane<_Tp, _Ta>::ActuatorMap_t& actuators) :
+ ActuativePlane_Closest(const typename ActuativePlane<_Tp, _Ta>::ActuatorMap& actuators) :
ActuativePlane<_Tp, _Ta>(actuators)
{
}
- void effect(const Position_t&, const Value_t&) override;
+ void effect(const Position&, const Value&) override;
private:
- [[nodiscard]] const Position_t& findClosestPoint(const PositionSet_t&, const Position_t&) const;
+ [[nodiscard]] const Position& findClosestPoint(const PositionSet&, const Position&) const;
};
- typedef ActuativePlane_Closest<VibroEffectData_t, ::SenseShift::Output::IActuator<VibroEffectData_t::Intensity_t>>
- VibroPlane_Closest;
+ using VibroPlane_Closest =
+ ActuativePlane_Closest<VibroEffectData, ::SenseShift::Output::IActuator<VibroEffectData::Intensity>>;
// TODO: configurable margin
class PlaneMapper_Margin {
public:
template<typename _Tp>
- [[nodiscard]] static constexpr inline std::map<Position_t, _Tp*>
+ [[nodiscard]] static constexpr inline std::map<Position, _Tp*>
mapMatrixCoordinates(std::vector<std::vector<_Tp*>> map2d)
{
- std::map<Position_t, _Tp*> points{};
+ std::map<Position, _Tp*> points{};
size_t y_size = map2d.size();
size_t y_max = y_size - 1;
@@ -92,7 +91,7 @@ namespace SenseShift::Body::Haptics {
for (size_t x = 0; x < x_size; ++x) {
auto* wr = row.at(x);
- Position_t coord = PlaneMapper_Margin::mapPoint<Position_t::Value_t>(x, y, x_max, y_max);
+ Position coord = PlaneMapper_Margin::mapPoint<Position::Value>(x, y, x_max, y_max);
points[coord] = wr;
}
@@ -109,11 +108,11 @@ namespace SenseShift::Body::Haptics {
[[nodiscard]] static constexpr inline ::SenseShift::Math::Point2<_Tp>
mapPoint(_Tp x, _Tp y, _Tp x_max, _Tp y_max)
{
- using Point_t = ::SenseShift::Math::Point2<_Tp>;
+ using Point = ::SenseShift::Math::Point2<_Tp>;
- return Point_t(
- ::SenseShift::accurateMap<_Tp>(x + 1, 0, x_max + 2, Point_t::MIN, Point_t::MAX),
- ::SenseShift::accurateMap<_Tp>(y + 1, 0, y_max + 2, Point_t::MIN, Point_t::MAX)
+ return Point(
+ ::SenseShift::accurateMap<_Tp>(x + 1, 0, x_max + 2, Point::MIN, Point::MAX),
+ ::SenseShift::accurateMap<_Tp>(y + 1, 0, y_max + 2, Point::MIN, Point::MAX)
);
}
};
diff --git a/lib/math/senseshift/math/point2.hpp b/lib/math/senseshift/math/point2.hpp
index 001d16bf..b91b096b 100644
--- a/lib/math/senseshift/math/point2.hpp
+++ b/lib/math/senseshift/math/point2.hpp
@@ -10,10 +10,10 @@ namespace SenseShift::Math {
std::is_arithmetic<_Tp>::value, "::SenseShift::Math::Point2 only can be used with arithmetic types"
);
- typedef _Tp Value_t;
+ using Value = _Tp;
- inline static const _Tp MIN = std::numeric_limits<_Tp>::min();
- inline static const _Tp MAX = std::numeric_limits<_Tp>::max();
+ static constexpr _Tp MIN = std::numeric_limits<_Tp>::min();
+ static constexpr _Tp MAX = std::numeric_limits<_Tp>::max();
_Tp x, y;
@@ -33,10 +33,10 @@ namespace SenseShift::Math {
}
};
- typedef Point2<unsigned char> Point2b;
- typedef Point2<double> Point2d;
- typedef Point2<float> Point2f;
- typedef Point2<int> Point2i;
- typedef Point2<short> Point2s;
- typedef Point2<unsigned short> Point2w;
+ using Point2b = Point2<unsigned char>;
+ using Point2d = Point2<double>;
+ using Point2f = Point2<float>;
+ using Point2i = Point2<int>;
+ using Point2s = Point2<short>;
+ using Point2w = Point2<unsigned short>;
}; // namespace SenseShift::Math
diff --git a/lib/opengloves/og_protocol.hpp b/lib/opengloves/og_protocol.hpp
index 3b8dcccc..a8f19e2e 100644
--- a/lib/opengloves/og_protocol.hpp
+++ b/lib/opengloves/og_protocol.hpp
@@ -57,8 +57,8 @@ namespace OpenGloves {
virtual size_t readCommand(char* buffer, size_t length) = 0;
};
- typedef uint16_t CommandIndex_t;
- typedef enum Command : CommandIndex_t {
+ using CommandIndex = uint16_t;
+ enum Command : CommandIndex {
ThumbCurl,
ThumbSplay,
@@ -73,7 +73,7 @@ namespace OpenGloves {
PinkyCurl,
PinkySplay,
- } Command;
+ };
- typedef std::function<void(Command, uint16_t)> CommandCallback;
+ using CommandCallback = std::function<void(Command, uint16_t)>;
} // namespace OpenGloves
diff --git a/lib/opengloves/sensor/og_finger.hpp b/lib/opengloves/sensor/og_finger.hpp
index 1be50ec0..542d981e 100644
--- a/lib/opengloves/sensor/og_finger.hpp
+++ b/lib/opengloves/sensor/og_finger.hpp
@@ -31,7 +31,7 @@ namespace OpenGloves {
virtual uint16_t getCurl() = 0;
};
- typedef SenseShift::Input::ISimpleSensor<FingerValue> IFingerSensor;
+ using IFingerSensor = SenseShift::Input::ISimpleSensor<FingerValue>;
class SimpleFingerSensor : public IFingerSensor, public ICurl {
public:
diff --git a/test/test_bhaptics_encoding/main.cpp b/test/test_bhaptics_encoding/main.cpp
index 03a560be..0ff45557 100644
--- a/test/test_bhaptics_encoding/main.cpp
+++ b/test/test_bhaptics_encoding/main.cpp
@@ -18,10 +18,10 @@ class TestActuator : public IActuator<uint16_t> {
void test_layout_tactsuitx16(void)
{
- static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
- static const OutputLayout_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX16;
+ static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
+ static const OutputLayout bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX16;
- static const size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
+ static constexpr size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
static const uint8_t layoutGroups[layoutGroupsSize] = BH_LAYOUT_TACTSUITX16_GROUPS;
auto body = new HapticBody();
@@ -43,11 +43,11 @@ void test_layout_tactsuitx16(void)
TestActuator* actuator14 = new TestActuator();
TestActuator* actuator15 = new TestActuator();
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
{ actuator0, actuator1, actuator2, actuator3 },
{ actuator4, actuator5, actuator6, actuator7 },
});
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
{ actuator8, actuator9, actuator10, actuator11 },
{ actuator12, actuator13, actuator14, actuator15 },
});
@@ -86,19 +86,19 @@ void test_layout_tactsuitx16(void)
void test_layout_tactsuitx40(void)
{
- static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX40_SIZE;
- static const OutputLayout_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
+ static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTSUITX40_SIZE;
+ static const OutputLayout bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
auto body = new HapticBody();
- std::vector<std::vector<VibroPlane::Actuator_t*>> frontMatrix = {
+ std::vector<std::vector<VibroPlane::Actuator*>> frontMatrix = {
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
};
- std::vector<std::vector<VibroPlane::Actuator_t*>> backMatrix = {
+ std::vector<std::vector<VibroPlane::Actuator*>> backMatrix = {
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
@@ -106,8 +106,8 @@ void test_layout_tactsuitx40(void)
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
};
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>(frontMatrix);
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>(backMatrix);
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>(frontMatrix);
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>(backMatrix);
auto frontPlane = new VibroPlane(frontOutputs);
auto backPlane = new VibroPlane(backOutputs);
@@ -169,8 +169,8 @@ void test_layout_tactsuitx40(void)
void test_layout_tactal(void)
{
- static const size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
- static const ::SenseShift::Body::Haptics::Position_t bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
+ static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
+ static const ::SenseShift::Body::Haptics::Position bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
auto body = new HapticBody();
@@ -181,7 +181,7 @@ void test_layout_tactal(void)
TestActuator* actuator4 = new TestActuator();
TestActuator* actuator5 = new TestActuator();
- auto outputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator_t>({
+ auto outputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
{ actuator0, actuator1, actuator2, actuator3, actuator4, actuator5 },
});
auto plane = new VibroPlane(outputs);
diff --git a/test/test_haptics_body/main.cpp b/test/test_haptics_body/main.cpp
index 5abefa7d..7f00d150 100644
--- a/test/test_haptics_body/main.cpp
+++ b/test/test_haptics_body/main.cpp
@@ -18,7 +18,7 @@ void test_it_sets_up_planes(void)
{
auto body = new HapticBody();
- VibroPlane::ActuatorMap_t outputs = {
+ VibroPlane::ActuatorMap outputs = {
{ { 0, 0 }, new TestActuator() },
{ { 0, 1 }, new TestActuator() },
{ { 1, 0 }, new TestActuator() },
@@ -54,25 +54,25 @@ void test_it_handles_effect__vibro(void)
.effect = Effect::Vibro,
.target = Target::ChestFront,
.position = { 0, 0 },
- .data = (VibroEffectData_t) 64,
+ .data = (VibroEffectData) 64,
});
body->effect({
.effect = Effect::Vibro,
.target = Target::ChestFront,
.position = { 0, 1 },
- .data = (VibroEffectData_t) 128,
+ .data = (VibroEffectData) 128,
});
body->effect({
.effect = Effect::Vibro,
.target = Target::ChestFront,
.position = { 1, 0 },
- .data = (VibroEffectData_t) 192,
+ .data = (VibroEffectData) 192,
});
body->effect({
.effect = Effect::Vibro,
.target = Target::ChestFront,
.position = { 1, 1 },
- .data = (VibroEffectData_t) 255,
+ .data = (VibroEffectData) 255,
});
TEST_ASSERT_EQUAL(64, actuator1->intensity);
diff --git a/test/test_haptics_plane/main.cpp b/test/test_haptics_plane/main.cpp
index 0be53a48..7c8890cc 100644
--- a/test/test_haptics_plane/main.cpp
+++ b/test/test_haptics_plane/main.cpp
@@ -16,7 +16,7 @@ class TestActuator : public IActuator<uint16_t> {
void test_it_sets_up_actuators(void)
{
- VibroPlane::ActuatorMap_t outputs = {
+ VibroPlane::ActuatorMap outputs = {
{ { 0, 0 }, new TestActuator() },
{ { 0, 1 }, new TestActuator() },
{ { 1, 0 }, new TestActuator() },
@@ -39,7 +39,7 @@ void test_it_writes_to_correct_output(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- VibroPlane::ActuatorMap_t outputs = {
+ VibroPlane::ActuatorMap outputs = {
{ { 0, 0 }, actuator },
{ { 0, 1 }, actuator2 },
{ { 1, 0 }, actuator3 },
@@ -64,7 +64,7 @@ void test_it_updates_state(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- VibroPlane::ActuatorMap_t outputs = {
+ VibroPlane::ActuatorMap outputs = {
{ { 0, 0 }, actuator },
{ { 0, 1 }, actuator2 },
{ { 1, 0 }, actuator3 },
@@ -96,7 +96,7 @@ void test_closest_it_writes_to_correct_if_exact(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- VibroPlane_Closest::ActuatorMap_t outputs = {
+ VibroPlane_Closest::ActuatorMap outputs = {
{ { 0, 0 }, actuator },
{ { 0, 1 }, actuator2 },
{ { 1, 0 }, actuator3 },
@@ -121,7 +121,7 @@ void test_closest_it_correctly_finds_closest(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- VibroPlane_Closest::ActuatorMap_t outputs = {
+ VibroPlane_Closest::ActuatorMap outputs = {
{ { 0, 0 }, actuator },
{ { 0, 64 }, actuator2 },
{ { 64, 0 }, actuator3 },
@@ -144,7 +144,7 @@ void test_closest_it_updates_state(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- VibroPlane_Closest::ActuatorMap_t outputs = {
+ VibroPlane_Closest::ActuatorMap outputs = {
{ { 0, 0 }, actuator },
{ { 0, 64 }, actuator2 },
{ { 64, 0 }, actuator3 },
From fc0fc5522b6a27e2fe7828fad93ba425981dc499 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Fri, 13 Oct 2023 10:58:59 +0400
Subject: [PATCH 44/82] chore: add VSCode extensions recommends
---
.vscode/extensions.json | 11 +++++++++++
1 file changed, 11 insertions(+)
create mode 100644 .vscode/extensions.json
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
new file mode 100644
index 00000000..8e806412
--- /dev/null
+++ b/.vscode/extensions.json
@@ -0,0 +1,11 @@
+{
+ "recommendations": [
+ "ms-vscode.cpptools",
+ "redhat.vscode-yaml",
+ "platformio.platformio-ide",
+ "Wokwi.wokwi-vscode",
+ "xaver.clang-format",
+ "editorconfig.editorconfig",
+ "wakatime.vscode-wakatime"
+ ]
+}
From 2d125a4e6a9a66bef90a4c7d3f72e4924c8af4a2 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 24 Oct 2023 02:15:59 +0400
Subject: [PATCH 45/82] ci: change lcov reporter
---
.github/workflows/ci.yml | 9 ++++++---
1 file changed, 6 insertions(+), 3 deletions(-)
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index cb9197de..bade01aa 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -428,10 +428,13 @@ jobs:
./build/coverage/
retention-days: 5
- - uses: manarbenkraouda/lcov-reporter-action@v0.3.5.3
+ - name: Upload coverage reports to Codecov
+ uses: codecov/codecov-action@v3
with:
- github-token: ${{ secrets.GITHUB_TOKEN }}
- lcov-file: ./build/lcov/lcov.info.cleaned
+ token: ${{ secrets.CODECOV_TOKEN }}
+ fail_ci_if_error: true
+ files: ./build/lcov/lcov.info.cleaned
+ flags: unittests
wokwi:
needs:
From 25356a4f28aa4e327293577244f65ad260c8717d Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 24 Oct 2023 10:43:07 +0000
Subject: [PATCH 46/82] ci: configure codecov
---
README.md | 1 +
codecov.yml | 3 +++
2 files changed, 4 insertions(+)
create mode 100644 codecov.yml
diff --git a/README.md b/README.md
index dc172271..4a655a94 100644
--- a/README.md
+++ b/README.md
@@ -9,6 +9,7 @@ Build your own DIY haptic vest, haptic gloves, and more!
[](https://twitter.com/leon0399)
[](https://github.com/senseshift/senseshift-firmware/actions/workflows/ci.yml)
+[](https://codecov.io/gh/senseshift/senseshift-firmware)
[](https://github.com/senseshift/senseshift-firmware/issues?q=is%3Aissue+is%3Aopen+label%3Abug)
[](/LICENSE)
diff --git a/codecov.yml b/codecov.yml
new file mode 100644
index 00000000..ccc8e521
--- /dev/null
+++ b/codecov.yml
@@ -0,0 +1,3 @@
+comment:
+ layout: "header, diff, flags, components" # show component info in the PR comment
+
From 99d96f0fcd8b23d49f798eae079f00ea25ec8f5e Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 5 Nov 2023 13:55:02 +0400
Subject: [PATCH 47/82] feat(deps): update frozen submodule
---
lib/frozen | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/lib/frozen b/lib/frozen
index eb113465..3a4f00cb 160000
--- a/lib/frozen
+++ b/lib/frozen
@@ -1 +1 @@
-Subproject commit eb113465791905f29384a9deac6650fc323f4d53
+Subproject commit 3a4f00cb83d580880b8a79864a479e1a14eb8c74
From 92c5d13dbc7a25f17736c5b8b02b25bc3ba73345 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sat, 30 Dec 2023 18:31:07 +0400
Subject: [PATCH 48/82] chore(PlatformIO): separate configs
---
.vscode/extensions.json | 15 +-
ini/opengloves-indexer.ini | 175 ++++++++++++++++++++
ini/opengloves-lucidgloves.ini | 116 +++++++++++++
ini/opengloves.ini | 293 ---------------------------------
platformio.ini | 3 +
5 files changed, 304 insertions(+), 298 deletions(-)
create mode 100644 ini/opengloves-indexer.ini
create mode 100644 ini/opengloves-lucidgloves.ini
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
index 8e806412..7e2b2d8e 100644
--- a/.vscode/extensions.json
+++ b/.vscode/extensions.json
@@ -1,11 +1,16 @@
{
+ // See http://go.microsoft.com/fwlink/?LinkId=827846
+ // for the documentation about the extensions.json format
"recommendations": [
- "ms-vscode.cpptools",
- "redhat.vscode-yaml",
- "platformio.platformio-ide",
"Wokwi.wokwi-vscode",
- "xaver.clang-format",
"editorconfig.editorconfig",
- "wakatime.vscode-wakatime"
+ "ms-vscode.cpptools",
+ "platformio.platformio-ide",
+ "redhat.vscode-yaml",
+ "wakatime.vscode-wakatime",
+ "xaver.clang-format"
+ ],
+ "unwantedRecommendations": [
+ "ms-vscode.cpptools-extension-pack"
]
}
diff --git a/ini/opengloves-indexer.ini b/ini/opengloves-indexer.ini
new file mode 100644
index 00000000..7d5cd163
--- /dev/null
+++ b/ini/opengloves-indexer.ini
@@ -0,0 +1,175 @@
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+; Indexer C
+; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+[env:indexer-c]
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = wemos_d1_mini32
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags}
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=25
+ -D PIN_FINGER_INDEX=14
+ -D PIN_FINGER_MIDDLE=33
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=12
+ -D PIN_JOYSTICK_Y=4
+ -D PIN_BUTTON_JOYSTICK=0
+
+ -D PIN_BUTTON_A=2
+ -D PIN_BUTTON_B=11
+ ; -D PIN_BUTTON_MENU=5
+ -D PIN_BUTTON_CALIBRATE=27
+ ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+; Indexer CF
+; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+[env:indexer-cf]
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = wemos_d1_mini32
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags}
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=25
+ -D PIN_FINGER_INDEX=14
+ -D PIN_FINGER_MIDDLE=33
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=12
+ -D PIN_JOYSTICK_Y=4
+ -D PIN_BUTTON_JOYSTICK=0
+
+ -D PIN_BUTTON_A=2
+ -D PIN_BUTTON_B=11
+ ; -D PIN_BUTTON_MENU=5
+ -D PIN_BUTTON_CALIBRATE=27
+ ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+ -D PIN_FFB_THUMB=16
+ -D PIN_FFB_INDEX=17
+ -D PIN_FFB_MIDDLE=21
+ -D PIN_FFB_RING=22
+ -D PIN_FFB_PINKY=1
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+; Indexer CS
+; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+[env:indexer-cs]
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = wemos_d1_mini32
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags}
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=25
+ -D PIN_FINGER_INDEX=14
+ -D PIN_FINGER_MIDDLE=33
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_FINGER_THUMB_SPLAY=32
+ -D PIN_FINGER_INDEX_SPLAY=13
+ -D PIN_FINGER_MIDDLE_SPLAY=34
+ -D PIN_FINGER_RING_SPLAY=35
+ -D PIN_FINGER_PINKY_SPLAY=26
+
+ -D PIN_JOYSTICK_X=12
+ -D PIN_JOYSTICK_Y=4
+ -D PIN_BUTTON_JOYSTICK=0
+
+ -D PIN_BUTTON_A=2
+ -D PIN_BUTTON_B=11
+ ; -D PIN_BUTTON_MENU=5
+ -D PIN_BUTTON_CALIBRATE=27
+ ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+; Indexer CSF
+; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+[env:indexer-csf]
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = wemos_d1_mini32
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags}
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=25
+ -D PIN_FINGER_INDEX=14
+ -D PIN_FINGER_MIDDLE=33
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_FINGER_THUMB_SPLAY=32
+ -D PIN_FINGER_INDEX_SPLAY=13
+ -D PIN_FINGER_MIDDLE_SPLAY=34
+ -D PIN_FINGER_RING_SPLAY=35
+ -D PIN_FINGER_PINKY_SPLAY=26
+
+ -D PIN_JOYSTICK_X=12
+ -D PIN_JOYSTICK_Y=4
+ -D PIN_BUTTON_JOYSTICK=0
+
+ -D PIN_BUTTON_A=2
+ -D PIN_BUTTON_B=11
+ ; -D PIN_BUTTON_MENU=5
+ -D PIN_BUTTON_CALIBRATE=27
+ ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+ -D PIN_FFB_THUMB=16
+ -D PIN_FFB_INDEX=17
+ -D PIN_FFB_MIDDLE=21
+ -D PIN_FFB_RING=22
+ -D PIN_FFB_PINKY=1
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
diff --git a/ini/opengloves-lucidgloves.ini b/ini/opengloves-lucidgloves.ini
new file mode 100644
index 00000000..f4047f55
--- /dev/null
+++ b/ini/opengloves-lucidgloves.ini
@@ -0,0 +1,116 @@
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+; LucidGloves Prototype 3
+; Wiring Diagram: https://github.com/LucidVR/lucidgloves/wiki/Prototype-3-Wiring-Diagram
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+[env:lucidgloves-prototype3]
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = ${opengloves.board}
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags}
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=32
+ -D PIN_FINGER_INDEX=35
+ -D PIN_FINGER_MIDDLE=34
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=33
+ -D PIN_JOYSTICK_Y=25
+ -D PIN_BUTTON_JOYSTICK=26
+
+ -D PIN_BUTTON_A=27
+ -D PIN_BUTTON_B=14
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+; LucidGloves Prototype 4
+; Wiring Diagram: https://github.com/LucidVR/lucidgloves/wiki/Prototype-4-Wiring-Diagram
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+[env:lucidgloves-prototype4]
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = ${opengloves.board}
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags}
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=32
+ -D PIN_FINGER_INDEX=35
+ -D PIN_FINGER_MIDDLE=34
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=33
+ -D PIN_JOYSTICK_Y=25
+ -D PIN_BUTTON_JOYSTICK=26
+
+ -D PIN_BUTTON_A=27
+ -D PIN_BUTTON_B=14
+ ; -D PIN_BUTTON_MENU=27
+ -D PIN_BUTTON_CALIBRATE=12
+ ; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+ ; todo: add servo pins
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+; LucidGloves Prototype 4 + Force Feedback
+; Wiring Diagram: https://github.com/LucidVR/lucidgloves/wiki/Prototype-4-Wiring-Diagram
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+[env:lucidgloves-prototype4-ffb]
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = ${opengloves.board}
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags}
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=32
+ -D PIN_FINGER_INDEX=35
+ -D PIN_FINGER_MIDDLE=34
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=33
+ -D PIN_JOYSTICK_Y=25
+ -D PIN_BUTTON_JOYSTICK=26
+
+ -D PIN_BUTTON_A=27
+ -D PIN_BUTTON_B=14
+ ; -D PIN_BUTTON_MENU=27
+ -D PIN_BUTTON_CALIBRATE=12
+ ; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+ -D PIN_FFB_THUMB=17
+ -D PIN_FFB_INDEX=21
+ -D PIN_FFB_MIDDLE=19
+ -D PIN_FFB_RING=18
+ -D PIN_FFB_PINKY=5
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
diff --git a/ini/opengloves.ini b/ini/opengloves.ini
index 0160ae8d..b7bb70cc 100644
--- a/ini/opengloves.ini
+++ b/ini/opengloves.ini
@@ -58,296 +58,3 @@ build_flags = ${common.build_flags}
build_unflags = ${common.build_unflags}
build_src_filter = ${common.build_src_filter}
lib_deps = ${common.lib_deps}
-
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-; LucidGloves Prototype 3
-; Wiring Diagram: https://github.com/LucidVR/lucidgloves/wiki/Prototype-3-Wiring-Diagram
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-[env:lucidgloves-prototype3]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = ${opengloves.board}
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=32
- -D PIN_FINGER_INDEX=35
- -D PIN_FINGER_MIDDLE=34
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=33
- -D PIN_JOYSTICK_Y=25
- -D PIN_BUTTON_JOYSTICK=26
-
- -D PIN_BUTTON_A=27
- -D PIN_BUTTON_B=14
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
-
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-; LucidGloves Prototype 4
-; Wiring Diagram: https://github.com/LucidVR/lucidgloves/wiki/Prototype-4-Wiring-Diagram
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-[env:lucidgloves-prototype4]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = ${opengloves.board}
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=32
- -D PIN_FINGER_INDEX=35
- -D PIN_FINGER_MIDDLE=34
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=33
- -D PIN_JOYSTICK_Y=25
- -D PIN_BUTTON_JOYSTICK=26
-
- -D PIN_BUTTON_A=27
- -D PIN_BUTTON_B=14
- ; -D PIN_BUTTON_MENU=27
- -D PIN_BUTTON_CALIBRATE=12
- ; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
- ; todo: add servo pins
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
-
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-; LucidGloves Prototype 4 + Force Feedback
-; Wiring Diagram: https://github.com/LucidVR/lucidgloves/wiki/Prototype-4-Wiring-Diagram
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-[env:lucidgloves-prototype4-ffb]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = ${opengloves.board}
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=32
- -D PIN_FINGER_INDEX=35
- -D PIN_FINGER_MIDDLE=34
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=33
- -D PIN_JOYSTICK_Y=25
- -D PIN_BUTTON_JOYSTICK=26
-
- -D PIN_BUTTON_A=27
- -D PIN_BUTTON_B=14
- ; -D PIN_BUTTON_MENU=27
- -D PIN_BUTTON_CALIBRATE=12
- ; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
- -D PIN_FFB_THUMB=17
- -D PIN_FFB_INDEX=21
- -D PIN_FFB_MIDDLE=19
- -D PIN_FFB_RING=18
- -D PIN_FFB_PINKY=5
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
-
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-; Indexer C
-; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-[env:indexer-c]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = wemos_d1_mini32
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=25
- -D PIN_FINGER_INDEX=14
- -D PIN_FINGER_MIDDLE=33
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=12
- -D PIN_JOYSTICK_Y=4
- -D PIN_BUTTON_JOYSTICK=0
-
- -D PIN_BUTTON_A=2
- -D PIN_BUTTON_B=11
- ; -D PIN_BUTTON_MENU=5
- -D PIN_BUTTON_CALIBRATE=27
- ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
-
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-; Indexer CF
-; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-[env:indexer-cf]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = wemos_d1_mini32
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=25
- -D PIN_FINGER_INDEX=14
- -D PIN_FINGER_MIDDLE=33
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=12
- -D PIN_JOYSTICK_Y=4
- -D PIN_BUTTON_JOYSTICK=0
-
- -D PIN_BUTTON_A=2
- -D PIN_BUTTON_B=11
- ; -D PIN_BUTTON_MENU=5
- -D PIN_BUTTON_CALIBRATE=27
- ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
- -D PIN_FFB_THUMB=16
- -D PIN_FFB_INDEX=17
- -D PIN_FFB_MIDDLE=21
- -D PIN_FFB_RING=22
- -D PIN_FFB_PINKY=1
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
-
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-; Indexer CS
-; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-[env:indexer-cs]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = wemos_d1_mini32
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=25
- -D PIN_FINGER_INDEX=14
- -D PIN_FINGER_MIDDLE=33
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_FINGER_THUMB_SPLAY=32
- -D PIN_FINGER_INDEX_SPLAY=13
- -D PIN_FINGER_MIDDLE_SPLAY=34
- -D PIN_FINGER_RING_SPLAY=35
- -D PIN_FINGER_PINKY_SPLAY=26
-
- -D PIN_JOYSTICK_X=12
- -D PIN_JOYSTICK_Y=4
- -D PIN_BUTTON_JOYSTICK=0
-
- -D PIN_BUTTON_A=2
- -D PIN_BUTTON_B=11
- ; -D PIN_BUTTON_MENU=5
- -D PIN_BUTTON_CALIBRATE=27
- ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
-
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-; Indexer CSF
-; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-[env:indexer-csf]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = wemos_d1_mini32
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=25
- -D PIN_FINGER_INDEX=14
- -D PIN_FINGER_MIDDLE=33
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_FINGER_THUMB_SPLAY=32
- -D PIN_FINGER_INDEX_SPLAY=13
- -D PIN_FINGER_MIDDLE_SPLAY=34
- -D PIN_FINGER_RING_SPLAY=35
- -D PIN_FINGER_PINKY_SPLAY=26
-
- -D PIN_JOYSTICK_X=12
- -D PIN_JOYSTICK_Y=4
- -D PIN_BUTTON_JOYSTICK=0
-
- -D PIN_BUTTON_A=2
- -D PIN_BUTTON_B=11
- ; -D PIN_BUTTON_MENU=5
- -D PIN_BUTTON_CALIBRATE=27
- ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
- -D PIN_FFB_THUMB=16
- -D PIN_FFB_INDEX=17
- -D PIN_FFB_MIDDLE=21
- -D PIN_FFB_RING=22
- -D PIN_FFB_PINKY=1
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
diff --git a/platformio.ini b/platformio.ini
index 6787808b..4815cf7a 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -15,6 +15,9 @@ src_dir = ./firmware
extra_configs =
ini/bhaptics.ini
ini/opengloves.ini
+ ini/opengloves-lucidgloves.ini
+ ini/opengloves-indexer.ini
+default_envs = bhaptics_tactsuit_x16, bhaptics_tactal, bhaptics_tactglove_left, lucidgloves-prototype3
[common]
build_unflags =
From 9e33f0bfd8e18d4b94470e930813b01dcf4e67c6 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Fri, 26 Jan 2024 20:58:19 +0400
Subject: [PATCH 49/82] refactor: simplyfy overall setup and structure
---
docs/DEVELOPMENT.md | 32 ++-
firmware/firmware.cpp | 2 +-
firmware/mode_configs/bhaptics/tactal.cpp | 19 +-
firmware/mode_configs/bhaptics/tactglove.cpp | 27 ++-
firmware/mode_configs/bhaptics/tactosy2.cpp | 21 +-
firmware/mode_configs/bhaptics/tactosyf.cpp | 23 ++-
firmware/mode_configs/bhaptics/tactosyh.cpp | 23 ++-
.../mode_configs/bhaptics/tactsuit_x16.cpp | 35 ++--
.../bhaptics/tactsuit_x16_pca9685.cpp | 37 ++--
.../mode_configs/bhaptics/tactsuit_x40.cpp | 46 ++---
firmware/mode_configs/bhaptics/tactvisor.cpp | 19 +-
.../mode_configs/opengloves/opengloves.cpp | 2 +-
firmware/senseshift.cpp | 18 +-
include/senseshift.h | 16 +-
lib/arduino/library.json | 3 +-
.../arduino/components/serial_plotter.cpp | 28 ---
.../arduino/components/serial_plotter.hpp | 65 -------
.../arduino/input/sensor/analog.hpp | 23 +--
.../arduino/input/sensor/binary.hpp | 29 +++
.../arduino/input/sensor/digital.hpp | 34 ----
.../arduino/output/actuator/pca9685.hpp | 26 ---
.../arduino/output/actuator/pwm.hpp | 47 -----
.../senseshift/arduino/output/analog.hpp | 29 +++
.../senseshift/arduino/output/pca9685.hpp | 35 ++++
.../senseshift/arduino/output/ledc.hpp | 57 ++++++
lib/battery/senseshift/battery.hpp | 58 +++++-
lib/battery/senseshift/battery/sensor.hpp | 6 +-
lib/bhaptics/senseshift/bh/devices.hpp | 95 ++++-----
lib/bhaptics/senseshift/bh/encoding.hpp | 183 +++++++++---------
lib/core/senseshift/core/component.hpp | 33 ++++
lib/core/senseshift/core/helpers.hpp | 59 ++++++
lib/core/senseshift/core/logging.hpp | 40 ++++
lib/core/senseshift/core/macros.hpp | 4 +
lib/core/senseshift/interface.hpp | 11 --
lib/core/senseshift/logging.hpp | 23 ---
lib/freertos/senseshift/freertos/task.hpp | 2 +-
lib/haptics/senseshift/body/haptics/body.cpp | 36 ++--
lib/haptics/senseshift/body/haptics/body.hpp | 39 ++--
.../senseshift/body/haptics/interface.hpp | 35 ++--
lib/haptics/senseshift/body/haptics/plane.cpp | 78 ++++----
lib/haptics/senseshift/body/haptics/plane.hpp | 128 ++++++------
lib/io/senseshift/input/sensor.hpp | 178 +++++++++--------
lib/io/senseshift/input/sensor/joystick.hpp | 32 +--
lib/io/senseshift/output/actuator.hpp | 22 ---
lib/io/senseshift/output/binary_output.hpp | 10 +
lib/io/senseshift/output/output.hpp | 15 ++
lib/math/senseshift/math/point2.hpp | 30 +--
lib/opengloves/og_protocol.hpp | 2 +-
.../senseshift/opengloves/autoconfig.hpp | 2 +-
.../senseshift/opengloves/encoding/alpha.hpp | 2 +-
lib/opengloves/sensor/og_finger.hpp | 10 +-
lib/opengloves/sensor/og_gesture.hpp | 8 +-
lib/opengloves/sensor/og_sensor.hpp | 36 ++--
lib/opengloves_task/opengloves_task.hpp | 2 +-
lib/util/senseshift/calibration.hpp | 116 +++++------
lib/util/senseshift/container.hpp | 2 +-
lib/util/senseshift/range.hpp | 27 +--
57 files changed, 1074 insertions(+), 946 deletions(-)
delete mode 100644 lib/arduino/senseshift/arduino/components/serial_plotter.cpp
delete mode 100644 lib/arduino/senseshift/arduino/components/serial_plotter.hpp
create mode 100644 lib/arduino/senseshift/arduino/input/sensor/binary.hpp
delete mode 100644 lib/arduino/senseshift/arduino/input/sensor/digital.hpp
delete mode 100644 lib/arduino/senseshift/arduino/output/actuator/pca9685.hpp
delete mode 100644 lib/arduino/senseshift/arduino/output/actuator/pwm.hpp
create mode 100644 lib/arduino/senseshift/arduino/output/analog.hpp
create mode 100644 lib/arduino/senseshift/arduino/output/pca9685.hpp
create mode 100644 lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
create mode 100644 lib/core/senseshift/core/component.hpp
create mode 100644 lib/core/senseshift/core/helpers.hpp
create mode 100644 lib/core/senseshift/core/logging.hpp
create mode 100644 lib/core/senseshift/core/macros.hpp
delete mode 100644 lib/core/senseshift/interface.hpp
delete mode 100644 lib/core/senseshift/logging.hpp
delete mode 100644 lib/io/senseshift/output/actuator.hpp
create mode 100644 lib/io/senseshift/output/binary_output.hpp
create mode 100644 lib/io/senseshift/output/output.hpp
diff --git a/docs/DEVELOPMENT.md b/docs/DEVELOPMENT.md
index dafd8ccf..1a6e5409 100644
--- a/docs/DEVELOPMENT.md
+++ b/docs/DEVELOPMENT.md
@@ -1,3 +1,23 @@
+# Code Style
+
+## Member naming
+
+Local variable: `snake_case`
+Global variable: `snake_case`
+
+Class: `UpperCamelCase`
+Class member: `snake_case_` (**with trailing underscore**)
+ClassFunction: `camelCase`
+Function argument: `snake_case`
+
+## Useful Scripts
+
+### Fix `clang-format`
+
+```shell
+find lib include firmware test examples -type f -regex '.*\.\(cpp\|hpp\|cu\|c\|h\)' ! -regex '^lib/frozen\(/.*\)' -exec clang-format-16 -style=file -i {} \;
+```
+
# Debugging
## Debugging in Wokwi
@@ -9,7 +29,7 @@ Run and debug firmware in Wokwi Simulator
pio debug -e lucidgloves-prototype3
```
2. `Ctrl+Shift+P` => `> Wokwi: Start Simulator and Wait for Debugger`,
-3. Add launch option (this step is required until PlatformIO fixes this issue: [#3824](https://github.com/platformio/platformio-core/issues/3824)):
+3. Add launch option (this step is required until PlatformIO fixes this issue: [#3824](https://github.com/platformio/platformio-core/issues/3824)):
```json
...
@@ -24,12 +44,4 @@ Run and debug firmware in Wokwi Simulator
"miDebuggerServerAddress": "localhost:3333",
},
...
- ```
-
-## Useful Scripts
-
-### Fix `clang-format`
-
-```shell
-find lib include firmware test examples -type f -regex '.*\.\(cpp\|hpp\|cu\|c\|h\)' ! -regex '^lib/frozen\(/.*\)' -exec clang-format-16 -style=file -i {} \;
-```
+ ```
\ No newline at end of file
diff --git a/firmware/firmware.cpp b/firmware/firmware.cpp
index c30147c3..213a1fbd 100644
--- a/firmware/firmware.cpp
+++ b/firmware/firmware.cpp
@@ -19,7 +19,7 @@ extern void loopMode();
#if defined(ARDUINO)
-SenseShift::SenseShift App;
+SenseShift::Application App;
void setup()
{
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index 54bd226f..08f35d38 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -7,7 +7,7 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/actuator/pwm.hpp>
+#include <senseshift/arduino/output/ledc.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
@@ -22,24 +22,23 @@ using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
-extern SenseShift::SenseShift App;
-SenseShift::SenseShift* app = &App;
+extern Application App;
+Application* app = &App;
-static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
-static const Position bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
+static const std::array<Position, BH_LAYOUT_TACTAL_SIZE> bhLayout = { BH_LAYOUT_TACTAL };
void setupMode()
{
// Configure PWM pins to their positions on the face
- const auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ const auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
// clang-format off
- { new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26), new ActuatorPWM(27), new ActuatorPWM(14) },
+ { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26), new LedcOutput(27), new LedcOutput(14) },
// clang-format on
});
- app->getHapticBody()->addTarget(Target::FaceFront, new VibroPlane_Closest(faceOutputs));
+ app->getVibroBody()->addTarget(Target::FaceFront, new FloatPlane_Closest(faceOutputs));
- app->getHapticBody()->setup();
+ app->getVibroBody()->setup();
auto* bhBleConnection = new BLE::Connection(
{
@@ -48,7 +47,7 @@ void setupMode()
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
+ Decoder::applyPlain(app->getVibroBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 3091a5d6..7463c1b9 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -7,7 +7,7 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/actuator/pwm.hpp>
+#include <senseshift/arduino/output/ledc.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
@@ -23,13 +23,12 @@ using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
-extern SenseShift::SenseShift App;
-SenseShift::SenseShift* app = &App;
+extern Application App;
+Application* app = &App;
static constexpr Body::Hands::HandSide handSide = Body::Hands::HandSide::SENSESHIFT_HAND_SIDE;
-static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTGLOVE_SIZE;
// clang-format off
-static const OutputLayout (&bhLayout)[bhLayoutSize] = handSide == Body::Hands::HandSide::Left ? BH::TactGloveLeftLayout : BH::TactGloveRightLayout;
+static const auto& bhLayout = handSide == Body::Hands::HandSide::Left ? BH::TactGloveLeftLayout : BH::TactGloveRightLayout;
// clang-format on
void setupMode()
@@ -37,17 +36,17 @@ void setupMode()
// Configure PWM pins to their positions on the glove
// Replace `new PWMOutputWriter(...)` with `nullptr` to disable a specific actuator
addTactGloveActuators(
- app->getHapticBody(),
+ app->getVibroBody(),
handSide,
- new ActuatorPWM(32), // Thumb
- new ActuatorPWM(33), // Index
- new ActuatorPWM(25), // Middle
- new ActuatorPWM(26), // Ring
- new ActuatorPWM(27), // Little
- new ActuatorPWM(14) // Wrist
+ new LedcOutput(32), // Thumb
+ new LedcOutput(33), // Index
+ new LedcOutput(25), // Middle
+ new LedcOutput(26), // Ring
+ new LedcOutput(27), // Little
+ new LedcOutput(14) // Wrist
);
- app->getHapticBody()->setup();
+ app->getVibroBody()->setup();
auto* bhBleConnection = new BLE::Connection(
{
@@ -56,7 +55,7 @@ void setupMode()
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro);
+ Decoder::applyPlain(app->getVibroBody(), value, bhLayout, Effect::Vibro);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index 20751691..74cbcdfd 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -7,7 +7,7 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/actuator/pwm.hpp>
+#include <senseshift/arduino/output/ledc.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
@@ -22,25 +22,24 @@ using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
-extern SenseShift::SenseShift App;
-SenseShift::SenseShift* app = &App;
+extern Application App;
+Application* app = &App;
-static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTOSY2_SIZE;
-static const Position bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSY2;
+static const std::array<Position, BH_LAYOUT_TACTOSY2_SIZE> bhLayout = { BH_LAYOUT_TACTOSY2 };
void setupMode()
{
// Configure PWM pins to their positions on the forearm
- auto forearmOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto forearmOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
// clang-format off
- { new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25) },
- { new ActuatorPWM(26), new ActuatorPWM(27), new ActuatorPWM(14) },
+ { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25) },
+ { new LedcOutput(26), new LedcOutput(27), new LedcOutput(14) },
// clang-format on
});
- app->getHapticBody()->addTarget(Target::Accessory, new VibroPlane_Closest(forearmOutputs));
+ app->getVibroBody()->addTarget(Target::Accessory, new FloatPlane_Closest(forearmOutputs));
- app->getHapticBody()->setup();
+ app->getVibroBody()->setup();
auto* bhBleConnection = new BLE::Connection(
{
@@ -49,7 +48,7 @@ void setupMode()
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
+ Decoder::applyPlain(app->getVibroBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index b7667f0f..c8352ee8 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -7,7 +7,7 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/actuator/pwm.hpp>
+#include <senseshift/arduino/output/ledc.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
@@ -22,26 +22,25 @@ using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
-extern SenseShift::SenseShift App;
-SenseShift::SenseShift* app = &App;
+extern Application App;
+Application* app = &App;
-static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTOSYF_SIZE;
-static const Position bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYF;
+static const std::array<Position, BH_LAYOUT_TACTOSYF_SIZE> bhLayout = { BH_LAYOUT_TACTOSYF };
void setupMode()
{
// Configure PWM pins to their positions on the feet
- auto footOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto footOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
// clang-format off
- { new ActuatorPWM(32) },
- { new ActuatorPWM(33) },
- { new ActuatorPWM(25) },
+ { new LedcOutput(32) },
+ { new LedcOutput(33) },
+ { new LedcOutput(25) },
// clang-format on
});
- app->getHapticBody()->addTarget(Target::Accessory, new VibroPlane_Closest(footOutputs));
+ app->getVibroBody()->addTarget(Target::Accessory, new FloatPlane_Closest(footOutputs));
- app->getHapticBody()->setup();
+ app->getVibroBody()->setup();
auto* bhBleConnection = new BLE::Connection(
{
@@ -50,7 +49,7 @@ void setupMode()
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
+ Decoder::applyPlain(app->getVibroBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index 50b46ec9..a4b8574f 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -7,7 +7,7 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/actuator/pwm.hpp>
+#include <senseshift/arduino/output/ledc.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
@@ -22,26 +22,25 @@ using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
-extern SenseShift::SenseShift App;
-SenseShift::SenseShift* app = &App;
+extern Application App;
+Application* app = &App;
-static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTOSYH_SIZE;
-static const Position bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYH;
+static const std::array<Position, BH_LAYOUT_TACTOSYH_SIZE> bhLayout = { BH_LAYOUT_TACTOSYH };
void setupMode()
{
// Configure PWM pins to their positions on the hands
- auto handOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto handOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
// clang-format off
- { new ActuatorPWM(32) },
- { new ActuatorPWM(33) },
- { new ActuatorPWM(25) }
+ { new LedcOutput(32) },
+ { new LedcOutput(33) },
+ { new LedcOutput(25) }
// clang-format on
});
- app->getHapticBody()->addTarget(Target::Accessory, new VibroPlane_Closest(handOutputs));
+ app->getVibroBody()->addTarget(Target::Accessory, new FloatPlane_Closest(handOutputs));
- app->getHapticBody()->setup();
+ app->getVibroBody()->setup();
auto* bhBleConnection = new BLE::Connection(
{
@@ -50,7 +49,7 @@ void setupMode()
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
+ Decoder::applyPlain(app->getVibroBody(), value, bhLayout, Effect::Vibro, Target::Accessory);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index 62fc1e45..f5c566c3 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -5,10 +5,7 @@
#include <Wire.h>
#include "senseshift.h"
-
-#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/actuator/pwm.hpp>
-#include <senseshift/battery/sensor.hpp>
+#include <senseshift/arduino/output/ledc.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -22,36 +19,34 @@ using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
-extern SenseShift::SenseShift App;
-SenseShift::SenseShift* app = &App;
+extern Application App;
+Application* app = &App;
-static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
-static const OutputLayout bhLayout[BH_LAYOUT_TACTSUITX16_SIZE] = BH_LAYOUT_TACTSUITX16;
+static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX16_SIZE> bhLayout = { BH_LAYOUT_TACTSUITX16 };
// Ouput indices, responsible for x40 => x16 grouping
-static constexpr size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
-static const uint8_t layoutGroups[layoutGroupsSize] = BH_LAYOUT_TACTSUITX16_GROUPS;
+static const std::array<std::uint8_t,BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups = BH_LAYOUT_TACTSUITX16_GROUPS;
void setupMode()
{
// Configure PWM pins to their positions on the vest
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
// clang-format off
- { new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26) },
- { new ActuatorPWM(27), new ActuatorPWM(14), new ActuatorPWM(12), new ActuatorPWM(13) },
+ { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
+ { new LedcOutput(27), new LedcOutput(14), new LedcOutput(12), new LedcOutput(13) },
// clang-format on
});
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
// clang-format off
- { new ActuatorPWM(19), new ActuatorPWM(18), new ActuatorPWM(5), new ActuatorPWM(17) },
- { new ActuatorPWM(16), new ActuatorPWM(4), new ActuatorPWM(2), new ActuatorPWM(15) },
+ { new LedcOutput(19), new LedcOutput(18), new LedcOutput(5), new LedcOutput(17) },
+ { new LedcOutput(16), new LedcOutput(4), new LedcOutput(2), new LedcOutput(15) },
// clang-format on
});
- app->getHapticBody()->addTarget(Target::ChestFront, new VibroPlane_Closest(frontOutputs));
- app->getHapticBody()->addTarget(Target::ChestBack, new VibroPlane_Closest(backOutputs));
+ app->getVibroBody()->addTarget(Target::ChestFront, new FloatPlane_Closest(frontOutputs));
+ app->getVibroBody()->addTarget(Target::ChestBack, new FloatPlane_Closest(backOutputs));
- app->getHapticBody()->setup();
+ app->getVibroBody()->setup();
auto* bhBleConnection = new BLE::Connection(
{
@@ -60,7 +55,7 @@ void setupMode()
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- Decoder::applyVestGrouped(app->getHapticBody(), value, bhLayout, layoutGroups);
+ Decoder::applyVestGrouped(app->getVibroBody(), value, bhLayout, layoutGroups);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index 8d3383e8..128dcd22 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -5,10 +5,7 @@
#include <Wire.h>
#include "senseshift.h"
-
-#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/actuator/pca9685.hpp>
-#include <senseshift/battery/sensor.hpp>
+#include <senseshift/arduino/output/pca9685.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -22,41 +19,39 @@ using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
-extern SenseShift::SenseShift App;
-SenseShift::SenseShift* app = &App;
+extern Application App;
+Application* app = &App;
-static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
-static const OutputLayout bhLayout[BH_LAYOUT_TACTSUITX16_SIZE] = BH_LAYOUT_TACTSUITX16;
+static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX16_SIZE> bhLayout = { BH_LAYOUT_TACTSUITX16 };
// Ouput indices, responsible for x40 => x16 grouping
-static constexpr size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
-static const uint8_t layoutGroups[layoutGroupsSize] = BH_LAYOUT_TACTSUITX16_GROUPS;
+static const std::array<std::uint8_t,BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups = BH_LAYOUT_TACTSUITX16_GROUPS;
void setupMode()
{
// Configure the PCA9685
- auto pwm = new Adafruit_PWMServoDriver(0x40);
+ auto* pwm = new Adafruit_PWMServoDriver(0x40);
pwm->begin();
pwm->setPWMFreq(PWM_FREQUENCY);
// Assign the pins on the configured PCA9685 to positions on the vest
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
// clang-format off
- { new ActuatorPCA9685(pwm, 0), new ActuatorPCA9685(pwm, 1), new ActuatorPCA9685(pwm, 2), new ActuatorPCA9685(pwm, 3) },
- { new ActuatorPCA9685(pwm, 4), new ActuatorPCA9685(pwm, 5), new ActuatorPCA9685(pwm, 6), new ActuatorPCA9685(pwm, 7) },
+ { new PCA9685Output(pwm, 0), new PCA9685Output(pwm, 1), new PCA9685Output(pwm, 2), new PCA9685Output(pwm, 3) },
+ { new PCA9685Output(pwm, 4), new PCA9685Output(pwm, 5), new PCA9685Output(pwm, 6), new PCA9685Output(pwm, 7) },
// clang-format on
});
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
// clang-format off
- { new ActuatorPCA9685(pwm, 8), new ActuatorPCA9685(pwm, 9), new ActuatorPCA9685(pwm, 10), new ActuatorPCA9685(pwm, 11) },
- { new ActuatorPCA9685(pwm, 12), new ActuatorPCA9685(pwm, 13), new ActuatorPCA9685(pwm, 14), new ActuatorPCA9685(pwm, 15) },
+ { new PCA9685Output(pwm, 8), new PCA9685Output(pwm, 9), new PCA9685Output(pwm, 10), new PCA9685Output(pwm, 11) },
+ { new PCA9685Output(pwm, 12), new PCA9685Output(pwm, 13), new PCA9685Output(pwm, 14), new PCA9685Output(pwm, 15) },
// clang-format on
});
- app->getHapticBody()->addTarget(Target::ChestFront, new VibroPlane_Closest(frontOutputs));
- app->getHapticBody()->addTarget(Target::ChestBack, new VibroPlane_Closest(backOutputs));
+ app->getVibroBody()->addTarget(Target::ChestFront, new FloatPlane_Closest(frontOutputs));
+ app->getVibroBody()->addTarget(Target::ChestBack, new FloatPlane_Closest(backOutputs));
- app->getHapticBody()->setup();
+ app->getVibroBody()->setup();
auto* bhBleConnection = new BLE::Connection(
{
@@ -65,7 +60,7 @@ void setupMode()
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- Decoder::applyVestGrouped(app->getHapticBody(), value, bhLayout, layoutGroups);
+ Decoder::applyVestGrouped(app->getVibroBody(), value, bhLayout, layoutGroups);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 13fce314..23983157 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -5,11 +5,8 @@
#include <Wire.h>
#include "senseshift.h"
-
-#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/actuator/pca9685.hpp>
-#include <senseshift/arduino/output/actuator/pwm.hpp>
-#include <senseshift/battery/sensor.hpp>
+#include <senseshift/arduino/output/ledc.hpp>
+#include <senseshift/arduino/output/pca9685.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -23,11 +20,10 @@ using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
-extern SenseShift::SenseShift App;
-SenseShift::SenseShift* app = &App;
+extern Application App;
+Application* app = &App;
-static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTSUITX40_SIZE;
-static const OutputLayout bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
+static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX40_SIZE> bhLayout = { BH_LAYOUT_TACTSUITX40 };
void setupMode()
{
@@ -42,29 +38,29 @@ void setupMode()
// Assign the pins on the configured PCA9685s and PWM pins to locations on the
// vest
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
// clang-format off
- { new ActuatorPCA9685(pwm0, 0), new ActuatorPCA9685(pwm0, 1), new ActuatorPCA9685(pwm0, 2), new ActuatorPCA9685(pwm0, 3) },
- { new ActuatorPCA9685(pwm0, 4), new ActuatorPCA9685(pwm0, 5), new ActuatorPCA9685(pwm0, 6), new ActuatorPCA9685(pwm0, 7) },
- { new ActuatorPCA9685(pwm0, 8), new ActuatorPCA9685(pwm0, 9), new ActuatorPCA9685(pwm0, 10), new ActuatorPCA9685(pwm0, 11) },
- { new ActuatorPCA9685(pwm0, 12), new ActuatorPCA9685(pwm0, 13), new ActuatorPCA9685(pwm0, 14), new ActuatorPCA9685(pwm0, 15) },
- { new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26) },
+ { new PCA9685Output(pwm0, 0), new PCA9685Output(pwm0, 1), new PCA9685Output(pwm0, 2), new PCA9685Output(pwm0, 3) },
+ { new PCA9685Output(pwm0, 4), new PCA9685Output(pwm0, 5), new PCA9685Output(pwm0, 6), new PCA9685Output(pwm0, 7) },
+ { new PCA9685Output(pwm0, 8), new PCA9685Output(pwm0, 9), new PCA9685Output(pwm0, 10), new PCA9685Output(pwm0, 11) },
+ { new PCA9685Output(pwm0, 12), new PCA9685Output(pwm0, 13), new PCA9685Output(pwm0, 14), new PCA9685Output(pwm0, 15) },
+ { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
// clang-format on
});
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
// clang-format off
- { new ActuatorPCA9685(pwm1, 0), new ActuatorPCA9685(pwm1, 1), new ActuatorPCA9685(pwm1, 2), new ActuatorPCA9685(pwm1, 3) },
- { new ActuatorPCA9685(pwm1, 4), new ActuatorPCA9685(pwm1, 5), new ActuatorPCA9685(pwm1, 6), new ActuatorPCA9685(pwm1, 7) },
- { new ActuatorPCA9685(pwm1, 8), new ActuatorPCA9685(pwm1, 9), new ActuatorPCA9685(pwm1, 10), new ActuatorPCA9685(pwm1, 11) },
- { new ActuatorPCA9685(pwm1, 12), new ActuatorPCA9685(pwm1, 13), new ActuatorPCA9685(pwm1, 14), new ActuatorPCA9685(pwm1, 15) },
- { new ActuatorPWM(27), new ActuatorPWM(14), new ActuatorPWM(12), new ActuatorPWM(13) },
+ { new PCA9685Output(pwm1, 0), new PCA9685Output(pwm1, 1), new PCA9685Output(pwm1, 2), new PCA9685Output(pwm1, 3) },
+ { new PCA9685Output(pwm1, 4), new PCA9685Output(pwm1, 5), new PCA9685Output(pwm1, 6), new PCA9685Output(pwm1, 7) },
+ { new PCA9685Output(pwm1, 8), new PCA9685Output(pwm1, 9), new PCA9685Output(pwm1, 10), new PCA9685Output(pwm1, 11) },
+ { new PCA9685Output(pwm1, 12), new PCA9685Output(pwm1, 13), new PCA9685Output(pwm1, 14), new PCA9685Output(pwm1, 15) },
+ { new LedcOutput(27), new LedcOutput(14), new LedcOutput(12), new LedcOutput(13) },
// clang-format on
});
- app->getHapticBody()->addTarget(Target::ChestFront, new VibroPlane_Closest(frontOutputs));
- app->getHapticBody()->addTarget(Target::ChestBack, new VibroPlane_Closest(backOutputs));
+ app->getVibroBody()->addTarget(Target::ChestFront, new FloatPlane_Closest(frontOutputs));
+ app->getVibroBody()->addTarget(Target::ChestBack, new FloatPlane_Closest(backOutputs));
- app->getHapticBody()->setup();
+ app->getVibroBody()->setup();
auto* bhBleConnection = new BLE::Connection(
{
@@ -73,7 +69,7 @@ void setupMode()
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- Decoder::applyVest(app->getHapticBody(), value, bhLayout);
+ Decoder::applyVest(app->getVibroBody(), value, bhLayout);
},
app
);
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index f7e7ab44..1c3f02cb 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -7,7 +7,7 @@
#include "senseshift.h"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/output/actuator/pwm.hpp>
+#include <senseshift/arduino/output/ledc.hpp>
#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
@@ -22,24 +22,23 @@ using namespace SenseShift::Battery;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
-extern SenseShift::SenseShift App;
-SenseShift::SenseShift* app = &App;
+extern Application App;
+Application* app = &App;
-static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTVISOR_SIZE;
-static const Position bhLayout[bhLayoutSize] = BH_LAYOUT_TACTVISOR;
+static const std::array<Position, BH_LAYOUT_TACTVISOR_SIZE> bhLayout = { BH_LAYOUT_TACTVISOR };
void setupMode()
{
// Configure PWM pins to their positions on the face
- auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
// clang-format off
- { new ActuatorPWM(32), new ActuatorPWM(33), new ActuatorPWM(25), new ActuatorPWM(26) },
+ { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
// clang-format on
});
- app->getHapticBody()->addTarget(Target::FaceFront, new VibroPlane_Closest(faceOutputs));
+ app->getVibroBody()->addTarget(Target::FaceFront, new FloatPlane_Closest(faceOutputs));
- app->getHapticBody()->setup();
+ app->getVibroBody()->setup();
auto* bhBleConnection = new BLE::Connection(
{
@@ -48,7 +47,7 @@ void setupMode()
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
- Decoder::applyPlain(app->getHapticBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
+ Decoder::applyPlain(app->getVibroBody(), value, bhLayout, Effect::Vibro, Target::FaceFront);
},
app
);
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index 3ebfca56..bded27d3 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -1,7 +1,7 @@
#include <og_constants.hpp>
#include <opengloves_task.hpp>
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/input/sensor/digital.hpp>
+#include <senseshift/arduino/input/sensor/binary.hpp>
#include <senseshift/arduino/output/actuator/servo.hpp>
#include <senseshift/calibration.hpp>
#include <senseshift/input/sensor.hpp>
diff --git a/firmware/senseshift.cpp b/firmware/senseshift.cpp
index 3ba2b1f7..d6445325 100644
--- a/firmware/senseshift.cpp
+++ b/firmware/senseshift.cpp
@@ -6,27 +6,29 @@
#include <Arduino.h>
#endif
-#include <senseshift/logging.hpp>
+#include <senseshift/core/logging.hpp>
namespace SenseShift {
- SenseShift::SenseShift()
+ static const char *const TAG = "application";
+
+ Application::Application()
{
- this->pHapticBody = new Body::Haptics::HapticBody();
+ this->vibro_body_ = new Body::Haptics::FloatBody ();
}
- void SenseShift::postEvent(const IEvent* event)
+ void Application::postEvent(const IEvent* event)
{
- log_i("Event dispatched at %u: %s (%p)", millis(), event->eventName.c_str(), event);
+ LOG_I(TAG, "Event dispatched at %u: %s (%p)", millis(), event->eventName.c_str(), event);
- for (auto* listener : this->eventListeners) {
+ for (const auto* listener : this->event_listeners_) {
listener->handleEvent(event);
}
delete event;
}
- void SenseShift::addEventListener(const IEventListener* listener)
+ void Application::addEventListener(const IEventListener* listener)
{
- this->eventListeners.push_back(listener);
+ this->event_listeners_.push_back(listener);
}
} // namespace SenseShift
diff --git a/include/senseshift.h b/include/senseshift.h
index 95c5603e..ec98103d 100644
--- a/include/senseshift.h
+++ b/include/senseshift.h
@@ -9,18 +9,18 @@
#include <vector>
namespace SenseShift {
- class SenseShift final : public IEventDispatcher {
- private:
- std::vector<const IEventListener*> eventListeners{};
- Body::Haptics::HapticBody* pHapticBody;
- ::SenseShift::Battery::IBatterySensor* battery;
-
+ class Application final : public IEventDispatcher {
public:
- SenseShift();
+ Application();
- Body::Haptics::HapticBody* getHapticBody() { return this->pHapticBody; };
+ [[nodiscard]] auto getVibroBody() const -> Body::Haptics::FloatBody* { return this->vibro_body_; };
void postEvent(const IEvent* event) override;
void addEventListener(const IEventListener* listener) override;
+
+ private:
+ std::vector<const IEventListener*> event_listeners_{};
+ Body::Haptics::FloatBody* vibro_body_;
+ Battery::IBatterySensor* battery_ = nullptr;
};
} // namespace SenseShift
diff --git a/lib/arduino/library.json b/lib/arduino/library.json
index 8601c003..8434426d 100644
--- a/lib/arduino/library.json
+++ b/lib/arduino/library.json
@@ -7,7 +7,6 @@
"adafruit/Adafruit Unified Sensor": "^1.1.4",
"adafruit/Adafruit PWM Servo Driver Library": "^2.4.0",
"adafruit/Adafruit INA219": "^1.2.1",
- "sparkfun/SparkFun MAX1704x Fuel Gauge Arduino Library": "^1.0.4",
- "madhephaestus/ESP32Servo": "^0.13.0"
+ "sparkfun/SparkFun MAX1704x Fuel Gauge Arduino Library": "^1.0.4"
}
}
diff --git a/lib/arduino/senseshift/arduino/components/serial_plotter.cpp b/lib/arduino/senseshift/arduino/components/serial_plotter.cpp
deleted file mode 100644
index 8cd48978..00000000
--- a/lib/arduino/senseshift/arduino/components/serial_plotter.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-#include "senseshift/arduino/components/serial_plotter.hpp"
-
-namespace SenseShift::Arduino {
- struct PlaneVisitor {
- const SenseShift::Body::Haptics::Target target;
- HardwareSerial* serial;
-
- void operator()(const SenseShift::Body::Haptics::VibroPlane* plane) const
- {
- for (const auto& [position, state] : *(plane->getActuatorStates())) {
- this->serial->printf("Output[%u][%ux%u]:%u, ", this->target, position.x, position.y, state.intensity);
- }
- }
- };
-
- template<typename _Tp>
- void SerialPlotter_OutputStates<_Tp>::run()
- {
- while (true) {
- for (const auto& [target, plane] : *output->getTargets()) {
- std::visit(PlaneVisitor{ target, this->serial }, plane);
- }
- this->serial->println();
-
- delay(this->sampleRate);
- }
- }
-} // namespace SenseShift::Arduino
diff --git a/lib/arduino/senseshift/arduino/components/serial_plotter.hpp b/lib/arduino/senseshift/arduino/components/serial_plotter.hpp
deleted file mode 100644
index 2cc04d92..00000000
--- a/lib/arduino/senseshift/arduino/components/serial_plotter.hpp
+++ /dev/null
@@ -1,65 +0,0 @@
-#pragma once
-
-#include <senseshift/body/haptics/body.hpp>
-#include <senseshift/freertos/task.hpp>
-
-#include <HardwareSerial.h>
-
-#ifndef SERIAL_PLOTTER_BAUD
-#define SERIAL_PLOTTER_BAUD 115200
-#endif // SERIAL_PLOTTER_BAUD
-
-namespace SenseShift::Arduino {
- /**
- * Component, that prints the current state of the output to the serial port in Arduino's Serial Plotter format
- *
- * @tparam _Tp the type of the serial port
- */
- template<class _Tp>
- class SerialPlotter_OutputStates : public ::SenseShift::FreeRTOS::Task<SerialPlotter_OutputStates<_Tp>> {
- static_assert(
- std::is_base_of<Print, _Tp>::value,
- "SerialPlotter_OutputStates only can be used with types, that inherit from Print"
- );
- friend class ::SenseShift::FreeRTOS::Task<SerialPlotter_OutputStates<_Tp>>;
-
- private:
- _Tp* serial;
- ::SenseShift::Body::Haptics::HapticBody* output;
- uint32_t sampleRate;
-
- void setup(void){};
- void run(void);
-
- public:
- SerialPlotter_OutputStates(
- _Tp& serial,
- ::SenseShift::Body::Haptics::HapticBody* output,
- uint32_t sampleRate,
- ::SenseShift::FreeRTOS::TaskConfig taskConfig = { "Serial Plotter", 2048, 1, tskNO_AFFINITY }
- ) :
- ::SenseShift::FreeRTOS::Task<SerialPlotter_OutputStates<_Tp>>(taskConfig),
- serial(&serial),
- output(output),
- sampleRate(sampleRate){};
- SerialPlotter_OutputStates(_Tp& serial, ::SenseShift::Body::Haptics::HapticBody* output) :
- SerialPlotter_OutputStates(serial, output, 100){};
-
- void begin() override
- {
- this->setup();
- ::SenseShift::FreeRTOS::Task<SerialPlotter_OutputStates<_Tp>>::begin();
- };
- };
-
- /**
- * Specialized setup for HardwareSerial
- */
- template<>
- inline void SerialPlotter_OutputStates<HardwareSerial>::setup()
- {
- this->serial->begin(SERIAL_PLOTTER_BAUD);
- }
-
- template class SerialPlotter_OutputStates<HardwareSerial>;
-} // namespace SenseShift::Arduino
diff --git a/lib/arduino/senseshift/arduino/input/sensor/analog.hpp b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
index 4dabd41b..122b1906 100644
--- a/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
+++ b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
@@ -5,28 +5,29 @@
#include <Arduino.h>
namespace SenseShift::Arduino::Input {
- template<bool invert = false>
- class AnalogSensor : public ::SenseShift::Input::ISimpleSensor<uint16_t> {
- private:
- uint8_t pin;
+ using IAnalogSensor = ::SenseShift::Input::ISimpleSensor<uint16_t>;
+
+ template<bool Invert = false>
+ class AnalogSensor : public IAnalogSensor {
+ uint8_t pin_;
public:
- AnalogSensor(uint8_t pin) : pin(pin) {}
+ AnalogSensor(const uint8_t pin) : pin_(pin) {}
- void init() override { pinMode(this->pin, INPUT); };
+ void init() override { pinMode(this->pin_, INPUT); };
- uint16_t getValue() override;
+ [[nodiscard]] auto getValue() -> uint16_t override;
};
template<>
- uint16_t AnalogSensor<false>::getValue()
+ [[nodiscard]] inline auto AnalogSensor<false>::getValue() -> uint16_t
{
- return analogRead(this->pin);
+ return analogRead(this->pin_);
}
template<>
- uint16_t AnalogSensor<true>::getValue()
+ [[nodiscard]] inline auto AnalogSensor<true>::getValue() -> uint16_t
{
- return ANALOG_MAX - analogRead(this->pin);
+ return ANALOG_MAX - analogRead(this->pin_);
}
} // namespace SenseShift::Arduino::Input
diff --git a/lib/arduino/senseshift/arduino/input/sensor/binary.hpp b/lib/arduino/senseshift/arduino/input/sensor/binary.hpp
new file mode 100644
index 00000000..44783b98
--- /dev/null
+++ b/lib/arduino/senseshift/arduino/input/sensor/binary.hpp
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <senseshift/input/sensor.hpp>
+
+#include <Arduino.h>
+
+namespace SenseShift::Arduino::Input {
+ template<bool Invert = false>
+ class BinarySensor : public IBinarySensor {
+ uint8_t pin_;
+
+ public:
+ BinarySensor(const uint8_t pin) : pin_(pin) {}
+
+ void init() override { pinMode(this->pin_, INPUT_PULLUP); };
+
+ [[nodiscard]] auto getValue() -> bool override;
+ };
+
+ template<>
+ [[nodiscard]] inline auto BinarySensor<false>::getValue() -> bool {
+ return digitalRead(this->pin_) == LOW;
+ }
+
+ template<>
+ [[nodiscard]] inline auto BinarySensor<true>::getValue() -> bool {
+ return digitalRead(this->pin_) == HIGH;
+ }
+} // namespace SenseShift::Arduino::Input
diff --git a/lib/arduino/senseshift/arduino/input/sensor/digital.hpp b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
deleted file mode 100644
index 3cb68b3f..00000000
--- a/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
+++ /dev/null
@@ -1,34 +0,0 @@
-#pragma once
-
-#include <senseshift/input/sensor.hpp>
-
-#include <Arduino.h>
-
-namespace SenseShift::Arduino::Input {
- using IDigitalSensor = ::SenseShift::Input::ISimpleSensor<bool>;
-
- template<bool invert = false>
- class DigitalSensor : public IDigitalSensor {
- private:
- uint8_t pin;
-
- public:
- DigitalSensor(uint8_t pin) : pin(pin) {}
-
- void init() override { pinMode(this->pin, INPUT_PULLUP); };
-
- bool getValue() override;
- };
-
- template<>
- bool DigitalSensor<false>::getValue()
- {
- return digitalRead(this->pin) == LOW;
- }
-
- template<>
- bool DigitalSensor<true>::getValue()
- {
- return digitalRead(this->pin) == HIGH;
- }
-} // namespace SenseShift::Arduino::Input
diff --git a/lib/arduino/senseshift/arduino/output/actuator/pca9685.hpp b/lib/arduino/senseshift/arduino/output/actuator/pca9685.hpp
deleted file mode 100644
index 4d28f92d..00000000
--- a/lib/arduino/senseshift/arduino/output/actuator/pca9685.hpp
+++ /dev/null
@@ -1,26 +0,0 @@
-#pragma once
-
-#include <senseshift/output/actuator.hpp>
-#include <senseshift/utility.hpp>
-
-#include <Adafruit_PWMServoDriver.h>
-#include <Arduino.h>
-#include <Wire.h>
-
-namespace SenseShift::Arduino::Output {
- class ActuatorPCA9685 : public ::SenseShift::Output::IActuator<std::uint16_t> {
- public:
- static inline constexpr const std::uint16_t MAX_INTENSITY = 4095;
-
- ActuatorPCA9685(Adafruit_PWMServoDriver* driver, const std::uint8_t num) : driver(driver), num(num){};
-
- void writeOutput(std::uint16_t intensity) override
- {
- this->driver->setPin(this->num, ::SenseShift::simpleMap<std::uint16_t>(intensity, MAX_INTENSITY, 4095));
- }
-
- private:
- Adafruit_PWMServoDriver* driver;
- std::uint8_t num;
- };
-} // namespace SenseShift::Arduino::Output
diff --git a/lib/arduino/senseshift/arduino/output/actuator/pwm.hpp b/lib/arduino/senseshift/arduino/output/actuator/pwm.hpp
deleted file mode 100644
index 5f2a595e..00000000
--- a/lib/arduino/senseshift/arduino/output/actuator/pwm.hpp
+++ /dev/null
@@ -1,47 +0,0 @@
-#pragma once
-
-#include <senseshift/output/actuator.hpp>
-#include <senseshift/utility.hpp>
-
-#include <Arduino.h>
-
-namespace SenseShift::Arduino::Output {
- class ActuatorPWM : public ::SenseShift::Output::IActuator<std::uint16_t> {
- public:
- static inline constexpr const std::uint16_t MAX_INTENSITY = 4095;
-
- ActuatorPWM(const std::uint8_t pin, const double freq = 60, const std::uint8_t resolution = 12) :
- pin(pin), freq(freq), resolution(resolution){};
-
- void setup() override
- {
- this->chan = CHANNELS++;
-
-#if defined(ESP32)
- ledcSetup(this->chan, this->freq, this->resolution);
- ledcAttachPin(this->pin, this->chan);
-#else
- pinMode(this->pin, OUTPUT);
-#endif
- }
-
- void writeOutput(std::uint16_t intensity) override
- {
-#if defined(ESP32)
- ledcWrite(
- chan,
- ::SenseShift::simpleMap<std::uint16_t>(intensity, MAX_INTENSITY, (1 << this->resolution) - 1)
- );
-#else
- // Arduino only supports 8-bit PWM
- analogWrite(this->pin, ::SenseShift::simpleMap<std::uint16_t>(intensity, MAX_INTENSITY, (1 << 8) - 1));
-#endif
- }
-
- private:
- static inline std::uint8_t CHANNELS = 0;
- std::uint8_t pin, chan;
- double freq;
- std::uint8_t resolution;
- };
-}; // namespace SenseShift::Arduino::Output
diff --git a/lib/arduino/senseshift/arduino/output/analog.hpp b/lib/arduino/senseshift/arduino/output/analog.hpp
new file mode 100644
index 00000000..bcefae41
--- /dev/null
+++ b/lib/arduino/senseshift/arduino/output/analog.hpp
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <cstdint>
+
+#include <Arduino.h>
+
+#include <senseshift/output/output.hpp>
+
+namespace SenseShift::Arduino::Output {
+ /// Arduino analog output
+ class AnalogOutput : public ::SenseShift::Output::FloatOutput {
+ public:
+ static inline constexpr std::uint16_t MAX_INTENSITY = 255;
+
+ explicit AnalogOutput(const std::uint8_t pin) : pin_(pin) {
+ }
+
+ void init() override {
+ pinMode(this->pin_, OUTPUT);
+ }
+
+ void writeState(const float value) override {
+ analogWrite(this->pin_, value * MAX_INTENSITY);
+ }
+
+ private:
+ uint8_t pin_;
+ };
+} // namespace SenseShift::Arduino::Output
diff --git a/lib/arduino/senseshift/arduino/output/pca9685.hpp b/lib/arduino/senseshift/arduino/output/pca9685.hpp
new file mode 100644
index 00000000..66798efd
--- /dev/null
+++ b/lib/arduino/senseshift/arduino/output/pca9685.hpp
@@ -0,0 +1,35 @@
+#pragma once
+
+#include <cstdint>
+
+#include <senseshift/output/output.hpp>
+#include <senseshift/utility.hpp>
+
+#include <Adafruit_PWMServoDriver.h>
+#include <Arduino.h>
+#include <Wire.h>
+
+namespace SenseShift::Arduino::Output {
+ class PCA9685Output : public ::SenseShift::Output::FloatOutput {
+ public:
+ static inline constexpr std::uint16_t MAX_INTENSITY = 4095;
+
+ PCA9685Output(Adafruit_PWMServoDriver* driver, const std::uint8_t num) : driver_(driver), channel_(num){};
+
+ void init() override {
+ this->driver_->begin();
+ }
+
+ void writeState(const ValueType intensity) override
+ {
+ this->driver_->setPin(
+ this->channel_,
+ intensity * MAX_INTENSITY
+ );
+ }
+
+ private:
+ Adafruit_PWMServoDriver* driver_;
+ std::uint8_t channel_;
+ };
+} // namespace SenseShift::Arduino::Output
diff --git a/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp b/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
new file mode 100644
index 00000000..a74eba96
--- /dev/null
+++ b/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
@@ -0,0 +1,57 @@
+#pragma once
+
+#include <cstdint>
+
+#include <esp32-hal-ledc.h>
+
+#include <senseshift/output/output.hpp>
+#include <senseshift/core/logging.hpp>
+
+namespace SenseShift::Arduino::Output {
+ static const char *const TAG = "output.ledc";
+
+ /// Arduino analog output
+ class LedcOutput : public ::SenseShift::Output::FloatOutput {
+ public:
+ explicit LedcOutput(
+ const std::uint8_t pin,
+ const std::uint8_t analog_resolution = 12,
+ const std::uint32_t analog_frequency = 60
+ ) : pin_(pin), analog_resolution_(analog_resolution), analog_frequency_(analog_frequency) {}
+
+ void init() override {
+ pinMode(this->pin_, OUTPUT);
+ this->channel_ = findChannel(this->pin_);
+
+ LOG_D(TAG, "GPIO %d - Setting up Channel %d", this->pin_, this->channel_);
+ if(ledcSetup(this->channel_, this->analog_frequency_, this->analog_resolution_) == 0){
+ LOG_E(TAG, "setup failed (freq = %u, resolution = %u). Try setting different resolution or frequency", this->analog_frequency_, this->analog_resolution_);
+ return;
+ }
+ ledcAttachPin(this->pin_, this->channel_);
+ }
+
+ [[nodiscard]] auto getMaxValue() const -> std::uint32_t {
+ return (1 << analog_resolution_) - 1;
+ }
+
+ void writeState(const float value) override {
+ const auto duty = static_cast<std::uint32_t>(value * this->getMaxValue());
+ LOG_V(TAG, "GPIO %d - Writing %d to Channel %d", this->pin_, duty, this->channel_);
+ ledcWrite(this->channel_, duty);
+ };
+
+ protected:
+ static auto findChannel(std::uint8_t /*pin*/) -> std::int8_t {
+ return CHANNELS++;
+ }
+
+ private:
+ static inline std::uint8_t CHANNELS = 0;
+
+ std::uint8_t pin_;
+ std::int8_t channel_ = -1;
+ std::uint8_t analog_resolution_;
+ std::uint32_t analog_frequency_;
+ };
+} // namespace SenseShift::Arduino::Output
diff --git a/lib/battery/senseshift/battery.hpp b/lib/battery/senseshift/battery.hpp
index a89455fb..4de3c867 100644
--- a/lib/battery/senseshift/battery.hpp
+++ b/lib/battery/senseshift/battery.hpp
@@ -1,10 +1,64 @@
#pragma once
-#include <senseshift/events.hpp>
-
#include <cstdint>
+#include <frozen/map.h>
+
+#include <senseshift/events.hpp>
+
namespace SenseShift::Battery {
+ // Source: https://blog.ampow.com/lipo-voltage-chart/
+ inline static const auto voltageToPercents_1s = frozen::make_map<float, float>({
+ // clang-format off
+ { 4.2, 1.0 },
+ { 4.15, 0.95 },
+ { 4.11, 0.9 },
+ { 4.08, 0.85 },
+ { 4.02, 0.8 },
+ { 3.98, 0.75 },
+ { 3.95, 0.7 },
+ { 3.91, 0.65 },
+ { 3.87, 0.6 },
+ { 3.85, 0.55 },
+ { 3.84, 0.5 },
+ { 3.82, 0.45 },
+ { 3.8, 0.4 },
+ { 3.79, 0.35 },
+ { 3.77, 0.3 },
+ { 3.75, 0.25 },
+ { 3.73, 0.2 },
+ { 3.71, 0.15 },
+ { 3.69, 0.1 },
+ { 3.61, 0.05 },
+ { 3.27, 0.0 },
+ // clang-format on
+ });
+ inline static const auto voltageToPercents_2s = frozen::make_map<float, float>({
+ // clang-format off
+ { 8.4, 1.0 },
+ { 8.3, 0.95 },
+ { 8.22, 0.9 },
+ { 8.16, 0.85 },
+ { 8.05, 0.8 },
+ { 7.97, 0.75 },
+ { 7.91, 0.7 },
+ { 7.83, 0.65 },
+ { 7.75, 0.6 },
+ { 7.71, 0.55 },
+ { 7.67, 0.5 },
+ { 7.63, 0.45 },
+ { 7.59, 0.4 },
+ { 7.57, 0.35 },
+ { 7.53, 0.3 },
+ { 7.49, 0.25 },
+ { 7.45, 0.2 },
+ { 7.41, 0.15 },
+ { 7.37, 0.1 },
+ { 7.22, 0.05 },
+ { 6.55, 0.0 },
+ // clang-format on
+ });
+
struct BatteryState {
uint8_t level;
};
diff --git a/lib/battery/senseshift/battery/sensor.hpp b/lib/battery/senseshift/battery/sensor.hpp
index 01b1ae96..ff05f5af 100644
--- a/lib/battery/senseshift/battery/sensor.hpp
+++ b/lib/battery/senseshift/battery/sensor.hpp
@@ -20,7 +20,7 @@ namespace SenseShift::Battery {
public:
NaiveBatterySensor(::SenseShift::Input::ISimpleSensor<uint16_t>* sensor) : sensor(sensor){};
- BatteryState getValue() override
+ [[nodiscard]] auto getValue() -> BatteryState override
{
return { .level =
static_cast<uint8_t>(::SenseShift::simpleMap<uint16_t>(this->sensor->getValue(), 4095, 255)) };
@@ -28,7 +28,7 @@ namespace SenseShift::Battery {
void init() override { this->sensor->init(); }
private:
- ::SenseShift::Input::ISimpleSensor<uint16_t>* sensor;
+ ISimpleSensor<uint16_t> * sensor;
};
class BatterySensor : public ::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState> {
@@ -40,7 +40,7 @@ namespace SenseShift::Battery {
void tick() override
{
this->::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState>::tick();
- this->eventDispatcher->postEvent(new ::SenseShift::Battery::BatteryLevelEvent(this->value));
+ this->eventDispatcher->postEvent(new ::SenseShift::Battery::BatteryLevelEvent(this->getValue()));
}
private:
diff --git a/lib/bhaptics/senseshift/bh/devices.hpp b/lib/bhaptics/senseshift/bh/devices.hpp
index f4c168de..7b051c85 100644
--- a/lib/bhaptics/senseshift/bh/devices.hpp
+++ b/lib/bhaptics/senseshift/bh/devices.hpp
@@ -1,6 +1,11 @@
#pragma once
+#include <array>
+#include <tuple>
+
#include <hand_interface.hpp>
+
+#include <senseshift/body/haptics/plane.hpp>
#include <senseshift/body/haptics/body.hpp>
#pragma region BH_DEVICE_TACTSUITX40
@@ -18,8 +23,8 @@
// X * Y for front and back
#define BH_LAYOUT_TACTSUITX40_SIZE 40
// clang-format off
-#define BH_LAYOUT_TACTSUITX40 { \
- /* Front, left part */ \
+#define BH_LAYOUT_TACTSUITX40 { \
+ /* Front, left part */ \
/* 0 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
/* 1 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
/* 2 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
@@ -30,8 +35,8 @@
/* 7 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
/* 8 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
/* 9 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
- \
- /* Back */ \
+ \
+ /* Back */ \
/* 11 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 0) }, \
/* 11 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 0) }, \
/* 12 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 1) }, \
@@ -42,7 +47,7 @@
/* 17 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 3) }, \
/* 18 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(0, 4) }, \
/* 19 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(1, 4) }, \
- \
+ \
/* 20 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
/* 21 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
/* 22 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
@@ -53,8 +58,8 @@
/* 27 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 3) }, \
/* 28 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 4) }, \
/* 29 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 4) }, \
- \
- /* Front, again... Now right part */ \
+ \
+ /* Front, again... Now right part */ \
/* 30 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 0) }, \
/* 31 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(3, 0) }, \
/* 32 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX40_MAKE_POINT(2, 1) }, \
@@ -85,51 +90,51 @@
// X16 suit uses the same packets structure as x40 suit and performs motor grouping in firmware
#define BH_LAYOUT_TACTSUITX16_SIZE 40
// clang-format off
-#define BH_LAYOUT_TACTSUITX16 { \
- /* Front, left part */ \
+#define BH_LAYOUT_TACTSUITX16 { \
+ /* Front, left part */ \
/* 0 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 0 */ \
/* 1 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 1 */ \
/* 2 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 4 */ \
/* 3 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 5 */ \
- \
+ \
/* 4 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 8 */ \
/* 5 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 9 */ \
/* 6 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 12 */ \
/* 7 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 13 */ \
/* 8 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 16 */ \
/* 9 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 17 */ \
- \
- /* Back */ \
+ \
+ /* Back */ \
/* 10 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 0 */ \
/* 11 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 1 */ \
/* 12 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 0) }, /* 4 */ \
/* 13 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 0) }, /* 5 */ \
- \
+ \
/* 14 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 8 */ \
/* 15 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 9 */ \
/* 16 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 12 */ \
/* 17 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 13 */ \
/* 18 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(0, 1) }, /* 16 */ \
/* 19 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(1, 1) }, /* 17 */ \
- \
+ \
/* 20 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 2 */ \
/* 21 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 3 */ \
/* 22 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 4 */ \
/* 23 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 7 */ \
- \
+ \
/* 24 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 10 */ \
/* 25 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 11 */ \
/* 26 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 14 */ \
/* 27 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 15 */ \
/* 28 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 18 */ \
/* 29 */ { Target::ChestBack, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 19 */ \
- \
- /* Front, again... Now right part */ \
+ \
+ /* Front, again... Now right part */ \
/* 30 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 2 */ \
/* 31 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 3 */ \
/* 32 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 0) }, /* 4 */ \
/* 33 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 0) }, /* 7 */ \
- \
+ \
/* 34 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 10 */ \
/* 35 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(3, 1) }, /* 11 */ \
/* 36 */ { Target::ChestFront, BH_LAYOUT_TACTSUITX16_MAKE_POINT(2, 1) }, /* 14 */ \
@@ -290,62 +295,64 @@ namespace SenseShift::BH {
using HandSide = ::SenseShift::Body::Hands::HandSide;
- using OutputLayout = std::tuple<Target, Position>;
+ using OutputLayout = std::tuple<::SenseShift::Body::Haptics::Target, SenseShift::Body::Haptics::Position>;
// TactGlove Wrist motor position
static constexpr const Position WRIST_MOTOR_POSITION(127, 191);
- static constexpr const OutputLayout TactGloveLeftLayout[] = BH_LAYOUT_TACTGLOVE_LEFT;
- static constexpr const OutputLayout TactGloveRightLayout[] = BH_LAYOUT_TACTGLOVE_RIGHT;
+ static constexpr const std::array<OutputLayout, BH_LAYOUT_TACTGLOVE_SIZE> TactGloveLeftLayout = { BH_LAYOUT_TACTGLOVE_LEFT };
+ static constexpr const std::array<OutputLayout, BH_LAYOUT_TACTGLOVE_SIZE> TactGloveRightLayout = { BH_LAYOUT_TACTGLOVE_RIGHT };
inline void addTactGloveActuators(
- HapticBody* hapticBody,
+ FloatBody* hapticBody,
const HandSide side,
- VibroPlane::Actuator* const thumbActuator,
- VibroPlane::Actuator* const indexActuator,
- VibroPlane::Actuator* const middleActuator,
- VibroPlane::Actuator* const ringActuator,
- VibroPlane::Actuator* const littleActuator,
- VibroPlane::Actuator* const wristActuator
- )
- {
- const OutputLayout(&layout)[6] = (side == HandSide::Left) ? TactGloveLeftLayout : TactGloveRightLayout;
-
- if (thumbActuator != nullptr) {
+ FloatBody::Plane::Actuator* const thumb,
+ FloatBody::Plane::Actuator* const index,
+ FloatBody::Plane::Actuator* const middle,
+ FloatBody::Plane::Actuator* const ring,
+ FloatBody::Plane::Actuator* const little,
+ FloatBody::Plane::Actuator* const wrist
+ ) {
+ const auto& layout = (side == HandSide::Left) ? TactGloveLeftLayout : TactGloveRightLayout;
+
+ if (thumb != nullptr) {
hapticBody->addTarget(
std::get<0>(layout[0]),
- new VibroPlane({ { std::get<1>(layout[0]), thumbActuator } })
+ new FloatPlane({ {std::get<1>(layout[0]), thumb } })
);
}
- if (indexActuator != nullptr) {
+ if (index != nullptr) {
hapticBody->addTarget(
std::get<0>(layout[1]),
- new VibroPlane({ { std::get<1>(layout[1]), indexActuator } })
+ new FloatPlane({ {std::get<1>(layout[1]), index } })
);
}
- if (middleActuator != nullptr) {
+ if (middle != nullptr) {
hapticBody->addTarget(
std::get<0>(layout[2]),
- new VibroPlane({ { std::get<1>(layout[2]), middleActuator } })
+ new FloatPlane({ {std::get<1>(layout[2]), middle } })
);
}
- if (ringActuator != nullptr) {
- hapticBody->addTarget(std::get<0>(layout[3]), new VibroPlane({ { std::get<1>(layout[3]), ringActuator } }));
+ if (ring != nullptr) {
+ hapticBody->addTarget(
+ std::get<0>(layout[3]),
+ new FloatPlane({ {std::get<1>(layout[3]), ring } })
+ );
}
- if (littleActuator != nullptr) {
+ if (little != nullptr) {
hapticBody->addTarget(
std::get<0>(layout[4]),
- new VibroPlane({ { std::get<1>(layout[4]), littleActuator } })
+ new FloatPlane({ {std::get<1>(layout[4]), little } })
);
}
- if (wristActuator != nullptr) {
+ if (wrist != nullptr) {
hapticBody->addTarget(
std::get<0>(layout[5]),
- new VibroPlane({ { std::get<1>(layout[5]), wristActuator } })
+ new FloatPlane({ {std::get<1>(layout[5]), wrist } })
);
}
}
diff --git a/lib/bhaptics/senseshift/bh/encoding.hpp b/lib/bhaptics/senseshift/bh/encoding.hpp
index 273b98c7..3b05a54f 100644
--- a/lib/bhaptics/senseshift/bh/encoding.hpp
+++ b/lib/bhaptics/senseshift/bh/encoding.hpp
@@ -1,20 +1,24 @@
#pragma once
+#include <algorithm>
+#include <array>
+#include <cstdint>
#include <cstring>
+#include <string>
+#include <tuple>
+
+#include <senseshift/body/haptics/interface.hpp>
#include <senseshift/body/haptics/body.hpp>
namespace SenseShift::BH {
class Decoder {
public:
using VibroEffectData = ::SenseShift::Body::Haptics::VibroEffectData;
- using EffectData = ::SenseShift::Body::Haptics::EffectData;
using Effect = ::SenseShift::Body::Haptics::Effect;
using Target = ::SenseShift::Body::Haptics::Target;
using Position = ::SenseShift::Body::Haptics::Position;
- using HapticBody = ::SenseShift::Body::Haptics::HapticBody;
-
using OutputLayout = std::tuple<Target, Position>;
static constexpr size_t VEST_LAYOUT_SIZE = 40;
@@ -22,29 +26,33 @@ namespace SenseShift::BH {
template<size_t N>
static void applyPlain(
- HapticBody* output, const uint8_t (&value)[N], const OutputLayout (&layout)[N], const Effect effect
- )
- {
+ FloatBody* output,
+ const std::array<std::uint8_t, N>& value,
+ const std::array<OutputLayout, N>& layout,
+ const Effect effect
+ ) {
for (size_t i = 0; i < N; i++) {
const auto [target, position] = layout[i];
- const uint8_t byte = value[i];
+ const std::uint8_t byte = value[i];
- output->effect({
- .effect = effect,
- .target = target,
- .position = position,
- .data = effectDataFromByte(effect, byte),
- });
+ output->effect(
+ target,
+ position,
+ static_cast<FloatBody::Plane::Value>(effectDataFromByte(byte))
+ );
}
}
template<size_t N>
- static void
- applyPlain(HapticBody* output, std::string& value, const OutputLayout (&layout)[N], const Effect effect)
- {
- std::uint8_t buf[N];
+ static void applyPlain(
+ FloatBody* output,
+ std::string& value,
+ const std::array<OutputLayout, N>& layout,
+ const Effect effect
+ ) {
+ std::array<std::uint8_t, N> buf{};
std::size_t copyLength = std::min(value.size(), sizeof(buf));
- std::memcpy(buf, value.c_str(), copyLength);
+ std::memcpy(buf.data(), value.c_str(), copyLength);
applyPlain(output, buf, layout, effect);
}
@@ -54,34 +62,35 @@ namespace SenseShift::BH {
*/
template<size_t N>
static void applyPlain(
- HapticBody* output,
- const uint8_t (&value)[N],
- const Position (&layout)[N],
+ FloatBody* output,
+ const std::array<std::uint8_t, N>& value,
+ const std::array<Position, N>& layout,
const Effect effect,
const Target target
- )
- {
+ ) {
for (size_t i = 0; i < N; i++) {
const auto position = layout[i];
const uint8_t byte = value[i];
- output->effect({
- .effect = effect,
- .target = target,
- .position = position,
- .data = effectDataFromByte(effect, byte),
- });
+ output->effect(
+ target,
+ position,
+ static_cast<FloatBody::Plane::Value>(effectDataFromByte(byte))
+ );
}
}
template<size_t N>
static void applyPlain(
- HapticBody* output, std::string& value, const Position (&layout)[N], const Effect effect, const Target target
- )
- {
- std::uint8_t buf[N];
+ FloatBody* output,
+ std::string& value,
+ const std::array<Position, N>& layout,
+ const Effect effect,
+ const Target target
+ ) {
+ std::array<std::uint8_t, N> buf{};
std::size_t copyLength = std::min(value.size(), sizeof(buf));
- std::memcpy(buf, value.c_str(), copyLength);
+ std::memcpy(buf.data(), value.c_str(), copyLength);
applyPlain(output, buf, layout, effect, target);
}
@@ -90,32 +99,35 @@ namespace SenseShift::BH {
* Apply vest-encoded data to the output.
*/
static void applyVest(
- HapticBody* output, const uint8_t (&value)[VEST_PAYLOAD_SIZE], const OutputLayout (&layout)[VEST_LAYOUT_SIZE]
- )
- {
+ FloatBody* output,
+ const std::array<uint8_t, VEST_PAYLOAD_SIZE>& value,
+ const std::array<OutputLayout, VEST_LAYOUT_SIZE>& layout
+ ) {
for (size_t i = 0; i < VEST_PAYLOAD_SIZE; i++) {
- uint8_t byte = value[i];
- uint actIndex = i * 2;
- output->effect({
- .effect = Effect::Vibro,
- .target = std::get<0>(layout[actIndex]),
- .position = std::get<1>(layout[actIndex]),
- .data = effectDataFromByte(Effect::Vibro, ((byte >> 4) & 0xf), 15),
- });
- output->effect({
- .effect = Effect::Vibro,
- .target = std::get<0>(layout[actIndex + 1]),
- .position = std::get<1>(layout[actIndex + 1]),
- .data = effectDataFromByte(Effect::Vibro, (byte & 0xf), 15),
- });
+ const std::uint8_t byte = value[i];
+ const size_t actIndex = i * 2;
+
+ output->effect(
+ std::get<0>(layout[actIndex]),
+ std::get<1>(layout[actIndex]),
+ static_cast<FloatBody::Plane::Value>(effectDataFromByte(((byte >> 4) & 0xf), 15))
+ );
+ output->effect(
+ std::get<0>(layout[actIndex + 1]),
+ std::get<1>(layout[actIndex + 1]),
+ static_cast<FloatBody::Plane::Value>(effectDataFromByte((byte & 0xf), 15).getIntensity())
+ );
}
}
- static void applyVest(HapticBody* output, std::string& value, const OutputLayout (&layout)[VEST_LAYOUT_SIZE])
- {
- std::uint8_t buf[VEST_PAYLOAD_SIZE];
- std::size_t copyLength = std::min(value.size(), sizeof(buf));
- std::memcpy(buf, value.c_str(), copyLength);
+ static void applyVest(
+ FloatBody* output,
+ std::string& value,
+ const std::array<OutputLayout, VEST_LAYOUT_SIZE>& layout
+ ) {
+ std::array<std::uint8_t, VEST_PAYLOAD_SIZE> buf{};
+ const size_t copyLength = std::min(value.size(), sizeof(buf));
+ std::memcpy(buf.data(), value.c_str(), copyLength);
applyVest(output, buf, layout);
}
@@ -125,18 +137,17 @@ namespace SenseShift::BH {
*/
template<size_t N>
static void applyVestGrouped(
- HapticBody* output,
- const uint8_t (&value)[VEST_PAYLOAD_SIZE],
- const OutputLayout (&layout)[VEST_LAYOUT_SIZE],
- const uint8_t (&layoutGroups)[N]
- )
- {
- uint8_t result[VEST_LAYOUT_SIZE];
+ FloatBody* output,
+ const std::array<std::uint8_t, VEST_PAYLOAD_SIZE>& value,
+ const std::array<OutputLayout, VEST_LAYOUT_SIZE>& layout,
+ const std::array<std::uint8_t, N>& layoutGroups
+ ) {
+ std::array<std::uint8_t, VEST_LAYOUT_SIZE> result{};
// Unpack values
for (auto i = 0; i < VEST_PAYLOAD_SIZE; i++) {
- uint8_t byte = value[i];
- uint actIndex = i * 2;
+ const std::uint8_t byte = value[i];
+ const size_t actIndex = i * 2;
result[actIndex] = (byte >> 4) & 0xf;
result[actIndex + 1] = (byte & 0xf);
@@ -164,51 +175,39 @@ namespace SenseShift::BH {
for (uint8_t i = 0; i < VEST_LAYOUT_SIZE; i++) {
// take only meaningful values
- if (!::SenseShift::contains(layoutGroups, VEST_LAYOUT_SIZE, i)) {
+ if (std::find(layoutGroups.begin(), layoutGroups.end(), i) == layoutGroups.end()) {
continue;
}
const auto target = std::get<0>(layout[i]);
const auto position = std::get<1>(layout[i]);
- output->effect({
- .effect = Effect::Vibro,
- .target = target,
- .position = position,
- .data = effectDataFromByte(Effect::Vibro, result[i], 15),
- });
+ output->effect(
+ target,
+ position,
+ static_cast<FloatBody::Plane::Value>(effectDataFromByte(result[i], 15))
+ );
}
}
template<size_t N>
static void applyVestGrouped(
- HapticBody* output,
+ FloatBody* output,
std::string& value,
- const OutputLayout (&layout)[VEST_LAYOUT_SIZE],
- const uint8_t (&layoutGroups)[N]
- )
- {
- std::uint8_t buf[VEST_PAYLOAD_SIZE];
- std::size_t copyLength = std::min(value.size(), sizeof(buf));
- std::memcpy(buf, value.c_str(), copyLength);
+ const std::array<OutputLayout, VEST_LAYOUT_SIZE>& layout,
+ const std::array<std::uint8_t, N>& layoutGroups
+ ) {
+ std::array<std::uint8_t, VEST_PAYLOAD_SIZE> buf{};
+ const size_t copyLength = std::min(value.size(), sizeof(buf));
+ std::memcpy(buf.data(), value.c_str(), copyLength);
applyVestGrouped(output, buf, layout, layoutGroups);
}
private:
- static const EffectData
- effectDataFromByte(const Effect effect, const uint8_t byte, const uint8_t maxValue = 100)
+ static auto effectDataFromByte(const uint8_t byte, const uint8_t maxValue = 100) -> VibroEffectData
{
- switch (effect) {
- case Effect::Vibro:
- return VibroEffectData(::SenseShift::simpleMap<VibroEffectData::Intensity>(
- byte,
- maxValue,
- VibroEffectData::INTENSITY_MAX
- ));
- default:
- throw std::runtime_error("Unknown effect");
- }
+ return VibroEffectData(byte / maxValue);
}
};
} // namespace SenseShift::BH
diff --git a/lib/core/senseshift/core/component.hpp b/lib/core/senseshift/core/component.hpp
new file mode 100644
index 00000000..8fae06dd
--- /dev/null
+++ b/lib/core/senseshift/core/component.hpp
@@ -0,0 +1,33 @@
+#pragma once
+
+namespace SenseShift {
+ class IInitializable {
+ public:
+ virtual void init() = 0;
+ };
+
+ class ITickable {
+ public:
+ virtual void tick() = 0;
+ };
+
+ class Component : public IInitializable, public ITickable {
+ public:
+ /// @brief Initialize the component.
+ ///
+ /// Where the component's initialization should happen.
+ /// Analogous to Arduino's setup(). This method is guaranteed to only be called once.
+ ///
+ /// Defaults to doing nothing.
+ void init() override {}
+
+ /// @brief Tick the component.
+ ///
+ /// This method will be called repeatedly.
+ /// Analogous to Arduino's loop(). init() is guaranteed to be called before this.
+ ///
+ /// Defaults to doing nothing.
+ void tick() override {}
+ };
+} // namespace SenseShift
+
diff --git a/lib/core/senseshift/core/helpers.hpp b/lib/core/senseshift/core/helpers.hpp
new file mode 100644
index 00000000..8a68a2fb
--- /dev/null
+++ b/lib/core/senseshift/core/helpers.hpp
@@ -0,0 +1,59 @@
+#pragma once
+
+#include <type_traits>
+
+namespace SenseShift {
+ /// @name Mathematics
+ /// @{
+
+ /// Linearly interpolate between \p start and \p end by \p completion (between 0 and 1).
+ constexpr auto lerp(const float completion, const float start, const float end) -> float
+ {
+ return start + (end - start) * completion;
+ }
+
+ /// Remap \p value from the range (\p min, \p max) to (\p min_out, \p max_out).
+ ///
+ /// \tparam Tp The output type.
+ /// \tparam Up The input type.
+ ///
+ /// \param value The value to remap.
+ /// \param min The minimum value of the input range.
+ /// \param max The maximum value of the input range.
+ /// \param min_out The minimum value of the output range.
+ /// \param max_out The maximum value of the output range.
+ ///
+ /// \return The remapped value.
+ template<typename Tp, typename Up>
+ constexpr auto remap(Up value, Up min, Up max, Tp min_out, Tp max_out) -> Tp
+ {
+ static_assert(std::is_arithmetic_v<Up>, "Type must be arithmetic");
+ static_assert(std::is_arithmetic_v<Tp>, "Type must be arithmetic");
+
+ return (value - min) * (max_out - min_out) / (max - min) + min_out;
+ }
+
+
+ /// Remap \p value from the range (0, \p max) to (0, \p max_out).
+ ///
+ /// \tparam Tp The output type.
+ /// \tparam Up The input type.
+ ///
+ /// \param value The value to remap.
+ /// \param max The maximum value of the input range.
+ /// \param max_out The maximum value of the output range.
+ ///
+ /// \return The remapped value.
+ ///
+ /// \note This is a simplified version of remap() where the minimum values are 0.
+ template<typename Tp, typename Up>
+ constexpr auto remap_simple(Up value, Up max, Tp max_out) noexcept -> Tp
+ {
+ static_assert(std::is_arithmetic_v<Up>, "Type must be arithmetic");
+ static_assert(std::is_arithmetic_v<Tp>, "Type must be arithmetic");
+
+ return value * max_out / max;
+ }
+
+ /// @}
+} // namespace SenseShift
\ No newline at end of file
diff --git a/lib/core/senseshift/core/logging.hpp b/lib/core/senseshift/core/logging.hpp
new file mode 100644
index 00000000..647965ef
--- /dev/null
+++ b/lib/core/senseshift/core/logging.hpp
@@ -0,0 +1,40 @@
+#pragma once
+
+#if defined(ESP32)
+
+#include <esp32-hal-log.h>
+#define LOG_E(tag, format, ...) ESP_LOGE(tag, format, ##__VA_ARGS__)
+#define LOG_W(tag, format, ...) ESP_LOGW(tag, format, ##__VA_ARGS__)
+#define LOG_I(tag, format, ...) ESP_LOGI(tag, format, ##__VA_ARGS__)
+#define LOG_D(tag, format, ...) ESP_LOGD(tag, format, ##__VA_ARGS__)
+#define LOG_V(tag, format, ...) ESP_LOGV(tag, format, ##__VA_ARGS__)
+
+#elif defined(UNITY_INCLUDE_PRINT_FORMATTED)
+
+#define log_e(...) TEST_PRINTF(__VA_ARGS__)
+#define log_w(...) TEST_PRINTF(__VA_ARGS__)
+#define log_i(...) TEST_PRINTF(__VA_ARGS__)
+#define log_d(...) TEST_PRINTF(__VA_ARGS__)
+#define log_v(...) TEST_PRINTF(__VA_ARGS__)
+
+#define LOG_E(tag, format, ...) log_e("[%s] " format, tag, ##__VA_ARGS__)
+#define LOG_W(tag, format, ...) log_w("[%s] " format, tag, ##__VA_ARGS__)
+#define LOG_I(tag, format, ...) log_i("[%s] " format, tag, ##__VA_ARGS__)
+#define LOG_D(tag, format, ...) log_d("[%s] " format, tag, ##__VA_ARGS__)
+#define LOG_V(tag, format, ...) log_v("[%s] " format, tag, ##__VA_ARGS__)
+
+#else
+
+#define log_e(...)
+#define log_w(...)
+#define log_i(...)
+#define log_d(...)
+#define log_v(...)
+
+#define LOG_E(tag, format, ...)
+#define LOG_W(tag, format, ...)
+#define LOG_I(tag, format, ...)
+#define LOG_D(tag, format, ...)
+#define LOG_V(tag, format, ...)
+
+#endif
diff --git a/lib/core/senseshift/core/macros.hpp b/lib/core/senseshift/core/macros.hpp
new file mode 100644
index 00000000..1087e76f
--- /dev/null
+++ b/lib/core/senseshift/core/macros.hpp
@@ -0,0 +1,4 @@
+#pragma once
+
+// Helper macro to define a version code, whose value can be compared against other version codes.
+#define VERSION_CODE(major, minor, patch) ((major) << 16 | (minor) << 8 | (patch))
\ No newline at end of file
diff --git a/lib/core/senseshift/interface.hpp b/lib/core/senseshift/interface.hpp
deleted file mode 100644
index af428cc6..00000000
--- a/lib/core/senseshift/interface.hpp
+++ /dev/null
@@ -1,11 +0,0 @@
-#pragma once
-
-namespace SenseShift {
- struct IInitializable {
- virtual void init() = 0;
- };
-
- struct ITickable {
- virtual void tick() = 0;
- };
-} // namespace SenseShift
diff --git a/lib/core/senseshift/logging.hpp b/lib/core/senseshift/logging.hpp
deleted file mode 100644
index 9cf54f37..00000000
--- a/lib/core/senseshift/logging.hpp
+++ /dev/null
@@ -1,23 +0,0 @@
-#pragma once
-
-#if defined(ESP32)
-
-#include <esp32-hal-log.h>
-
-#elif defined(UNITY_INCLUDE_PRINT_FORMATTED)
-
-#define log_e(...) TEST_PRINTF(__VA_ARGS__)
-#define log_w(...) TEST_PRINTF(__VA_ARGS__)
-#define log_i(...) TEST_PRINTF(__VA_ARGS__)
-#define log_d(...) TEST_PRINTF(__VA_ARGS__)
-#define log_t(...) TEST_PRINTF(__VA_ARGS__)
-
-#else
-
-#define log_e(...)
-#define log_w(...)
-#define log_i(...)
-#define log_d(...)
-#define log_t(...)
-
-#endif
diff --git a/lib/freertos/senseshift/freertos/task.hpp b/lib/freertos/senseshift/freertos/task.hpp
index d41355ec..d06415ea 100644
--- a/lib/freertos/senseshift/freertos/task.hpp
+++ b/lib/freertos/senseshift/freertos/task.hpp
@@ -1,6 +1,6 @@
#pragma once
-#include <senseshift/logging.hpp>
+#include <senseshift/core/logging.hpp>
extern "C" void delay(uint32_t ms);
diff --git a/lib/haptics/senseshift/body/haptics/body.cpp b/lib/haptics/senseshift/body/haptics/body.cpp
index edd3ee6e..e60eb210 100644
--- a/lib/haptics/senseshift/body/haptics/body.cpp
+++ b/lib/haptics/senseshift/body/haptics/body.cpp
@@ -1,33 +1,23 @@
#include "senseshift/body/haptics/body.hpp"
+#include "senseshift/body/haptics/interface.hpp"
-#include <senseshift/logging.hpp>
+#include <senseshift/output/output.hpp>
+#include <senseshift/core/logging.hpp>
namespace SenseShift::Body::Haptics {
- void HapticBody::setup()
- {
- for (auto& [target, plane] : this->vibroTargets) {
- plane->setup();
- }
- }
+ static const char *const TAG = "haptic.body";
- void HapticBody::effect(const EffectRequest& effect)
+ template<typename Tp, typename Ta>
+ void OutputBody<Tp, Ta>::effect(const Target& target, const Position& pos, const typename Plane::Value& val)
{
- if (effect.effect == Effect::Vibro && std::holds_alternative<VibroEffectData>(effect.data)) {
- auto it = this->vibroTargets.find(effect.target);
- if (it == this->vibroTargets.end()) {
- log_w("No target found for effect: %d", effect.target);
- return;
- }
-
- it->second->effect(effect.position, std::get<VibroEffectData>(effect.data));
- } else {
- log_w("Non-supported effect type: %d", effect.effect);
+ auto find = this->targets_.find(target);
+ if (find == this->targets_.end()) {
+ LOG_W(TAG, "No target found for effect: %d", target);
+ return;
}
- }
- void HapticBody::addTarget(const Target target, VibroPlane* plane)
- {
- this->vibroTargets[target] = plane;
- this->allTargets.insert({ target, plane });
+ find->second->effect(pos, val);
}
+
+ template class OutputBody<Position::Value, Output::FloatOutput::ValueType>;
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/body.hpp b/lib/haptics/senseshift/body/haptics/body.hpp
index b0c9068e..386866a4 100644
--- a/lib/haptics/senseshift/body/haptics/body.hpp
+++ b/lib/haptics/senseshift/body/haptics/body.hpp
@@ -3,29 +3,42 @@
#include "senseshift/body/haptics/interface.hpp"
#include "senseshift/body/haptics/plane.hpp"
-#include <senseshift/utility.hpp>
-
#include <map>
+#include <senseshift/output/output.hpp>
+
namespace SenseShift::Body::Haptics {
- class HapticBody {
+ /// Output body, contains all the output planes.
+ ///
+ /// \tparam Tc The type of the coordinate.
+ /// \tparam To The type of the output value.
+ template<typename Tc, typename To>
+ class OutputBody {
public:
- using AuctiativePlane = std::variant<VibroPlane*>;
- using PlaneTargetMap = std::multimap<Target, AuctiativePlane>;
- using VibroTargetMap = std::map<Target, VibroPlane*>;
+ /// The type of the output plane for the given target.
+ using Plane = OutputPlane<Tc, To>;
+ /// The type of the target to output plane map (e.g. Chest -> OutputPlane).
+ using TargetPlaneMap = std::map<Target, Plane*>;
- HapticBody(){};
+ OutputBody() = default;
- void setup();
+ void setup() {
+ for (auto& [target, plane] : this->targets_) {
+ plane->setup();
+ }
+ }
- void effect(const EffectRequest&);
+ void addTarget(Target target, Plane* plane) {
+ this->targets_[target] = plane;
+ }
- void addTarget(const Target, VibroPlane* plane);
+ void effect(const Target& target, const Position& pos, const typename Plane::Value& val);
- [[nodiscard]] const PlaneTargetMap* getTargets() const { return &allTargets; }
+ [[nodiscard]] auto getTargets() const -> const TargetPlaneMap* { return &targets_; }
private:
- PlaneTargetMap allTargets{};
- VibroTargetMap vibroTargets{};
+ TargetPlaneMap targets_{};
};
+
+ using FloatBody = OutputBody<Position::Value, Output::FloatOutput::ValueType>;
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/interface.hpp b/lib/haptics/senseshift/body/haptics/interface.hpp
index c4084531..89f14cff 100644
--- a/lib/haptics/senseshift/body/haptics/interface.hpp
+++ b/lib/haptics/senseshift/body/haptics/interface.hpp
@@ -6,9 +6,9 @@
#include <senseshift/math/point2.hpp>
namespace SenseShift::Body::Haptics {
- using EffectIntex = std::uint8_t;
- static constexpr EffectIntex EFFECT_INVALID = 0xFF;
- enum class Effect : EffectIntex {
+ using EffectIndex = std::uint8_t;
+ static constexpr EffectIndex EFFECT_INVALID = 0xFF;
+ enum class Effect : EffectIndex {
Invalid = EFFECT_INVALID,
Vibro = 0x00,
// TODO: thermal, etc.
@@ -47,31 +47,36 @@ namespace SenseShift::Body::Haptics {
};
using Coordinate = std::uint8_t;
- using Position = ::SenseShift::Math::Point2<Coordinate>;
+ using Position = Math::Point2<Coordinate>;
- // Vibration intensity.
- struct VibroEffectData {
- using Intensity = std::uint16_t;
- static constexpr Intensity INTENSITY_MIN = 0;
- static constexpr Intensity INTENSITY_MAX = 4095;
+ // Vibration intensity_.
+ class VibroEffectData {
+ public:
+ using Intensity = float;
- Intensity intensity = 0;
+ static constexpr Intensity INTENSITY_MIN = 0.0F;
+ static constexpr Intensity INTENSITY_MAX = 1.0F;
- inline constexpr VibroEffectData() = default;
- inline constexpr VibroEffectData(const Intensity intensity) : intensity(intensity) {}
- inline constexpr VibroEffectData(const VibroEffectData& other) = default;
+ constexpr VibroEffectData() = default;
+ constexpr explicit VibroEffectData(const Intensity intensity) : intensity_(intensity) {}
+ constexpr VibroEffectData(const VibroEffectData& other) = default;
- inline constexpr operator std::uint16_t() const { return intensity; }
+ constexpr inline explicit operator float() const { return this->intensity_; }
+
+ [[nodiscard]] constexpr inline auto getIntensity() const -> Intensity { return intensity_; };
+
+ private:
+ Intensity intensity_ = 0;
};
// TODO: thermal, etc.
-
using EffectData = std::variant<VibroEffectData>;
struct EffectRequest {
Effect effect = Effect::Invalid;
Target target = Target::Invalid;
Position position = Position(0, 0);
+
EffectData data;
};
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/plane.cpp b/lib/haptics/senseshift/body/haptics/plane.cpp
index ab11c81b..bfbd4f33 100644
--- a/lib/haptics/senseshift/body/haptics/plane.cpp
+++ b/lib/haptics/senseshift/body/haptics/plane.cpp
@@ -1,78 +1,82 @@
#include "senseshift/body/haptics/plane.hpp"
+#include "senseshift/body/haptics/interface.hpp"
#include <algorithm>
-#include <cmath>
-#include <senseshift/logging.hpp>
+#include <map>
+
+#include <senseshift/output/output.hpp>
+#include <senseshift/core/logging.hpp>
namespace SenseShift::Body::Haptics {
- template<typename _Tp, typename _Ta>
- void ActuativePlane<_Tp, _Ta>::setActuators(const ActuatorMap& actuators)
+ static const char *const TAG = "haptic.plane";
+
+ template<typename Tc, typename To>
+ void OutputPlane<Tc, To>::setActuators(const ActuatorMap& actuators)
{
- this->actuators.clear();
+ this->actuators_.clear();
for (const auto& [point, actuator] : actuators) {
- this->actuators[point] = actuator;
+ this->actuators_[point] = actuator;
}
- this->points.clear();
+ this->points_.clear();
for (const auto& [point, _] : actuators) {
- this->points.insert(point);
+ this->points_.insert(point);
}
- this->states.clear();
+ this->states_.clear();
for (const auto& [point, _] : actuators) {
- this->states[point] = 0;
+ this->states_[point] = static_cast<Value>(0);
}
}
- template<typename _Tp, typename _Ta>
- void ActuativePlane<_Tp, _Ta>::setup()
+ template<typename Tc, typename To>
+ void OutputPlane<Tc, To>::setup()
{
- for (const auto& [point, actuator] : this->actuators) {
- actuator->setup();
+ for (const auto& [point, actuator] : this->actuators_) {
+ actuator->init();
}
}
- template<typename _Tp, typename _Ta>
- void ActuativePlane<_Tp, _Ta>::effect(const Position& pos, const Value& val)
+ template<typename Tc, typename To>
+ void OutputPlane<Tc, To>::effect(const Position& pos, const Value& val)
{
- auto it = this->actuators.find(pos);
- if (it == this->actuators.end()) {
- log_w("No actuator for point (%u, %u)", pos.x, pos.y);
+ auto find = this->actuators_.find(pos);
+ if (find == this->actuators_.end()) {
+ LOG_W(TAG, "No actuator for point (%u, %u)", pos.x, pos.y);
return;
}
- it->second->writeOutput(val);
- this->states[pos] = val;
+ find->second->writeState(val);
+ this->states_[pos] = val;
}
- template<typename _Tp, typename _Ta>
- void ActuativePlane_Closest<_Tp, _Ta>::effect(const Position& pos, const Value& val)
+ template<typename Tc, typename To>
+ void OutputPlane_Closest<Tc, To>::effect(const Position& pos, const Value& val)
{
auto& closest = this->findClosestPoint(*this->getAvailablePoints(), pos);
- ActuativePlane<_Tp, _Ta>::effect(closest, val);
+ OutputPlane<Tc, To>::effect(closest, val);
}
- template<typename _Tp, typename _Ta>
- const Position&
- ActuativePlane_Closest<_Tp, _Ta>::findClosestPoint(const PositionSet& pts, const Position& target) const
+ template<typename Tc, typename To>
+ [[nodiscard]] auto OutputPlane_Closest<Tc, To>::findClosestPoint(const PositionSet& pts, const Position& target) -> const Position&
{
// check if exact point exists
- auto it = pts.find(target);
- if (it != pts.end()) {
- return *it;
+ const auto find = pts.find(target);
+ if (find != pts.end()) {
+ return *find;
}
- // find closest point by square distance
- std::multimap<float, Position> mp = {};
- for (const auto& _p : pts) {
- mp.insert({ (target - _p), _p });
+ // find the closest point by square distance
+ std::multimap<float, Position> distance_map = {};
+ for (const auto& point : pts) {
+ distance_map.insert({(target - point), point });
}
- auto nearest = std::min_element(mp.begin(), mp.end());
+ const auto nearest = std::min_element(distance_map.begin(), distance_map.end());
return nearest->second;
}
- template class ActuativePlane<VibroEffectData, ::SenseShift::Output::IActuator<VibroEffectData::Intensity>>;
- template class ActuativePlane_Closest<VibroEffectData, ::SenseShift::Output::IActuator<VibroEffectData::Intensity>>;
+ template class OutputPlane<Position::Value, Output::FloatOutput::ValueType>;
+ template class OutputPlane_Closest<Position::Value, Output::FloatOutput::ValueType>;
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/plane.hpp b/lib/haptics/senseshift/body/haptics/plane.hpp
index b8ac0727..eeea313b 100644
--- a/lib/haptics/senseshift/body/haptics/plane.hpp
+++ b/lib/haptics/senseshift/body/haptics/plane.hpp
@@ -2,96 +2,101 @@
#include "senseshift/body/haptics/interface.hpp"
-#include <senseshift/output/actuator.hpp>
-#include <senseshift/utility.hpp>
-
-#include <list>
+#include <cstddef>
#include <map>
#include <set>
#include <vector>
-namespace SenseShift::Body::Haptics {
- using PositionSet = std::set<Position>;
-
- /**
- * Output "plane" (e.g. Chest, Palm, Finger, etc.)
- *
- * @tparam _Tp The type of the output value.
- */
- template<typename _Tp, typename _Ta>
- class ActuativePlane {
- static_assert(std::is_same<_Tp, VibroEffectData>());
+#include <senseshift/output/output.hpp>
+#include <senseshift/utility.hpp>
+#include <senseshift/math/point2.hpp>
+namespace SenseShift::Body::Haptics {
+ /// Output "plane" (e.g. Chest, Palm, Finger, etc.).
+ ///
+ /// \tparam Tc The type of the coordinate.
+ /// \tparam To The type of the output value.
+ template<typename Tc, typename To>
+ class OutputPlane {
public:
- using Value = _Tp;
- using Actuator = _Ta;
+ /// The type of the coordinate (e.g. std::uint8_t) for the plane.
+ using Coordinate = Tc;
+ /// The type of the position (e.g. Point2<std::uint8_t>) for the plane.
+ using Position = Math::Point2<Coordinate>;
+ using PositionSet = std::set<Position>;
+
+ /// The type of the output value (e.g. float) for the plane.
+ using Value = To;
+ /// The type of the actuator for the plane.
+ using Actuator = Output::Output<Value>;
using ActuatorMap = std::map<Position, Actuator*>;
using PositionStateMap = std::map<Position, Value>;
- ActuativePlane() = default;
+ OutputPlane() = default;
- ActuativePlane(const ActuatorMap& actuators) { this->setActuators(actuators); }
+ explicit OutputPlane(const ActuatorMap& actuators) { this->setActuators(actuators); }
void setup();
virtual void effect(const Position&, const Value&);
- [[nodiscard]] const PositionSet* getAvailablePoints() const { return &points; }
- [[nodiscard]] const PositionStateMap* getActuatorStates() const { return &states; }
+ [[nodiscard]] auto getAvailablePoints() const -> const PositionSet* { return &points_; }
+ [[nodiscard]] auto getActuatorStates() const -> const PositionStateMap* { return &states_; }
- private:
- PositionSet points;
- ActuatorMap actuators{};
- PositionStateMap states{};
+ protected:
+ void setActuators(const ActuatorMap& actuators);
- void setActuators(const ActuatorMap&);
+ private:
+ PositionSet points_;
+ ActuatorMap actuators_{};
+ PositionStateMap states_{};
};
- using VibroPlane = ActuativePlane<VibroEffectData, ::SenseShift::Output::IActuator<VibroEffectData::Intensity>>;
-
- /**
- * Output plane, finds the closest actuator for the given point.
- * @deprecated We should guarantee on the driver level, that the actuator is always exists
- */
- template<typename _Tp, typename _Ta>
- class ActuativePlane_Closest : public ActuativePlane<_Tp, _Ta> {
- public:
- using Value = _Tp;
-
- ActuativePlane_Closest(const typename ActuativePlane<_Tp, _Ta>::ActuatorMap& actuators) :
- ActuativePlane<_Tp, _Ta>(actuators)
+ /// Output plane, finds the closest actuator for the given point.
+ /// \deprecated We should guarantee on the driver level, that the actuator is always exists.
+ ///
+ /// \tparam Tc The type of the coordinate.
+ /// \tparam To The type of the output value.
+ template<typename Tc, typename To>
+ class OutputPlane_Closest : public OutputPlane<Tc, To> {
+ public:
+ using Value = To;
+ using PositionSet = typename OutputPlane<Tc, To>::PositionSet;
+
+ explicit OutputPlane_Closest(const typename OutputPlane<Tc, To>::ActuatorMap& actuators) : OutputPlane<Tc, To>(actuators)
{
}
void effect(const Position&, const Value&) override;
- private:
- [[nodiscard]] const Position& findClosestPoint(const PositionSet&, const Position&) const;
+ private:
+ [[nodiscard]] static auto findClosestPoint(const PositionSet&, const Position&) -> const Position&;
};
- using VibroPlane_Closest =
- ActuativePlane_Closest<VibroEffectData, ::SenseShift::Output::IActuator<VibroEffectData::Intensity>>;
+ using FloatPlane = OutputPlane<Position::Value, Output::FloatOutput::ValueType>;
+ using FloatPlane_Closest = OutputPlane_Closest<Position::Value, Output::FloatOutput::ValueType>;
// TODO: configurable margin
class PlaneMapper_Margin {
public:
- template<typename _Tp>
- [[nodiscard]] static constexpr inline std::map<Position, _Tp*>
- mapMatrixCoordinates(std::vector<std::vector<_Tp*>> map2d)
+
+ /// Maps a 2D matrix into a 1D (coord, object) map.
+ template<typename Tp>
+ [[nodiscard]] static constexpr auto mapMatrixCoordinates(std::vector<std::vector<Tp*>> map2d) -> std::map<Position, Tp*>
{
- std::map<Position, _Tp*> points{};
+ std::map<Position, Tp*> points{};
- size_t y_size = map2d.size();
- size_t y_max = y_size - 1;
+ const size_t y_size = map2d.size();
+ const size_t y_max = y_size - 1;
for (size_t y = 0; y < y_size; ++y) {
auto row = map2d.at(y);
- size_t x_size = row.size();
- size_t x_max = x_size - 1;
+ const size_t x_size = row.size();
+ const size_t x_max = x_size - 1;
for (size_t x = 0; x < x_size; ++x) {
auto* wr = row.at(x);
- Position coord = PlaneMapper_Margin::mapPoint<Position::Value>(x, y, x_max, y_max);
+ Position coord = mapPoint<Position::Value>(x, y, x_max, y_max);
points[coord] = wr;
}
@@ -100,19 +105,16 @@ namespace SenseShift::Body::Haptics {
return points;
}
- /**
- * Re-maps a point index to output coordinate.
- * @tparam _Tp The type of the point index.
- */
- template<typename _Tp>
- [[nodiscard]] static constexpr inline ::SenseShift::Math::Point2<_Tp>
- mapPoint(_Tp x, _Tp y, _Tp x_max, _Tp y_max)
+ /// Re-maps a point index to output coordinate.
+ /// \tparam Tp The type of the point index.
+ template<typename Tp>
+ [[nodiscard]] static constexpr auto mapPoint(Tp x, Tp y, Tp x_max, Tp y_max) -> Math::Point2<Tp>
{
- using Point = ::SenseShift::Math::Point2<_Tp>;
+ using LocalPointType = Math::Point2<Tp>;
- return Point(
- ::SenseShift::accurateMap<_Tp>(x + 1, 0, x_max + 2, Point::MIN, Point::MAX),
- ::SenseShift::accurateMap<_Tp>(y + 1, 0, y_max + 2, Point::MIN, Point::MAX)
+ return LocalPointType(
+ ::SenseShift::remap<Tp, Tp>(x + 1, 0, x_max + 2, LocalPointType::MIN, LocalPointType::MAX),
+ ::SenseShift::remap<Tp, Tp>(y + 1, 0, y_max + 2, LocalPointType::MIN, LocalPointType::MAX)
);
}
};
diff --git a/lib/io/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
index 2520cd76..22b8a116 100644
--- a/lib/io/senseshift/input/sensor.hpp
+++ b/lib/io/senseshift/input/sensor.hpp
@@ -3,8 +3,7 @@
#include <type_traits>
#include <senseshift/calibration.hpp>
-#include <senseshift/interface.hpp>
-#include <senseshift/logging.hpp>
+#include <senseshift/core/component.hpp>
#if defined(__AVR__)
#define ANALOG_MAX 1023
@@ -18,145 +17,154 @@
#endif
namespace SenseShift::Input {
- /**
- * Abstract hardware sensor (e.g. potentiometer, flex sensor, etc.)
- * @tparam _Tp Type of the sensor value
- */
- template<typename _Tp>
- struct ISimpleSensor : public virtual IInitializable {
- using ValueType = _Tp;
-
- /**
- * Get the current sensor value
- */
- virtual ValueType getValue() = 0;
+ /// Abstract hardware sensor (e.g. potentiometer, flex sensor, etc.)
+ /// \tparam Tp Type of the sensor value
+ template<typename Tp>
+ class ISimpleSensor : virtual public IInitializable {
+ public:
+ using ValueType = Tp;
+
+ /// Get the current sensor value
+ [[nodiscard]] virtual auto getValue() -> ValueType = 0;
};
- template<typename _Tp>
- struct ISensor : public virtual ISimpleSensor<_Tp>, ITickable {};
+ using IBinarySensor = ISimpleSensor<bool>;
- /**
- * Memoized sensor decorator
- * @tparam _Tp Type of the sensor value
- */
- template<typename _Tp>
- class MemoizedSensor : public ISensor<_Tp> {
- protected:
- ISimpleSensor<_Tp>* sensor;
- _Tp value;
+ template<typename Tp>
+ class ISensor : virtual ISimpleSensor<Tp>, ITickable {};
+ /// Memoized sensor decorator. Stores the last read value and returns it on subsequent calls
+ /// \tparam Tp Type of the sensor value
+ template<typename Tp>
+ class MemoizedSensor : public ISensor<Tp> {
public:
- /**
- * @param sensor Sensor to be decorated
- */
- MemoizedSensor(ISimpleSensor<_Tp>* sensor) : sensor(sensor){};
+ using ValueType = Tp;
+
+ /// \param sensor Sensor to be decorated
+ explicit MemoizedSensor(ISimpleSensor<ValueType>* sensor) : sensor_(sensor){}
/**
* Setup the sensor hardware
*/
- void init() override { this->sensor->init(); };
+ void init() override { this->sensor_->init(); }
/**
* Read actual value from the hardware and memoize it
*/
- void tick() override { this->value = this->sensor->getValue(); };
+ void tick() override { this->value_ = this->sensor_->getValue(); }
/**
* Get the current memoized value
*/
- _Tp getValue() override { return this->value; };
+ [[nodiscard]] auto getValue() -> ValueType override { return this->value_; }
+
+ private:
+ ISimpleSensor<ValueType>* sensor_;
+ ValueType value_;
};
- template<typename _Tp>
- class ICalibratedSimpleSensor : public ISimpleSensor<_Tp>, public Calibration::ICalibrated {};
+ template<typename Tp>
+ class ICalibratedSimpleSensor : public ISimpleSensor<Tp>, public Calibration::ICalibrated {};
- /**
- * Calibrated sensor decorator
- *
- * @tparam _Tp Type of the sensor value
- */
- template<typename _Tp>
- class CalibratedSimpleSensor : public ICalibratedSimpleSensor<_Tp> {
+ /// Calibrated sensor decorator
+ /// \tparam Tp Type of the sensor value
+ template<typename Tp>
+ class CalibratedSimpleSensor : public ICalibratedSimpleSensor<Tp> {
public:
- /**
- * @param sensor Sensor to be decorated
- * @param calibrator ICalibrator algorithm to be used
- */
- CalibratedSimpleSensor(ISimpleSensor<_Tp>* sensor, Calibration::ICalibrator<_Tp>* calibrator) :
- sensor(sensor), calibrator(calibrator){};
+ using ValueType = Tp;
- void init() override { this->sensor->init(); };
- _Tp getValue() override { return this->getCalibratedValue(); };
+ /// \param sensor Sensor to be decorated
+ /// \param calibrator ICalibrator algorithm to be used
+ CalibratedSimpleSensor(ISimpleSensor<ValueType>* sensor, Calibration::ICalibrator<ValueType>* calibrator) :
+ sensor_(sensor), calibrator_(calibrator){};
- void resetCalibration() override { this->calibrator->reset(); };
- void enableCalibration() override { calibrating = true; }
- void disableCalibration() override { calibrating = false; }
+ void init() override { this->sensor_->init(); };
+ [[nodiscard]] auto getValue() -> ValueType override { return this->getCalibratedValue(); };
- protected:
- ISimpleSensor<_Tp>* sensor;
- Calibration::ICalibrator<_Tp>* calibrator;
- bool calibrating = false;
+ void resetCalibration() override { this->calibrator_->reset(); };
+ void enableCalibration() override { is_calibrating_ = true; }
+ void disableCalibration() override { is_calibrating_ = false; }
- _Tp getCalibratedValue()
+ protected:
+ [[nodiscard]] auto getCalibratedValue() -> ValueType
{
- auto value = this->sensor->getValue();
+ auto value = this->sensor_->getValue();
- if (this->calibrating) {
- this->calibrator->update(value);
+ if (this->is_calibrating_) {
+ this->calibrator_->update(value);
}
- return this->calibrator->calibrate(value);
+ return this->calibrator_->calibrate(value);
}
+
+ private:
+ ISimpleSensor<ValueType>* sensor_;
+ Calibration::ICalibrator<ValueType>* calibrator_;
+ bool is_calibrating_ = false;
};
- template<typename _Tp>
- class AverageSensor : public ISimpleSensor<_Tp> {
- static_assert(std::is_arithmetic<_Tp>::value, "AverageSensor only supports arithmetic types");
+ /// A sensor that returns the average value of N samples.
+ /// \tparam Tp Type of the sensor value
+ template<typename Tp>
+ class AverageSensor : public ISimpleSensor<Tp> {
+ static_assert(std::is_arithmetic_v<Tp>, "AverageSensor only supports arithmetic types");
public:
- AverageSensor(ISimpleSensor<_Tp>* sensor, size_t samples) : sensor(sensor), samples(samples) {}
+ using ValueType = Tp;
+
+ /// \param sensor Sensor to be decorated
+ /// \param samples Number of samples to be used
+ AverageSensor(ISimpleSensor<ValueType>* sensor, const size_t samples) : sensor_(sensor), samples_(samples) {}
- void init() override { this->sensor->init(); };
+ void init() override { this->sensor_->init(); };
- _Tp getValue() override
+ [[nodiscard]] auto getValue() const -> ValueType override
{
// TODO: another type for sum?
double sum = 0;
- for (size_t i = 0; i < this->samples; i++) {
- sum += this->sensor->getValue();
+ for (size_t i = 0; i < this->samples_; i++) {
+ sum += this->sensor_->getValue();
}
- return sum / this->samples;
+ return sum / this->samples_;
}
private:
- ISimpleSensor<_Tp>* sensor;
- size_t samples;
+ ISimpleSensor<ValueType>* sensor_;
+ size_t samples_;
};
- template<typename _Tp, size_t _Samples>
- class StaticMedianSensor : public ISimpleSensor<_Tp> {
- static_assert(std::is_arithmetic<_Tp>::value, "StaticMedianSensor only supports arithmetic types");
- static_assert(_Samples % 2 == 1, "StaticMedianSensor only supports odd sample sizes");
+ /// A sensor that returns the median value of N samples.
+ /// \tparam Tp Type of the sensor value
+ /// \tparam NumSamples Number of samples to be used
+ template<typename Tp, size_t NumSamples>
+ class StaticMedianSensor : public ISimpleSensor<Tp> {
+ static_assert(std::is_arithmetic_v<Tp>, "StaticMedianSensor only supports arithmetic types");
+ static_assert(NumSamples % 2 == 1, "StaticMedianSensor only supports odd sample sizes");
public:
- StaticMedianSensor(ISimpleSensor<_Tp>* sensor) : sensor(sensor) {}
+ using ValueType = Tp;
- void init() override { this->sensor->init(); };
+ explicit StaticMedianSensor(ISimpleSensor<ValueType>* sensor) : sensor_(sensor) {}
- _Tp getValue() override
+ void init() override { this->sensor_->init(); };
+
+ [[nodiscard]] auto getValue() -> ValueType override
{
- for (size_t i = 0; i < _Samples; i++) {
- this->values[i] = this->sensor->getValue();
+ for (size_t i = 0; i < NumSamples; i++) {
+ this->values_[i] = this->sensor_->getValue();
}
- std::sort(this->values, this->values + _Samples);
+ std::sort(this->values_.begin(), this->values_.end());
- return this->values[_Samples / 2];
+ return this->values_[NumSamples / 2];
}
private:
- _Tp values[_Samples];
- ISimpleSensor<_Tp>* sensor;
+ /// Buffer to store the last N samples.
+ /// We are using a static array to avoid dynamic allocation
+ std::array<ValueType, NumSamples> values_;
+
+ ISimpleSensor<Tp>* sensor_;
};
} // namespace SenseShift::Input
diff --git a/lib/io/senseshift/input/sensor/joystick.hpp b/lib/io/senseshift/input/sensor/joystick.hpp
index a03af6f7..0dd95dfe 100644
--- a/lib/io/senseshift/input/sensor/joystick.hpp
+++ b/lib/io/senseshift/input/sensor/joystick.hpp
@@ -6,29 +6,31 @@ namespace SenseShift::Input {
/**
* Joystick axis sensor decorator
*/
- template<typename _Tp>
- class JoystickAxisSensor : public ISimpleSensor<_Tp> {
+ template<typename Tp>
+ class JoystickAxisSensor : public ISimpleSensor<Tp> {
+ public:
+ using ValueType = Tp;
+
private:
- ISimpleSensor<_Tp>* sensor;
- float dead_zone;
+ ISimpleSensor<ValueType>* sensor_;
+ float dead_zone_;
- int filterDeadZone(int in)
- {
- // This function clamps the input to the center of the range if
- // the value is within the threshold. This is to eliminate at-rest
- // noise of the joystick.
- int center = ANALOG_MAX / 2;
- return abs(center - in) < dead_zone * ANALOG_MAX ? center : in;
+ /// This function clamps the input to the center of the range if
+ /// the value is within the threshold. This is to eliminate at-rest
+ /// noise of the joystick.
+ [[nodiscard]] auto filterDeadZone(const int value_in) const -> ValueType {
+ constexpr ValueType center = ANALOG_MAX / 2;
+ return abs(center - value_in) < dead_zone_ * ANALOG_MAX ? center : value_in;
}
public:
- JoystickAxisSensor(ISimpleSensor<_Tp>* sensor, float dead_zone) : sensor(sensor), dead_zone(dead_zone){};
+ JoystickAxisSensor(ISimpleSensor<Tp>* sensor, const float dead_zone) : sensor_(sensor), dead_zone_(dead_zone){};
- void init() override { this->sensor->init(); };
+ void init() override { this->sensor_->init(); };
- uint16_t getValue(void) override
+ [[nodiscard]] auto getValue() -> uint16_t override
{
- auto value = this->sensor->getValue();
+ auto value = this->sensor_->getValue();
value = this->filterDeadZone(value);
return value;
}
diff --git a/lib/io/senseshift/output/actuator.hpp b/lib/io/senseshift/output/actuator.hpp
deleted file mode 100644
index 3938c65f..00000000
--- a/lib/io/senseshift/output/actuator.hpp
+++ /dev/null
@@ -1,22 +0,0 @@
-#pragma once
-
-#include <cstdint>
-
-#include <senseshift/logging.hpp>
-
-namespace SenseShift::Output {
- // Singular output point (e.g. vibration motor)
- template<typename T>
- class IActuator {
- public:
- virtual void setup(){};
- virtual void writeOutput(T) = 0;
- };
-
- template<>
- class IActuator<std::uint16_t> {
- public:
- virtual void setup(){};
- virtual void writeOutput(std::uint16_t) = 0;
- };
-} // namespace SenseShift::Output
diff --git a/lib/io/senseshift/output/binary_output.hpp b/lib/io/senseshift/output/binary_output.hpp
new file mode 100644
index 00000000..c9200a08
--- /dev/null
+++ b/lib/io/senseshift/output/binary_output.hpp
@@ -0,0 +1,10 @@
+#pragma once
+
+#include "senseshift/output/output.hpp"
+
+namespace SenseShift::Output {
+ class BinaryOutput : public ::SenseShift::Output::Output<bool> {
+ public:
+ virtual void writeOutput(bool) = 0;
+ };
+} // namespace SenseShift::Output
\ No newline at end of file
diff --git a/lib/io/senseshift/output/output.hpp b/lib/io/senseshift/output/output.hpp
new file mode 100644
index 00000000..c02bfaf7
--- /dev/null
+++ b/lib/io/senseshift/output/output.hpp
@@ -0,0 +1,15 @@
+#pragma once
+
+#include <senseshift/core/component.hpp>
+
+namespace SenseShift::Output {
+ template<typename Tp>
+ class Output : public IInitializable {
+ public:
+ using ValueType = Tp;
+
+ virtual void writeState(ValueType value) = 0;
+ };
+
+ using FloatOutput = Output<float>;
+} // namespace SenseShift::Output
\ No newline at end of file
diff --git a/lib/math/senseshift/math/point2.hpp b/lib/math/senseshift/math/point2.hpp
index b91b096b..faa2f475 100644
--- a/lib/math/senseshift/math/point2.hpp
+++ b/lib/math/senseshift/math/point2.hpp
@@ -1,33 +1,33 @@
#pragma once
#include <cmath>
+#include <limits>
#include <tuple>
+#include <type_traits>
namespace SenseShift::Math {
- template<typename _Tp>
+ template<typename Tp>
struct Point2 {
- static_assert(
- std::is_arithmetic<_Tp>::value, "::SenseShift::Math::Point2 only can be used with arithmetic types"
- );
+ static_assert(std::is_arithmetic_v<Tp>, "Point2 only can be used with arithmetic types");
- using Value = _Tp;
+ using Value = Tp;
- static constexpr _Tp MIN = std::numeric_limits<_Tp>::min();
- static constexpr _Tp MAX = std::numeric_limits<_Tp>::max();
+ static constexpr Tp MIN = std::numeric_limits<Tp>::min();
+ static constexpr Tp MAX = std::numeric_limits<Tp>::max();
- _Tp x, y;
+ Tp x, y;
- constexpr Point2() : x((_Tp) 0), y((_Tp) 0){};
- constexpr Point2(_Tp x, _Tp y) : x(x), y(y){};
- constexpr Point2(const Point2<_Tp>& v) : x((_Tp) v.x), y((_Tp) v.y){};
+ constexpr Point2() : x(static_cast<Tp>(0)), y(static_cast<Tp>(0)){};
+ constexpr Point2(Tp x, Tp y) : x(x), y(y){};
+ constexpr Point2(const Point2<Tp>& v) : x((Tp) v.x), y((Tp) v.y){};
- constexpr inline bool operator==(const Point2<_Tp>& rhs) const { return x == rhs.x && y == rhs.y; }
+ constexpr inline auto operator==(const Point2<Tp>& rhs) const -> bool { return x == rhs.x && y == rhs.y; }
- constexpr inline bool operator!=(const Point2<_Tp>& rhs) const { return !(*this == rhs); }
+ constexpr inline auto operator!=(const Point2<Tp>& rhs) const -> bool { return !(*this == rhs); }
- constexpr bool operator<(const Point2<_Tp>& rhs) const { return std::tie(x, y) < std::tie(rhs.x, rhs.y); }
+ constexpr auto operator<(const Point2<Tp>& rhs) const -> bool { return std::tie(x, y) < std::tie(rhs.x, rhs.y); }
- constexpr float operator-(const Point2<_Tp>& rhs) const
+ constexpr auto operator-(const Point2<Tp>& rhs) const -> float
{
return std::sqrt(std::pow(x - rhs.x, 2) + std::pow(y - rhs.y, 2));
}
diff --git a/lib/opengloves/og_protocol.hpp b/lib/opengloves/og_protocol.hpp
index a8f19e2e..f1849a3b 100644
--- a/lib/opengloves/og_protocol.hpp
+++ b/lib/opengloves/og_protocol.hpp
@@ -38,7 +38,7 @@ namespace OpenGloves {
IStringEncoded(Type type) : IEncodedInput(type){};
virtual size_t getEncodedLength() const = 0;
- virtual size_t encodeString(char* buffer) const = 0;
+ virtual size_t encodeString(char* buffer) = 0;
};
class IStringEncodedMemoizedSensor : public IStringEncoded {
diff --git a/lib/opengloves/senseshift/opengloves/autoconfig.hpp b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
index 191a8c06..35419d72 100644
--- a/lib/opengloves/senseshift/opengloves/autoconfig.hpp
+++ b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
@@ -113,7 +113,7 @@
#define BUTTON_PINCH_ENABLED (!GESTURE_PINCH_ENABLED && defined(PIN_BUTTON_PINCH) && (PIN_BUTTON_PINCH != -1))
#define BUTTON_CLASS(_type, _pin, _invert) \
- StringEncodedMemoizedSensor<bool>(new ::SenseShift::Arduino::Input::DigitalSensor<_invert>(_pin), _type)
+ StringEncodedMemoizedSensor<bool>(new ::SenseShift::Arduino::Input::BinarySensor<_invert>(_pin), _type)
#pragma endregion
diff --git a/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp b/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp
index 49d223cf..a8f81f7a 100644
--- a/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp
+++ b/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp
@@ -12,7 +12,7 @@
#include <frozen/unordered_map.h>
#include <og_protocol.hpp>
-#include <senseshift/logging.hpp>
+#include <senseshift/core/logging.hpp>
#include <senseshift/opengloves/interface.hpp>
#define SENSESHIFT_OPENGLOVES_ALPHA_ENCODING_BUFFER_SIZE 256
diff --git a/lib/opengloves/sensor/og_finger.hpp b/lib/opengloves/sensor/og_finger.hpp
index 542d981e..95760b7a 100644
--- a/lib/opengloves/sensor/og_finger.hpp
+++ b/lib/opengloves/sensor/og_finger.hpp
@@ -53,7 +53,7 @@ namespace OpenGloves {
}
}
- FingerValue getValue() override
+ [[nodiscard]] auto getValue() -> FingerValue override
{
FingerValue value{
.curl = std::vector<uint16_t>(),
@@ -68,7 +68,7 @@ namespace OpenGloves {
return value;
}
- uint16_t getCurl() override { return this->getValue().getTotalCurl(); }
+ [[nodiscard]] auto getCurl() -> uint16_t override { return this->getValue().getTotalCurl(); }
protected:
FingerSensors sensors;
@@ -136,11 +136,11 @@ namespace OpenGloves {
FingerSensor(SenseShift::Input::CalibratedSimpleSensor<uint16_t>* curl1, IEncodedInput::Type type) :
StringEncodedMemoizedSensor<FingerValue>(new CalibratedFingerSensor(curl1, std::nullopt), type){};
- void resetCalibration() override { static_cast<CalibratedFingerSensor*>(this->sensor)->resetCalibration(); }
+ void resetCalibration() override { static_cast<CalibratedFingerSensor*>(this->getSensor())->resetCalibration(); }
- void enableCalibration() override { static_cast<CalibratedFingerSensor*>(this->sensor)->enableCalibration(); }
+ void enableCalibration() override { static_cast<CalibratedFingerSensor*>(this->getSensor())->enableCalibration(); }
- void disableCalibration() override { static_cast<CalibratedFingerSensor*>(this->sensor)->disableCalibration(); }
+ void disableCalibration() override { static_cast<CalibratedFingerSensor*>(this->getSensor())->disableCalibration(); }
uint16_t getCurl() override { return this->getValue().getTotalCurl(); }
};
diff --git a/lib/opengloves/sensor/og_gesture.hpp b/lib/opengloves/sensor/og_gesture.hpp
index 9bb0e375..c64365c1 100644
--- a/lib/opengloves/sensor/og_gesture.hpp
+++ b/lib/opengloves/sensor/og_gesture.hpp
@@ -19,7 +19,7 @@ namespace OpenGloves {
void init() override{};
- bool getValue() override
+ [[nodiscard]] auto getValue() -> bool override
{
return this->index.getCurl() > this->threshold && this->middle.getCurl() > this->threshold
&& this->ring.getCurl() > this->threshold && this->pinky.getCurl() > this->threshold;
@@ -36,7 +36,7 @@ namespace OpenGloves {
void init() override{};
- bool getValue() override { return this->index.getCurl() > this->threshold; }
+ [[nodiscard]] auto getValue() -> bool override { return this->index.getCurl() > this->threshold; }
};
class PinchGesture : public Gesture {
@@ -46,12 +46,12 @@ namespace OpenGloves {
uint16_t threshold;
public:
- PinchGesture(ICurl& index, ICurl& thumb, uint16_t threshold) :
+ PinchGesture(ICurl& index, ICurl& thumb, const uint16_t threshold) :
index(index), thumb(thumb), threshold(threshold){};
void init() override{};
- bool getValue() override
+ [[nodiscard]] auto getValue() -> bool override
{
return this->index.getCurl() > this->threshold && this->thumb.getCurl() > this->threshold;
}
diff --git a/lib/opengloves/sensor/og_sensor.hpp b/lib/opengloves/sensor/og_sensor.hpp
index caa4a9c8..6b95f0c1 100644
--- a/lib/opengloves/sensor/og_sensor.hpp
+++ b/lib/opengloves/sensor/og_sensor.hpp
@@ -33,27 +33,26 @@ namespace OpenGloves {
StringEncodedMemoizedSensor(SenseShift::Input::ISimpleSensor<_Tp>* sensor, IEncodedInput::Type type) :
IStringEncodedMemoizedSensor(type), SenseShift::Input::MemoizedSensor<_Tp>(sensor){};
- void init() override { this->sensor->init(); }
+ void init() override { this->getSensor()->init(); }
- void updateValue() override { this->value = this->sensor->getValue(); }
+ void updateValue() override { this->value = this->sensor_->getValue(); }
- size_t getEncodedLength() const override;
+ [[nodiscard]] size_t getEncodedLength() const override;
- size_t encodeString(char* buffer) const override;
+ size_t encodeString(char* buffer) override;
};
template<>
- size_t StringEncodedMemoizedSensor<uint16_t>::getEncodedLength() const
+ inline size_t StringEncodedMemoizedSensor<uint16_t>::getEncodedLength() const
{
return 6;
}
+ /// Format as "Axxxx", where A is the type and xxxxx is the value without leading zeros.
template<>
- size_t StringEncodedMemoizedSensor<uint16_t>::encodeString(char* buffer) const
+ inline size_t StringEncodedMemoizedSensor<uint16_t>::encodeString(char* buffer)
{
- // Format as "Axxxx", where A is the type and xxxxx is the value without
- // leading zeros.
- return snprintf(buffer, this->getEncodedLength(), "%c%d", this->getType(), this->value);
+ return snprintf(buffer, this->getEncodedLength(), "%c%d", this->getType(), this->getValue());
}
template<>
@@ -63,11 +62,14 @@ namespace OpenGloves {
}
template<>
- size_t StringEncodedMemoizedSensor<bool>::encodeString(char* buffer) const
+ size_t StringEncodedMemoizedSensor<bool>::encodeString(char* buffer)
{
+ const auto value = this->getValue();
+
if (value) {
buffer[0] = this->getType();
}
+
return value ? this->getEncodedLength() : 0;
}
@@ -79,20 +81,20 @@ namespace OpenGloves {
}
template<>
- size_t StringEncodedMemoizedSensor<FingerValue>::encodeString(char* buffer) const
+ size_t StringEncodedMemoizedSensor<FingerValue>::encodeString(char* buffer)
{
size_t offset = 0;
- offset += snprintf(buffer + offset, 6, "%c%d", this->type, this->value.getTotalCurl());
+ offset += snprintf(buffer + offset, 6, "%c%d", this->type, this->getValue().getTotalCurl());
- if (this->value.curl.size() > 1) {
- for (size_t i = 0; i < this->value.curl.size(); i++) {
+ if (this->getValue().curl.size() > 1) {
+ for (size_t i = 0; i < this->getValue().curl.size(); i++) {
char knuckle = 'A' + i;
- offset += snprintf(buffer + offset, 10, "(%cA%c)%d", this->type, knuckle, this->value.curl[i]);
+ offset += snprintf(buffer + offset, 10, "(%cA%c)%d", this->type, knuckle, this->getValue().curl[i]);
}
}
- if (this->value.splay.has_value()) {
- offset += snprintf(buffer + offset, 9, "(%cB)%d", this->type, this->value.splay.value());
+ if (this->getValue().splay.has_value()) {
+ offset += snprintf(buffer + offset, 9, "(%cB)%d", this->type, this->getValue().splay.value());
}
return offset;
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index 2f7bc581..4fb4f43f 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -6,7 +6,7 @@
#include <og_ffb.hpp>
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/input/sensor/digital.hpp>
+#include <senseshift/arduino/input/sensor/binary.hpp>
#include <senseshift/calibration.hpp>
#include <senseshift/freertos/task.hpp>
#include <senseshift/input/sensor.hpp>
diff --git a/lib/util/senseshift/calibration.hpp b/lib/util/senseshift/calibration.hpp
index 53411728..e1602582 100644
--- a/lib/util/senseshift/calibration.hpp
+++ b/lib/util/senseshift/calibration.hpp
@@ -15,105 +15,106 @@ namespace SenseShift::Calibration {
};
class Calibrated : public virtual ICalibrated {
- protected:
- bool calibrate = false;
+ bool calibrate_ = false;
public:
- virtual void resetCalibration() = 0;
- void enableCalibration() override { calibrate = true; }
- void disableCalibration() override { calibrate = false; }
+ void resetCalibration() override = 0;
+ void enableCalibration() override { calibrate_ = true; }
+ void disableCalibration() override { calibrate_ = false; }
};
- template<typename _Tp>
+ template<typename Tp>
struct ICalibrator {
- static_assert(std::is_arithmetic<_Tp>::value, "ICalibrator only can be used with arithmetic types");
+ static_assert(std::is_arithmetic_v<Tp>, "ICalibrator only can be used with arithmetic types");
virtual void reset() = 0;
- virtual void update(_Tp input) = 0;
- virtual _Tp calibrate(_Tp input) const = 0;
+ virtual void update(Tp input) = 0;
+ virtual auto calibrate(Tp input) const -> Tp = 0;
};
- template<typename _Tp, _Tp output_min, _Tp output_max>
- class MinMaxCalibrator : public ICalibrator<_Tp> {
+ template<typename Tp, Tp output_min, Tp output_max>
+ class MinMaxCalibrator : public ICalibrator<Tp> {
public:
- MinMaxCalibrator() : value_min(output_max), value_max(output_min) {}
+ using ValueType = Tp;
+
+ MinMaxCalibrator() : value_min_(output_max), value_max_(output_min) {}
- void reset()
- {
- value_min = output_max;
- value_max = output_min;
+ void reset() override {
+ value_min_ = output_max;
+ value_max_ = output_min;
}
- void update(_Tp input)
- {
+ void update(ValueType input) override {
// Update the min and the max.
- if (input < value_min)
- value_min = input;
- if (input > value_max)
- value_max = input;
+ if (input < value_min_) {
+ value_min_ = input;
+ }
+ if (input > value_max_) {
+ value_max_ = input;
+ }
}
- _Tp calibrate(_Tp input) const
- {
+ auto calibrate(ValueType input) const -> ValueType override {
// This means we haven't had any calibration data yet.
// Return a neutral value right in the middle of the output range.
- if (value_min > value_max) {
- return (output_min + output_max) / 2.0f;
+ if (value_min_ > value_max_) {
+ return (output_min + output_max) / 2.0F;
}
- if (input <= value_min) {
+ if (input <= value_min_) {
return output_min;
}
- if (input >= value_max) {
+ if (input >= value_max_) {
return output_max;
}
// Map the input range to the output range.
- _Tp output = ::SenseShift::accurateMap<_Tp>(input, value_min, value_max, output_min, output_max);
+ ValueType output = ::SenseShift::remap<ValueType, ValueType>(input, value_min_, value_max_, output_min, output_max);
// Lock the range to the output.
return std::clamp(output, output_min, output_max);
}
private:
- _Tp value_min;
- _Tp value_max;
+ ValueType value_min_;
+ ValueType value_max_;
};
- template<typename _Tp, _Tp sensor_max, _Tp driver_max_deviation, _Tp output_min, _Tp output_max>
- class CenterPointDeviationCalibrator : public ICalibrator<_Tp> {
+ template<typename Tp, Tp sensor_max, Tp driver_max_deviation, Tp output_min, Tp output_max>
+ class CenterPointDeviationCalibrator : public ICalibrator<Tp> {
public:
+ using ValueType = Tp;
+
CenterPointDeviationCalibrator() : range_min(sensor_max), range_max(0) {}
- void reset()
- {
+ void reset() override {
range_min = sensor_max;
range_max = 0;
}
- void update(_Tp input)
- {
+ void update(Tp input) override {
// Update the min and the max.
- if (input < range_min)
- range_min = ::SenseShift::accurateMap<_Tp>(input, output_min, output_max, 0, sensor_max);
- if (input > range_max)
- range_max = ::SenseShift::accurateMap<_Tp>(input, output_min, output_max, 0, sensor_max);
+ if (input < range_min) {
+ range_min = ::SenseShift::remap<ValueType>(input, output_min, output_max, 0, sensor_max);
+ }
+ if (input > range_max) {
+ range_max = ::SenseShift::remap<ValueType>(input, output_min, output_max, 0, sensor_max);
+ }
}
- _Tp calibrate(_Tp input) const
- {
+ auto calibrate(ValueType input) const -> ValueType override {
// Find the center point of the sensor so we know how much we have deviated from it.
- _Tp center = (range_min + range_max) / 2.0f;
+ Tp center = (range_min + range_max) / 2.0F;
// Map the input to the sensor range of motion.
- int output = ::SenseShift::accurateMap<_Tp>(input, output_min, output_max, 0, sensor_max);
+ int output = ::SenseShift::accurateMap<Tp>(input, output_min, output_max, 0, sensor_max);
// Find the deviation from the center and clamp it to the maximum that the driver supports.
output = std::clamp<int>(output - center, -driver_max_deviation, driver_max_deviation);
// Finally map the deviation from the center back to the output range.
- return (_Tp)::SenseShift::accurateMap<int>(
+ return SenseShift::remap<ValueType, int>(
output,
-driver_max_deviation,
driver_max_deviation,
@@ -123,29 +124,30 @@ namespace SenseShift::Calibration {
}
private:
- _Tp range_min;
- _Tp range_max;
+ Tp range_min;
+ Tp range_max;
};
- template<typename _Tp, _Tp sensor_max, _Tp driver_max_deviation, _Tp output_min, _Tp output_max>
- class FixedCenterPointDeviationCalibrator : public ICalibrator<_Tp> {
+ template<typename Tp, Tp sensor_max, Tp driver_max_deviation, Tp output_min, Tp output_max>
+ class FixedCenterPointDeviationCalibrator : public ICalibrator<Tp> {
public:
- void reset() {}
- void update(_Tp input) {}
+ using ValueType = Tp;
+
+ void reset() override {}
+ void update(ValueType input) override {}
- _Tp calibrate(_Tp input) const
- {
+ auto calibrate(ValueType input) const -> ValueType override {
// Find the center point of the sensor so we know how much we have deviated from it.
- _Tp center = sensor_max / 2.0f;
+ Tp center = sensor_max / 2.0F;
// Map the input to the sensor range of motion.
- int output = ::SenseShift::accurateMap<_Tp>(input, output_min, output_max, 0, sensor_max);
+ int output = ::SenseShift::remap<int, Tp>(input, output_min, output_max, 0, sensor_max);
// Find the deviation from the center and clamp it to the maximum that the driver supports.
output = std::clamp<int>(output - center, -driver_max_deviation, driver_max_deviation);
// Finally map the deviation from the center back to the output range.
- return (_Tp)::SenseShift::accurateMap<int>(
+ return SenseShift::remap<ValueType, int>(
output,
-driver_max_deviation,
driver_max_deviation,
diff --git a/lib/util/senseshift/container.hpp b/lib/util/senseshift/container.hpp
index 7f0ab894..f8da0365 100644
--- a/lib/util/senseshift/container.hpp
+++ b/lib/util/senseshift/container.hpp
@@ -12,7 +12,7 @@ namespace SenseShift {
* @tparam _Tp The type of the value.
*/
template<class _Cp, typename _Tp>
- inline bool contains(_Cp&& c, _Tp val)
+ inline auto contains(const _Cp&& c, const _Tp val) -> bool
{
return std::find(std::begin(c), std::end(c), val) != std::end(c);
};
diff --git a/lib/util/senseshift/range.hpp b/lib/util/senseshift/range.hpp
index 6dac8598..ea690108 100644
--- a/lib/util/senseshift/range.hpp
+++ b/lib/util/senseshift/range.hpp
@@ -1,30 +1,21 @@
#include <cstdint>
#include <type_traits>
-#include <senseshift/logging.hpp>
+#include <senseshift/core/logging.hpp>
+#include <senseshift/core/helpers.hpp>
namespace SenseShift {
- template<typename _Tp>
- constexpr _Tp accurateMap(_Tp x, _Tp in_min, _Tp in_max, _Tp out_min, _Tp out_max) noexcept
+ /// Remap \p value from the range (\p min, \p max) to (\p min_out, \p max_out).
+ template<typename Tp>
+ constexpr auto accurateMap(Tp value, Tp min, Tp max, Tp min_out, Tp max_out) noexcept -> Tp
{
- static_assert(std::is_arithmetic<_Tp>::value, "Type must be arithmetic");
-
- const _Tp run = in_max - in_min;
- if (run == 0) {
- log_e("map(): Invalid input range, min == max");
- return (out_min + out_max) / 2;
- }
- const _Tp rise = out_max - out_min;
- const _Tp delta = x - in_min;
- return (delta * rise) / run + out_min;
+ return remap<Tp, Tp>(value, min, max, min_out, max_out);
}
// Same as the above, but both mins are 0.
- template<typename _Tp>
- constexpr inline _Tp simpleMap(_Tp x, _Tp in_max, _Tp out_max) noexcept
+ template<typename Tp>
+ constexpr auto simpleMap(Tp value, Tp in_max, Tp out_max) noexcept -> Tp
{
- static_assert(std::is_arithmetic<_Tp>::value, "Type must be arithmetic");
-
- return x * out_max / in_max;
+ return remap_simple<Tp, Tp>(value, in_max, out_max);
}
} // namespace SenseShift
From 176f5e512c39f823c391b6883366c9d6a80ce042 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 28 Jan 2024 00:16:15 +0400
Subject: [PATCH 50/82] refactor(Battery): use analog float sensor
---
firmware/firmware.cpp | 16 ---------
.../mode_configs/bhaptics/tactsuit_x16.cpp | 3 ++
.../bhaptics/tactsuit_x16_pca9685.cpp | 3 ++
.../mode_configs/bhaptics/tactsuit_x40.cpp | 3 ++
.../arduino/input/sensor/analog.hpp | 22 ++++++------
.../arduino/output/actuator/servo.hpp | 34 -------------------
.../senseshift/arduino/output/analog.hpp | 5 +--
.../senseshift/arduino/output/pca9685.hpp | 10 +++---
.../senseshift/arduino/output/ledc.hpp | 2 +-
lib/battery/senseshift/battery.hpp | 1 +
lib/battery/senseshift/battery/sensor.hpp | 12 ++++---
lib/bhaptics/senseshift/bh/encoding.hpp | 3 +-
.../senseshift/freertos/input/sensor.hpp | 8 ++---
lib/haptics/senseshift/body/haptics/body.cpp | 2 +-
lib/haptics/senseshift/body/haptics/body.hpp | 4 +--
lib/haptics/senseshift/body/haptics/plane.cpp | 4 +--
lib/haptics/senseshift/body/haptics/plane.hpp | 6 ++--
lib/io/senseshift/input/sensor.hpp | 5 +--
lib/io/senseshift/output/binary_output.hpp | 10 ------
lib/io/senseshift/output/output.hpp | 5 +--
20 files changed, 58 insertions(+), 100 deletions(-)
delete mode 100644 lib/arduino/senseshift/arduino/output/actuator/servo.hpp
delete mode 100644 lib/io/senseshift/output/binary_output.hpp
diff --git a/firmware/firmware.cpp b/firmware/firmware.cpp
index 213a1fbd..258921f2 100644
--- a/firmware/firmware.cpp
+++ b/firmware/firmware.cpp
@@ -4,14 +4,6 @@
#include <Arduino.h>
#endif // ARDUINO
-#if defined(SENSESHIFT_SERIAL_PLOTTER) && SENSESHIFT_SERIAL_PLOTTER == true
-#include <senseshift/arduino/components/serial_plotter.hpp>
-#endif // SENSESHIFT_SERIAL_PLOTTER
-
-#ifndef SENSESHIFT_SERIAL_PLOTTER_PORT
-#define SENSESHIFT_SERIAL_PLOTTER_PORT Serial
-#endif // SENSESHIFT_SERIAL_PLOTTER_PORT
-
#ifndef PIO_UNIT_TESTING
extern void setupMode();
@@ -24,14 +16,6 @@ SenseShift::Application App;
void setup()
{
setupMode();
-
-#if defined(SENSESHIFT_SERIAL_PLOTTER) && SENSESHIFT_SERIAL_PLOTTER == true
- auto* serialOutputState = new ::SenseShift::Arduino::SerialPlotter_OutputStates<HardwareSerial>(
- SENSESHIFT_SERIAL_PLOTTER_PORT,
- App.getHapticBody()
- );
- serialOutputState->begin();
-#endif // SENSESHIFT_SERIAL_PLOTTER
}
void loop()
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index f5c566c3..52b95ccf 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -5,7 +5,10 @@
#include <Wire.h>
#include "senseshift.h"
+
+#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index 128dcd22..87869e43 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -5,7 +5,10 @@
#include <Wire.h>
#include "senseshift.h"
+
+#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/pca9685.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 23983157..8a036950 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -5,8 +5,11 @@
#include <Wire.h>
#include "senseshift.h"
+
+#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
#include <senseshift/arduino/output/pca9685.hpp>
+#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
diff --git a/lib/arduino/senseshift/arduino/input/sensor/analog.hpp b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
index 122b1906..e95f14f4 100644
--- a/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
+++ b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
@@ -1,33 +1,35 @@
#pragma once
+#include <cstdint>
+
#include <senseshift/input/sensor.hpp>
#include <Arduino.h>
namespace SenseShift::Arduino::Input {
- using IAnalogSensor = ::SenseShift::Input::ISimpleSensor<uint16_t>;
-
template<bool Invert = false>
- class AnalogSensor : public IAnalogSensor {
- uint8_t pin_;
+ class AnalogSensor : public ::SenseShift::Input::IFloatSensor {
+ std::uint8_t pin_;
public:
- AnalogSensor(const uint8_t pin) : pin_(pin) {}
+ AnalogSensor(const std::uint8_t pin) : pin_(pin) {}
void init() override { pinMode(this->pin_, INPUT); };
- [[nodiscard]] auto getValue() -> uint16_t override;
+ [[nodiscard]] auto getValue() -> float override;
};
template<>
- [[nodiscard]] inline auto AnalogSensor<false>::getValue() -> uint16_t
+ [[nodiscard]] inline auto AnalogSensor<false>::getValue() -> float
{
- return analogRead(this->pin_);
+ const auto raw = analogRead(this->pin_);
+ return static_cast<float>(raw) / ANALOG_MAX;
}
template<>
- [[nodiscard]] inline auto AnalogSensor<true>::getValue() -> uint16_t
+ [[nodiscard]] inline auto AnalogSensor<true>::getValue() -> float
{
- return ANALOG_MAX - analogRead(this->pin_);
+ const auto raw = ANALOG_MAX - analogRead(this->pin_);
+ return static_cast<float>(raw) / ANALOG_MAX;
}
} // namespace SenseShift::Arduino::Input
diff --git a/lib/arduino/senseshift/arduino/output/actuator/servo.hpp b/lib/arduino/senseshift/arduino/output/actuator/servo.hpp
deleted file mode 100644
index 29bfa5e1..00000000
--- a/lib/arduino/senseshift/arduino/output/actuator/servo.hpp
+++ /dev/null
@@ -1,34 +0,0 @@
-#pragma once
-
-#include <senseshift/output/actuator.hpp>
-#include <senseshift/utility.hpp>
-
-#include <ESP32Servo.h>
-
-namespace SenseShift::Arduino::Output {
- class ActuatorServo : public ::SenseShift::Output::IActuator<std::uint16_t> {
- public:
- static inline constexpr const std::uint16_t MAX_INTENSITY = 4095;
-
- ActuatorServo(const uint8_t pin, const std::uint16_t min = 500, const std::uint16_t max = 2400) :
- pin(pin), min(min), max(max){};
-
- void setup() override
- {
- servo.attach(this->pin, this->min, this->max);
- this->writeOutput(0);
- };
-
- void writeOutput(std::uint16_t intensity) override
- {
- servo.writeMicroseconds(
- ::SenseShift::accurateMap<std::uint16_t>(intensity, 0, MAX_INTENSITY, this->min, this->max)
- );
- };
-
- private:
- Servo servo = Servo();
- uint8_t pin;
- std::uint16_t min, max;
- };
-} // namespace SenseShift::Arduino::Output
diff --git a/lib/arduino/senseshift/arduino/output/analog.hpp b/lib/arduino/senseshift/arduino/output/analog.hpp
index bcefae41..7dec32b6 100644
--- a/lib/arduino/senseshift/arduino/output/analog.hpp
+++ b/lib/arduino/senseshift/arduino/output/analog.hpp
@@ -8,7 +8,7 @@
namespace SenseShift::Arduino::Output {
/// Arduino analog output
- class AnalogOutput : public ::SenseShift::Output::FloatOutput {
+ class AnalogOutput : public ::SenseShift::Output::IFloatOutput {
public:
static inline constexpr std::uint16_t MAX_INTENSITY = 255;
@@ -20,7 +20,8 @@ namespace SenseShift::Arduino::Output {
}
void writeState(const float value) override {
- analogWrite(this->pin_, value * MAX_INTENSITY);
+ const auto duty = static_cast<int>(value * MAX_INTENSITY);
+ analogWrite(this->pin_, duty);
}
private:
diff --git a/lib/arduino/senseshift/arduino/output/pca9685.hpp b/lib/arduino/senseshift/arduino/output/pca9685.hpp
index 66798efd..62ea63cf 100644
--- a/lib/arduino/senseshift/arduino/output/pca9685.hpp
+++ b/lib/arduino/senseshift/arduino/output/pca9685.hpp
@@ -10,7 +10,7 @@
#include <Wire.h>
namespace SenseShift::Arduino::Output {
- class PCA9685Output : public ::SenseShift::Output::FloatOutput {
+ class PCA9685Output : public ::SenseShift::Output::IFloatOutput {
public:
static inline constexpr std::uint16_t MAX_INTENSITY = 4095;
@@ -20,12 +20,10 @@ namespace SenseShift::Arduino::Output {
this->driver_->begin();
}
- void writeState(const ValueType intensity) override
+ void writeState(const ValueType value) override
{
- this->driver_->setPin(
- this->channel_,
- intensity * MAX_INTENSITY
- );
+ const auto duty = static_cast<std::uint16_t>(value * MAX_INTENSITY);
+ this->driver_->setPin(this->channel_, duty);
}
private:
diff --git a/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp b/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
index a74eba96..2d1d810c 100644
--- a/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
+++ b/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
@@ -11,7 +11,7 @@ namespace SenseShift::Arduino::Output {
static const char *const TAG = "output.ledc";
/// Arduino analog output
- class LedcOutput : public ::SenseShift::Output::FloatOutput {
+ class LedcOutput : public ::SenseShift::Output::IFloatOutput {
public:
explicit LedcOutput(
const std::uint8_t pin,
diff --git a/lib/battery/senseshift/battery.hpp b/lib/battery/senseshift/battery.hpp
index 4de3c867..c6238a0d 100644
--- a/lib/battery/senseshift/battery.hpp
+++ b/lib/battery/senseshift/battery.hpp
@@ -60,6 +60,7 @@ namespace SenseShift::Battery {
});
struct BatteryState {
+ static constexpr std::uint8_t MAX_LEVEL = 255;
uint8_t level;
};
diff --git a/lib/battery/senseshift/battery/sensor.hpp b/lib/battery/senseshift/battery/sensor.hpp
index ff05f5af..aae97c85 100644
--- a/lib/battery/senseshift/battery/sensor.hpp
+++ b/lib/battery/senseshift/battery/sensor.hpp
@@ -1,5 +1,7 @@
#pragma once
+#include <cstdint>
+
#include "senseshift/battery.hpp"
#include <senseshift/freertos/task.hpp>
@@ -18,17 +20,19 @@ namespace SenseShift::Battery {
class NaiveBatterySensor : public IBatterySensor {
public:
- NaiveBatterySensor(::SenseShift::Input::ISimpleSensor<uint16_t>* sensor) : sensor(sensor){};
+ explicit NaiveBatterySensor(::SenseShift::Input::IFloatSensor* sensor) : sensor(sensor){};
[[nodiscard]] auto getValue() -> BatteryState override
{
- return { .level =
- static_cast<uint8_t>(::SenseShift::simpleMap<uint16_t>(this->sensor->getValue(), 4095, 255)) };
+ const auto level = static_cast<std::uint8_t>(this->sensor->getValue() * BatteryState::MAX_LEVEL);
+
+ return { .level = level};
};
+
void init() override { this->sensor->init(); }
private:
- ISimpleSensor<uint16_t> * sensor;
+ ::SenseShift::Input::IFloatSensor* sensor;
};
class BatterySensor : public ::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState> {
diff --git a/lib/bhaptics/senseshift/bh/encoding.hpp b/lib/bhaptics/senseshift/bh/encoding.hpp
index 3b05a54f..1a8b8af4 100644
--- a/lib/bhaptics/senseshift/bh/encoding.hpp
+++ b/lib/bhaptics/senseshift/bh/encoding.hpp
@@ -207,7 +207,8 @@ namespace SenseShift::BH {
private:
static auto effectDataFromByte(const uint8_t byte, const uint8_t maxValue = 100) -> VibroEffectData
{
- return VibroEffectData(byte / maxValue);
+ const auto value = static_cast<float>(byte) / static_cast<float>(maxValue);
+ return VibroEffectData(value);
}
};
} // namespace SenseShift::BH
diff --git a/lib/freertos/senseshift/freertos/input/sensor.hpp b/lib/freertos/senseshift/freertos/input/sensor.hpp
index 8209aa3f..aa2b12a5 100644
--- a/lib/freertos/senseshift/freertos/input/sensor.hpp
+++ b/lib/freertos/senseshift/freertos/input/sensor.hpp
@@ -32,12 +32,12 @@ namespace SenseShift::FreeRTOS::Input {
}
};
- template<typename _Tp>
- class TaskedSensor : public SensorUpdateTask, public ::SenseShift::Input::ISimpleSensor<_Tp> {
+ template<typename Tp>
+ class TaskedSensor : public SensorUpdateTask, public ::SenseShift::Input::ISimpleSensor<Tp> {
friend class SensorUpdateTask;
private:
- using Sensor = ::SenseShift::Input::MemoizedSensor<_Tp>;
+ using Sensor = ::SenseShift::Input::MemoizedSensor<Tp>;
public:
TaskedSensor(Sensor* sensor, std::uint32_t updateDelay, TaskConfig taskConfig) :
@@ -51,7 +51,7 @@ namespace SenseShift::FreeRTOS::Input {
void init() override { this->sensor->init(); };
- _Tp getValue() override { return this->sensor->getValue(); };
+ Tp getValue() override { return this->sensor->getValue(); };
private:
Sensor* sensor;
diff --git a/lib/haptics/senseshift/body/haptics/body.cpp b/lib/haptics/senseshift/body/haptics/body.cpp
index e60eb210..5caa7beb 100644
--- a/lib/haptics/senseshift/body/haptics/body.cpp
+++ b/lib/haptics/senseshift/body/haptics/body.cpp
@@ -19,5 +19,5 @@ namespace SenseShift::Body::Haptics {
find->second->effect(pos, val);
}
- template class OutputBody<Position::Value, Output::FloatOutput::ValueType>;
+ template class OutputBody<Position::Value, Output::IFloatOutput::ValueType>;
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/body.hpp b/lib/haptics/senseshift/body/haptics/body.hpp
index 386866a4..6cdd2cbd 100644
--- a/lib/haptics/senseshift/body/haptics/body.hpp
+++ b/lib/haptics/senseshift/body/haptics/body.hpp
@@ -8,7 +8,7 @@
#include <senseshift/output/output.hpp>
namespace SenseShift::Body::Haptics {
- /// Output body, contains all the output planes.
+ /// IOutput body, contains all the output planes.
///
/// \tparam Tc The type of the coordinate.
/// \tparam To The type of the output value.
@@ -40,5 +40,5 @@ namespace SenseShift::Body::Haptics {
TargetPlaneMap targets_{};
};
- using FloatBody = OutputBody<Position::Value, Output::FloatOutput::ValueType>;
+ using FloatBody = OutputBody<Position::Value, Output::IFloatOutput::ValueType>;
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/plane.cpp b/lib/haptics/senseshift/body/haptics/plane.cpp
index bfbd4f33..9fbe77ee 100644
--- a/lib/haptics/senseshift/body/haptics/plane.cpp
+++ b/lib/haptics/senseshift/body/haptics/plane.cpp
@@ -77,6 +77,6 @@ namespace SenseShift::Body::Haptics {
return nearest->second;
}
- template class OutputPlane<Position::Value, Output::FloatOutput::ValueType>;
- template class OutputPlane_Closest<Position::Value, Output::FloatOutput::ValueType>;
+ template class OutputPlane<Position::Value, Output::IFloatOutput::ValueType>;
+ template class OutputPlane_Closest<Position::Value, Output::IFloatOutput::ValueType>;
} // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/plane.hpp b/lib/haptics/senseshift/body/haptics/plane.hpp
index eeea313b..a12b3d75 100644
--- a/lib/haptics/senseshift/body/haptics/plane.hpp
+++ b/lib/haptics/senseshift/body/haptics/plane.hpp
@@ -28,7 +28,7 @@ namespace SenseShift::Body::Haptics {
/// The type of the output value (e.g. float) for the plane.
using Value = To;
/// The type of the actuator for the plane.
- using Actuator = Output::Output<Value>;
+ using Actuator = Output::IOutput<Value>;
using ActuatorMap = std::map<Position, Actuator*>;
using PositionStateMap = std::map<Position, Value>;
@@ -73,8 +73,8 @@ namespace SenseShift::Body::Haptics {
[[nodiscard]] static auto findClosestPoint(const PositionSet&, const Position&) -> const Position&;
};
- using FloatPlane = OutputPlane<Position::Value, Output::FloatOutput::ValueType>;
- using FloatPlane_Closest = OutputPlane_Closest<Position::Value, Output::FloatOutput::ValueType>;
+ using FloatPlane = OutputPlane<Position::Value, Output::IFloatOutput::ValueType>;
+ using FloatPlane_Closest = OutputPlane_Closest<Position::Value, Output::IFloatOutput::ValueType>;
// TODO: configurable margin
class PlaneMapper_Margin {
diff --git a/lib/io/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
index 22b8a116..a8302172 100644
--- a/lib/io/senseshift/input/sensor.hpp
+++ b/lib/io/senseshift/input/sensor.hpp
@@ -21,7 +21,7 @@ namespace SenseShift::Input {
/// \tparam Tp Type of the sensor value
template<typename Tp>
class ISimpleSensor : virtual public IInitializable {
- public:
+ public:
using ValueType = Tp;
/// Get the current sensor value
@@ -29,9 +29,10 @@ namespace SenseShift::Input {
};
using IBinarySensor = ISimpleSensor<bool>;
+ using IFloatSensor = ISimpleSensor<float>;
template<typename Tp>
- class ISensor : virtual ISimpleSensor<Tp>, ITickable {};
+ class ISensor : public virtual ISimpleSensor<Tp>, public ITickable {};
/// Memoized sensor decorator. Stores the last read value and returns it on subsequent calls
/// \tparam Tp Type of the sensor value
diff --git a/lib/io/senseshift/output/binary_output.hpp b/lib/io/senseshift/output/binary_output.hpp
deleted file mode 100644
index c9200a08..00000000
--- a/lib/io/senseshift/output/binary_output.hpp
+++ /dev/null
@@ -1,10 +0,0 @@
-#pragma once
-
-#include "senseshift/output/output.hpp"
-
-namespace SenseShift::Output {
- class BinaryOutput : public ::SenseShift::Output::Output<bool> {
- public:
- virtual void writeOutput(bool) = 0;
- };
-} // namespace SenseShift::Output
\ No newline at end of file
diff --git a/lib/io/senseshift/output/output.hpp b/lib/io/senseshift/output/output.hpp
index c02bfaf7..0392714f 100644
--- a/lib/io/senseshift/output/output.hpp
+++ b/lib/io/senseshift/output/output.hpp
@@ -4,12 +4,13 @@
namespace SenseShift::Output {
template<typename Tp>
- class Output : public IInitializable {
+ class IOutput : public IInitializable {
public:
using ValueType = Tp;
virtual void writeState(ValueType value) = 0;
};
- using FloatOutput = Output<float>;
+ using IBinaryOutput = IOutput<bool>;
+ using IFloatOutput = IOutput<float>;
} // namespace SenseShift::Output
\ No newline at end of file
From 2d163b617c6959723754b6a797bc7ca8b2ca5e05 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 29 Jan 2024 18:47:55 +0400
Subject: [PATCH 51/82] refactor(Sensor): new sensor stack with filters
---
firmware/mode_configs/bhaptics/tactal.cpp | 25 +-
firmware/mode_configs/bhaptics/tactglove.cpp | 25 +-
firmware/mode_configs/bhaptics/tactosy2.cpp | 25 +-
firmware/mode_configs/bhaptics/tactosyf.cpp | 25 +-
firmware/mode_configs/bhaptics/tactosyh.cpp | 25 +-
.../mode_configs/bhaptics/tactsuit_x16.cpp | 25 +-
.../bhaptics/tactsuit_x16_pca9685.cpp | 25 +-
.../mode_configs/bhaptics/tactsuit_x40.cpp | 25 +-
firmware/mode_configs/bhaptics/tactvisor.cpp | 25 +-
.../senseshift/arduino/battery/ina219.hpp | 33 --
.../senseshift/arduino/battery/max17048.hpp | 45 ---
.../arduino/input/sensor/analog.hpp | 23 +-
lib/battery/senseshift/battery.hpp | 88 +++---
lib/battery/senseshift/battery/sensor.hpp | 58 ++--
lib/core/senseshift/core/helpers.hpp | 78 ++++-
.../senseshift/freertos/input/sensor.hpp | 56 ++--
lib/freertos/senseshift/freertos/task.hpp | 21 +-
.../senseshift/input}/calibration.hpp | 40 +--
lib/io/senseshift/input/filter.hpp | 284 +++++++++++++++++
lib/io/senseshift/input/sensor.hpp | 285 +++++++++++-------
lib/io/senseshift/input/sensor/joystick.hpp | 38 ---
.../senseshift/opengloves/interface.hpp | 26 +-
lib/opengloves/sensor/og_sensor.hpp | 82 +----
test/test_util_calibration/main.cpp | 2 +-
24 files changed, 874 insertions(+), 510 deletions(-)
delete mode 100644 lib/arduino/senseshift/arduino/battery/ina219.hpp
delete mode 100644 lib/arduino/senseshift/arduino/battery/max17048.hpp
rename lib/{util/senseshift => io/senseshift/input}/calibration.hpp (82%)
create mode 100644 lib/io/senseshift/input/filter.hpp
delete mode 100644 lib/io/senseshift/input/sensor/joystick.hpp
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index 08f35d38..e81c311d 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -15,6 +15,7 @@
#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
+using namespace SenseShift::Input;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
@@ -54,12 +55,26 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new TaskedSensor<BatteryState>(
- new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
+ batteryVoltageSensor->addFilters({
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ });
+ auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ );
+ batteryTask->begin();
+
+ auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
+ batteryVoltageSensor,
+ &VoltageMap::LiPO_1S_42
);
- battery->begin();
+ batterySensor->addValueCallback([](BatteryState value) -> void {
+ app->postEvent(new BatteryLevelEvent(value));
+ });
+ batterySensor->init();
#endif
}
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 7463c1b9..2cca8354 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -16,6 +16,7 @@
#include <senseshift/utility.hpp>
using namespace SenseShift;
+using namespace SenseShift::Input;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
@@ -62,12 +63,26 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new TaskedSensor<BatteryState>(
- new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
+ batteryVoltageSensor->addFilters({
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ });
+ auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
- battery->begin();
+ batteryTask->begin();
+
+ auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
+ batteryVoltageSensor,
+ &VoltageMap::LiPO_1S_42
+ );
+ batterySensor->addValueCallback([](BatteryState value) -> void {
+ app->postEvent(new BatteryLevelEvent(value));
+ });
+ batterySensor->init();
#endif
}
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index 74cbcdfd..fb20ce80 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -15,6 +15,7 @@
#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
+using namespace SenseShift::Input;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
@@ -55,12 +56,26 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new TaskedSensor<BatteryState>(
- new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
+ batteryVoltageSensor->addFilters({
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ });
+ auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ );
+ batteryTask->begin();
+
+ auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
+ batteryVoltageSensor,
+ &VoltageMap::LiPO_1S_42
);
- battery->begin();
+ batterySensor->addValueCallback([](BatteryState value) -> void {
+ app->postEvent(new BatteryLevelEvent(value));
+ });
+ batterySensor->init();
#endif
}
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index c8352ee8..cc623ce2 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -15,6 +15,7 @@
#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
+using namespace SenseShift::Input;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
@@ -56,12 +57,26 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new TaskedSensor<BatteryState>(
- new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
+ batteryVoltageSensor->addFilters({
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ });
+ auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ );
+ batteryTask->begin();
+
+ auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
+ batteryVoltageSensor,
+ &VoltageMap::LiPO_1S_42
);
- battery->begin();
+ batterySensor->addValueCallback([](BatteryState value) -> void {
+ app->postEvent(new BatteryLevelEvent(value));
+ });
+ batterySensor->init();
#endif
}
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index a4b8574f..05e6ba9f 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -15,6 +15,7 @@
#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
+using namespace SenseShift::Input;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
@@ -56,12 +57,26 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new TaskedSensor<BatteryState>(
- new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
+ batteryVoltageSensor->addFilters({
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ });
+ auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ );
+ batteryTask->begin();
+
+ auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
+ batteryVoltageSensor,
+ &VoltageMap::LiPO_1S_42
);
- battery->begin();
+ batterySensor->addValueCallback([](BatteryState value) -> void {
+ app->postEvent(new BatteryLevelEvent(value));
+ });
+ batterySensor->init();
#endif
}
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index 52b95ccf..f828ec19 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -15,6 +15,7 @@
#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
+using namespace SenseShift::Input;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
@@ -65,12 +66,26 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new TaskedSensor<BatteryState>(
- new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
+ batteryVoltageSensor->addFilters({
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ });
+ auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ );
+ batteryTask->begin();
+
+ auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
+ batteryVoltageSensor,
+ &VoltageMap::LiPO_1S_42
);
- battery->begin();
+ batterySensor->addValueCallback([](BatteryState value) -> void {
+ app->postEvent(new BatteryLevelEvent(value));
+ });
+ batterySensor->init();
#endif
}
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index 87869e43..b1066077 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -15,6 +15,7 @@
#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
+using namespace SenseShift::Input;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
@@ -70,12 +71,26 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new TaskedSensor<BatteryState>(
- new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
+ batteryVoltageSensor->addFilters({
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ });
+ auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ );
+ batteryTask->begin();
+
+ auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
+ batteryVoltageSensor,
+ &VoltageMap::LiPO_1S_42
);
- battery->begin();
+ batterySensor->addValueCallback([](BatteryState value) -> void {
+ app->postEvent(new BatteryLevelEvent(value));
+ });
+ batterySensor->init();
#endif
}
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 8a036950..48ea44ee 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -16,6 +16,7 @@
#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
+using namespace SenseShift::Input;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
@@ -79,12 +80,26 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new TaskedSensor<BatteryState>(
- new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
+ batteryVoltageSensor->addFilters({
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ });
+ auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ );
+ batteryTask->begin();
+
+ auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
+ batteryVoltageSensor,
+ &VoltageMap::LiPO_1S_42
);
- battery->begin();
+ batterySensor->addValueCallback([](BatteryState value) -> void {
+ app->postEvent(new BatteryLevelEvent(value));
+ });
+ batterySensor->init();
#endif
}
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index 1c3f02cb..d5c7565c 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -15,6 +15,7 @@
#include <senseshift/freertos/input/sensor.hpp>
using namespace SenseShift;
+using namespace SenseShift::Input;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
@@ -54,12 +55,26 @@ void setupMode()
bhBleConnection->begin();
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
- auto* battery = new TaskedSensor<BatteryState>(
- new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
+ batteryVoltageSensor->addFilters({
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ });
+ auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ );
+ batteryTask->begin();
+
+ auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
+ batteryVoltageSensor,
+ &VoltageMap::LiPO_1S_42
);
- battery->begin();
+ batterySensor->addValueCallback([](BatteryState value) -> void {
+ app->postEvent(new BatteryLevelEvent(value));
+ });
+ batterySensor->init();
#endif
}
diff --git a/lib/arduino/senseshift/arduino/battery/ina219.hpp b/lib/arduino/senseshift/arduino/battery/ina219.hpp
deleted file mode 100644
index a343488d..00000000
--- a/lib/arduino/senseshift/arduino/battery/ina219.hpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#pragma once
-
-#include <senseshift/battery/sensor.hpp>
-
-#include <Adafruit_INA219.h>
-
-namespace SenseShift::Arduino::Battery {
- class INA219_Battery : public ::SenseShift::Battery::IBatterySensor {
- private:
- bool active = false;
- Adafruit_INA219* sensor;
-
- public:
- INA219_Battery(Adafruit_INA219* sensor) : sensor(sensor){};
-
- void init() override { this->active = this->sensor->begin(); }
-
- ::SenseShift::Battery::BatteryState getValue() override
- {
- if (!this->active) {
- return { 0 };
- }
-
- auto batteryVoltage = this->sensor->getBusVoltage_V();
- // TODO: change this linear transformation to smth more useful
- auto batteryPercentage = (batteryVoltage - 3.0) / 0.96;
-
- return {
- simpleMap<float>(batteryPercentage, 1.0f, 255.0f),
- };
- }
- };
-} // namespace SenseShift::Arduino::Battery
diff --git a/lib/arduino/senseshift/arduino/battery/max17048.hpp b/lib/arduino/senseshift/arduino/battery/max17048.hpp
deleted file mode 100644
index dc886cc2..00000000
--- a/lib/arduino/senseshift/arduino/battery/max17048.hpp
+++ /dev/null
@@ -1,45 +0,0 @@
-#pragma once
-
-#include <senseshift/battery/sensor.hpp>
-
-#include <SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library.h>
-
-namespace SenseShift::Arduino::Battery {
- class MAX1704_Battery : public ::SenseShift::Battery::IBatterySensor {
- public:
- MAX1704_Battery(SFE_MAX1704X* gauge) : gauge(gauge){};
-
- /**
- * @see
- * https://github.com/sparkfun/SparkFun_MAX1704x_Fuel_Gauge_Arduino_Library/blob/main/examples/Example1_Simple/Example1_Simple.ino
- */
- void init() override
- {
- // Set up the MAX17043 LiPo fuel gauge:
- this->active = this->gauge->begin();
-
- if (this->active) {
- // Quick start restarts the MAX17043 in hopes of getting a more accurate
- // guess for the SOC.
- this->gauge->quickStart();
-
- // We can set an interrupt to alert when the battery SoC gets too low.
- // We can alert at anywhere between 1% - 32%:
- // this->gauge->setThreshold(SENSESHIFT_BATTERY_THRESHOLD_PERCENTAGE);
- }
- }
-
- ::SenseShift::Battery::BatteryState getValue() override
- {
- if (!this->active) {
- return { 0 };
- }
-
- return { .level = simpleMap(this->gauge->getSOC(), 1.0f, 255.0f) };
- }
-
- private:
- bool active = false;
- SFE_MAX1704X* gauge;
- };
-} // namespace SenseShift::Arduino::Battery
diff --git a/lib/arduino/senseshift/arduino/input/sensor/analog.hpp b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
index e95f14f4..dbef7c39 100644
--- a/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
+++ b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
@@ -6,13 +6,24 @@
#include <Arduino.h>
+#if defined(__AVR__)
+#define ANALOG_MAX 1023.0F
+#elif defined(ESP32)
+#define ANALOG_MAX 4095.0F
+#elif !defined(ANALOG_MAX)
+#warning "This board doesn't have an auto ANALOG_MAX assignment, please set it manually"
+#define ANALOG_MAX static_assert(false, "ANALOG_MAX is not defined")
+// Uncomment and set as needed (only touch if you know what you are doing)
+// #define ANALOG_MAX 4095.0F
+#endif
+
namespace SenseShift::Arduino::Input {
template<bool Invert = false>
- class AnalogSensor : public ::SenseShift::Input::IFloatSensor {
+ class AnalogSimpleSensor : public ::SenseShift::Input::IFloatSimpleSensor {
std::uint8_t pin_;
public:
- AnalogSensor(const std::uint8_t pin) : pin_(pin) {}
+ explicit AnalogSimpleSensor(const std::uint8_t pin) : pin_(pin) {}
void init() override { pinMode(this->pin_, INPUT); };
@@ -20,16 +31,16 @@ namespace SenseShift::Arduino::Input {
};
template<>
- [[nodiscard]] inline auto AnalogSensor<false>::getValue() -> float
+ [[nodiscard]] inline auto AnalogSimpleSensor<false>::getValue() -> float
{
- const auto raw = analogRead(this->pin_);
+ const std::uint16_t raw = analogRead(this->pin_);
return static_cast<float>(raw) / ANALOG_MAX;
}
template<>
- [[nodiscard]] inline auto AnalogSensor<true>::getValue() -> float
+ [[nodiscard]] inline auto AnalogSimpleSensor<true>::getValue() -> float
{
- const auto raw = ANALOG_MAX - analogRead(this->pin_);
+ const std::uint16_t raw = ANALOG_MAX - analogRead(this->pin_);
return static_cast<float>(raw) / ANALOG_MAX;
}
} // namespace SenseShift::Arduino::Input
diff --git a/lib/battery/senseshift/battery.hpp b/lib/battery/senseshift/battery.hpp
index c6238a0d..ed784445 100644
--- a/lib/battery/senseshift/battery.hpp
+++ b/lib/battery/senseshift/battery.hpp
@@ -1,67 +1,49 @@
#pragma once
#include <cstdint>
+#include <limits>
+#include <algorithm>
#include <frozen/map.h>
#include <senseshift/events.hpp>
namespace SenseShift::Battery {
- // Source: https://blog.ampow.com/lipo-voltage-chart/
- inline static const auto voltageToPercents_1s = frozen::make_map<float, float>({
- // clang-format off
- { 4.2, 1.0 },
- { 4.15, 0.95 },
- { 4.11, 0.9 },
- { 4.08, 0.85 },
- { 4.02, 0.8 },
- { 3.98, 0.75 },
- { 3.95, 0.7 },
- { 3.91, 0.65 },
- { 3.87, 0.6 },
- { 3.85, 0.55 },
- { 3.84, 0.5 },
- { 3.82, 0.45 },
- { 3.8, 0.4 },
- { 3.79, 0.35 },
- { 3.77, 0.3 },
- { 3.75, 0.25 },
- { 3.73, 0.2 },
- { 3.71, 0.15 },
- { 3.69, 0.1 },
- { 3.61, 0.05 },
- { 3.27, 0.0 },
- // clang-format on
- });
- inline static const auto voltageToPercents_2s = frozen::make_map<float, float>({
- // clang-format off
- { 8.4, 1.0 },
- { 8.3, 0.95 },
- { 8.22, 0.9 },
- { 8.16, 0.85 },
- { 8.05, 0.8 },
- { 7.97, 0.75 },
- { 7.91, 0.7 },
- { 7.83, 0.65 },
- { 7.75, 0.6 },
- { 7.71, 0.55 },
- { 7.67, 0.5 },
- { 7.63, 0.45 },
- { 7.59, 0.4 },
- { 7.57, 0.35 },
- { 7.53, 0.3 },
- { 7.49, 0.25 },
- { 7.45, 0.2 },
- { 7.41, 0.15 },
- { 7.37, 0.1 },
- { 7.22, 0.05 },
- { 6.55, 0.0 },
- // clang-format on
- });
+
+ namespace VoltageMap {
+ /// Lookup table for LiPO 1S 4.2V batteries
+ /// \see <a href="https://blog.ampow.com/lipo-voltage-chart/">Source</a>
+ [[maybe_unused]] inline static const auto LiPO_1S_42= frozen::make_map<float, float>({
+ { 4.2, 1.0 },
+ { 4.15, 0.95 },
+ { 4.11, 0.9 },
+ { 4.08, 0.85 },
+ { 4.02, 0.8 },
+ { 3.98, 0.75 },
+ { 3.95, 0.7 },
+ { 3.91, 0.65 },
+ { 3.87, 0.6 },
+ { 3.85, 0.55 },
+ { 3.84, 0.5 },
+ { 3.82, 0.45 },
+ { 3.8, 0.4 },
+ { 3.79, 0.35 },
+ { 3.77, 0.3 },
+ { 3.75, 0.25 },
+ { 3.73, 0.2 },
+ { 3.71, 0.15 },
+ { 3.69, 0.1 },
+ { 3.61, 0.05 },
+ { 3.27, 0.0 },
+ });
+ } // namespace VoltageMap
struct BatteryState {
- static constexpr std::uint8_t MAX_LEVEL = 255;
- uint8_t level;
+ using VoltageType = float;
+ using LevelType = std::uint8_t;
+
+ static constexpr LevelType MAX_LEVEL = std::numeric_limits<LevelType>::max();
+ LevelType level;
};
class BatteryLevelEvent : public IEvent {
diff --git a/lib/battery/senseshift/battery/sensor.hpp b/lib/battery/senseshift/battery/sensor.hpp
index aae97c85..fdfa525d 100644
--- a/lib/battery/senseshift/battery/sensor.hpp
+++ b/lib/battery/senseshift/battery/sensor.hpp
@@ -13,41 +13,47 @@
#endif
namespace SenseShift::Battery {
- /**
- * Abstract battery sensor
- */
- using IBatterySensor = ::SenseShift::Input::ISimpleSensor<BatteryState>;
+ /// Abstract battery sensor
+ using IBatterySensor = ::SenseShift::Input::Sensor<BatteryState>;
+
+ /// Interpolate voltage according to a lookup table.
+ template<typename Container>
+ class LookupTableInterpolateBatterySensor : public IBatterySensor {
+ static_assert(std::is_same_v<typename Container::key_type, typename BatteryState::VoltageType>);
+ static_assert(std::is_same_v<typename Container::mapped_type, float>);
- class NaiveBatterySensor : public IBatterySensor {
public:
- explicit NaiveBatterySensor(::SenseShift::Input::IFloatSensor* sensor) : sensor(sensor){};
+ using VoltageType = typename BatteryState::VoltageType;
+ using VoltageSource = ::SenseShift::Input::Sensor<VoltageType>;
- [[nodiscard]] auto getValue() -> BatteryState override
- {
- const auto level = static_cast<std::uint8_t>(this->sensor->getValue() * BatteryState::MAX_LEVEL);
+ LookupTableInterpolateBatterySensor(
+ VoltageSource* voltage_source,
+ Container* lookup_table
+ ) : IBatterySensor(), voltage_source_(voltage_source), lookup_table_(lookup_table) {}
- return { .level = level};
- };
+ void init() override {
+ this->voltage_source_->init();
+ this->voltage_source_->addValueCallback([this](VoltageType voltage) {
+ // Current level in % (0.0 - 1.0)
+ auto level = this->lookupInterpolateLevel(voltage);
- void init() override { this->sensor->init(); }
+ LOG_D("battery.sensor", "voltage=%f, level=%f", voltage, level);
- private:
- ::SenseShift::Input::IFloatSensor* sensor;
- };
+ const BatteryState value = {
+ .level = static_cast<typename BatteryState::LevelType>(level * BatteryState::MAX_LEVEL),
+ };
- class BatterySensor : public ::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState> {
- public:
- BatterySensor(::SenseShift::Battery::IBatterySensor* sensor, ::SenseShift::IEventDispatcher* eventDispatcher) :
- ::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState>(sensor),
- eventDispatcher(eventDispatcher){};
-
- void tick() override
- {
- this->::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState>::tick();
- this->eventDispatcher->postEvent(new ::SenseShift::Battery::BatteryLevelEvent(this->getValue()));
+ this->publishState(value);
+ });
+ }
+
+ protected:
+ [[nodiscard]] auto lookupInterpolateLevel(VoltageType voltage) -> float {
+ return ::SenseShift::lookup_interpolate<VoltageType, float, Container>(*this->lookup_table_, voltage);
}
private:
- ::SenseShift::IEventDispatcher* eventDispatcher;
+ VoltageSource* voltage_source_;
+ Container* lookup_table_;
};
} // namespace SenseShift::Battery
diff --git a/lib/core/senseshift/core/helpers.hpp b/lib/core/senseshift/core/helpers.hpp
index 8a68a2fb..35cfe2a0 100644
--- a/lib/core/senseshift/core/helpers.hpp
+++ b/lib/core/senseshift/core/helpers.hpp
@@ -1,14 +1,16 @@
#pragma once
+#include <functional>
#include <type_traits>
+#include <vector>
namespace SenseShift {
- /// @name Mathematics
- /// @{
-
/// Linearly interpolate between \p start and \p end by \p completion (between 0 and 1).
- constexpr auto lerp(const float completion, const float start, const float end) -> float
+ template<typename Tp>
+ constexpr auto lerp(const float completion, const Tp start, const Tp end) -> Tp
{
+ static_assert(std::is_arithmetic_v<Tp>, "Type must be arithmetic");
+
return start + (end - start) * completion;
}
@@ -27,13 +29,12 @@ namespace SenseShift {
template<typename Tp, typename Up>
constexpr auto remap(Up value, Up min, Up max, Tp min_out, Tp max_out) -> Tp
{
- static_assert(std::is_arithmetic_v<Up>, "Type must be arithmetic");
static_assert(std::is_arithmetic_v<Tp>, "Type must be arithmetic");
+ static_assert(std::is_arithmetic_v<Up>, "Type must be arithmetic");
return (value - min) * (max_out - min_out) / (max - min) + min_out;
}
-
/// Remap \p value from the range (0, \p max) to (0, \p max_out).
///
/// \tparam Tp The output type.
@@ -55,5 +56,68 @@ namespace SenseShift {
return value * max_out / max;
}
- /// @}
+ /// Lookup a value in a table and interpolate between the two closest values.
+ ///
+ /// \tparam Tp
+ /// \tparam To
+ /// \tparam Container
+ ///
+ /// \param lookup_table Lookup table to use in the format of std::map<Tp, Tp> in descending order.
+ /// \param value
+ ///
+ /// \return
+ template <typename Tp, typename To, typename Container>
+ auto lookup_interpolate(Container const& lookup_table, Tp value) -> To
+ {
+ static_assert(std::is_same_v<typename Container::key_type, Tp>);
+ static_assert(std::is_same_v<typename Container::mapped_type, To>);
+ static_assert(std::is_arithmetic_v<Tp>, "lookup_interpolate only supports arithmetic types");
+ static_assert(std::is_arithmetic_v<To>, "lookup_interpolate only supports arithmetic types");
+
+ // If the value is outside the range of the lookup table, return the closest value
+ if (value <= lookup_table.begin()->first) {
+ return lookup_table.begin()->second;
+ }
+ if (value >= lookup_table.rbegin()->first) {
+ return lookup_table.rbegin()->second;
+ }
+
+ // Find the two closest values in the lookup table
+ auto const upper = lookup_table.lower_bound(value);
+ auto const lower = std::prev(upper);
+
+ // Interpolate between the two closest values
+ float const completion = (value - lower->first) / (upper->first - lower->first);
+
+ return lerp(completion, lower->second, upper->second);
+ }
+
+ template<typename... X>
+ class CallbackManager;
+
+ /// Helper class to allow having multiple subscribers to a callback.
+ ///
+ /// \tparam Ts The arguments for the callbacks, wrapped in void().
+ template<typename... Ts>
+ class CallbackManager<void(Ts...)> {
+ public:
+ using CallbackType = std::function<void(Ts...)>;
+
+ /// Add a callback to the list.
+ void add(std::function<void(Ts...)> &&callback) { this->callbacks_.push_back(std::move(callback)); }
+
+ /// Call all callbacks in this manager.
+ void call(Ts... args) {
+ for (auto &callback : this->callbacks_) {
+ callback(args...);
+ }
+ }
+ [[nodiscard]] auto size() const -> size_t { return this->callbacks_.size(); }
+
+ /// Call all callbacks in this manager.
+ void operator()(Ts... args) { call(args...); }
+
+ private:
+ std::vector<std::function<void(Ts...)>> callbacks_;
+ };
} // namespace SenseShift
\ No newline at end of file
diff --git a/lib/freertos/senseshift/freertos/input/sensor.hpp b/lib/freertos/senseshift/freertos/input/sensor.hpp
index aa2b12a5..667a2581 100644
--- a/lib/freertos/senseshift/freertos/input/sensor.hpp
+++ b/lib/freertos/senseshift/freertos/input/sensor.hpp
@@ -6,54 +6,36 @@
#include <cstdint>
namespace SenseShift::FreeRTOS::Input {
- /**
- * Sensor update task
- */
- class SensorUpdateTask : public Task<SensorUpdateTask> {
- friend class Task<SensorUpdateTask>;
-
- private:
- using Sensor = ::SenseShift::ITickable;
+ /// Sensor update task
+ template<typename Sensor>
+ class SensorUpdateTask : public Task<SensorUpdateTask<Sensor>> {
+ static_assert(std::is_same_v<decltype(&Sensor::init), void (Sensor::*)()>);
+ static_assert(std::is_same_v<decltype(&Sensor::tick), void (Sensor::*)()>);
public:
SensorUpdateTask(Sensor* sensor, std::uint32_t updateDelay, TaskConfig taskConfig) :
- Task<SensorUpdateTask>(taskConfig), updateDelay(updateDelay){};
+ Task<SensorUpdateTask>(taskConfig), sensor_(sensor), updateDelay_(updateDelay) {
+ log_i("creating SensorUpdateTask: %s", taskConfig.name);
+ };
- protected:
- Sensor* sensor;
- std::uint32_t updateDelay;
+ void begin() override {
+ this->sensor_->init();
+ this->Task<SensorUpdateTask>::begin();
+ }
- void run()
+ protected:
+ [[noreturn]] void run()
{
while (true) {
- this->sensor->tick();
- ::delay(this->updateDelay);
+ this->sensor_->tick();
+ delay(this->updateDelay_);
}
}
- };
-
- template<typename Tp>
- class TaskedSensor : public SensorUpdateTask, public ::SenseShift::Input::ISimpleSensor<Tp> {
- friend class SensorUpdateTask;
private:
- using Sensor = ::SenseShift::Input::MemoizedSensor<Tp>;
-
- public:
- TaskedSensor(Sensor* sensor, std::uint32_t updateDelay, TaskConfig taskConfig) :
- SensorUpdateTask(sensor, updateDelay, taskConfig), sensor(sensor){};
-
- void begin() override
- {
- this->init();
- SensorUpdateTask::begin();
- };
-
- void init() override { this->sensor->init(); };
-
- Tp getValue() override { return this->sensor->getValue(); };
+ friend class Task<SensorUpdateTask>;
- private:
- Sensor* sensor;
+ Sensor* sensor_;
+ std::uint32_t updateDelay_;
};
} // namespace SenseShift::FreeRTOS::Input
diff --git a/lib/freertos/senseshift/freertos/task.hpp b/lib/freertos/senseshift/freertos/task.hpp
index d06415ea..0cbb1a12 100644
--- a/lib/freertos/senseshift/freertos/task.hpp
+++ b/lib/freertos/senseshift/freertos/task.hpp
@@ -39,11 +39,9 @@ namespace SenseShift::FreeRTOS {
friend class Task;
public:
- Task(const char* name, uint32_t stackDepth, UBaseType_t priority, const BaseType_t coreId = tskNO_AFFINITY)
- {
- this->taskConfig = { name, stackDepth, priority, coreId };
+ explicit Task(TaskConfig& config) : taskConfig(config) {
+ log_i("creating SensorUpdateTask: %s", taskConfig.name);
};
- Task(TaskConfig& config) : taskConfig(config){};
virtual ~Task()
{
if (taskHandle) {
@@ -56,15 +54,16 @@ namespace SenseShift::FreeRTOS {
virtual void begin()
{
BaseType_t result = xTaskCreateUniversal(
- taskFunction, // pvTaskCode
- this->taskConfig.name, // pcName
- this->taskConfig.stackDepth, // usStackDepth
- this, // pvParameters
- this->taskConfig.priority, // uxPriority
- &taskHandle, // pvCreatedTask
- this->taskConfig.coreId // xCoreID
+ taskFunction, //< pvTaskCode
+ this->taskConfig.name, //< pcName
+ this->taskConfig.stackDepth, //< usStackDepth
+ this, //< pvParameters
+ this->taskConfig.priority, //< uxPriority
+ &taskHandle, //< pvCreatedTask
+ this->taskConfig.coreId //< xCoreID
);
+ log_i("Created task %s, result %i", this->taskConfig.name, result);
assert("Failed to create task" && result == pdPASS);
if (!taskHandle) {
log_e("Failed to create task %s", this->taskConfig.name);
diff --git a/lib/util/senseshift/calibration.hpp b/lib/io/senseshift/input/calibration.hpp
similarity index 82%
rename from lib/util/senseshift/calibration.hpp
rename to lib/io/senseshift/input/calibration.hpp
index e1602582..bb8a0113 100644
--- a/lib/util/senseshift/calibration.hpp
+++ b/lib/io/senseshift/input/calibration.hpp
@@ -5,35 +5,31 @@
#pragma once
-#include <senseshift/utility.hpp>
+#include "senseshift/utility.hpp"
-namespace SenseShift::Calibration {
+namespace SenseShift::Input {
struct ICalibrated {
- virtual void resetCalibration() = 0;
- virtual void enableCalibration() = 0;
- virtual void disableCalibration() = 0;
- };
-
- class Calibrated : public virtual ICalibrated {
- bool calibrate_ = false;
-
- public:
- void resetCalibration() override = 0;
- void enableCalibration() override { calibrate_ = true; }
- void disableCalibration() override { calibrate_ = false; }
+ virtual void startCalibration() = 0;
+ virtual void stopCalibration() = 0;
+ virtual void reselCalibration() = 0;
};
template<typename Tp>
struct ICalibrator {
- static_assert(std::is_arithmetic_v<Tp>, "ICalibrator only can be used with arithmetic types");
-
+ /// Reset the calibration.
virtual void reset() = 0;
+
+ /// Update the calibration with a new input value.
virtual void update(Tp input) = 0;
- virtual auto calibrate(Tp input) const -> Tp = 0;
+
+ /// Calibrate the input value.
+ [[nodiscard]] virtual auto calibrate(Tp input) const -> Tp = 0;
};
template<typename Tp, Tp output_min, Tp output_max>
class MinMaxCalibrator : public ICalibrator<Tp> {
+ static_assert(std::is_arithmetic_v<Tp>, "MinMaxCalibrator only can be used with arithmetic types");
+
public:
using ValueType = Tp;
@@ -83,6 +79,8 @@ namespace SenseShift::Calibration {
template<typename Tp, Tp sensor_max, Tp driver_max_deviation, Tp output_min, Tp output_max>
class CenterPointDeviationCalibrator : public ICalibrator<Tp> {
+ static_assert(std::is_arithmetic_v<Tp>, "CenterPointDeviationCalibrator only can be used with arithmetic types");
+
public:
using ValueType = Tp;
@@ -104,7 +102,7 @@ namespace SenseShift::Calibration {
}
auto calibrate(ValueType input) const -> ValueType override {
- // Find the center point of the sensor so we know how much we have deviated from it.
+ // Find the center point of the sensor, so we know how much we have deviated from it.
Tp center = (range_min + range_max) / 2.0F;
// Map the input to the sensor range of motion.
@@ -130,6 +128,8 @@ namespace SenseShift::Calibration {
template<typename Tp, Tp sensor_max, Tp driver_max_deviation, Tp output_min, Tp output_max>
class FixedCenterPointDeviationCalibrator : public ICalibrator<Tp> {
+ static_assert(std::is_arithmetic_v<Tp>, "FixedCenterPointDeviationCalibrator only can be used with arithmetic types");
+
public:
using ValueType = Tp;
@@ -137,7 +137,7 @@ namespace SenseShift::Calibration {
void update(ValueType input) override {}
auto calibrate(ValueType input) const -> ValueType override {
- // Find the center point of the sensor so we know how much we have deviated from it.
+ // Find the center point of the sensor, so we know how much we have deviated from it.
Tp center = sensor_max / 2.0F;
// Map the input to the sensor range of motion.
@@ -156,4 +156,4 @@ namespace SenseShift::Calibration {
);
}
};
-} // namespace SenseShift::Calibration
+} // namespace SenseShift::Input
diff --git a/lib/io/senseshift/input/filter.hpp b/lib/io/senseshift/input/filter.hpp
new file mode 100644
index 00000000..81b5b5d3
--- /dev/null
+++ b/lib/io/senseshift/input/filter.hpp
@@ -0,0 +1,284 @@
+#pragma once
+
+#include <algorithm>
+#include <array>
+#include <cstdint>
+#include <cstdlib>
+#include <deque>
+#include <functional>
+#include <type_traits>
+#include <utility>
+#include <vector>
+
+#include <senseshift/core/helpers.hpp>
+
+namespace SenseShift::Input {
+ template<typename Tp>
+ class ISimpleSensor;
+
+ template<typename Tp>
+ class Sensor;
+
+ template<typename Tp>
+ class IFilter {
+ public:
+ using ValueType = Tp;
+
+ virtual auto filter(ISimpleSensor<ValueType>* sensor, ValueType value) -> ValueType = 0;
+ };
+
+ template<typename Tp>
+ class AddFilter : public IFilter<Tp> {
+ public:
+ explicit AddFilter(Tp offset) : offset_(offset){};
+
+ auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
+ {
+ return value + this->offset_;
+ }
+
+ private:
+ Tp offset_;
+ };
+
+ template<typename Tp>
+ class IFiltered {
+ public:
+ using ValueType = Tp;
+
+ virtual void addFilter(IFilter<ValueType>* filter) = 0;
+
+ virtual void addFilters(std::vector<IFilter<ValueType>*> filters) = 0;
+
+ virtual void setFilters(std::vector<IFilter<ValueType>*> filters) = 0;
+
+ void clearFilters() = 0;
+ };
+
+ template<typename Tp>
+ class SubtractFilter : public IFilter<Tp> {
+ public:
+ explicit SubtractFilter(Tp offset) : offset_(offset){};
+
+ auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
+ {
+ return value - this->offset_;
+ }
+
+ private:
+ Tp offset_;
+ };
+
+ template<typename Tp>
+ class MultiplyFilter : public IFilter<Tp> {
+ public:
+ explicit MultiplyFilter(Tp factor) : factor_(factor){};
+
+ auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
+ {
+ return value * this->factor_;
+ }
+
+ private:
+ Tp factor_;
+ };
+
+ class VoltageDividerFilter : public MultiplyFilter<float> {
+ public:
+ /// \param r1 The resistance in Ohms of the first resistor in the voltage divider.
+ /// Example: 27000.0F.
+ /// \param r2 The resistance in Ohms of the second resistor in the voltage divider.
+ /// Example: 100000.0F.
+ ///
+ /// \example
+ /// \code
+ /// new VoltageDividerFilter(27000.0F, 100000.0F);
+ /// \endcode
+ explicit VoltageDividerFilter(float r1, float r2) : MultiplyFilter<float>(r2 / (r1 + r2)){};
+ };
+
+ template<typename Tp>
+ class ClampFilter : public IFilter<Tp> {
+ public:
+ ClampFilter(Tp min, Tp max) : min_(min), max_(max){};
+
+ auto filter(ISimpleSensor<Tp>* /*source*/, Tp value) -> Tp override
+ {
+ return std::clamp(value, this->min_, this->max_);
+ }
+
+ private:
+ Tp min_;
+ Tp max_;
+ };
+
+ /// An alias for ClampFilter.
+ template<typename Tp>
+ using MinMaxFilter = ClampFilter<Tp>;
+
+ /// An alias for ClampFilter.
+ template<typename Tp>
+ using RangeFilter = ClampFilter<Tp>;
+
+ template<typename Tp>
+ class LambdaFilter : public IFilter<Tp> {
+ public:
+ using Lambda = std::function<Tp(Tp)>;
+
+ explicit LambdaFilter(Lambda filter) : filter_(std::move(filter)) {};
+
+ auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
+ {
+ return this->filter_(value);
+ }
+
+ private:
+ Lambda filter_;
+ };
+
+ /// Average filter. Reads the value from the sensor and returns the average of the N values.
+ template<typename Tp, typename Sensor>
+ class SampleAverageFilter : public IFilter<Tp> {
+ static_assert(std::is_arithmetic_v<Tp>, "SampleAverageFilter only supports arithmetic types");
+ static_assert(std::is_same_v<typename Sensor::ValueType, Tp>, "Sensor type must match filter type");
+ static_assert(std::is_same_v<decltype(&Sensor::readRawValue), void (Sensor::*)()>, "Can only use sensors with readRawValue()");
+
+ public:
+ explicit SampleAverageFilter(std::size_t size) : size_(size){};
+
+ auto filter(ISimpleSensor<Tp>* sensor, Tp value) -> Tp override
+ {
+ auto sum = value;
+
+ // Read the acc_ from the sensor N-1 times and sum them up.
+ // We read it N-1 times because we already have the first acc_.
+ for (std::size_t i = 0; i < this->size_ - 1; i++) {
+ sum += sensor->readRawValue();
+ }
+
+ // Return the average of the values.
+ return sum / this->size_;
+ }
+
+ private:
+ std::size_t size_;
+ };
+
+ template<std::size_t N, typename Tp, typename Sensor>
+ class SampleMedianFilter : public IFilter<Tp> {
+ static_assert(N % 2 == 1, "SampleMedianFilter only supports odd sample sizes");
+ static_assert(std::is_same_v<typename Sensor::ValueType, Tp>, "Sensor type must match filter type");
+ static_assert(std::is_same_v<decltype(&Sensor::readRawValue), void (Sensor::*)()>, "Can only use sensors with readRawValue()");
+
+ public:
+ explicit SampleMedianFilter() = default;
+
+ auto filter(ISimpleSensor<Tp>* sensor, Tp value) -> Tp override
+ {
+ this->values = { value };
+
+ // Read the acc_ from the sensor N-1 times and put them in the array.
+ // We read it N-1 times because we already have the first acc_.
+ for (std::size_t i = 1; i <= this->size_ - 1; i++) {
+ this->values[i] = sensor->readRawValue();
+ }
+
+ // Sort the array.
+ std::sort(this->values.begin(), this->values.end());
+
+ // Return the median of the values.
+ return this->values[this->size_ / 2];
+ }
+
+ private:
+ std::array<Tp, N> values_;
+ };
+
+ template<typename Tp>
+ class SlidingWindowMovingAverageFilter : public IFilter<Tp> {
+ static_assert(std::is_arithmetic_v<Tp>, "SlidingWindowAverageFilter only supports arithmetic types");
+
+ public:
+ explicit SlidingWindowMovingAverageFilter(size_t window_size) : window_size_(window_size) { };
+
+ auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
+ {
+ while (this->queue_.size() >= this->window_size_) {
+ this->queue_.pop_front();
+ }
+ this->queue_.push_back(value);
+
+ return this->getAverage();
+ }
+
+ private:
+ std::size_t window_size_;
+ std::deque<Tp> values_;
+
+ [[nodiscard]] auto getAverage() const -> Tp
+ {
+ Tp sum = 0;
+ for (auto value : this->queue_) {
+ sum += value;
+ }
+ return sum / this->queue_.size();
+ }
+ };
+
+ template<typename Tp>
+ class ExponentialMovingAverageFilter : public IFilter<Tp> {
+ static_assert(std::is_arithmetic_v<Tp>, "ExponentialMovingAverageFilter only supports arithmetic types");
+
+ public:
+ explicit ExponentialMovingAverageFilter(float alpha) : alpha_(alpha) { };
+
+ auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
+ {
+ this->acc_ = this->alpha_ * value + (1 - this->alpha_) * this->acc_;
+
+ return this->acc_;
+ }
+
+ private:
+ float alpha_;
+ Tp acc_;
+ };
+
+ /// Deadzone filter. Clamps acc_ to center if it is within the deadzone.
+ /// Usually used to filter out noise in the joystick.
+ class CenterDeadzoneFilter : public IFilter<float>
+ {
+ public:
+ explicit CenterDeadzoneFilter(float deadzone) : deadzone_(deadzone){};
+
+ auto filter(ISimpleSensor<float>* /*sensor*/, float value) -> float override
+ {
+ float const deviation = std::abs(CENTER - value);
+ return deviation < deadzone_ ? CENTER : value;
+ }
+
+ private:
+ static constexpr float CENTER = 0.5F;
+
+ float deadzone_;
+ };
+
+ /// \tparam Container Type of the lookup table container.
+ template <typename Tp, typename Container>
+ class LookupTableInterpolationFilter : public IFilter<Tp>
+ {
+ static_assert(std::is_same_v<typename Container::value_type, Tp>);
+ static_assert(std::is_arithmetic_v<Tp>, "LookupTableInterpolationFilter only supports arithmetic types");
+
+ public:
+ explicit LookupTableInterpolationFilter(Container const& lookup_table) : lookup_table_(lookup_table) {};
+
+ auto filter(ISimpleSensor<float>* /*sensor*/, Tp value) -> Tp override
+ {
+ return SenseShift::lookup_interpolate<Tp, Container>(this->lookup_table_, value);
+ }
+
+ private:
+ Container const& lookup_table_;
+ };
+} // namespace SenseShift::Input
\ No newline at end of file
diff --git a/lib/io/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
index a8302172..c3fb8d02 100644
--- a/lib/io/senseshift/input/sensor.hpp
+++ b/lib/io/senseshift/input/sensor.hpp
@@ -1,20 +1,14 @@
#pragma once
#include <type_traits>
+#include <vector>
+#include <optional>
-#include <senseshift/calibration.hpp>
-#include <senseshift/core/component.hpp>
+#include "senseshift/input/filter.hpp"
+#include "senseshift/input/calibration.hpp"
-#if defined(__AVR__)
-#define ANALOG_MAX 1023
-#elif defined(ESP32)
-#define ANALOG_MAX 4095
-#elif !defined(ANALOG_MAX)
-#warning "This board doesn't have an auto ANALOG_MAX assignment, please set it manually"
-#define ANALOG_MAX static_assert(false, "ANALOG_MAX is not defined")
-// Uncomment and set as needed (only touch if you know what you are doing)
-// #define ANALOG_MAX 4095
-#endif
+#include <senseshift/core/component.hpp>
+#include <senseshift/core/helpers.hpp>
namespace SenseShift::Input {
/// Abstract hardware sensor (e.g. potentiometer, flex sensor, etc.)
@@ -24,148 +18,219 @@ namespace SenseShift::Input {
public:
using ValueType = Tp;
- /// Get the current sensor value
+ explicit ISimpleSensor() = default;
+
+ /// Get the current sensor value.
[[nodiscard]] virtual auto getValue() -> ValueType = 0;
};
- using IBinarySensor = ISimpleSensor<bool>;
- using IFloatSensor = ISimpleSensor<float>;
+ using IBinarySimpleSensor = ISimpleSensor<bool>;
+ using IFloatSimpleSensor = ISimpleSensor<float>;
template<typename Tp>
- class ISensor : public virtual ISimpleSensor<Tp>, public ITickable {};
+ class ISensor : public virtual ISimpleSensor<Tp>, public ICalibrated {};
- /// Memoized sensor decorator. Stores the last read value and returns it on subsequent calls
- /// \tparam Tp Type of the sensor value
template<typename Tp>
- class MemoizedSensor : public ISensor<Tp> {
+ class Sensor : public ISensor<Tp> {
public:
using ValueType = Tp;
+ using CallbackManagerType = CallbackManager<void(ValueType)>;
+ using CallbackType = typename CallbackManagerType::CallbackType;
+
+ explicit Sensor() = default;
+
+ /// Appends a filter to the sensor's filter chain.
+ ///
+ /// \param filter The filter to add.
+ ///
+ /// \see addFilters for adding multiple filters.
+ void addFilter(IFilter<ValueType>* filter) { this->filters_.push_back(filter); }
+
+ /// Adds multiple filters to the sensor's filter chain. Appends to the end of the chain.
+ ///
+ /// \param filters The chain of filters to add.
+ ///
+ /// \example
+ /// \code
+ /// sensor->addFilters({
+ /// new MinMaxFilter(0.1f, 0.9f),
+ /// new CenterDeadzoneFilter(0.1f),
+ /// });
+ /// \endcode
+ void addFilters(std::vector<IFilter<ValueType>*> filters) {
+ this->filters_.insert(this->filters_.end(), filters.begin(), filters.end());
+ }
- /// \param sensor Sensor to be decorated
- explicit MemoizedSensor(ISimpleSensor<ValueType>* sensor) : sensor_(sensor){}
+ /// Replaces the sensor's filter chain with the given filters.
+ ///
+ /// \param filters New filter chain.
+ ///
+ /// \example
+ /// \code
+ /// sensor->setFilters({
+ /// new MinMaxFilter(0.1f, 0.9f),
+ /// new CenterDeadzoneFilter(0.1f),
+ /// });
+ /// \endcode
+ void setFilters(std::vector<IFilter<ValueType>*> filters) { this->filters_ = filters; }
- /**
- * Setup the sensor hardware
- */
- void init() override { this->sensor_->init(); }
+ /// Removes everything from the sensor's filter chain.
+ void clearFilters() { this->filters_.clear(); }
- /**
- * Read actual value from the hardware and memoize it
- */
- void tick() override { this->value_ = this->sensor_->getValue(); }
+ void setCalibrator(ICalibrator<ValueType>* calibrator) { this->calibrator_ = calibrator; }
- /**
- * Get the current memoized value
- */
- [[nodiscard]] auto getValue() -> ValueType override { return this->value_; }
+ void clearCalibrator() { this->calibrator_ = std::nullopt; }
- private:
- ISimpleSensor<ValueType>* sensor_;
- ValueType value_;
- };
-
- template<typename Tp>
- class ICalibratedSimpleSensor : public ISimpleSensor<Tp>, public Calibration::ICalibrated {};
+ void startCalibration() override { this->is_calibrating_ = true; }
- /// Calibrated sensor decorator
- /// \tparam Tp Type of the sensor value
- template<typename Tp>
- class CalibratedSimpleSensor : public ICalibratedSimpleSensor<Tp> {
- public:
- using ValueType = Tp;
+ void stopCalibration() override { this->is_calibrating_ = false; }
- /// \param sensor Sensor to be decorated
- /// \param calibrator ICalibrator algorithm to be used
- CalibratedSimpleSensor(ISimpleSensor<ValueType>* sensor, Calibration::ICalibrator<ValueType>* calibrator) :
- sensor_(sensor), calibrator_(calibrator){};
+ void reselCalibration() override {
+ if (this->calibrator_.has_value()) {
+ this->calibrator_.value()->reset();
+ }
+ }
- void init() override { this->sensor_->init(); };
- [[nodiscard]] auto getValue() -> ValueType override { return this->getCalibratedValue(); };
+ void addValueCallback(CallbackType &&callback) { this->callback_.add(std::move(callback)); }
- void resetCalibration() override { this->calibrator_->reset(); };
- void enableCalibration() override { is_calibrating_ = true; }
- void disableCalibration() override { is_calibrating_ = false; }
+ void addRawValueCallback(CallbackType &&callback) { this->raw_callback_.add(std::move(callback)); }
- protected:
- [[nodiscard]] auto getCalibratedValue() -> ValueType
- {
- auto value = this->sensor_->getValue();
+ void init() override { }
- if (this->is_calibrating_) {
- this->calibrator_->update(value);
- }
+ /// Publish the given state to the sensor.
+ ///
+ /// Firstly, the given state will be assigned to the sensor's raw_value_.
+ /// Then, the raw_value_ will be passed through the sensor's filter chain.
+ /// Finally, the filtered value will be assigned to the sensor's .value_.
+ ///
+ /// \param rawValue The new .raw_value_.
+ void publishState(ValueType rawValue) {
+ this->raw_value_ = rawValue;
+ this->raw_callback_.call(this->raw_value_);
- return this->calibrator_->calibrate(value);
+ this->value_ = this->applyFilters(rawValue);
+ this->callback_.call(this->value_);
}
- private:
- ISimpleSensor<ValueType>* sensor_;
- Calibration::ICalibrator<ValueType>* calibrator_;
- bool is_calibrating_ = false;
- };
-
- /// A sensor that returns the average value of N samples.
- /// \tparam Tp Type of the sensor value
- template<typename Tp>
- class AverageSensor : public ISimpleSensor<Tp> {
- static_assert(std::is_arithmetic_v<Tp>, "AverageSensor only supports arithmetic types");
+ /// Get the current sensor .value_.
+ [[nodiscard]] auto getValue() -> ValueType override {
+ return this->value_;
+ }
- public:
- using ValueType = Tp;
+ /// Get the current raw sensor .raw_value_.
+ [[nodiscard]] auto getRawValue() -> ValueType {
+ return this->raw_value_;
+ }
- /// \param sensor Sensor to be decorated
- /// \param samples Number of samples to be used
- AverageSensor(ISimpleSensor<ValueType>* sensor, const size_t samples) : sensor_(sensor), samples_(samples) {}
+ protected:
+ /// Apply current filters to value.
+ [[nodiscard]] auto applyFilters(ValueType value) -> ValueType {
+ /// Apply filters
+ for (auto filter : this->filters_) {
+ value = filter->filter(this, value);
+ }
- void init() override { this->sensor_->init(); };
+ /// Apply calibration
+ if (this->calibrator_.has_value()) {
+ if (this->is_calibrating_) {
+ this->calibrator_.value()->update(value);
+ }
- [[nodiscard]] auto getValue() const -> ValueType override
- {
- // TODO: another type for sum?
- double sum = 0;
- for (size_t i = 0; i < this->samples_; i++) {
- sum += this->sensor_->getValue();
+ value = this->calibrator_.value()->calibrate(value);
}
- return sum / this->samples_;
+ return value;
}
private:
- ISimpleSensor<ValueType>* sensor_;
- size_t samples_;
+ friend class IFilter<ValueType>;
+ friend class ICalibrator<ValueType>;
+
+ /// The sensor's filter chain.
+ std::vector<IFilter<ValueType>*> filters_ = std::vector<IFilter<ValueType>*>();
+
+ bool is_calibrating_ = false;
+ std::optional<ICalibrator<ValueType>*> calibrator_ = std::nullopt;
+
+ ValueType raw_value_;
+ ValueType value_;
+
+ /// Storage for raw state callbacks.
+ CallbackManagerType raw_callback_;
+ /// Storage for filtered state callbacks.
+ CallbackManagerType callback_;
};
- /// A sensor that returns the median value of N samples.
- /// \tparam Tp Type of the sensor value
- /// \tparam NumSamples Number of samples to be used
- template<typename Tp, size_t NumSamples>
- class StaticMedianSensor : public ISimpleSensor<Tp> {
- static_assert(std::is_arithmetic_v<Tp>, "StaticMedianSensor only supports arithmetic types");
- static_assert(NumSamples % 2 == 1, "StaticMedianSensor only supports odd sample sizes");
+ using FloatSensor = Sensor<float>;
+ using BinarySensor = Sensor<bool>;
+ template<typename Tp>
+ class SimpleSensorDecorator : public Sensor<Tp>, public ITickable
+ {
public:
using ValueType = Tp;
+ using SourceType = ISimpleSensor<ValueType>;
- explicit StaticMedianSensor(ISimpleSensor<ValueType>* sensor) : sensor_(sensor) {}
+ explicit SimpleSensorDecorator(SourceType* source) : source_(source) {}
- void init() override { this->sensor_->init(); };
+ void init() override {
+ this->source_->init();
+ }
- [[nodiscard]] auto getValue() -> ValueType override
- {
- for (size_t i = 0; i < NumSamples; i++) {
- this->values_[i] = this->sensor_->getValue();
- }
+ void tick() override {
+ this->updateValue();
+ }
- std::sort(this->values_.begin(), this->values_.end());
+ auto updateValue() -> ValueType {
+ auto const raw_value = this->readRawValue();
+ this->publishState(raw_value);
- return this->values_[NumSamples / 2];
+ LOG_D("decorator.simple", " raw_value=%f, value=%f", raw_value, this->getValue());
+
+ return this->getValue();
}
- private:
- /// Buffer to store the last N samples.
- /// We are using a static array to avoid dynamic allocation
- std::array<ValueType, NumSamples> values_;
+ [[nodiscard]] auto readRawValue() -> ValueType {
+ return this->source_->getValue();
+ }
- ISimpleSensor<Tp>* sensor_;
+ private:
+ SourceType* source_;
};
+
+// template<typename Tp>
+// class SensorDecorator : public Sensor<Tp>
+// {
+// public:
+// using ValueType = Tp;
+// using SourceType = Sensor<ValueType>;
+//
+// explicit SensorDecorator(SourceType* source) : source_(source) {}
+//
+// void init() override {
+// this->source_->init();
+// this->source_->addValueCallback([this](ValueType value) {
+// this->publishState(value);
+// });
+// }
+//
+// void startCalibration() override {
+// this->source_->startCalibration();
+// }
+//
+// void stopCalibration() override {
+// this->source_->stopCalibration();
+// }
+//
+// void reselCalibration() override {
+// this->source_->reselCalibration();
+// }
+//
+// private:
+// SourceType* source_;
+// };
+
+ namespace _private {
+ class TheFloatSensor : public Sensor<float> { };
+ }
} // namespace SenseShift::Input
diff --git a/lib/io/senseshift/input/sensor/joystick.hpp b/lib/io/senseshift/input/sensor/joystick.hpp
deleted file mode 100644
index 0dd95dfe..00000000
--- a/lib/io/senseshift/input/sensor/joystick.hpp
+++ /dev/null
@@ -1,38 +0,0 @@
-#pragma once
-
-#include "senseshift/input/sensor.hpp"
-
-namespace SenseShift::Input {
- /**
- * Joystick axis sensor decorator
- */
- template<typename Tp>
- class JoystickAxisSensor : public ISimpleSensor<Tp> {
- public:
- using ValueType = Tp;
-
- private:
- ISimpleSensor<ValueType>* sensor_;
- float dead_zone_;
-
- /// This function clamps the input to the center of the range if
- /// the value is within the threshold. This is to eliminate at-rest
- /// noise of the joystick.
- [[nodiscard]] auto filterDeadZone(const int value_in) const -> ValueType {
- constexpr ValueType center = ANALOG_MAX / 2;
- return abs(center - value_in) < dead_zone_ * ANALOG_MAX ? center : value_in;
- }
-
- public:
- JoystickAxisSensor(ISimpleSensor<Tp>* sensor, const float dead_zone) : sensor_(sensor), dead_zone_(dead_zone){};
-
- void init() override { this->sensor_->init(); };
-
- [[nodiscard]] auto getValue() -> uint16_t override
- {
- auto value = this->sensor_->getValue();
- value = this->filterDeadZone(value);
- return value;
- }
- };
-}; // namespace SenseShift::Input
diff --git a/lib/opengloves/senseshift/opengloves/interface.hpp b/lib/opengloves/senseshift/opengloves/interface.hpp
index 5e94b1e9..ba7ba8e0 100644
--- a/lib/opengloves/senseshift/opengloves/interface.hpp
+++ b/lib/opengloves/senseshift/opengloves/interface.hpp
@@ -2,6 +2,7 @@
#include <cstddef>
#include <cstdint>
+#include <vector>
#include <senseshift/buffer.hpp>
@@ -10,17 +11,26 @@
namespace SenseShift::OpenGloves {
struct ITransport {
virtual void setup(){};
- virtual size_t send(const char* buffer, size_t length) = 0;
- virtual bool hasData() = 0;
- virtual size_t read(char* buffer, size_t length) = 0;
+ virtual auto send(const char* buffer, size_t length) -> size_t = 0;
+ virtual auto hasData() -> bool = 0;
+ virtual auto read(char* buffer, size_t length) -> size_t = 0;
};
struct IEncoding {
- virtual size_t
- serialize(const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors, char* buffer) const = 0;
+ /// \param [in] sensors
+ /// \param [out] buffer
+ virtual auto serialize(
+ const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors,
+ char* buffer
+ ) const -> size_t = 0;
- virtual bool deserialize(
- const char* buffer, const size_t length, std::map<::OpenGloves::Command, uint16_t>& commands
- ) const = 0;
+ /// \param [in] buffer
+ /// \param [in] length
+ /// \param [out] commands
+ virtual auto deserialize(
+ const char* buffer,
+ size_t length,
+ std::map<::OpenGloves::Command, uint16_t>& commands
+ ) const -> bool = 0;
};
} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves/sensor/og_sensor.hpp b/lib/opengloves/sensor/og_sensor.hpp
index 6b95f0c1..e43dba74 100644
--- a/lib/opengloves/sensor/og_sensor.hpp
+++ b/lib/opengloves/sensor/og_sensor.hpp
@@ -1,25 +1,26 @@
#pragma once
-#include <og_protocol.hpp>
-#include <senseshift/input/sensor.hpp>
-
+#include <cstdint>
#include <optional>
#include <vector>
+#include <og_protocol.hpp>
+#include <senseshift/input/sensor.hpp>
+
namespace OpenGloves {
struct FingerValue {
- std::vector<uint16_t> curl = std::vector<uint16_t>({ 0 });
- std::optional<uint16_t> splay = std::nullopt;
+ std::vector<std::uint16_t> curl = std::vector<std::uint16_t>({ 0 });
+ std::optional<std::uint16_t> splay = std::nullopt;
- uint16_t getTotalCurl() const
+ [[nodiscard]] auto getTotalCurl() const -> std::uint16_t
{
- if (this->curl.size() == 0) {
+ if (this->curl.empty()) {
return 0;
}
- uint16_t total = 0;
- for (auto curl : this->curl) {
- total += curl;
+ std::uint16_t total = 0;
+ for (auto c_curl : this->curl) {
+ total += c_curl;
}
return total / this->curl.size();
}
@@ -35,69 +36,10 @@ namespace OpenGloves {
void init() override { this->getSensor()->init(); }
- void updateValue() override { this->value = this->sensor_->getValue(); }
+ void updateValue() override { this->value_ = this->sensor_->getValue(); }
[[nodiscard]] size_t getEncodedLength() const override;
size_t encodeString(char* buffer) override;
};
-
- template<>
- inline size_t StringEncodedMemoizedSensor<uint16_t>::getEncodedLength() const
- {
- return 6;
- }
-
- /// Format as "Axxxx", where A is the type and xxxxx is the value without leading zeros.
- template<>
- inline size_t StringEncodedMemoizedSensor<uint16_t>::encodeString(char* buffer)
- {
- return snprintf(buffer, this->getEncodedLength(), "%c%d", this->getType(), this->getValue());
- }
-
- template<>
- size_t StringEncodedMemoizedSensor<bool>::getEncodedLength() const
- {
- return 1;
- }
-
- template<>
- size_t StringEncodedMemoizedSensor<bool>::encodeString(char* buffer)
- {
- const auto value = this->getValue();
-
- if (value) {
- buffer[0] = this->getType();
- }
-
- return value ? this->getEncodedLength() : 0;
- }
-
- template<>
- size_t StringEncodedMemoizedSensor<FingerValue>::getEncodedLength() const
- {
- // curl + splay + (3 * knuckle)
- return 6 + 9 + (3 * 10);
- }
-
- template<>
- size_t StringEncodedMemoizedSensor<FingerValue>::encodeString(char* buffer)
- {
- size_t offset = 0;
- offset += snprintf(buffer + offset, 6, "%c%d", this->type, this->getValue().getTotalCurl());
-
- if (this->getValue().curl.size() > 1) {
- for (size_t i = 0; i < this->getValue().curl.size(); i++) {
- char knuckle = 'A' + i;
- offset += snprintf(buffer + offset, 10, "(%cA%c)%d", this->type, knuckle, this->getValue().curl[i]);
- }
- }
-
- if (this->getValue().splay.has_value()) {
- offset += snprintf(buffer + offset, 9, "(%cB)%d", this->type, this->getValue().splay.value());
- }
-
- return offset;
- }
-
} // namespace OpenGloves
diff --git a/test/test_util_calibration/main.cpp b/test/test_util_calibration/main.cpp
index 1fa42a23..ddc9d2b8 100644
--- a/test/test_util_calibration/main.cpp
+++ b/test/test_util_calibration/main.cpp
@@ -1,4 +1,4 @@
-#include <senseshift/calibration.hpp>
+#include "senseshift/input/calibration.hpp"
#include <unity.h>
using namespace SenseShift::Calibration;
From fa661e7d918f8c17b632f4e0a752fc3871431c56 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Fri, 2 Feb 2024 00:12:15 +0400
Subject: [PATCH 52/82] refactor: improve overall code readability
---
firmware/mode_configs/bhaptics/tactal.cpp | 1 +
firmware/mode_configs/bhaptics/tactglove.cpp | 1 +
firmware/mode_configs/bhaptics/tactosy2.cpp | 1 +
firmware/mode_configs/bhaptics/tactosyf.cpp | 1 +
firmware/mode_configs/bhaptics/tactosyh.cpp | 1 +
.../mode_configs/bhaptics/tactsuit_x16.cpp | 1 +
.../bhaptics/tactsuit_x16_pca9685.cpp | 1 +
.../mode_configs/bhaptics/tactsuit_x40.cpp | 1 +
firmware/mode_configs/bhaptics/tactvisor.cpp | 1 +
.../input/sensor/{binary.hpp => digital.hpp} | 8 +-
lib/core/senseshift/core/helpers.hpp | 7 +-
.../senseshift/freertos/input/sensor.hpp | 1 +
lib/freertos/senseshift/freertos/task.hpp | 30 +++
.../senseshift/body/hands/hands_interface.hpp | 25 ++
.../senseshift/body/hands/input/gesture.hpp | 105 ++++++++
.../body/hands/input/total_curl.hpp | 53 ++++
lib/haptics/senseshift/body/haptics/body.cpp | 6 +-
lib/haptics/senseshift/body/haptics/body.hpp | 10 +
.../senseshift/body/haptics/interface.hpp | 2 +-
lib/io/senseshift/input/calibration.hpp | 22 +-
lib/io/senseshift/input/filter.hpp | 36 ++-
lib/io/senseshift/input/sensor.hpp | 79 ++++--
.../senseshift/opengloves/constants.hpp | 7 +
lib/util/senseshift/container.hpp | 17 +-
test/test_bhaptics_encoding/main.cpp | 227 +++++++++---------
test/test_haptics_body/main.cpp | 62 ++---
test/test_haptics_plane/main.cpp | 106 ++++----
test/test_io_sensor/main.cpp | 79 +++---
test/test_opengloves_gesture/main.cpp | 2 +-
29 files changed, 587 insertions(+), 306 deletions(-)
rename lib/arduino/senseshift/arduino/input/sensor/{binary.hpp => digital.hpp} (62%)
create mode 100644 lib/hands/senseshift/body/hands/hands_interface.hpp
create mode 100644 lib/hands_input/senseshift/body/hands/input/gesture.hpp
create mode 100644 lib/hands_input/senseshift/body/hands/input/total_curl.hpp
create mode 100644 lib/opengloves/senseshift/opengloves/constants.hpp
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index e81c311d..6be10fed 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -16,6 +16,7 @@
using namespace SenseShift;
using namespace SenseShift::Input;
+using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 2cca8354..874cd07a 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -17,6 +17,7 @@
using namespace SenseShift;
using namespace SenseShift::Input;
+using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index fb20ce80..572e52ad 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -16,6 +16,7 @@
using namespace SenseShift;
using namespace SenseShift::Input;
+using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index cc623ce2..51b67d9f 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -16,6 +16,7 @@
using namespace SenseShift;
using namespace SenseShift::Input;
+using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index 05e6ba9f..277dcb0d 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -16,6 +16,7 @@
using namespace SenseShift;
using namespace SenseShift::Input;
+using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index f828ec19..5ba9322c 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -16,6 +16,7 @@
using namespace SenseShift;
using namespace SenseShift::Input;
+using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index b1066077..256222a8 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -16,6 +16,7 @@
using namespace SenseShift;
using namespace SenseShift::Input;
+using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 48ea44ee..0057140f 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -17,6 +17,7 @@
using namespace SenseShift;
using namespace SenseShift::Input;
+using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index d5c7565c..f47cf4f5 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -16,6 +16,7 @@
using namespace SenseShift;
using namespace SenseShift::Input;
+using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
diff --git a/lib/arduino/senseshift/arduino/input/sensor/binary.hpp b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
similarity index 62%
rename from lib/arduino/senseshift/arduino/input/sensor/binary.hpp
rename to lib/arduino/senseshift/arduino/input/sensor/digital.hpp
index 44783b98..9a3d101c 100644
--- a/lib/arduino/senseshift/arduino/input/sensor/binary.hpp
+++ b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
@@ -6,11 +6,11 @@
namespace SenseShift::Arduino::Input {
template<bool Invert = false>
- class BinarySensor : public IBinarySensor {
+ class DigitalSimpleSensor : public ::SenseShift::Input::IBinarySimpleSensor {
uint8_t pin_;
public:
- BinarySensor(const uint8_t pin) : pin_(pin) {}
+ DigitalSimpleSensor(const uint8_t pin) : pin_(pin) {}
void init() override { pinMode(this->pin_, INPUT_PULLUP); };
@@ -18,12 +18,12 @@ namespace SenseShift::Arduino::Input {
};
template<>
- [[nodiscard]] inline auto BinarySensor<false>::getValue() -> bool {
+ [[nodiscard]] inline auto DigitalSimpleSensor<false>::getValue() -> bool {
return digitalRead(this->pin_) == LOW;
}
template<>
- [[nodiscard]] inline auto BinarySensor<true>::getValue() -> bool {
+ [[nodiscard]] inline auto DigitalSimpleSensor<true>::getValue() -> bool {
return digitalRead(this->pin_) == HIGH;
}
} // namespace SenseShift::Arduino::Input
diff --git a/lib/core/senseshift/core/helpers.hpp b/lib/core/senseshift/core/helpers.hpp
index 35cfe2a0..f15909e9 100644
--- a/lib/core/senseshift/core/helpers.hpp
+++ b/lib/core/senseshift/core/helpers.hpp
@@ -32,6 +32,11 @@ namespace SenseShift {
static_assert(std::is_arithmetic_v<Tp>, "Type must be arithmetic");
static_assert(std::is_arithmetic_v<Up>, "Type must be arithmetic");
+ if (max <= min) {
+ LOG_E("util.remap", "Invalid input range, min <= max");
+ return (min_out + max_out) / 2;
+ }
+
return (value - min) * (max_out - min_out) / (max - min) + min_out;
}
@@ -120,4 +125,4 @@ namespace SenseShift {
private:
std::vector<std::function<void(Ts...)>> callbacks_;
};
-} // namespace SenseShift
\ No newline at end of file
+} // namespace SenseShift
diff --git a/lib/freertos/senseshift/freertos/input/sensor.hpp b/lib/freertos/senseshift/freertos/input/sensor.hpp
index 667a2581..fbd34918 100644
--- a/lib/freertos/senseshift/freertos/input/sensor.hpp
+++ b/lib/freertos/senseshift/freertos/input/sensor.hpp
@@ -29,6 +29,7 @@ namespace SenseShift::FreeRTOS::Input {
while (true) {
this->sensor_->tick();
delay(this->updateDelay_);
+ // log_i("high watermark %d", uxTaskGetStackHighWaterMark(NULL));
}
}
diff --git a/lib/freertos/senseshift/freertos/task.hpp b/lib/freertos/senseshift/freertos/task.hpp
index 0cbb1a12..ea7c942a 100644
--- a/lib/freertos/senseshift/freertos/task.hpp
+++ b/lib/freertos/senseshift/freertos/task.hpp
@@ -70,6 +70,36 @@ namespace SenseShift::FreeRTOS {
}
};
+ protected:
+ inline void monitorTask()
+ {
+ log_i("----------------------------------------\nFree Heap: %d\n", xPortGetFreeHeapSize());
+ volatile UBaseType_t uxArraySize = uxTaskGetNumberOfTasks();
+ TaskStatus_t* pxTaskStatusArray = (TaskStatus_t*) pvPortMalloc(uxArraySize * sizeof(TaskStatus_t));
+ if (!pxTaskStatusArray) {
+ log_e("Failed to allocate memory for task status array!");
+ return;
+ }
+ uxArraySize = uxTaskGetSystemState(pxTaskStatusArray, uxArraySize, NULL);
+ for (UBaseType_t i = 0; i < uxArraySize; i++) {
+ log_i(
+ "Task: %s\n\tStack High Watermark: %d\n\tState: %d\n",
+ pxTaskStatusArray[i].pcTaskName,
+ pxTaskStatusArray[i].usStackHighWaterMark,
+ pxTaskStatusArray[i].eCurrentState
+ );
+
+ if (pxTaskStatusArray[i].usStackHighWaterMark < 20) {
+ log_w(
+ "Warning: Task %s has low stack space, only %dB awailable!",
+ pxTaskStatusArray[i].pcTaskName,
+ pxTaskStatusArray[i].usStackHighWaterMark * 4
+ );
+ }
+ }
+ vPortFree(pxTaskStatusArray);
+ }
+
private:
const TaskConfig& taskConfig;
TaskHandle_t taskHandle = nullptr;
diff --git a/lib/hands/senseshift/body/hands/hands_interface.hpp b/lib/hands/senseshift/body/hands/hands_interface.hpp
new file mode 100644
index 00000000..4aa48b44
--- /dev/null
+++ b/lib/hands/senseshift/body/hands/hands_interface.hpp
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <cstdint>
+#include "senseshift/body/haptics/interface.hpp"
+
+namespace SenseShift::Body {
+ namespace Hands {
+ using HandLateralityIndex = std::uint8_t;
+ enum class HandSide : HandLateralityIndex { Left, Right };
+ using FingerIndex = std::uint8_t;
+ enum class Finger : FingerIndex {
+ Thumb,
+ Index,
+ Middle,
+ Ring,
+ Little,
+ };
+
+ namespace Haptics {
+ /// @brief Helper with position of the haptic device on the fingertip.
+ /// Distal phalanx of the volar surface of the any finger.
+ static constexpr const ::SenseShift::Body::Haptics::Position FINGERTIP_POSITION(127, 16);
+ } // namespace Haptics
+ } // namespace Hands
+} // namespace SenseShift::Body
diff --git a/lib/hands_input/senseshift/body/hands/input/gesture.hpp b/lib/hands_input/senseshift/body/hands/input/gesture.hpp
new file mode 100644
index 00000000..92ca2a94
--- /dev/null
+++ b/lib/hands_input/senseshift/body/hands/input/gesture.hpp
@@ -0,0 +1,105 @@
+#pragma once
+
+#include <senseshift/core/component.hpp>
+#include <senseshift/input/sensor.hpp>
+
+namespace SenseShift::Body::Hands::Input {
+ using Gesture = ::SenseShift::Input::BinarySensor;
+
+ /// An alias for semantic consistency.
+ using TriggerGesture = ::SenseShift::Input::AnalogThresholdSensor;
+
+ class GrabGesture : public Gesture, ITickable {
+ public:
+ struct Fingers {
+ ::SenseShift::Input::FloatSensor* index;
+ ::SenseShift::Input::FloatSensor* middle;
+ ::SenseShift::Input::FloatSensor* ring;
+ ::SenseShift::Input::FloatSensor* pinky;
+ };
+
+ explicit GrabGesture(
+ Fingers fingers,
+ float threshold = 0.5F,
+ bool attach_callbacks = false
+ ) : fingers_(fingers), threshold_(threshold), attach_callbacks_(attach_callbacks) {}
+
+ void init() override {
+ SS_SUBSENSOR_INIT(this->fingers_.index, this->attach_callbacks_, [this](float /*value*/) {
+ this->recalculateState();
+ });
+ SS_SUBSENSOR_INIT(this->fingers_.middle, this->attach_callbacks_, [this](float /*value*/) {
+ this->recalculateState();
+ });
+ SS_SUBSENSOR_INIT(this->fingers_.ring, this->attach_callbacks_, [this](float /*value*/) {
+ this->recalculateState();
+ });
+ SS_SUBSENSOR_INIT(this->fingers_.pinky, this->attach_callbacks_, [this](float /*value*/) {
+ this->recalculateState();
+ });
+ }
+
+ void tick() override {
+ if (this->attach_callbacks_) {
+ LOG_E("gesture.grab", "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!");
+ }
+ this->recalculateState();
+ }
+
+ void recalculateState() {
+ return this->publishState(
+ this->fingers_.index->getValue() > this->threshold_
+ && this->fingers_.middle->getValue() > this->threshold_
+ && this->fingers_.ring->getValue() > this->threshold_
+ && this->fingers_.pinky->getValue() > this->threshold_
+ );
+ }
+
+ private:
+ Fingers fingers_;
+ float threshold_;
+ bool attach_callbacks_ = false;
+ };
+
+ class PinchGesture : public Gesture, ITickable {
+ public:
+ struct Fingers {
+ ::SenseShift::Input::FloatSensor* thumb;
+ ::SenseShift::Input::FloatSensor* index;
+ };
+
+ explicit PinchGesture(
+ Fingers fingers,
+ float threshold = 0.5F,
+ bool attach_callbacks = false
+ ) : fingers_(fingers), threshold_(threshold), attach_callbacks_(attach_callbacks) {}
+
+ void init() override {
+ SS_SUBSENSOR_INIT(this->fingers_.thumb, this->attach_callbacks_, [this](float /*value*/) {
+ this->recalculateState();
+ });
+ SS_SUBSENSOR_INIT(this->fingers_.index, this->attach_callbacks_, [this](float /*value*/) {
+ this->recalculateState();
+ });
+ }
+
+ void tick() override {
+ if (this->attach_callbacks_) {
+ LOG_E("gesture.pinch", "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!");
+ }
+ this->recalculateState();
+ }
+
+ void recalculateState() {
+ return this->publishState(
+ this->fingers_.thumb->getValue() > this->threshold_
+ && this->fingers_.index->getValue() > this->threshold_
+ );
+ }
+
+ private:
+ Fingers fingers_;
+ float threshold_;
+ bool attach_callbacks_ = false;
+ };
+} // namespace SenseShift::Body::Hands::Input
\ No newline at end of file
diff --git a/lib/hands_input/senseshift/body/hands/input/total_curl.hpp b/lib/hands_input/senseshift/body/hands/input/total_curl.hpp
new file mode 100644
index 00000000..678f5b80
--- /dev/null
+++ b/lib/hands_input/senseshift/body/hands/input/total_curl.hpp
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <functional>
+#include <utility>
+#include <vector>
+
+#include <senseshift/core/component.hpp>
+#include <senseshift/input/sensor.hpp>
+
+namespace SenseShift::Body::Hands::Input {
+ class TotalCurl : public ::SenseShift::Input::FloatSensor, public ::SenseShift::ITickable {
+ public:
+ /// \param joints The joints to calculate the total curl from.
+ /// \param attach_callbacks Whether to attach callbacks to the joints to recalculate the total curl when they update.
+ /// If false, the total curl will only be recalculated when the tick() method is called.
+ /// Setting this to <b>true is not recommended</b>, as it will cause the total curl to be
+ /// recalculated multiple times per tick (the same as number of joints).
+ explicit TotalCurl(
+ std::vector<::SenseShift::Input::FloatSensor> joints,
+ bool attach_callbacks = false
+ ) : joints_(std::move(joints)), attach_callbacks_(attach_callbacks) {}
+
+ void init() override {
+ for (auto& joint : this->joints_) {
+ SS_SUBSENSOR_INIT(&joint, this->attach_callbacks_, [this](float /*value*/) { this->recalculateState(); });
+ }
+ }
+
+ void tick() override {
+ if (this->attach_callbacks_) {
+ LOG_E("total_curl", "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!");
+ }
+ this->recalculateState();
+ }
+
+ void recalculateState() {
+ float total = 0.0F;
+
+ for (auto& joint : this->joints_) {
+ total += joint.getState();
+ }
+
+ if (!this->joints_.empty()) {
+ this->publishState(total / static_cast<float>(this->joints_.size()));
+ }
+ }
+
+ private:
+ std::vector<::SenseShift::Input::FloatSensor> joints_;
+
+ bool attach_callbacks_ = false;
+ };
+} // namespace SenseShift::Body::Hands::Input
diff --git a/lib/haptics/senseshift/body/haptics/body.cpp b/lib/haptics/senseshift/body/haptics/body.cpp
index 5caa7beb..bb373d3e 100644
--- a/lib/haptics/senseshift/body/haptics/body.cpp
+++ b/lib/haptics/senseshift/body/haptics/body.cpp
@@ -10,13 +10,13 @@ namespace SenseShift::Body::Haptics {
template<typename Tp, typename Ta>
void OutputBody<Tp, Ta>::effect(const Target& target, const Position& pos, const typename Plane::Value& val)
{
- auto find = this->targets_.find(target);
- if (find == this->targets_.end()) {
+ auto plane = this->getTarget(target);
+ if (!plane.has_value()) {
LOG_W(TAG, "No target found for effect: %d", target);
return;
}
- find->second->effect(pos, val);
+ plane.value()->effect(pos, val);
}
template class OutputBody<Position::Value, Output::IFloatOutput::ValueType>;
diff --git a/lib/haptics/senseshift/body/haptics/body.hpp b/lib/haptics/senseshift/body/haptics/body.hpp
index 6cdd2cbd..6586220a 100644
--- a/lib/haptics/senseshift/body/haptics/body.hpp
+++ b/lib/haptics/senseshift/body/haptics/body.hpp
@@ -4,6 +4,7 @@
#include "senseshift/body/haptics/plane.hpp"
#include <map>
+#include <optional>
#include <senseshift/output/output.hpp>
@@ -32,6 +33,15 @@ namespace SenseShift::Body::Haptics {
this->targets_[target] = plane;
}
+ auto getTarget(Target target) -> std::optional<Plane*> {
+ auto find = this->targets_.find(target);
+ if (find == this->targets_.end()) {
+ return std::nullopt;
+ }
+
+ return find->second;
+ }
+
void effect(const Target& target, const Position& pos, const typename Plane::Value& val);
[[nodiscard]] auto getTargets() const -> const TargetPlaneMap* { return &targets_; }
diff --git a/lib/haptics/senseshift/body/haptics/interface.hpp b/lib/haptics/senseshift/body/haptics/interface.hpp
index 89f14cff..f0952fd4 100644
--- a/lib/haptics/senseshift/body/haptics/interface.hpp
+++ b/lib/haptics/senseshift/body/haptics/interface.hpp
@@ -22,7 +22,7 @@ namespace SenseShift::Body::Haptics {
ChestFront = 0x00,
ChestBack = 0x01,
- // Legacy backword compatibility
+ // Legacy backward compatibility
Accessory [[deprecated]] = 0x02,
FaceFront,
diff --git a/lib/io/senseshift/input/calibration.hpp b/lib/io/senseshift/input/calibration.hpp
index bb8a0113..b9baa95a 100644
--- a/lib/io/senseshift/input/calibration.hpp
+++ b/lib/io/senseshift/input/calibration.hpp
@@ -7,7 +7,7 @@
#include "senseshift/utility.hpp"
-namespace SenseShift::Input {
+namespace SenseShift::Input::Calibration {
struct ICalibrated {
virtual void startCalibration() = 0;
virtual void stopCalibration() = 0;
@@ -26,18 +26,18 @@ namespace SenseShift::Input {
[[nodiscard]] virtual auto calibrate(Tp input) const -> Tp = 0;
};
- template<typename Tp, Tp output_min, Tp output_max>
+ template<typename Tp>
class MinMaxCalibrator : public ICalibrator<Tp> {
static_assert(std::is_arithmetic_v<Tp>, "MinMaxCalibrator only can be used with arithmetic types");
public:
using ValueType = Tp;
- MinMaxCalibrator() : value_min_(output_max), value_max_(output_min) {}
+ MinMaxCalibrator(ValueType output_min, ValueType output_max) : output_min_(output_min), output_max_(output_max), value_min_(output_max), value_max_(output_min) {}
void reset() override {
- value_min_ = output_max;
- value_max_ = output_min;
+ value_min_ = output_max_;
+ value_max_ = output_min_;
}
void update(ValueType input) override {
@@ -54,25 +54,27 @@ namespace SenseShift::Input {
// This means we haven't had any calibration data yet.
// Return a neutral value right in the middle of the output range.
if (value_min_ > value_max_) {
- return (output_min + output_max) / 2.0F;
+ return (output_min_ + output_max_) / 2.0F;
}
if (input <= value_min_) {
- return output_min;
+ return output_min_;
}
if (input >= value_max_) {
- return output_max;
+ return output_max_;
}
// Map the input range to the output range.
- ValueType output = ::SenseShift::remap<ValueType, ValueType>(input, value_min_, value_max_, output_min, output_max);
+ ValueType output = ::SenseShift::remap<ValueType, ValueType>(input, value_min_, value_max_, output_min_, output_max_);
// Lock the range to the output.
- return std::clamp(output, output_min, output_max);
+ return std::clamp(output, output_min_, output_max_);
}
private:
+ const ValueType output_min_;
+ const ValueType output_max_;
ValueType value_min_;
ValueType value_max_;
};
diff --git a/lib/io/senseshift/input/filter.hpp b/lib/io/senseshift/input/filter.hpp
index 81b5b5d3..a86ef341 100644
--- a/lib/io/senseshift/input/filter.hpp
+++ b/lib/io/senseshift/input/filter.hpp
@@ -11,10 +11,16 @@
#include <vector>
#include <senseshift/core/helpers.hpp>
+#include <senseshift/core/logging.hpp>
-namespace SenseShift::Input {
+namespace SenseShift::Input::Filter {
template<typename Tp>
- class ISimpleSensor;
+ class ISimpleSensor {
+ public:
+ using ValueType = Tp;
+
+ virtual auto getValue() -> ValueType = 0;
+ };
template<typename Tp>
class Sensor;
@@ -164,34 +170,42 @@ namespace SenseShift::Input {
std::size_t size_;
};
- template<std::size_t N, typename Tp, typename Sensor>
+ template<typename Tp, typename Sensor>
class SampleMedianFilter : public IFilter<Tp> {
- static_assert(N % 2 == 1, "SampleMedianFilter only supports odd sample sizes");
static_assert(std::is_same_v<typename Sensor::ValueType, Tp>, "Sensor type must match filter type");
- static_assert(std::is_same_v<decltype(&Sensor::readRawValue), void (Sensor::*)()>, "Can only use sensors with readRawValue()");
+ // static_assert(std::is_same_v<decltype(&Sensor::readRawValue), Tp (Sensor::*)()>, "Can only use sensors with readRawValue()");
public:
- explicit SampleMedianFilter() = default;
+ explicit SampleMedianFilter(std::size_t size_) : size_(size_) {
+ // allocate the array
+ this->values = new Tp[size_];
+ };
auto filter(ISimpleSensor<Tp>* sensor, Tp value) -> Tp override
{
- this->values = { value };
+ if (sensor == nullptr) {
+ LOG_E("filter.sampling_median", "Source sensor is null");
+ return value;
+ }
+
+ this->values[0] = value;
// Read the acc_ from the sensor N-1 times and put them in the array.
// We read it N-1 times because we already have the first acc_.
for (std::size_t i = 1; i <= this->size_ - 1; i++) {
- this->values[i] = sensor->readRawValue();
+ this->values[i] = sensor->getValue();
}
// Sort the array.
- std::sort(this->values.begin(), this->values.end());
+ std::sort(this->values, this->values + this->size_);
// Return the median of the values.
return this->values[this->size_ / 2];
}
private:
- std::array<Tp, N> values_;
+ std::size_t size_;
+ Tp* values;
};
template<typename Tp>
@@ -281,4 +295,4 @@ namespace SenseShift::Input {
private:
Container const& lookup_table_;
};
-} // namespace SenseShift::Input
\ No newline at end of file
+} // namespace SenseShift::Input
diff --git a/lib/io/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
index c3fb8d02..86b22868 100644
--- a/lib/io/senseshift/input/sensor.hpp
+++ b/lib/io/senseshift/input/sensor.hpp
@@ -10,6 +10,12 @@
#include <senseshift/core/component.hpp>
#include <senseshift/core/helpers.hpp>
+#define SS_SUBSENSOR_INIT(SENSOR, ATTACH_CALLBACK, CALLBACK) \
+ (SENSOR)->init(); \
+ if (ATTACH_CALLBACK) { \
+ (SENSOR)->addValueCallback(CALLBACK); \
+ }
+
namespace SenseShift::Input {
/// Abstract hardware sensor (e.g. potentiometer, flex sensor, etc.)
/// \tparam Tp Type of the sensor value
@@ -28,7 +34,7 @@ namespace SenseShift::Input {
using IFloatSimpleSensor = ISimpleSensor<float>;
template<typename Tp>
- class ISensor : public virtual ISimpleSensor<Tp>, public ICalibrated {};
+ class ISensor : public virtual ISimpleSensor<Tp>, public Calibration::ICalibrated {};
template<typename Tp>
class Sensor : public ISensor<Tp> {
@@ -44,7 +50,7 @@ namespace SenseShift::Input {
/// \param filter The filter to add.
///
/// \see addFilters for adding multiple filters.
- void addFilter(IFilter<ValueType>* filter) { this->filters_.push_back(filter); }
+ void addFilter(Filter::IFilter<ValueType>* filter) { this->filters_.push_back(filter); }
/// Adds multiple filters to the sensor's filter chain. Appends to the end of the chain.
///
@@ -57,7 +63,7 @@ namespace SenseShift::Input {
/// new CenterDeadzoneFilter(0.1f),
/// });
/// \endcode
- void addFilters(std::vector<IFilter<ValueType>*> filters) {
+ void addFilters(std::vector<Filter::IFilter<ValueType>*> filters) {
this->filters_.insert(this->filters_.end(), filters.begin(), filters.end());
}
@@ -72,12 +78,12 @@ namespace SenseShift::Input {
/// new CenterDeadzoneFilter(0.1f),
/// });
/// \endcode
- void setFilters(std::vector<IFilter<ValueType>*> filters) { this->filters_ = filters; }
+ void setFilters(std::vector<Filter::IFilter<ValueType>*> filters) { this->filters_ = filters; }
/// Removes everything from the sensor's filter chain.
void clearFilters() { this->filters_.clear(); }
- void setCalibrator(ICalibrator<ValueType>* calibrator) { this->calibrator_ = calibrator; }
+ void setCalibrator(Calibration::ICalibrator<ValueType>* calibrator) { this->calibrator_ = calibrator; }
void clearCalibrator() { this->calibrator_ = std::nullopt; }
@@ -91,9 +97,9 @@ namespace SenseShift::Input {
}
}
- void addValueCallback(CallbackType &&callback) { this->callback_.add(std::move(callback)); }
+ void addValueCallback(CallbackType &&callback) { this->callbacks_.add(std::move(callback)); }
- void addRawValueCallback(CallbackType &&callback) { this->raw_callback_.add(std::move(callback)); }
+ void addRawValueCallback(CallbackType &&callback) { this->raw_callbacks_.add(std::move(callback)); }
void init() override { }
@@ -106,10 +112,10 @@ namespace SenseShift::Input {
/// \param rawValue The new .raw_value_.
void publishState(ValueType rawValue) {
this->raw_value_ = rawValue;
- this->raw_callback_.call(this->raw_value_);
+ this->raw_callbacks_.call(this->raw_value_);
this->value_ = this->applyFilters(rawValue);
- this->callback_.call(this->value_);
+ this->callbacks_.call(this->value_);
}
/// Get the current sensor .value_.
@@ -125,11 +131,6 @@ namespace SenseShift::Input {
protected:
/// Apply current filters to value.
[[nodiscard]] auto applyFilters(ValueType value) -> ValueType {
- /// Apply filters
- for (auto filter : this->filters_) {
- value = filter->filter(this, value);
- }
-
/// Apply calibration
if (this->calibrator_.has_value()) {
if (this->is_calibrating_) {
@@ -139,26 +140,31 @@ namespace SenseShift::Input {
value = this->calibrator_.value()->calibrate(value);
}
+ /// Apply filters
+ for (auto filter : this->filters_) {
+ value = filter->filter(nullptr, value);
+ }
+
return value;
}
private:
- friend class IFilter<ValueType>;
- friend class ICalibrator<ValueType>;
+ friend class Filter::IFilter<ValueType>;
+ friend class Calibration::ICalibrator<ValueType>;
/// The sensor's filter chain.
- std::vector<IFilter<ValueType>*> filters_ = std::vector<IFilter<ValueType>*>();
+ std::vector<Filter::IFilter<ValueType>*> filters_ = std::vector<Filter::IFilter<ValueType>*>();
bool is_calibrating_ = false;
- std::optional<ICalibrator<ValueType>*> calibrator_ = std::nullopt;
+ std::optional<Calibration::ICalibrator<ValueType>*> calibrator_ = std::nullopt;
ValueType raw_value_;
ValueType value_;
/// Storage for raw state callbacks.
- CallbackManagerType raw_callback_;
+ CallbackManagerType raw_callbacks_;
/// Storage for filtered state callbacks.
- CallbackManagerType callback_;
+ CallbackManagerType callbacks_;
};
using FloatSensor = Sensor<float>;
@@ -194,6 +200,8 @@ namespace SenseShift::Input {
return this->source_->getValue();
}
+ protected:
+
private:
SourceType* source_;
};
@@ -230,6 +238,37 @@ namespace SenseShift::Input {
// SourceType* source_;
// };
+ class AnalogThresholdSensor : public BinarySensor, ITickable {
+ public:
+ explicit AnalogThresholdSensor(
+ ::SenseShift::Input::FloatSensor* index,
+ float threshold = 0.5F,
+ bool attach_callbacks = false
+ ) : index_(index), threshold_(threshold), attach_callbacks_(attach_callbacks) {}
+
+ void init() override {
+ SS_SUBSENSOR_INIT(this->index_, this->attach_callbacks_, [this](float /*value*/) {
+ this->recalculateState();
+ });
+ }
+
+ void tick() override {
+ if (this->attach_callbacks_) {
+ LOG_E("sensor.analog_threshold", "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!");
+ }
+ this->recalculateState();
+ }
+
+ void recalculateState() {
+ return this->publishState(this->index_->getValue() > this->threshold_);
+ }
+
+ private:
+ ::SenseShift::Input::FloatSensor* index_;
+ float threshold_;
+ bool attach_callbacks_ = false;
+ };
+
namespace _private {
class TheFloatSensor : public Sensor<float> { };
}
diff --git a/lib/opengloves/senseshift/opengloves/constants.hpp b/lib/opengloves/senseshift/opengloves/constants.hpp
new file mode 100644
index 00000000..df163940
--- /dev/null
+++ b/lib/opengloves/senseshift/opengloves/constants.hpp
@@ -0,0 +1,7 @@
+#pragma once
+
+#define OPENGLOVES_FINGERS_TASK_PRIORITY 1
+
+#define OPENGLOVES_COMM_SERIAL 0x1
+#define OPENGLOVES_COMM_BTSERIAL 0x2
+#define OPENGLOVES_COMM_BLESERIAL 0x3
diff --git a/lib/util/senseshift/container.hpp b/lib/util/senseshift/container.hpp
index f8da0365..613b962b 100644
--- a/lib/util/senseshift/container.hpp
+++ b/lib/util/senseshift/container.hpp
@@ -2,6 +2,7 @@
#include <algorithm>
#include <iterator>
+#include <string>
#include <type_traits>
namespace SenseShift {
@@ -11,29 +12,29 @@ namespace SenseShift {
* @tparam _Cp The type of the container.
* @tparam _Tp The type of the value.
*/
- template<class _Cp, typename _Tp>
- inline auto contains(const _Cp&& c, const _Tp val) -> bool
+ template<class Cp, typename Tp>
+ inline auto contains(Cp&& c, Tp val) -> bool
{
return std::find(std::begin(c), std::end(c), val) != std::end(c);
};
template<>
- inline bool contains<std::string&, char>(std::string& s, char val)
+ inline auto contains<std::string&, char>(std::string& s, char val) -> bool
{
return s.find(val) != std::string::npos;
};
- template<typename _Tp>
- inline bool contains(_Tp* begin, _Tp* end, const _Tp& val)
+ template<typename Tp>
+ inline auto contains(Tp* begin, Tp* end, const Tp& val) -> bool
{
return std::find(begin, end, val) != end;
};
- template<typename _Tp>
- constexpr inline bool contains(const _Tp* arr, const std::size_t size, const _Tp& val)
+ template<typename Tp>
+ constexpr inline auto contains(const Tp* arr, const std::size_t size, const Tp& val) -> bool
{
static_assert(
- std::is_same<_Tp, typename std::iterator_traits<_Tp*>::value_type>::value,
+ std::is_same_v<Tp, typename std::iterator_traits<Tp*>::value_type>,
"Container and value must be of the same type"
);
return std::find(arr, arr + size, val) != arr + size;
diff --git a/test/test_bhaptics_encoding/main.cpp b/test/test_bhaptics_encoding/main.cpp
index 0ff45557..72b70776 100644
--- a/test/test_bhaptics_encoding/main.cpp
+++ b/test/test_bhaptics_encoding/main.cpp
@@ -6,25 +6,28 @@ using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
using namespace SenseShift::Output;
-class TestActuator : public IActuator<uint16_t> {
+class TestActuator : public IOutput<float> {
public:
bool isSetup = false;
- uint16_t intensity = 0;
+ float intensity = 0;
- TestActuator() : IActuator<uint16_t>() {}
- void setup() override { this->isSetup = true; }
- void writeOutput(uint16_t intensity) override { this->intensity = intensity; }
+ TestActuator() : IFloatOutput() {}
+ void init() override { this->isSetup = true; }
+ void writeState(float newIntensity) override { this->intensity = newIntensity; }
};
+#define ASSERT_EQUAL_FLOAT_ROUNDED(expected, actual, precision) \
+ TEST_ASSERT_EQUAL_FLOAT( \
+ std::round(expected * std::pow(10, precision)) / std::pow(10, precision), \
+ std::round(actual * std::pow(10, precision)) / std::pow(10, precision) \
+ )
+
void test_layout_tactsuitx16(void)
{
- static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
- static const OutputLayout bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX16;
-
- static constexpr size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
- static const uint8_t layoutGroups[layoutGroupsSize] = BH_LAYOUT_TACTSUITX16_GROUPS;
+ static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX16_SIZE> bhLayout = { BH_LAYOUT_TACTSUITX16 };
+ static const std::array<std::uint8_t,BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups = BH_LAYOUT_TACTSUITX16_GROUPS;
- auto body = new HapticBody();
+ auto body = new FloatBody();
TestActuator* actuator0 = new TestActuator();
TestActuator* actuator1 = new TestActuator();
@@ -43,62 +46,61 @@ void test_layout_tactsuitx16(void)
TestActuator* actuator14 = new TestActuator();
TestActuator* actuator15 = new TestActuator();
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
{ actuator0, actuator1, actuator2, actuator3 },
{ actuator4, actuator5, actuator6, actuator7 },
});
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
{ actuator8, actuator9, actuator10, actuator11 },
{ actuator12, actuator13, actuator14, actuator15 },
});
- auto frontPlane = new VibroPlane(frontOutputs);
- auto backPlane = new VibroPlane(backOutputs);
+ auto frontPlane = new FloatPlane(frontOutputs);
+ auto backPlane = new FloatPlane(backOutputs);
body->addTarget(Target::ChestFront, frontPlane);
body->addTarget(Target::ChestBack, backPlane);
// body->setup();
- const uint8_t values[] = {
+ const std::array<uint8_t, 20> values = {
0x01, 0x00, 0x23, 0x00, 0x00, 0x45, 0x00, 0x67, 0x00, 0x00,
0x89, 0x00, 0xab, 0x00, 0x00, 0xcd, 0x00, 0xef, 0x00, 0x00,
};
Decoder::applyVestGrouped(body, values, bhLayout, layoutGroups);
- TEST_ASSERT_EQUAL_INT(0, actuator0->intensity);
- TEST_ASSERT_EQUAL_INT(273, actuator1->intensity);
- TEST_ASSERT_EQUAL_INT(3276, actuator2->intensity);
- TEST_ASSERT_EQUAL_INT(3549, actuator3->intensity);
- TEST_ASSERT_EQUAL_INT(546, actuator4->intensity);
- TEST_ASSERT_EQUAL_INT(819, actuator5->intensity);
- TEST_ASSERT_EQUAL_INT(3822, actuator6->intensity);
- TEST_ASSERT_EQUAL_INT(4095, actuator7->intensity);
-
- TEST_ASSERT_EQUAL_INT(1092, actuator8->intensity);
- TEST_ASSERT_EQUAL_INT(1365, actuator9->intensity);
- TEST_ASSERT_EQUAL_INT(2184, actuator10->intensity);
- TEST_ASSERT_EQUAL_INT(2457, actuator11->intensity);
- TEST_ASSERT_EQUAL_INT(1638, actuator12->intensity);
- TEST_ASSERT_EQUAL_INT(1911, actuator13->intensity);
- TEST_ASSERT_EQUAL_INT(2730, actuator14->intensity);
- TEST_ASSERT_EQUAL_INT(3003, actuator15->intensity);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, actuator0->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(273.0F/4095.0F, actuator1->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3276.0F/4095.0F, actuator2->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3549.0F/4095.0F, actuator3->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(546.0F/4095.0F, actuator4->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(819.0F/4095.0F, actuator5->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3822.0F/4095.0F, actuator6->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(4095.0F/4095.0F, actuator7->intensity, 2);
+
+ ASSERT_EQUAL_FLOAT_ROUNDED(1092.0F/4095.0F, actuator8->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1365.0F/4095.0F, actuator9->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2184.0F/4095.0F, actuator10->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2457.0F/4095.0F, actuator11->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1638.0F/4095.0F, actuator12->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1911.0F/4095.0F, actuator13->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2730.0F/4095.0F, actuator14->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3003.0F/4095.0F, actuator15->intensity, 2);
}
void test_layout_tactsuitx40(void)
{
- static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTSUITX40_SIZE;
- static const OutputLayout bhLayout[bhLayoutSize] = BH_LAYOUT_TACTSUITX40;
+ static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX40_SIZE> bhLayout = { BH_LAYOUT_TACTSUITX40 };
- auto body = new HapticBody();
+ auto body = new FloatBody();
- std::vector<std::vector<VibroPlane::Actuator*>> frontMatrix = {
+ std::vector<std::vector<FloatPlane::Actuator*>> frontMatrix = {
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
};
- std::vector<std::vector<VibroPlane::Actuator*>> backMatrix = {
+ std::vector<std::vector<FloatPlane::Actuator*>> backMatrix = {
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
@@ -106,11 +108,11 @@ void test_layout_tactsuitx40(void)
{ new TestActuator(), new TestActuator(), new TestActuator(), new TestActuator() },
};
- auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>(frontMatrix);
- auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>(backMatrix);
+ auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>(frontMatrix);
+ auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>(backMatrix);
- auto frontPlane = new VibroPlane(frontOutputs);
- auto backPlane = new VibroPlane(backOutputs);
+ auto frontPlane = new FloatPlane(frontOutputs);
+ auto backPlane = new FloatPlane(backOutputs);
body->addTarget(Target::ChestFront, frontPlane);
body->addTarget(Target::ChestBack, backPlane);
@@ -124,55 +126,54 @@ void test_layout_tactsuitx40(void)
},
bhLayout
);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[0][0])->intensity);
- TEST_ASSERT_EQUAL_INT(273, static_cast<TestActuator*>(frontMatrix[0][1])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[0][2])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[0][3])->intensity);
- TEST_ASSERT_EQUAL_INT(546, static_cast<TestActuator*>(frontMatrix[1][0])->intensity);
- TEST_ASSERT_EQUAL_INT(819, static_cast<TestActuator*>(frontMatrix[1][1])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[1][2])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[1][3])->intensity);
- TEST_ASSERT_EQUAL_INT(1092, static_cast<TestActuator*>(frontMatrix[2][0])->intensity);
- TEST_ASSERT_EQUAL_INT(1365, static_cast<TestActuator*>(frontMatrix[2][1])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[2][2])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[2][3])->intensity);
- TEST_ASSERT_EQUAL_INT(1638, static_cast<TestActuator*>(frontMatrix[3][0])->intensity);
- TEST_ASSERT_EQUAL_INT(1911, static_cast<TestActuator*>(frontMatrix[3][1])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[3][2])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[3][3])->intensity);
- TEST_ASSERT_EQUAL_INT(2184, static_cast<TestActuator*>(frontMatrix[4][0])->intensity);
- TEST_ASSERT_EQUAL_INT(2457, static_cast<TestActuator*>(frontMatrix[4][1])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[4][2])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(frontMatrix[4][3])->intensity);
-
- TEST_ASSERT_EQUAL_INT(2730, static_cast<TestActuator*>(backMatrix[0][0])->intensity);
- TEST_ASSERT_EQUAL_INT(3003, static_cast<TestActuator*>(backMatrix[0][1])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[0][2])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[0][3])->intensity);
- TEST_ASSERT_EQUAL_INT(3276, static_cast<TestActuator*>(backMatrix[1][0])->intensity);
- TEST_ASSERT_EQUAL_INT(3549, static_cast<TestActuator*>(backMatrix[1][1])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[1][2])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[1][3])->intensity);
- TEST_ASSERT_EQUAL_INT(3822, static_cast<TestActuator*>(backMatrix[2][0])->intensity);
- TEST_ASSERT_EQUAL_INT(4095, static_cast<TestActuator*>(backMatrix[2][1])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[2][2])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[2][3])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[3][0])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[3][1])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[3][2])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[3][3])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[4][0])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[4][1])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[4][2])->intensity);
- TEST_ASSERT_EQUAL_INT(0, static_cast<TestActuator*>(backMatrix[4][3])->intensity);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[0][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(273.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[0][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[0][2])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[0][3])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(546.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[1][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(819.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[1][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[1][2])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[1][3])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1092.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[2][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1365.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[2][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[2][2])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[2][3])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1638.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[3][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1911.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[3][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[3][2])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[3][3])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2184.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[4][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2457.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[4][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[4][2])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[4][3])->intensity, 2);
+
+ ASSERT_EQUAL_FLOAT_ROUNDED(2730.0F/4095.0F, static_cast<TestActuator*>(backMatrix[0][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3003.0F/4095.0F, static_cast<TestActuator*>(backMatrix[0][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[0][2])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[0][3])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3276.0F/4095.0F, static_cast<TestActuator*>(backMatrix[1][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3549.0F/4095.0F, static_cast<TestActuator*>(backMatrix[1][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[1][2])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[1][3])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3822.0F/4095.0F, static_cast<TestActuator*>(backMatrix[2][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(4095.0F/4095.0F, static_cast<TestActuator*>(backMatrix[2][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[2][2])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[2][3])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[3][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[3][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[3][2])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[3][3])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[4][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[4][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[4][2])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[4][3])->intensity, 2);
}
void test_layout_tactal(void)
{
- static constexpr size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
- static const ::SenseShift::Body::Haptics::Position bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
+ static const std::array<Position, BH_LAYOUT_TACTAL_SIZE> bhLayout = { BH_LAYOUT_TACTAL };
- auto body = new HapticBody();
+ auto body = new FloatBody();
TestActuator* actuator0 = new TestActuator();
TestActuator* actuator1 = new TestActuator();
@@ -181,28 +182,28 @@ void test_layout_tactal(void)
TestActuator* actuator4 = new TestActuator();
TestActuator* actuator5 = new TestActuator();
- auto outputs = PlaneMapper_Margin::mapMatrixCoordinates<VibroPlane::Actuator>({
+ auto outputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator>({
{ actuator0, actuator1, actuator2, actuator3, actuator4, actuator5 },
});
- auto plane = new VibroPlane(outputs);
+ auto plane = new FloatPlane(outputs);
body->addTarget(Target::FaceFront, plane);
Decoder::applyPlain(body, { 0x64, 0x00, 0x00, 0x00, 0x00, 0x00 }, bhLayout, Effect::Vibro, Target::FaceFront);
- TEST_ASSERT_EQUAL_INT(4095, actuator0->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator1->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator2->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator3->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator4->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuator5->intensity);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1.0F, actuator0->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, actuator1->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, actuator2->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, actuator3->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, actuator4->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, actuator5->intensity, 2);
Decoder::applyPlain(body, { 0x10, 0x20, 0x30, 0x40, 0x50, 0x60 }, bhLayout, Effect::Vibro, Target::FaceFront);
- TEST_ASSERT_EQUAL_INT(655, actuator0->intensity);
- TEST_ASSERT_EQUAL_INT(1310, actuator1->intensity);
- TEST_ASSERT_EQUAL_INT(1965, actuator2->intensity);
- TEST_ASSERT_EQUAL_INT(2620, actuator3->intensity);
- TEST_ASSERT_EQUAL_INT(3276, actuator4->intensity);
- TEST_ASSERT_EQUAL_INT(3931, actuator5->intensity);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0.16F, actuator0->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1310.0F/4095.0F, actuator1->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1965.0F/4095.0F, actuator2->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2620.0F/4095.0F, actuator3->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3276.0F/4095.0F, actuator4->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3931.0F/4095.0F, actuator5->intensity, 2);
}
void test_layout_tactglove(void)
@@ -214,7 +215,7 @@ void test_layout_tactglove(void)
TestActuator* actuatorLittle = new TestActuator();
TestActuator* actuatorWrist = new TestActuator();
- auto body = new HapticBody();
+ auto body = new FloatBody();
const auto& bhLayout = TactGloveLeftLayout;
addTactGloveActuators(
@@ -229,20 +230,20 @@ void test_layout_tactglove(void)
);
Decoder::applyPlain(body, { 0x64, 0x00, 0x00, 0x00, 0x00, 0x00 }, bhLayout, Effect::Vibro);
- TEST_ASSERT_EQUAL_INT(4095, actuatorThumb->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuatorIndex->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuatorMiddle->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuatorRing->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuatorLittle->intensity);
- TEST_ASSERT_EQUAL_INT(0, actuatorWrist->intensity);
+ ASSERT_EQUAL_FLOAT_ROUNDED(4095.0F/4095.0F, actuatorThumb->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, actuatorIndex->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, actuatorMiddle->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, actuatorRing->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, actuatorLittle->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(0, actuatorWrist->intensity, 2);
Decoder::applyPlain(body, { 0x10, 0x20, 0x30, 0x40, 0x50, 0x60 }, bhLayout, Effect::Vibro);
- TEST_ASSERT_EQUAL_INT(655, actuatorThumb->intensity);
- TEST_ASSERT_EQUAL_INT(1310, actuatorIndex->intensity);
- TEST_ASSERT_EQUAL_INT(1965, actuatorMiddle->intensity);
- TEST_ASSERT_EQUAL_INT(2620, actuatorRing->intensity);
- TEST_ASSERT_EQUAL_INT(3276, actuatorLittle->intensity);
- TEST_ASSERT_EQUAL_INT(3931, actuatorWrist->intensity);
+ ASSERT_EQUAL_FLOAT_ROUNDED(655.0F/4095.0F, actuatorThumb->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1310.0F/4095.0F, actuatorIndex->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1965.0F/4095.0F, actuatorMiddle->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2620.0F/4095.0F, actuatorRing->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3276.0F/4095.0F, actuatorLittle->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3931.0F/4095.0F, actuatorWrist->intensity, 2);
}
int process(void)
diff --git a/test/test_haptics_body/main.cpp b/test/test_haptics_body/main.cpp
index 7f00d150..96b39736 100644
--- a/test/test_haptics_body/main.cpp
+++ b/test/test_haptics_body/main.cpp
@@ -4,27 +4,27 @@
using namespace SenseShift::Body::Haptics;
using namespace SenseShift::Output;
-class TestActuator : public IActuator<uint16_t> {
+class TestActuator : public IOutput<float> {
public:
bool isSetup = false;
- uint16_t intensity = 0;
+ float intensity = 0;
- TestActuator() : IActuator<uint16_t>() {}
- void setup() override { this->isSetup = true; }
- void writeOutput(uint16_t intensity) override { this->intensity = intensity; }
+ TestActuator() : IFloatOutput() {}
+ void init() override { this->isSetup = true; }
+ void writeState(float newIntensity) override { this->intensity = newIntensity; }
};
void test_it_sets_up_planes(void)
{
- auto body = new HapticBody();
+ auto body = new FloatBody();
- VibroPlane::ActuatorMap outputs = {
+ FloatPlane::ActuatorMap outputs = {
{ { 0, 0 }, new TestActuator() },
{ { 0, 1 }, new TestActuator() },
{ { 1, 0 }, new TestActuator() },
{ { 1, 1 }, new TestActuator() },
};
- auto plane = new VibroPlane(outputs);
+ auto plane = new FloatPlane(outputs);
body->addTarget(Target::ChestFront, plane);
body->setup();
@@ -34,14 +34,14 @@ void test_it_sets_up_planes(void)
}
}
-void test_it_handles_effect__vibro(void)
+void test_it_handles_effect(void)
{
auto actuator1 = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- auto body = new HapticBody();
+ auto body = new FloatBody();
- auto plane = new VibroPlane({
+ auto plane = new FloatPlane({
{ { 0, 0 }, actuator1 },
{ { 0, 1 }, actuator2 },
{ { 1, 0 }, actuator3 },
@@ -50,35 +50,17 @@ void test_it_handles_effect__vibro(void)
body->addTarget(Target::ChestFront, plane);
- body->effect({
- .effect = Effect::Vibro,
- .target = Target::ChestFront,
- .position = { 0, 0 },
- .data = (VibroEffectData) 64,
- });
- body->effect({
- .effect = Effect::Vibro,
- .target = Target::ChestFront,
- .position = { 0, 1 },
- .data = (VibroEffectData) 128,
- });
- body->effect({
- .effect = Effect::Vibro,
- .target = Target::ChestFront,
- .position = { 1, 0 },
- .data = (VibroEffectData) 192,
- });
- body->effect({
- .effect = Effect::Vibro,
- .target = Target::ChestFront,
- .position = { 1, 1 },
- .data = (VibroEffectData) 255,
- });
+ TEST_ASSERT_TRUE(body->getTarget(Target::ChestFront).has_value());
+
+ body->effect(Target::ChestFront, { 0, 0 }, 0.25F);
+ body->effect(Target::ChestFront, { 0, 1 }, 0.5F);
+ body->effect(Target::ChestFront, { 1, 0 }, 0.75F);
+ body->effect(Target::ChestFront, { 1, 1 }, 1.0F);
- TEST_ASSERT_EQUAL(64, actuator1->intensity);
- TEST_ASSERT_EQUAL(128, actuator2->intensity);
- TEST_ASSERT_EQUAL(192, actuator3->intensity);
- TEST_ASSERT_EQUAL(255, actuator4->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0.25F, actuator1->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, actuator2->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0.75F, actuator3->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(1.0F, actuator4->intensity);
}
int process(void)
@@ -86,7 +68,7 @@ int process(void)
UNITY_BEGIN();
RUN_TEST(test_it_sets_up_planes);
- RUN_TEST(test_it_handles_effect__vibro);
+ RUN_TEST(test_it_handles_effect);
return UNITY_END();
}
diff --git a/test/test_haptics_plane/main.cpp b/test/test_haptics_plane/main.cpp
index 7c8890cc..a9c329a1 100644
--- a/test/test_haptics_plane/main.cpp
+++ b/test/test_haptics_plane/main.cpp
@@ -4,26 +4,26 @@
using namespace SenseShift::Body::Haptics;
using namespace SenseShift::Output;
-class TestActuator : public IActuator<uint16_t> {
+class TestActuator : public IOutput<float> {
public:
bool isSetup = false;
- uint16_t intensity = 0;
+ float intensity = 0;
- TestActuator() : IActuator<uint16_t>() {}
- void setup() override { this->isSetup = true; }
- void writeOutput(uint16_t intensity) override { this->intensity = intensity; }
+ TestActuator() : IFloatOutput() {}
+ void init() override { this->isSetup = true; }
+ void writeState(float newIntensity) override { this->intensity = newIntensity; }
};
void test_it_sets_up_actuators(void)
{
- VibroPlane::ActuatorMap outputs = {
+ FloatPlane::ActuatorMap outputs = {
{ { 0, 0 }, new TestActuator() },
{ { 0, 1 }, new TestActuator() },
{ { 1, 0 }, new TestActuator() },
{ { 1, 1 }, new TestActuator() },
};
- auto plane = new VibroPlane(outputs);
+ auto plane = new FloatPlane(outputs);
plane->setup();
TEST_ASSERT_EQUAL(outputs.size(), plane->getAvailablePoints()->size());
@@ -39,24 +39,24 @@ void test_it_writes_to_correct_output(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- VibroPlane::ActuatorMap outputs = {
+ FloatPlane::ActuatorMap outputs = {
{ { 0, 0 }, actuator },
{ { 0, 1 }, actuator2 },
{ { 1, 0 }, actuator3 },
{ { 1, 1 }, actuator4 },
};
- auto plane = new VibroPlane(outputs);
+ auto plane = new FloatPlane(outputs);
- plane->effect({ 0, 0 }, 64);
- plane->effect({ 0, 1 }, 128);
- plane->effect({ 1, 0 }, 192);
- plane->effect({ 1, 1 }, 255);
+ plane->effect({ 0, 0 }, 0.25F);
+ plane->effect({ 0, 1 }, 0.5F);
+ plane->effect({ 1, 0 }, 0.75F);
+ plane->effect({ 1, 1 }, 1.0F);
- TEST_ASSERT_EQUAL_UINT8(64, actuator->intensity);
- TEST_ASSERT_EQUAL_UINT8(128, actuator2->intensity);
- TEST_ASSERT_EQUAL_UINT8(192, actuator3->intensity);
- TEST_ASSERT_EQUAL_UINT8(255, actuator4->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0.25F, actuator->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, actuator2->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0.75F, actuator3->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(1.0F, actuator4->intensity);
}
void test_it_updates_state(void)
@@ -64,31 +64,31 @@ void test_it_updates_state(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- VibroPlane::ActuatorMap outputs = {
+ FloatPlane::ActuatorMap outputs = {
{ { 0, 0 }, actuator },
{ { 0, 1 }, actuator2 },
{ { 1, 0 }, actuator3 },
{ { 1, 1 }, actuator4 },
};
- auto plane = new VibroPlane(outputs);
+ auto plane = new FloatPlane(outputs);
- plane->effect({ 0, 0 }, 64);
- plane->effect({ 0, 1 }, 128);
- plane->effect({ 1, 0 }, 192);
- plane->effect({ 1, 1 }, 255);
+ plane->effect({ 0, 0 }, 0.25F);
+ plane->effect({ 0, 1 }, 0.5F);
+ plane->effect({ 1, 0 }, 0.75F);
+ plane->effect({ 1, 1 }, 1.0F);
TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 0, 0 }) > 0);
- TEST_ASSERT_EQUAL_UINT8(64, plane->getActuatorStates()->at({ 0, 0 }));
+ TEST_ASSERT_EQUAL_FLOAT(0.25F, plane->getActuatorStates()->at({ 0, 0 }));
TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 0, 1 }) > 0);
- TEST_ASSERT_EQUAL_UINT8(128, plane->getActuatorStates()->at({ 0, 1 }));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, plane->getActuatorStates()->at({ 0, 1 }));
TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 1, 0 }) > 0);
- TEST_ASSERT_EQUAL_UINT8(192, plane->getActuatorStates()->at({ 1, 0 }));
+ TEST_ASSERT_EQUAL_FLOAT(0.75F, plane->getActuatorStates()->at({ 1, 0 }));
TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 1, 1 }) > 0);
- TEST_ASSERT_EQUAL_UINT8(255, plane->getActuatorStates()->at({ 1, 1 }));
+ TEST_ASSERT_EQUAL_FLOAT(1.0F, plane->getActuatorStates()->at({ 1, 1 }));
}
void test_closest_it_writes_to_correct_if_exact(void)
@@ -96,24 +96,24 @@ void test_closest_it_writes_to_correct_if_exact(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- VibroPlane_Closest::ActuatorMap outputs = {
+ FloatPlane_Closest::ActuatorMap outputs = {
{ { 0, 0 }, actuator },
{ { 0, 1 }, actuator2 },
{ { 1, 0 }, actuator3 },
{ { 1, 1 }, actuator4 },
};
- auto plane = new VibroPlane_Closest(outputs);
+ auto plane = new FloatPlane_Closest(outputs);
- plane->effect({ 0, 0 }, 1);
- plane->effect({ 0, 1 }, 2);
- plane->effect({ 1, 0 }, 3);
- plane->effect({ 1, 1 }, 4);
+ plane->effect({ 0, 0 }, 0.25F);
+ plane->effect({ 0, 1 }, 0.5F);
+ plane->effect({ 1, 0 }, 0.75F);
+ plane->effect({ 1, 1 }, 1.0F);
- TEST_ASSERT_EQUAL(1, actuator->intensity);
- TEST_ASSERT_EQUAL(2, actuator2->intensity);
- TEST_ASSERT_EQUAL(3, actuator3->intensity);
- TEST_ASSERT_EQUAL(4, actuator4->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0.25F, actuator->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, actuator2->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0.75F, actuator3->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(1.0F, actuator4->intensity);
}
void test_closest_it_correctly_finds_closest(void)
@@ -121,22 +121,22 @@ void test_closest_it_correctly_finds_closest(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- VibroPlane_Closest::ActuatorMap outputs = {
+ FloatPlane_Closest::ActuatorMap outputs = {
{ { 0, 0 }, actuator },
{ { 0, 64 }, actuator2 },
{ { 64, 0 }, actuator3 },
{ { 64, 64 }, actuator4 },
};
- auto plane = new VibroPlane_Closest(outputs);
+ auto plane = new FloatPlane_Closest(outputs);
- plane->effect({ 16, 16 }, 16);
- plane->effect({ 65, 65 }, 65);
+ plane->effect({ 16, 16 }, 0.25F);
+ plane->effect({ 65, 65 }, 0.5F);
- TEST_ASSERT_EQUAL(16, actuator->intensity);
- TEST_ASSERT_EQUAL(0, actuator2->intensity);
- TEST_ASSERT_EQUAL(0, actuator3->intensity);
- TEST_ASSERT_EQUAL(65, actuator4->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0.25F, actuator->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0, actuator2->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0, actuator3->intensity);
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, actuator4->intensity);
}
void test_closest_it_updates_state(void)
@@ -144,29 +144,29 @@ void test_closest_it_updates_state(void)
auto actuator = new TestActuator(), actuator2 = new TestActuator(), actuator3 = new TestActuator(),
actuator4 = new TestActuator();
- VibroPlane_Closest::ActuatorMap outputs = {
+ FloatPlane_Closest::ActuatorMap outputs = {
{ { 0, 0 }, actuator },
{ { 0, 64 }, actuator2 },
{ { 64, 0 }, actuator3 },
{ { 64, 64 }, actuator4 },
};
- auto plane = new VibroPlane_Closest(outputs);
+ auto plane = new FloatPlane_Closest(outputs);
- plane->effect({ 16, 16 }, 16);
- plane->effect({ 65, 65 }, 65);
+ plane->effect({ 16, 16 }, 0.25F);
+ plane->effect({ 65, 65 }, 0.5F);
TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 0, 0 }) > 0);
- TEST_ASSERT_EQUAL(16, plane->getActuatorStates()->at({ 0, 0 }));
+ TEST_ASSERT_EQUAL_FLOAT(0.25F, plane->getActuatorStates()->at({ 0, 0 }));
TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 0, 64 }) > 0);
- TEST_ASSERT_EQUAL(0, plane->getActuatorStates()->at({ 0, 64 }));
+ TEST_ASSERT_EQUAL_FLOAT(0, plane->getActuatorStates()->at({ 0, 64 }));
TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 64, 0 }) > 0);
- TEST_ASSERT_EQUAL(0, plane->getActuatorStates()->at({ 64, 0 }));
+ TEST_ASSERT_EQUAL_FLOAT(0, plane->getActuatorStates()->at({ 64, 0 }));
TEST_ASSERT_TRUE(plane->getActuatorStates()->count({ 64, 64 }) > 0);
- TEST_ASSERT_EQUAL(65, plane->getActuatorStates()->at({ 64, 64 }));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, plane->getActuatorStates()->at({ 64, 64 }));
}
void test_plain_mapper_margin_map_points(void)
diff --git a/test/test_io_sensor/main.cpp b/test/test_io_sensor/main.cpp
index 74b4ace3..bbb9ecca 100644
--- a/test/test_io_sensor/main.cpp
+++ b/test/test_io_sensor/main.cpp
@@ -2,22 +2,31 @@
#include <unity.h>
using namespace SenseShift::Input;
-using namespace SenseShift::Calibration;
-class TestAnalogSensor : public ISimpleSensor<int> {
+class TestAnalogCountingSensor : public ISimpleSensor<int> {
public:
int count = 0;
int setupCounter = 0;
void init() override { this->setupCounter++; };
- int getValue() override { return ++this->count; };
+ auto getValue() -> int override { return ++this->count; };
+};
+
+class TestAnalogSensor : public ISimpleSensor<int> {
+public:
+ int value = 0;
+ int setupCounter = 0;
+
+ void init() override { this->setupCounter++; };
+
+ auto getValue() -> int override { return this->value; };
};
void test_memoized_sensor(void)
{
- auto inner = new TestAnalogSensor();
- auto sensor = new MemoizedSensor<int>(inner);
+ auto inner = new TestAnalogCountingSensor();
+ auto sensor = new SimpleSensorDecorator(inner);
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
sensor->init();
@@ -32,7 +41,7 @@ void test_memoized_sensor(void)
TEST_ASSERT_EQUAL_INT(1, sensor->getValue());
}
-class DummyCalibrator : public ICalibrator<int> {
+class DummyCalibrator : public ::SenseShift::Input::Calibration::ICalibrator<int> {
public:
uint8_t resetCounter = 0;
int calibrated = 0;
@@ -48,64 +57,53 @@ class DummyCalibrator : public ICalibrator<int> {
void test_calibrated_sensor(void)
{
- auto inner = new TestAnalogSensor();
+ auto inner = new TestAnalogCountingSensor();
auto calibrator = new DummyCalibrator();
- auto sensor = new CalibratedSimpleSensor<int>(inner, calibrator);
+
+ auto sensor = new SimpleSensorDecorator(inner);
+ sensor->setCalibrator(calibrator);
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
sensor->init();
TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
calibrator->update(-1);
+ sensor->tick();
TEST_ASSERT_EQUAL_INT(-1, sensor->getValue());
- sensor->enableCalibration();
+ sensor->startCalibration();
+ sensor->tick();
TEST_ASSERT_EQUAL_INT(2, sensor->getValue());
- sensor->disableCalibration();
+ sensor->stopCalibration();
+ sensor->tick();
TEST_ASSERT_EQUAL_INT(2, sensor->getValue());
- sensor->resetCalibration();
+ sensor->reselCalibration();
+ sensor->tick();
TEST_ASSERT_EQUAL_INT(0, sensor->getValue());
TEST_ASSERT_EQUAL_INT(1, calibrator->resetCounter);
}
-void test_average_sensor(void)
+void test_sensor_filter_multiply(void)
{
auto inner = new TestAnalogSensor();
- auto sensor = new AverageSensor<int>(inner, 3);
+ auto sensor = new SimpleSensorDecorator(inner);
+ sensor->addFilters({
+ new ::SenseShift::Input::Filter::MultiplyFilter(2)
+ });
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
sensor->init();
TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
- // TODO: mock inner sensor, to return more interesting values
- TEST_ASSERT_EQUAL_INT(2, sensor->getValue()); // (1 + 2 + 3) / 3 = 2
- TEST_ASSERT_EQUAL_INT(5, sensor->getValue()); // (4 + 5 + 6) / 3 = 5
- TEST_ASSERT_EQUAL_INT(8, sensor->getValue()); // (7 + 8 + 9) / 3 = 8
- TEST_ASSERT_EQUAL_INT(11, sensor->getValue()); // (10 + 11 + 12) / 3 = 11
-
- inner->count = 0;
- sensor = new AverageSensor<int>(inner, 10);
-
- TEST_ASSERT_EQUAL_INT(5, sensor->getValue()); // (1 + 2 + 3 + 4 + 5 + 6 + 7 + 8 + 9 + 10) / 10 = 5
-}
-
-void test_static_median_sensor(void)
-{
- auto inner = new TestAnalogSensor();
- auto sensor = new StaticMedianSensor<int, 3>(inner);
-
- TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->init();
- TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
+ inner->value = 1;
+ sensor->tick();
+ TEST_ASSERT_EQUAL_INT(2, sensor->getValue());
- // lmao, literally the same as average sensor
- // TODO: mock inner sensor, to return more interesting values
- TEST_ASSERT_EQUAL_INT(2, sensor->getValue()); // (1, 2, 3) = 2
- TEST_ASSERT_EQUAL_INT(5, sensor->getValue()); // (4, 5, 6) = 5
- TEST_ASSERT_EQUAL_INT(8, sensor->getValue()); // (7, 8, 9) = 8
- TEST_ASSERT_EQUAL_INT(11, sensor->getValue()); // (10, 11, 12) = 11
+ inner->value = 16;
+ sensor->tick();
+ TEST_ASSERT_EQUAL_INT(32, sensor->getValue());
}
int process(void)
@@ -114,8 +112,7 @@ int process(void)
RUN_TEST(test_memoized_sensor);
RUN_TEST(test_calibrated_sensor);
- RUN_TEST(test_average_sensor);
- RUN_TEST(test_static_median_sensor);
+ RUN_TEST(test_sensor_filter_multiply);
return UNITY_END();
}
diff --git a/test/test_opengloves_gesture/main.cpp b/test/test_opengloves_gesture/main.cpp
index 0d89a11a..db4f7057 100644
--- a/test/test_opengloves_gesture/main.cpp
+++ b/test/test_opengloves_gesture/main.cpp
@@ -1,4 +1,4 @@
-#include <sensor/og_gesture.hpp>
+#include <senseshift/body/hands/gestures/grab.hpp>
#include <unity.h>
using namespace OpenGloves;
From 0be58cce53250c6247e012d32c26e00267547c44 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Tue, 6 Feb 2024 13:25:43 +0400
Subject: [PATCH 53/82] refactor(Calibration): apply SFINAE
---
lib/arduino_esp32/library.json | 7 ++
lib/bhaptics/senseshift/bh/devices.hpp | 2 +-
lib/core/senseshift/core/helpers.hpp | 6 +-
lib/hands/hand_interface.hpp | 27 ------
lib/io/senseshift/input/analog_threshold.hpp | 55 ++++++++++++
lib/io/senseshift/input/calibration.hpp | 95 +++++++++++++-------
lib/io/senseshift/input/sensor.hpp | 31 -------
platformio.ini | 2 +-
test/test_io_sensor/main.cpp | 33 +++++++
test/test_util_calibration/main.cpp | 72 ++++++++-------
10 files changed, 203 insertions(+), 127 deletions(-)
create mode 100644 lib/arduino_esp32/library.json
delete mode 100644 lib/hands/hand_interface.hpp
create mode 100644 lib/io/senseshift/input/analog_threshold.hpp
diff --git a/lib/arduino_esp32/library.json b/lib/arduino_esp32/library.json
new file mode 100644
index 00000000..d97e8e1b
--- /dev/null
+++ b/lib/arduino_esp32/library.json
@@ -0,0 +1,7 @@
+{
+ "$schema": "https://raw.githubusercontent.com/platformio/platformio-core/develop/platformio/assets/schema/library.json",
+ "frameworks": "arduino",
+ "platforms": [
+ "espressif32"
+ ]
+}
diff --git a/lib/bhaptics/senseshift/bh/devices.hpp b/lib/bhaptics/senseshift/bh/devices.hpp
index 7b051c85..b90d627c 100644
--- a/lib/bhaptics/senseshift/bh/devices.hpp
+++ b/lib/bhaptics/senseshift/bh/devices.hpp
@@ -3,7 +3,7 @@
#include <array>
#include <tuple>
-#include <hand_interface.hpp>
+#include "senseshift/body/hands/hands_interface.hpp"
#include <senseshift/body/haptics/plane.hpp>
#include <senseshift/body/haptics/body.hpp>
diff --git a/lib/core/senseshift/core/helpers.hpp b/lib/core/senseshift/core/helpers.hpp
index f15909e9..14d8e897 100644
--- a/lib/core/senseshift/core/helpers.hpp
+++ b/lib/core/senseshift/core/helpers.hpp
@@ -4,6 +4,8 @@
#include <type_traits>
#include <vector>
+#include <senseshift/core/logging.hpp>
+
namespace SenseShift {
/// Linearly interpolate between \p start and \p end by \p completion (between 0 and 1).
template<typename Tp>
@@ -26,7 +28,7 @@ namespace SenseShift {
/// \param max_out The maximum value of the output range.
///
/// \return The remapped value.
- template<typename Tp, typename Up>
+ template<typename Tp, typename Up = Tp>
constexpr auto remap(Up value, Up min, Up max, Tp min_out, Tp max_out) -> Tp
{
static_assert(std::is_arithmetic_v<Tp>, "Type must be arithmetic");
@@ -52,7 +54,7 @@ namespace SenseShift {
/// \return The remapped value.
///
/// \note This is a simplified version of remap() where the minimum values are 0.
- template<typename Tp, typename Up>
+ template<typename Tp, typename Up = Tp>
constexpr auto remap_simple(Up value, Up max, Tp max_out) noexcept -> Tp
{
static_assert(std::is_arithmetic_v<Up>, "Type must be arithmetic");
diff --git a/lib/hands/hand_interface.hpp b/lib/hands/hand_interface.hpp
deleted file mode 100644
index 907a553b..00000000
--- a/lib/hands/hand_interface.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-#pragma once
-
-#include <cstdint>
-#include <senseshift/body/haptics/interface.hpp>
-
-namespace SenseShift::Body {
- namespace Hands {
- using HandSideIndex = std::uint8_t;
- enum class HandSide : HandSideIndex { Left, Right };
- using FingerIndex = std::uint8_t;
- enum class Finger : FingerIndex {
- Thumb,
- Index,
- Middle,
- Ring,
- Little,
- };
-
- namespace Haptics {
- /**
- * @brief Helper with position of the haptic device on the fingertip.
- * Distal phalanx of the volar surface of the any finger.
- */
- static constexpr const ::SenseShift::Body::Haptics::Position FINGERTIP_POSITION(127, 16);
- } // namespace Haptics
- } // namespace Hands
-} // namespace SenseShift::Body
diff --git a/lib/io/senseshift/input/analog_threshold.hpp b/lib/io/senseshift/input/analog_threshold.hpp
new file mode 100644
index 00000000..eb03eec5
--- /dev/null
+++ b/lib/io/senseshift/input/analog_threshold.hpp
@@ -0,0 +1,55 @@
+#pragma once
+
+#include "senseshift/input/sensor.hpp"
+
+namespace SenseShift::Input {
+ template<typename Tp>
+ class AnalogThresholdSensor : public BinarySensor, ITickable {
+ public:
+ /// Analog threshold sensor with hysteresis.
+ ///
+ /// \param source The source sensor.
+ /// \param threshold_upper Upper threshold, that needs to be crossed to transition from `low` to `high` states.
+ /// \param threshold_lower Lower threshold, that needs to be crossed to transition from `high` to `low` states.
+ explicit AnalogThresholdSensor(
+ ::SenseShift::Input::Sensor<Tp>* source,
+ Tp threshold_upper,
+ float threshold_lower,
+ bool attach_callbacks = false
+ ) : source_(source), threshold_upper_(threshold_upper), threshold_lower_(threshold_lower), attach_callbacks_(attach_callbacks) {}
+
+ /// \param source The source sensor.
+ /// \param threshold Threshold, that will be used for both upper and lower thresholds.
+ template <typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
+ explicit AnalogThresholdSensor(
+ ::SenseShift::Input::Sensor<Tp>* source,
+ float threshold = 0.5f,
+ bool attach_callbacks = false
+ ) : AnalogThresholdSensor(source, threshold, threshold, attach_callbacks) { }
+
+ void init() override {
+ SS_SUBSENSOR_INIT(this->source_, this->attach_callbacks_, [this](Tp /*value*/) {
+ this->recalculateState();
+ });
+ }
+
+ void tick() override {
+ if (this->attach_callbacks_) {
+ LOG_E("sensor.analog_threshold", "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!");
+ }
+ this->recalculateState();
+ }
+
+ void recalculateState() {
+ const auto sensor_value = this->source_->getValue();
+ this->publishState(sensor_value >= (this->getValue() ? this->threshold_lower_ : this->threshold_upper_));
+ }
+
+ private:
+ ::SenseShift::Input::Sensor<Tp>* source_;
+
+ float threshold_lower_, threshold_upper_;
+
+ bool attach_callbacks_ = false;
+ };
+}
\ No newline at end of file
diff --git a/lib/io/senseshift/input/calibration.hpp b/lib/io/senseshift/input/calibration.hpp
index b9baa95a..51412389 100644
--- a/lib/io/senseshift/input/calibration.hpp
+++ b/lib/io/senseshift/input/calibration.hpp
@@ -1,12 +1,12 @@
-/**
- * Calibrated input
- * Credit: https://github.com/JohnRThomas/OpenGloves-Firmware/blob/main/open-gloves/Calibration.hpp
- */
+/// Calibrated input
+/// Credit: https://github.com/JohnRThomas/OpenGloves-Firmware/blob/main/open-gloves/Calibration.hpp
#pragma once
#include "senseshift/utility.hpp"
+#include <type_traits>
+
namespace SenseShift::Input::Calibration {
struct ICalibrated {
virtual void startCalibration() = 0;
@@ -33,7 +33,14 @@ namespace SenseShift::Input::Calibration {
public:
using ValueType = Tp;
- MinMaxCalibrator(ValueType output_min, ValueType output_max) : output_min_(output_min), output_max_(output_max), value_min_(output_max), value_max_(output_min) {}
+ explicit MinMaxCalibrator(Tp output_min, Tp output_max)
+ : output_min_(output_min), output_max_(output_max),
+ value_min_(output_max), value_max_(output_min) {}
+
+ template<typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
+ explicit MinMaxCalibrator(Tp output_min = 0.0F, Tp output_max = 1.0F)
+ : output_min_(output_min), output_max_(output_max),
+ value_min_(output_max), value_max_(output_min) {}
void reset() override {
value_min_ = output_max_;
@@ -75,87 +82,113 @@ namespace SenseShift::Input::Calibration {
private:
const ValueType output_min_;
const ValueType output_max_;
+
ValueType value_min_;
ValueType value_max_;
};
- template<typename Tp, Tp sensor_max, Tp driver_max_deviation, Tp output_min, Tp output_max>
+ template<typename Tp>
class CenterPointDeviationCalibrator : public ICalibrator<Tp> {
static_assert(std::is_arithmetic_v<Tp>, "CenterPointDeviationCalibrator only can be used with arithmetic types");
public:
using ValueType = Tp;
- CenterPointDeviationCalibrator() : range_min(sensor_max), range_max(0) {}
+ CenterPointDeviationCalibrator(
+ Tp sensor_max, Tp driver_max_deviation, Tp output_min, Tp output_max
+ ) : sensor_max_(sensor_max), driver_max_deviation_(driver_max_deviation), output_min_(output_min),
+ output_max_(output_max), range_min_(sensor_max), range_max_(0) {}
+
+ template<typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
+ CenterPointDeviationCalibrator(
+ Tp sensor_max, Tp driver_max_deviation, Tp output_min = 0.0F, Tp output_max = 1.0F
+ ) : sensor_max_(sensor_max), driver_max_deviation_(driver_max_deviation), output_min_(output_min),
+ output_max_(output_max), range_min_(sensor_max), range_max_(0) {}
void reset() override {
- range_min = sensor_max;
- range_max = 0;
+ this->range_min_ = this->sensor_max_;
+ this->range_max_ = 0;
}
void update(Tp input) override {
// Update the min and the max.
- if (input < range_min) {
- range_min = ::SenseShift::remap<ValueType>(input, output_min, output_max, 0, sensor_max);
+ if (input < this->range_min_) {
+ this->range_min_ = ::SenseShift::remap<ValueType>(input, this->output_min_, this->output_max_, 0, this->sensor_max_);
}
- if (input > range_max) {
- range_max = ::SenseShift::remap<ValueType>(input, output_min, output_max, 0, sensor_max);
+ if (input > this->range_max_) {
+ this->range_max_ = ::SenseShift::remap<ValueType>(input, this->output_min_, this->output_max_, 0, this->sensor_max_);
}
}
auto calibrate(ValueType input) const -> ValueType override {
// Find the center point of the sensor, so we know how much we have deviated from it.
- Tp center = (range_min + range_max) / 2.0F;
+ Tp center = (this->range_min_ + this->range_max_) / 2.0F;
// Map the input to the sensor range of motion.
- int output = ::SenseShift::accurateMap<Tp>(input, output_min, output_max, 0, sensor_max);
+ int output = ::SenseShift::accurateMap<Tp>(input, this->output_min_, this->output_max_, 0, this->sensor_max_);
// Find the deviation from the center and clamp it to the maximum that the driver supports.
- output = std::clamp<int>(output - center, -driver_max_deviation, driver_max_deviation);
+ output = std::clamp<int>(output - center, -(this->driver_max_deviation_), this->driver_max_deviation_);
// Finally map the deviation from the center back to the output range.
return SenseShift::remap<ValueType, int>(
output,
- -driver_max_deviation,
- driver_max_deviation,
- output_min,
- output_max
+ -(this->driver_max_deviation_),
+ this->driver_max_deviation_,
+ this->output_min_,
+ this->output_max_
);
}
private:
- Tp range_min;
- Tp range_max;
+ const Tp sensor_max_;
+ const Tp driver_max_deviation_;
+ const Tp output_min_;
+ const Tp output_max_;
+
+ Tp range_min_;
+ Tp range_max_;
};
- template<typename Tp, Tp sensor_max, Tp driver_max_deviation, Tp output_min, Tp output_max>
+ template<typename Tp>
class FixedCenterPointDeviationCalibrator : public ICalibrator<Tp> {
static_assert(std::is_arithmetic_v<Tp>, "FixedCenterPointDeviationCalibrator only can be used with arithmetic types");
public:
using ValueType = Tp;
+ explicit FixedCenterPointDeviationCalibrator(
+ Tp sensor_max, Tp driver_max_deviation, Tp output_min, Tp output_max
+ ) : sensor_max_(sensor_max), driver_max_deviation_(driver_max_deviation),
+ output_min_(output_min), output_max_(output_max) {}
+
void reset() override {}
void update(ValueType input) override {}
auto calibrate(ValueType input) const -> ValueType override {
// Find the center point of the sensor, so we know how much we have deviated from it.
- Tp center = sensor_max / 2.0F;
+ Tp center = this->sensor_max_ / 2.0F;
// Map the input to the sensor range of motion.
- int output = ::SenseShift::remap<int, Tp>(input, output_min, output_max, 0, sensor_max);
+ int output = ::SenseShift::remap<Tp>(input, this->output_min_, this->output_max_, 0, this->sensor_max_);
// Find the deviation from the center and clamp it to the maximum that the driver supports.
- output = std::clamp<int>(output - center, -driver_max_deviation, driver_max_deviation);
+ output = std::clamp<int>(output - center, -(this->driver_max_deviation_), this->driver_max_deviation_);
// Finally map the deviation from the center back to the output range.
return SenseShift::remap<ValueType, int>(
output,
- -driver_max_deviation,
- driver_max_deviation,
- output_min,
- output_max
+ -(this->driver_max_deviation_),
+ this->driver_max_deviation_,
+ this->output_min_,
+ this->output_max_
);
}
+
+ private:
+ const Tp sensor_max_;
+ const Tp driver_max_deviation_;
+ const Tp output_min_;
+ const Tp output_max_;
};
-} // namespace SenseShift::Input
+} // namespace SenseShift::Input::Calibration
diff --git a/lib/io/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
index 86b22868..5b1e8ddb 100644
--- a/lib/io/senseshift/input/sensor.hpp
+++ b/lib/io/senseshift/input/sensor.hpp
@@ -238,37 +238,6 @@ namespace SenseShift::Input {
// SourceType* source_;
// };
- class AnalogThresholdSensor : public BinarySensor, ITickable {
- public:
- explicit AnalogThresholdSensor(
- ::SenseShift::Input::FloatSensor* index,
- float threshold = 0.5F,
- bool attach_callbacks = false
- ) : index_(index), threshold_(threshold), attach_callbacks_(attach_callbacks) {}
-
- void init() override {
- SS_SUBSENSOR_INIT(this->index_, this->attach_callbacks_, [this](float /*value*/) {
- this->recalculateState();
- });
- }
-
- void tick() override {
- if (this->attach_callbacks_) {
- LOG_E("sensor.analog_threshold", "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!");
- }
- this->recalculateState();
- }
-
- void recalculateState() {
- return this->publishState(this->index_->getValue() > this->threshold_);
- }
-
- private:
- ::SenseShift::Input::FloatSensor* index_;
- float threshold_;
- bool attach_callbacks_ = false;
- };
-
namespace _private {
class TheFloatSensor : public Sensor<float> { };
}
diff --git a/platformio.ini b/platformio.ini
index 4815cf7a..2b718462 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -29,7 +29,7 @@ build_flags =
; -D DEBUG_MODE=0
; -D DEBUG_ESP_PORT=Serial
; -D SENSESHIFT_SERIAL_PLOTTER=true
-; -D SENSESHIFT_BATTERY_ENABLED=true
+ -D SENSESHIFT_BATTERY_ENABLED=true
; -D SENSESHIFT_BLE_USE_NIMBLE=true
build_src_filter =
diff --git a/test/test_io_sensor/main.cpp b/test/test_io_sensor/main.cpp
index bbb9ecca..f91382fe 100644
--- a/test/test_io_sensor/main.cpp
+++ b/test/test_io_sensor/main.cpp
@@ -1,4 +1,5 @@
#include <senseshift/input/sensor.hpp>
+#include <senseshift/input/analog_threshold.hpp>
#include <unity.h>
using namespace SenseShift::Input;
@@ -106,6 +107,37 @@ void test_sensor_filter_multiply(void)
TEST_ASSERT_EQUAL_INT(32, sensor->getValue());
}
+void test_sensor_analog_threshold(void)
+{
+ auto inner = new TestAnalogSensor();
+ auto source = new SimpleSensorDecorator(inner);
+ auto sensor = new AnalogThresholdSensor(source, 120, 80, true);
+
+ TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
+ sensor->init();
+ TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
+
+ // 100 is below the threshold, so the sensor should be off
+ inner->value = 100;
+ source->tick();
+ TEST_ASSERT_FALSE(sensor->getValue());
+
+ // 130 is above the threshold, so the sensor should be on
+ inner->value = 130;
+ source->tick();
+ TEST_ASSERT_TRUE(sensor->getValue());
+
+ // 90 is below the upper threshold, but above the lower threshold, so the sensor should stay on due to hysteresis
+ inner->value = 90;
+ source->tick();
+ TEST_ASSERT_TRUE(sensor->getValue());
+
+ // 70 is below the lower threshold, so the sensor should be off
+ inner->value = 70;
+ source->tick();
+ TEST_ASSERT_FALSE(sensor->getValue());
+}
+
int process(void)
{
UNITY_BEGIN();
@@ -113,6 +145,7 @@ int process(void)
RUN_TEST(test_memoized_sensor);
RUN_TEST(test_calibrated_sensor);
RUN_TEST(test_sensor_filter_multiply);
+ RUN_TEST(test_sensor_analog_threshold);
return UNITY_END();
}
diff --git a/test/test_util_calibration/main.cpp b/test/test_util_calibration/main.cpp
index ddc9d2b8..f554fab5 100644
--- a/test/test_util_calibration/main.cpp
+++ b/test/test_util_calibration/main.cpp
@@ -1,63 +1,67 @@
#include "senseshift/input/calibration.hpp"
#include <unity.h>
-using namespace SenseShift::Calibration;
+using namespace SenseShift::Input::Calibration;
void test_minmax_calibrator(void)
{
- auto calibrator = new MinMaxCalibrator<uint16_t, 0, 4096>();
+ const auto calibrator = new MinMaxCalibrator<float>();
// test uncalibrated neutral value
- TEST_ASSERT_EQUAL_UINT16(2048, calibrator->calibrate(0));
- TEST_ASSERT_EQUAL_UINT16(2048, calibrator->calibrate(10));
- TEST_ASSERT_EQUAL_UINT16(2048, calibrator->calibrate(2048));
- TEST_ASSERT_EQUAL_UINT16(2048, calibrator->calibrate(4086));
- TEST_ASSERT_EQUAL_UINT16(2048, calibrator->calibrate(4096));
-
- calibrator->update(10);
- calibrator->update(4086);
-
- TEST_ASSERT_EQUAL_UINT16(0, calibrator->calibrate(0));
- TEST_ASSERT_EQUAL_UINT16(0, calibrator->calibrate(10));
- TEST_ASSERT_EQUAL_UINT16(118, calibrator->calibrate(128));
- TEST_ASSERT_EQUAL_UINT16(2048, calibrator->calibrate(2048));
- TEST_ASSERT_EQUAL_UINT16(3977, calibrator->calibrate(3968));
- TEST_ASSERT_EQUAL_UINT16(4096, calibrator->calibrate(4086));
- TEST_ASSERT_EQUAL_UINT16(4096, calibrator->calibrate(4096));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, calibrator->calibrate(0));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, calibrator->calibrate(10));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, calibrator->calibrate(2048));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, calibrator->calibrate(4086));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, calibrator->calibrate(4096));
+
+ calibrator->update(0.1F);
+ calibrator->update(0.9F);
+
+ TEST_ASSERT_EQUAL_FLOAT(0.0F, calibrator->calibrate(0.0F));
+ TEST_ASSERT_EQUAL_FLOAT(0.0F, calibrator->calibrate(0.1F));
+ TEST_ASSERT_EQUAL_FLOAT(0.125F, calibrator->calibrate(0.2F));
+ TEST_ASSERT_EQUAL_FLOAT(0.25F, calibrator->calibrate(0.3F));
+ TEST_ASSERT_EQUAL_FLOAT(0.375F, calibrator->calibrate(0.4F));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, calibrator->calibrate(0.5F));
+ TEST_ASSERT_EQUAL_FLOAT(0.625F, calibrator->calibrate(0.6F));
+ TEST_ASSERT_EQUAL_FLOAT(0.75F, calibrator->calibrate(0.7F));
+ TEST_ASSERT_EQUAL_FLOAT(0.875F, calibrator->calibrate(0.8F));
+ TEST_ASSERT_EQUAL_FLOAT(1.0F, calibrator->calibrate(0.9F));
+ TEST_ASSERT_EQUAL_FLOAT(1.0F, calibrator->calibrate(1.0F));
calibrator->reset();
// test uncalibrated neutral value (again)
- TEST_ASSERT_EQUAL_UINT16(2048, calibrator->calibrate(0));
- TEST_ASSERT_EQUAL_UINT16(2048, calibrator->calibrate(10));
- TEST_ASSERT_EQUAL_UINT16(2048, calibrator->calibrate(2048));
- TEST_ASSERT_EQUAL_UINT16(2048, calibrator->calibrate(4086));
- TEST_ASSERT_EQUAL_UINT16(2048, calibrator->calibrate(4096));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, calibrator->calibrate(0));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, calibrator->calibrate(10));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, calibrator->calibrate(2048));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, calibrator->calibrate(4086));
+ TEST_ASSERT_EQUAL_FLOAT(0.5F, calibrator->calibrate(4096));
}
void test_center_point_deviation_calibrator(void)
{
- CenterPointDeviationCalibrator<int, 100, 10, 0, 255> calibrator;
+ auto calibrator = new CenterPointDeviationCalibrator<int>(100, 10, 0, 255);
// Test reset function
- calibrator.reset();
+ calibrator->reset();
// Test update function
- calibrator.update(50);
- calibrator.update(75);
- calibrator.update(25);
+ calibrator->update(50);
+ calibrator->update(75);
+ calibrator->update(25);
// Test calibrate function
- TEST_ASSERT_EQUAL_INT(255, calibrator.calibrate(100));
- TEST_ASSERT_EQUAL_INT(191, calibrator.calibrate(75));
- TEST_ASSERT_EQUAL_INT(63, calibrator.calibrate(50));
- TEST_ASSERT_EQUAL_INT(0, calibrator.calibrate(25));
- TEST_ASSERT_EQUAL_INT(0, calibrator.calibrate(0));
+ TEST_ASSERT_EQUAL_INT(255, calibrator->calibrate(100));
+ TEST_ASSERT_EQUAL_INT(191, calibrator->calibrate(75));
+ TEST_ASSERT_EQUAL_INT(63, calibrator->calibrate(50));
+ TEST_ASSERT_EQUAL_INT(0, calibrator->calibrate(25));
+ TEST_ASSERT_EQUAL_INT(0, calibrator->calibrate(0));
}
void test_fixed_center_point_deviation_calibrator(void)
{
- auto calibrator = new FixedCenterPointDeviationCalibrator<uint16_t, 512, 64, 0, 4096>();
+ auto calibrator = new FixedCenterPointDeviationCalibrator<uint16_t>(512, 64, 0, 4096);
// below deviation
TEST_ASSERT_EQUAL_UINT16(0, calibrator->calibrate(0));
From 2f6cfe1f2abfdb15790625c191d3646f7436111d Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Wed, 7 Feb 2024 22:33:00 +0400
Subject: [PATCH 54/82] refactor(OpenGloves): universal encoder
---
lib/opengloves/og_constants.hpp | 7 -
lib/opengloves/og_ffb.hpp | 15 -
lib/opengloves/og_protocol.hpp | 79 ----
lib/opengloves/opengloves/opengloves.cpp | 113 ++++++
lib/opengloves/opengloves/opengloves.hpp | 350 ++++++++++++++++++
.../senseshift/opengloves/encoding/alpha.cpp | 79 ----
.../senseshift/opengloves/encoding/alpha.hpp | 55 ---
.../senseshift/opengloves/interface.hpp | 36 --
.../senseshift/opengloves/opengloves.hpp | 18 +
lib/opengloves/sensor/og_gesture.hpp | 59 ---
10 files changed, 481 insertions(+), 330 deletions(-)
delete mode 100644 lib/opengloves/og_constants.hpp
delete mode 100644 lib/opengloves/og_ffb.hpp
delete mode 100644 lib/opengloves/og_protocol.hpp
create mode 100644 lib/opengloves/opengloves/opengloves.cpp
create mode 100644 lib/opengloves/opengloves/opengloves.hpp
delete mode 100644 lib/opengloves/senseshift/opengloves/encoding/alpha.cpp
delete mode 100644 lib/opengloves/senseshift/opengloves/encoding/alpha.hpp
delete mode 100644 lib/opengloves/senseshift/opengloves/interface.hpp
create mode 100644 lib/opengloves/senseshift/opengloves/opengloves.hpp
delete mode 100644 lib/opengloves/sensor/og_gesture.hpp
diff --git a/lib/opengloves/og_constants.hpp b/lib/opengloves/og_constants.hpp
deleted file mode 100644
index df163940..00000000
--- a/lib/opengloves/og_constants.hpp
+++ /dev/null
@@ -1,7 +0,0 @@
-#pragma once
-
-#define OPENGLOVES_FINGERS_TASK_PRIORITY 1
-
-#define OPENGLOVES_COMM_SERIAL 0x1
-#define OPENGLOVES_COMM_BTSERIAL 0x2
-#define OPENGLOVES_COMM_BLESERIAL 0x3
diff --git a/lib/opengloves/og_ffb.hpp b/lib/opengloves/og_ffb.hpp
deleted file mode 100644
index ca2c5b9d..00000000
--- a/lib/opengloves/og_ffb.hpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#pragma once
-
-#include <senseshift/output/actuator.hpp>
-
-#include <optional>
-
-namespace OpenGloves {
- struct HandActuators {
- std::optional<::SenseShift::Output::IActuator<uint16_t>*> thumb = std::nullopt;
- std::optional<::SenseShift::Output::IActuator<uint16_t>*> index = std::nullopt;
- std::optional<::SenseShift::Output::IActuator<uint16_t>*> middle = std::nullopt;
- std::optional<::SenseShift::Output::IActuator<uint16_t>*> ring = std::nullopt;
- std::optional<::SenseShift::Output::IActuator<uint16_t>*> pinky = std::nullopt;
- };
-} // namespace OpenGloves
diff --git a/lib/opengloves/og_protocol.hpp b/lib/opengloves/og_protocol.hpp
deleted file mode 100644
index f1849a3b..00000000
--- a/lib/opengloves/og_protocol.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-#pragma once
-
-#include <cstdint>
-#include <functional>
-#include <vector>
-
-namespace OpenGloves {
- struct IEncodedInput {
- public:
- enum Type : char {
- THUMB = 'A',
- INDEX = 'B',
- MIDDLE = 'C',
- RING = 'D',
- PINKY = 'E',
- JOY_X = 'F',
- JOY_Y = 'G',
- JOY_BTN = 'H',
- TRIGGER = 'I',
- A_BTN = 'J',
- B_BTN = 'K',
- GRAB = 'L',
- PINCH = 'M',
- MENU = 'N',
- CALIBRATE = 'O'
- };
-
- IEncodedInput(Type type) : type(type){};
-
- constexpr Type getType() const { return this->type; }
-
- protected:
- Type type;
- };
-
- class IStringEncoded : public IEncodedInput {
- public:
- IStringEncoded(Type type) : IEncodedInput(type){};
-
- virtual size_t getEncodedLength() const = 0;
- virtual size_t encodeString(char* buffer) = 0;
- };
-
- class IStringEncodedMemoizedSensor : public IStringEncoded {
- public:
- IStringEncodedMemoizedSensor(Type type) : IStringEncoded(type){};
-
- virtual void init() = 0;
- virtual void updateValue() = 0;
- };
-
- class ICommunication {
- public:
- virtual void setup() = 0;
- virtual void send(std::vector<IStringEncodedMemoizedSensor*>& sensors) = 0;
- virtual bool hasData() = 0;
- virtual size_t readCommand(char* buffer, size_t length) = 0;
- };
-
- using CommandIndex = uint16_t;
- enum Command : CommandIndex {
- ThumbCurl,
- ThumbSplay,
-
- IndexCurl,
- IndexSplay,
-
- MiddleCurl,
- MiddleSplay,
-
- RingCurl,
- RingSplay,
-
- PinkyCurl,
- PinkySplay,
- };
-
- using CommandCallback = std::function<void(Command, uint16_t)>;
-} // namespace OpenGloves
diff --git a/lib/opengloves/opengloves/opengloves.cpp b/lib/opengloves/opengloves/opengloves.cpp
new file mode 100644
index 00000000..2752e7fc
--- /dev/null
+++ b/lib/opengloves/opengloves/opengloves.cpp
@@ -0,0 +1,113 @@
+#include "opengloves/opengloves.hpp"
+
+#include <cstdint>
+#include <cstdio>
+#include <variant>
+
+namespace og {
+
+ auto AlphaEncoder::encode_input(const Input& input, char* buffer, size_t length) const -> size_t
+ {
+ if (std::holds_alternative<InputInfoData>(input)) {
+ const auto& info = std::get<InputInfoData>(input);
+
+ const auto& keyFirmwareVersion = AlphaEncoder::INFO_FIRMWARE_VERSION_KEY;
+ const auto& keyDeviceType = AlphaEncoder::INFO_DEVICE_TYPE_KEY;
+ const auto& keyHand = AlphaEncoder::INFO_HAND_KEY;
+
+ return snprintf(
+ buffer,
+ length,
+ "%s%u%s%u%s%u\n",
+ keyFirmwareVersion,
+ info.firmware_version,
+ keyDeviceType,
+ info.device_type,
+ keyHand,
+ info.hand
+ );
+ }
+
+ if (std::holds_alternative<InputPeripheralData>(input)) {
+ const auto peripheral = std::get<InputPeripheralData>(input);
+ auto written = 0;
+
+ const auto& curl = peripheral.curl.fingers;
+#ifdef OG_ENCODE_FAST
+ for (auto i = 0; i < curl.size(); i++) {
+ const auto& finger = curl[i];
+ const auto& finger_curl = finger.curl_total;
+
+ written +=
+ snprintf(buffer + written, length - written, "%c%.0f", 'A' + i, finger_curl * MAX_ANALOG_VALUE);
+ }
+#else
+ for (auto i = 0; i < curl.size(); i++) {
+ const auto& finger = curl[i];
+ const auto& joints = finger.curl;
+
+ for (auto j = 0; j < joints.size(); j++) {
+ const auto& joint = joints[j];
+
+ // skip if joint is 0.0, except total_curl (it is probably not enabled)
+ if (joint == 0.0F && j != 0) {
+ continue;
+ }
+
+ const auto& jointKey = AlphaEncoder::FINGER_CURL_JOINT_ALPHA_KEY[i][j];
+
+ written +=
+ snprintf(buffer + written, length - written, "%s%.0f", jointKey.data(), joint * MAX_ANALOG_VALUE);
+ }
+ }
+
+ const auto& splay = peripheral.splay.fingers;
+ for (auto i = 0; i < splay.size(); i++) {
+ const auto& finger = splay[i];
+
+ if (finger == 0.0F) {
+ continue;
+ }
+
+ written += snprintf(
+ buffer + written,
+ length - written,
+ "(%cB)%.0f",
+ AlphaEncoder::FINGER_ALPHA_KEY[i],
+ finger * MAX_ANALOG_VALUE
+ );
+ }
+#endif
+
+ const auto& buttons = peripheral.buttons;
+ for (auto i = 0; i < buttons.size(); i++) {
+ const auto& button = buttons[i];
+ if (button.press) {
+ const auto& buttonKey = AlphaEncoder::BUTTON_ALPHA_KEY[i];
+ written += snprintf(buffer + written, length - written, "%c", buttonKey);
+ }
+ }
+
+ const auto& analog_buttons = peripheral.analog_buttons;
+ for (auto i = 0; i < analog_buttons.size(); i++) {
+ const auto& button = analog_buttons[i];
+ if (button.press) {
+ const auto& buttonKey = AlphaEncoder::ANALOG_BUTTON_ALPHA_KEY[i];
+ written += snprintf(buffer + written, length - written, "%c", buttonKey);
+ }
+ }
+
+ // Add newline and null terminator
+ written += snprintf(buffer + written, length - written, "\n");
+
+ return written;
+ }
+
+ return 0;
+ }
+
+ auto AlphaEncoder::parse_output(const char* data, size_t length) const -> Output
+ {
+ return {};
+ }
+} // namespace og
\ No newline at end of file
diff --git a/lib/opengloves/opengloves/opengloves.hpp b/lib/opengloves/opengloves/opengloves.hpp
new file mode 100644
index 00000000..ae8d80aa
--- /dev/null
+++ b/lib/opengloves/opengloves/opengloves.hpp
@@ -0,0 +1,350 @@
+#pragma once
+
+#include <array>
+#include <cstddef>
+#include <cstdint>
+#include <map>
+#include <string>
+#include <variant>
+#include <vector>
+
+#ifdef ARDUINO
+#include <WString.h>
+#endif // ARDUINO
+
+#ifdef OG_USE_FROZEN
+#include <frozen/map.h>
+#include <frozen/string.h>
+#endif
+
+#ifndef OG_BUFFER_SIZE
+#define OG_BUFFER_SIZE 256
+#endif // OG_BUFFER_SIZE
+
+namespace og {
+ using HandIndex = std::uint8_t;
+ enum Hand : HandIndex {
+ Hand_Left,
+ Hand_Right,
+ };
+
+ using DeviceTypeIndex = std::uint8_t;
+ enum DeviceType : DeviceTypeIndex {
+ DeviceType_LucidGloves,
+ };
+
+ union InputFingerCurlData {
+ std::array<float, 4> curl; // NOLINT(*-magic-numbers): I'm sure our finger aren't changing anytime soon
+ struct {
+ float curl_total;
+ float curl_joint1;
+ float curl_joint2;
+ float curl_joint3;
+ };
+ };
+
+ template<typename Tp>
+ union InputFingerData {
+ std::array<Tp, 5> fingers; // NOLINT(*-magic-numbers): We aren't going to grow any new fingers soon tbh
+ struct {
+ Tp thumb;
+ Tp index;
+ Tp middle;
+ Tp ring;
+
+ union {
+ Tp pinky;
+ Tp little;
+ };
+ };
+ };
+
+ struct InputJoystickData {
+ float x, y;
+ bool press;
+ };
+
+ struct InputButtonData {
+ bool press;
+ // bool touch;
+ };
+
+ struct InputAnalogButtonData : InputButtonData {
+ float value;
+ };
+
+ /// Input data structure.
+ ///
+ /// I know, it is not the prettiest one, but we need this type of punning to efficiently encode/decode the data
+ struct InputPeripheralData {
+ InputFingerData<InputFingerCurlData> curl;
+ InputFingerData<float> splay;
+
+ InputJoystickData joystick;
+
+ union {
+ std::array<InputButtonData, 4> buttons;
+ struct {
+ InputButtonData button_a;
+ InputButtonData button_b;
+ InputButtonData button_menu;
+ InputButtonData button_calibrate;
+ InputButtonData pinch;
+ };
+ };
+
+ union {
+ std::array<InputAnalogButtonData, 2> analog_buttons;
+ struct {
+ InputAnalogButtonData trigger;
+ InputAnalogButtonData grab;
+ };
+ };
+ };
+
+ struct InputInfoData {
+ Hand hand;
+ DeviceType device_type;
+
+ unsigned int firmware_version;
+ };
+
+ using Input = std::variant<InputInfoData, InputPeripheralData>;
+
+ class Output {};
+
+ class IEncoder {
+ public:
+ [[nodiscard]] virtual auto encode_input(const Input& input, char* buffer, size_t length) const -> size_t = 0;
+
+ [[nodiscard]] auto encode_input(const Input& input) const -> std::string
+ {
+ std::string buffer;
+ buffer.resize(OG_BUFFER_SIZE);
+
+ const auto length = this->encode_input(input, buffer.data(), buffer.length());
+ buffer.resize(length);
+
+ return buffer;
+ }
+
+ [[nodiscard]] virtual auto parse_output(const char* data, size_t length) const -> Output = 0;
+
+ [[nodiscard]] auto parse_output(const std::vector<char>& data) const -> Output
+ {
+ return this->parse_output(data.data(), data.size());
+ }
+
+ [[nodiscard]] auto parse_output(const std::string& data) const -> Output
+ {
+ return this->parse_output(data.data(), data.length());
+ }
+
+#ifdef ARDUINO
+ [[nodiscard]] auto parse_output(const String& data) const -> Output
+ {
+ return this->parse_output(data.c_str(), data.length());
+ }
+#endif // ARDUINO
+ };
+
+ class AlphaEncoder : public IEncoder {
+ public:
+ using CommandIndex = std::uint8_t;
+ enum Command : CommandIndex {
+ FingerThumb_CurlTotal,
+ FingerThumb_Splay,
+ FingerThumb_CurlJoint0,
+ FingerThumb_CurlJoint1,
+ FingerThumb_CurlJoint2,
+ FingerThumb_CurlJoint3 [[maybe_unused]],
+
+ FingerIndex_CurlTotal,
+ FingerIndex_Splay,
+ FingerIndex_CurlJoint0,
+ FingerIndex_CurlJoint1,
+ FingerIndex_CurlJoint2,
+ FingerIndex_CurlJoint3,
+
+ FingerMiddle_CurlTotal,
+ FingerMiddle_Splay,
+ FingerMiddle_CurlJoint0,
+ FingerMiddle_CurlJoint1,
+ FingerMiddle_CurlJoint2,
+ FingerMiddle_CurlJoint3,
+
+ FingerRing_CurlTotal,
+ FingerRing_Splay,
+ FingerRing_CurlJoint0,
+ FingerRing_CurlJoint1,
+ FingerRing_CurlJoint2,
+ FingerRing_CurlJoint3,
+
+ FingerPinky_CurlTotal,
+ FingerPinky_Splay,
+ FingerPinky_CurlJoint0,
+ FingerPinky_CurlJoint1,
+ FingerPinky_CurlJoint2,
+ FingerPinky_CurlJoint3,
+
+ MainJoystick_X,
+ MainJoystick_Y,
+ MainJoystick_Click,
+
+ ButtonA_Click,
+ ButtonB_Click,
+ ButtonMenu_Click,
+ ButtonCalibrate_Click,
+
+ GestureTrigger_Value,
+ GestureTrigger_Click,
+
+ GestureGrab_Click,
+
+ GesturePinch_Click,
+
+ Info,
+ Info_StartStreaming,
+ Info_StopStreaming,
+ Info_FirmwareVersion,
+ Info_DeviceType,
+ Info_Hand,
+
+ Haptics_Frequency,
+ Haptics_Duration,
+ Haptics_Amplitude,
+ };
+
+ inline static constexpr const char* INFO_FIRMWARE_VERSION_KEY = "(ZV)";
+ inline static constexpr const char* INFO_DEVICE_TYPE_KEY = "(ZG)";
+ inline static constexpr const char* INFO_HAND_KEY = "(ZH)";
+
+ inline static constexpr const uint16_t MAX_ANALOG_VALUE = 4096;
+
+#ifdef OG_USE_FROZEN
+ inline static constexpr const auto ALPHA_KEYS_TO_COMMAND = frozen::make_map<frozen::string, Command>
+#else
+ inline static const auto ALPHA_KEYS_TO_COMMAND = std::map<std::string, Command>
+#endif
+
+ ({
+ { "A", Command::FingerThumb_CurlTotal }, // Thumb finger force feedback
+ { "B", Command::FingerIndex_CurlTotal }, // Index finger force feedback
+ { "C", Command::FingerMiddle_CurlTotal }, // Middle finger force feedback
+ { "D", Command::FingerRing_CurlTotal }, // Ring finger force feedback
+ { "E", Command::FingerPinky_CurlTotal }, // Pinky finger force feedback
+
+ { "F", Command::Haptics_Frequency }, //
+ { "G", Command::Haptics_Duration }, //
+ { "H", Command::Haptics_Amplitude }, //
+
+ { "Z", Command::Info },
+ });
+
+#ifdef OG_USE_FROZEN
+ inline static constexpr const auto COMMAND_TO_ALPHA_KEY = frozen::make_map<Command, frozen::string>
+#else
+ inline static const auto COMMAND_TO_ALPHA_KEY = std::map<Command, std::string>
+#endif
+ ({
+ { Command::FingerThumb_CurlTotal, "A" }, // Whole thumb curl
+ { Command::FingerThumb_Splay, "(AB)" }, // Whole thumb splay
+ { Command::FingerThumb_CurlJoint0, "(AAA)" }, //
+ { Command::FingerThumb_CurlJoint1, "(AAB)" }, //
+ { Command::FingerThumb_CurlJoint2, "(AAC)" }, //
+ // { Command::FingerThumb_CurlJoint3, "(AAD)" }, // not used
+
+ { Command::FingerIndex_CurlTotal, "B" }, //
+ { Command::FingerIndex_Splay, "(BB)" }, //
+ { Command::FingerIndex_CurlJoint0, "(BAA)" }, //
+ { Command::FingerIndex_CurlJoint1, "(BAB)" }, //
+ { Command::FingerIndex_CurlJoint2, "(BAC)" }, //
+ { Command::FingerIndex_CurlJoint3, "(BAD)" }, //
+
+ { Command::FingerMiddle_CurlTotal, "C" }, //
+ { Command::FingerMiddle_Splay, "(CB)" }, //
+ { Command::FingerMiddle_CurlJoint0, "(CAA)" }, //
+ { Command::FingerMiddle_CurlJoint1, "(CAB)" }, //
+ { Command::FingerMiddle_CurlJoint2, "(CAC)" }, //
+ { Command::FingerMiddle_CurlJoint3, "(CAD)" }, //
+
+ { Command::FingerRing_CurlTotal, "D" }, //
+ { Command::FingerRing_Splay, "(DB)" }, //
+ { Command::FingerRing_CurlJoint0, "(DAA)" }, //
+ { Command::FingerRing_CurlJoint1, "(DAB)" }, //
+ { Command::FingerRing_CurlJoint2, "(DAC)" }, //
+ { Command::FingerRing_CurlJoint3, "(DAD)" }, //
+
+ { Command::FingerPinky_CurlTotal, "E" }, //
+ { Command::FingerPinky_Splay, "(EB)" }, //
+ { Command::FingerPinky_CurlJoint0, "(EAA)" }, //
+ { Command::FingerPinky_CurlJoint1, "(EAB)" }, //
+ { Command::FingerPinky_CurlJoint2, "(EAC)" }, //
+ { Command::FingerPinky_CurlJoint3, "(EAD)" }, //
+
+ { Command::MainJoystick_X, "F" }, //
+ { Command::MainJoystick_Y, "G" }, //
+ { Command::MainJoystick_Click, "H" }, //
+
+ { Command::GestureTrigger_Click, "I" }, // Binary trigger button/gesture
+
+ { Command::ButtonA_Click, "J" }, //
+ { Command::ButtonB_Click, "K" }, //
+
+ { Command::GestureGrab_Click, "L" }, //
+ { Command::GesturePinch_Click, "M" }, //
+
+ { Command::ButtonMenu_Click, "N" }, //
+ { Command::ButtonCalibrate_Click, "O" }, //
+
+ { Command::GestureTrigger_Value, "P" }, // Analog trigger button/gesture
+
+ { Command::Info, "Z" },
+ { Command::Info_FirmwareVersion, INFO_FIRMWARE_VERSION_KEY },
+ { Command::Info_DeviceType, INFO_DEVICE_TYPE_KEY },
+ { Command::Info_Hand, INFO_HAND_KEY },
+ });
+
+ /// Alpha keys for fingers.
+ /// <b>MUST</b> be in the same order as the `InputFingerData` struct.
+ inline static constexpr const std::array<unsigned char, 5> FINGER_ALPHA_KEY = { {
+ 'A', // Thumb
+ 'B', // Index
+ 'C', // Middle
+ 'D', // Ring
+ 'E', // Pinky
+ } };
+
+ /// Alpha keys for finger curl joints. Top level is the finger, second level is the joint.
+ /// The top level <b>MUST</b> be in the same order as the `InputFingerData` struct.
+ /// Second level array <b>MUST</b> be in the same order as the `InputFingerCurlData` struct.
+ inline static const std::array<std::array<std::string, 4>, 5> FINGER_CURL_JOINT_ALPHA_KEY = { {
+ { "A", "(AAB)", "(AAC)", "(AAD)" }, // Thumb (total, joint1, joint2, joint3)
+ { "B", "(BAB)", "(BAC)", "(BAD)" }, // Index (total, joint1, joint2, joint3)
+ { "C", "(CAB)", "(CAC)", "(CAD)" }, // Middle (total, joint1, joint2, joint3)
+ { "D", "(DAB)", "(DAC)", "(DAD)" }, // Ring (total, joint1, joint2, joint3)
+ { "E", "(EAB)", "(EAC)", "(EAD)" }, // Pinky (total, joint1, joint2, joint3)
+ } };
+
+ /// Alpha keys for buttons.
+ /// <b>MUST</b> be in the same order as the `InputPeripheralData` struct.
+ inline static constexpr const std::array<unsigned char, 5> BUTTON_ALPHA_KEY = { {
+ 'J', // Button A
+ 'K', // Button B
+ 'N', // Button Menu
+ 'O', // Button Calibrate
+ 'M', // Button Pinch
+ } };
+
+ /// Alpha keys for analog buttons.
+ /// <b>MUST</b> be in the same order as the `InputPeripheralData` struct.
+ inline static constexpr const std::array<unsigned char, 2> ANALOG_BUTTON_ALPHA_KEY = { {
+ 'P', // Trigger
+ 'I', // Grab
+ } };
+
+ auto encode_input(const Input& input, char* buffer, size_t length) const -> size_t override;
+
+ auto parse_output(const char* data, size_t length) const -> Output override;
+ };
+} // namespace og
\ No newline at end of file
diff --git a/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp b/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp
deleted file mode 100644
index c9dc738d..00000000
--- a/lib/opengloves/senseshift/opengloves/encoding/alpha.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-#include "senseshift/opengloves/encoding/alpha.hpp"
-
-#include <string.h>
-
-namespace SenseShift::OpenGloves {
- size_t AlphaEncodingService::serialize(
- const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors, char* buffer
- ) const
- {
- buffer[0] = '\0';
- size_t offset = 0;
-
- for (size_t i = 0; i < sensors.size(); i++) {
- auto* sensor = sensors[i];
- offset += sensor->encodeString(buffer + offset);
- }
-
- buffer[offset++] = '\n';
- buffer[offset] = '\0';
-
- return offset;
- }
-
- bool AlphaEncodingService::deserialize(
- const char* buffer, const size_t length, std::map<::OpenGloves::Command, uint16_t>& commands
- ) const
- {
- std::string input_string(buffer, length);
-
- size_t start = 0; // Start of the current command
- for (size_t i = 0; i < input_string.length(); i++) {
- const char ch = input_string[i];
-
- // Start a new command if the character is non-numeric or an opening parenthesis
- // and previous character is a numeric character
- if ((!(isdigit(ch)) || ch == '(') && i > 0 && isdigit(input_string[i - 1])) {
- AlphaEncodingService::splitCommand(input_string, start, i, commands);
- start = i;
- }
- }
-
- AlphaEncodingService::splitCommand(input_string, start, input_string.size(), commands);
-
- return true;
- }
-
- void AlphaEncodingService::splitCommand(
- const std::string& input_string, size_t start, size_t end, std::map<Command, uint16_t>& commands
- )
- {
- std::string current_command = input_string.substr(start, end - start);
-
- if (current_command.empty()) {
- return;
- }
-
- // Split the command into prefix and number
- size_t split_index = current_command.find_last_not_of(valueSymbols.data()) + 1;
-
- if (split_index >= current_command.size()) {
- log_w("Invalid command: %s", current_command.c_str());
- return;
- }
-
- std::string prefix = current_command.substr(0, split_index);
- int number = std::stoi(current_command.substr(split_index));
-
- // Check if the command prefix is in commandMap
- auto it = commandMap.find(prefix);
- if (it == commandMap.end()) {
- log_w("Unknown command prefix: %s", prefix.c_str());
- return;
- }
-
- // Look up the Command enum value for the prefix in the commandMap
- Command command = it->second;
- commands[command] = number;
- }
-} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp b/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp
deleted file mode 100644
index a8f81f7a..00000000
--- a/lib/opengloves/senseshift/opengloves/encoding/alpha.hpp
+++ /dev/null
@@ -1,55 +0,0 @@
-#pragma once
-
-#include <algorithm>
-#include <cstdint>
-#include <functional>
-#include <map>
-#include <string>
-#include <vector>
-
-#include <frozen/map.h>
-#include <frozen/string.h>
-#include <frozen/unordered_map.h>
-
-#include <og_protocol.hpp>
-#include <senseshift/core/logging.hpp>
-#include <senseshift/opengloves/interface.hpp>
-
-#define SENSESHIFT_OPENGLOVES_ALPHA_ENCODING_BUFFER_SIZE 256
-
-namespace SenseShift::OpenGloves {
- class AlphaEncodingService : public IEncoding {
- using Command = ::OpenGloves::Command;
-
- public:
- inline static constexpr frozen::string valueSymbols = "0123456789";
- inline static const auto commandMap = frozen::make_map<std::string, Command>({
- // clang-format off
- { "A", Command::ThumbCurl },
- { "(AB)", Command::ThumbSplay },
- { "B", Command::IndexCurl },
- { "(BB)", Command::IndexSplay },
- { "C", Command::MiddleCurl },
- { "(CB)", Command::MiddleSplay },
- { "D", Command::RingCurl },
- { "(DB)", Command::RingSplay },
- { "E", Command::PinkyCurl },
- { "(EB)", Command::PinkySplay },
- // clang-format on
- });
-
- AlphaEncodingService(){};
-
- virtual size_t serialize(const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors, char* buffer)
- const override;
-
- virtual bool deserialize(
- const char* buffer, const size_t length, std::map<::OpenGloves::Command, uint16_t>& commands
- ) const override;
-
- private:
- static void splitCommand(
- const std::string& input_string, size_t start, size_t end, std::map<Command, uint16_t>& commands
- );
- };
-} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves/senseshift/opengloves/interface.hpp b/lib/opengloves/senseshift/opengloves/interface.hpp
deleted file mode 100644
index ba7ba8e0..00000000
--- a/lib/opengloves/senseshift/opengloves/interface.hpp
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include <cstddef>
-#include <cstdint>
-#include <vector>
-
-#include <senseshift/buffer.hpp>
-
-#include "og_protocol.hpp"
-
-namespace SenseShift::OpenGloves {
- struct ITransport {
- virtual void setup(){};
- virtual auto send(const char* buffer, size_t length) -> size_t = 0;
- virtual auto hasData() -> bool = 0;
- virtual auto read(char* buffer, size_t length) -> size_t = 0;
- };
-
- struct IEncoding {
- /// \param [in] sensors
- /// \param [out] buffer
- virtual auto serialize(
- const std::vector<::OpenGloves::IStringEncodedMemoizedSensor*>& sensors,
- char* buffer
- ) const -> size_t = 0;
-
- /// \param [in] buffer
- /// \param [in] length
- /// \param [out] commands
- virtual auto deserialize(
- const char* buffer,
- size_t length,
- std::map<::OpenGloves::Command, uint16_t>& commands
- ) const -> bool = 0;
- };
-} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves/senseshift/opengloves/opengloves.hpp b/lib/opengloves/senseshift/opengloves/opengloves.hpp
new file mode 100644
index 00000000..267711c3
--- /dev/null
+++ b/lib/opengloves/senseshift/opengloves/opengloves.hpp
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <map>
+#include <optional>
+#include <string>
+
+#include <opengloves/opengloves.hpp>
+
+namespace SenseShift::OpenGloves {
+ class ITransport : public IInitializable {
+ public:
+ virtual auto send(const char* buffer, size_t length) -> size_t = 0;
+ virtual auto hasData() -> bool = 0;
+ virtual auto read(char* buffer, size_t length) -> size_t = 0;
+ };
+} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves/sensor/og_gesture.hpp b/lib/opengloves/sensor/og_gesture.hpp
deleted file mode 100644
index c64365c1..00000000
--- a/lib/opengloves/sensor/og_gesture.hpp
+++ /dev/null
@@ -1,59 +0,0 @@
-#pragma once
-
-#include <sensor/og_finger.hpp>
-
-namespace OpenGloves {
- class Gesture : public SenseShift::Input::ISimpleSensor<bool> {};
-
- class GrabGesture : public Gesture {
- private:
- ICurl& index;
- ICurl& middle;
- ICurl& ring;
- ICurl& pinky;
- uint16_t threshold;
-
- public:
- GrabGesture(ICurl& index, ICurl& middle, ICurl& ring, ICurl& pinky, uint16_t threshold) :
- index(index), middle(middle), ring(ring), pinky(pinky), threshold(threshold){};
-
- void init() override{};
-
- [[nodiscard]] auto getValue() -> bool override
- {
- return this->index.getCurl() > this->threshold && this->middle.getCurl() > this->threshold
- && this->ring.getCurl() > this->threshold && this->pinky.getCurl() > this->threshold;
- }
- };
-
- class TriggerGesture : public Gesture {
- private:
- ICurl& index;
- uint16_t threshold;
-
- public:
- TriggerGesture(ICurl& index, uint16_t threshold) : index(index), threshold(threshold){};
-
- void init() override{};
-
- [[nodiscard]] auto getValue() -> bool override { return this->index.getCurl() > this->threshold; }
- };
-
- class PinchGesture : public Gesture {
- private:
- ICurl& index;
- ICurl& thumb;
- uint16_t threshold;
-
- public:
- PinchGesture(ICurl& index, ICurl& thumb, const uint16_t threshold) :
- index(index), thumb(thumb), threshold(threshold){};
-
- void init() override{};
-
- [[nodiscard]] auto getValue() -> bool override
- {
- return this->index.getCurl() > this->threshold && this->thumb.getCurl() > this->threshold;
- }
- };
-} // namespace OpenGloves
From d1059009e6a8b222efb898bac2bf78c10394c667 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 8 Feb 2024 13:47:06 +0400
Subject: [PATCH 55/82] refactor(OpenGloves): reuse same structure for data and
source sensors
---
.../mode_configs/opengloves/opengloves.cpp | 225 +++++--------
ini/opengloves-indexer.ini | 304 +++++++++---------
ini/opengloves-lucidgloves.ini | 199 ++++++------
.../senseshift/body/hands/hands_interface.hpp | 5 +-
.../senseshift/body/hands/input/gesture.hpp | 3 +-
.../body/hands/input/total_curl.hpp | 33 +-
lib/io/senseshift/input/sensor.hpp | 87 ++---
lib/opengloves/opengloves/opengloves.cpp | 2 +-
lib/opengloves/opengloves/opengloves.hpp | 101 +++---
.../senseshift/opengloves/autoconfig.hpp | 147 +++++----
.../senseshift/opengloves/opengloves.hpp | 2 +
lib/opengloves/sensor/og_finger.hpp | 156 ---------
lib/opengloves/sensor/og_sensor.hpp | 45 ---
.../opengloves/transport/stream.hpp | 11 +-
lib/opengloves_task/opengloves_task.hpp | 7 +-
15 files changed, 538 insertions(+), 789 deletions(-)
delete mode 100644 lib/opengloves/sensor/og_finger.hpp
delete mode 100644 lib/opengloves/sensor/og_sensor.hpp
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index bded27d3..6666dc3f 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -1,225 +1,154 @@
-#include <og_constants.hpp>
-#include <opengloves_task.hpp>
+#include "senseshift/body/hands/input/gesture.hpp"
+#include "senseshift/body/hands/input/total_curl.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/input/sensor/binary.hpp>
-#include <senseshift/arduino/output/actuator/servo.hpp>
-#include <senseshift/calibration.hpp>
+#include <senseshift/arduino/input/sensor/digital.hpp>
+#include <senseshift/body/hands/input/gesture.hpp>
+#include <senseshift/input/calibration.hpp>
+#include <senseshift/input/filter.hpp>
#include <senseshift/input/sensor.hpp>
-#include <senseshift/input/sensor/joystick.hpp>
#include <senseshift/opengloves/autoconfig.hpp>
-#include <senseshift/opengloves/transport/stream.hpp>
#include <senseshift/utility.hpp>
-#include <sensor/og_finger.hpp>
-#include <sensor/og_gesture.hpp>
-using namespace OpenGloves;
-using namespace SenseShift::OpenGloves;
+using namespace ::SenseShift::Input;
+using namespace ::SenseShift::Arduino::Input;
+using namespace ::SenseShift::Body::Hands::Input;
+using namespace ::SenseShift::OpenGloves;
-HandSensors handSensors = {
+InputSensors input_sensors;
+
+void setupMode()
+{
#if FINGER_THUMB_SPLAY
- .thumb = FINGER_SPLAY_CLASS(
- IEncodedInput::Type::THUMB,
+ DEFINE_FINGER_SPLAY(
+ thumb,
PIN_FINGER_THUMB,
FINGER_THUMB_INVERT,
CALIBRATION_CURL,
PIN_FINGER_THUMB_SPLAY,
FINGER_THUMB_SPLAY_INVERT,
CALIBRATION_SPLAY
- ),
+ );
#elif FINGER_THUMB_ENABLED
- .thumb = FINGER_CLASS(IEncodedInput::Type::THUMB, PIN_FINGER_THUMB, FINGER_THUMB_INVERT, CALIBRATION_CURL),
+ DEFINE_FINGER(thumb_curl, PIN_FINGER_THUMB, FINGER_THUMB_INVERT, CALIBRATION_CURL);
+ input_sensors.curl.thumb.curl_total = thumb_curl_sensor;
#endif
#if FINGER_INDEX_SPLAY
- .index = FINGER_SPLAY_CLASS(
- IEncodedInput::Type::INDEX,
+ DEFINE_FINGER_SPLAY(
+ index,
PIN_FINGER_INDEX,
FINGER_INDEX_INVERT,
CALIBRATION_CURL,
PIN_FINGER_INDEX_SPLAY,
FINGER_INDEX_SPLAY_INVERT,
CALIBRATION_SPLAY
- ),
+ );
#elif FINGER_INDEX_ENABLED
- .index = FINGER_CLASS(IEncodedInput::Type::INDEX, PIN_FINGER_INDEX, FINGER_INDEX_INVERT, CALIBRATION_CURL),
+ DEFINE_FINGER(index_curl, PIN_FINGER_INDEX, FINGER_INDEX_INVERT, CALIBRATION_CURL);
+ input_sensors.curl.index.curl_total = index_curl_sensor;
#endif
#if FINGER_MIDDLE_SPLAY
- .middle = FINGER_SPLAY_CLASS(
- IEncodedInput::Type::MIDDLE,
+ DEFINE_FINGER_SPLAY(
+ middle,
PIN_FINGER_MIDDLE,
FINGER_MIDDLE_INVERT,
CALIBRATION_CURL,
PIN_FINGER_MIDDLE_SPLAY,
FINGER_MIDDLE_SPLAY_INVERT,
CALIBRATION_SPLAY
- ),
+ );
#elif FINGER_MIDDLE_ENABLED
- .middle = FINGER_CLASS(IEncodedInput::Type::MIDDLE, PIN_FINGER_MIDDLE, FINGER_MIDDLE_INVERT, CALIBRATION_CURL),
+ DEFINE_FINGER(middle_curl, PIN_FINGER_MIDDLE, FINGER_MIDDLE_INVERT, CALIBRATION_CURL);
+ input_sensors.curl.middle.curl_total = middle_curl_sensor;
#endif
#if FINGER_RING_SPLAY
- .ring = FINGER_SPLAY_CLASS(
- IEncodedInput::Type::RING,
+ DEFINE_FINGER_SPLAY(
+ ring,
PIN_FINGER_RING,
FINGER_RING_INVERT,
CALIBRATION_CURL,
PIN_FINGER_RING_SPLAY,
FINGER_RING_SPLAY_INVERT,
CALIBRATION_SPLAY
- ),
+ );
#elif FINGER_RING_ENABLED
- .ring = FINGER_CLASS(IEncodedInput::Type::RING, PIN_FINGER_RING, FINGER_RING_INVERT, CALIBRATION_CURL),
+ DEFINE_FINGER(ring_curl, PIN_FINGER_RING, FINGER_RING_INVERT, CALIBRATION_CURL);
+ input_sensors.curl.ring.curl_total = ring_curl_sensor;
#endif
#if FINGER_PINKY_SPLAY
- .pinky = FINGER_SPLAY_CLASS(
- IEncodedInput::Type::PINKY,
+ DEFINE_FINGER_SPLAY(
+ pinky,
PIN_FINGER_PINKY,
FINGER_PINKY_INVERT,
CALIBRATION_CURL,
PIN_FINGER_PINKY_SPLAY,
FINGER_PINKY_SPLAY_INVERT,
CALIBRATION_SPLAY
- ),
+ );
#elif FINGER_PINKY_ENABLED
- .pinky = FINGER_CLASS(IEncodedInput::Type::PINKY, PIN_FINGER_PINKY, FINGER_PINKY_INVERT, CALIBRATION_CURL),
+ DEFINE_FINGER(pinky_curl, PIN_FINGER_PINKY, FINGER_PINKY_INVERT, CALIBRATION_CURL);
+ input_sensors.curl.pinky.curl_total = pinky_curl_sensor;
#endif
-};
-#if BUTTON_CALIBRATE_ENABLED
-std::optional<StringEncodedMemoizedSensor<bool>> calibrateButton =
- BUTTON_CLASS(IEncodedInput::Type::CALIBRATE, PIN_BUTTON_CALIBRATE, BUTTON_CALIBRATE_INVERT);
-#else
-std::optional<StringEncodedMemoizedSensor<bool>> calibrateButton = std::nullopt;
+#if JOYSTICK_ENABLED
+ DEFINE_JOYSTICK_AXIS(joystick_x, PIN_JOYSTICK_X, JOYSTICK_X_INVERT, JOYSTICK_DEADZONE);
+ DEFINE_JOYSTICK_AXIS(joystick_y, PIN_JOYSTICK_Y, JOYSTICK_Y_INVERT, JOYSTICK_DEADZONE);
+
+ input_sensors.joystick.x = joystick_x_sensor;
+ input_sensors.joystick.y = joystick_y_sensor;
#endif
-std::vector<StringEncodedMemoizedSensor<bool>*> buttons = std::vector<StringEncodedMemoizedSensor<bool>*>
-{
- // https://github.com/llvm/llvm-project/issues/63776
- // clang-format off
#if BUTTON_A_ENABLED
- new BUTTON_CLASS(IEncodedInput::Type::A_BTN, PIN_BUTTON_A, BUTTON_A_INVERT),
+ auto* button_a = new BUTTON_CLASS(PIN_BUTTON_A, BUTTON_A_INVERT);
+ input_sensors.button_a.press = button_a;
#endif
-
#if BUTTON_B_ENABLED
- new BUTTON_CLASS(IEncodedInput::Type::B_BTN, PIN_BUTTON_B, BUTTON_B_INVERT),
+ auto* button_b = new BUTTON_CLASS(PIN_BUTTON_B, BUTTON_B_INVERT);
+ input_sensors.button_b.press = button_b;
#endif
-
#if BUTTON_JOYSTICK_ENABLED
- new BUTTON_CLASS(IEncodedInput::Type::JOY_BTN, PIN_BUTTON_JOYSTICK, BUTTON_JOYSTICK_INVERT),
+ auto* button_joystick = new BUTTON_CLASS(PIN_BUTTON_JOYSTICK, BUTTON_JOYSTICK_INVERT);
+ input_sensors.joystick.press = button_joystick;
#endif
-
#if BUTTON_MENU_ENABLED
- new BUTTON_CLASS(IEncodedInput::Type::MENU, PIN_BUTTON_MENU, BUTTON_MENU_INVERT),
+ auto* button_menu = new BUTTON_CLASS(PIN_BUTTON_MENU, BUTTON_MENU_INVERT);
+#endif
+#if BUTTON_CALIBRATE_ENABLED
+ auto* button_calibrate = new BUTTON_CLASS(PIN_BUTTON_CALIBRATE, BUTTON_CALIBRATE_INVERT);
+ input_sensors.button_calibrate.press = button_calibrate;
#endif
-#if GESTURE_TRIGGER_ENABLED && FINGER_INDEX_ENABLED
- new GESTURE_CLASS(
- IEncodedInput::Type::TRIGGER,
- new TriggerGesture(handSensors.index.value(), GESTURE_TRIGGER_THRESHOLD)
- ),
+#if GESTURE_TRIGGER_ENABLED
+ auto* trigger = new AnalogThresholdSensor(index_curl_sensor, GESTURE_TRIGGER_THRESHOLD);
+ input_sensors.trigger.press = trigger;
#elif BUTTON_TRIGGER_ENABLED
- new BUTTON_CLASS(IEncodedInput::Type::TRIGGER, PIN_BUTTON_TRIGGER, BUTTON_TRIGGER_INVERT),
+ auto trigger = new BUTTON_CLASS(PIN_BUTTON_TRIGGER, BUTTON_TRIGGER_INVERT);
#endif
-#if GESTURE_GRAB_ENABLED && FINGER_INDEX_ENABLED && FINGER_MIDDLE_ENABLED && FINGER_RING_ENABLED && FINGER_PINKY_ENABLED
- new GESTURE_CLASS(
- IEncodedInput::Type::GRAB,
- new GrabGesture(
- handSensors.index.value(),
- handSensors.middle.value(),
- handSensors.ring.value(),
- handSensors.pinky.value(),
- GESTURE_GRAB_THRESHOLD
- )
- ),
+#if GESTURE_GRAB_ENABLED
+ auto* grab = new GrabGesture(
+ GrabGesture::Fingers{ .index = index_curl_sensor,
+ .middle = middle_curl_sensor,
+ .ring = ring_curl_sensor,
+ .pinky = pinky_curl_sensor },
+ GESTURE_GRAB_THRESHOLD
+ );
+ input_sensors.grab.press = grab;
#elif BUTTON_GRAB_ENABLED
- new BUTTON_CLASS(IEncodedInput::Type::GRAB, PIN_BUTTON_GRAB, BUTTON_GRAB_INVERT),
+ auto* grab = new BUTTON_CLASS(PIN_BUTTON_GRAB, BUTTON_GRAB_INVERT);
#endif
-#if GESTURE_PINCH_ENABLED && FINGER_THUMB_ENABLED && FINGER_INDEX_ENABLED
- new GESTURE_CLASS(
- IEncodedInput::Type::PINCH,
- new PinchGesture(handSensors.thumb.value(), handSensors.index.value(), GESTURE_PINCH_THRESHOLD)
- ),
-#elif BUTTON_PINCH_ENABLED
- new BUTTON_CLASS(IEncodedInput::Type::PINCH, PIN_BUTTON_PINCH, BUTTON_PINCH_INVERT),
-#endif
- // clang-format on
-};
-
-std::vector<StringEncodedMemoizedSensor<uint16_t>*> joysticks = {
-#if JOYSTICK_ENABLED
- new JOYSTICK_CLASS(IEncodedInput::Type::JOY_X, PIN_JOYSTICK_X, JOYSTICK_X_INVERT, JOYSTICK_DEADZONE),
- new JOYSTICK_CLASS(IEncodedInput::Type::JOY_Y, PIN_JOYSTICK_Y, JOYSTICK_Y_INVERT, JOYSTICK_DEADZONE),
-#endif
- // todo: get joystick movement from Thumb finger movement?
-};
-
-std::vector<IStringEncodedMemoizedSensor*> otherSensors = std::vector<IStringEncodedMemoizedSensor*>();
-
-OpenGlovesTrackingTaskConfig config =
- OpenGlovesTrackingTaskConfig(UPDATE_RATE, CALIBRATION_DURATION, CALIBRATION_ALWAYS_CALIBRATE);
-OpenGlovesTrackingTask* trackingTask;
-
-#if FFB_ENABLED
-HandActuators handActuators = {
-#if FFB_THUMB_ENABLED
- .thumb = new SenseShift::Arduino::Output::ActuatorServo(PIN_FFB_THUMB),
-#endif
-
-#if FFB_INDEX_ENABLED
- .index = new SenseShift::Arduino::Output::ActuatorServo(PIN_FFB_INDEX),
-#endif
-
-#if FFB_MIDDLE_ENABLED
- .middle = new SenseShift::Arduino::Output::ActuatorServo(PIN_FFB_MIDDLE),
-#endif
-
-#if FFB_RING_ENABLED
- .ring = new SenseShift::Arduino::Output::ActuatorServo(PIN_FFB_RING),
-#endif
-
-#if FFB_PINKY_ENABLED
- .pinky = new SenseShift::Arduino::Output::ActuatorServo(PIN_FFB_PINKY),
-#endif
-};
-OpenGlovesForceFeedbackTask* ffbTask;
-#endif
-
-void setupMode()
-{
- auto* communication = AutoConfig::setupTransport();
-
- trackingTask = new OpenGlovesTrackingTask(
- config,
- *communication,
- handSensors,
- buttons,
- joysticks,
- otherSensors,
- calibrateButton,
- {
- .name = "OpenGlovesSensorTask",
- .stackDepth = 8192,
- .priority = OPENGLOVES_FINGERS_TASK_PRIORITY,
- }
+#if GESTURE_PINCH_ENABLED
+ auto* pinch = new PinchGesture(
+ PinchGesture::Fingers{ .thumb = thumb_curl_sensor, .index = index_curl_sensor },
+ GESTURE_PINCH_THRESHOLD
);
- trackingTask->begin();
-
-#if FFB_ENABLED
- ffbTask = new OpenGlovesForceFeedbackTask(
- *communication,
- handActuators,
- UPDATE_RATE,
- {
- .name = "OpenGlovesForceFeedbackTask",
- .stackDepth = 8192,
- .priority = OPENGLOVES_FINGERS_TASK_PRIORITY,
- }
- );
- ffbTask->begin();
+ input_sensors.pinch.press = pinch;
+#elif BUTTON_PINCH_ENABLED
+ auto* pinch = new BUTTON_CLASS(PIN_BUTTON_PINCH, BUTTON_PINCH_INVERT);
#endif
}
diff --git a/ini/opengloves-indexer.ini b/ini/opengloves-indexer.ini
index 7d5cd163..e9e8f5a8 100644
--- a/ini/opengloves-indexer.ini
+++ b/ini/opengloves-indexer.ini
@@ -3,173 +3,173 @@
; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:indexer-c]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = wemos_d1_mini32
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=25
- -D PIN_FINGER_INDEX=14
- -D PIN_FINGER_MIDDLE=33
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=12
- -D PIN_JOYSTICK_Y=4
- -D PIN_BUTTON_JOYSTICK=0
-
- -D PIN_BUTTON_A=2
- -D PIN_BUTTON_B=11
- ; -D PIN_BUTTON_MENU=5
- -D PIN_BUTTON_CALIBRATE=27
- ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = wemos_d1_mini32
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags} -D OG_ENCODE_FAST
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=25
+ -D PIN_FINGER_INDEX=14
+ -D PIN_FINGER_MIDDLE=33
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=12
+ -D PIN_JOYSTICK_Y=4
+ -D PIN_BUTTON_JOYSTICK=0
+
+ -D PIN_BUTTON_A=2
+ -D PIN_BUTTON_B=11
+ ; -D PIN_BUTTON_MENU=5
+ -D PIN_BUTTON_CALIBRATE=27
+; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
+; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
+; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; Indexer CF
; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:indexer-cf]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = wemos_d1_mini32
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=25
- -D PIN_FINGER_INDEX=14
- -D PIN_FINGER_MIDDLE=33
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=12
- -D PIN_JOYSTICK_Y=4
- -D PIN_BUTTON_JOYSTICK=0
-
- -D PIN_BUTTON_A=2
- -D PIN_BUTTON_B=11
- ; -D PIN_BUTTON_MENU=5
- -D PIN_BUTTON_CALIBRATE=27
- ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
- -D PIN_FFB_THUMB=16
- -D PIN_FFB_INDEX=17
- -D PIN_FFB_MIDDLE=21
- -D PIN_FFB_RING=22
- -D PIN_FFB_PINKY=1
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = wemos_d1_mini32
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags} -D OG_ENCODE_FAST
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=25
+ -D PIN_FINGER_INDEX=14
+ -D PIN_FINGER_MIDDLE=33
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=12
+ -D PIN_JOYSTICK_Y=4
+ -D PIN_BUTTON_JOYSTICK=0
+
+ -D PIN_BUTTON_A=2
+ -D PIN_BUTTON_B=11
+ ; -D PIN_BUTTON_MENU=5
+ -D PIN_BUTTON_CALIBRATE=27
+ ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+ -D PIN_FFB_THUMB=16
+ -D PIN_FFB_INDEX=17
+ -D PIN_FFB_MIDDLE=21
+ -D PIN_FFB_RING=22
+ -D PIN_FFB_PINKY=1
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; Indexer CS
; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:indexer-cs]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = wemos_d1_mini32
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=25
- -D PIN_FINGER_INDEX=14
- -D PIN_FINGER_MIDDLE=33
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_FINGER_THUMB_SPLAY=32
- -D PIN_FINGER_INDEX_SPLAY=13
- -D PIN_FINGER_MIDDLE_SPLAY=34
- -D PIN_FINGER_RING_SPLAY=35
- -D PIN_FINGER_PINKY_SPLAY=26
-
- -D PIN_JOYSTICK_X=12
- -D PIN_JOYSTICK_Y=4
- -D PIN_BUTTON_JOYSTICK=0
-
- -D PIN_BUTTON_A=2
- -D PIN_BUTTON_B=11
- ; -D PIN_BUTTON_MENU=5
- -D PIN_BUTTON_CALIBRATE=27
- ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = wemos_d1_mini32
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags}
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=25
+ -D PIN_FINGER_INDEX=14
+ -D PIN_FINGER_MIDDLE=33
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_FINGER_THUMB_SPLAY=32
+ -D PIN_FINGER_INDEX_SPLAY=13
+ -D PIN_FINGER_MIDDLE_SPLAY=34
+ -D PIN_FINGER_RING_SPLAY=35
+ -D PIN_FINGER_PINKY_SPLAY=26
+
+ -D PIN_JOYSTICK_X=12
+ -D PIN_JOYSTICK_Y=4
+ -D PIN_BUTTON_JOYSTICK=0
+
+ -D PIN_BUTTON_A=2
+ -D PIN_BUTTON_B=11
+ ; -D PIN_BUTTON_MENU=5
+ -D PIN_BUTTON_CALIBRATE=27
+; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
+; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
+; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; Indexer CSF
; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:indexer-csf]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = wemos_d1_mini32
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=25
- -D PIN_FINGER_INDEX=14
- -D PIN_FINGER_MIDDLE=33
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_FINGER_THUMB_SPLAY=32
- -D PIN_FINGER_INDEX_SPLAY=13
- -D PIN_FINGER_MIDDLE_SPLAY=34
- -D PIN_FINGER_RING_SPLAY=35
- -D PIN_FINGER_PINKY_SPLAY=26
-
- -D PIN_JOYSTICK_X=12
- -D PIN_JOYSTICK_Y=4
- -D PIN_BUTTON_JOYSTICK=0
-
- -D PIN_BUTTON_A=2
- -D PIN_BUTTON_B=11
- ; -D PIN_BUTTON_MENU=5
- -D PIN_BUTTON_CALIBRATE=27
- ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
- -D PIN_FFB_THUMB=16
- -D PIN_FFB_INDEX=17
- -D PIN_FFB_MIDDLE=21
- -D PIN_FFB_RING=22
- -D PIN_FFB_PINKY=1
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = wemos_d1_mini32
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags}
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=25
+ -D PIN_FINGER_INDEX=14
+ -D PIN_FINGER_MIDDLE=33
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_FINGER_THUMB_SPLAY=32
+ -D PIN_FINGER_INDEX_SPLAY=13
+ -D PIN_FINGER_MIDDLE_SPLAY=34
+ -D PIN_FINGER_RING_SPLAY=35
+ -D PIN_FINGER_PINKY_SPLAY=26
+
+ -D PIN_JOYSTICK_X=12
+ -D PIN_JOYSTICK_Y=4
+ -D PIN_BUTTON_JOYSTICK=0
+
+ -D PIN_BUTTON_A=2
+ -D PIN_BUTTON_B=11
+ ; -D PIN_BUTTON_MENU=5
+ -D PIN_BUTTON_CALIBRATE=27
+ ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+ -D PIN_FFB_THUMB=16
+ -D PIN_FFB_INDEX=17
+ -D PIN_FFB_MIDDLE=21
+ -D PIN_FFB_RING=22
+ -D PIN_FFB_PINKY=1
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
diff --git a/ini/opengloves-lucidgloves.ini b/ini/opengloves-lucidgloves.ini
index f4047f55..f535f768 100644
--- a/ini/opengloves-lucidgloves.ini
+++ b/ini/opengloves-lucidgloves.ini
@@ -3,114 +3,115 @@
; Wiring Diagram: https://github.com/LucidVR/lucidgloves/wiki/Prototype-3-Wiring-Diagram
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:lucidgloves-prototype3]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = ${opengloves.board}
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=32
- -D PIN_FINGER_INDEX=35
- -D PIN_FINGER_MIDDLE=34
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=33
- -D PIN_JOYSTICK_Y=25
- -D PIN_BUTTON_JOYSTICK=26
-
- -D PIN_BUTTON_A=27
- -D PIN_BUTTON_B=14
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = ${opengloves.board}
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags} -D OG_ENCODE_FAST
+
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=32
+ -D PIN_FINGER_INDEX=35
+ -D PIN_FINGER_MIDDLE=34
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=33
+ -D PIN_JOYSTICK_Y=25
+ -D PIN_BUTTON_JOYSTICK=26
+
+ -D PIN_BUTTON_A=27
+ -D PIN_BUTTON_B=14
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; LucidGloves Prototype 4
; Wiring Diagram: https://github.com/LucidVR/lucidgloves/wiki/Prototype-4-Wiring-Diagram
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:lucidgloves-prototype4]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = ${opengloves.board}
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=32
- -D PIN_FINGER_INDEX=35
- -D PIN_FINGER_MIDDLE=34
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=33
- -D PIN_JOYSTICK_Y=25
- -D PIN_BUTTON_JOYSTICK=26
-
- -D PIN_BUTTON_A=27
- -D PIN_BUTTON_B=14
- ; -D PIN_BUTTON_MENU=27
- -D PIN_BUTTON_CALIBRATE=12
- ; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
- ; todo: add servo pins
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = ${opengloves.board}
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags} -D OG_ENCODE_FAST
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=32
+ -D PIN_FINGER_INDEX=35
+ -D PIN_FINGER_MIDDLE=34
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=33
+ -D PIN_JOYSTICK_Y=25
+ -D PIN_BUTTON_JOYSTICK=26
+
+ -D PIN_BUTTON_A=27
+ -D PIN_BUTTON_B=14
+ ; -D PIN_BUTTON_MENU=27
+ -D PIN_BUTTON_CALIBRATE=12
+; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
+; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
+; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+; todo: add servo pins
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; LucidGloves Prototype 4 + Force Feedback
; Wiring Diagram: https://github.com/LucidVR/lucidgloves/wiki/Prototype-4-Wiring-Diagram
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:lucidgloves-prototype4-ffb]
-platform = ${opengloves.platform}
-platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = ${opengloves.board}
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=32
- -D PIN_FINGER_INDEX=35
- -D PIN_FINGER_MIDDLE=34
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=33
- -D PIN_JOYSTICK_Y=25
- -D PIN_BUTTON_JOYSTICK=26
-
- -D PIN_BUTTON_A=27
- -D PIN_BUTTON_B=14
- ; -D PIN_BUTTON_MENU=27
- -D PIN_BUTTON_CALIBRATE=12
- ; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
- -D PIN_FFB_THUMB=17
- -D PIN_FFB_INDEX=21
- -D PIN_FFB_MIDDLE=19
- -D PIN_FFB_RING=18
- -D PIN_FFB_PINKY=5
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+platform = ${opengloves.platform}
+platform_packages = ${opengloves.platform_packages}
+framework = ${opengloves.framework}
+board = ${opengloves.board}
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags = ${opengloves.build_flags}
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=32
+ -D PIN_FINGER_INDEX=35
+ -D PIN_FINGER_MIDDLE=34
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=33
+ -D PIN_JOYSTICK_Y=25
+ -D PIN_BUTTON_JOYSTICK=26
+
+ -D PIN_BUTTON_A=27
+ -D PIN_BUTTON_B=14
+ ; -D PIN_BUTTON_MENU=27
+ -D PIN_BUTTON_CALIBRATE=12
+ ; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+ -D PIN_FFB_THUMB=17
+ -D PIN_FFB_INDEX=21
+ -D PIN_FFB_MIDDLE=19
+ -D PIN_FFB_RING=18
+ -D PIN_FFB_PINKY=5
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter = ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
diff --git a/lib/hands/senseshift/body/hands/hands_interface.hpp b/lib/hands/senseshift/body/hands/hands_interface.hpp
index 4aa48b44..a8887906 100644
--- a/lib/hands/senseshift/body/hands/hands_interface.hpp
+++ b/lib/hands/senseshift/body/hands/hands_interface.hpp
@@ -1,7 +1,8 @@
#pragma once
+#include <senseshift/body/haptics/interface.hpp>
+
#include <cstdint>
-#include "senseshift/body/haptics/interface.hpp"
namespace SenseShift::Body {
namespace Hands {
@@ -21,5 +22,5 @@ namespace SenseShift::Body {
/// Distal phalanx of the volar surface of the any finger.
static constexpr const ::SenseShift::Body::Haptics::Position FINGERTIP_POSITION(127, 16);
} // namespace Haptics
- } // namespace Hands
+ } // namespace Hands
} // namespace SenseShift::Body
diff --git a/lib/hands_input/senseshift/body/hands/input/gesture.hpp b/lib/hands_input/senseshift/body/hands/input/gesture.hpp
index 92ca2a94..ad462051 100644
--- a/lib/hands_input/senseshift/body/hands/input/gesture.hpp
+++ b/lib/hands_input/senseshift/body/hands/input/gesture.hpp
@@ -2,12 +2,13 @@
#include <senseshift/core/component.hpp>
#include <senseshift/input/sensor.hpp>
+#include <senseshift/input/analog_threshold.hpp>
namespace SenseShift::Body::Hands::Input {
using Gesture = ::SenseShift::Input::BinarySensor;
/// An alias for semantic consistency.
- using TriggerGesture = ::SenseShift::Input::AnalogThresholdSensor;
+ using TriggerGesture = ::SenseShift::Input::AnalogThresholdSensor<float>;
class GrabGesture : public Gesture, ITickable {
public:
diff --git a/lib/hands_input/senseshift/body/hands/input/total_curl.hpp b/lib/hands_input/senseshift/body/hands/input/total_curl.hpp
index 678f5b80..26538afc 100644
--- a/lib/hands_input/senseshift/body/hands/input/total_curl.hpp
+++ b/lib/hands_input/senseshift/body/hands/input/total_curl.hpp
@@ -11,33 +11,38 @@ namespace SenseShift::Body::Hands::Input {
class TotalCurl : public ::SenseShift::Input::FloatSensor, public ::SenseShift::ITickable {
public:
/// \param joints The joints to calculate the total curl from.
- /// \param attach_callbacks Whether to attach callbacks to the joints to recalculate the total curl when they update.
+ /// \param attach_callbacks Whether to attach callbacks to the joints to update the total curl when they update.
/// If false, the total curl will only be recalculated when the tick() method is called.
- /// Setting this to <b>true is not recommended</b>, as it will cause the total curl to be
- /// recalculated multiple times per tick (the same as number of joints).
- explicit TotalCurl(
- std::vector<::SenseShift::Input::FloatSensor> joints,
- bool attach_callbacks = false
- ) : joints_(std::move(joints)), attach_callbacks_(attach_callbacks) {}
-
- void init() override {
+ /// Setting this to <b>true is not recommended</b>, as it will cause the total curl to
+ /// be recalculated multiple times per tick (the same as number of joints).
+ explicit TotalCurl(std::vector<::SenseShift::Input::FloatSensor> joints, bool attach_callbacks = false) :
+ joints_(std::move(joints)), attach_callbacks_(attach_callbacks)
+ {
+ }
+
+ void init() override
+ {
for (auto& joint : this->joints_) {
- SS_SUBSENSOR_INIT(&joint, this->attach_callbacks_, [this](float /*value*/) { this->recalculateState(); });
+ SS_SUBSENSOR_INIT(&joint, this->attach_callbacks_, [this](float /*value*/) {
+ this->recalculateState();
+ });
}
}
- void tick() override {
+ void tick() override
+ {
if (this->attach_callbacks_) {
LOG_E("total_curl", "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!");
}
this->recalculateState();
}
- void recalculateState() {
+ void recalculateState()
+ {
float total = 0.0F;
for (auto& joint : this->joints_) {
- total += joint.getState();
+ total += joint.getValue();
}
if (!this->joints_.empty()) {
@@ -50,4 +55,4 @@ namespace SenseShift::Body::Hands::Input {
bool attach_callbacks_ = false;
};
-} // namespace SenseShift::Body::Hands::Input
+} // namespace SenseShift::Body::Hands::Input
diff --git a/lib/io/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
index 5b1e8ddb..6d2046ea 100644
--- a/lib/io/senseshift/input/sensor.hpp
+++ b/lib/io/senseshift/input/sensor.hpp
@@ -1,11 +1,11 @@
#pragma once
+#include <optional>
#include <type_traits>
#include <vector>
-#include <optional>
-#include "senseshift/input/filter.hpp"
#include "senseshift/input/calibration.hpp"
+#include "senseshift/input/filter.hpp"
#include <senseshift/core/component.hpp>
#include <senseshift/core/helpers.hpp>
@@ -63,7 +63,8 @@ namespace SenseShift::Input {
/// new CenterDeadzoneFilter(0.1f),
/// });
/// \endcode
- void addFilters(std::vector<Filter::IFilter<ValueType>*> filters) {
+ void addFilters(std::vector<Filter::IFilter<ValueType>*> filters)
+ {
this->filters_.insert(this->filters_.end(), filters.begin(), filters.end());
}
@@ -91,17 +92,18 @@ namespace SenseShift::Input {
void stopCalibration() override { this->is_calibrating_ = false; }
- void reselCalibration() override {
+ void reselCalibration() override
+ {
if (this->calibrator_.has_value()) {
this->calibrator_.value()->reset();
}
}
- void addValueCallback(CallbackType &&callback) { this->callbacks_.add(std::move(callback)); }
+ void addValueCallback(CallbackType&& callback) { this->callbacks_.add(std::move(callback)); }
- void addRawValueCallback(CallbackType &&callback) { this->raw_callbacks_.add(std::move(callback)); }
+ void addRawValueCallback(CallbackType&& callback) { this->raw_callbacks_.add(std::move(callback)); }
- void init() override { }
+ void init() override {}
/// Publish the given state to the sensor.
///
@@ -110,7 +112,8 @@ namespace SenseShift::Input {
/// Finally, the filtered value will be assigned to the sensor's .value_.
///
/// \param rawValue The new .raw_value_.
- void publishState(ValueType rawValue) {
+ void publishState(ValueType rawValue)
+ {
this->raw_value_ = rawValue;
this->raw_callbacks_.call(this->raw_value_);
@@ -119,18 +122,15 @@ namespace SenseShift::Input {
}
/// Get the current sensor .value_.
- [[nodiscard]] auto getValue() -> ValueType override {
- return this->value_;
- }
+ [[nodiscard]] auto getValue() -> ValueType override { return this->value_; }
/// Get the current raw sensor .raw_value_.
- [[nodiscard]] auto getRawValue() -> ValueType {
- return this->raw_value_;
- }
+ [[nodiscard]] auto getRawValue() -> ValueType { return this->raw_value_; }
protected:
/// Apply current filters to value.
- [[nodiscard]] auto applyFilters(ValueType value) -> ValueType {
+ [[nodiscard]] auto applyFilters(ValueType value) -> ValueType
+ {
/// Apply calibration
if (this->calibrator_.has_value()) {
if (this->is_calibrating_) {
@@ -168,26 +168,24 @@ namespace SenseShift::Input {
};
using FloatSensor = Sensor<float>;
+
+ // todo: support double/triple/N-times/long click and so on
using BinarySensor = Sensor<bool>;
template<typename Tp>
- class SimpleSensorDecorator : public Sensor<Tp>, public ITickable
- {
+ class SimpleSensorDecorator : public Sensor<Tp>, public ITickable {
public:
using ValueType = Tp;
using SourceType = ISimpleSensor<ValueType>;
explicit SimpleSensorDecorator(SourceType* source) : source_(source) {}
- void init() override {
- this->source_->init();
- }
+ void init() override { this->source_->init(); }
- void tick() override {
- this->updateValue();
- }
+ void tick() override { this->updateValue(); }
- auto updateValue() -> ValueType {
+ auto updateValue() -> ValueType
+ {
auto const raw_value = this->readRawValue();
this->publishState(raw_value);
@@ -196,49 +194,14 @@ namespace SenseShift::Input {
return this->getValue();
}
- [[nodiscard]] auto readRawValue() -> ValueType {
- return this->source_->getValue();
- }
+ [[nodiscard]] auto readRawValue() -> ValueType { return this->source_->getValue(); }
protected:
-
private:
SourceType* source_;
};
-// template<typename Tp>
-// class SensorDecorator : public Sensor<Tp>
-// {
-// public:
-// using ValueType = Tp;
-// using SourceType = Sensor<ValueType>;
-//
-// explicit SensorDecorator(SourceType* source) : source_(source) {}
-//
-// void init() override {
-// this->source_->init();
-// this->source_->addValueCallback([this](ValueType value) {
-// this->publishState(value);
-// });
-// }
-//
-// void startCalibration() override {
-// this->source_->startCalibration();
-// }
-//
-// void stopCalibration() override {
-// this->source_->stopCalibration();
-// }
-//
-// void reselCalibration() override {
-// this->source_->reselCalibration();
-// }
-//
-// private:
-// SourceType* source_;
-// };
-
namespace _private {
- class TheFloatSensor : public Sensor<float> { };
- }
+ class TheFloatSensor : public Sensor<float> {};
+ } // namespace _private
} // namespace SenseShift::Input
diff --git a/lib/opengloves/opengloves/opengloves.cpp b/lib/opengloves/opengloves/opengloves.cpp
index 2752e7fc..951391b6 100644
--- a/lib/opengloves/opengloves/opengloves.cpp
+++ b/lib/opengloves/opengloves/opengloves.cpp
@@ -6,7 +6,7 @@
namespace og {
- auto AlphaEncoder::encode_input(const Input& input, char* buffer, size_t length) const -> size_t
+ auto AlphaEncoder::encode_input(const InputData& input, char* buffer, size_t length) const -> size_t
{
if (std::holds_alternative<InputInfoData>(input)) {
const auto& info = std::get<InputInfoData>(input);
diff --git a/lib/opengloves/opengloves/opengloves.hpp b/lib/opengloves/opengloves/opengloves.hpp
index ae8d80aa..d01bbfeb 100644
--- a/lib/opengloves/opengloves/opengloves.hpp
+++ b/lib/opengloves/opengloves/opengloves.hpp
@@ -33,18 +33,20 @@ namespace og {
DeviceType_LucidGloves,
};
- union InputFingerCurlData {
- std::array<float, 4> curl; // NOLINT(*-magic-numbers): I'm sure our finger aren't changing anytime soon
+ template<typename Tf = float>
+ union InputFingerCurl {
+ std::array<Tf, 4> curl; // NOLINT(*-magic-numbers): I'm sure our finger aren't changing anytime soon
struct {
- float curl_total;
- float curl_joint1;
- float curl_joint2;
- float curl_joint3;
+ Tf curl_total;
+ Tf curl_joint1;
+ Tf curl_joint2;
+ Tf curl_joint3;
};
};
+ using InputFingerCurlData = InputFingerCurl<float>;
template<typename Tp>
- union InputFingerData {
+ union InputFinger {
std::array<Tp, 5> fingers; // NOLINT(*-magic-numbers): We aren't going to grow any new fingers soon tbh
struct {
Tp thumb;
@@ -58,49 +60,58 @@ namespace og {
};
};
};
+ using InputFingerData = InputFinger<float>;
- struct InputJoystickData {
- float x, y;
- bool press;
+ template<typename Tf = float, typename Tb = bool>
+ struct InputJoystick {
+ Tf x, y;
+ Tb press;
};
+ using InputJoystickData = InputJoystick<float, bool>;
- struct InputButtonData {
- bool press;
+ template<typename Tb = bool>
+ struct InputButton {
+ Tb press;
// bool touch;
};
+ using InputButtonData = InputButton<bool>;
- struct InputAnalogButtonData : InputButtonData {
- float value;
+ template<typename Tf = float, typename Tb = bool>
+ struct InputAnalogButton : InputButton<Tb> {
+ Tf value;
};
+ using InputAnalogButtonData = InputAnalogButton<float, bool>;
/// Input data structure.
///
/// I know, it is not the prettiest one, but we need this type of punning to efficiently encode/decode the data
- struct InputPeripheralData {
- InputFingerData<InputFingerCurlData> curl;
- InputFingerData<float> splay;
+ template<typename Tf = float, typename Tb = bool>
+ struct InputPeripheral {
+ InputFinger<InputFingerCurl<Tf>> curl;
+ InputFinger<Tf> splay;
- InputJoystickData joystick;
+ InputJoystick<Tf, Tb> joystick;
union {
- std::array<InputButtonData, 4> buttons;
+ std::array<InputButton<Tb>, 4> buttons;
struct {
- InputButtonData button_a;
- InputButtonData button_b;
- InputButtonData button_menu;
- InputButtonData button_calibrate;
- InputButtonData pinch;
+ InputButton<Tb> button_a;
+ InputButton<Tb> button_b;
+ InputButton<Tb> button_menu;
+ InputButton<Tb> button_calibrate;
+ InputButton<Tb> pinch;
};
};
union {
- std::array<InputAnalogButtonData, 2> analog_buttons;
+ std::array<InputAnalogButton<Tf, Tb>, 2> analog_buttons;
struct {
- InputAnalogButtonData trigger;
- InputAnalogButtonData grab;
+ InputAnalogButton<Tf, Tb> trigger;
+ InputAnalogButton<Tf, Tb> grab;
};
};
};
+ using InputPeripheralData = InputPeripheral<float, bool>;
struct InputInfoData {
Hand hand;
@@ -109,15 +120,16 @@ namespace og {
unsigned int firmware_version;
};
- using Input = std::variant<InputInfoData, InputPeripheralData>;
+ using InputData = std::variant<InputInfoData, InputPeripheralData>;
class Output {};
class IEncoder {
public:
- [[nodiscard]] virtual auto encode_input(const Input& input, char* buffer, size_t length) const -> size_t = 0;
+ [[nodiscard]] virtual auto encode_input(const InputData& input, char* buffer, size_t length) const
+ -> size_t = 0;
- [[nodiscard]] auto encode_input(const Input& input) const -> std::string
+ [[nodiscard]] auto encode_input(const InputData& input) const -> std::string
{
std::string buffer;
buffer.resize(OG_BUFFER_SIZE);
@@ -300,9 +312,15 @@ namespace og {
{ Command::GestureTrigger_Value, "P" }, // Analog trigger button/gesture
{ Command::Info, "Z" },
+#ifdef OG_USE_FROZEN
+ { Command::Info_FirmwareVersion, frozen::string(INFO_FIRMWARE_VERSION_KEY) },
+ { Command::Info_DeviceType, frozen::string(INFO_DEVICE_TYPE_KEY) },
+ { Command::Info_Hand, frozen::string(INFO_HAND_KEY) },
+#else
{ Command::Info_FirmwareVersion, INFO_FIRMWARE_VERSION_KEY },
{ Command::Info_DeviceType, INFO_DEVICE_TYPE_KEY },
{ Command::Info_Hand, INFO_HAND_KEY },
+#endif
});
/// Alpha keys for fingers.
@@ -318,13 +336,18 @@ namespace og {
/// Alpha keys for finger curl joints. Top level is the finger, second level is the joint.
/// The top level <b>MUST</b> be in the same order as the `InputFingerData` struct.
/// Second level array <b>MUST</b> be in the same order as the `InputFingerCurlData` struct.
- inline static const std::array<std::array<std::string, 4>, 5> FINGER_CURL_JOINT_ALPHA_KEY = { {
- { "A", "(AAB)", "(AAC)", "(AAD)" }, // Thumb (total, joint1, joint2, joint3)
- { "B", "(BAB)", "(BAC)", "(BAD)" }, // Index (total, joint1, joint2, joint3)
- { "C", "(CAB)", "(CAC)", "(CAD)" }, // Middle (total, joint1, joint2, joint3)
- { "D", "(DAB)", "(DAC)", "(DAD)" }, // Ring (total, joint1, joint2, joint3)
- { "E", "(EAB)", "(EAC)", "(EAD)" }, // Pinky (total, joint1, joint2, joint3)
- } };
+#ifdef OG_USE_FROZEN
+ inline static constexpr const std::array<std::array<frozen::string, 4>, 5> FINGER_CURL_JOINT_ALPHA_KEY =
+#else
+ inline static const std::array<std::array<std::string, 4>, 5> FINGER_CURL_JOINT_ALPHA_KEY =
+#endif
+ { {
+ { "A", "(AAB)", "(AAC)", "(AAD)" }, // Thumb (total, joint1, joint2, joint3)
+ { "B", "(BAB)", "(BAC)", "(BAD)" }, // Index (total, joint1, joint2, joint3)
+ { "C", "(CAB)", "(CAC)", "(CAD)" }, // Middle (total, joint1, joint2, joint3)
+ { "D", "(DAB)", "(DAC)", "(DAD)" }, // Ring (total, joint1, joint2, joint3)
+ { "E", "(EAB)", "(EAC)", "(EAD)" }, // Pinky (total, joint1, joint2, joint3)
+ } };
/// Alpha keys for buttons.
/// <b>MUST</b> be in the same order as the `InputPeripheralData` struct.
@@ -343,8 +366,8 @@ namespace og {
'I', // Grab
} };
- auto encode_input(const Input& input, char* buffer, size_t length) const -> size_t override;
+ [[nodiscard]] auto encode_input(const InputData& input, char* buffer, size_t length) const -> size_t override;
- auto parse_output(const char* data, size_t length) const -> Output override;
+ [[nodiscard]] auto parse_output(const char* data, size_t length) const -> Output override;
};
} // namespace og
\ No newline at end of file
diff --git a/lib/opengloves/senseshift/opengloves/autoconfig.hpp b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
index 35419d72..4f114d03 100644
--- a/lib/opengloves/senseshift/opengloves/autoconfig.hpp
+++ b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
@@ -1,6 +1,6 @@
#pragma once
-#include <senseshift/opengloves/interface.hpp>
+#include <senseshift/opengloves/opengloves.hpp>
#ifdef ARDUINO
#include <senseshift/opengloves/transport/stream.hpp>
@@ -29,10 +29,10 @@
#pragma region Calibration
#ifndef CALIBRATION_CURL
-#define CALIBRATION_CURL ::SenseShift::Calibration::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>
+#define CALIBRATION_CURL new ::SenseShift::Input::Calibration::MinMaxCalibrator<float>()
#endif
#ifndef CALIBRATION_SPLAY
-#define CALIBRATION_SPLAY ::SenseShift::Calibration::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>
+#define CALIBRATION_SPLAY new ::SenseShift::Input::Calibration::CenterPointDeviationCalibrator<float>(0.66F, 0.005F)
#endif
#ifndef CALIBRATION_DURATION
@@ -43,61 +43,93 @@
#pragma region Fingers
-#define FINGER_THUMB_ENABLED (defined(PIN_FINGER_THUMB) && (PIN_FINGER_THUMB != -1))
-#define FINGER_INDEX_ENABLED (defined(PIN_FINGER_INDEX) && (PIN_FINGER_INDEX != -1))
-#define FINGER_MIDDLE_ENABLED (defined(PIN_FINGER_MIDDLE) && (PIN_FINGER_MIDDLE != -1))
-#define FINGER_RING_ENABLED (defined(PIN_FINGER_RING) && (PIN_FINGER_RING != -1))
-#define FINGER_PINKY_ENABLED (defined(PIN_FINGER_PINKY) && (PIN_FINGER_PINKY != -1))
-#define FINGER_CLASS(type, curl_pin, curl_invert, curl_calib) \
- FingerSensor( \
- new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Input::StaticMedianSensor<uint16_t, 5>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin) \
- ), \
- new curl_calib() \
- ), \
- type \
- )
-#define FINGER_THUMB_SPLAY (FINGER_THUMB_ENABLED && defined(PIN_FINGER_THUMB_SPLAY) && (PIN_FINGER_THUMB_SPLAY != -1))
-#define FINGER_INDEX_SPLAY (FINGER_INDEX_ENABLED && defined(PIN_FINGER_INDEX_SPLAY) && (PIN_FINGER_INDEX_SPLAY != -1))
-#define FINGER_MIDDLE_SPLAY \
- (FINGER_MIDDLE_ENABLED && defined(PIN_FINGER_MIDDLE_SPLAY) && (PIN_FINGER_MIDDLE_SPLAY != -1))
-#define FINGER_RING_SPLAY (FINGER_RING_ENABLED && defined(PIN_FINGER_RING_SPLAY) && (PIN_FINGER_RING_SPLAY != -1))
-#define FINGER_PINKY_SPLAY (FINGER_PINKY_ENABLED && defined(PIN_FINGER_PINKY_SPLAY) && (PIN_FINGER_PINKY_SPLAY != -1))
-#define FINGER_SPLAY_CLASS(type, curl_pin, curl_invert, curl_calib, splay_pin, splay_invert, splay_calib) \
- FingerSensor( \
- new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Input::StaticMedianSensor<uint16_t, 5>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<curl_invert>(curl_pin) \
- ), \
- new curl_calib() \
- ), \
- new ::SenseShift::Input::CalibratedSimpleSensor<uint16_t>( \
- new ::SenseShift::Input::StaticMedianSensor<uint16_t, 5>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<splay_invert>(splay_pin) \
- ), \
- new splay_calib() \
- ), \
- type \
- )
+#ifdef PIN_FINGER_THUMB
+#define FINGER_THUMB_ENABLED (PIN_FINGER_THUMB != -1)
+#else
+#define FINGER_THUMB_ENABLED false
+#endif
+
+#ifdef PIN_FINGER_INDEX
+#define FINGER_INDEX_ENABLED (PIN_FINGER_INDEX != -1)
+#else
+#define FINGER_INDEX_ENABLED false
+#endif
+
+#ifdef PIN_FINGER_MIDDLE
+#define FINGER_MIDDLE_ENABLED (PIN_FINGER_MIDDLE != -1)
+#else
+#define FINGER_MIDDLE_ENABLED false
+#endif
+
+#ifdef PIN_FINGER_RING
+#define FINGER_RING_ENABLED (PIN_FINGER_RING != -1)
+#else
+#define FINGER_RING_ENABLED false
+#endif
+
+#ifdef PIN_FINGER_PINKY
+#define FINGER_PINKY_ENABLED (PIN_FINGER_PINKY != -1)
+#else
+#define FINGER_PINKY_ENABLED false
+#endif
+
+#define DEFINE_FINGER(NAME, CURL_PIN, CURL_INVERT, CURL_CALIB) \
+ auto* NAME##_sensor = new ::SenseShift::Input::SimpleSensorDecorator( \
+ new ::SenseShift::Arduino::Input::AnalogSimpleSensor<CURL_INVERT>(CURL_PIN) \
+ ); \
+ NAME##_sensor->addFilters({ new ::SenseShift::Input::Filter::ExponentialMovingAverageFilter<float>(0.8F) }); \
+ NAME##_sensor->setCalibrator((CURL_CALIB));
+
+#ifdef PIN_FINGER_THUMB_SPLAY
+#define FINGER_THUMB_SPLAY (FINGER_THUMB_ENABLED && (PIN_FINGER_THUMB_SPLAY != -1))
+#else
+#define FINGER_THUMB_SPLAY false
+#endif
+
+#ifdef PIN_FINGER_INDEX_SPLAY
+#define FINGER_INDEX_SPLAY (FINGER_INDEX_ENABLED && (PIN_FINGER_INDEX_SPLAY != -1))
+#else
+#define FINGER_INDEX_SPLAY false
+#endif
+
+#ifdef PIN_FINGER_MIDDLE_SPLAY
+#define FINGER_MIDDLE_SPLAY (FINGER_MIDDLE_ENABLED && (PIN_FINGER_MIDDLE_SPLAY != -1))
+#else
+#define FINGER_MIDDLE_SPLAY false
+#endif
+
+#ifdef PIN_FINGER_RING_SPLAY
+#define FINGER_RING_SPLAY (FINGER_RING_ENABLED && (PIN_FINGER_RING_SPLAY != -1))
+#else
+#define FINGER_RING_SPLAY false
+#endif
+
+#ifdef PIN_FINGER_PINKY_SPLAY
+#define FINGER_PINKY_SPLAY (FINGER_PINKY_ENABLED && (PIN_FINGER_PINKY_SPLAY != -1))
+#else
+#define FINGER_PINKY_SPLAY false
+#endif
+
+#define DEFINE_FINGER_SPLAY(NAME, CURL_PIN, CURL_INVERT, CURL_CALIB, SPLAY_PIN, SPLAY_INVERT, SPLAY_CALIB) \
+ DEFINE_FINGER(NAME##_curl, CURL_PIN, CURL_INVERT, CURL_CALIB); \
+ DEFINE_FINGER(NAME##_splay, SPLAY_PIN, SPLAY_INVERT, SPLAY_CALIB);
#pragma endregion
#pragma region Joysticks
-#define JOYSTICK_ENABLED \
- (defined(PIN_JOYSTICK_X) && defined(PIN_JOYSTICK_Y) && (PIN_JOYSTICK_X != -1) && (PIN_JOYSTICK_Y != -1))
+#if defined(PIN_JOYSTICK_X) && defined(PIN_JOYSTICK_Y)
+#define JOYSTICK_ENABLED (PIN_JOYSTICK_X != -1) && (PIN_JOYSTICK_Y != -1)
+#else
+#define JOYSTICK_ENABLED false
+#endif
-#define JOYSTICK_CLASS(type, pin, invert, deadzone) \
- StringEncodedMemoizedSensor<uint16_t>( \
- new ::SenseShift::Input::JoystickAxisSensor<uint16_t>( \
- new ::SenseShift::Input::StaticMedianSensor<uint16_t, 5>( \
- new ::SenseShift::Arduino::Input::AnalogSensor<invert>(pin) \
- ), \
- deadzone \
- ), \
- type \
- )
+#define DEFINE_JOYSTICK_AXIS(NAME, PIN, INVERT, DEADZONE) \
+ auto NAME##_sensor = \
+ new ::SenseShift::Input::SimpleSensorDecorator(new ::SenseShift::Arduino::Input::AnalogSimpleSensor<INVERT>(PIN) \
+ ); \
+ NAME##_sensor->addFilters({ new ::SenseShift::Input::Filter::ExponentialMovingAverageFilter<float>(0.8F), \
+ new ::SenseShift::Input::Filter::CenterDeadzoneFilter(DEADZONE) });
#pragma endregion
@@ -112,27 +144,24 @@
#define BUTTON_GRAB_ENABLED (!GESTURE_GRAB_ENABLED && defined(PIN_BUTTON_GRAB) && (PIN_BUTTON_GRAB != -1))
#define BUTTON_PINCH_ENABLED (!GESTURE_PINCH_ENABLED && defined(PIN_BUTTON_PINCH) && (PIN_BUTTON_PINCH != -1))
-#define BUTTON_CLASS(_type, _pin, _invert) \
- StringEncodedMemoizedSensor<bool>(new ::SenseShift::Arduino::Input::BinarySensor<_invert>(_pin), _type)
+#define BUTTON_CLASS(PIN, INVERT) SimpleSensorDecorator(new DigitalSimpleSensor<INVERT>(PIN));
#pragma endregion
#pragma region Gestures
#ifndef GESTURE_TRIGGER_THRESHOLD
-#define GESTURE_TRIGGER_THRESHOLD (ANALOG_MAX / 2)
+#define GESTURE_TRIGGER_THRESHOLD (0.5F)
#endif
#ifndef GESTURE_GRAB_THRESHOLD
-#define GESTURE_GRAB_THRESHOLD (ANALOG_MAX / 2)
+#define GESTURE_GRAB_THRESHOLD (0.5F)
#endif
#ifndef GESTURE_PINCH_THRESHOLD
-#define GESTURE_PINCH_THRESHOLD (ANALOG_MAX / 2)
+#define GESTURE_PINCH_THRESHOLD (0.5F)
#endif
-#define GESTURE_CLASS(_type, _sensor) StringEncodedMemoizedSensor<bool>(_sensor, _type)
-
#pragma endregion
#define FFB_THUMB_ENABLED (defined(PIN_FFB_THUMB) && (PIN_FFB_THUMB != -1))
diff --git a/lib/opengloves/senseshift/opengloves/opengloves.hpp b/lib/opengloves/senseshift/opengloves/opengloves.hpp
index 267711c3..fa948e4d 100644
--- a/lib/opengloves/senseshift/opengloves/opengloves.hpp
+++ b/lib/opengloves/senseshift/opengloves/opengloves.hpp
@@ -15,4 +15,6 @@ namespace SenseShift::OpenGloves {
virtual auto hasData() -> bool = 0;
virtual auto read(char* buffer, size_t length) -> size_t = 0;
};
+
+ using InputSensors = og::InputPeripheral<::SenseShift::Input::FloatSensor*, ::SenseShift::Input::BinarySensor*>;
} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves/sensor/og_finger.hpp b/lib/opengloves/sensor/og_finger.hpp
deleted file mode 100644
index 95760b7a..00000000
--- a/lib/opengloves/sensor/og_finger.hpp
+++ /dev/null
@@ -1,156 +0,0 @@
-#pragma once
-
-#include <optional>
-
-#include "og_sensor.hpp"
-
-namespace OpenGloves {
- struct FingerSensors {
- std::vector<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> curl =
- std::vector<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*>();
- std::optional<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> splay = std::nullopt;
-
- FingerSensors(
- std::vector<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> curl,
- std::optional<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> splay = std::nullopt
- ) :
- curl(curl), splay(splay){};
-
- FingerSensors(
- SenseShift::Input::CalibratedSimpleSensor<uint16_t>* curl1,
- std::optional<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> splay = std::nullopt
- ) :
- curl({ curl1 }), splay(splay){};
- };
-
- class ICurl {
- public:
- /**
- * Get finger curl value.
- */
- virtual uint16_t getCurl() = 0;
- };
-
- using IFingerSensor = SenseShift::Input::ISimpleSensor<FingerValue>;
-
- class SimpleFingerSensor : public IFingerSensor, public ICurl {
- public:
- SimpleFingerSensor(FingerSensors sensors) : sensors(sensors){};
-
- SimpleFingerSensor(
- SenseShift::Input::CalibratedSimpleSensor<uint16_t>* curl1,
- std::optional<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> splay = std::nullopt
- ) :
- sensors(curl1, splay){};
-
- void init() override
- {
- for (auto sensor : sensors.curl) {
- sensor->init();
- }
- if (sensors.splay.has_value()) {
- sensors.splay.value()->init();
- }
- }
-
- [[nodiscard]] auto getValue() -> FingerValue override
- {
- FingerValue value{
- .curl = std::vector<uint16_t>(),
- .splay = std::nullopt,
- };
- for (auto sensor : sensors.curl) {
- value.curl.push_back(sensor->getValue());
- }
- if (sensors.splay.has_value()) {
- value.splay = sensors.splay.value()->getValue();
- }
- return value;
- }
-
- [[nodiscard]] auto getCurl() -> uint16_t override { return this->getValue().getTotalCurl(); }
-
- protected:
- FingerSensors sensors;
- };
-
- /**
- * Simple finger sensor that only provides calibration.
- */
- class CalibratedFingerSensor : public SimpleFingerSensor, public SenseShift::Calibration::ICalibrated {
- public:
- CalibratedFingerSensor(FingerSensors sensors) : SimpleFingerSensor(sensors){};
-
- CalibratedFingerSensor(
- SenseShift::Input::CalibratedSimpleSensor<uint16_t>* curl1,
- std::optional<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> splay = std::nullopt
- ) :
- SimpleFingerSensor(curl1, splay){};
-
- void resetCalibration() override
- {
- for (auto sensor : this->sensors.curl) {
- sensor->resetCalibration();
- }
- if (this->sensors.splay.has_value()) {
- this->sensors.splay.value()->resetCalibration();
- }
- }
-
- void enableCalibration() override
- {
- for (auto sensor : this->sensors.curl) {
- sensor->enableCalibration();
- }
- if (this->sensors.splay.has_value()) {
- this->sensors.splay.value()->enableCalibration();
- }
- }
-
- void disableCalibration() override
- {
- for (auto sensor : this->sensors.curl) {
- sensor->disableCalibration();
- }
- if (this->sensors.splay.has_value()) {
- this->sensors.splay.value()->disableCalibration();
- }
- }
- };
-
- class FingerSensor :
- public StringEncodedMemoizedSensor<FingerValue>,
- public SenseShift::Calibration::ICalibrated,
- public ICurl {
- public:
- FingerSensor(CalibratedFingerSensor* sensor, IEncodedInput::Type type) :
- StringEncodedMemoizedSensor<FingerValue>(sensor, type){};
-
- FingerSensor(
- SenseShift::Input::CalibratedSimpleSensor<uint16_t>* curl1,
- std::optional<SenseShift::Input::CalibratedSimpleSensor<uint16_t>*> splay,
- IEncodedInput::Type type
- ) :
- StringEncodedMemoizedSensor<FingerValue>(new CalibratedFingerSensor(curl1, splay), type){};
-
- FingerSensor(SenseShift::Input::CalibratedSimpleSensor<uint16_t>* curl1, IEncodedInput::Type type) :
- StringEncodedMemoizedSensor<FingerValue>(new CalibratedFingerSensor(curl1, std::nullopt), type){};
-
- void resetCalibration() override { static_cast<CalibratedFingerSensor*>(this->getSensor())->resetCalibration(); }
-
- void enableCalibration() override { static_cast<CalibratedFingerSensor*>(this->getSensor())->enableCalibration(); }
-
- void disableCalibration() override { static_cast<CalibratedFingerSensor*>(this->getSensor())->disableCalibration(); }
-
- uint16_t getCurl() override { return this->getValue().getTotalCurl(); }
- };
-
- struct HandSensors {
- std::optional<FingerSensor> thumb = std::nullopt;
- std::optional<FingerSensor> index = std::nullopt;
- std::optional<FingerSensor> middle = std::nullopt;
- std::optional<FingerSensor> ring = std::nullopt;
- std::optional<FingerSensor> pinky = std::nullopt;
- };
-
-} // namespace OpenGloves
diff --git a/lib/opengloves/sensor/og_sensor.hpp b/lib/opengloves/sensor/og_sensor.hpp
deleted file mode 100644
index e43dba74..00000000
--- a/lib/opengloves/sensor/og_sensor.hpp
+++ /dev/null
@@ -1,45 +0,0 @@
-#pragma once
-
-#include <cstdint>
-#include <optional>
-#include <vector>
-
-#include <og_protocol.hpp>
-#include <senseshift/input/sensor.hpp>
-
-namespace OpenGloves {
- struct FingerValue {
- std::vector<std::uint16_t> curl = std::vector<std::uint16_t>({ 0 });
- std::optional<std::uint16_t> splay = std::nullopt;
-
- [[nodiscard]] auto getTotalCurl() const -> std::uint16_t
- {
- if (this->curl.empty()) {
- return 0;
- }
-
- std::uint16_t total = 0;
- for (auto c_curl : this->curl) {
- total += c_curl;
- }
- return total / this->curl.size();
- }
- };
-
- template<typename _Tp>
- class StringEncodedMemoizedSensor :
- public IStringEncodedMemoizedSensor,
- public SenseShift::Input::MemoizedSensor<_Tp> {
- public:
- StringEncodedMemoizedSensor(SenseShift::Input::ISimpleSensor<_Tp>* sensor, IEncodedInput::Type type) :
- IStringEncodedMemoizedSensor(type), SenseShift::Input::MemoizedSensor<_Tp>(sensor){};
-
- void init() override { this->getSensor()->init(); }
-
- void updateValue() override { this->value_ = this->sensor_->getValue(); }
-
- [[nodiscard]] size_t getEncodedLength() const override;
-
- size_t encodeString(char* buffer) override;
- };
-} // namespace OpenGloves
diff --git a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
index f249f954..d3128165 100644
--- a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
+++ b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
@@ -1,18 +1,17 @@
#pragma once
+#include <senseshift/buffer.hpp>
+
#include <BLESerial.hpp>
#include <BluetoothSerial.h>
#include <HardwareSerial.h>
#include <Print.h>
#include <WiFi.h>
-#include <og_protocol.hpp>
-#include <senseshift/opengloves/interface.hpp>
+#include <senseshift/opengloves/opengloves.hpp>
namespace SenseShift::OpenGloves {
class IStreamTransport : public ITransport {
- using IStringEncodedMemoizedSensor = ::OpenGloves::IStringEncodedMemoizedSensor;
-
protected:
Stream* channel;
char* buffer = new char[256];
@@ -57,7 +56,7 @@ namespace SenseShift::OpenGloves {
StreamTransport(Stream& channel) : IStreamTransport(&channel){};
StreamTransport(Stream* channel) : IStreamTransport(channel){};
- void setup() override { this->mReady = true; }
+ void init() override { this->mReady = true; }
bool isReady() override { return this->channel != nullptr && this->mReady; }
@@ -101,7 +100,7 @@ namespace SenseShift::OpenGloves {
public:
WiFiSerialTransport(WiFiServer& server) : IStreamTransport(nullptr), m_server(server){};
- void setup() override
+ void init() override
{
auto* client = static_cast<WiFiClient*>(this->channel);
if (client != nullptr) {
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
index 4fb4f43f..c327890d 100644
--- a/lib/opengloves_task/opengloves_task.hpp
+++ b/lib/opengloves_task/opengloves_task.hpp
@@ -4,15 +4,12 @@
#include <optional>
-#include <og_ffb.hpp>
#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/input/sensor/binary.hpp>
-#include <senseshift/calibration.hpp>
+#include <senseshift/arduino/input/sensor/digital.hpp>
#include <senseshift/freertos/task.hpp>
#include <senseshift/input/sensor.hpp>
-#include <senseshift/input/sensor/joystick.hpp>
#include <senseshift/opengloves/encoding/alpha.hpp>
-#include <senseshift/opengloves/interface.hpp>
+#include <senseshift/opengloves/opengloves.hpp>
#include <senseshift/utility.hpp>
#include <sensor/og_finger.hpp>
#include <sensor/og_gesture.hpp>
From 3b8a90edb35a5ca2c6eca9d8871fe33e093a583a Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 8 Feb 2024 14:14:17 +0400
Subject: [PATCH 56/82] refactor(FreeRTOS): make SensorUpdateTask universal for
components
---
firmware/mode_configs/bhaptics/tactal.cpp | 12 ++--
firmware/mode_configs/bhaptics/tactglove.cpp | 12 ++--
firmware/mode_configs/bhaptics/tactosy2.cpp | 12 ++--
firmware/mode_configs/bhaptics/tactosyf.cpp | 12 ++--
firmware/mode_configs/bhaptics/tactosyh.cpp | 12 ++--
.../mode_configs/bhaptics/tactsuit_x16.cpp | 14 ++---
.../bhaptics/tactsuit_x16_pca9685.cpp | 14 ++---
.../mode_configs/bhaptics/tactsuit_x40.cpp | 12 ++--
firmware/mode_configs/bhaptics/tactvisor.cpp | 12 ++--
lib/battery/senseshift/battery/sensor.hpp | 18 +++---
lib/core/senseshift/core/helpers.hpp | 23 ++++----
.../senseshift/freertos/input/sensor.hpp | 32 ----------
lib/freertos/senseshift/freertos/task.hpp | 54 ++++++++++++++---
lib/io/senseshift/input/filter.hpp | 59 +++++++++----------
14 files changed, 150 insertions(+), 148 deletions(-)
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index 6be10fed..efab08b5 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -58,13 +58,13 @@ void setupMode()
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
- new MultiplyFilter(3.3F), // Convert to raw pin voltage
- new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
- batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 874cd07a..8d3fa066 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -66,13 +66,13 @@ void setupMode()
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
- new MultiplyFilter(3.3F), // Convert to raw pin voltage
- new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
- batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index 572e52ad..f18515f9 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -59,13 +59,13 @@ void setupMode()
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
- new MultiplyFilter(3.3F), // Convert to raw pin voltage
- new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
- batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index 51b67d9f..886857c3 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -60,13 +60,13 @@ void setupMode()
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
- new MultiplyFilter(3.3F), // Convert to raw pin voltage
- new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
- batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index 277dcb0d..5646060f 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -60,13 +60,13 @@ void setupMode()
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
- new MultiplyFilter(3.3F), // Convert to raw pin voltage
- new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
- batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index 5ba9322c..7a448b06 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -30,7 +30,7 @@ Application* app = &App;
static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX16_SIZE> bhLayout = { BH_LAYOUT_TACTSUITX16 };
// Ouput indices, responsible for x40 => x16 grouping
-static const std::array<std::uint8_t,BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups = BH_LAYOUT_TACTSUITX16_GROUPS;
+static const std::array<std::uint8_t, BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups = BH_LAYOUT_TACTSUITX16_GROUPS;
void setupMode()
{
@@ -69,13 +69,13 @@ void setupMode()
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
- new MultiplyFilter(3.3F), // Convert to raw pin voltage
- new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
- batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index 256222a8..38ea195f 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -30,7 +30,7 @@ Application* app = &App;
static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX16_SIZE> bhLayout = { BH_LAYOUT_TACTSUITX16 };
// Ouput indices, responsible for x40 => x16 grouping
-static const std::array<std::uint8_t,BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups = BH_LAYOUT_TACTSUITX16_GROUPS;
+static const std::array<std::uint8_t, BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups = BH_LAYOUT_TACTSUITX16_GROUPS;
void setupMode()
{
@@ -74,13 +74,13 @@ void setupMode()
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
- new MultiplyFilter(3.3F), // Convert to raw pin voltage
- new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
- batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 0057140f..6454ed61 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -83,13 +83,13 @@ void setupMode()
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
- new MultiplyFilter(3.3F), // Convert to raw pin voltage
- new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
- batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index f47cf4f5..1135d457 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -58,13 +58,13 @@ void setupMode()
#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
- new MultiplyFilter(3.3F), // Convert to raw pin voltage
- new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
+ new MultiplyFilter(3.3F), // Convert to raw pin voltage
+ new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new SensorUpdateTask<SimpleSensorDecorator<float>>(
- batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ batteryVoltageSensor,
+ SENSESHIFT_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/lib/battery/senseshift/battery/sensor.hpp b/lib/battery/senseshift/battery/sensor.hpp
index fdfa525d..19cfc6de 100644
--- a/lib/battery/senseshift/battery/sensor.hpp
+++ b/lib/battery/senseshift/battery/sensor.hpp
@@ -26,12 +26,13 @@ namespace SenseShift::Battery {
using VoltageType = typename BatteryState::VoltageType;
using VoltageSource = ::SenseShift::Input::Sensor<VoltageType>;
- LookupTableInterpolateBatterySensor(
- VoltageSource* voltage_source,
- Container* lookup_table
- ) : IBatterySensor(), voltage_source_(voltage_source), lookup_table_(lookup_table) {}
+ LookupTableInterpolateBatterySensor(VoltageSource* voltage_source, Container* lookup_table) :
+ IBatterySensor(), voltage_source_(voltage_source), lookup_table_(lookup_table)
+ {
+ }
- void init() override {
+ void init() override
+ {
this->voltage_source_->init();
this->voltage_source_->addValueCallback([this](VoltageType voltage) {
// Current level in % (0.0 - 1.0)
@@ -40,7 +41,7 @@ namespace SenseShift::Battery {
LOG_D("battery.sensor", "voltage=%f, level=%f", voltage, level);
const BatteryState value = {
- .level = static_cast<typename BatteryState::LevelType>(level * BatteryState::MAX_LEVEL),
+ .level = static_cast<typename BatteryState::LevelType>(level * BatteryState::MAX_LEVEL),
};
this->publishState(value);
@@ -48,8 +49,9 @@ namespace SenseShift::Battery {
}
protected:
- [[nodiscard]] auto lookupInterpolateLevel(VoltageType voltage) -> float {
- return ::SenseShift::lookup_interpolate<VoltageType, float, Container>(*this->lookup_table_, voltage);
+ [[nodiscard]] auto lookupInterpolateLevel(VoltageType voltage) -> float
+ {
+ return ::SenseShift::lookup_table_interpolate<VoltageType, float, Container>(*this->lookup_table_, voltage);
}
private:
diff --git a/lib/core/senseshift/core/helpers.hpp b/lib/core/senseshift/core/helpers.hpp
index 14d8e897..1d4fb8b1 100644
--- a/lib/core/senseshift/core/helpers.hpp
+++ b/lib/core/senseshift/core/helpers.hpp
@@ -73,13 +73,13 @@ namespace SenseShift {
/// \param value
///
/// \return
- template <typename Tp, typename To, typename Container>
- auto lookup_interpolate(Container const& lookup_table, Tp value) -> To
+ template<typename Tp, typename To, typename Container>
+ auto lookup_table_interpolate(Container const& lookup_table, Tp value) -> To
{
static_assert(std::is_same_v<typename Container::key_type, Tp>);
static_assert(std::is_same_v<typename Container::mapped_type, To>);
- static_assert(std::is_arithmetic_v<Tp>, "lookup_interpolate only supports arithmetic types");
- static_assert(std::is_arithmetic_v<To>, "lookup_interpolate only supports arithmetic types");
+ static_assert(std::is_arithmetic_v<Tp>, "lookup_table_interpolate only supports arithmetic types");
+ static_assert(std::is_arithmetic_v<To>, "lookup_table_interpolate only supports arithmetic types");
// If the value is outside the range of the lookup table, return the closest value
if (value <= lookup_table.begin()->first) {
@@ -102,20 +102,21 @@ namespace SenseShift {
template<typename... X>
class CallbackManager;
- /// Helper class to allow having multiple subscribers to a callback.
- ///
- /// \tparam Ts The arguments for the callbacks, wrapped in void().
+ /// Helper class to allow having multiple subscribers to a callback.
+ ///
+ /// \tparam Ts The arguments for the callbacks, wrapped in void().
template<typename... Ts>
class CallbackManager<void(Ts...)> {
public:
using CallbackType = std::function<void(Ts...)>;
/// Add a callback to the list.
- void add(std::function<void(Ts...)> &&callback) { this->callbacks_.push_back(std::move(callback)); }
+ void add(std::function<void(Ts...)>&& callback) { this->callbacks_.push_back(std::move(callback)); }
/// Call all callbacks in this manager.
- void call(Ts... args) {
- for (auto &callback : this->callbacks_) {
+ void call(Ts... args)
+ {
+ for (auto& callback : this->callbacks_) {
callback(args...);
}
}
@@ -127,4 +128,4 @@ namespace SenseShift {
private:
std::vector<std::function<void(Ts...)>> callbacks_;
};
-} // namespace SenseShift
+} // namespace SenseShift
diff --git a/lib/freertos/senseshift/freertos/input/sensor.hpp b/lib/freertos/senseshift/freertos/input/sensor.hpp
index fbd34918..2a31d67d 100644
--- a/lib/freertos/senseshift/freertos/input/sensor.hpp
+++ b/lib/freertos/senseshift/freertos/input/sensor.hpp
@@ -6,37 +6,5 @@
#include <cstdint>
namespace SenseShift::FreeRTOS::Input {
- /// Sensor update task
- template<typename Sensor>
- class SensorUpdateTask : public Task<SensorUpdateTask<Sensor>> {
- static_assert(std::is_same_v<decltype(&Sensor::init), void (Sensor::*)()>);
- static_assert(std::is_same_v<decltype(&Sensor::tick), void (Sensor::*)()>);
- public:
- SensorUpdateTask(Sensor* sensor, std::uint32_t updateDelay, TaskConfig taskConfig) :
- Task<SensorUpdateTask>(taskConfig), sensor_(sensor), updateDelay_(updateDelay) {
- log_i("creating SensorUpdateTask: %s", taskConfig.name);
- };
-
- void begin() override {
- this->sensor_->init();
- this->Task<SensorUpdateTask>::begin();
- }
-
- protected:
- [[noreturn]] void run()
- {
- while (true) {
- this->sensor_->tick();
- delay(this->updateDelay_);
- // log_i("high watermark %d", uxTaskGetStackHighWaterMark(NULL));
- }
- }
-
- private:
- friend class Task<SensorUpdateTask>;
-
- Sensor* sensor_;
- std::uint32_t updateDelay_;
- };
} // namespace SenseShift::FreeRTOS::Input
diff --git a/lib/freertos/senseshift/freertos/task.hpp b/lib/freertos/senseshift/freertos/task.hpp
index ea7c942a..9bea8bd8 100644
--- a/lib/freertos/senseshift/freertos/task.hpp
+++ b/lib/freertos/senseshift/freertos/task.hpp
@@ -39,8 +39,9 @@ namespace SenseShift::FreeRTOS {
friend class Task;
public:
- explicit Task(TaskConfig& config) : taskConfig(config) {
- log_i("creating SensorUpdateTask: %s", taskConfig.name);
+ explicit Task(TaskConfig& config) : taskConfig(config)
+ {
+ log_i("creating ComponentUpdateTask: %s", taskConfig.name);
};
virtual ~Task()
{
@@ -83,17 +84,17 @@ namespace SenseShift::FreeRTOS {
uxArraySize = uxTaskGetSystemState(pxTaskStatusArray, uxArraySize, NULL);
for (UBaseType_t i = 0; i < uxArraySize; i++) {
log_i(
- "Task: %s\n\tStack High Watermark: %d\n\tState: %d\n",
- pxTaskStatusArray[i].pcTaskName,
- pxTaskStatusArray[i].usStackHighWaterMark,
- pxTaskStatusArray[i].eCurrentState
+ "Task: %s\n\tStack High Watermark: %d\n\tState: %d\n",
+ pxTaskStatusArray[i].pcTaskName,
+ pxTaskStatusArray[i].usStackHighWaterMark,
+ pxTaskStatusArray[i].eCurrentState
);
if (pxTaskStatusArray[i].usStackHighWaterMark < 20) {
log_w(
- "Warning: Task %s has low stack space, only %dB awailable!",
- pxTaskStatusArray[i].pcTaskName,
- pxTaskStatusArray[i].usStackHighWaterMark * 4
+ "Warning: Task %s has low stack space, only %dB awailable!",
+ pxTaskStatusArray[i].pcTaskName,
+ pxTaskStatusArray[i].usStackHighWaterMark * 4
);
}
}
@@ -110,4 +111,39 @@ namespace SenseShift::FreeRTOS {
task->run();
}
};
+
+ template<typename Tp>
+ class ComponentUpdateTask : public Task<ComponentUpdateTask<Tp>> {
+ static_assert(std::is_same_v<decltype(&Tp::init), void (Tp::*)()>);
+ static_assert(std::is_same_v<decltype(&Tp::tick), void (Tp::*)()>);
+
+ public:
+ ComponentUpdateTask(Tp* component, std::uint32_t updateDelay, TaskConfig taskConfig) :
+ Task<ComponentUpdateTask>(taskConfig), component_(component), updateDelay_(updateDelay)
+ {
+ log_i("creating ComponentUpdateTask: %s", taskConfig.name);
+ };
+
+ void begin() override
+ {
+ this->component_->init();
+ this->Task<ComponentUpdateTask>::begin();
+ }
+
+ protected:
+ [[noreturn]] void run()
+ {
+ while (true) {
+ this->component_->tick();
+ delay(this->updateDelay_);
+ // log_i("high watermark %d", uxTaskGetStackHighWaterMark(NULL));
+ }
+ }
+
+ private:
+ friend class Task<ComponentUpdateTask>;
+
+ Tp* component_;
+ std::uint32_t updateDelay_;
+ };
} // namespace SenseShift::FreeRTOS
diff --git a/lib/io/senseshift/input/filter.hpp b/lib/io/senseshift/input/filter.hpp
index a86ef341..75f65dc2 100644
--- a/lib/io/senseshift/input/filter.hpp
+++ b/lib/io/senseshift/input/filter.hpp
@@ -38,10 +38,7 @@ namespace SenseShift::Input::Filter {
public:
explicit AddFilter(Tp offset) : offset_(offset){};
- auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
- {
- return value + this->offset_;
- }
+ auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override { return value + this->offset_; }
private:
Tp offset_;
@@ -66,10 +63,7 @@ namespace SenseShift::Input::Filter {
public:
explicit SubtractFilter(Tp offset) : offset_(offset){};
- auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
- {
- return value - this->offset_;
- }
+ auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override { return value - this->offset_; }
private:
Tp offset_;
@@ -80,12 +74,9 @@ namespace SenseShift::Input::Filter {
public:
explicit MultiplyFilter(Tp factor) : factor_(factor){};
- auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
- {
- return value * this->factor_;
- }
+ auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override { return value * this->factor_; }
- private:
+ private:
Tp factor_;
};
@@ -131,12 +122,9 @@ namespace SenseShift::Input::Filter {
public:
using Lambda = std::function<Tp(Tp)>;
- explicit LambdaFilter(Lambda filter) : filter_(std::move(filter)) {};
+ explicit LambdaFilter(Lambda filter) : filter_(std::move(filter)){};
- auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
- {
- return this->filter_(value);
- }
+ auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override { return this->filter_(value); }
private:
Lambda filter_;
@@ -147,7 +135,10 @@ namespace SenseShift::Input::Filter {
class SampleAverageFilter : public IFilter<Tp> {
static_assert(std::is_arithmetic_v<Tp>, "SampleAverageFilter only supports arithmetic types");
static_assert(std::is_same_v<typename Sensor::ValueType, Tp>, "Sensor type must match filter type");
- static_assert(std::is_same_v<decltype(&Sensor::readRawValue), void (Sensor::*)()>, "Can only use sensors with readRawValue()");
+ static_assert(
+ std::is_same_v<decltype(&Sensor::readRawValue), void (Sensor::*)()>,
+ "Can only use sensors with readRawValue()"
+ );
public:
explicit SampleAverageFilter(std::size_t size) : size_(size){};
@@ -173,10 +164,12 @@ namespace SenseShift::Input::Filter {
template<typename Tp, typename Sensor>
class SampleMedianFilter : public IFilter<Tp> {
static_assert(std::is_same_v<typename Sensor::ValueType, Tp>, "Sensor type must match filter type");
- // static_assert(std::is_same_v<decltype(&Sensor::readRawValue), Tp (Sensor::*)()>, "Can only use sensors with readRawValue()");
+ // static_assert(std::is_same_v<decltype(&Sensor::readRawValue), Tp (Sensor::*)()>, "Can only use sensors with
+ // readRawValue()");
public:
- explicit SampleMedianFilter(std::size_t size_) : size_(size_) {
+ explicit SampleMedianFilter(std::size_t size_) : size_(size_)
+ {
// allocate the array
this->values = new Tp[size_];
};
@@ -213,7 +206,7 @@ namespace SenseShift::Input::Filter {
static_assert(std::is_arithmetic_v<Tp>, "SlidingWindowAverageFilter only supports arithmetic types");
public:
- explicit SlidingWindowMovingAverageFilter(size_t window_size) : window_size_(window_size) { };
+ explicit SlidingWindowMovingAverageFilter(size_t window_size) : window_size_(window_size){};
auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
{
@@ -244,7 +237,7 @@ namespace SenseShift::Input::Filter {
static_assert(std::is_arithmetic_v<Tp>, "ExponentialMovingAverageFilter only supports arithmetic types");
public:
- explicit ExponentialMovingAverageFilter(float alpha) : alpha_(alpha) { };
+ explicit ExponentialMovingAverageFilter(float alpha) : alpha_(alpha){};
auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
{
@@ -260,8 +253,7 @@ namespace SenseShift::Input::Filter {
/// Deadzone filter. Clamps acc_ to center if it is within the deadzone.
/// Usually used to filter out noise in the joystick.
- class CenterDeadzoneFilter : public IFilter<float>
- {
+ class CenterDeadzoneFilter : public IFilter<float> {
public:
explicit CenterDeadzoneFilter(float deadzone) : deadzone_(deadzone){};
@@ -271,28 +263,31 @@ namespace SenseShift::Input::Filter {
return deviation < deadzone_ ? CENTER : value;
}
- private:
+ private:
static constexpr float CENTER = 0.5F;
float deadzone_;
};
+ /// Interpolates the value from the lookup table.
+ /// Can be used to determine battery level from the voltage.
+ ///
+ /// \tparam Tp Type of the lookup table values.
/// \tparam Container Type of the lookup table container.
- template <typename Tp, typename Container>
- class LookupTableInterpolationFilter : public IFilter<Tp>
- {
+ template<typename Tp, typename Container>
+ class LookupTableInterpolationFilter : public IFilter<Tp> {
static_assert(std::is_same_v<typename Container::value_type, Tp>);
static_assert(std::is_arithmetic_v<Tp>, "LookupTableInterpolationFilter only supports arithmetic types");
public:
- explicit LookupTableInterpolationFilter(Container const& lookup_table) : lookup_table_(lookup_table) {};
+ explicit LookupTableInterpolationFilter(Container const& lookup_table) : lookup_table_(lookup_table){};
auto filter(ISimpleSensor<float>* /*sensor*/, Tp value) -> Tp override
{
- return SenseShift::lookup_interpolate<Tp, Container>(this->lookup_table_, value);
+ return SenseShift::lookup_table_interpolate<Tp, Container>(this->lookup_table_, value);
}
private:
Container const& lookup_table_;
};
-} // namespace SenseShift::Input
+} // namespace SenseShift::Input::Filter
From 13f3b54ec42c1c54fd5d4598af1166131559e5f3 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 8 Feb 2024 14:22:20 +0400
Subject: [PATCH 57/82] test(Gestures): refactor old OG tests
---
test/test_body_gestures/main.cpp | 104 ++++++++++++++++++++++++++
test/test_opengloves_gesture/main.cpp | 102 -------------------------
2 files changed, 104 insertions(+), 102 deletions(-)
create mode 100644 test/test_body_gestures/main.cpp
delete mode 100644 test/test_opengloves_gesture/main.cpp
diff --git a/test/test_body_gestures/main.cpp b/test/test_body_gestures/main.cpp
new file mode 100644
index 00000000..57d543ea
--- /dev/null
+++ b/test/test_body_gestures/main.cpp
@@ -0,0 +1,104 @@
+#include <senseshift/body/hands/input/gesture.hpp>
+#include <senseshift/input/sensor.hpp>
+#include <unity.h>
+
+using namespace SenseShift::Input;
+using namespace SenseShift::Body::Hands::Input;
+
+void test_gesture_trigger(void)
+{
+ float threshold = 0.5f;
+ auto* index = new FloatSensor();
+
+ auto* gesture = new TriggerGesture(index, threshold, true);
+
+ index->publishState(0.4f);
+ TEST_ASSERT_FALSE(gesture->getValue());
+
+ index->publishState(0.6f);
+ TEST_ASSERT_TRUE(gesture->getValue());
+}
+
+void test_gesture_grab(void)
+{
+ float threshold = 0.5f;
+
+ auto* index = new FloatSensor();
+ auto* middle = new FloatSensor();
+ auto* ring = new FloatSensor();
+ auto* pinky = new FloatSensor();
+
+ auto* gesture = new GrabGesture(
+ {
+ .index = index,
+ .middle = middle,
+ .ring = ring,
+ .pinky = pinky,
+ },
+ threshold,
+ true
+ );
+
+ TEST_ASSERT_FALSE(gesture->getValue());
+
+ index->publishState(0.6);
+ TEST_ASSERT_FALSE(gesture->getValue());
+
+ middle->publishState(0.6);
+ TEST_ASSERT_FALSE(gesture->getValue());
+
+ ring->publishState(0.6);
+ TEST_ASSERT_FALSE(gesture->getValue());
+
+ pinky->publishState(0.6);
+ TEST_ASSERT_TRUE(gesture->getValue());
+}
+
+void test_gesture_pinch(void)
+{
+ float threshold = 0.5f;
+
+ auto* thumb = new FloatSensor();
+ auto* index = new FloatSensor();
+
+ auto* gesture = new PinchGesture({ .thumb = thumb, .index = index }, threshold, true);
+
+ TEST_ASSERT_FALSE(gesture->getValue());
+
+ thumb->publishState(0.6f);
+ TEST_ASSERT_FALSE(gesture->getValue());
+
+ index->publishState(0.6f);
+ TEST_ASSERT_TRUE(gesture->getValue());
+}
+
+int process(void)
+{
+ UNITY_BEGIN();
+
+ RUN_TEST(test_gesture_grab);
+ RUN_TEST(test_gesture_trigger);
+ RUN_TEST(test_gesture_pinch);
+
+ return UNITY_END();
+}
+
+#ifdef ARDUINO
+
+#include <Arduino.h>
+
+void setup(void)
+{
+ process();
+}
+
+void loop(void) {}
+
+#else
+
+int main(int argc, char** argv)
+{
+ return process();
+}
+
+#endif
diff --git a/test/test_opengloves_gesture/main.cpp b/test/test_opengloves_gesture/main.cpp
deleted file mode 100644
index db4f7057..00000000
--- a/test/test_opengloves_gesture/main.cpp
+++ /dev/null
@@ -1,102 +0,0 @@
-#include <senseshift/body/hands/gestures/grab.hpp>
-#include <unity.h>
-
-using namespace OpenGloves;
-
-class TestCurlFinger : public ICurl {
- public:
- uint16_t value;
-
- TestCurlFinger(uint16_t initialValue = 0) : value(initialValue){};
-
- uint16_t getCurl() override { return this->value; }
-};
-
-void test_gesture_grab(void)
-{
- uint16_t threshold = 2047;
-
- auto index = TestCurlFinger(threshold - 1);
- auto middle = TestCurlFinger(threshold - 1);
- auto ring = TestCurlFinger(threshold - 1);
- auto pinky = TestCurlFinger(threshold - 1);
-
- auto gesture = GrabGesture(index, middle, ring, pinky, threshold);
-
- TEST_ASSERT_FALSE(gesture.getValue());
-
- index.value = threshold + 1;
- TEST_ASSERT_FALSE(gesture.getValue());
-
- middle.value = threshold + 1;
- TEST_ASSERT_FALSE(gesture.getValue());
-
- ring.value = threshold + 1;
- TEST_ASSERT_FALSE(gesture.getValue());
-
- pinky.value = threshold + 1;
- TEST_ASSERT_TRUE(gesture.getValue());
-}
-
-void test_gesture_trigger(void)
-{
- uint16_t threshold = 2047;
-
- auto index = TestCurlFinger(threshold - 1);
-
- auto gesture = TriggerGesture(index, threshold);
-
- TEST_ASSERT_FALSE(gesture.getValue());
-
- index.value = threshold + 1;
- TEST_ASSERT_TRUE(gesture.getValue());
-}
-
-void test_gesture_pinch(void)
-{
- uint16_t threshold = 2047;
-
- auto index = TestCurlFinger(threshold - 1);
- auto middle = TestCurlFinger(threshold - 1);
-
- auto gesture = PinchGesture(index, middle, threshold);
-
- TEST_ASSERT_FALSE(gesture.getValue());
-
- index.value = threshold + 1;
- TEST_ASSERT_FALSE(gesture.getValue());
-
- middle.value = threshold + 1;
- TEST_ASSERT_TRUE(gesture.getValue());
-}
-
-int process(void)
-{
- UNITY_BEGIN();
-
- RUN_TEST(test_gesture_grab);
- RUN_TEST(test_gesture_trigger);
- RUN_TEST(test_gesture_pinch);
-
- return UNITY_END();
-}
-
-#ifdef ARDUINO
-
-#include <Arduino.h>
-
-void setup(void)
-{
- process();
-}
-
-void loop(void) {}
-
-#else
-
-int main(int argc, char** argv)
-{
- return process();
-}
-
-#endif
From 809f14e68d27f67c2422e284f27060c6999755c8 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 8 Feb 2024 18:30:24 +0400
Subject: [PATCH 58/82] fix: sensor template deduction
---
firmware/mode_configs/bhaptics/tactal.cpp | 2 +-
firmware/mode_configs/bhaptics/tactglove.cpp | 2 +-
firmware/mode_configs/bhaptics/tactosy2.cpp | 2 +-
firmware/mode_configs/bhaptics/tactosyf.cpp | 2 +-
firmware/mode_configs/bhaptics/tactosyh.cpp | 2 +-
.../mode_configs/bhaptics/tactsuit_x16.cpp | 2 +-
.../bhaptics/tactsuit_x16_pca9685.cpp | 2 +-
.../mode_configs/bhaptics/tactsuit_x40.cpp | 2 +-
firmware/mode_configs/bhaptics/tactvisor.cpp | 2 +-
.../mode_configs/opengloves/opengloves.cpp | 2 +-
lib/io/senseshift/input/analog_threshold.hpp | 51 +++++++++++--------
test/test_body_gestures/main.cpp | 15 ++++--
12 files changed, 52 insertions(+), 34 deletions(-)
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index efab08b5..e68ee5a1 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -61,7 +61,7 @@ void setupMode()
new MultiplyFilter(3.3F), // Convert to raw pin voltage
new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 8d3fa066..024bf872 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -69,7 +69,7 @@ void setupMode()
new MultiplyFilter(3.3F), // Convert to raw pin voltage
new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index f18515f9..21dfa3c1 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -62,7 +62,7 @@ void setupMode()
new MultiplyFilter(3.3F), // Convert to raw pin voltage
new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index 886857c3..9b9a4a60 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -63,7 +63,7 @@ void setupMode()
new MultiplyFilter(3.3F), // Convert to raw pin voltage
new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index 5646060f..11fa6192 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -63,7 +63,7 @@ void setupMode()
new MultiplyFilter(3.3F), // Convert to raw pin voltage
new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index 7a448b06..72d82490 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -72,7 +72,7 @@ void setupMode()
new MultiplyFilter(3.3F), // Convert to raw pin voltage
new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index 38ea195f..d5826492 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -77,7 +77,7 @@ void setupMode()
new MultiplyFilter(3.3F), // Convert to raw pin voltage
new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 6454ed61..ce0b0a8e 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -86,7 +86,7 @@ void setupMode()
new MultiplyFilter(3.3F), // Convert to raw pin voltage
new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index 1135d457..128f2199 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -61,7 +61,7 @@ void setupMode()
new MultiplyFilter(3.3F), // Convert to raw pin voltage
new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
});
- auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+ auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
SENSESHIFT_BATTERY_SAMPLE_RATE,
{ "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index 6666dc3f..d25e5733 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -122,7 +122,7 @@ void setupMode()
#endif
#if GESTURE_TRIGGER_ENABLED
- auto* trigger = new AnalogThresholdSensor(index_curl_sensor, GESTURE_TRIGGER_THRESHOLD);
+ auto* trigger = new TriggerGesture(index_curl_sensor, GESTURE_TRIGGER_THRESHOLD);
input_sensors.trigger.press = trigger;
#elif BUTTON_TRIGGER_ENABLED
auto trigger = new BUTTON_CLASS(PIN_BUTTON_TRIGGER, BUTTON_TRIGGER_INVERT);
diff --git a/lib/io/senseshift/input/analog_threshold.hpp b/lib/io/senseshift/input/analog_threshold.hpp
index eb03eec5..46eb53d4 100644
--- a/lib/io/senseshift/input/analog_threshold.hpp
+++ b/lib/io/senseshift/input/analog_threshold.hpp
@@ -1,55 +1,66 @@
#pragma once
#include "senseshift/input/sensor.hpp"
+#include <type_traits>
namespace SenseShift::Input {
- template<typename Tp>
+ template<typename Tp = float>
class AnalogThresholdSensor : public BinarySensor, ITickable {
- public:
+ public:
/// Analog threshold sensor with hysteresis.
///
/// \param source The source sensor.
/// \param threshold_upper Upper threshold, that needs to be crossed to transition from `low` to `high` states.
/// \param threshold_lower Lower threshold, that needs to be crossed to transition from `high` to `low` states.
explicit AnalogThresholdSensor(
- ::SenseShift::Input::Sensor<Tp>* source,
- Tp threshold_upper,
- float threshold_lower,
- bool attach_callbacks = false
- ) : source_(source), threshold_upper_(threshold_upper), threshold_lower_(threshold_lower), attach_callbacks_(attach_callbacks) {}
+ ::SenseShift::Input::Sensor<Tp>* source, Tp threshold_upper, Tp threshold_lower, bool attach_callbacks = false
+ ) :
+ source_(source),
+ threshold_upper_(threshold_upper),
+ threshold_lower_(threshold_lower),
+ attach_callbacks_(attach_callbacks)
+ {
+ }
/// \param source The source sensor.
/// \param threshold Threshold, that will be used for both upper and lower thresholds.
- template <typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
+ template<typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
explicit AnalogThresholdSensor(
- ::SenseShift::Input::Sensor<Tp>* source,
- float threshold = 0.5f,
- bool attach_callbacks = false
- ) : AnalogThresholdSensor(source, threshold, threshold, attach_callbacks) { }
+ ::SenseShift::Input::Sensor<Tp>* source, float threshold = 0.5f, bool attach_callbacks = false
+ ) :
+ AnalogThresholdSensor(source, threshold, threshold, attach_callbacks)
+ {
+ }
- void init() override {
+ void init() override
+ {
SS_SUBSENSOR_INIT(this->source_, this->attach_callbacks_, [this](Tp /*value*/) {
this->recalculateState();
});
}
- void tick() override {
+ void tick() override
+ {
if (this->attach_callbacks_) {
- LOG_E("sensor.analog_threshold", "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!");
+ LOG_E(
+ "sensor.analog_threshold",
+ "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!"
+ );
}
this->recalculateState();
}
- void recalculateState() {
- const auto sensor_value = this->source_->getValue();
+ void recalculateState()
+ {
+ const auto sensor_value = this->source_->getValue();
this->publishState(sensor_value >= (this->getValue() ? this->threshold_lower_ : this->threshold_upper_));
}
- private:
+ private:
::SenseShift::Input::Sensor<Tp>* source_;
- float threshold_lower_, threshold_upper_;
+ Tp threshold_lower_, threshold_upper_;
bool attach_callbacks_ = false;
};
-}
\ No newline at end of file
+} // namespace SenseShift::Input
diff --git a/test/test_body_gestures/main.cpp b/test/test_body_gestures/main.cpp
index 57d543ea..5f9e800d 100644
--- a/test/test_body_gestures/main.cpp
+++ b/test/test_body_gestures/main.cpp
@@ -10,12 +10,14 @@ void test_gesture_trigger(void)
float threshold = 0.5f;
auto* index = new FloatSensor();
- auto* gesture = new TriggerGesture(index, threshold, true);
+ auto* gesture = new TriggerGesture(index, threshold);
index->publishState(0.4f);
+ gesture->tick();
TEST_ASSERT_FALSE(gesture->getValue());
index->publishState(0.6f);
+ gesture->tick();
TEST_ASSERT_TRUE(gesture->getValue());
}
@@ -35,22 +37,25 @@ void test_gesture_grab(void)
.ring = ring,
.pinky = pinky,
},
- threshold,
- true
+ threshold
);
TEST_ASSERT_FALSE(gesture->getValue());
index->publishState(0.6);
+ gesture->tick();
TEST_ASSERT_FALSE(gesture->getValue());
middle->publishState(0.6);
+ gesture->tick();
TEST_ASSERT_FALSE(gesture->getValue());
ring->publishState(0.6);
+ gesture->tick();
TEST_ASSERT_FALSE(gesture->getValue());
pinky->publishState(0.6);
+ gesture->tick();
TEST_ASSERT_TRUE(gesture->getValue());
}
@@ -61,14 +66,16 @@ void test_gesture_pinch(void)
auto* thumb = new FloatSensor();
auto* index = new FloatSensor();
- auto* gesture = new PinchGesture({ .thumb = thumb, .index = index }, threshold, true);
+ auto* gesture = new PinchGesture({ .thumb = thumb, .index = index }, threshold);
TEST_ASSERT_FALSE(gesture->getValue());
thumb->publishState(0.6f);
+ gesture->tick();
TEST_ASSERT_FALSE(gesture->getValue());
index->publishState(0.6f);
+ gesture->tick();
TEST_ASSERT_TRUE(gesture->getValue());
}
From f43319a60840e6341e254c811518ea4152bdc861 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 8 Feb 2024 20:27:27 +0400
Subject: [PATCH 59/82] test(OpenGloves): update old alpha-encoding unit test
---
.github/workflows/ci.yml | 20 +-
lib/io/senseshift/input/calibration.hpp | 105 +++++++---
lib/opengloves/opengloves/opengloves.cpp | 103 ++++++---
lib/opengloves/opengloves/opengloves.hpp | 2 +-
test/test_opengloves/main.cpp | 159 --------------
test/test_opengloves_alpha_encoding/main.cpp | 210 +++++++++++--------
test/test_opengloves_finger/main.cpp | 177 ----------------
7 files changed, 281 insertions(+), 495 deletions(-)
delete mode 100644 test/test_opengloves/main.cpp
delete mode 100644 test/test_opengloves_finger/main.cpp
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index bade01aa..6a12df0c 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -21,7 +21,7 @@ jobs:
strategy:
fail-fast: false
matrix:
- os: [ubuntu-latest]
+ os: [ ubuntu-latest ]
target:
- bhaptics_tactsuit_x16
- bhaptics_tactsuit_x16_pca9685
@@ -32,10 +32,10 @@ jobs:
- bhaptics_tactal
- bhaptics_tactvisor
- bhaptics_tactglove_right
- battery_flag: [SENSESHIFT_BATTERY_ENABLED=true]
- serial_plotter_flag: [SENSESHIFT_SERIAL_PLOTTER=false]
- nimble_flag: [SENSESHIFT_BLE_USE_NIMBLE=false]
- coverage: [false]
+ battery_flag: [ SENSESHIFT_BATTERY_ENABLED=true ]
+ serial_plotter_flag: [ SENSESHIFT_SERIAL_PLOTTER=false ]
+ nimble_flag: [ SENSESHIFT_BLE_USE_NIMBLE=false ]
+ coverage: [ false ]
include:
# Extra tests for x40, as it uses the most features
@@ -165,7 +165,7 @@ jobs:
strategy:
fail-fast: false
matrix:
- os: [ubuntu-latest]
+ os: [ ubuntu-latest ]
target:
- lucidgloves-prototype3
- lucidgloves-prototype4
@@ -176,20 +176,20 @@ jobs:
comm_flag:
- COMMUNICATION_PROTOCOL=OPENGLOVES_COMM_SERIAL
- COMMUNICATION_PROTOCOL=OPENGLOVES_COMM_BTSERIAL
- coverage: [false]
+ coverage: [ false ]
include:
- os: ubuntu-latest
target: lucidgloves-prototype4-ffb
- curl_calibration_flag: CALIBRATION_CURL="::SenseShift::Calibration::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>"
+ curl_calibration_flag: CALIBRATION_CURL="new ::SenseShift::Input::Calibration::MinMaxCalibrator<float>()"
coverage: true
- os: ubuntu-latest
target: lucidgloves-prototype4-ffb
- curl_calibration_flag: CALIBRATION_CURL="::SenseShift::Calibration::CenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
+ curl_calibration_flag: CALIBRATION_CURL="new ::SenseShift::Input::Calibration::CenterPointDeviationCalibrator<float>(0.66F, 0.005F)"
coverage: true
- os: ubuntu-latest
target: lucidgloves-prototype4-ffb
- curl_calibration_flag: CALIBRATION_CURL="::SenseShift::Calibration::FixedCenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
+ curl_calibration_flag: CALIBRATION_CURL="new ::SenseShift::Input::Calibration::FixedCenterPointDeviationCalibrator<float>(0.66F, 0.005F)"
coverage: true
- os: ubuntu-latest
target: indexer-csf
diff --git a/lib/io/senseshift/input/calibration.hpp b/lib/io/senseshift/input/calibration.hpp
index 51412389..b5a271a5 100644
--- a/lib/io/senseshift/input/calibration.hpp
+++ b/lib/io/senseshift/input/calibration.hpp
@@ -33,21 +33,25 @@ namespace SenseShift::Input::Calibration {
public:
using ValueType = Tp;
- explicit MinMaxCalibrator(Tp output_min, Tp output_max)
- : output_min_(output_min), output_max_(output_max),
- value_min_(output_max), value_max_(output_min) {}
+ explicit MinMaxCalibrator(Tp output_min, Tp output_max) :
+ output_min_(output_min), output_max_(output_max), value_min_(output_max), value_max_(output_min)
+ {
+ }
template<typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
- explicit MinMaxCalibrator(Tp output_min = 0.0F, Tp output_max = 1.0F)
- : output_min_(output_min), output_max_(output_max),
- value_min_(output_max), value_max_(output_min) {}
+ explicit MinMaxCalibrator(Tp output_min = 0.0F, Tp output_max = 1.0F) :
+ output_min_(output_min), output_max_(output_max), value_min_(output_max), value_max_(output_min)
+ {
+ }
- void reset() override {
+ void reset() override
+ {
value_min_ = output_max_;
value_max_ = output_min_;
}
- void update(ValueType input) override {
+ void update(ValueType input) override
+ {
// Update the min and the max.
if (input < value_min_) {
value_min_ = input;
@@ -57,7 +61,8 @@ namespace SenseShift::Input::Calibration {
}
}
- auto calibrate(ValueType input) const -> ValueType override {
+ auto calibrate(ValueType input) const -> ValueType override
+ {
// This means we haven't had any calibration data yet.
// Return a neutral value right in the middle of the output range.
if (value_min_ > value_max_) {
@@ -73,7 +78,8 @@ namespace SenseShift::Input::Calibration {
}
// Map the input range to the output range.
- ValueType output = ::SenseShift::remap<ValueType, ValueType>(input, value_min_, value_max_, output_min_, output_max_);
+ ValueType output =
+ ::SenseShift::remap<ValueType, ValueType>(input, value_min_, value_max_, output_min_, output_max_);
// Lock the range to the output.
return std::clamp(output, output_min_, output_max_);
@@ -89,43 +95,63 @@ namespace SenseShift::Input::Calibration {
template<typename Tp>
class CenterPointDeviationCalibrator : public ICalibrator<Tp> {
- static_assert(std::is_arithmetic_v<Tp>, "CenterPointDeviationCalibrator only can be used with arithmetic types");
+ static_assert(
+ std::is_arithmetic_v<Tp>, "CenterPointDeviationCalibrator only can be used with arithmetic types"
+ );
public:
using ValueType = Tp;
- CenterPointDeviationCalibrator(
- Tp sensor_max, Tp driver_max_deviation, Tp output_min, Tp output_max
- ) : sensor_max_(sensor_max), driver_max_deviation_(driver_max_deviation), output_min_(output_min),
- output_max_(output_max), range_min_(sensor_max), range_max_(0) {}
+ CenterPointDeviationCalibrator(Tp sensor_max, Tp driver_max_deviation, Tp output_min, Tp output_max) :
+ sensor_max_(sensor_max),
+ driver_max_deviation_(driver_max_deviation),
+ output_min_(output_min),
+ output_max_(output_max),
+ range_min_(sensor_max),
+ range_max_(0)
+ {
+ }
template<typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
CenterPointDeviationCalibrator(
- Tp sensor_max, Tp driver_max_deviation, Tp output_min = 0.0F, Tp output_max = 1.0F
- ) : sensor_max_(sensor_max), driver_max_deviation_(driver_max_deviation), output_min_(output_min),
- output_max_(output_max), range_min_(sensor_max), range_max_(0) {}
+ Tp sensor_max, Tp driver_max_deviation, Tp output_min = 0.0F, Tp output_max = 1.0F
+ ) :
+ sensor_max_(sensor_max),
+ driver_max_deviation_(driver_max_deviation),
+ output_min_(output_min),
+ output_max_(output_max),
+ range_min_(sensor_max),
+ range_max_(0)
+ {
+ }
- void reset() override {
+ void reset() override
+ {
this->range_min_ = this->sensor_max_;
this->range_max_ = 0;
}
- void update(Tp input) override {
+ void update(Tp input) override
+ {
// Update the min and the max.
if (input < this->range_min_) {
- this->range_min_ = ::SenseShift::remap<ValueType>(input, this->output_min_, this->output_max_, 0, this->sensor_max_);
+ this->range_min_ =
+ ::SenseShift::remap<ValueType>(input, this->output_min_, this->output_max_, 0, this->sensor_max_);
}
if (input > this->range_max_) {
- this->range_max_ = ::SenseShift::remap<ValueType>(input, this->output_min_, this->output_max_, 0, this->sensor_max_);
+ this->range_max_ =
+ ::SenseShift::remap<ValueType>(input, this->output_min_, this->output_max_, 0, this->sensor_max_);
}
}
- auto calibrate(ValueType input) const -> ValueType override {
+ auto calibrate(ValueType input) const -> ValueType override
+ {
// Find the center point of the sensor, so we know how much we have deviated from it.
Tp center = (this->range_min_ + this->range_max_) / 2.0F;
// Map the input to the sensor range of motion.
- int output = ::SenseShift::accurateMap<Tp>(input, this->output_min_, this->output_max_, 0, this->sensor_max_);
+ int output =
+ ::SenseShift::accurateMap<Tp>(input, this->output_min_, this->output_max_, 0, this->sensor_max_);
// Find the deviation from the center and clamp it to the maximum that the driver supports.
output = std::clamp<int>(output - center, -(this->driver_max_deviation_), this->driver_max_deviation_);
@@ -152,20 +178,39 @@ namespace SenseShift::Input::Calibration {
template<typename Tp>
class FixedCenterPointDeviationCalibrator : public ICalibrator<Tp> {
- static_assert(std::is_arithmetic_v<Tp>, "FixedCenterPointDeviationCalibrator only can be used with arithmetic types");
+ static_assert(
+ std::is_arithmetic_v<Tp>, "FixedCenterPointDeviationCalibrator only can be used with arithmetic types"
+ );
public:
using ValueType = Tp;
explicit FixedCenterPointDeviationCalibrator(
Tp sensor_max, Tp driver_max_deviation, Tp output_min, Tp output_max
- ) : sensor_max_(sensor_max), driver_max_deviation_(driver_max_deviation),
- output_min_(output_min), output_max_(output_max) {}
+ ) :
+ sensor_max_(sensor_max),
+ driver_max_deviation_(driver_max_deviation),
+ output_min_(output_min),
+ output_max_(output_max)
+ {
+ }
+
+ template<typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
+ explicit FixedCenterPointDeviationCalibrator(
+ Tp sensor_max, Tp driver_max_deviation, Tp output_min = 0.0F, Tp output_max = 1.0F
+ ) :
+ sensor_max_(sensor_max),
+ driver_max_deviation_(driver_max_deviation),
+ output_min_(output_min),
+ output_max_(output_max)
+ {
+ }
void reset() override {}
void update(ValueType input) override {}
- auto calibrate(ValueType input) const -> ValueType override {
+ auto calibrate(ValueType input) const -> ValueType override
+ {
// Find the center point of the sensor, so we know how much we have deviated from it.
Tp center = this->sensor_max_ / 2.0F;
@@ -185,10 +230,10 @@ namespace SenseShift::Input::Calibration {
);
}
- private:
+ private:
const Tp sensor_max_;
const Tp driver_max_deviation_;
const Tp output_min_;
const Tp output_max_;
};
-} // namespace SenseShift::Input::Calibration
+} // namespace SenseShift::Input::Calibration
diff --git a/lib/opengloves/opengloves/opengloves.cpp b/lib/opengloves/opengloves/opengloves.cpp
index 951391b6..0411c6d9 100644
--- a/lib/opengloves/opengloves/opengloves.cpp
+++ b/lib/opengloves/opengloves/opengloves.cpp
@@ -1,9 +1,24 @@
#include "opengloves/opengloves.hpp"
+#include <cmath>
#include <cstdint>
#include <cstdio>
#include <variant>
+#ifdef OG_ENCODE_FAST
+template<typename Tp = int, typename Tu = float>
+auto ifloor(Tu x) -> Tp
+{
+ return (Tp) x - (x < (Tp) x);
+}
+
+template<typename Tp = int, typename Tu = float>
+auto iceil(Tu x) -> Tp
+{
+ return (Tp) x + (x > (Tp) x);
+}
+#endif
+
namespace og {
auto AlphaEncoder::encode_input(const InputData& input, char* buffer, size_t length) const -> size_t
@@ -32,52 +47,84 @@ namespace og {
const auto peripheral = std::get<InputPeripheralData>(input);
auto written = 0;
- const auto& curl = peripheral.curl.fingers;
+ const auto& curls = peripheral.curl.fingers;
+ const auto& splays = peripheral.splay.fingers;
#ifdef OG_ENCODE_FAST
- for (auto i = 0; i < curl.size(); i++) {
- const auto& finger = curl[i];
+ for (auto i = 0; i < curls.size(); i++) {
+ const auto& finger = curls[i];
const auto& finger_curl = finger.curl_total;
- written +=
- snprintf(buffer + written, length - written, "%c%.0f", 'A' + i, finger_curl * MAX_ANALOG_VALUE);
+ written += snprintf(
+ buffer + written,
+ length - written,
+ "%c%u",
+ 'A' + i,
+ ifloor<std::uint8_t, float>(finger_curl * MAX_ANALOG_VALUE)
+ );
}
#else
- for (auto i = 0; i < curl.size(); i++) {
- const auto& finger = curl[i];
- const auto& joints = finger.curl;
+ for (auto i = 0; i < curls.size(); i++) {
+ const auto& finger_curl = curls[i];
+ const auto& finger_splay = splays[i];
+ const auto finger_alpha_key = 'A' + i;
+
+ written += snprintf(
+ buffer + written,
+ length - written,
+ "%c%.0f",
+ finger_alpha_key,
+ std::floor(finger_curl.curl_total * MAX_ANALOG_VALUE)
+ );
+
+ if (finger_splay > 0.0F) {
+ written += snprintf(
+ buffer + written,
+ length - written,
+ "(%cB)%.0f",
+ finger_alpha_key,
+ std::floor(finger_splay * MAX_ANALOG_VALUE)
+ );
+ }
- for (auto j = 0; j < joints.size(); j++) {
+ const auto& joints = finger_curl.curl;
+ for (auto j = 1; j < joints.size(); j++) {
const auto& joint = joints[j];
+ const auto joint_alpha_key = 'A' + j;
- // skip if joint is 0.0, except total_curl (it is probably not enabled)
- if (joint == 0.0F && j != 0) {
+ if (joint == 0.0F) {
continue;
}
- const auto& jointKey = AlphaEncoder::FINGER_CURL_JOINT_ALPHA_KEY[i][j];
-
- written +=
- snprintf(buffer + written, length - written, "%s%.0f", jointKey.data(), joint * MAX_ANALOG_VALUE);
+ written += snprintf(
+ buffer + written,
+ length - written,
+ "(%cA%c)%.0f",
+ finger_alpha_key,
+ joint_alpha_key,
+ std::floor(joint * MAX_ANALOG_VALUE)
+ );
}
}
-
- const auto& splay = peripheral.splay.fingers;
- for (auto i = 0; i < splay.size(); i++) {
- const auto& finger = splay[i];
-
- if (finger == 0.0F) {
- continue;
- }
-
+#endif
+ if (peripheral.joystick.x != 0.0F) {
written += snprintf(
buffer + written,
length - written,
- "(%cB)%.0f",
- AlphaEncoder::FINGER_ALPHA_KEY[i],
- finger * MAX_ANALOG_VALUE
+ "F%.0f",
+ std::floor(peripheral.joystick.x * MAX_ANALOG_VALUE)
);
}
-#endif
+ if (peripheral.joystick.y != 0.0F) {
+ written += snprintf(
+ buffer + written,
+ length - written,
+ "G%.0f",
+ std::floor(peripheral.joystick.y * MAX_ANALOG_VALUE)
+ );
+ }
+ if (peripheral.joystick.press) {
+ written += snprintf(buffer + written, length - written, "H");
+ }
const auto& buttons = peripheral.buttons;
for (auto i = 0; i < buttons.size(); i++) {
diff --git a/lib/opengloves/opengloves/opengloves.hpp b/lib/opengloves/opengloves/opengloves.hpp
index d01bbfeb..7cfbda4f 100644
--- a/lib/opengloves/opengloves/opengloves.hpp
+++ b/lib/opengloves/opengloves/opengloves.hpp
@@ -231,7 +231,7 @@ namespace og {
inline static constexpr const char* INFO_DEVICE_TYPE_KEY = "(ZG)";
inline static constexpr const char* INFO_HAND_KEY = "(ZH)";
- inline static constexpr const uint16_t MAX_ANALOG_VALUE = 4096;
+ inline static constexpr const uint16_t MAX_ANALOG_VALUE = 4095;
#ifdef OG_USE_FROZEN
inline static constexpr const auto ALPHA_KEYS_TO_COMMAND = frozen::make_map<frozen::string, Command>
diff --git a/test/test_opengloves/main.cpp b/test/test_opengloves/main.cpp
deleted file mode 100644
index 7f607d6f..00000000
--- a/test/test_opengloves/main.cpp
+++ /dev/null
@@ -1,159 +0,0 @@
-#include <sensor/og_sensor.hpp>
-#include <unity.h>
-
-using namespace OpenGloves;
-
-class TestAnalogSensor : public SenseShift::Input::ISimpleSensor<uint16_t> {
- private:
- uint16_t count = 0;
-
- public:
- int setupCounter = 0;
-
- void init() override { this->setupCounter++; };
-
- uint16_t getValue() override { return ++this->count; };
-};
-
-class TestBinarySensor : public SenseShift::Input::ISimpleSensor<bool> {
- public:
- bool value = false;
- int setupCounter = 0;
-
- void init() override { this->setupCounter++; };
-
- bool getValue() override { return this->value; };
-};
-
-class TestFingerSensor : public SenseShift::Input::ISimpleSensor<FingerValue> {
- public:
- FingerValue value;
- int setupCounter = 0;
-
- void init() override { this->setupCounter++; };
-
- FingerValue getValue() override { return this->value; };
-};
-
-void test_string_encoded_sensor_uint16(void)
-{
- auto inner = new TestAnalogSensor();
- auto sensor = new StringEncodedMemoizedSensor<uint16_t>(inner, IEncodedInput::Type::INDEX);
-
- TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->init();
- TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
-
- TEST_ASSERT_EQUAL_INT(0, sensor->getValue());
- TEST_ASSERT_EQUAL_INT(0, sensor->getValue());
-
- sensor->updateValue();
-
- TEST_ASSERT_EQUAL_INT(1, sensor->getValue());
- TEST_ASSERT_EQUAL_INT(1, sensor->getValue());
-
- char buffer[6];
- TEST_ASSERT_EQUAL_INT(2, sensor->encodeString(buffer));
- TEST_ASSERT_EQUAL_STRING("B1", buffer);
-}
-
-void test_string_encoded_sensor_bool(void)
-{
- auto inner = new TestBinarySensor();
- auto sensor = new StringEncodedMemoizedSensor<bool>(inner, IEncodedInput::Type::A_BTN);
-
- TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->init();
- TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
-
- TEST_ASSERT_FALSE(sensor->getValue());
-
- char buffer[1];
- TEST_ASSERT_EQUAL_INT(0, sensor->encodeString(buffer));
- TEST_ASSERT_EQUAL_STRING("", buffer);
-
- sensor->updateValue();
-
- TEST_ASSERT_FALSE(sensor->getValue());
-
- inner->value = true;
-
- TEST_ASSERT_FALSE(sensor->getValue());
-
- sensor->updateValue();
-
- TEST_ASSERT_TRUE(sensor->getValue());
-
- TEST_ASSERT_EQUAL_INT(1, sensor->encodeString(buffer));
- TEST_ASSERT_EQUAL_STRING("J", buffer);
-}
-
-void test_string_encoded_sensor_fingervalue(void)
-{
- auto inner = new TestFingerSensor();
- auto sensor = new StringEncodedMemoizedSensor<FingerValue>(inner, IEncodedInput::Type::THUMB);
-
- TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->init();
- TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
-
- // curl-only
- char buffer[sensor->getEncodedLength()];
- sensor->encodeString(buffer);
- TEST_ASSERT_EQUAL_STRING("A0", buffer);
-
- inner->value.curl = { 256 };
- sensor->updateValue();
- sensor->encodeString(buffer);
- TEST_ASSERT_EQUAL_STRING("A256", buffer);
-
- // curl + splay
- inner->value.splay = 420;
- sensor->updateValue();
- sensor->encodeString(buffer);
- TEST_ASSERT_EQUAL_STRING("A256(AB)420", buffer);
-
- // multi-curl
- inner->value.curl = { 128, 256, 512 };
- inner->value.splay = std::nullopt;
- sensor->updateValue();
- sensor->encodeString(buffer);
- TEST_ASSERT_EQUAL_STRING("A298(AAA)128(AAB)256(AAC)512", buffer); // 298 = (128 + 256 + 512) / 3
-
- // multi-curl + splay
- inner->value.splay = 69;
- sensor->updateValue();
- sensor->encodeString(buffer);
- TEST_ASSERT_EQUAL_STRING("A298(AAA)128(AAB)256(AAC)512(AB)69", buffer); // 298 = (128 + 256 + 512) / 3
-}
-
-int process(void)
-{
- UNITY_BEGIN();
-
- RUN_TEST(test_string_encoded_sensor_uint16);
- RUN_TEST(test_string_encoded_sensor_bool);
- RUN_TEST(test_string_encoded_sensor_fingervalue);
-
- return UNITY_END();
-}
-
-#ifdef ARDUINO
-
-#include <Arduino.h>
-
-void setup(void)
-{
- process();
-}
-
-void loop(void) {}
-
-#else
-
-int main(int argc, char** argv)
-{
- return process();
-}
-
-#endif
diff --git a/test/test_opengloves_alpha_encoding/main.cpp b/test/test_opengloves_alpha_encoding/main.cpp
index 68be53cd..2d599457 100644
--- a/test/test_opengloves_alpha_encoding/main.cpp
+++ b/test/test_opengloves_alpha_encoding/main.cpp
@@ -1,111 +1,141 @@
-#include <senseshift/opengloves/encoding/alpha.hpp>
+#include <opengloves/opengloves.hpp>
#include <unity.h>
-using namespace OpenGloves;
-using namespace SenseShift::OpenGloves;
+using namespace og;
-void testSplitCommands(void)
+void test_encode_input_peripherals(void)
{
- std::map<std::string, std::map<Command, int>> input_strings = {
- // curl only
+ const IEncoder* encoder = new AlphaEncoder();
+
+ const std::vector<std::tuple<InputPeripheralData, std::string>> cases = {
{
- "A2048\n\0",
- {
- { Command::ThumbCurl, 2048 },
- },
+ InputPeripheralData({
+ .curl = {
+ .thumb = {
+ .curl_total = 0.5,
+ },
+ .index = {
+ .curl_total = 0.5,
+ },
+ .middle = {
+ .curl_total = 0.5,
+ },
+ .ring = {
+ .curl_total = 0.5,
+ },
+ .pinky = {
+ .curl_total = 0.5,
+ },
+ },
+ }),
+ "A2047B2047C2047D2047E2047\n",
},
- // curl only
{
- "A100B200C300D400E500",
- {
- { Command::ThumbCurl, 100 },
- { Command::IndexCurl, 200 },
- { Command::MiddleCurl, 300 },
- { Command::RingCurl, 400 },
- { Command::PinkyCurl, 500 },
- },
+ InputPeripheralData({
+ .curl = {
+ .thumb = {
+ .curl_total = 0.0,
+ },
+ .index = {
+ .curl_total = 0.0,
+ },
+ .middle = {
+ .curl_total = 0.0,
+ },
+ .ring = {
+ .curl_total = 0.0,
+ },
+ .pinky = {
+ .curl_total = 0.0,
+ },
+ },
+ }),
+ "A0B0C0D0E0\n",
},
- // curl (unordered)
{
- "E500A100B200D400C300",
- {
- { Command::ThumbCurl, 100 },
- { Command::IndexCurl, 200 },
- { Command::MiddleCurl, 300 },
- { Command::RingCurl, 400 },
- { Command::PinkyCurl, 500 },
- },
+ InputPeripheralData({
+ .curl = {
+ .thumb = {
+ .curl_total = 1.0,
+ },
+ .index = {
+ .curl_total = 1.0,
+ },
+ .middle = {
+ .curl_total = 1.0,
+ },
+ .ring = {
+ .curl_total = 1.0,
+ },
+ .pinky = {
+ .curl_total = 1.0,
+ },
+ },
+ }),
+ "A4095B4095C4095D4095E4095\n",
},
- // curl (with invalid data)
{
- "A100B200C300D400E",
- {
- { Command::ThumbCurl, 100 },
- { Command::IndexCurl, 200 },
- { Command::MiddleCurl, 300 },
- { Command::RingCurl, 400 },
- },
+ InputPeripheralData({
+ .splay = {
+ .thumb = 0.5,
+ .index = 0.5,
+ .middle = 0.5,
+ .ring = 0.5,
+ .pinky = 0.5,
+ },
+ }),
+ "A0(AB)2047B0(BB)2047C0(CB)2047D0(DB)2047E0(EB)2047\n",
},
- // curl (with unknown prefix)
{
- "X100A100B200C300D400E500",
- {
- { Command::ThumbCurl, 100 },
- { Command::IndexCurl, 200 },
- { Command::MiddleCurl, 300 },
- { Command::RingCurl, 400 },
- { Command::PinkyCurl, 500 },
- },
+ InputPeripheralData({
+ .joystick = {
+ .x = 0.5,
+ .y = 0.5,
+ .press = true,
+ },
+ }),
+ "A0B0C0D0E0F2047G2047H\n"
},
- // curl + splay
{
- "A1(AB)2B3(BB)4C5(CB)6D7(DB)8E9(EB)10",
- {
- { Command::ThumbCurl, 1 },
- { Command::ThumbSplay, 2 },
- { Command::IndexCurl, 3 },
- { Command::IndexSplay, 4 },
- { Command::MiddleCurl, 5 },
- { Command::MiddleSplay, 6 },
- { Command::RingCurl, 7 },
- { Command::RingSplay, 8 },
- { Command::PinkyCurl, 9 },
- { Command::PinkySplay, 10 },
- },
+ InputPeripheralData({
+ .buttons = { true, false, false, true },
+ }),
+ "A0B0C0D0E0JO\n"
},
- // curl + splay (unordered)
{
- "E9A1B3D7C5(BB)4(AB)2(EB)10(CB)6(DB)8",
- {
- { Command::ThumbCurl, 1 },
- { Command::ThumbSplay, 2 },
- { Command::IndexCurl, 3 },
- { Command::IndexSplay, 4 },
- { Command::MiddleCurl, 5 },
- { Command::MiddleSplay, 6 },
- { Command::RingCurl, 7 },
- { Command::RingSplay, 8 },
- { Command::PinkyCurl, 9 },
- { Command::PinkySplay, 10 },
- },
- },
+ InputPeripheralData({
+ .curl = {
+ .thumb = {
+ .curl_total = 0.5,
+ },
+ .index = {
+ .curl_total = 0.5,
+ },
+ .middle = {
+ .curl_total = 0.5,
+ },
+ .ring = {
+ .curl_total = 0.5,
+ },
+ .pinky = {
+ .curl_total = 0.5,
+ },
+ },
+ .splay = {
+ .thumb = 0.5,
+ .index = 0.5,
+ .middle = 0.5,
+ .ring = 0.5,
+ .pinky = 0.5,
+ },
+ }),
+ "A2047(AB)2047B2047(BB)2047C2047(CB)2047D2047(DB)2047E2047(EB)2047\n",
+ }
};
- auto encoding_service = AlphaEncodingService();
-
- for (auto& [input_string, expected_commands] : input_strings) {
- std::map<Command, uint16_t> commands = {};
- encoding_service.deserialize(input_string.c_str(), input_string.length(), commands);
-
- TEST_ASSERT_EQUAL_size_t_MESSAGE(
- expected_commands.size(),
- commands.size(),
- "Expected commands size does not match actual commands size"
- );
-
- for (auto& [command, value] : expected_commands) {
- TEST_ASSERT_EQUAL_INT(value, commands[command]);
- }
+ for (const auto& [data, expected] : cases) {
+ const auto encoded = encoder->encode_input(data);
+ TEST_ASSERT_EQUAL_STRING(expected.c_str(), encoded.c_str());
}
}
@@ -113,7 +143,7 @@ int process(void)
{
UNITY_BEGIN();
- RUN_TEST(testSplitCommands);
+ RUN_TEST(test_encode_input_peripherals);
return UNITY_END();
}
diff --git a/test/test_opengloves_finger/main.cpp b/test/test_opengloves_finger/main.cpp
deleted file mode 100644
index 569bcda8..00000000
--- a/test/test_opengloves_finger/main.cpp
+++ /dev/null
@@ -1,177 +0,0 @@
-#include <sensor/og_finger.hpp>
-#include <unity.h>
-
-using namespace OpenGloves;
-using namespace SenseShift::Calibration;
-
-class TestAnalogSensor : public SenseShift::Input::ISimpleSensor<uint16_t> {
- private:
- uint16_t count = 0;
-
- public:
- int setupCounter = 0;
-
- void init() override { this->setupCounter++; };
-
- uint16_t getValue() override { return this->count++; };
-};
-
-class DummyCalibrator : public ICalibrator<uint16_t> {
- public:
- uint8_t resetCounter = 0;
- std::optional<uint16_t> calibrated = std::nullopt;
-
- void reset() override
- {
- this->resetCounter++;
- this->calibrated = std::nullopt;
- };
- void update(uint16_t input) override { this->calibrated = input; };
- uint16_t calibrate(uint16_t input) const override { return this->calibrated.value_or(input); };
-};
-
-void test_simple_finger_sensor_curl(void)
-{
- auto* inner = new TestAnalogSensor();
- auto* calibrator = new DummyCalibrator();
- auto* calibrated = new SenseShift::Input::CalibratedSimpleSensor<uint16_t>(inner, calibrator);
- auto* sensor = new SimpleFingerSensor(calibrated);
-
- TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->init();
- TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
-
- // since the sensor is not memoized, the value is updated on every call
- TEST_ASSERT_EQUAL_INT(0, sensor->getValue().curl[0]);
- TEST_ASSERT_EQUAL_INT(1, sensor->getCurl());
-
- calibrator->calibrated = 100;
-
- TEST_ASSERT_EQUAL_INT(100, sensor->getValue().curl[0]); // 2 is inside
- TEST_ASSERT_EQUAL_INT(100, sensor->getCurl()); // 3 is inside
-
- calibrator->calibrated = std::nullopt;
-
- TEST_ASSERT_EQUAL_INT(4, sensor->getValue().curl[0]);
- TEST_ASSERT_EQUAL_INT(5, sensor->getCurl());
-}
-
-void test_simple_finger_sensor_curl_flex(void)
-{
- auto* inner_curl = new TestAnalogSensor();
- auto* calibrator_curl = new DummyCalibrator();
- auto* calibrated_curl = new SenseShift::Input::CalibratedSimpleSensor<uint16_t>(inner_curl, calibrator_curl);
-
- auto* inner_flex = new TestAnalogSensor();
- auto* calibrator_flex = new DummyCalibrator();
- auto* calibrated_flex = new SenseShift::Input::CalibratedSimpleSensor<uint16_t>(inner_flex, calibrator_flex);
-
- auto* sensor = new SimpleFingerSensor(calibrated_curl, calibrated_flex);
-
- TEST_ASSERT_EQUAL_INT(0, inner_curl->setupCounter);
- TEST_ASSERT_EQUAL_INT(0, inner_flex->setupCounter);
- sensor->init();
- TEST_ASSERT_EQUAL_INT(1, inner_curl->setupCounter);
- TEST_ASSERT_EQUAL_INT(1, inner_flex->setupCounter);
-
- // since the sensor is not memoized, the value is updated on every call
- TEST_ASSERT_EQUAL_INT(0, sensor->getValue().curl[0]);
- TEST_ASSERT_EQUAL_INT(1, sensor->getValue().splay.value());
- TEST_ASSERT_EQUAL_INT(2, sensor->getCurl());
-
- calibrator_curl->calibrated = 100;
- calibrator_flex->calibrated = 200;
-
- TEST_ASSERT_EQUAL_INT(100, sensor->getValue().curl[0]); // 3 is inside
- TEST_ASSERT_EQUAL_INT(200, sensor->getValue().splay.value()); // 4 is inside
- TEST_ASSERT_EQUAL_INT(100, sensor->getCurl()); // 5 is inside
-
- calibrator_curl->calibrated = std::nullopt;
- calibrator_flex->calibrated = std::nullopt;
-
- TEST_ASSERT_EQUAL_INT(6, sensor->getValue().curl[0]);
- TEST_ASSERT_EQUAL_INT(7, sensor->getValue().splay.value());
- TEST_ASSERT_EQUAL_INT(8, sensor->getCurl());
-}
-
-// todo: tests for multi-curl
-
-void test_finger_sensor_curl(void)
-{
- auto* inner = new TestAnalogSensor();
- auto* calibrator = new DummyCalibrator();
- auto* calibrated = new SenseShift::Input::CalibratedSimpleSensor<uint16_t>(inner, calibrator);
- auto* sensor = new FingerSensor(calibrated, IEncodedInput::Type::INDEX);
-
- TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->init();
- TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
-
- TEST_ASSERT_EQUAL_INT(0, sensor->getValue().curl[0]);
- TEST_ASSERT_EQUAL_INT(0, sensor->getCurl());
-
- sensor->updateValue();
-
- TEST_ASSERT_EQUAL_INT(0, sensor->getValue().curl[0]);
- TEST_ASSERT_EQUAL_INT(0, sensor->getCurl());
-
- calibrator->calibrated = 100;
-
- TEST_ASSERT_EQUAL_INT(0, sensor->getValue().curl[0]);
- TEST_ASSERT_EQUAL_INT(0, sensor->getCurl());
-
- sensor->updateValue(); // +1 is inside
-
- TEST_ASSERT_EQUAL_INT(100, sensor->getValue().curl[0]);
- TEST_ASSERT_EQUAL_INT(100, sensor->getCurl());
-
- TEST_ASSERT_EQUAL_INT(0, calibrator->resetCounter);
- sensor->resetCalibration();
- TEST_ASSERT_EQUAL_INT(1, calibrator->resetCounter);
-
- sensor->enableCalibration();
- sensor->updateValue(); // +1 is inside
- TEST_ASSERT_EQUAL_INT(2, sensor->getValue().curl[0]);
- TEST_ASSERT_EQUAL_INT(2, sensor->getCurl());
-
- sensor->updateValue(); // +1 is inside
- TEST_ASSERT_EQUAL_INT(3, sensor->getValue().curl[0]);
- TEST_ASSERT_EQUAL_INT(3, sensor->getCurl());
-
- sensor->disableCalibration();
- sensor->updateValue(); // +1 is inside, but calibrated to 3
- TEST_ASSERT_EQUAL_INT(3, sensor->getValue().curl[0]);
- TEST_ASSERT_EQUAL_INT(3, sensor->getCurl());
-}
-
-int process(void)
-{
- UNITY_BEGIN();
-
- RUN_TEST(test_simple_finger_sensor_curl);
- RUN_TEST(test_simple_finger_sensor_curl_flex);
-
- RUN_TEST(test_finger_sensor_curl);
-
- return UNITY_END();
-}
-
-#ifdef ARDUINO
-
-#include <Arduino.h>
-
-void setup(void)
-{
- process();
-}
-
-void loop(void) {}
-
-#else
-
-int main(int argc, char** argv)
-{
- return process();
-}
-
-#endif
From 48d827701088683b0f0a6816a3733e5021b027f8 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Fri, 9 Feb 2024 15:35:46 +0400
Subject: [PATCH 60/82] test: cover edge-cases
---
firmware/mode_configs/bhaptics/tactal.cpp | 3 +-
firmware/mode_configs/bhaptics/tactglove.cpp | 3 +-
firmware/mode_configs/bhaptics/tactosy2.cpp | 3 +-
firmware/mode_configs/bhaptics/tactosyf.cpp | 3 +-
firmware/mode_configs/bhaptics/tactosyh.cpp | 3 +-
.../mode_configs/bhaptics/tactsuit_x16.cpp | 3 +-
.../bhaptics/tactsuit_x16_pca9685.cpp | 3 +-
.../mode_configs/bhaptics/tactsuit_x40.cpp | 3 +-
firmware/mode_configs/bhaptics/tactvisor.cpp | 3 +-
include/senseshift.h | 4 +-
.../senseshift/{ => battery}/battery.hpp | 32 +----
.../{sensor.hpp => input/battery_sensor.hpp} | 15 +-
.../senseshift/bh/ble/connection.hpp | 7 +-
lib/io/senseshift/input/calibration.hpp | 3 +-
lib/opengloves/opengloves/opengloves.hpp | 16 ++-
lib/util/senseshift/range.hpp | 21 ---
lib/util/senseshift/utility.hpp | 2 +-
test/test_battery/main.cpp | 53 +++++++
test/test_body_gestures/main.cpp | 18 +--
test/test_core_helpers/main.cpp | 132 ++++++++++++++++++
.../main.cpp | 0
test/test_opengloves_alpha_encoding/main.cpp | 36 ++++-
test/test_util_buffer/main.cpp | 1 -
.../main.cpp | 29 +---
24 files changed, 274 insertions(+), 122 deletions(-)
rename lib/battery/senseshift/{ => battery}/battery.hpp (50%)
rename lib/battery/senseshift/battery/{sensor.hpp => input/battery_sensor.hpp} (85%)
delete mode 100644 lib/util/senseshift/range.hpp
create mode 100644 test/test_battery/main.cpp
create mode 100644 test/test_core_helpers/main.cpp
rename test/{test_util_calibration => test_io_calibration}/main.cpp (100%)
rename test/{test_util => test_util_container}/main.cpp (63%)
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index e68ee5a1..8a452ab5 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -6,9 +6,9 @@
#include "senseshift.h"
+#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
-#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -21,6 +21,7 @@ using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
+using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 024bf872..1fa2aa4e 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -6,9 +6,9 @@
#include "senseshift.h"
+#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
-#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -22,6 +22,7 @@ using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
+using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index 21dfa3c1..e630072b 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -6,9 +6,9 @@
#include "senseshift.h"
+#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
-#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -21,6 +21,7 @@ using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
+using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index 9b9a4a60..d35a6427 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -6,9 +6,9 @@
#include "senseshift.h"
+#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
-#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -21,6 +21,7 @@ using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
+using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index 11fa6192..3fd258cc 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -6,9 +6,9 @@
#include "senseshift.h"
+#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
-#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -21,6 +21,7 @@ using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
+using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index 72d82490..1f8bd345 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -6,9 +6,9 @@
#include "senseshift.h"
+#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
-#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -21,6 +21,7 @@ using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
+using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index d5826492..e3ac3769 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -6,9 +6,9 @@
#include "senseshift.h"
+#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/pca9685.hpp>
-#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -21,6 +21,7 @@ using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
+using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index ce0b0a8e..3a88f119 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -6,10 +6,10 @@
#include "senseshift.h"
+#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
#include <senseshift/arduino/output/pca9685.hpp>
-#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -22,6 +22,7 @@ using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
+using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index 128f2199..83b44903 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -6,9 +6,9 @@
#include "senseshift.h"
+#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
-#include <senseshift/battery/sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
@@ -21,6 +21,7 @@ using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
+using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
using namespace SenseShift::Body::Haptics;
diff --git a/include/senseshift.h b/include/senseshift.h
index ec98103d..d3d8629d 100644
--- a/include/senseshift.h
+++ b/include/senseshift.h
@@ -2,7 +2,7 @@
#include "config/all.h"
-#include <senseshift/battery/sensor.hpp>
+#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/body/haptics/body.hpp>
#include <senseshift/events.hpp>
@@ -21,6 +21,6 @@ namespace SenseShift {
private:
std::vector<const IEventListener*> event_listeners_{};
Body::Haptics::FloatBody* vibro_body_;
- Battery::IBatterySensor* battery_ = nullptr;
+ Battery::Input::IBatterySensor* battery_ = nullptr;
};
} // namespace SenseShift
diff --git a/lib/battery/senseshift/battery.hpp b/lib/battery/senseshift/battery/battery.hpp
similarity index 50%
rename from lib/battery/senseshift/battery.hpp
rename to lib/battery/senseshift/battery/battery.hpp
index ed784445..0f4e587c 100644
--- a/lib/battery/senseshift/battery.hpp
+++ b/lib/battery/senseshift/battery/battery.hpp
@@ -2,39 +2,21 @@
#include <cstdint>
#include <limits>
-#include <algorithm>
-#include <frozen/map.h>
+#include "frozen/map.h"
-#include <senseshift/events.hpp>
+#include "senseshift/events.hpp"
namespace SenseShift::Battery {
namespace VoltageMap {
/// Lookup table for LiPO 1S 4.2V batteries
/// \see <a href="https://blog.ampow.com/lipo-voltage-chart/">Source</a>
- [[maybe_unused]] inline static const auto LiPO_1S_42= frozen::make_map<float, float>({
- { 4.2, 1.0 },
- { 4.15, 0.95 },
- { 4.11, 0.9 },
- { 4.08, 0.85 },
- { 4.02, 0.8 },
- { 3.98, 0.75 },
- { 3.95, 0.7 },
- { 3.91, 0.65 },
- { 3.87, 0.6 },
- { 3.85, 0.55 },
- { 3.84, 0.5 },
- { 3.82, 0.45 },
- { 3.8, 0.4 },
- { 3.79, 0.35 },
- { 3.77, 0.3 },
- { 3.75, 0.25 },
- { 3.73, 0.2 },
- { 3.71, 0.15 },
- { 3.69, 0.1 },
- { 3.61, 0.05 },
- { 3.27, 0.0 },
+ [[maybe_unused]] inline static const auto LiPO_1S_42 = frozen::make_map<float, float>({
+ { 4.2, 1.0 }, { 4.15, 0.95 }, { 4.11, 0.9 }, { 4.08, 0.85 }, { 4.02, 0.8 }, { 3.98, 0.75 },
+ { 3.95, 0.7 }, { 3.91, 0.65 }, { 3.87, 0.6 }, { 3.85, 0.55 }, { 3.84, 0.5 }, { 3.82, 0.45 },
+ { 3.8, 0.4 }, { 3.79, 0.35 }, { 3.77, 0.3 }, { 3.75, 0.25 }, { 3.73, 0.2 }, { 3.71, 0.15 },
+ { 3.69, 0.1 }, { 3.61, 0.05 }, { 3.27, 0.0 },
});
} // namespace VoltageMap
diff --git a/lib/battery/senseshift/battery/sensor.hpp b/lib/battery/senseshift/battery/input/battery_sensor.hpp
similarity index 85%
rename from lib/battery/senseshift/battery/sensor.hpp
rename to lib/battery/senseshift/battery/input/battery_sensor.hpp
index 19cfc6de..d0314a03 100644
--- a/lib/battery/senseshift/battery/sensor.hpp
+++ b/lib/battery/senseshift/battery/input/battery_sensor.hpp
@@ -2,17 +2,12 @@
#include <cstdint>
-#include "senseshift/battery.hpp"
+#include "senseshift/battery/battery.hpp"
-#include <senseshift/freertos/task.hpp>
-#include <senseshift/input/sensor.hpp>
-#include <senseshift/utility.hpp>
+#include "senseshift/core/helpers.hpp"
+#include "senseshift/input/sensor.hpp"
-#ifndef SENSESHIFT_BATTERY_TASK_PRIORITY
-#define SENSESHIFT_BATTERY_TASK_PRIORITY 1
-#endif
-
-namespace SenseShift::Battery {
+namespace SenseShift::Battery::Input {
/// Abstract battery sensor
using IBatterySensor = ::SenseShift::Input::Sensor<BatteryState>;
@@ -58,4 +53,4 @@ namespace SenseShift::Battery {
VoltageSource* voltage_source_;
Container* lookup_table_;
};
-} // namespace SenseShift::Battery
+} // namespace SenseShift::Battery::Input
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
index a0265f74..e5033fb1 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
@@ -1,6 +1,7 @@
#pragma once
-#include <senseshift/battery.hpp>
+#include "senseshift/battery/battery.hpp"
+#include "senseshift/core/helpers.hpp"
#include <senseshift/bh/ble/constants.hpp>
#include <senseshift/bh/constants.hpp>
#include <senseshift/events.hpp>
@@ -44,9 +45,9 @@ namespace SenseShift::BH::BLE {
void handleEvent(const IEvent* event) const override
{
if (event->eventName == OH_EVENT_BATTERY_LEVEL) {
- uint16_t level = simpleMap<uint8_t>(
+ uint16_t level = remap_simple<std::uint8_t, std::uint8_t>(
static_cast<const ::SenseShift::Battery::BatteryLevelEvent*>(event)->state.level,
- 255,
+ ::SenseShift::Battery::BatteryState::MAX_LEVEL,
100
);
diff --git a/lib/io/senseshift/input/calibration.hpp b/lib/io/senseshift/input/calibration.hpp
index b5a271a5..fd6ec99e 100644
--- a/lib/io/senseshift/input/calibration.hpp
+++ b/lib/io/senseshift/input/calibration.hpp
@@ -150,8 +150,7 @@ namespace SenseShift::Input::Calibration {
Tp center = (this->range_min_ + this->range_max_) / 2.0F;
// Map the input to the sensor range of motion.
- int output =
- ::SenseShift::accurateMap<Tp>(input, this->output_min_, this->output_max_, 0, this->sensor_max_);
+ int output = ::SenseShift::remap<Tp>(input, this->output_min_, this->output_max_, 0, this->sensor_max_);
// Find the deviation from the center and clamp it to the maximum that the driver supports.
output = std::clamp<int>(output - center, -(this->driver_max_deviation_), this->driver_max_deviation_);
diff --git a/lib/opengloves/opengloves/opengloves.hpp b/lib/opengloves/opengloves/opengloves.hpp
index 7cfbda4f..fed4d11c 100644
--- a/lib/opengloves/opengloves/opengloves.hpp
+++ b/lib/opengloves/opengloves/opengloves.hpp
@@ -36,11 +36,15 @@ namespace og {
template<typename Tf = float>
union InputFingerCurl {
std::array<Tf, 4> curl; // NOLINT(*-magic-numbers): I'm sure our finger aren't changing anytime soon
- struct {
+ union {
Tf curl_total;
- Tf curl_joint1;
- Tf curl_joint2;
- Tf curl_joint3;
+
+ struct {
+ Tf curl_joint0;
+ Tf curl_joint1;
+ Tf curl_joint2;
+ Tf curl_joint3;
+ };
};
};
using InputFingerCurlData = InputFingerCurl<float>;
@@ -77,7 +81,7 @@ namespace og {
using InputButtonData = InputButton<bool>;
template<typename Tf = float, typename Tb = bool>
- struct InputAnalogButton : InputButton<Tb> {
+ struct InputAnalogButton : public InputButton<Tb> {
Tf value;
};
using InputAnalogButtonData = InputAnalogButton<float, bool>;
@@ -93,7 +97,7 @@ namespace og {
InputJoystick<Tf, Tb> joystick;
union {
- std::array<InputButton<Tb>, 4> buttons;
+ std::array<InputButton<Tb>, 5> buttons;
struct {
InputButton<Tb> button_a;
InputButton<Tb> button_b;
diff --git a/lib/util/senseshift/range.hpp b/lib/util/senseshift/range.hpp
deleted file mode 100644
index ea690108..00000000
--- a/lib/util/senseshift/range.hpp
+++ /dev/null
@@ -1,21 +0,0 @@
-#include <cstdint>
-#include <type_traits>
-
-#include <senseshift/core/logging.hpp>
-#include <senseshift/core/helpers.hpp>
-
-namespace SenseShift {
- /// Remap \p value from the range (\p min, \p max) to (\p min_out, \p max_out).
- template<typename Tp>
- constexpr auto accurateMap(Tp value, Tp min, Tp max, Tp min_out, Tp max_out) noexcept -> Tp
- {
- return remap<Tp, Tp>(value, min, max, min_out, max_out);
- }
-
- // Same as the above, but both mins are 0.
- template<typename Tp>
- constexpr auto simpleMap(Tp value, Tp in_max, Tp out_max) noexcept -> Tp
- {
- return remap_simple<Tp, Tp>(value, in_max, out_max);
- }
-} // namespace SenseShift
diff --git a/lib/util/senseshift/utility.hpp b/lib/util/senseshift/utility.hpp
index 5c95fd01..595944a9 100644
--- a/lib/util/senseshift/utility.hpp
+++ b/lib/util/senseshift/utility.hpp
@@ -5,4 +5,4 @@
#include <type_traits>
#include "senseshift/container.hpp"
-#include "senseshift/range.hpp"
+#include "senseshift/core/helpers.hpp"
diff --git a/test/test_battery/main.cpp b/test/test_battery/main.cpp
new file mode 100644
index 00000000..c563d37c
--- /dev/null
+++ b/test/test_battery/main.cpp
@@ -0,0 +1,53 @@
+#include <senseshift/battery/input/battery_sensor.hpp>
+#include <senseshift/input/sensor.hpp>
+#include <unity.h>
+
+using namespace SenseShift::Input;
+using namespace SenseShift::Battery;
+using namespace SenseShift::Battery::Input;
+
+void test_battery_sensor(void)
+{
+ auto* source = new FloatSensor();
+
+ auto* battery = new LookupTableInterpolateBatterySensor(source, &VoltageMap::LiPO_1S_42);
+ battery->init();
+
+ source->publishState(0.f);
+ TEST_ASSERT_EQUAL_INT(0, battery->getValue().level);
+
+ source->publishState(4.2f);
+ TEST_ASSERT_EQUAL_INT(255, battery->getValue().level);
+
+ source->publishState(3.7f);
+ TEST_ASSERT_EQUAL_INT(31, battery->getValue().level);
+}
+
+int process(void)
+{
+ UNITY_BEGIN();
+
+ RUN_TEST(test_battery_sensor);
+
+ return UNITY_END();
+}
+
+#ifdef ARDUINO
+
+#include <Arduino.h>
+
+void setup(void)
+{
+ process();
+}
+
+void loop(void) {}
+
+#else
+
+int main(int argc, char** argv)
+{
+ return process();
+}
+
+#endif
\ No newline at end of file
diff --git a/test/test_body_gestures/main.cpp b/test/test_body_gestures/main.cpp
index 5f9e800d..e63fb03f 100644
--- a/test/test_body_gestures/main.cpp
+++ b/test/test_body_gestures/main.cpp
@@ -10,14 +10,13 @@ void test_gesture_trigger(void)
float threshold = 0.5f;
auto* index = new FloatSensor();
- auto* gesture = new TriggerGesture(index, threshold);
+ auto* gesture = new TriggerGesture(index, threshold, true);
+ gesture->init();
index->publishState(0.4f);
- gesture->tick();
TEST_ASSERT_FALSE(gesture->getValue());
index->publishState(0.6f);
- gesture->tick();
TEST_ASSERT_TRUE(gesture->getValue());
}
@@ -37,25 +36,23 @@ void test_gesture_grab(void)
.ring = ring,
.pinky = pinky,
},
- threshold
+ threshold,
+ true
);
+ gesture->init();
TEST_ASSERT_FALSE(gesture->getValue());
index->publishState(0.6);
- gesture->tick();
TEST_ASSERT_FALSE(gesture->getValue());
middle->publishState(0.6);
- gesture->tick();
TEST_ASSERT_FALSE(gesture->getValue());
ring->publishState(0.6);
- gesture->tick();
TEST_ASSERT_FALSE(gesture->getValue());
pinky->publishState(0.6);
- gesture->tick();
TEST_ASSERT_TRUE(gesture->getValue());
}
@@ -66,16 +63,15 @@ void test_gesture_pinch(void)
auto* thumb = new FloatSensor();
auto* index = new FloatSensor();
- auto* gesture = new PinchGesture({ .thumb = thumb, .index = index }, threshold);
+ auto* gesture = new PinchGesture({ .thumb = thumb, .index = index }, threshold, true);
+ gesture->init();
TEST_ASSERT_FALSE(gesture->getValue());
thumb->publishState(0.6f);
- gesture->tick();
TEST_ASSERT_FALSE(gesture->getValue());
index->publishState(0.6f);
- gesture->tick();
TEST_ASSERT_TRUE(gesture->getValue());
}
diff --git a/test/test_core_helpers/main.cpp b/test/test_core_helpers/main.cpp
new file mode 100644
index 00000000..d13815bd
--- /dev/null
+++ b/test/test_core_helpers/main.cpp
@@ -0,0 +1,132 @@
+#include <senseshift/core/helpers.hpp>
+#include <unity.h>
+
+#include <map>
+#include <cstdint>
+
+using namespace SenseShift;
+
+void test_lerp_uint8(void)
+{
+ TEST_ASSERT_EQUAL_UINT16(0, lerp<std::uint8_t>(0.0f, 0, 255));
+ TEST_ASSERT_EQUAL_UINT16(127, lerp<std::uint8_t>(0.5f, 0, 255));
+ TEST_ASSERT_EQUAL_UINT16(255, lerp<std::uint8_t>(1.0f, 0, 255));
+
+ TEST_ASSERT_EQUAL_UINT16(0, lerp<std::uint8_t>(0.0f, 0, 0));
+}
+
+void test_lerp_float(void)
+{
+ TEST_ASSERT_EQUAL_FLOAT(-1.0f, lerp<float>(0.0f, -1.0f, 1.0f));
+ TEST_ASSERT_EQUAL_FLOAT(0.0f, lerp<float>(0.5f, -1.0f, 1.0f));
+ TEST_ASSERT_EQUAL_FLOAT(1.0f, lerp<float>(1.0f, -1.0f, 1.0f));
+
+ TEST_ASSERT_EQUAL_FLOAT(0.0f, lerp<float>(0.0f, 0.0f, 0.0f));
+}
+
+void test_remap_uint16(void)
+{
+ TEST_ASSERT_EQUAL_UINT16(0, remap(0, 0, 4095, 0, 255));
+ TEST_ASSERT_EQUAL_UINT16(127, remap(2047, 0, 4095, 0, 255));
+ TEST_ASSERT_EQUAL_UINT16(255, remap(4095, 0, 4095, 0, 255));
+
+ TEST_ASSERT_EQUAL_UINT16(127, remap(0, 0, 4095, 127, 255));
+ TEST_ASSERT_EQUAL_UINT16(190, remap(2047, 0, 4095, 127, 255));
+ TEST_ASSERT_EQUAL_UINT16(255, remap(4095, 0, 4095, 127, 255));
+
+ TEST_ASSERT_EQUAL_UINT16(0, remap(2048, 2048, 4095, 0, 255));
+ TEST_ASSERT_EQUAL_UINT16(127, remap(3071, 2048, 4095, 0, 255));
+ TEST_ASSERT_EQUAL_UINT16(255, remap(4095, 2048, 4095, 0, 255));
+
+ TEST_ASSERT_EQUAL_UINT16(2047, remap(343, 343, 343, 0, 4095));
+}
+
+void test_remap_float(void)
+{
+ TEST_ASSERT_EQUAL_FLOAT(0.0f, remap(0.0f, 0.0f, 1.0f, 0.0f, 255.0f));
+ TEST_ASSERT_EQUAL_FLOAT(127.5f, remap(0.5f, 0.0f, 1.0f, 0.0f, 255.0f));
+ TEST_ASSERT_EQUAL_FLOAT(255.0f, remap(1.0f, 0.0f, 1.0f, 0.0f, 255.0f));
+
+ TEST_ASSERT_EQUAL_FLOAT(0.5f, remap(0.0f, -1.0f, 1.0f, 0.0f, 1.0f));
+
+ TEST_ASSERT_EQUAL_FLOAT(0.125f, remap(0.2f, 0.1f, 0.9f, 0.f, 1.f));
+}
+
+void test_remap_simple_uint16(void)
+{
+ TEST_ASSERT_EQUAL_UINT16(0, remap_simple(0, 4095, 255));
+ TEST_ASSERT_EQUAL_UINT16(127, remap_simple(2047, 4095, 255));
+ TEST_ASSERT_EQUAL_UINT16(255, remap_simple(4095, 4095, 255));
+}
+
+void test_remap_simple_float(void)
+{
+ TEST_ASSERT_EQUAL_FLOAT(0.0f, remap_simple(0.0f, 1.0f, 255.0f));
+ TEST_ASSERT_EQUAL_FLOAT(127.5f, remap_simple(0.5f, 1.0f, 255.0f));
+ TEST_ASSERT_EQUAL_FLOAT(255.0f, remap_simple(1.0f, 1.0f, 255.0f));
+}
+
+// Wtf? https://stackoverflow.com/questions/4295890
+#define COMMAE ,
+
+void test_lookup_table_interpolate_float(void)
+{
+ const std::map<float, float> table = {
+ { 0.0f, 13.0f },
+ { 0.5f, 16.0f },
+ { 0.6f, 17.0f },
+ { 1.0f, 18.0f },
+ };
+
+ TEST_ASSERT_EQUAL_FLOAT(13.0f, lookup_table_interpolate<float COMMAE float>(table, 0.0f));
+ TEST_ASSERT_EQUAL_FLOAT(13.6f, lookup_table_interpolate<float COMMAE float>(table, 0.1f));
+ TEST_ASSERT_EQUAL_FLOAT(14.2f, lookup_table_interpolate<float COMMAE float>(table, 0.2f));
+ TEST_ASSERT_EQUAL_FLOAT(14.5f, lookup_table_interpolate<float COMMAE float>(table, 0.25f));
+ TEST_ASSERT_EQUAL_FLOAT(14.8f, lookup_table_interpolate<float COMMAE float>(table, 0.3f));
+ TEST_ASSERT_EQUAL_FLOAT(15.4f, lookup_table_interpolate<float COMMAE float>(table, 0.4f));
+ TEST_ASSERT_EQUAL_FLOAT(16.0f, lookup_table_interpolate<float COMMAE float>(table, 0.5f));
+ TEST_ASSERT_EQUAL_FLOAT(16.5f, lookup_table_interpolate<float COMMAE float>(table, 0.55f));
+ TEST_ASSERT_EQUAL_FLOAT(17.0f, lookup_table_interpolate<float COMMAE float>(table, 0.6f));
+ TEST_ASSERT_EQUAL_FLOAT(17.25f, lookup_table_interpolate<float COMMAE float>(table, 0.7f));
+ TEST_ASSERT_EQUAL_FLOAT(17.5f, lookup_table_interpolate<float COMMAE float>(table, 0.8f));
+ TEST_ASSERT_EQUAL_FLOAT(17.75f, lookup_table_interpolate<float COMMAE float>(table, 0.9f));
+ TEST_ASSERT_EQUAL_FLOAT(18.0f, lookup_table_interpolate<float COMMAE float>(table, 1.0f));
+}
+
+int process(void)
+{
+ UNITY_BEGIN();
+
+ RUN_TEST(test_lerp_uint8);
+ RUN_TEST(test_lerp_float);
+
+ RUN_TEST(test_remap_uint16);
+ RUN_TEST(test_remap_float);
+
+ RUN_TEST(test_remap_simple_uint16);
+ RUN_TEST(test_remap_simple_float);
+
+ RUN_TEST(test_lookup_table_interpolate_float);
+
+ return UNITY_END();
+}
+
+#ifdef ARDUINO
+
+#include <Arduino.h>
+
+void setup(void)
+{
+ process();
+}
+
+void loop(void) {}
+
+#else
+
+int main(int argc, char** argv)
+{
+ return process();
+}
+
+#endif
diff --git a/test/test_util_calibration/main.cpp b/test/test_io_calibration/main.cpp
similarity index 100%
rename from test/test_util_calibration/main.cpp
rename to test/test_io_calibration/main.cpp
diff --git a/test/test_opengloves_alpha_encoding/main.cpp b/test/test_opengloves_alpha_encoding/main.cpp
index 2d599457..c0162e99 100644
--- a/test/test_opengloves_alpha_encoding/main.cpp
+++ b/test/test_opengloves_alpha_encoding/main.cpp
@@ -86,6 +86,28 @@ void test_encode_input_peripherals(void)
}),
"A0(AB)2047B0(BB)2047C0(CB)2047D0(DB)2047E0(EB)2047\n",
},
+ {
+ InputPeripheralData({
+ .curl = {
+ .thumb = {
+ .curl = { 0.25f, 0.5f, 0.75f, 1.0f },
+ },
+ .index = {
+ .curl = { 0.25f, 0.5f, 0.75f, 1.0f },
+ },
+ .middle = {
+ .curl = { 0.25f, 0.5f, 0.75f, 1.0f },
+ },
+ .ring = {
+ .curl = { 0.25f, 0.5f, 0.75f, 1.0f },
+ },
+ .pinky = {
+ .curl = { 0.25f, 0.5f, 0.75f, 1.0f },
+ },
+ },
+ }),
+ "A1023(AAB)2047(AAC)3071(AAD)4095B1023(BAB)2047(BAC)3071(BAD)4095C1023(CAB)2047(CAC)3071(CAD)4095D1023(DAB)2047(DAC)3071(DAD)4095E1023(EAB)2047(EAC)3071(EAD)4095\n",
+ },
{
InputPeripheralData({
.joystick = {
@@ -97,11 +119,19 @@ void test_encode_input_peripherals(void)
"A0B0C0D0E0F2047G2047H\n"
},
{
- InputPeripheralData({
- .buttons = { true, false, false, true },
- }),
+ InputPeripheralData{
+ .button_a = { .press = true },
+ .button_calibrate = { .press = true },
+ },
"A0B0C0D0E0JO\n"
},
+ {
+ InputPeripheralData{
+ .pinch = { true },
+ .grab = { true },
+ },
+ "A0B0C0D0E0MI\n"
+ },
{
InputPeripheralData({
.curl = {
diff --git a/test/test_util_buffer/main.cpp b/test/test_util_buffer/main.cpp
index 40f1221c..14eec519 100644
--- a/test/test_util_buffer/main.cpp
+++ b/test/test_util_buffer/main.cpp
@@ -1,4 +1,3 @@
-#include <senseshift/utility.hpp>
#include <unity.h>
#include <senseshift/buffer.hpp>
diff --git a/test/test_util/main.cpp b/test/test_util_container/main.cpp
similarity index 63%
rename from test/test_util/main.cpp
rename to test/test_util_container/main.cpp
index 4be719ba..ed0279ca 100644
--- a/test/test_util/main.cpp
+++ b/test/test_util_container/main.cpp
@@ -45,30 +45,6 @@ void test_contains_string(void)
TEST_ASSERT_FALSE(contains(s, 'z'));
}
-void test_accurate_map(void)
-{
- TEST_ASSERT_EQUAL_UINT16(0, accurateMap(0, 0, 4095, 0, 255));
- TEST_ASSERT_EQUAL_UINT16(127, accurateMap(2047, 0, 4095, 0, 255));
- TEST_ASSERT_EQUAL_UINT16(255, accurateMap(4095, 0, 4095, 0, 255));
-
- TEST_ASSERT_EQUAL_UINT16(127, accurateMap(0, 0, 4095, 127, 255));
- TEST_ASSERT_EQUAL_UINT16(190, accurateMap(2047, 0, 4095, 127, 255));
- TEST_ASSERT_EQUAL_UINT16(255, accurateMap(4095, 0, 4095, 127, 255));
-
- TEST_ASSERT_EQUAL_UINT16(0, accurateMap(2048, 2048, 4095, 0, 255));
- TEST_ASSERT_EQUAL_UINT16(127, accurateMap(3071, 2048, 4095, 0, 255));
- TEST_ASSERT_EQUAL_UINT16(255, accurateMap(4095, 2048, 4095, 0, 255));
-
- TEST_ASSERT_EQUAL_UINT16(2047, accurateMap(343, 343, 343, 0, 4095));
-}
-
-void test_simple_map(void)
-{
- TEST_ASSERT_EQUAL_UINT16(0, simpleMap(0, 4095, 255));
- TEST_ASSERT_EQUAL_UINT16(127, simpleMap(2047, 4095, 255));
- TEST_ASSERT_EQUAL_UINT16(255, simpleMap(4095, 4095, 255));
-}
-
int process(void)
{
UNITY_BEGIN();
@@ -77,9 +53,6 @@ int process(void)
RUN_TEST(test_contains_iterator);
RUN_TEST(test_contains_string);
- RUN_TEST(test_accurate_map);
- RUN_TEST(test_simple_map);
-
return UNITY_END();
}
@@ -101,4 +74,4 @@ int main(int argc, char** argv)
return process();
}
-#endif
+#endif
\ No newline at end of file
From 01c9a063f87f406d58ddbd948e5704f7fbbc61f8 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Fri, 9 Feb 2024 18:15:03 +0400
Subject: [PATCH 61/82] feat(OpenGloves) re-introduce simple data sending
---
.../mode_configs/opengloves/opengloves.cpp | 17 +
lib/core/senseshift/core/component.hpp | 22 +-
lib/freertos/senseshift/freertos/task.hpp | 2 +-
.../senseshift/body/hands/input/gesture.hpp | 45 +--
.../body/hands/input/total_curl.hpp | 2 +-
lib/io/senseshift/input/analog_threshold.hpp | 2 +-
lib/io/senseshift/input/sensor.hpp | 6 +-
lib/opengloves/opengloves/opengloves.hpp | 8 +-
.../senseshift/opengloves/opengloves.hpp | 110 +++++-
.../senseshift/opengloves/opengloves_task.hpp | 183 +++++++++
lib/opengloves_task/opengloves_task.hpp | 348 ------------------
11 files changed, 360 insertions(+), 385 deletions(-)
create mode 100644 lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp
delete mode 100644 lib/opengloves_task/opengloves_task.hpp
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index d25e5733..a3e97875 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -7,6 +7,8 @@
#include <senseshift/input/filter.hpp>
#include <senseshift/input/sensor.hpp>
#include <senseshift/opengloves/autoconfig.hpp>
+#include <senseshift/opengloves/opengloves.hpp>
+#include <senseshift/opengloves/opengloves_task.hpp>
#include <senseshift/utility.hpp>
using namespace ::SenseShift::Input;
@@ -150,6 +152,21 @@ void setupMode()
#elif BUTTON_PINCH_ENABLED
auto* pinch = new BUTTON_CLASS(PIN_BUTTON_PINCH, BUTTON_PINCH_INVERT);
#endif
+
+ OpenGlovesTrackingComponent::Config const tracking_config(2000, false);
+ auto* opengloves_tracking =
+ new OpenGlovesTrackingComponent(tracking_config, input_sensors, new StreamTransport(Serial));
+
+ auto* opengloves_tracking_task = new ::SenseShift::FreeRTOS::ComponentUpdateTask<OpenGlovesTrackingComponent>(
+ opengloves_tracking,
+ 1000 / 60,
+ {
+ .name = "OpenGlovesSensorTask",
+ .stackDepth = 8192,
+ .priority = 1,
+ }
+ );
+ opengloves_tracking_task->begin();
}
void loopMode()
diff --git a/lib/core/senseshift/core/component.hpp b/lib/core/senseshift/core/component.hpp
index 8fae06dd..8ead9f04 100644
--- a/lib/core/senseshift/core/component.hpp
+++ b/lib/core/senseshift/core/component.hpp
@@ -1,18 +1,31 @@
#pragma once
+#define SS_INIT_NOT_NULL(ptr) \
+ if ((ptr) != nullptr) { \
+ (ptr)->init(); \
+ }
+#define SS_TICK_NOT_NULL(ptr) \
+ if ((ptr) != nullptr) { \
+ (ptr)->tick(); \
+ }
+
namespace SenseShift {
class IInitializable {
- public:
+ public:
+ virtual ~IInitializable() = default;
+
virtual void init() = 0;
};
class ITickable {
- public:
+ public:
+ virtual ~ITickable() = default;
+
virtual void tick() = 0;
};
- class Component : public IInitializable, public ITickable {
- public:
+ class Component : public virtual IInitializable, public virtual ITickable {
+ public:
/// @brief Initialize the component.
///
/// Where the component's initialization should happen.
@@ -30,4 +43,3 @@ namespace SenseShift {
void tick() override {}
};
} // namespace SenseShift
-
diff --git a/lib/freertos/senseshift/freertos/task.hpp b/lib/freertos/senseshift/freertos/task.hpp
index 9bea8bd8..aab82a70 100644
--- a/lib/freertos/senseshift/freertos/task.hpp
+++ b/lib/freertos/senseshift/freertos/task.hpp
@@ -112,7 +112,7 @@ namespace SenseShift::FreeRTOS {
}
};
- template<typename Tp>
+ template<typename Tp = Component>
class ComponentUpdateTask : public Task<ComponentUpdateTask<Tp>> {
static_assert(std::is_same_v<decltype(&Tp::init), void (Tp::*)()>);
static_assert(std::is_same_v<decltype(&Tp::tick), void (Tp::*)()>);
diff --git a/lib/hands_input/senseshift/body/hands/input/gesture.hpp b/lib/hands_input/senseshift/body/hands/input/gesture.hpp
index ad462051..eccb911f 100644
--- a/lib/hands_input/senseshift/body/hands/input/gesture.hpp
+++ b/lib/hands_input/senseshift/body/hands/input/gesture.hpp
@@ -1,8 +1,8 @@
#pragma once
#include <senseshift/core/component.hpp>
-#include <senseshift/input/sensor.hpp>
#include <senseshift/input/analog_threshold.hpp>
+#include <senseshift/input/sensor.hpp>
namespace SenseShift::Body::Hands::Input {
using Gesture = ::SenseShift::Input::BinarySensor;
@@ -10,7 +10,7 @@ namespace SenseShift::Body::Hands::Input {
/// An alias for semantic consistency.
using TriggerGesture = ::SenseShift::Input::AnalogThresholdSensor<float>;
- class GrabGesture : public Gesture, ITickable {
+ class GrabGesture : public Gesture {
public:
struct Fingers {
::SenseShift::Input::FloatSensor* index;
@@ -19,13 +19,13 @@ namespace SenseShift::Body::Hands::Input {
::SenseShift::Input::FloatSensor* pinky;
};
- explicit GrabGesture(
- Fingers fingers,
- float threshold = 0.5F,
- bool attach_callbacks = false
- ) : fingers_(fingers), threshold_(threshold), attach_callbacks_(attach_callbacks) {}
+ explicit GrabGesture(Fingers fingers, float threshold = 0.5F, bool attach_callbacks = false) :
+ fingers_(fingers), threshold_(threshold), attach_callbacks_(attach_callbacks)
+ {
+ }
- void init() override {
+ void init() override
+ {
SS_SUBSENSOR_INIT(this->fingers_.index, this->attach_callbacks_, [this](float /*value*/) {
this->recalculateState();
});
@@ -40,14 +40,16 @@ namespace SenseShift::Body::Hands::Input {
});
}
- void tick() override {
+ void tick() override
+ {
if (this->attach_callbacks_) {
LOG_E("gesture.grab", "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!");
}
this->recalculateState();
}
- void recalculateState() {
+ void recalculateState()
+ {
return this->publishState(
this->fingers_.index->getValue() > this->threshold_
&& this->fingers_.middle->getValue() > this->threshold_
@@ -62,20 +64,20 @@ namespace SenseShift::Body::Hands::Input {
bool attach_callbacks_ = false;
};
- class PinchGesture : public Gesture, ITickable {
+ class PinchGesture : public Gesture {
public:
struct Fingers {
::SenseShift::Input::FloatSensor* thumb;
::SenseShift::Input::FloatSensor* index;
};
- explicit PinchGesture(
- Fingers fingers,
- float threshold = 0.5F,
- bool attach_callbacks = false
- ) : fingers_(fingers), threshold_(threshold), attach_callbacks_(attach_callbacks) {}
+ explicit PinchGesture(Fingers fingers, float threshold = 0.5F, bool attach_callbacks = false) :
+ fingers_(fingers), threshold_(threshold), attach_callbacks_(attach_callbacks)
+ {
+ }
- void init() override {
+ void init() override
+ {
SS_SUBSENSOR_INIT(this->fingers_.thumb, this->attach_callbacks_, [this](float /*value*/) {
this->recalculateState();
});
@@ -84,17 +86,18 @@ namespace SenseShift::Body::Hands::Input {
});
}
- void tick() override {
+ void tick() override
+ {
if (this->attach_callbacks_) {
LOG_E("gesture.pinch", "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!");
}
this->recalculateState();
}
- void recalculateState() {
+ void recalculateState()
+ {
return this->publishState(
- this->fingers_.thumb->getValue() > this->threshold_
- && this->fingers_.index->getValue() > this->threshold_
+ this->fingers_.thumb->getValue() > this->threshold_ && this->fingers_.index->getValue() > this->threshold_
);
}
diff --git a/lib/hands_input/senseshift/body/hands/input/total_curl.hpp b/lib/hands_input/senseshift/body/hands/input/total_curl.hpp
index 26538afc..e086b894 100644
--- a/lib/hands_input/senseshift/body/hands/input/total_curl.hpp
+++ b/lib/hands_input/senseshift/body/hands/input/total_curl.hpp
@@ -8,7 +8,7 @@
#include <senseshift/input/sensor.hpp>
namespace SenseShift::Body::Hands::Input {
- class TotalCurl : public ::SenseShift::Input::FloatSensor, public ::SenseShift::ITickable {
+ class TotalCurl : public ::SenseShift::Input::FloatSensor {
public:
/// \param joints The joints to calculate the total curl from.
/// \param attach_callbacks Whether to attach callbacks to the joints to update the total curl when they update.
diff --git a/lib/io/senseshift/input/analog_threshold.hpp b/lib/io/senseshift/input/analog_threshold.hpp
index 46eb53d4..48397ef4 100644
--- a/lib/io/senseshift/input/analog_threshold.hpp
+++ b/lib/io/senseshift/input/analog_threshold.hpp
@@ -5,7 +5,7 @@
namespace SenseShift::Input {
template<typename Tp = float>
- class AnalogThresholdSensor : public BinarySensor, ITickable {
+ class AnalogThresholdSensor : public BinarySensor {
public:
/// Analog threshold sensor with hysteresis.
///
diff --git a/lib/io/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
index 6d2046ea..e76b53b8 100644
--- a/lib/io/senseshift/input/sensor.hpp
+++ b/lib/io/senseshift/input/sensor.hpp
@@ -20,7 +20,7 @@ namespace SenseShift::Input {
/// Abstract hardware sensor (e.g. potentiometer, flex sensor, etc.)
/// \tparam Tp Type of the sensor value
template<typename Tp>
- class ISimpleSensor : virtual public IInitializable {
+ class ISimpleSensor : public virtual IInitializable {
public:
using ValueType = Tp;
@@ -37,7 +37,7 @@ namespace SenseShift::Input {
class ISensor : public virtual ISimpleSensor<Tp>, public Calibration::ICalibrated {};
template<typename Tp>
- class Sensor : public ISensor<Tp> {
+ class Sensor : public ISensor<Tp>, public Component {
public:
using ValueType = Tp;
using CallbackManagerType = CallbackManager<void(ValueType)>;
@@ -173,7 +173,7 @@ namespace SenseShift::Input {
using BinarySensor = Sensor<bool>;
template<typename Tp>
- class SimpleSensorDecorator : public Sensor<Tp>, public ITickable {
+ class SimpleSensorDecorator : public Sensor<Tp> {
public:
using ValueType = Tp;
using SourceType = ISimpleSensor<ValueType>;
diff --git a/lib/opengloves/opengloves/opengloves.hpp b/lib/opengloves/opengloves/opengloves.hpp
index fed4d11c..4d5b470f 100644
--- a/lib/opengloves/opengloves/opengloves.hpp
+++ b/lib/opengloves/opengloves/opengloves.hpp
@@ -38,7 +38,7 @@ namespace og {
std::array<Tf, 4> curl; // NOLINT(*-magic-numbers): I'm sure our finger aren't changing anytime soon
union {
Tf curl_total;
-
+
struct {
Tf curl_joint0;
Tf curl_joint1;
@@ -146,18 +146,18 @@ namespace og {
[[nodiscard]] virtual auto parse_output(const char* data, size_t length) const -> Output = 0;
- [[nodiscard]] auto parse_output(const std::vector<char>& data) const -> Output
+ [[nodiscard]] inline auto parse_output(const std::vector<char>& data) const -> Output
{
return this->parse_output(data.data(), data.size());
}
- [[nodiscard]] auto parse_output(const std::string& data) const -> Output
+ [[nodiscard]] inline auto parse_output(const std::string& data) const -> Output
{
return this->parse_output(data.data(), data.length());
}
#ifdef ARDUINO
- [[nodiscard]] auto parse_output(const String& data) const -> Output
+ [[nodiscard]] inline auto parse_output(const String& data) const -> Output
{
return this->parse_output(data.c_str(), data.length());
}
diff --git a/lib/opengloves/senseshift/opengloves/opengloves.hpp b/lib/opengloves/senseshift/opengloves/opengloves.hpp
index fa948e4d..14354bcd 100644
--- a/lib/opengloves/senseshift/opengloves/opengloves.hpp
+++ b/lib/opengloves/senseshift/opengloves/opengloves.hpp
@@ -16,5 +16,113 @@ namespace SenseShift::OpenGloves {
virtual auto read(char* buffer, size_t length) -> size_t = 0;
};
- using InputSensors = og::InputPeripheral<::SenseShift::Input::FloatSensor*, ::SenseShift::Input::BinarySensor*>;
+ using FloatSensor = ::SenseShift::Input::FloatSensor;
+ using BinarySensor = ::SenseShift::Input::BinarySensor;
+
+ class InputSensors : public og::InputPeripheral<FloatSensor*, BinarySensor*>, public Component {
+ public:
+ void init() override
+ {
+ for (auto& finger_curl : this->curl.fingers) {
+ for (auto& joint_sensor : finger_curl.curl) {
+ SS_INIT_NOT_NULL(joint_sensor);
+ }
+ }
+
+ for (auto& finger_splay : this->splay.fingers) {
+ SS_INIT_NOT_NULL(finger_splay);
+ }
+
+ SS_INIT_NOT_NULL(this->joystick.x);
+ SS_INIT_NOT_NULL(this->joystick.y);
+ SS_INIT_NOT_NULL(this->joystick.press);
+
+ for (auto& button : this->buttons) {
+ SS_INIT_NOT_NULL(button.press);
+ }
+
+ for (auto& analog_button : this->analog_buttons) {
+ SS_INIT_NOT_NULL(analog_button.press);
+ SS_INIT_NOT_NULL(analog_button.value);
+ }
+ }
+
+ void tick() override
+ {
+ for (auto& finger_curl : this->curl.fingers) {
+ for (auto& joint_sensor : finger_curl.curl) {
+ SS_TICK_NOT_NULL(joint_sensor);
+ }
+ }
+
+ for (auto& finger_splay : this->splay.fingers) {
+ SS_TICK_NOT_NULL(finger_splay);
+ }
+
+ SS_TICK_NOT_NULL(this->joystick.x);
+ SS_TICK_NOT_NULL(this->joystick.y);
+ SS_TICK_NOT_NULL(this->joystick.press);
+
+ for (auto& button : this->buttons) {
+ SS_TICK_NOT_NULL(button.press);
+ }
+
+ for (auto& analog_button : this->analog_buttons) {
+ SS_TICK_NOT_NULL(analog_button.press);
+ SS_TICK_NOT_NULL(analog_button.value);
+ }
+ }
+
+ auto collectData() -> og::InputPeripheralData
+ {
+ og::InputPeripheralData data;
+
+ const auto& curls = this->curl.fingers;
+ const auto& splays = this->splay.fingers;
+ for (auto i = 0; i < curls.size(); i++) {
+ const auto& finger_curl = curls[i].curl;
+ for (auto j = 0; j < finger_curl.size(); j++) {
+ auto* joint_sensor = finger_curl[j];
+ if (joint_sensor != nullptr) {
+ data.curl.fingers[i].curl[j] = joint_sensor->getValue();
+ }
+ }
+
+ auto* finger_splay = splays[i];
+ if (finger_splay != nullptr) {
+ data.splay.fingers[i] = finger_splay->getValue();
+ }
+ }
+
+ if (this->joystick.x != nullptr) {
+ data.joystick.x = this->joystick.x->getValue();
+ }
+ if (this->joystick.y != nullptr) {
+ data.joystick.y = this->joystick.y->getValue();
+ }
+ if (this->joystick.press != nullptr) {
+ data.joystick.press = this->joystick.press->getValue();
+ }
+
+ for (auto i = 0; i < this->buttons.size(); i++) {
+ auto* button = this->buttons[i].press;
+ if (button != nullptr) {
+ data.buttons[i].press = button->getValue();
+ }
+ }
+
+ for (auto i = 0; i < this->analog_buttons.size(); i++) {
+ auto* button = this->analog_buttons[i].press;
+ if (button != nullptr) {
+ data.analog_buttons[i].press = button->getValue();
+ }
+ auto* value = this->analog_buttons[i].value;
+ if (value != nullptr) {
+ data.analog_buttons[i].value = value->getValue();
+ }
+ }
+
+ return data;
+ }
+ };
} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp b/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp
new file mode 100644
index 00000000..bed2ed48
--- /dev/null
+++ b/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp
@@ -0,0 +1,183 @@
+#pragma once
+
+#include <Arduino.h>
+
+#include <cstddef>
+#include <optional>
+
+#include "senseshift/arduino/input/sensor/analog.hpp"
+#include "senseshift/arduino/input/sensor/digital.hpp"
+#include "senseshift/core/component.hpp"
+#include "senseshift/freertos/task.hpp"
+#include "senseshift/input/sensor.hpp"
+#include "senseshift/opengloves/opengloves.hpp"
+#include "senseshift/utility.hpp"
+#include <opengloves/opengloves.hpp>
+#include <utility>
+
+namespace SenseShift::OpenGloves {
+ class OpenGlovesTrackingComponent : public SenseShift::Component {
+ public:
+ class Config {
+ friend class OpenGlovesTrackingComponent;
+ size_t calibration_duration_ms_;
+ bool always_calibrate_;
+
+ public:
+ /// \param updateRate The rate at which the sensors should be updated in Hz.
+ /// \param calibrationDuration The duration in milliseconds that the calibration button should be held for.
+ Config(size_t calibration_duration_ms, bool always_calibrate) :
+ calibration_duration_ms_(calibration_duration_ms), always_calibrate_(always_calibrate)
+ {
+ }
+ };
+
+ OpenGlovesTrackingComponent(Config config, InputSensors& input_sensors, ITransport* communication) :
+ config(config), input_sensors_(std::move(input_sensors)), communication_(communication)
+ {
+ this->encoder_ = new og::AlphaEncoder();
+ }
+
+ void init() override
+ {
+ this->communication_->init();
+ this->input_sensors_.init();
+ }
+
+ void tick() override
+ {
+ const auto data = this->input_sensors_.collectData();
+
+ char buffer[256];
+ this->encoder_->encode_input(data, buffer, sizeof(buffer));
+ this->communication_->send(buffer, sizeof(buffer));
+ }
+
+ private:
+ Config& config;
+ InputSensors input_sensors_;
+ ITransport* communication_;
+ og::IEncoder* encoder_;
+ };
+
+ // class OpenGlovesForceFeedbackTask : public SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask> {
+ // friend class SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask>;
+ //
+ // public:
+ // OpenGlovesForceFeedbackTask(
+ // ::SenseShift::OpenGloves::ITransport& communication,
+ // HandActuators& actuators,
+ // size_t updateRate,
+ // SenseShift::FreeRTOS::TaskConfig taskConfig
+ // ) :
+ // communication(communication),
+ // actuators(actuators),
+ // SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask>(taskConfig)
+ // {
+ // this->updateIntervalMs = 1000 / updateRate;
+ // };
+ //
+ // void begin() override
+ // {
+ // log_d("Starting OpenGloves force feedback task: %p", this);
+ // this->setup();
+ // this->SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask>::begin();
+ // };
+ //
+ // private:
+ // ::SenseShift::OpenGloves::ITransport& communication;
+ // HandActuators& actuators;
+ // size_t updateIntervalMs;
+ // ::SenseShift::OpenGloves::AlphaEncodingService encodingService =
+ // ::SenseShift::OpenGloves::AlphaEncodingService();
+ //
+ // void setup()
+ // {
+ // log_d("Setting up OpenGloves force feedback task: %p", this);
+ // this->communication.setup();
+ //
+ // if (this->actuators.thumb.has_value()) {
+ // this->actuators.thumb.value()->setup();
+ // }
+ //
+ // if (this->actuators.index.has_value()) {
+ // this->actuators.index.value()->setup();
+ // }
+ //
+ // if (this->actuators.middle.has_value()) {
+ // this->actuators.middle.value()->setup();
+ // }
+ //
+ // if (this->actuators.ring.has_value()) {
+ // this->actuators.ring.value()->setup();
+ // }
+ //
+ // if (this->actuators.pinky.has_value()) {
+ // this->actuators.pinky.value()->setup();
+ // }
+ // }
+ //
+ // void run()
+ // {
+ // char commandBuffer[256];
+ // std::string command;
+ // while (true) {
+ // auto now = millis();
+ //
+ // if (this->communication.hasData()) {
+ // auto bytesRead = this->communication.read(commandBuffer, sizeof(commandBuffer));
+ // if (bytesRead == 0) {
+ // continue;
+ // }
+ //
+ // std::map<::OpenGloves::Command, uint16_t> commands = {};
+ // this->encodingService.deserialize(commandBuffer, bytesRead, commands);
+ //
+ // for (auto& [command, value] : commands) {
+ // this->handleCommand(command, value);
+ // }
+ // }
+ //
+ // // Delay until the next update.
+ // auto elapsed = millis() - now;
+ // if (elapsed < this->updateIntervalMs) {
+ // delay(this->updateIntervalMs - elapsed);
+ // }
+ // }
+ // }
+ //
+ // void handleCommand(Command command, uint16_t value)
+ // {
+ // switch (command) {
+ // case Command::ThumbCurl:
+ // if (this->actuators.thumb.has_value()) {
+ // this->actuators.thumb.value()->writeOutput(value);
+ // }
+ // break;
+ // case Command::IndexCurl:
+ // if (this->actuators.index.has_value()) {
+ // this->actuators.index.value()->writeOutput(value);
+ // }
+ // break;
+ // case Command::MiddleCurl:
+ // if (this->actuators.middle.has_value()) {
+ // this->actuators.middle.value()->writeOutput(value);
+ // }
+ // break;
+ // case Command::RingCurl:
+ // if (this->actuators.ring.has_value()) {
+ // this->actuators.ring.value()->writeOutput(value);
+ // }
+ // break;
+ // case Command::PinkyCurl:
+ // if (this->actuators.pinky.has_value()) {
+ // this->actuators.pinky.value()->writeOutput(value);
+ // }
+ // break;
+ // default:
+ // log_w("Unhandled command: %d", command);
+ // break;
+ // }
+ // }
+ // };
+} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves_task/opengloves_task.hpp b/lib/opengloves_task/opengloves_task.hpp
deleted file mode 100644
index c327890d..00000000
--- a/lib/opengloves_task/opengloves_task.hpp
+++ /dev/null
@@ -1,348 +0,0 @@
-#pragma once
-
-#include <Arduino.h>
-
-#include <optional>
-
-#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/input/sensor/digital.hpp>
-#include <senseshift/freertos/task.hpp>
-#include <senseshift/input/sensor.hpp>
-#include <senseshift/opengloves/encoding/alpha.hpp>
-#include <senseshift/opengloves/opengloves.hpp>
-#include <senseshift/utility.hpp>
-#include <sensor/og_finger.hpp>
-#include <sensor/og_gesture.hpp>
-
-namespace OpenGloves {
- struct OpenGlovesTrackingTaskConfig {
- size_t updateIntervalMs;
- size_t calibrationDuration;
- bool alwaysCalibrate;
-
- /**
- * @param updateRate The rate at which the sensors should be updated in Hz.
- * @param calibrationDuration The duration in milliseconds that the
- * calibration button should be held for.
- */
- OpenGlovesTrackingTaskConfig(size_t updateRate, size_t calibrationDuration, bool alwaysCalibrate) :
- calibrationDuration(calibrationDuration), alwaysCalibrate(alwaysCalibrate)
- {
- // Convert the update rate to an interval in milliseconds.
- this->updateIntervalMs = 1000 / updateRate;
- }
- };
-
- class OpenGlovesTrackingTask : public SenseShift::FreeRTOS::Task<OpenGlovesTrackingTask> {
- friend class SenseShift::FreeRTOS::Task<OpenGlovesTrackingTask>;
-
- public:
- /**
- * @param config The configuration for the OpenGloves tracking task.
- * @param communication The communication interface.
- * @param fingers The finger sensors.
- * @param buttons The button sensors.
- * @param joysticks The joystick sensors.
- * @param otherSensors Other sensors that should be updated.
- * @param calibrationButton The calibration button sensor, optional.
- * @param taskConfig The task configuration.
- */
- OpenGlovesTrackingTask(
- OpenGlovesTrackingTaskConfig& config,
- ::SenseShift::OpenGloves::ITransport& communication,
- HandSensors& fingers,
- std::vector<StringEncodedMemoizedSensor<bool>*>& buttons,
- std::vector<StringEncodedMemoizedSensor<uint16_t>*>& joysticks,
- std::vector<IStringEncodedMemoizedSensor*>& otherSensors,
- std::optional<StringEncodedMemoizedSensor<bool>>& calibrationButton,
- SenseShift::FreeRTOS::TaskConfig taskConfig
- ) :
- config(config),
- communication(communication),
- fingers(fingers),
- buttons(buttons),
- joysticks(joysticks),
- otherSensors(otherSensors),
- calibrationButton(calibrationButton),
- allSensors(std::vector<IStringEncodedMemoizedSensor*>()),
- SenseShift::FreeRTOS::Task<OpenGlovesTrackingTask>(taskConfig)
- {
- if (fingers.thumb.has_value()) {
- auto* thumb = &fingers.thumb.value();
- this->calibrated.push_back(thumb);
- this->allSensors.push_back(thumb);
- }
- if (fingers.index.has_value()) {
- auto* index = &fingers.index.value();
- this->calibrated.push_back(index);
- this->allSensors.push_back(index);
- }
- if (fingers.middle.has_value()) {
- auto* middle = &fingers.middle.value();
- this->calibrated.push_back(middle);
- this->allSensors.push_back(middle);
- }
- if (fingers.ring.has_value()) {
- auto* ring = &fingers.ring.value();
- this->calibrated.push_back(ring);
- this->allSensors.push_back(ring);
- }
- if (fingers.pinky.has_value()) {
- auto* pinky = &fingers.pinky.value();
- this->calibrated.push_back(pinky);
- this->allSensors.push_back(pinky);
- }
-
- for (auto* button : buttons) {
- this->allSensors.push_back(button);
- }
-
- if (calibrationButton.has_value()) {
- this->allSensors.push_back(&calibrationButton.value());
- }
-
- for (auto* joystick : joysticks) {
- this->allSensors.push_back(joystick);
- }
-
- for (auto* otherSensor : otherSensors) {
- this->allSensors.push_back(otherSensor);
- }
-
- // sort all sensors by type for easier debugging
- std::sort(
- this->allSensors.begin(),
- this->allSensors.end(),
- [](IStringEncodedMemoizedSensor* a, IStringEncodedMemoizedSensor* b) {
- return a->getType() < b->getType();
- }
- );
- }
-
- void begin() override
- {
- log_d("Starting OpenGloves tracking task: %p", this);
- this->setup();
- this->SenseShift::FreeRTOS::Task<OpenGlovesTrackingTask>::begin();
- };
-
- private:
- OpenGlovesTrackingTaskConfig& config;
-
- HandSensors& fingers;
- ::SenseShift::OpenGloves::ITransport& communication;
- ::SenseShift::OpenGloves::AlphaEncodingService encodingService =
- ::SenseShift::OpenGloves::AlphaEncodingService();
-
- std::vector<StringEncodedMemoizedSensor<bool>*>& buttons;
- std::vector<StringEncodedMemoizedSensor<uint16_t>*>& joysticks;
- std::vector<IStringEncodedMemoizedSensor*>& otherSensors;
-
- std::vector<IStringEncodedMemoizedSensor*> allSensors;
-
- std::optional<StringEncodedMemoizedSensor<bool>>& calibrationButton;
- std::vector<SenseShift::Calibration::ICalibrated*> calibrated =
- std::vector<SenseShift::Calibration::ICalibrated*>();
- unsigned long long calibrationStarted = 0;
-
- void startCalibration()
- {
- for (auto* input : this->calibrated) {
- input->resetCalibration();
- input->enableCalibration();
- }
- this->calibrationStarted = millis();
- }
-
- void setup()
- {
- log_d("Setting up OpenGloves tracking task: %p", this);
- log_d("There is a total of %d sensors", this->allSensors.size());
- for (auto* input : this->allSensors) {
- log_d("Setting up sensor: %c", input->getType());
- input->init();
- }
-
- // Start calibration if no calibration button is present or if configured to always calibrate.
- if (!this->calibrationButton.has_value() || this->config.alwaysCalibrate) {
- log_d("Starting calibration on startup");
- this->startCalibration();
- }
-
- this->communication.setup();
- }
-
- void run()
- {
- while (true) {
- auto now = millis();
-
- // Update the sensors.
- for (auto* input : this->allSensors) {
- input->updateValue();
- }
-
- // Update the calibration if calibration has not started, calibration is not configured to always run,
- // and the calibration button is present and pressed.
- if (calibrationStarted == 0 &&
- !this->config.alwaysCalibrate &&
- this->calibrationButton.has_value() &&
- this->calibrationButton.value().getValue()
- ) {
- log_d("Calibration started");
- this->startCalibration();
- }
-
- // Send the sensor values.
- char command[256];
- size_t length = this->encodingService.serialize(this->allSensors, command);
- this->communication.send(command, length);
-
- // Check if the calibration has finished.
- if (!(this->config.alwaysCalibrate) && calibrationStarted > 0 && (now - calibrationStarted) > CALIBRATION_DURATION) {
- log_d("Calibration finished");
- for (size_t i = 0; i < calibrated.size(); i++) {
- auto* input = calibrated[i];
- input->disableCalibration();
- }
- calibrationStarted = 0;
- }
-
- // Delay until the next update.
- auto elapsed = millis() - now;
-
- log_d(
- "Update took %d ms, theoretical max rate is %dHz (target is %dHz)",
- elapsed,
- 1000 / elapsed,
- 1000 / this->config.updateIntervalMs
- );
-
- if (elapsed < this->config.updateIntervalMs) {
- delay(this->config.updateIntervalMs - elapsed);
- }
- }
- };
- };
-
- class OpenGlovesForceFeedbackTask : public SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask> {
- friend class SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask>;
-
- public:
- OpenGlovesForceFeedbackTask(
- ::SenseShift::OpenGloves::ITransport& communication,
- HandActuators& actuators,
- size_t updateRate,
- SenseShift::FreeRTOS::TaskConfig taskConfig
- ) :
- communication(communication),
- actuators(actuators),
- SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask>(taskConfig)
- {
- this->updateIntervalMs = 1000 / updateRate;
- };
-
- void begin() override
- {
- log_d("Starting OpenGloves force feedback task: %p", this);
- this->setup();
- this->SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask>::begin();
- };
-
- private:
- ::SenseShift::OpenGloves::ITransport& communication;
- HandActuators& actuators;
- size_t updateIntervalMs;
- ::SenseShift::OpenGloves::AlphaEncodingService encodingService =
- ::SenseShift::OpenGloves::AlphaEncodingService();
-
- void setup()
- {
- log_d("Setting up OpenGloves force feedback task: %p", this);
- this->communication.setup();
-
- if (this->actuators.thumb.has_value()) {
- this->actuators.thumb.value()->setup();
- }
-
- if (this->actuators.index.has_value()) {
- this->actuators.index.value()->setup();
- }
-
- if (this->actuators.middle.has_value()) {
- this->actuators.middle.value()->setup();
- }
-
- if (this->actuators.ring.has_value()) {
- this->actuators.ring.value()->setup();
- }
-
- if (this->actuators.pinky.has_value()) {
- this->actuators.pinky.value()->setup();
- }
- }
-
- void run()
- {
- char commandBuffer[256];
- std::string command;
- while (true) {
- auto now = millis();
-
- if (this->communication.hasData()) {
- auto bytesRead = this->communication.read(commandBuffer, sizeof(commandBuffer));
- if (bytesRead == 0) {
- continue;
- }
-
- std::map<::OpenGloves::Command, uint16_t> commands = {};
- this->encodingService.deserialize(commandBuffer, bytesRead, commands);
-
- for (auto& [command, value] : commands) {
- this->handleCommand(command, value);
- }
- }
-
- // Delay until the next update.
- auto elapsed = millis() - now;
- if (elapsed < this->updateIntervalMs) {
- delay(this->updateIntervalMs - elapsed);
- }
- }
- }
-
- void handleCommand(Command command, uint16_t value)
- {
- switch (command) {
- case Command::ThumbCurl:
- if (this->actuators.thumb.has_value()) {
- this->actuators.thumb.value()->writeOutput(value);
- }
- break;
- case Command::IndexCurl:
- if (this->actuators.index.has_value()) {
- this->actuators.index.value()->writeOutput(value);
- }
- break;
- case Command::MiddleCurl:
- if (this->actuators.middle.has_value()) {
- this->actuators.middle.value()->writeOutput(value);
- }
- break;
- case Command::RingCurl:
- if (this->actuators.ring.has_value()) {
- this->actuators.ring.value()->writeOutput(value);
- }
- break;
- case Command::PinkyCurl:
- if (this->actuators.pinky.has_value()) {
- this->actuators.pinky.value()->writeOutput(value);
- }
- break;
- default:
- log_w("Unhandled command: %d", command);
- break;
- }
- }
- };
-} // namespace OpenGloves
From 825e6f0a0d20125f8040ac38cf92a1063d771e10 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sat, 10 Feb 2024 22:20:47 +0400
Subject: [PATCH 62/82] test(Input): cover filters
---
lib/io/senseshift/input/filter.hpp | 49 ++++--
test/test_io_filter/main.cpp | 172 +++++++++++++++++++
test/test_opengloves_alpha_encoding/main.cpp | 4 +
3 files changed, 207 insertions(+), 18 deletions(-)
create mode 100644 test/test_io_filter/main.cpp
diff --git a/lib/io/senseshift/input/filter.hpp b/lib/io/senseshift/input/filter.hpp
index 75f65dc2..6601d5ad 100644
--- a/lib/io/senseshift/input/filter.hpp
+++ b/lib/io/senseshift/input/filter.hpp
@@ -2,6 +2,7 @@
#include <algorithm>
#include <array>
+#include <cmath>
#include <cstdint>
#include <cstdlib>
#include <deque>
@@ -33,17 +34,6 @@ namespace SenseShift::Input::Filter {
virtual auto filter(ISimpleSensor<ValueType>* sensor, ValueType value) -> ValueType = 0;
};
- template<typename Tp>
- class AddFilter : public IFilter<Tp> {
- public:
- explicit AddFilter(Tp offset) : offset_(offset){};
-
- auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override { return value + this->offset_; }
-
- private:
- Tp offset_;
- };
-
template<typename Tp>
class IFiltered {
public:
@@ -58,6 +48,17 @@ namespace SenseShift::Input::Filter {
void clearFilters() = 0;
};
+ template<typename Tp>
+ class AddFilter : public IFilter<Tp> {
+ public:
+ explicit AddFilter(Tp offset) : offset_(offset){};
+
+ auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override { return value + this->offset_; }
+
+ private:
+ Tp offset_;
+ };
+
template<typename Tp>
class SubtractFilter : public IFilter<Tp> {
public:
@@ -82,6 +83,8 @@ namespace SenseShift::Input::Filter {
class VoltageDividerFilter : public MultiplyFilter<float> {
public:
+ /// Calculates the original voltage from the voltage divider.
+ ///
/// \param r1 The resistance in Ohms of the first resistor in the voltage divider.
/// Example: 27000.0F.
/// \param r2 The resistance in Ohms of the second resistor in the voltage divider.
@@ -91,7 +94,7 @@ namespace SenseShift::Input::Filter {
/// \code
/// new VoltageDividerFilter(27000.0F, 100000.0F);
/// \endcode
- explicit VoltageDividerFilter(float r1, float r2) : MultiplyFilter<float>(r2 / (r1 + r2)){};
+ explicit VoltageDividerFilter(float r1, float r2) : MultiplyFilter<float>((r1 + r2) / r2){};
};
template<typename Tp>
@@ -220,7 +223,7 @@ namespace SenseShift::Input::Filter {
private:
std::size_t window_size_;
- std::deque<Tp> values_;
+ std::deque<Tp> queue_;
[[nodiscard]] auto getAverage() const -> Tp
{
@@ -239,14 +242,24 @@ namespace SenseShift::Input::Filter {
public:
explicit ExponentialMovingAverageFilter(float alpha) : alpha_(alpha){};
+ template<typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
+ explicit ExponentialMovingAverageFilter(float alpha) : alpha_(alpha), acc_(std::nanf){};
+
auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
{
- this->acc_ = this->alpha_ * value + (1 - this->alpha_) * this->acc_;
+ if (this->is_first_) {
+ this->is_first_ = false;
+
+ this->acc_ = value;
+ return this->acc_;
+ }
+ this->acc_ = (this->alpha_ * value) + ((1 - this->alpha_) * this->acc_);
return this->acc_;
}
private:
+ bool is_first_ = true;
float alpha_;
Tp acc_;
};
@@ -255,16 +268,16 @@ namespace SenseShift::Input::Filter {
/// Usually used to filter out noise in the joystick.
class CenterDeadzoneFilter : public IFilter<float> {
public:
- explicit CenterDeadzoneFilter(float deadzone) : deadzone_(deadzone){};
+ explicit CenterDeadzoneFilter(float deadzone, float center = 0.5f) : deadzone_(deadzone), center_(center){};
auto filter(ISimpleSensor<float>* /*sensor*/, float value) -> float override
{
- float const deviation = std::abs(CENTER - value);
- return deviation < deadzone_ ? CENTER : value;
+ float const deviation = std::abs(value - this->center_);
+ return deviation < deadzone_ ? this->center_ : value;
}
private:
- static constexpr float CENTER = 0.5F;
+ const float center_;
float deadzone_;
};
diff --git a/test/test_io_filter/main.cpp b/test/test_io_filter/main.cpp
new file mode 100644
index 00000000..f5002158
--- /dev/null
+++ b/test/test_io_filter/main.cpp
@@ -0,0 +1,172 @@
+#include <senseshift/input/filter.hpp>
+#include <senseshift/input/sensor.hpp>
+#include <unity.h>
+
+#define ASSERT_EQUAL_FLOAT_ROUNDED(expected, actual, precision) \
+ TEST_ASSERT_EQUAL_FLOAT( \
+ std::round(expected* std::pow(10, precision)) / std::pow(10, precision), \
+ std::round(actual * std::pow(10, precision)) / std::pow(10, precision) \
+ )
+
+using namespace SenseShift::Input;
+using namespace SenseShift::Input::Filter;
+
+void test_add_filter(void)
+{
+ IFilter<float>* filter = new AddFilter<float>(5.0f);
+
+ TEST_ASSERT_EQUAL_FLOAT(10.0f, filter->filter(nullptr, 5.0f));
+ TEST_ASSERT_EQUAL_FLOAT(11.0f, filter->filter(nullptr, 6.0f));
+ TEST_ASSERT_EQUAL_FLOAT(12.0f, filter->filter(nullptr, 7.0f));
+}
+
+void test_subtract_filter(void)
+{
+ IFilter<float>* filter = new SubtractFilter<float>(5.0f);
+
+ TEST_ASSERT_EQUAL_FLOAT(0.0f, filter->filter(nullptr, 5.0f));
+ TEST_ASSERT_EQUAL_FLOAT(-1.0f, filter->filter(nullptr, 4.0f));
+ TEST_ASSERT_EQUAL_FLOAT(-2.0f, filter->filter(nullptr, 3.0f));
+}
+
+void test_multiply_filter(void)
+{
+ IFilter<float>* filter = new MultiplyFilter<float>(5.0f);
+
+ TEST_ASSERT_EQUAL_FLOAT(25.0f, filter->filter(nullptr, 5.0f));
+ TEST_ASSERT_EQUAL_FLOAT(30.0f, filter->filter(nullptr, 6.0f));
+ TEST_ASSERT_EQUAL_FLOAT(35.0f, filter->filter(nullptr, 7.0f));
+}
+
+void test_voltage_divider_filter(void)
+{
+ IFilter<float>* filter = new VoltageDividerFilter(27000.0F, 100000.0F);
+
+ TEST_ASSERT_EQUAL_FLOAT(0.0F, filter->filter(nullptr, 0.0F));
+ TEST_ASSERT_EQUAL_FLOAT(3.429F, filter->filter(nullptr, 2.7F));
+ TEST_ASSERT_EQUAL_FLOAT(3.81F, filter->filter(nullptr, 3.0F));
+ TEST_ASSERT_EQUAL_FLOAT(4.191F, filter->filter(nullptr, 3.3F));
+}
+
+void test_clamp_filter(void)
+{
+ IFilter<float>* filter = new ClampFilter<float>(0.0f, 1.0f);
+
+ TEST_ASSERT_EQUAL_FLOAT(0.0f, filter->filter(nullptr, -1.0f));
+ TEST_ASSERT_EQUAL_FLOAT(0.0f, filter->filter(nullptr, 0.0f));
+ TEST_ASSERT_EQUAL_FLOAT(0.5f, filter->filter(nullptr, 0.5f));
+ TEST_ASSERT_EQUAL_FLOAT(1.0f, filter->filter(nullptr, 1.0f));
+ TEST_ASSERT_EQUAL_FLOAT(1.0f, filter->filter(nullptr, 2.0f));
+}
+
+void test_lambda_filter(void)
+{
+ IFilter<float>* filter = new LambdaFilter<float>([](float value) {
+ return value * 42.F; // Cause after all, 42 is the answer to everything.
+ });
+
+ TEST_ASSERT_EQUAL_FLOAT(42.0f, filter->filter(nullptr, 1.0f));
+ TEST_ASSERT_EQUAL_FLOAT(84.0f, filter->filter(nullptr, 2.0f));
+ TEST_ASSERT_EQUAL_FLOAT(126.0f, filter->filter(nullptr, 3.0f));
+}
+
+void test_sliding_window_moving_average_filter(void)
+{
+ IFilter<float>* filter = new SlidingWindowMovingAverageFilter<float>(3);
+
+ TEST_ASSERT_EQUAL_FLOAT(1.0f, filter->filter(nullptr, 1.0f)); // 1 / 1 = 1
+ TEST_ASSERT_EQUAL_FLOAT(1.5f, filter->filter(nullptr, 2.0f)); // (1 + 2) / 2 = 1.5
+ TEST_ASSERT_EQUAL_FLOAT(2.0f, filter->filter(nullptr, 3.0f)); // (1 + 2 + 3) / 3 = 2
+ TEST_ASSERT_EQUAL_FLOAT(3.0f, filter->filter(nullptr, 4.0f)); // (2 + 3 + 4) / 3 = 3
+ TEST_ASSERT_EQUAL_FLOAT(4.0f, filter->filter(nullptr, 5.0f)); // (3 + 4 + 5) / 3 = 4
+ TEST_ASSERT_EQUAL_FLOAT(5.0f, filter->filter(nullptr, 6.0f)); // (4 + 5 + 6) / 3 = 5
+ TEST_ASSERT_EQUAL_FLOAT(6.0f, filter->filter(nullptr, 7.0f)); // (5 + 6 + 7) / 3 = 6
+ TEST_ASSERT_EQUAL_FLOAT(7.0f, filter->filter(nullptr, 8.0f)); // (6 + 7 + 8) / 3 = 7
+ TEST_ASSERT_EQUAL_FLOAT(8.0f, filter->filter(nullptr, 9.0f)); // (7 + 8 + 9) / 3 = 8
+ TEST_ASSERT_EQUAL_FLOAT(9.0f, filter->filter(nullptr, 10.0f)); // (8 + 9 + 10) / 3 = 9
+ TEST_ASSERT_EQUAL_FLOAT(10.0f, filter->filter(nullptr, 11.0f)); // (9 + 10 + 11) / 3 = 10
+
+ ASSERT_EQUAL_FLOAT_ROUNDED(10.67f, filter->filter(nullptr, 11.0f), 2); // (10 + 11 + 11) / 3 = 10.67
+ TEST_ASSERT_EQUAL_FLOAT(11.0f, filter->filter(nullptr, 11.0f)); // (11 + 11 + 11) / 3 = 11
+ ASSERT_EQUAL_FLOAT_ROUNDED(11.33f, filter->filter(nullptr, 12.0f), 2); // (11 + 11 + 12) / 3 = 11.33
+}
+
+void test_exponential_moving_average_filter(void)
+{
+ IFilter<float>* filter = new ExponentialMovingAverageFilter<float>(0.5f);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1.0f, filter->filter(nullptr, 1.0f), 2); // 1.0
+ ASSERT_EQUAL_FLOAT_ROUNDED(1.5f, filter->filter(nullptr, 2.0f), 2); // (0.5 * 1.0) + (0.5 * 2.0) = 1.5
+ ASSERT_EQUAL_FLOAT_ROUNDED(2.25f, filter->filter(nullptr, 3.0f), 2); // (0.5 * 1.5) + (0.5 * 3.0) = 2.25
+ ASSERT_EQUAL_FLOAT_ROUNDED(3.125f, filter->filter(nullptr, 4.0f), 2); // (0.5 * 2.25) + (0.5 * 4.0) = 3.125
+ ASSERT_EQUAL_FLOAT_ROUNDED(4.0625f, filter->filter(nullptr, 5.0f), 2); // (0.5 * 3.125) + (0.5 * 5.0) = 4.0625
+
+ filter = new ExponentialMovingAverageFilter<float>(0.1f);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1.0f, filter->filter(nullptr, 1.0f), 2); // 1.0
+ ASSERT_EQUAL_FLOAT_ROUNDED(1.1f, filter->filter(nullptr, 2.0f), 2); // (0.1 * 2.0) + (0.9 * 1.0) = 1.1
+ ASSERT_EQUAL_FLOAT_ROUNDED(1.29f, filter->filter(nullptr, 3.0f), 2); // (0.1 * 3.0) + (0.9 * 1.1) = 1.29
+ ASSERT_EQUAL_FLOAT_ROUNDED(1.561f, filter->filter(nullptr, 4.0f), 2); // (0.1 * 4.0) + (0.9 * 1.29) = 1.561
+ ASSERT_EQUAL_FLOAT_ROUNDED(1.9049f, filter->filter(nullptr, 5.0f), 2); // (0.1 * 5.0) + (0.9 * 1.561) = 1.9049
+
+ filter = new ExponentialMovingAverageFilter<float>(0.9f);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1.0f, filter->filter(nullptr, 1.0f), 2); // 1.0
+ ASSERT_EQUAL_FLOAT_ROUNDED(1.9f, filter->filter(nullptr, 2.0f), 2); // (0.9 * 2.0) + (0.1 * 1.0) = 1.9
+ ASSERT_EQUAL_FLOAT_ROUNDED(2.89f, filter->filter(nullptr, 3.0f), 2); // (0.9 * 3.0) + (0.1 * 1.9) = 2.89
+ ASSERT_EQUAL_FLOAT_ROUNDED(3.889f, filter->filter(nullptr, 4.0f), 2); // (0.9 * 4.0) + (0.1 * 2.89) = 3.889
+ ASSERT_EQUAL_FLOAT_ROUNDED(4.8889f, filter->filter(nullptr, 5.0f), 2); // (0.9 * 5.0) + (0.1 * 3.889) = 4.8889
+ ASSERT_EQUAL_FLOAT_ROUNDED(4.98889, filter->filter(nullptr, 5.0f), 2); // (0.9 * 5.0) + (0.1 * 4.8889) = 4.98889
+ ASSERT_EQUAL_FLOAT_ROUNDED(4.99889, filter->filter(nullptr, 5.0f), 2); // (0.9 * 5.0) + (0.1 * 4.98889) = 4.99889
+ ASSERT_EQUAL_FLOAT_ROUNDED(4.999889, filter->filter(nullptr, 5.0f), 2); // (0.9 * 5.0) + (0.1 * 4.99889) = 4.999889
+}
+
+void test_center_deadzone_filter(void)
+{
+ IFilter<float>* filter = new CenterDeadzoneFilter(0.1f);
+
+ TEST_ASSERT_EQUAL_FLOAT(0.0f, filter->filter(nullptr, 0.0f));
+ TEST_ASSERT_EQUAL_FLOAT(0.1f, filter->filter(nullptr, 0.1f));
+
+ // Inside the deadzone
+ TEST_ASSERT_EQUAL_FLOAT(0.5f, filter->filter(nullptr, 0.43f));
+ TEST_ASSERT_EQUAL_FLOAT(0.5f, filter->filter(nullptr, 0.5f));
+ TEST_ASSERT_EQUAL_FLOAT(0.5f, filter->filter(nullptr, 0.57f));
+
+ TEST_ASSERT_EQUAL_FLOAT(0.9f, filter->filter(nullptr, 0.9f));
+ TEST_ASSERT_EQUAL_FLOAT(1.0f, filter->filter(nullptr, 1.0f));
+}
+
+int process(void)
+{
+ UNITY_BEGIN();
+
+ RUN_TEST(test_add_filter);
+ RUN_TEST(test_subtract_filter);
+ RUN_TEST(test_multiply_filter);
+ RUN_TEST(test_voltage_divider_filter);
+ RUN_TEST(test_clamp_filter);
+ RUN_TEST(test_lambda_filter);
+ RUN_TEST(test_sliding_window_moving_average_filter);
+ RUN_TEST(test_exponential_moving_average_filter);
+ RUN_TEST(test_center_deadzone_filter);
+
+ return UNITY_END();
+}
+
+#ifdef ARDUINO
+
+#include <Arduino.h>
+
+void setup(void)
+{
+ process();
+}
+
+void loop(void) {}
+
+#else
+
+int main(int argc, char** argv)
+{
+ return process();
+}
+
+#endif
\ No newline at end of file
diff --git a/test/test_opengloves_alpha_encoding/main.cpp b/test/test_opengloves_alpha_encoding/main.cpp
index c0162e99..4786fa0a 100644
--- a/test/test_opengloves_alpha_encoding/main.cpp
+++ b/test/test_opengloves_alpha_encoding/main.cpp
@@ -8,6 +8,10 @@ void test_encode_input_peripherals(void)
const IEncoder* encoder = new AlphaEncoder();
const std::vector<std::tuple<InputPeripheralData, std::string>> cases = {
+ {
+ InputPeripheralData{},
+ "A0B0C0D0E0\n",
+ },
{
InputPeripheralData({
.curl = {
From 728bd795448dfe797d26ec0d722fe19bf9291718 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sat, 10 Feb 2024 22:58:14 +0400
Subject: [PATCH 63/82] fix(OpenGloves): tick input sensors
---
.../mode_configs/opengloves/opengloves.cpp | 3 +-
ini/opengloves-lucidgloves.ini | 2 -
.../arduino/input/sensor/digital.hpp | 6 ++-
lib/io/senseshift/input/filter.hpp | 3 --
lib/io/senseshift/input/sensor.hpp | 6 +++
lib/opengloves/opengloves/opengloves.cpp | 2 +-
lib/opengloves/opengloves/opengloves.hpp | 5 ++
.../senseshift/opengloves/opengloves.hpp | 2 +-
.../senseshift/opengloves/opengloves_task.hpp | 50 +++++++++++++++---
test/test_io_sensor/main.cpp | 51 +++++++++----------
10 files changed, 88 insertions(+), 42 deletions(-)
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index a3e97875..1a603125 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -153,7 +153,8 @@ void setupMode()
auto* pinch = new BUTTON_CLASS(PIN_BUTTON_PINCH, BUTTON_PINCH_INVERT);
#endif
- OpenGlovesTrackingComponent::Config const tracking_config(2000, false);
+ Serial.begin(115200);
+ OpenGlovesTrackingComponent::Config tracking_config(2000, true);
auto* opengloves_tracking =
new OpenGlovesTrackingComponent(tracking_config, input_sensors, new StreamTransport(Serial));
diff --git a/ini/opengloves-lucidgloves.ini b/ini/opengloves-lucidgloves.ini
index f535f768..f150cfc4 100644
--- a/ini/opengloves-lucidgloves.ini
+++ b/ini/opengloves-lucidgloves.ini
@@ -65,8 +65,6 @@ build_flags = ${opengloves.build_flags} -D OG_ENCODE_FAST
; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-; todo: add servo pins
-
build_unflags = ${opengloves.build_unflags}
build_src_filter = ${opengloves.build_src_filter}
+<mode_configs/opengloves/opengloves.cpp>
diff --git a/lib/arduino/senseshift/arduino/input/sensor/digital.hpp b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
index 9a3d101c..cc3e7573 100644
--- a/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
+++ b/lib/arduino/senseshift/arduino/input/sensor/digital.hpp
@@ -18,12 +18,14 @@ namespace SenseShift::Arduino::Input {
};
template<>
- [[nodiscard]] inline auto DigitalSimpleSensor<false>::getValue() -> bool {
+ [[nodiscard]] inline auto DigitalSimpleSensor<false>::getValue() -> bool
+ {
return digitalRead(this->pin_) == LOW;
}
template<>
- [[nodiscard]] inline auto DigitalSimpleSensor<true>::getValue() -> bool {
+ [[nodiscard]] inline auto DigitalSimpleSensor<true>::getValue() -> bool
+ {
return digitalRead(this->pin_) == HIGH;
}
} // namespace SenseShift::Arduino::Input
diff --git a/lib/io/senseshift/input/filter.hpp b/lib/io/senseshift/input/filter.hpp
index 6601d5ad..b13bc857 100644
--- a/lib/io/senseshift/input/filter.hpp
+++ b/lib/io/senseshift/input/filter.hpp
@@ -242,9 +242,6 @@ namespace SenseShift::Input::Filter {
public:
explicit ExponentialMovingAverageFilter(float alpha) : alpha_(alpha){};
- template<typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
- explicit ExponentialMovingAverageFilter(float alpha) : alpha_(alpha), acc_(std::nanf){};
-
auto filter(ISimpleSensor<Tp>* /*sensor*/, Tp value) -> Tp override
{
if (this->is_first_) {
diff --git a/lib/io/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
index e76b53b8..3d6e1b1f 100644
--- a/lib/io/senseshift/input/sensor.hpp
+++ b/lib/io/senseshift/input/sensor.hpp
@@ -45,6 +45,12 @@ namespace SenseShift::Input {
explicit Sensor() = default;
+ template<typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
+ explicit Sensor(float value = 0.0f) : raw_value_(value)
+ {
+ this->value_ = this->applyFilters(value);
+ }
+
/// Appends a filter to the sensor's filter chain.
///
/// \param filter The filter to add.
diff --git a/lib/opengloves/opengloves/opengloves.cpp b/lib/opengloves/opengloves/opengloves.cpp
index 0411c6d9..924f8914 100644
--- a/lib/opengloves/opengloves/opengloves.cpp
+++ b/lib/opengloves/opengloves/opengloves.cpp
@@ -59,7 +59,7 @@ namespace og {
length - written,
"%c%u",
'A' + i,
- ifloor<std::uint8_t, float>(finger_curl * MAX_ANALOG_VALUE)
+ ifloor<std::uint16_t, float>(finger_curl * MAX_ANALOG_VALUE)
);
}
#else
diff --git a/lib/opengloves/opengloves/opengloves.hpp b/lib/opengloves/opengloves/opengloves.hpp
index 4d5b470f..e961f908 100644
--- a/lib/opengloves/opengloves/opengloves.hpp
+++ b/lib/opengloves/opengloves/opengloves.hpp
@@ -35,10 +35,15 @@ namespace og {
template<typename Tf = float>
union InputFingerCurl {
+ /// Access the curl as an array.
std::array<Tf, 4> curl; // NOLINT(*-magic-numbers): I'm sure our finger aren't changing anytime soon
+
union {
+ /// The total curl of the finger.
+ /// Only use it if you do not use per-joint tracking.
Tf curl_total;
+ /// Access the individual curl joints.
struct {
Tf curl_joint0;
Tf curl_joint1;
diff --git a/lib/opengloves/senseshift/opengloves/opengloves.hpp b/lib/opengloves/senseshift/opengloves/opengloves.hpp
index 14354bcd..0b2d6832 100644
--- a/lib/opengloves/senseshift/opengloves/opengloves.hpp
+++ b/lib/opengloves/senseshift/opengloves/opengloves.hpp
@@ -75,7 +75,7 @@ namespace SenseShift::OpenGloves {
auto collectData() -> og::InputPeripheralData
{
- og::InputPeripheralData data;
+ og::InputPeripheralData data{};
const auto& curls = this->curl.fingers;
const auto& splays = this->splay.fingers;
diff --git a/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp b/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp
index bed2ed48..2a5a6f93 100644
--- a/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp
+++ b/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp
@@ -2,6 +2,7 @@
#include <Arduino.h>
+#include <array>
#include <cstddef>
#include <optional>
@@ -15,6 +16,11 @@
#include <opengloves/opengloves.hpp>
#include <utility>
+#define SS_START_CALIBRATION_NOT_NULL(ptr) \
+ if ((ptr) != nullptr) { \
+ (ptr)->startCalibration(); \
+ }
+
namespace SenseShift::OpenGloves {
class OpenGlovesTrackingComponent : public SenseShift::Component {
public:
@@ -32,8 +38,8 @@ namespace SenseShift::OpenGloves {
}
};
- OpenGlovesTrackingComponent(Config config, InputSensors& input_sensors, ITransport* communication) :
- config(config), input_sensors_(std::move(input_sensors)), communication_(communication)
+ OpenGlovesTrackingComponent(Config& config, InputSensors& input_sensors, ITransport* communication) :
+ config_(config), input_sensors_(std::move(input_sensors)), communication_(communication)
{
this->encoder_ = new og::AlphaEncoder();
}
@@ -42,19 +48,51 @@ namespace SenseShift::OpenGloves {
{
this->communication_->init();
this->input_sensors_.init();
+
+ if (this->config_.always_calibrate_) {
+ this->startCalibration();
+ }
}
void tick() override
{
+ this->input_sensors_.tick();
const auto data = this->input_sensors_.collectData();
+ const auto length = this->encoder_->encode_input(data, buffer.data(), buffer.size());
+ this->communication_->send(buffer.data(), length);
+ }
+
+ protected:
+ void startCalibration()
+ {
+ for (auto& finger_curl : this->input_sensors_.curl.fingers) {
+ for (auto& joint_sensor : finger_curl.curl) {
+ SS_START_CALIBRATION_NOT_NULL(joint_sensor);
+ }
+ }
- char buffer[256];
- this->encoder_->encode_input(data, buffer, sizeof(buffer));
- this->communication_->send(buffer, sizeof(buffer));
+ for (auto& finger_splay : this->input_sensors_.splay.fingers) {
+ SS_START_CALIBRATION_NOT_NULL(finger_splay);
+ }
+
+ SS_START_CALIBRATION_NOT_NULL(this->input_sensors_.joystick.x);
+ SS_START_CALIBRATION_NOT_NULL(this->input_sensors_.joystick.y);
+ SS_START_CALIBRATION_NOT_NULL(this->input_sensors_.joystick.press);
+
+ for (auto& button : this->input_sensors_.buttons) {
+ SS_START_CALIBRATION_NOT_NULL(button.press);
+ }
+
+ for (auto& analog_button : this->input_sensors_.analog_buttons) {
+ SS_START_CALIBRATION_NOT_NULL(analog_button.press);
+ SS_START_CALIBRATION_NOT_NULL(analog_button.value);
+ }
}
private:
- Config& config;
+ std::array<char, 256> buffer;
+
+ Config& config_;
InputSensors input_sensors_;
ITransport* communication_;
og::IEncoder* encoder_;
diff --git a/test/test_io_sensor/main.cpp b/test/test_io_sensor/main.cpp
index f91382fe..188cbeaf 100644
--- a/test/test_io_sensor/main.cpp
+++ b/test/test_io_sensor/main.cpp
@@ -1,5 +1,5 @@
-#include <senseshift/input/sensor.hpp>
#include <senseshift/input/analog_threshold.hpp>
+#include <senseshift/input/sensor.hpp>
#include <unity.h>
using namespace SenseShift::Input;
@@ -15,7 +15,7 @@ class TestAnalogCountingSensor : public ISimpleSensor<int> {
};
class TestAnalogSensor : public ISimpleSensor<int> {
-public:
+ public:
int value = 0;
int setupCounter = 0;
@@ -42,57 +42,56 @@ void test_memoized_sensor(void)
TEST_ASSERT_EQUAL_INT(1, sensor->getValue());
}
-class DummyCalibrator : public ::SenseShift::Input::Calibration::ICalibrator<int> {
+class DummyCalibrator : public ::SenseShift::Input::Calibration::ICalibrator<float> {
public:
uint8_t resetCounter = 0;
- int calibrated = 0;
+ float calibrated = 0.0f;
void reset() override
{
this->resetCounter++;
- this->calibrated = 0;
+ this->calibrated = 0.0f;
};
- void update(int input) override { this->calibrated = input; };
- int calibrate(int input) const override { return calibrated; };
+ void update(float input) override { this->calibrated = input; };
+ float calibrate(float input) const override { return calibrated; };
};
void test_calibrated_sensor(void)
{
- auto inner = new TestAnalogCountingSensor();
+ auto inner = new FloatSensor();
auto calibrator = new DummyCalibrator();
auto sensor = new SimpleSensorDecorator(inner);
sensor->setCalibrator(calibrator);
- TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
- sensor->init();
- TEST_ASSERT_EQUAL_INT(1, inner->setupCounter);
+ calibrator->update(-1.0f);
+ sensor->publishState(0.0f);
+ TEST_ASSERT_EQUAL_FLOAT(-1.0f, sensor->getValue());
- calibrator->update(-1);
- sensor->tick();
- TEST_ASSERT_EQUAL_INT(-1, sensor->getValue());
+ sensor->publishState(100.0f);
+ TEST_ASSERT_EQUAL_FLOAT(-1.0f, sensor->getValue());
+
+ calibrator->update(2.0f);
+ sensor->publishState(102.0f);
+ TEST_ASSERT_EQUAL_FLOAT(2.0f, sensor->getValue());
sensor->startCalibration();
- sensor->tick();
- TEST_ASSERT_EQUAL_INT(2, sensor->getValue());
+ sensor->publishState(200.0f);
+ TEST_ASSERT_EQUAL_FLOAT(200.0f, sensor->getValue());
- sensor->stopCalibration();
- sensor->tick();
- TEST_ASSERT_EQUAL_INT(2, sensor->getValue());
+ sensor->publishState(202.0f);
+ TEST_ASSERT_EQUAL_FLOAT(202.0f, sensor->getValue());
- sensor->reselCalibration();
- sensor->tick();
- TEST_ASSERT_EQUAL_INT(0, sensor->getValue());
- TEST_ASSERT_EQUAL_INT(1, calibrator->resetCounter);
+ sensor->stopCalibration();
+ sensor->publishState(300.0f);
+ TEST_ASSERT_EQUAL_FLOAT(202.0f, sensor->getValue());
}
void test_sensor_filter_multiply(void)
{
auto inner = new TestAnalogSensor();
auto sensor = new SimpleSensorDecorator(inner);
- sensor->addFilters({
- new ::SenseShift::Input::Filter::MultiplyFilter(2)
- });
+ sensor->addFilters({ new ::SenseShift::Input::Filter::MultiplyFilter(2) });
TEST_ASSERT_EQUAL_INT(0, inner->setupCounter);
sensor->init();
From 54212c08806bef11cbd6ef340e24fd31520b440d Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 11 Feb 2024 00:16:39 +0400
Subject: [PATCH 64/82] fix(OpenGloves): incorrect gesture alpha char
---
lib/opengloves/opengloves/opengloves.hpp | 6 +++---
test/test_opengloves_alpha_encoding/main.cpp | 2 +-
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/lib/opengloves/opengloves/opengloves.hpp b/lib/opengloves/opengloves/opengloves.hpp
index e961f908..25448169 100644
--- a/lib/opengloves/opengloves/opengloves.hpp
+++ b/lib/opengloves/opengloves/opengloves.hpp
@@ -371,12 +371,12 @@ namespace og {
/// Alpha keys for analog buttons.
/// <b>MUST</b> be in the same order as the `InputPeripheralData` struct.
inline static constexpr const std::array<unsigned char, 2> ANALOG_BUTTON_ALPHA_KEY = { {
- 'P', // Trigger
- 'I', // Grab
+ 'I', // Trigger
+ 'L', // Grab
} };
[[nodiscard]] auto encode_input(const InputData& input, char* buffer, size_t length) const -> size_t override;
[[nodiscard]] auto parse_output(const char* data, size_t length) const -> Output override;
};
-} // namespace og
\ No newline at end of file
+} // namespace og
diff --git a/test/test_opengloves_alpha_encoding/main.cpp b/test/test_opengloves_alpha_encoding/main.cpp
index 4786fa0a..40cb2638 100644
--- a/test/test_opengloves_alpha_encoding/main.cpp
+++ b/test/test_opengloves_alpha_encoding/main.cpp
@@ -134,7 +134,7 @@ void test_encode_input_peripherals(void)
.pinch = { true },
.grab = { true },
},
- "A0B0C0D0E0MI\n"
+ "A0B0C0D0E0ML\n"
},
{
InputPeripheralData({
From 637f5617c3adcf3f77fed2af1c995e1638137b6e Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 11 Feb 2024 13:20:48 +0400
Subject: [PATCH 65/82] test(OpenGloves): update Wokwi test
---
.wokwi/lucidgloves-prototype3+serial/test.yaml | 10 +++++-----
.wokwi/lucidgloves-prototype4+serial/test.yaml | 8 ++++----
2 files changed, 9 insertions(+), 9 deletions(-)
diff --git a/.wokwi/lucidgloves-prototype3+serial/test.yaml b/.wokwi/lucidgloves-prototype3+serial/test.yaml
index 95f55e39..7dc4c210 100644
--- a/.wokwi/lucidgloves-prototype3+serial/test.yaml
+++ b/.wokwi/lucidgloves-prototype3+serial/test.yaml
@@ -45,32 +45,32 @@ steps:
part-id: pot-thumb
control: position
value: 1
- - wait-serial: "A4095B4095C0D0E0F2047G2047IM" # M is for Pinch gesture
+ - wait-serial: "A4095B4095C0D0E0F2047G2047MI" # M is for Pinch gesture
# Curl Middle finger
- set-control:
part-id: pot-middle
control: position
value: 1
- - wait-serial: "A4095B4095C4095D0E0F2047G2047IM"
+ - wait-serial: "A4095B4095C4095D0E0F2047G2047MI"
# Curl Ring finger
- set-control:
part-id: pot-ring
control: position
value: 1
- - wait-serial: "A4095B4095C4095D4095E0F2047G2047IM"
+ - wait-serial: "A4095B4095C4095D4095E0F2047G2047MI"
# Curl Pinky finger
- set-control:
part-id: pot-pinky
control: position
value: 1
- - wait-serial: "A4095B4095C4095D4095E4095F2047G2047ILM" # L is for the Grab gesture
+ - wait-serial: "A4095B4095C4095D4095E4095F2047G2047MIL" # L is for the Grab gesture
# Partially Release Thumb finger
- set-control:
part-id: pot-thumb
control: position
value: 0.25
- - wait-serial: 'A1024B4095C4095D4095E4095F2047G2047IL'
+ - wait-serial: "A1024B4095C4095D4095E4095F2047G2047IL"
diff --git a/.wokwi/lucidgloves-prototype4+serial/test.yaml b/.wokwi/lucidgloves-prototype4+serial/test.yaml
index f89d70f4..cfd56eb9 100644
--- a/.wokwi/lucidgloves-prototype4+serial/test.yaml
+++ b/.wokwi/lucidgloves-prototype4+serial/test.yaml
@@ -45,28 +45,28 @@ steps:
part-id: pot-thumb
control: position
value: 1
- - wait-serial: "A4095B4095C0D0E0F2047G2047IM" # M is for Pinch gesture
+ - wait-serial: "A4095B4095C0D0E0F2047G2047MI" # M is for Pinch gesture
# Curl Middle finger
- set-control:
part-id: pot-middle
control: position
value: 1
- - wait-serial: "A4095B4095C4095D0E0F2047G2047IM"
+ - wait-serial: "A4095B4095C4095D0E0F2047G2047MI"
# Curl Ring finger
- set-control:
part-id: pot-ring
control: position
value: 1
- - wait-serial: "A4095B4095C4095D4095E0F2047G2047IM"
+ - wait-serial: "A4095B4095C4095D4095E0F2047G2047MI"
# Curl Pinky finger
- set-control:
part-id: pot-pinky
control: position
value: 1
- - wait-serial: "A4095B4095C4095D4095E4095F2047G2047ILM" # L is for the Grab gesture
+ - wait-serial: "A4095B4095C4095D4095E4095F2047G2047MIL" # L is for the Grab gesture
# Partially Release Thumb finger
- set-control:
From a2fd378c335c4cf3217dd14e002ce01fab1d57ca Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 11 Feb 2024 19:45:21 +0400
Subject: [PATCH 66/82] perf(OpenGloves): fix slow tick rate
---
.../mode_configs/opengloves/opengloves.cpp | 9 +-
lib/freertos/senseshift/freertos/task.hpp | 14 ++-
lib/opengloves/opengloves/opengloves.cpp | 86 +++++++++--------
.../opengloves/transport/stream.hpp | 4 +
.../senseshift/opengloves/opengloves_task.hpp | 96 ++++++++++++++-----
5 files changed, 140 insertions(+), 69 deletions(-)
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index 1a603125..1491b2e3 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -153,14 +153,13 @@ void setupMode()
auto* pinch = new BUTTON_CLASS(PIN_BUTTON_PINCH, BUTTON_PINCH_INVERT);
#endif
- Serial.begin(115200);
- OpenGlovesTrackingComponent::Config tracking_config(2000, true);
- auto* opengloves_tracking =
- new OpenGlovesTrackingComponent(tracking_config, input_sensors, new StreamTransport(Serial));
+ auto* communication = AutoConfig::setupTransport();
+ OpenGlovesTrackingComponent::Config tracking_config(CALIBRATION_DURATION, CALIBRATION_ALWAYS_CALIBRATE);
+ auto* opengloves_tracking = new OpenGlovesTrackingComponent(tracking_config, input_sensors, communication);
auto* opengloves_tracking_task = new ::SenseShift::FreeRTOS::ComponentUpdateTask<OpenGlovesTrackingComponent>(
opengloves_tracking,
- 1000 / 60,
+ 1000 / UPDATE_RATE,
{
.name = "OpenGlovesSensorTask",
.stackDepth = 8192,
diff --git a/lib/freertos/senseshift/freertos/task.hpp b/lib/freertos/senseshift/freertos/task.hpp
index aab82a70..38ea81a0 100644
--- a/lib/freertos/senseshift/freertos/task.hpp
+++ b/lib/freertos/senseshift/freertos/task.hpp
@@ -133,10 +133,20 @@ namespace SenseShift::FreeRTOS {
protected:
[[noreturn]] void run()
{
+ auto now = millis();
+ auto targetHz = 1000 / this->updateDelay_;
+
while (true) {
+ now = millis();
+
this->component_->tick();
- delay(this->updateDelay_);
- // log_i("high watermark %d", uxTaskGetStackHighWaterMark(NULL));
+
+ const auto elapsed = millis() - now;
+
+ log_d("T: %d, Fmax: %dHz, Ft: %dHz", elapsed, 1000 / elapsed, targetHz);
+ if (elapsed < this->updateDelay_) {
+ delay(this->updateDelay_ - elapsed);
+ }
}
}
diff --git a/lib/opengloves/opengloves/opengloves.cpp b/lib/opengloves/opengloves/opengloves.cpp
index 924f8914..94e044d2 100644
--- a/lib/opengloves/opengloves/opengloves.cpp
+++ b/lib/opengloves/opengloves/opengloves.cpp
@@ -5,22 +5,43 @@
#include <cstdio>
#include <variant>
-#ifdef OG_ENCODE_FAST
-template<typename Tp = int, typename Tu = float>
-auto ifloor(Tu x) -> Tp
-{
- return (Tp) x - (x < (Tp) x);
-}
-
-template<typename Tp = int, typename Tu = float>
-auto iceil(Tu x) -> Tp
-{
- return (Tp) x + (x > (Tp) x);
-}
-#endif
-
namespace og {
+#ifdef OG_ENCODE_FASTER
+ inline auto ifloor(float x) -> int
+ {
+ union Cast {
+ double d;
+ long l;
+ };
+ volatile Cast c;
+ c.d = d + 6755399441055743.5;
+ return c.l;
+ }
+#elifdef OG_ENCODE_FAST
+ /// Source: https://stackoverflow.com/questions/429632/429812#429812
+ inline int float2int(double d)
+ {
+ union Cast {
+ double d;
+ long l;
+ };
+ volatile Cast c;
+ c.d = d + 6755399441055744;
+ return c.l;
+ }
+
+ inline auto ifloor(float x) -> int
+ {
+ return float2int(x) - (x < float2int(x));
+ }
+#else
+ inline auto ifloor(float x) -> int
+ {
+ return static_cast<int>(std::floor(x));
+ }
+#endif
+
auto AlphaEncoder::encode_input(const InputData& input, char* buffer, size_t length) const -> size_t
{
if (std::holds_alternative<InputInfoData>(input)) {
@@ -54,13 +75,8 @@ namespace og {
const auto& finger = curls[i];
const auto& finger_curl = finger.curl_total;
- written += snprintf(
- buffer + written,
- length - written,
- "%c%u",
- 'A' + i,
- ifloor<std::uint16_t, float>(finger_curl * MAX_ANALOG_VALUE)
- );
+ written +=
+ snprintf(buffer + written, length - written, "%c%u", 'A' + i, ifloor(finger_curl * MAX_ANALOG_VALUE));
}
#else
for (auto i = 0; i < curls.size(); i++) {
@@ -71,18 +87,18 @@ namespace og {
written += snprintf(
buffer + written,
length - written,
- "%c%.0f",
+ "%c%u",
finger_alpha_key,
- std::floor(finger_curl.curl_total * MAX_ANALOG_VALUE)
+ ifloor(finger_curl.curl_total * MAX_ANALOG_VALUE)
);
if (finger_splay > 0.0F) {
written += snprintf(
buffer + written,
length - written,
- "(%cB)%.0f",
+ "(%cB)%u",
finger_alpha_key,
- std::floor(finger_splay * MAX_ANALOG_VALUE)
+ ifloor(finger_splay * MAX_ANALOG_VALUE)
);
}
@@ -98,29 +114,21 @@ namespace og {
written += snprintf(
buffer + written,
length - written,
- "(%cA%c)%.0f",
+ "(%cA%c)%u",
finger_alpha_key,
joint_alpha_key,
- std::floor(joint * MAX_ANALOG_VALUE)
+ ifloor(joint * MAX_ANALOG_VALUE)
);
}
}
#endif
if (peripheral.joystick.x != 0.0F) {
- written += snprintf(
- buffer + written,
- length - written,
- "F%.0f",
- std::floor(peripheral.joystick.x * MAX_ANALOG_VALUE)
- );
+ written +=
+ snprintf(buffer + written, length - written, "F%u", ifloor(peripheral.joystick.x * MAX_ANALOG_VALUE));
}
if (peripheral.joystick.y != 0.0F) {
- written += snprintf(
- buffer + written,
- length - written,
- "G%.0f",
- std::floor(peripheral.joystick.y * MAX_ANALOG_VALUE)
- );
+ written +=
+ snprintf(buffer + written, length - written, "G%u", ifloor(peripheral.joystick.y * MAX_ANALOG_VALUE));
}
if (peripheral.joystick.press) {
written += snprintf(buffer + written, length - written, "H");
diff --git a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
index d3128165..d233c44a 100644
--- a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
+++ b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
@@ -74,6 +74,8 @@ namespace SenseShift::OpenGloves {
return serial->isReady() && serial->hasClient();
}
+ void init() override {}
+
virtual size_t send(const char* buffer, size_t length) override
{
auto written = this->channel->write(buffer, length);
@@ -89,6 +91,8 @@ namespace SenseShift::OpenGloves {
public:
BLESerialTransport(BLESerial& channel) : IStreamTransport(&channel){};
+ void init() override {}
+
bool isReady() override
{
auto* serial = static_cast<BLESerial*>(this->channel);
diff --git a/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp b/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp
index 2a5a6f93..b2e6a4cf 100644
--- a/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp
+++ b/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp
@@ -15,10 +15,11 @@
#include "senseshift/utility.hpp"
#include <opengloves/opengloves.hpp>
#include <utility>
+#include <vector>
-#define SS_START_CALIBRATION_NOT_NULL(ptr) \
- if ((ptr) != nullptr) { \
- (ptr)->startCalibration(); \
+#define SS_ADD_CALIBRATOR_NOT_NULL(PTR, STORAGE) \
+ if ((PTR) != nullptr) { \
+ STORAGE.push_back(PTR); \
}
namespace SenseShift::OpenGloves {
@@ -42,6 +43,29 @@ namespace SenseShift::OpenGloves {
config_(config), input_sensors_(std::move(input_sensors)), communication_(communication)
{
this->encoder_ = new og::AlphaEncoder();
+
+ for (auto& finger_curl : this->input_sensors_.curl.fingers) {
+ for (auto& joint_sensor : finger_curl.curl) {
+ SS_ADD_CALIBRATOR_NOT_NULL(joint_sensor, this->calibrated_inputs_);
+ }
+ }
+
+ for (auto& finger_splay : this->input_sensors_.splay.fingers) {
+ SS_ADD_CALIBRATOR_NOT_NULL(finger_splay, this->calibrated_inputs_);
+ }
+
+ SS_ADD_CALIBRATOR_NOT_NULL(this->input_sensors_.joystick.x, this->calibrated_inputs_);
+ SS_ADD_CALIBRATOR_NOT_NULL(this->input_sensors_.joystick.y, this->calibrated_inputs_);
+ SS_ADD_CALIBRATOR_NOT_NULL(this->input_sensors_.joystick.press, this->calibrated_inputs_);
+
+ for (auto& button : this->input_sensors_.buttons) {
+ SS_ADD_CALIBRATOR_NOT_NULL(button.press, this->calibrated_inputs_);
+ }
+
+ for (auto& analog_button : this->input_sensors_.analog_buttons) {
+ SS_ADD_CALIBRATOR_NOT_NULL(analog_button.press, this->calibrated_inputs_);
+ SS_ADD_CALIBRATOR_NOT_NULL(analog_button.value, this->calibrated_inputs_);
+ }
}
void init() override
@@ -49,49 +73,75 @@ namespace SenseShift::OpenGloves {
this->communication_->init();
this->input_sensors_.init();
- if (this->config_.always_calibrate_) {
+ // If the calibration button is not present, start calibration immediately.
+ if (this->config_.always_calibrate_ || this->input_sensors_.button_calibrate.press == nullptr) {
this->startCalibration();
}
}
void tick() override
{
+ // const auto start = millis();
+
+ // auto now = millis();
this->input_sensors_.tick();
+ // const auto tickTime = millis() - now;
+
+ // now = millis();
const auto data = this->input_sensors_.collectData();
+ // const auto collectTime = millis() - now;
+
+ if (data.button_calibrate.press) {
+ this->startCalibration();
+ }
+
+ // now = millis();
const auto length = this->encoder_->encode_input(data, buffer.data(), buffer.size());
+ // const auto encodeTime = millis() - now;
+
+ // now = millis();
this->communication_->send(buffer.data(), length);
+ // const auto sendTime = millis() - now;
+
+ if (!this->config_.always_calibrate_ && (millis() - this->calibration_start_time_) > this->config_.calibration_duration_ms_) {
+ this->stopCalibration();
+ }
+
+ // log_d(
+ // "total: %d, tick: %d, collect: %d, encode: %d, send: %d",
+ // millis() - start,
+ // tickTime,
+ // collectTime,
+ // encodeTime,
+ // sendTime
+ // );
}
protected:
void startCalibration()
{
- for (auto& finger_curl : this->input_sensors_.curl.fingers) {
- for (auto& joint_sensor : finger_curl.curl) {
- SS_START_CALIBRATION_NOT_NULL(joint_sensor);
- }
- }
-
- for (auto& finger_splay : this->input_sensors_.splay.fingers) {
- SS_START_CALIBRATION_NOT_NULL(finger_splay);
- }
-
- SS_START_CALIBRATION_NOT_NULL(this->input_sensors_.joystick.x);
- SS_START_CALIBRATION_NOT_NULL(this->input_sensors_.joystick.y);
- SS_START_CALIBRATION_NOT_NULL(this->input_sensors_.joystick.press);
-
- for (auto& button : this->input_sensors_.buttons) {
- SS_START_CALIBRATION_NOT_NULL(button.press);
+ log_i("Starting calibration");
+ for (auto& calibrated_input : this->calibrated_inputs_) {
+ calibrated_input->reselCalibration();
+ calibrated_input->startCalibration();
}
+ this->calibration_start_time_ = millis();
+ }
- for (auto& analog_button : this->input_sensors_.analog_buttons) {
- SS_START_CALIBRATION_NOT_NULL(analog_button.press);
- SS_START_CALIBRATION_NOT_NULL(analog_button.value);
+ void stopCalibration()
+ {
+ log_i("Stopping calibration");
+ for (auto& calibrated_input : this->calibrated_inputs_) {
+ calibrated_input->stopCalibration();
}
}
private:
std::array<char, 256> buffer;
+ unsigned long long calibration_start_time_;
+ std::vector<::SenseShift::Input::Calibration::ICalibrated*> calibrated_inputs_;
+
Config& config_;
InputSensors input_sensors_;
ITransport* communication_;
From 9b493d22e2d889cbc8a24f832b110b603b86e354 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 11 Feb 2024 22:40:18 +0400
Subject: [PATCH 67/82] feat(OpenGloves): add decoder for FFB
---
lib/opengloves/opengloves/opengloves.cpp | 103 ++++++++++++++++++-
lib/opengloves/opengloves/opengloves.hpp | 55 ++++++++--
test/test_opengloves_alpha_encoding/main.cpp | 55 ++++++++++
3 files changed, 202 insertions(+), 11 deletions(-)
diff --git a/lib/opengloves/opengloves/opengloves.cpp b/lib/opengloves/opengloves/opengloves.cpp
index 94e044d2..b454efd4 100644
--- a/lib/opengloves/opengloves/opengloves.cpp
+++ b/lib/opengloves/opengloves/opengloves.cpp
@@ -1,8 +1,10 @@
#include "opengloves/opengloves.hpp"
+#include <cctype>
#include <cmath>
#include <cstdint>
#include <cstdio>
+#include <string>
#include <variant>
namespace og {
@@ -161,8 +163,105 @@ namespace og {
return 0;
}
- auto AlphaEncoder::parse_output(const char* data, size_t length) const -> Output
+ auto AlphaEncoder::decode_output(const char* data, size_t length) const -> OutputData
{
- return {};
+ if (length == 0) {
+ return OutputInvalid{};
+ }
+
+ const auto commands = split_to_map(data, length);
+ if (commands.empty()) {
+ return OutputInvalid{};
+ }
+
+ // We assume all commands are for ffb, if there is any ffb command
+ const auto& thumb_curl = commands.find("A");
+ if (thumb_curl != commands.end()) {
+ OutputForceFeedbackData ffb{};
+
+ ffb.thumb = std::stof(thumb_curl->second) / MAX_ANALOG_VALUE;
+
+ const auto& index_curl = commands.find("B");
+ if (index_curl != commands.end()) {
+ ffb.index = std::stof(index_curl->second) / MAX_ANALOG_VALUE;
+ }
+
+ const auto& middle_curl = commands.find("C");
+ if (middle_curl != commands.end()) {
+ ffb.middle = std::stof(middle_curl->second) / MAX_ANALOG_VALUE;
+ }
+
+ const auto& ring_curl = commands.find("D");
+ if (ring_curl != commands.end()) {
+ ffb.ring = std::stof(ring_curl->second) / MAX_ANALOG_VALUE;
+ }
+
+ const auto& pinky_curl = commands.find("E");
+ if (pinky_curl != commands.end()) {
+ ffb.pinky = std::stof(pinky_curl->second) / MAX_ANALOG_VALUE;
+ }
+
+ return ffb;
+ }
+
+ // const auto& haptics_frequency = commands.find("F");
+ // if (haptics_frequency != commands.end()) {
+ // OutputHaptics haptics{};
+ // return haptics;
+ // }
+
+ return OutputInvalid{};
+ }
+
+ /// Splits the input data into a map of commands and their respective values.
+ ///
+ /// Example: `A100(AB)200B300(BB)400C500\n` -> `{"A": "100", "(AB)": "200", "B": "300", "(BB)": "400", "C": "500"}`
+ auto AlphaEncoder::split_to_map(const char* data, size_t length) const -> std::map<std::string, std::string>
+ {
+ std::map<std::string, std::string> result{};
+
+ // Start at the beginning of the data
+ size_t command_start = 0;
+ for (size_t i = 0; i < length; i++) {
+ const auto& current_char = data[i];
+
+ // Start a new command if the character is non-numeric or an opening parenthesis
+ // and previous character is a numeric character
+ const bool is_command_start = ((isdigit(current_char)) == 0) || current_char == '(';
+ const bool prev_is_digit = isdigit(data[i - 1]) != 0;
+ if (is_command_start && i > 0 && prev_is_digit) {
+ split_command(data, command_start, i, result);
+ command_start = i;
+ }
+ }
+
+ // Add the last command
+ split_command(data, command_start, length, result);
+
+ return result;
+ }
+
+ void AlphaEncoder::split_command(
+ const char* data, size_t start, size_t length, std::map<std::string, std::string>& commands
+ ) const
+ {
+ const std::string current_command = std::string(data + start, length - start);
+
+ if (current_command.empty()) {
+ return;
+ }
+
+ const size_t split_index = current_command.find_first_of("0123456789");
+
+ // If there is no numeric value, the command is empty (likely a binary command)
+ if (split_index == std::string::npos) {
+ commands[current_command] = "";
+ return;
+ }
+
+ const std::string command = current_command.substr(0, split_index);
+ const std::string value = current_command.substr(split_index, current_command.length() - split_index);
+
+ commands[command] = value;
}
} // namespace og
\ No newline at end of file
diff --git a/lib/opengloves/opengloves/opengloves.hpp b/lib/opengloves/opengloves/opengloves.hpp
index 25448169..5bd4266f 100644
--- a/lib/opengloves/opengloves/opengloves.hpp
+++ b/lib/opengloves/opengloves/opengloves.hpp
@@ -51,6 +51,12 @@ namespace og {
Tf curl_joint3;
};
};
+
+ auto operator==(const InputFingerCurl& other) const -> bool
+ {
+ return this->curl_joint0 == other.curl_joint0 && this->curl_joint1 == other.curl_joint1
+ && this->curl_joint2 == other.curl_joint2 && this->curl_joint3 == other.curl_joint3;
+ }
};
using InputFingerCurlData = InputFingerCurl<float>;
@@ -68,6 +74,12 @@ namespace og {
Tp little;
};
};
+
+ auto operator==(const InputFinger& other) const -> bool
+ {
+ return this->thumb == other.thumb && this->index == other.index && this->middle == other.middle
+ && this->ring == other.ring && this->pinky == other.pinky;
+ }
};
using InputFingerData = InputFinger<float>;
@@ -131,7 +143,27 @@ namespace og {
using InputData = std::variant<InputInfoData, InputPeripheralData>;
- class Output {};
+ template<typename Tf = float, typename Tb = bool>
+ using OutputForceFeedback = InputFinger<Tf>;
+ using OutputForceFeedbackData = OutputForceFeedback<float, bool>;
+
+ template<typename Tf = float, typename Tb = bool>
+ struct OutputHaptics {
+ Tf frequency;
+ Tf duration;
+ Tf amplitude;
+
+ auto operator==(const OutputHaptics& other) const -> bool
+ {
+ return frequency == other.frequency && duration == other.duration && amplitude == other.amplitude;
+ }
+ };
+ using OutputHapticsData = OutputHaptics<float, bool>;
+
+ class OutputInvalid {
+ auto operator==(const OutputInvalid& /*unused*/) const -> bool { return true; }
+ };
+ using OutputData = std::variant<OutputInvalid, OutputForceFeedbackData, OutputHapticsData>;
class IEncoder {
public:
@@ -149,22 +181,22 @@ namespace og {
return buffer;
}
- [[nodiscard]] virtual auto parse_output(const char* data, size_t length) const -> Output = 0;
+ [[nodiscard]] virtual auto decode_output(const char* data, size_t length) const -> OutputData = 0;
- [[nodiscard]] inline auto parse_output(const std::vector<char>& data) const -> Output
+ [[nodiscard]] inline auto decode_output(const std::vector<char>& data) const -> OutputData
{
- return this->parse_output(data.data(), data.size());
+ return this->decode_output(data.data(), data.size());
}
- [[nodiscard]] inline auto parse_output(const std::string& data) const -> Output
+ [[nodiscard]] inline auto decode_output(const std::string& data) const -> OutputData
{
- return this->parse_output(data.data(), data.length());
+ return this->decode_output(data.data(), data.length());
}
#ifdef ARDUINO
- [[nodiscard]] inline auto parse_output(const String& data) const -> Output
+ [[nodiscard]] inline auto decode_output(const String& data) const -> OutputData
{
- return this->parse_output(data.c_str(), data.length());
+ return this->decode_output(data.c_str(), data.length());
}
#endif // ARDUINO
};
@@ -377,6 +409,11 @@ namespace og {
[[nodiscard]] auto encode_input(const InputData& input, char* buffer, size_t length) const -> size_t override;
- [[nodiscard]] auto parse_output(const char* data, size_t length) const -> Output override;
+ [[nodiscard]] auto decode_output(const char* data, size_t length) const -> OutputData override;
+
+ protected:
+ [[nodiscard]] auto split_to_map(const char* data, size_t length) const -> std::map<std::string, std::string>;
+ void split_command(const char* data, size_t start, size_t length, std::map<std::string, std::string>& commands)
+ const;
};
} // namespace og
diff --git a/test/test_opengloves_alpha_encoding/main.cpp b/test/test_opengloves_alpha_encoding/main.cpp
index 40cb2638..9467b45c 100644
--- a/test/test_opengloves_alpha_encoding/main.cpp
+++ b/test/test_opengloves_alpha_encoding/main.cpp
@@ -173,11 +173,66 @@ void test_encode_input_peripherals(void)
}
}
+void test_decode_output_ffb(void)
+{
+ const IEncoder* encoder = new AlphaEncoder();
+
+ std::map<std::string, OutputForceFeedbackData> cases = {
+ {
+ "A0B0C0D0E0\n",
+ OutputForceFeedbackData{
+ .thumb = 0.0f,
+ .index = 0.0f,
+ .middle = 0.0f,
+ .ring = 0.0f,
+ .pinky = 0.0f,
+ },
+ },
+ {
+ "A0\n",
+ OutputForceFeedbackData{
+ .thumb = 0.0f,
+ .index = 0.0f,
+ .middle = 0.0f,
+ .ring = 0.0f,
+ .pinky = 0.0f,
+ },
+ },
+ {
+ "A819B1638C2457D3276E4095\n",
+ OutputForceFeedbackData{
+ .thumb = 0.2f,
+ .index = 0.4f,
+ .middle = 0.6f,
+ .ring = 0.8f,
+ .pinky = 1.0f,
+ },
+ },
+ {
+ "A4095B4095C4095D4095E4095\n",
+ OutputForceFeedbackData{
+ .thumb = 1.0f,
+ .index = 1.0f,
+ .middle = 1.0f,
+ .ring = 1.0f,
+ .pinky = 1.0f,
+ },
+ },
+ };
+
+ for (const auto& [data, expected] : cases) {
+ const auto decoded = encoder->decode_output(data.c_str(), data.size());
+ TEST_ASSERT_TRUE(std::holds_alternative<OutputForceFeedbackData>(decoded));
+ TEST_ASSERT_TRUE(std::get<OutputForceFeedbackData>(decoded) == expected);
+ }
+}
+
int process(void)
{
UNITY_BEGIN();
RUN_TEST(test_encode_input_peripherals);
+ RUN_TEST(test_decode_output_ffb);
return UNITY_END();
}
From 529a0ccc413306b56095b8afea2d3f8598c45f6f Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 18 Feb 2024 13:42:34 +0400
Subject: [PATCH 68/82] feat(OpenGloves): bring back FFB
---
.github/workflows/release.yml | 4 +-
.../mode_configs/opengloves/opengloves.cpp | 53 +++-
ini/opengloves-lucidgloves.ini | 114 ++++----
ini/opengloves.ini | 118 ++++-----
lib/arduino/library.json | 21 +-
.../senseshift/arduino/output/servo.hpp | 31 +++
.../senseshift/freertos/input/sensor.hpp | 10 -
.../senseshift/body/hands/hands_interface.hpp | 36 ++-
lib/opengloves/opengloves/opengloves.cpp | 19 +-
lib/opengloves/opengloves/opengloves.hpp | 5 +-
.../senseshift/opengloves/autoconfig.hpp | 17 +-
.../senseshift/opengloves/constants.hpp | 6 +-
.../senseshift/opengloves/opengloves.hpp | 79 +++++-
.../opengloves/transport/stream.hpp | 36 +--
.../senseshift/opengloves/opengloves_task.hpp | 246 +++++-------------
platformio.ini | 48 ++--
16 files changed, 441 insertions(+), 402 deletions(-)
create mode 100644 lib/arduino/senseshift/arduino/output/servo.hpp
delete mode 100644 lib/freertos/senseshift/freertos/input/sensor.hpp
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 6eb7910a..d2eecde2 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -132,8 +132,8 @@ jobs:
- indexer-cs
- indexer-csf
comm_flag:
- - OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_SERIAL
- - OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_BTSERIAL
+ - OPENGLOVES_COMMUNICATION=OPENGLOVES_COMM_SERIAL
+ - OPENGLOVES_COMMUNICATION=OPENGLOVES_COMM_BTSERIAL
steps:
- uses: actions/checkout@v3
with:
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index 1491b2e3..0720afe7 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -2,6 +2,7 @@
#include "senseshift/body/hands/input/total_curl.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/input/sensor/digital.hpp>
+#include <senseshift/arduino/output/servo.hpp>
#include <senseshift/body/hands/input/gesture.hpp>
#include <senseshift/input/calibration.hpp>
#include <senseshift/input/filter.hpp>
@@ -13,11 +14,16 @@
using namespace ::SenseShift::Input;
using namespace ::SenseShift::Arduino::Input;
+using namespace ::SenseShift::Arduino::Output;
using namespace ::SenseShift::Body::Hands::Input;
using namespace ::SenseShift::OpenGloves;
InputSensors input_sensors;
+#ifdef FFB_ENABLED
+OutputWriters output_writers;
+#endif
+
void setupMode()
{
#if FINGER_THUMB_SPLAY
@@ -154,19 +160,62 @@ void setupMode()
#endif
auto* communication = AutoConfig::setupTransport();
+ auto* encoding = new og::AlphaEncoder();
OpenGlovesTrackingComponent::Config tracking_config(CALIBRATION_DURATION, CALIBRATION_ALWAYS_CALIBRATE);
- auto* opengloves_tracking = new OpenGlovesTrackingComponent(tracking_config, input_sensors, communication);
+ auto* opengloves_tracking =
+ new OpenGlovesTrackingComponent(tracking_config, input_sensors, communication, encoding);
auto* opengloves_tracking_task = new ::SenseShift::FreeRTOS::ComponentUpdateTask<OpenGlovesTrackingComponent>(
opengloves_tracking,
1000 / UPDATE_RATE,
{
- .name = "OpenGlovesSensorTask",
+ .name = "OG_TRACKING",
.stackDepth = 8192,
.priority = 1,
}
);
opengloves_tracking_task->begin();
+
+#if FFB_ENABLED
+
+#if FFB_THUMB_ENABLED
+ auto* thumb_ffb_output = new ServoOutput(PIN_FFB_THUMB);
+ output_writers.ffb.thumb = thumb_ffb_output;
+#endif
+
+#if FFB_INDEX_ENABLED
+ auto* index_ffb_output = new ServoOutput(PIN_FFB_INDEX);
+ output_writers.ffb.index = index_ffb_output;
+#endif
+
+#if FFB_MIDDLE_ENABLED
+ auto* middle_ffb_output = new ServoOutput(PIN_FFB_MIDDLE);
+ output_writers.ffb.middle = middle_ffb_output;
+#endif
+
+#if FFB_RING_ENABLED
+ auto* ring_ffb_output = new ServoOutput(PIN_FFB_RING);
+ output_writers.ffb.ring = ring_ffb_output;
+#endif
+
+#if FFB_PINKY_ENABLED
+ auto* pinky_ffb_output = new ServoOutput(PIN_FFB_PINKY);
+ output_writers.ffb.pinky = pinky_ffb_output;
+#endif
+
+ auto* og_ffb = new OpenGlovesForceFeedbackComponent(output_writers, communication, encoding);
+
+ auto* og_ffb_task = new ::SenseShift::FreeRTOS::ComponentUpdateTask<OpenGlovesForceFeedbackComponent>(
+ og_ffb,
+ 1000 / UPDATE_RATE,
+ {
+ .name = "OG_FFB",
+ .stackDepth = 8192,
+ .priority = 1,
+ }
+ );
+ og_ffb_task->begin();
+#endif
}
void loopMode()
diff --git a/ini/opengloves-lucidgloves.ini b/ini/opengloves-lucidgloves.ini
index f150cfc4..1c50b00a 100644
--- a/ini/opengloves-lucidgloves.ini
+++ b/ini/opengloves-lucidgloves.ini
@@ -12,24 +12,26 @@ monitor_speed = ${opengloves.monitor_speed}
build_flags = ${opengloves.build_flags} -D OG_ENCODE_FAST
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=32
- -D PIN_FINGER_INDEX=35
- -D PIN_FINGER_MIDDLE=34
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=32
+ -D PIN_FINGER_INDEX=35
+ -D PIN_FINGER_MIDDLE=34
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
- -D PIN_JOYSTICK_X=33
- -D PIN_JOYSTICK_Y=25
- -D PIN_BUTTON_JOYSTICK=26
+ -D PIN_JOYSTICK_X=33
+ -D PIN_JOYSTICK_Y=25
+ -D PIN_BUTTON_JOYSTICK=26
- -D PIN_BUTTON_A=27
- -D PIN_BUTTON_B=14
+ -D PIN_BUTTON_A=27
+ -D PIN_BUTTON_B=14
+
+ -D CALIBRATION_ALWAYS_CALIBRATE=true
build_unflags = ${opengloves.build_unflags}
build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
+ +<mode_configs/opengloves/opengloves.cpp>
lib_deps = ${opengloves.lib_deps}
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
@@ -45,29 +47,29 @@ upload_speed = ${opengloves.upload_speed}
monitor_speed = ${opengloves.monitor_speed}
build_flags = ${opengloves.build_flags} -D OG_ENCODE_FAST
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=32
- -D PIN_FINGER_INDEX=35
- -D PIN_FINGER_MIDDLE=34
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=33
- -D PIN_JOYSTICK_Y=25
- -D PIN_BUTTON_JOYSTICK=26
-
- -D PIN_BUTTON_A=27
- -D PIN_BUTTON_B=14
- ; -D PIN_BUTTON_MENU=27
- -D PIN_BUTTON_CALIBRATE=12
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=32
+ -D PIN_FINGER_INDEX=35
+ -D PIN_FINGER_MIDDLE=34
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=33
+ -D PIN_JOYSTICK_Y=25
+ -D PIN_BUTTON_JOYSTICK=26
+
+ -D PIN_BUTTON_A=27
+ -D PIN_BUTTON_B=14
+ ; -D PIN_BUTTON_MENU=27
+ -D PIN_BUTTON_CALIBRATE=12
; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
build_unflags = ${opengloves.build_unflags}
build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
+ +<mode_configs/opengloves/opengloves.cpp>
lib_deps = ${opengloves.lib_deps}
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
@@ -83,33 +85,33 @@ upload_speed = ${opengloves.upload_speed}
monitor_speed = ${opengloves.monitor_speed}
build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=32
- -D PIN_FINGER_INDEX=35
- -D PIN_FINGER_MIDDLE=34
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=33
- -D PIN_JOYSTICK_Y=25
- -D PIN_BUTTON_JOYSTICK=26
-
- -D PIN_BUTTON_A=27
- -D PIN_BUTTON_B=14
- ; -D PIN_BUTTON_MENU=27
- -D PIN_BUTTON_CALIBRATE=12
- ; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
- -D PIN_FFB_THUMB=17
- -D PIN_FFB_INDEX=21
- -D PIN_FFB_MIDDLE=19
- -D PIN_FFB_RING=18
- -D PIN_FFB_PINKY=5
+ ; Pins configuration
+ ; Comment out to disable
+ -D PIN_FINGER_THUMB=32
+ -D PIN_FINGER_INDEX=35
+ -D PIN_FINGER_MIDDLE=34
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=33
+ -D PIN_JOYSTICK_Y=25
+ -D PIN_BUTTON_JOYSTICK=26
+
+ -D PIN_BUTTON_A=27
+ -D PIN_BUTTON_B=14
+ ; -D PIN_BUTTON_MENU=27
+ -D PIN_BUTTON_CALIBRATE=12
+ ; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+ -D PIN_FFB_THUMB=17
+ -D PIN_FFB_INDEX=21
+ -D PIN_FFB_MIDDLE=19
+ -D PIN_FFB_RING=18
+ -D PIN_FFB_PINKY=5
build_unflags = ${opengloves.build_unflags}
build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
+ +<mode_configs/opengloves/opengloves.cpp>
lib_deps = ${opengloves.lib_deps}
diff --git a/ini/opengloves.ini b/ini/opengloves.ini
index b7bb70cc..12819792 100644
--- a/ini/opengloves.ini
+++ b/ini/opengloves.ini
@@ -1,60 +1,60 @@
[opengloves]
-platform = platformio/espressif32@^6.1.0
-platform_packages =
- platformio/framework-arduinoespressif32@^3.20007.0
-framework = arduino
-board = esp32doit-devkit-v1
-upload_speed = 921600
-monitor_speed = 115200
-
-build_flags = ${common.build_flags}
- -D OPENGLOVES
-
- ; Communication
- ; -D OPENGLOVES_COMMUNCATION=OPENGLOVES_COMM_SERIAL ; OPENGLOVES_COMM_SERIAL, OPENGLOVES_COMM_BTSERIAL, OPENGLOVES_COMM_BLESERIAL
- ; Serial
- -D SERIAL_BAUDRATE=115200
- -D SERIAL_PORT=Serial ; Serial, Serial1, Serial2, Serial3
- ; BTSerial
- '-D BTSERIAL_PREFIX="SenseShift_OG"'
- ; '-D BTSERIAL_NAME="SenseShift_OG_Left"'
-
- ; Sensors
- -D FINGER_THUMB_INVERT=false
- -D FINGER_INDEX_INVERT=false
- -D FINGER_MIDDLE_INVERT=false
- -D FINGER_RING_INVERT=false
- -D FINGER_PINKY_INVERT=false
-
- -D FINGER_THUMB_SPLAY_INVERT=false
- -D FINGER_INDEX_SPLAY_INVERT=false
- -D FINGER_MIDDLE_SPLAY_INVERT=false
- -D FINGER_RING_SPLAY_INVERT=false
- -D FINGER_PINKY_SPLAY_INVERT=false
-
- -D JOYSTICK_X_INVERT=false
- -D JOYSTICK_Y_INVERT=false
- -D JOYSTICK_DEADZONE=0.1
- -D BUTTON_JOYSTICK_INVERT=false
-
- -D BUTTON_A_INVERT=false
- -D BUTTON_B_INVERT=false
- -D BUTTON_MENU_INVERT=false
- -D BUTTON_CALIBRATE_INVERT=false
- -D BUTTON_TRIGGER_INVERT=false
- -D BUTTON_GRAB_INVERT=false
- -D BUTTON_PINCH_INVERT=false
-
- -D GESTURE_TRIGGER_ENABLED=true
- -D GESTURE_GRAB_ENABLED=true
- -D GESTURE_PINCH_ENABLED=true
-
- ; Calibration
- -D CALIBRATION_ALWAYS_CALIBRATE=true
- -D CALIBRATION_DURATION=2000 ; in ms
-
- -D UPDATE_RATE=90 ; sensors update rate in Hz
-
-build_unflags = ${common.build_unflags}
-build_src_filter = ${common.build_src_filter}
-lib_deps = ${common.lib_deps}
+platform = platformio/espressif32@^6.1.0
+platform_packages =
+ platformio/framework-arduinoespressif32@^3.20014.231204
+framework = arduino
+board = esp32doit-devkit-v1
+upload_speed = 921600
+monitor_speed = 115200
+
+build_flags = ${common.build_flags}
+ -D OPENGLOVES
+
+ ; Communication
+ ; -D OPENGLOVES_COMMUNICATION=OPENGLOVES_COMM_BLESERIAL ; OPENGLOVES_COMM_SERIAL, OPENGLOVES_COMM_BTSERIAL, OPENGLOVES_COMM_BLESERIAL
+ ; Serial
+ -D SERIAL_BAUDRATE=115200
+ -D SERIAL_PORT=Serial ; Serial, Serial1, Serial2, Serial3
+ ; BTSerial
+ '-D BTSERIAL_PREFIX="SenseShift_OG"'
+ ; '-D BTSERIAL_NAME="SenseShift_OG_Left"'
+
+ ; Sensors
+ -D FINGER_THUMB_INVERT=false
+ -D FINGER_INDEX_INVERT=false
+ -D FINGER_MIDDLE_INVERT=false
+ -D FINGER_RING_INVERT=false
+ -D FINGER_PINKY_INVERT=false
+
+ -D FINGER_THUMB_SPLAY_INVERT=false
+ -D FINGER_INDEX_SPLAY_INVERT=false
+ -D FINGER_MIDDLE_SPLAY_INVERT=false
+ -D FINGER_RING_SPLAY_INVERT=false
+ -D FINGER_PINKY_SPLAY_INVERT=false
+
+ -D JOYSTICK_X_INVERT=false
+ -D JOYSTICK_Y_INVERT=false
+ -D JOYSTICK_DEADZONE=0.1
+ -D BUTTON_JOYSTICK_INVERT=false
+
+ -D BUTTON_A_INVERT=false
+ -D BUTTON_B_INVERT=false
+ -D BUTTON_MENU_INVERT=false
+ -D BUTTON_CALIBRATE_INVERT=false
+ -D BUTTON_TRIGGER_INVERT=false
+ -D BUTTON_GRAB_INVERT=false
+ -D BUTTON_PINCH_INVERT=false
+
+ -D GESTURE_TRIGGER_ENABLED=true
+ -D GESTURE_GRAB_ENABLED=true
+ -D GESTURE_PINCH_ENABLED=true
+
+ ; Calibration
+ -D CALIBRATION_ALWAYS_CALIBRATE=false
+ -D CALIBRATION_DURATION=2000 ; in ms
+
+ -D UPDATE_RATE=90 ; sensors update rate in Hz
+
+build_unflags = ${common.build_unflags}
+build_src_filter = ${common.build_src_filter}
+lib_deps = ${common.lib_deps}
diff --git a/lib/arduino/library.json b/lib/arduino/library.json
index 8434426d..b906817b 100644
--- a/lib/arduino/library.json
+++ b/lib/arduino/library.json
@@ -1,12 +1,13 @@
{
- "$schema": "https://raw.githubusercontent.com/platformio/platformio-core/develop/platformio/assets/schema/library.json",
- "frameworks": "arduino",
- "platforms": "*",
- "dependencies": {
- "adafruit/Adafruit BusIO": "^1.14.1",
- "adafruit/Adafruit Unified Sensor": "^1.1.4",
- "adafruit/Adafruit PWM Servo Driver Library": "^2.4.0",
- "adafruit/Adafruit INA219": "^1.2.1",
- "sparkfun/SparkFun MAX1704x Fuel Gauge Arduino Library": "^1.0.4"
- }
+ "$schema": "https://raw.githubusercontent.com/platformio/platformio-core/develop/platformio/assets/schema/library.json",
+ "frameworks": "arduino",
+ "platforms": "*",
+ "dependencies": {
+ "adafruit/Adafruit BusIO": "^1.14.1",
+ "adafruit/Adafruit Unified Sensor": "^1.1.4",
+ "adafruit/Adafruit PWM Servo Driver Library": "^2.4.0",
+ "adafruit/Adafruit INA219": "^1.2.1",
+ "sparkfun/SparkFun MAX1704x Fuel Gauge Arduino Library": "^1.0.4",
+ "madhephaestus/ESP32Servo": "^1.1.2"
+ }
}
diff --git a/lib/arduino/senseshift/arduino/output/servo.hpp b/lib/arduino/senseshift/arduino/output/servo.hpp
new file mode 100644
index 00000000..81f238eb
--- /dev/null
+++ b/lib/arduino/senseshift/arduino/output/servo.hpp
@@ -0,0 +1,31 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+
+#ifdef ESP32
+#include <ESP32Servo.h>
+#else
+#include <Servo.h>
+#endif
+
+#include <senseshift/output/output.hpp>
+
+namespace SenseShift::Arduino::Output {
+ class ServoOutput : public ::SenseShift::Output::IFloatOutput {
+ public:
+ ServoOutput(size_t pin) : pin_(pin){};
+
+ void init() override { this->servo_.attach(this->pin_); }
+
+ void writeState(const ValueType value) override
+ {
+ const auto duty = static_cast<std::uint16_t>(value * 180);
+ this->servo_.write(duty);
+ }
+
+ private:
+ Servo servo_;
+ size_t pin_;
+ };
+} // namespace SenseShift::Arduino::Output
\ No newline at end of file
diff --git a/lib/freertos/senseshift/freertos/input/sensor.hpp b/lib/freertos/senseshift/freertos/input/sensor.hpp
deleted file mode 100644
index 2a31d67d..00000000
--- a/lib/freertos/senseshift/freertos/input/sensor.hpp
+++ /dev/null
@@ -1,10 +0,0 @@
-#pragma once
-
-#include <senseshift/freertos/task.hpp>
-#include <senseshift/input/sensor.hpp>
-
-#include <cstdint>
-
-namespace SenseShift::FreeRTOS::Input {
-
-} // namespace SenseShift::FreeRTOS::Input
diff --git a/lib/hands/senseshift/body/hands/hands_interface.hpp b/lib/hands/senseshift/body/hands/hands_interface.hpp
index a8887906..cee4877e 100644
--- a/lib/hands/senseshift/body/hands/hands_interface.hpp
+++ b/lib/hands/senseshift/body/hands/hands_interface.hpp
@@ -4,23 +4,21 @@
#include <cstdint>
-namespace SenseShift::Body {
- namespace Hands {
- using HandLateralityIndex = std::uint8_t;
- enum class HandSide : HandLateralityIndex { Left, Right };
- using FingerIndex = std::uint8_t;
- enum class Finger : FingerIndex {
- Thumb,
- Index,
- Middle,
- Ring,
- Little,
- };
+namespace SenseShift::Body::Hands {
+ using HandLateralityIndex = std::uint8_t;
+ enum class HandSide : HandLateralityIndex { Left, Right };
+ using FingerIndex = std::uint8_t;
+ enum class Finger : FingerIndex {
+ Thumb,
+ Index,
+ Middle,
+ Ring,
+ Little,
+ };
- namespace Haptics {
- /// @brief Helper with position of the haptic device on the fingertip.
- /// Distal phalanx of the volar surface of the any finger.
- static constexpr const ::SenseShift::Body::Haptics::Position FINGERTIP_POSITION(127, 16);
- } // namespace Haptics
- } // namespace Hands
-} // namespace SenseShift::Body
+ namespace Haptics {
+ /// @brief Helper with position of the haptic device on the fingertip.
+ /// Distal phalanx of the volar surface of the any finger.
+ static constexpr const ::SenseShift::Body::Haptics::Position FINGERTIP_POSITION(127, 16);
+ } // namespace Haptics
+} // namespace SenseShift::Body::Hands
diff --git a/lib/opengloves/opengloves/opengloves.cpp b/lib/opengloves/opengloves/opengloves.cpp
index b454efd4..8f3f0c45 100644
--- a/lib/opengloves/opengloves/opengloves.cpp
+++ b/lib/opengloves/opengloves/opengloves.cpp
@@ -10,7 +10,7 @@
namespace og {
#ifdef OG_ENCODE_FASTER
- inline auto ifloor(float x) -> int
+ inline auto ifloor(float d) -> int
{
union Cast {
double d;
@@ -176,27 +176,32 @@ namespace og {
// We assume all commands are for ffb, if there is any ffb command
const auto& thumb_curl = commands.find("A");
- if (thumb_curl != commands.end()) {
+ const auto& index_curl = commands.find("B");
+ const auto& middle_curl = commands.find("C");
+ const auto& ring_curl = commands.find("D");
+ const auto& pinky_curl = commands.find("E");
+
+ if (thumb_curl != commands.end() || index_curl != commands.end() || middle_curl != commands.end() ||
+ ring_curl != commands.end() || pinky_curl != commands.end()
+ ) {
OutputForceFeedbackData ffb{};
- ffb.thumb = std::stof(thumb_curl->second) / MAX_ANALOG_VALUE;
+ if (thumb_curl != commands.end()) {
+ ffb.thumb = std::stof(thumb_curl->second) / MAX_ANALOG_VALUE;
+ }
- const auto& index_curl = commands.find("B");
if (index_curl != commands.end()) {
ffb.index = std::stof(index_curl->second) / MAX_ANALOG_VALUE;
}
- const auto& middle_curl = commands.find("C");
if (middle_curl != commands.end()) {
ffb.middle = std::stof(middle_curl->second) / MAX_ANALOG_VALUE;
}
- const auto& ring_curl = commands.find("D");
if (ring_curl != commands.end()) {
ffb.ring = std::stof(ring_curl->second) / MAX_ANALOG_VALUE;
}
- const auto& pinky_curl = commands.find("E");
if (pinky_curl != commands.end()) {
ffb.pinky = std::stof(pinky_curl->second) / MAX_ANALOG_VALUE;
}
diff --git a/lib/opengloves/opengloves/opengloves.hpp b/lib/opengloves/opengloves/opengloves.hpp
index 5bd4266f..2d9fd3b4 100644
--- a/lib/opengloves/opengloves/opengloves.hpp
+++ b/lib/opengloves/opengloves/opengloves.hpp
@@ -114,7 +114,10 @@ namespace og {
InputJoystick<Tf, Tb> joystick;
union {
- std::array<InputButton<Tb>, 5> buttons;
+ /// Buttons as array.
+ /// <b>MUST</b> be the same length as the struct below
+ std::array<InputButton<Tb>, 5> buttons; // NOLINT(*-magic-numbers) We keep it here for clarity
+
struct {
InputButton<Tb> button_a;
InputButton<Tb> button_b;
diff --git a/lib/opengloves/senseshift/opengloves/autoconfig.hpp b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
index 4f114d03..a2e452b0 100644
--- a/lib/opengloves/senseshift/opengloves/autoconfig.hpp
+++ b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
@@ -1,5 +1,6 @@
#pragma once
+#include <senseshift/opengloves/constants.hpp>
#include <senseshift/opengloves/opengloves.hpp>
#ifdef ARDUINO
@@ -8,8 +9,8 @@
#pragma region Communication
-#ifndef OPENGLOVES_COMMUNCATION
-#define OPENGLOVES_COMMUNCATION OPENGLOVES_COMM_SERIAL
+#ifndef OPENGLOVES_COMMUNICATION
+#define OPENGLOVES_COMMUNICATION OPENGLOVES_COMM_SERIAL
#endif
#ifndef SERIAL_PORT
@@ -182,14 +183,14 @@ namespace SenseShift::OpenGloves::AutoConfig {
/**
* Setup the transport for the OpenGloves interface.
*/
- [[nodiscard]] ITransport* setupTransport(void)
+ [[nodiscard]] auto setupTransport() -> ITransport*
{
-#if OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_SERIAL // Serial
+#if OPENGLOVES_COMMUNICATION == OPENGLOVES_COMM_SERIAL // Serial
auto* pSerial = &SERIAL_PORT;
pSerial->begin(SERIAL_BAUDRATE);
return new StreamTransport(pSerial);
-#elif (OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BTSERIAL) \
- || (OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BLESERIAL) // Bluetooth Serial
+#elif (OPENGLOVES_COMMUNICATION == OPENGLOVES_COMM_BTSERIAL) \
+ || (OPENGLOVES_COMMUNICATION == OPENGLOVES_COMM_BLESERIAL) // Bluetooth Serial
std::string name;
#ifdef BTSERIAL_NAME
name = BTSERIAL_NAME;
@@ -201,11 +202,11 @@ namespace SenseShift::OpenGloves::AutoConfig {
log_i("Generated Bluetooth name: %s", name.c_str());
#endif
-#if OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BTSERIAL // Bluetooth Classic
+#if OPENGLOVES_COMMUNICATION == OPENGLOVES_COMM_BTSERIAL // Bluetooth Classic
BluetoothSerial* pBtSerial = new BluetoothSerial();
pBtSerial->begin(name.c_str());
return new BluetoothSerialTransport(*pBtSerial);
-#elif OPENGLOVES_COMMUNCATION == OPENGLOVES_COMM_BLESERIAL // Bluetooth Low Energy
+#elif OPENGLOVES_COMMUNICATION == OPENGLOVES_COMM_BLESERIAL // Bluetooth Low Energy
BLESerial* pBleSerial = new BLESerial();
pBleSerial->begin(name.c_str());
return new BLESerialTransport(*pBleSerial);
diff --git a/lib/opengloves/senseshift/opengloves/constants.hpp b/lib/opengloves/senseshift/opengloves/constants.hpp
index df163940..b9de70c9 100644
--- a/lib/opengloves/senseshift/opengloves/constants.hpp
+++ b/lib/opengloves/senseshift/opengloves/constants.hpp
@@ -2,6 +2,6 @@
#define OPENGLOVES_FINGERS_TASK_PRIORITY 1
-#define OPENGLOVES_COMM_SERIAL 0x1
-#define OPENGLOVES_COMM_BTSERIAL 0x2
-#define OPENGLOVES_COMM_BLESERIAL 0x3
+#define OPENGLOVES_COMM_SERIAL 1
+#define OPENGLOVES_COMM_BTSERIAL 2
+#define OPENGLOVES_COMM_BLESERIAL 3
diff --git a/lib/opengloves/senseshift/opengloves/opengloves.hpp b/lib/opengloves/senseshift/opengloves/opengloves.hpp
index 0b2d6832..cd4cbd0e 100644
--- a/lib/opengloves/senseshift/opengloves/opengloves.hpp
+++ b/lib/opengloves/senseshift/opengloves/opengloves.hpp
@@ -1,13 +1,16 @@
#pragma once
#include <cstddef>
-#include <cstdint>
-#include <map>
-#include <optional>
-#include <string>
+#include <set>
+#include <variant>
+#include <vector>
#include <opengloves/opengloves.hpp>
+#include <senseshift/core/component.hpp>
+#include <senseshift/input/sensor.hpp>
+#include <senseshift/output/output.hpp>
+
namespace SenseShift::OpenGloves {
class ITransport : public IInitializable {
public:
@@ -19,18 +22,27 @@ namespace SenseShift::OpenGloves {
using FloatSensor = ::SenseShift::Input::FloatSensor;
using BinarySensor = ::SenseShift::Input::BinarySensor;
- class InputSensors : public og::InputPeripheral<FloatSensor*, BinarySensor*>, public Component {
+ class InputSensors :
+ public og::InputPeripheral<FloatSensor*, BinarySensor*>,
+ public Component,
+ public ::SenseShift::Input::Calibration::ICalibrated {
public:
void init() override
{
for (auto& finger_curl : this->curl.fingers) {
for (auto& joint_sensor : finger_curl.curl) {
- SS_INIT_NOT_NULL(joint_sensor);
+ if (joint_sensor != nullptr) {
+ joint_sensor->init();
+ this->calibrated_inputs_.insert(joint_sensor);
+ }
}
}
for (auto& finger_splay : this->splay.fingers) {
- SS_INIT_NOT_NULL(finger_splay);
+ if (finger_splay != nullptr) {
+ finger_splay->init();
+ this->calibrated_inputs_.insert(finger_splay);
+ }
}
SS_INIT_NOT_NULL(this->joystick.x);
@@ -124,5 +136,58 @@ namespace SenseShift::OpenGloves {
return data;
}
+
+ void reselCalibration() override
+ {
+ for (const auto& calibrated_input : this->calibrated_inputs_) {
+ calibrated_input->reselCalibration();
+ }
+ }
+
+ void startCalibration() override
+ {
+ for (const auto& calibrated_input : this->calibrated_inputs_) {
+ calibrated_input->startCalibration();
+ }
+ }
+
+ void stopCalibration() override
+ {
+ for (const auto& calibrated_input : this->calibrated_inputs_) {
+ calibrated_input->stopCalibration();
+ }
+ }
+
+ private:
+ std::set<FloatSensor*> calibrated_inputs_{};
+ };
+
+ using FloatOutput = ::SenseShift::Output::IFloatOutput;
+
+ class OutputWriters : public IInitializable {
+ public:
+ og::OutputForceFeedback<FloatOutput*, void*> ffb;
+
+ void init() override
+ {
+ for (auto& finger : this->ffb.fingers) {
+ if (finger != nullptr) {
+ finger->init();
+ }
+ }
+ }
+
+ void apply(const og::OutputData& data)
+ {
+ if (std::holds_alternative<og::OutputForceFeedbackData>(data)) {
+ const auto& ffb_data = std::get<og::OutputForceFeedbackData>(data);
+ for (auto i = 0; i < this->ffb.fingers.size(); i++) {
+ auto* finger = this->ffb.fingers[i];
+ if (finger != nullptr) {
+ finger->writeState(ffb_data.fingers[i]);
+ }
+ }
+ }
+ }
};
} // namespace SenseShift::OpenGloves
diff --git a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
index d233c44a..12d413e2 100644
--- a/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
+++ b/lib/opengloves_arduino/senseshift/opengloves/transport/stream.hpp
@@ -1,5 +1,7 @@
#pragma once
+#include <array>
+
#include <senseshift/buffer.hpp>
#include <BLESerial.hpp>
@@ -14,12 +16,12 @@ namespace SenseShift::OpenGloves {
class IStreamTransport : public ITransport {
protected:
Stream* channel;
- char* buffer = new char[256];
+ std::array<char, 256> buffer_{};
public:
IStreamTransport(Stream* channel) : channel(channel){};
- size_t send(const char* buffer, size_t length) override
+ auto send(const char* buffer, size_t length) -> size_t override
{
if (!this->isReady()) {
return 0;
@@ -31,17 +33,17 @@ namespace SenseShift::OpenGloves {
return written;
}
- virtual bool isReady() = 0;
+ virtual auto isReady() -> bool = 0;
- virtual bool hasData() override
+ auto hasData() -> bool override
{
return this->isReady() && this->channel != nullptr && this->channel->available() > 0;
}
- virtual size_t read(char* buffer, size_t length)
+ auto read(char* buffer, size_t length) -> size_t override
{
if (!this->hasData()) {
- return false;
+ return 0U;
}
size_t bytesRead = this->channel->readBytesUntil('\n', buffer, length);
@@ -53,12 +55,12 @@ namespace SenseShift::OpenGloves {
class StreamTransport : public IStreamTransport {
public:
- StreamTransport(Stream& channel) : IStreamTransport(&channel){};
- StreamTransport(Stream* channel) : IStreamTransport(channel){};
+ explicit StreamTransport(Stream& channel) : IStreamTransport(&channel){};
+ explicit StreamTransport(Stream* channel) : IStreamTransport(channel){};
void init() override { this->mReady = true; }
- bool isReady() override { return this->channel != nullptr && this->mReady; }
+ auto isReady() -> bool override { return this->channel != nullptr && this->mReady; }
private:
bool mReady = false;
@@ -66,9 +68,9 @@ namespace SenseShift::OpenGloves {
class BluetoothSerialTransport : public IStreamTransport {
public:
- BluetoothSerialTransport(BluetoothSerial& channel) : IStreamTransport(&channel){};
+ explicit BluetoothSerialTransport(BluetoothSerial& channel) : IStreamTransport(&channel){};
- bool isReady() override
+ auto isReady() -> bool override
{
auto* serial = static_cast<BluetoothSerial*>(this->channel);
return serial->isReady() && serial->hasClient();
@@ -76,7 +78,7 @@ namespace SenseShift::OpenGloves {
void init() override {}
- virtual size_t send(const char* buffer, size_t length) override
+ auto send(const char* buffer, size_t length) -> size_t override
{
auto written = this->channel->write(buffer, length);
@@ -89,11 +91,11 @@ namespace SenseShift::OpenGloves {
class BLESerialTransport : public IStreamTransport {
public:
- BLESerialTransport(BLESerial& channel) : IStreamTransport(&channel){};
+ explicit BLESerialTransport(BLESerial& channel) : IStreamTransport(&channel){};
void init() override {}
- bool isReady() override
+ auto isReady() -> bool override
{
auto* serial = static_cast<BLESerial*>(this->channel);
return serial->connected();
@@ -108,7 +110,7 @@ namespace SenseShift::OpenGloves {
{
auto* client = static_cast<WiFiClient*>(this->channel);
if (client != nullptr) {
- if (client->connected()) {
+ if (client->connected() != 0U) {
return;
}
}
@@ -117,14 +119,14 @@ namespace SenseShift::OpenGloves {
this->channel = new WiFiClient(this->m_server.available());
}
- bool isReady() override
+ auto isReady() -> bool override
{
if (this->channel == nullptr) {
return false;
}
auto* client = static_cast<WiFiClient*>(this->channel);
- return client->connected();
+ return client->connected() != 0U;
}
private:
diff --git a/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp b/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp
index b2e6a4cf..f8509f3d 100644
--- a/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp
+++ b/lib/opengloves_freertos/senseshift/opengloves/opengloves_task.hpp
@@ -17,11 +17,6 @@
#include <utility>
#include <vector>
-#define SS_ADD_CALIBRATOR_NOT_NULL(PTR, STORAGE) \
- if ((PTR) != nullptr) { \
- STORAGE.push_back(PTR); \
- }
-
namespace SenseShift::OpenGloves {
class OpenGlovesTrackingComponent : public SenseShift::Component {
public:
@@ -39,33 +34,14 @@ namespace SenseShift::OpenGloves {
}
};
- OpenGlovesTrackingComponent(Config& config, InputSensors& input_sensors, ITransport* communication) :
- config_(config), input_sensors_(std::move(input_sensors)), communication_(communication)
+ OpenGlovesTrackingComponent(
+ Config& config,
+ InputSensors& input_sensors,
+ ITransport* communication,
+ og::IEncoder* encoder = new og::AlphaEncoder()
+ ) :
+ config_(config), input_sensors_(std::move(input_sensors)), communication_(communication), encoder_(encoder)
{
- this->encoder_ = new og::AlphaEncoder();
-
- for (auto& finger_curl : this->input_sensors_.curl.fingers) {
- for (auto& joint_sensor : finger_curl.curl) {
- SS_ADD_CALIBRATOR_NOT_NULL(joint_sensor, this->calibrated_inputs_);
- }
- }
-
- for (auto& finger_splay : this->input_sensors_.splay.fingers) {
- SS_ADD_CALIBRATOR_NOT_NULL(finger_splay, this->calibrated_inputs_);
- }
-
- SS_ADD_CALIBRATOR_NOT_NULL(this->input_sensors_.joystick.x, this->calibrated_inputs_);
- SS_ADD_CALIBRATOR_NOT_NULL(this->input_sensors_.joystick.y, this->calibrated_inputs_);
- SS_ADD_CALIBRATOR_NOT_NULL(this->input_sensors_.joystick.press, this->calibrated_inputs_);
-
- for (auto& button : this->input_sensors_.buttons) {
- SS_ADD_CALIBRATOR_NOT_NULL(button.press, this->calibrated_inputs_);
- }
-
- for (auto& analog_button : this->input_sensors_.analog_buttons) {
- SS_ADD_CALIBRATOR_NOT_NULL(analog_button.press, this->calibrated_inputs_);
- SS_ADD_CALIBRATOR_NOT_NULL(analog_button.value, this->calibrated_inputs_);
- }
}
void init() override
@@ -81,39 +57,47 @@ namespace SenseShift::OpenGloves {
void tick() override
{
- // const auto start = millis();
+ // const auto start = micros();
- // auto now = millis();
+ // auto now = micros();
this->input_sensors_.tick();
- // const auto tickTime = millis() - now;
+ // const auto tickTime = micros() - now;
- // now = millis();
+ // now = micros();
const auto data = this->input_sensors_.collectData();
- // const auto collectTime = millis() - now;
+ // const auto collectTime = micros() - now;
- if (data.button_calibrate.press) {
+ bool const calibrate_pressed = data.button_calibrate.press;
+ if (calibrate_pressed && this->calibration_start_time_ == 0) {
this->startCalibration();
}
- // now = millis();
+ // now = micros();
const auto length = this->encoder_->encode_input(data, buffer.data(), buffer.size());
- // const auto encodeTime = millis() - now;
+ // const auto encodeTime = micros() - now;
- // now = millis();
+ // now = micros();
this->communication_->send(buffer.data(), length);
- // const auto sendTime = millis() - now;
+ // const auto sendTime = micros() - now;
+
+ if (!this->config_.always_calibrate_ && this->calibration_start_time_ != 0) {
+ const auto calibration_elapsed = millis() - this->calibration_start_time_;
+ const bool calibration_done = calibration_elapsed >= this->config_.calibration_duration_ms_;
- if (!this->config_.always_calibrate_ && (millis() - this->calibration_start_time_) > this->config_.calibration_duration_ms_) {
- this->stopCalibration();
+ if (calibration_done) {
+ this->stopCalibration();
+ }
}
- // log_d(
- // "total: %d, tick: %d, collect: %d, encode: %d, send: %d",
- // millis() - start,
+ // const auto total = micros() - start;
+ // log_i(
+ // "total: %d, tick: %d, collect: %d, encode: %d, send: %d, c/s: %.2f",
+ // total,
// tickTime,
// collectTime,
// encodeTime,
- // sendTime
+ // sendTime,
+ // 1000000.0 / total
// );
}
@@ -121,26 +105,22 @@ namespace SenseShift::OpenGloves {
void startCalibration()
{
log_i("Starting calibration");
- for (auto& calibrated_input : this->calibrated_inputs_) {
- calibrated_input->reselCalibration();
- calibrated_input->startCalibration();
- }
+ this->input_sensors_.reselCalibration();
+ this->input_sensors_.startCalibration();
this->calibration_start_time_ = millis();
}
void stopCalibration()
{
log_i("Stopping calibration");
- for (auto& calibrated_input : this->calibrated_inputs_) {
- calibrated_input->stopCalibration();
- }
+ this->input_sensors_.stopCalibration();
+ this->calibration_start_time_ = 0;
}
private:
- std::array<char, 256> buffer;
+ std::array<char, 256> buffer = {};
- unsigned long long calibration_start_time_;
- std::vector<::SenseShift::Input::Calibration::ICalibrated*> calibrated_inputs_;
+ unsigned long long calibration_start_time_ = 0;
Config& config_;
InputSensors input_sensors_;
@@ -148,124 +128,36 @@ namespace SenseShift::OpenGloves {
og::IEncoder* encoder_;
};
- // class OpenGlovesForceFeedbackTask : public SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask> {
- // friend class SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask>;
- //
- // public:
- // OpenGlovesForceFeedbackTask(
- // ::SenseShift::OpenGloves::ITransport& communication,
- // HandActuators& actuators,
- // size_t updateRate,
- // SenseShift::FreeRTOS::TaskConfig taskConfig
- // ) :
- // communication(communication),
- // actuators(actuators),
- // SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask>(taskConfig)
- // {
- // this->updateIntervalMs = 1000 / updateRate;
- // };
- //
- // void begin() override
- // {
- // log_d("Starting OpenGloves force feedback task: %p", this);
- // this->setup();
- // this->SenseShift::FreeRTOS::Task<OpenGlovesForceFeedbackTask>::begin();
- // };
- //
- // private:
- // ::SenseShift::OpenGloves::ITransport& communication;
- // HandActuators& actuators;
- // size_t updateIntervalMs;
- // ::SenseShift::OpenGloves::AlphaEncodingService encodingService =
- // ::SenseShift::OpenGloves::AlphaEncodingService();
- //
- // void setup()
- // {
- // log_d("Setting up OpenGloves force feedback task: %p", this);
- // this->communication.setup();
- //
- // if (this->actuators.thumb.has_value()) {
- // this->actuators.thumb.value()->setup();
- // }
- //
- // if (this->actuators.index.has_value()) {
- // this->actuators.index.value()->setup();
- // }
- //
- // if (this->actuators.middle.has_value()) {
- // this->actuators.middle.value()->setup();
- // }
- //
- // if (this->actuators.ring.has_value()) {
- // this->actuators.ring.value()->setup();
- // }
- //
- // if (this->actuators.pinky.has_value()) {
- // this->actuators.pinky.value()->setup();
- // }
- // }
- //
- // void run()
- // {
- // char commandBuffer[256];
- // std::string command;
- // while (true) {
- // auto now = millis();
- //
- // if (this->communication.hasData()) {
- // auto bytesRead = this->communication.read(commandBuffer, sizeof(commandBuffer));
- // if (bytesRead == 0) {
- // continue;
- // }
- //
- // std::map<::OpenGloves::Command, uint16_t> commands = {};
- // this->encodingService.deserialize(commandBuffer, bytesRead, commands);
- //
- // for (auto& [command, value] : commands) {
- // this->handleCommand(command, value);
- // }
- // }
- //
- // // Delay until the next update.
- // auto elapsed = millis() - now;
- // if (elapsed < this->updateIntervalMs) {
- // delay(this->updateIntervalMs - elapsed);
- // }
- // }
- // }
- //
- // void handleCommand(Command command, uint16_t value)
- // {
- // switch (command) {
- // case Command::ThumbCurl:
- // if (this->actuators.thumb.has_value()) {
- // this->actuators.thumb.value()->writeOutput(value);
- // }
- // break;
- // case Command::IndexCurl:
- // if (this->actuators.index.has_value()) {
- // this->actuators.index.value()->writeOutput(value);
- // }
- // break;
- // case Command::MiddleCurl:
- // if (this->actuators.middle.has_value()) {
- // this->actuators.middle.value()->writeOutput(value);
- // }
- // break;
- // case Command::RingCurl:
- // if (this->actuators.ring.has_value()) {
- // this->actuators.ring.value()->writeOutput(value);
- // }
- // break;
- // case Command::PinkyCurl:
- // if (this->actuators.pinky.has_value()) {
- // this->actuators.pinky.value()->writeOutput(value);
- // }
- // break;
- // default:
- // log_w("Unhandled command: %d", command);
- // break;
- // }
- // }
- // };
+ class OpenGlovesForceFeedbackComponent : public SenseShift::Component {
+ public:
+ OpenGlovesForceFeedbackComponent(
+ OutputWriters& output_writers,
+ ::SenseShift::OpenGloves::ITransport* communication,
+ og::IEncoder* encoder = new og::AlphaEncoder()
+ ) :
+ output_writers_(output_writers), communication_(communication), encoder_(encoder){};
+
+ void init() override
+ {
+ log_d("Setting up OpenGloves force feedback task: %p", this);
+ this->communication_->init();
+ this->output_writers_.init();
+ }
+
+ void tick() override
+ {
+ if (this->communication_->hasData()) {
+ const auto length = this->communication_->read(this->buffer.data(), this->buffer.size());
+ const auto output = this->encoder_->decode_output(this->buffer.data(), length);
+ this->output_writers_.apply(output);
+ }
+ }
+
+ private:
+ std::array<char, 256> buffer = {};
+
+ OutputWriters output_writers_;
+ ::SenseShift::OpenGloves::ITransport* communication_;
+ og::IEncoder* encoder_;
+ };
} // namespace SenseShift::OpenGloves
diff --git a/platformio.ini b/platformio.ini
index 2b718462..ea55d804 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -9,58 +9,58 @@
; https://docs.platformio.org/page/projectconf.html
[platformio]
-description = Open Source Haptic-feedback device firmware
-lib_dir = ./lib
-src_dir = ./firmware
+description = Open Source Haptic-feedback device firmware
+lib_dir = ./lib
+src_dir = ./firmware
extra_configs =
- ini/bhaptics.ini
+ ini/bhaptics.ini
ini/opengloves.ini
ini/opengloves-lucidgloves.ini
ini/opengloves-indexer.ini
-default_envs = bhaptics_tactsuit_x16, bhaptics_tactal, bhaptics_tactglove_left, lucidgloves-prototype3
+default_envs = bhaptics_tactsuit_x16, bhaptics_tactal, bhaptics_tactglove_left, lucidgloves-prototype3
[common]
-build_unflags =
+build_unflags =
-std=gnu++11
-build_flags =
+build_flags =
-std=gnu++17
-D __OH_FIRMWARE__
-D CORE_DEBUG_LEVEL=3
; -D DEBUG_MODE=0
; -D DEBUG_ESP_PORT=Serial
; -D SENSESHIFT_SERIAL_PLOTTER=true
- -D SENSESHIFT_BATTERY_ENABLED=true
+; -D SENSESHIFT_BATTERY_ENABLED=true
; -D SENSESHIFT_BLE_USE_NIMBLE=true
-build_src_filter =
+build_src_filter =
+<*>
-<mode_configs>
-lib_deps =
+lib_deps =
[env]
-build_flags = ${common.build_flags}
-build_unflags = ${common.build_unflags}
+build_flags = ${common.build_flags}
+build_unflags = ${common.build_unflags}
build_src_filter = ${common.build_src_filter}
-lib_deps = ${common.lib_deps}
-lib_ldf_mode = deep+
+lib_deps = ${common.lib_deps}
+lib_ldf_mode = deep+
-check_tool = clangtidy
+check_tool = clangtidy
check_flags =
clangtidy: --config-file=./.clang-tidy --fix
debug_build_flags = -Os
[env:native]
-platform = native
+platform = native
-build_unflags = ${common.build_unflags}
-build_flags = ${common.build_flags}
- -lgcov
- --coverage
+build_unflags = ${common.build_unflags}
+build_flags = ${common.build_flags}
+ -lgcov
+ --coverage
build_src_filter = ${common.build_src_filter}
- +<mode_configs/test.cpp>
-lib_deps = ${common.lib_deps}
- fabiobatsilva/ArduinoFake@^0.4
+ +<mode_configs/test.cpp>
+lib_deps = ${common.lib_deps}
+ fabiobatsilva/ArduinoFake@^0.4
-test_ignore = test_embedded
+test_ignore = test_embedded
From dbf35e25094344c14f5b14a76387a8f5afe51de3 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 18 Feb 2024 13:45:55 +0400
Subject: [PATCH 69/82] fix(BLE Serial): fix sending duplicate strings
---
ini/bhaptics.ini | 418 +++++++++++++++++------------------
lib/ble_serial/BLESerial.hpp | 4 +-
2 files changed, 211 insertions(+), 211 deletions(-)
diff --git a/ini/bhaptics.ini b/ini/bhaptics.ini
index ac624ea8..f3289e11 100644
--- a/ini/bhaptics.ini
+++ b/ini/bhaptics.ini
@@ -1,71 +1,71 @@
[bhaptics]
-platform = platformio/espressif32@^6.1.0
-platform_packages =
- platformio/framework-arduinoespressif32@^3.20007.0
-framework = arduino
-board = esp32doit-devkit-v1
-upload_speed = 921600
-monitor_speed = 115200
+platform = platformio/espressif32@^6.1.0
+platform_packages =
+ platformio/framework-arduinoespressif32@^3.20014.231204
+framework = arduino
+board = esp32doit-devkit-v1
+upload_speed = 921600
+monitor_speed = 115200
-build_flags = ${common.build_flags}
- -D BHAPTICS
-build_unflags = ${common.build_unflags}
-build_src_filter = ${common.build_src_filter}
-lib_deps = ${common.lib_deps}
+build_flags = ${common.build_flags}
+ -D BHAPTICS
+build_unflags = ${common.build_unflags}
+build_src_filter = ${common.build_src_filter}
+lib_deps = ${common.lib_deps}
[env:bhaptics_tactsuit_x16]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTSUITX16
- -D BH_BLE_APPEARANCE=510
- '-D BLUETOOTH_NAME="TactSuitX16"'
- '-D BH_SERIAL_NUMBER={ 0x0d, 0x3a, 0xeb, 0x77, 0xbe, 0xf8, 0x7a, 0x1e, 0x3b, 0x2a }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactsuit_x16.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTSUITX16
+ -D BH_BLE_APPEARANCE=510
+ '-D BLUETOOTH_NAME="TactSuitX16"'
+ '-D BH_SERIAL_NUMBER={ 0x0d, 0x3a, 0xeb, 0x77, 0xbe, 0xf8, 0x7a, 0x1e, 0x3b, 0x2a }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactsuit_x16.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactsuit_x16_pca9685]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTSUITX16
- -D BH_BLE_APPEARANCE=510
- '-D BLUETOOTH_NAME="TactSuitX16"'
- '-D BH_SERIAL_NUMBER={ 0x0d, 0x3a, 0xeb, 0x77, 0xbe, 0xf8, 0x7a, 0x1e, 0x3b, 0x2a }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactsuit_x16_pca9685.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTSUITX16
+ -D BH_BLE_APPEARANCE=510
+ '-D BLUETOOTH_NAME="TactSuitX16"'
+ '-D BH_SERIAL_NUMBER={ 0x0d, 0x3a, 0xeb, 0x77, 0xbe, 0xf8, 0x7a, 0x1e, 0x3b, 0x2a }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactsuit_x16_pca9685.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactsuit_x40]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTSUITX40
- -D BH_BLE_APPEARANCE=509
- '-D BLUETOOTH_NAME="TactSuitX40"'
- '-D BH_SERIAL_NUMBER={ 0xcf, 0xcb, 0x0d, 0x95, 0x5f, 0xf6, 0xee, 0x2c, 0xbd, 0x73 }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactsuit_x40.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTSUITX40
+ -D BH_BLE_APPEARANCE=509
+ '-D BLUETOOTH_NAME="TactSuitX40"'
+ '-D BH_SERIAL_NUMBER={ 0xcf, 0xcb, 0x0d, 0x95, 0x5f, 0xf6, 0xee, 0x2c, 0xbd, 0x73 }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactsuit_x40.cpp>
+lib_deps = ${bhaptics.lib_deps}
; [env:bhaptics_tactbelt]
; platform = ${bhaptics.platform}
@@ -86,183 +86,183 @@ lib_deps = ${bhaptics.lib_deps}
; lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactosy2_forearm_left]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTOSY2
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="Tactosy2_L"'
- '-D BH_SERIAL_NUMBER={ 0xa0, 0xba, 0x0a, 0xd1, 0xbf, 0x36, 0x11, 0x30, 0xa4, 0xff }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactosy2.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTOSY2
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="Tactosy2_L"'
+ '-D BH_SERIAL_NUMBER={ 0xa0, 0xba, 0x0a, 0xd1, 0xbf, 0x36, 0x11, 0x30, 0xa4, 0xff }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactosy2.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactosy2_forearm_right]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTOSY2
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="Tactosy2_R"'
- '-D BH_SERIAL_NUMBER={ 0xb0, 0x1c, 0xc1, 0xf8, 0xec, 0x12, 0x18, 0x4e, 0x09, 0x77 }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactosy2.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTOSY2
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="Tactosy2_R"'
+ '-D BH_SERIAL_NUMBER={ 0xb0, 0x1c, 0xc1, 0xf8, 0xec, 0x12, 0x18, 0x4e, 0x09, 0x77 }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactosy2.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactosyh_hand_left]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTOSYH
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactosyH_L"'
- '-D BH_SERIAL_NUMBER={ 0xc1, 0x36, 0xdc, 0x21, 0xc9, 0xd4, 0x17, 0x85, 0xbb, 0x90 }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactosyh.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTOSYH
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactosyH_L"'
+ '-D BH_SERIAL_NUMBER={ 0xc1, 0x36, 0xdc, 0x21, 0xc9, 0xd4, 0x17, 0x85, 0xbb, 0x90 }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactosyh.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactosyh_hand_right]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTOSYH
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactosyH_R"'
- '-D BH_SERIAL_NUMBER={ 0xc7, 0x5f, 0x3b, 0x06, 0x38, 0xba, 0x34, 0xfa, 0x36, 0xc1 }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactosyh.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTOSYH
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactosyH_R"'
+ '-D BH_SERIAL_NUMBER={ 0xc7, 0x5f, 0x3b, 0x06, 0x38, 0xba, 0x34, 0xfa, 0x36, 0xc1 }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactosyh.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactosyf_foot_left]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTOSYF
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactosyF_L"'
- '-D BH_SERIAL_NUMBER={ 0x1a, 0x45, 0x83, 0x44, 0x03, 0xc5, 0xf3, 0xc3, 0xf3, 0xb8 }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactosyf.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTOSYF
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactosyF_L"'
+ '-D BH_SERIAL_NUMBER={ 0x1a, 0x45, 0x83, 0x44, 0x03, 0xc5, 0xf3, 0xc3, 0xf3, 0xb8 }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactosyf.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactosyf_foot_right]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTOSYF
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactosyF_R"'
- '-D BH_SERIAL_NUMBER={ 0x14, 0xb9, 0x02, 0x62, 0x41, 0xe4, 0x04, 0xb2, 0xc5, 0x11 }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactosyf.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTOSYF
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactosyF_R"'
+ '-D BH_SERIAL_NUMBER={ 0x14, 0xb9, 0x02, 0x62, 0x41, 0xe4, 0x04, 0xb2, 0xc5, 0x11 }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactosyf.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactal]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTAL
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="Tactal_"'
- '-D BH_SERIAL_NUMBER={ 0xed, 0xcb, 0x55, 0x7c, 0xd7, 0xb9, 0x16, 0xc5, 0x18, 0x2a }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactal.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTAL
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="Tactal_"'
+ '-D BH_SERIAL_NUMBER={ 0xed, 0xcb, 0x55, 0x7c, 0xd7, 0xb9, 0x16, 0xc5, 0x18, 0x2a }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactal.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactvisor]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTAL
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactVisor_V____"'
- '-D BH_SERIAL_NUMBER={ 0x5e, 0xa3, 0xdd, 0x12, 0x00, 0x01, 0x43, 0xc1, 0x26, 0x8a }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactvisor.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTAL
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactVisor_V____"'
+ '-D BH_SERIAL_NUMBER={ 0x5e, 0xa3, 0xdd, 0x12, 0x00, 0x01, 0x43, 0xc1, 0x26, 0x8a }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactvisor.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactglove_left]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTGLOVE
- -D SENSESHIFT_HAND_SIDE=Left
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactGlove (L"'
- '-D BH_SERIAL_NUMBER={ 0xcd, 0x0b, 0x81, 0x45, 0x85, 0xf9, 0x2b, 0x6c, 0xed, 0x5b }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactglove.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTGLOVE
+ -D SENSESHIFT_HAND_SIDE=Left
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactGlove (L"'
+ '-D BH_SERIAL_NUMBER={ 0xcd, 0x0b, 0x81, 0x45, 0x85, 0xf9, 0x2b, 0x6c, 0xed, 0x5b }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactglove.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactglove_right]
-platform = ${bhaptics.platform}
-platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+platform = ${bhaptics.platform}
+platform_packages = ${bhaptics.platform_packages}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTGLOVE
- -D SENSESHIFT_HAND_SIDE=Right
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactGlove (R"'
- '-D BH_SERIAL_NUMBER={ 0x12, 0x0b, 0xae, 0xbf, 0xbc, 0x90, 0x3b, 0x0d, 0x84, 0xdd }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactglove.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags = ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTGLOVE
+ -D SENSESHIFT_HAND_SIDE=Right
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactGlove (R"'
+ '-D BH_SERIAL_NUMBER={ 0x12, 0x0b, 0xae, 0xbf, 0xbc, 0x90, 0x3b, 0x0d, 0x84, 0xdd }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter = ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactglove.cpp>
+lib_deps = ${bhaptics.lib_deps}
diff --git a/lib/ble_serial/BLESerial.hpp b/lib/ble_serial/BLESerial.hpp
index b239eec2..090ecb75 100644
--- a/lib/ble_serial/BLESerial.hpp
+++ b/lib/ble_serial/BLESerial.hpp
@@ -42,7 +42,7 @@ class BLESerial : public Stream {
}
this->m_pTxCharacteristic->setValue(const_cast<uint8_t*>(buffer), bufferSize);
- this->flush();
+ // this->flush();
return bufferSize;
}
@@ -54,7 +54,7 @@ class BLESerial : public Stream {
}
this->m_pTxCharacteristic->setValue(&byte, 1);
- this->flush();
+ // this->flush();
return 1;
}
From 74cd0aaf56365a1cab9703df4a4b798698519af5 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 18 Feb 2024 15:17:06 +0400
Subject: [PATCH 70/82] fix(bHaptics): removed file being included
---
firmware/mode_configs/bhaptics/tactal.cpp | 7 +++----
firmware/mode_configs/bhaptics/tactglove.cpp | 7 +++----
firmware/mode_configs/bhaptics/tactosy2.cpp | 7 +++----
firmware/mode_configs/bhaptics/tactosyf.cpp | 7 +++----
firmware/mode_configs/bhaptics/tactosyh.cpp | 7 +++----
firmware/mode_configs/bhaptics/tactsuit_x16.cpp | 7 +++----
firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp | 7 +++----
firmware/mode_configs/bhaptics/tactsuit_x40.cpp | 7 +++----
firmware/mode_configs/bhaptics/tactvisor.cpp | 7 +++----
9 files changed, 27 insertions(+), 36 deletions(-)
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index 8a452ab5..ec8ea898 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -4,22 +4,21 @@
#include <Arduino.h>
#include <Wire.h>
-#include "senseshift.h"
+#include <senseshift.h>
-#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
+#include <senseshift/battery/input/battery_sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/input/sensor.hpp>
+#include <senseshift/freertos/task.hpp>
using namespace SenseShift;
using namespace SenseShift::Input;
using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index 1fa2aa4e..d67f58e6 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -4,15 +4,15 @@
#include <Arduino.h>
#include <Wire.h>
-#include "senseshift.h"
+#include <senseshift.h>
-#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
+#include <senseshift/battery/input/battery_sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/input/sensor.hpp>
+#include <senseshift/freertos/task.hpp>
#include <senseshift/utility.hpp>
using namespace SenseShift;
@@ -20,7 +20,6 @@ using namespace SenseShift::Input;
using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index e630072b..c3053bd3 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -4,22 +4,21 @@
#include <Arduino.h>
#include <Wire.h>
-#include "senseshift.h"
+#include <senseshift.h>
-#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
+#include <senseshift/battery/input/battery_sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/input/sensor.hpp>
+#include <senseshift/freertos/task.hpp>
using namespace SenseShift;
using namespace SenseShift::Input;
using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index d35a6427..b2c47e26 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -4,22 +4,21 @@
#include <Arduino.h>
#include <Wire.h>
-#include "senseshift.h"
+#include <senseshift.h>
-#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
+#include <senseshift/battery/input/battery_sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/input/sensor.hpp>
+#include <senseshift/freertos/task.hpp>
using namespace SenseShift;
using namespace SenseShift::Input;
using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index 3fd258cc..11bbe0a4 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -4,22 +4,21 @@
#include <Arduino.h>
#include <Wire.h>
-#include "senseshift.h"
+#include <senseshift.h>
-#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
+#include <senseshift/battery/input/battery_sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/input/sensor.hpp>
+#include <senseshift/freertos/task.hpp>
using namespace SenseShift;
using namespace SenseShift::Input;
using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index 1f8bd345..ae6011f2 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -4,22 +4,21 @@
#include <Arduino.h>
#include <Wire.h>
-#include "senseshift.h"
+#include <senseshift.h>
-#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
+#include <senseshift/battery/input/battery_sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/input/sensor.hpp>
+#include <senseshift/freertos/task.hpp>
using namespace SenseShift;
using namespace SenseShift::Input;
using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index e3ac3769..b8b05c77 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -4,22 +4,21 @@
#include <Arduino.h>
#include <Wire.h>
-#include "senseshift.h"
+#include <senseshift.h>
-#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/pca9685.hpp>
+#include <senseshift/battery/input/battery_sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/input/sensor.hpp>
+#include <senseshift/freertos/task.hpp>
using namespace SenseShift;
using namespace SenseShift::Input;
using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 3a88f119..a3d77b06 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -4,23 +4,22 @@
#include <Arduino.h>
#include <Wire.h>
-#include "senseshift.h"
+#include <senseshift.h>
-#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
#include <senseshift/arduino/output/pca9685.hpp>
+#include <senseshift/battery/input/battery_sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/input/sensor.hpp>
+#include <senseshift/freertos/task.hpp>
using namespace SenseShift;
using namespace SenseShift::Input;
using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index 83b44903..38ece6af 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -4,22 +4,21 @@
#include <Arduino.h>
#include <Wire.h>
-#include "senseshift.h"
+#include <senseshift.h>
-#include "senseshift/battery/input/battery_sensor.hpp"
#include <senseshift/arduino/input/sensor/analog.hpp>
#include <senseshift/arduino/output/ledc.hpp>
+#include <senseshift/battery/input/battery_sensor.hpp>
#include <senseshift/bh/ble/connection.hpp>
#include <senseshift/bh/devices.hpp>
#include <senseshift/bh/encoding.hpp>
-#include <senseshift/freertos/input/sensor.hpp>
+#include <senseshift/freertos/task.hpp>
using namespace SenseShift;
using namespace SenseShift::Input;
using namespace SenseShift::Input::Filter;
using namespace SenseShift::Arduino::Output;
using namespace SenseShift::Arduino::Input;
-using namespace SenseShift::FreeRTOS::Input;
using namespace SenseShift::Battery;
using namespace SenseShift::Battery::Input;
using namespace SenseShift::BH;
From ddff5a42355b7215cd6b5bf99918a44cec2bee4a Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 18 Feb 2024 18:20:23 +0400
Subject: [PATCH 71/82] style(clang-format): lint-fix
---
firmware/senseshift.cpp | 4 +-
.../senseshift/arduino/output/analog.hpp | 10 +-
.../senseshift/arduino/output/pca9685.hpp | 4 +-
.../senseshift/arduino/output/ledc.hpp | 42 ++++----
lib/bhaptics/senseshift/bh/devices.hpp | 43 +++-----
lib/bhaptics/senseshift/bh/encoding.hpp | 55 +++++------
lib/haptics/senseshift/body/haptics/body.cpp | 4 +-
lib/haptics/senseshift/body/haptics/body.hpp | 10 +-
lib/haptics/senseshift/body/haptics/plane.cpp | 9 +-
lib/haptics/senseshift/body/haptics/plane.hpp | 13 +--
lib/io/senseshift/output/output.hpp | 2 +-
lib/math/senseshift/math/point2.hpp | 5 +-
test/test_bhaptics_encoding/main.cpp | 97 ++++++++++---------
test/test_core_helpers/main.cpp | 2 +-
14 files changed, 142 insertions(+), 158 deletions(-)
diff --git a/firmware/senseshift.cpp b/firmware/senseshift.cpp
index d6445325..a4f7ab8b 100644
--- a/firmware/senseshift.cpp
+++ b/firmware/senseshift.cpp
@@ -9,11 +9,11 @@
#include <senseshift/core/logging.hpp>
namespace SenseShift {
- static const char *const TAG = "application";
+ static const char* const TAG = "application";
Application::Application()
{
- this->vibro_body_ = new Body::Haptics::FloatBody ();
+ this->vibro_body_ = new Body::Haptics::FloatBody();
}
void Application::postEvent(const IEvent* event)
diff --git a/lib/arduino/senseshift/arduino/output/analog.hpp b/lib/arduino/senseshift/arduino/output/analog.hpp
index 7dec32b6..28358ac3 100644
--- a/lib/arduino/senseshift/arduino/output/analog.hpp
+++ b/lib/arduino/senseshift/arduino/output/analog.hpp
@@ -12,14 +12,12 @@ namespace SenseShift::Arduino::Output {
public:
static inline constexpr std::uint16_t MAX_INTENSITY = 255;
- explicit AnalogOutput(const std::uint8_t pin) : pin_(pin) {
- }
+ explicit AnalogOutput(const std::uint8_t pin) : pin_(pin) {}
- void init() override {
- pinMode(this->pin_, OUTPUT);
- }
+ void init() override { pinMode(this->pin_, OUTPUT); }
- void writeState(const float value) override {
+ void writeState(const float value) override
+ {
const auto duty = static_cast<int>(value * MAX_INTENSITY);
analogWrite(this->pin_, duty);
}
diff --git a/lib/arduino/senseshift/arduino/output/pca9685.hpp b/lib/arduino/senseshift/arduino/output/pca9685.hpp
index 62ea63cf..1bbffd38 100644
--- a/lib/arduino/senseshift/arduino/output/pca9685.hpp
+++ b/lib/arduino/senseshift/arduino/output/pca9685.hpp
@@ -16,9 +16,7 @@ namespace SenseShift::Arduino::Output {
PCA9685Output(Adafruit_PWMServoDriver* driver, const std::uint8_t num) : driver_(driver), channel_(num){};
- void init() override {
- this->driver_->begin();
- }
+ void init() override { this->driver_->begin(); }
void writeState(const ValueType value) override
{
diff --git a/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp b/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
index 2d1d810c..6c29efed 100644
--- a/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
+++ b/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
@@ -4,49 +4,53 @@
#include <esp32-hal-ledc.h>
-#include <senseshift/output/output.hpp>
#include <senseshift/core/logging.hpp>
+#include <senseshift/output/output.hpp>
namespace SenseShift::Arduino::Output {
- static const char *const TAG = "output.ledc";
+ static const char* const TAG = "output.ledc";
/// Arduino analog output
class LedcOutput : public ::SenseShift::Output::IFloatOutput {
- public:
+ public:
explicit LedcOutput(
- const std::uint8_t pin,
- const std::uint8_t analog_resolution = 12,
- const std::uint32_t analog_frequency = 60
- ) : pin_(pin), analog_resolution_(analog_resolution), analog_frequency_(analog_frequency) {}
+ const std::uint8_t pin, const std::uint8_t analog_resolution = 12, const std::uint32_t analog_frequency = 60
+ ) :
+ pin_(pin), analog_resolution_(analog_resolution), analog_frequency_(analog_frequency)
+ {
+ }
- void init() override {
+ void init() override
+ {
pinMode(this->pin_, OUTPUT);
this->channel_ = findChannel(this->pin_);
LOG_D(TAG, "GPIO %d - Setting up Channel %d", this->pin_, this->channel_);
- if(ledcSetup(this->channel_, this->analog_frequency_, this->analog_resolution_) == 0){
- LOG_E(TAG, "setup failed (freq = %u, resolution = %u). Try setting different resolution or frequency", this->analog_frequency_, this->analog_resolution_);
+ if (ledcSetup(this->channel_, this->analog_frequency_, this->analog_resolution_) == 0) {
+ LOG_E(
+ TAG,
+ "setup failed (freq = %u, resolution = %u). Try setting different resolution or frequency",
+ this->analog_frequency_,
+ this->analog_resolution_
+ );
return;
}
ledcAttachPin(this->pin_, this->channel_);
}
- [[nodiscard]] auto getMaxValue() const -> std::uint32_t {
- return (1 << analog_resolution_) - 1;
- }
+ [[nodiscard]] auto getMaxValue() const -> std::uint32_t { return (1 << analog_resolution_) - 1; }
- void writeState(const float value) override {
+ void writeState(const float value) override
+ {
const auto duty = static_cast<std::uint32_t>(value * this->getMaxValue());
LOG_V(TAG, "GPIO %d - Writing %d to Channel %d", this->pin_, duty, this->channel_);
ledcWrite(this->channel_, duty);
};
- protected:
- static auto findChannel(std::uint8_t /*pin*/) -> std::int8_t {
- return CHANNELS++;
- }
+ protected:
+ static auto findChannel(std::uint8_t /*pin*/) -> std::int8_t { return CHANNELS++; }
- private:
+ private:
static inline std::uint8_t CHANNELS = 0;
std::uint8_t pin_;
diff --git a/lib/bhaptics/senseshift/bh/devices.hpp b/lib/bhaptics/senseshift/bh/devices.hpp
index b90d627c..5cd2b438 100644
--- a/lib/bhaptics/senseshift/bh/devices.hpp
+++ b/lib/bhaptics/senseshift/bh/devices.hpp
@@ -5,8 +5,8 @@
#include "senseshift/body/hands/hands_interface.hpp"
-#include <senseshift/body/haptics/plane.hpp>
#include <senseshift/body/haptics/body.hpp>
+#include <senseshift/body/haptics/plane.hpp>
#pragma region BH_DEVICE_TACTSUITX40
@@ -299,8 +299,12 @@ namespace SenseShift::BH {
// TactGlove Wrist motor position
static constexpr const Position WRIST_MOTOR_POSITION(127, 191);
- static constexpr const std::array<OutputLayout, BH_LAYOUT_TACTGLOVE_SIZE> TactGloveLeftLayout = { BH_LAYOUT_TACTGLOVE_LEFT };
- static constexpr const std::array<OutputLayout, BH_LAYOUT_TACTGLOVE_SIZE> TactGloveRightLayout = { BH_LAYOUT_TACTGLOVE_RIGHT };
+ static constexpr const std::array<OutputLayout, BH_LAYOUT_TACTGLOVE_SIZE> TactGloveLeftLayout = {
+ BH_LAYOUT_TACTGLOVE_LEFT
+ };
+ static constexpr const std::array<OutputLayout, BH_LAYOUT_TACTGLOVE_SIZE> TactGloveRightLayout = {
+ BH_LAYOUT_TACTGLOVE_RIGHT
+ };
inline void addTactGloveActuators(
FloatBody* hapticBody,
@@ -311,49 +315,32 @@ namespace SenseShift::BH {
FloatBody::Plane::Actuator* const ring,
FloatBody::Plane::Actuator* const little,
FloatBody::Plane::Actuator* const wrist
- ) {
+ )
+ {
const auto& layout = (side == HandSide::Left) ? TactGloveLeftLayout : TactGloveRightLayout;
if (thumb != nullptr) {
- hapticBody->addTarget(
- std::get<0>(layout[0]),
- new FloatPlane({ {std::get<1>(layout[0]), thumb } })
- );
+ hapticBody->addTarget(std::get<0>(layout[0]), new FloatPlane({ { std::get<1>(layout[0]), thumb } }));
}
if (index != nullptr) {
- hapticBody->addTarget(
- std::get<0>(layout[1]),
- new FloatPlane({ {std::get<1>(layout[1]), index } })
- );
+ hapticBody->addTarget(std::get<0>(layout[1]), new FloatPlane({ { std::get<1>(layout[1]), index } }));
}
if (middle != nullptr) {
- hapticBody->addTarget(
- std::get<0>(layout[2]),
- new FloatPlane({ {std::get<1>(layout[2]), middle } })
- );
+ hapticBody->addTarget(std::get<0>(layout[2]), new FloatPlane({ { std::get<1>(layout[2]), middle } }));
}
if (ring != nullptr) {
- hapticBody->addTarget(
- std::get<0>(layout[3]),
- new FloatPlane({ {std::get<1>(layout[3]), ring } })
- );
+ hapticBody->addTarget(std::get<0>(layout[3]), new FloatPlane({ { std::get<1>(layout[3]), ring } }));
}
if (little != nullptr) {
- hapticBody->addTarget(
- std::get<0>(layout[4]),
- new FloatPlane({ {std::get<1>(layout[4]), little } })
- );
+ hapticBody->addTarget(std::get<0>(layout[4]), new FloatPlane({ { std::get<1>(layout[4]), little } }));
}
if (wrist != nullptr) {
- hapticBody->addTarget(
- std::get<0>(layout[5]),
- new FloatPlane({ {std::get<1>(layout[5]), wrist } })
- );
+ hapticBody->addTarget(std::get<0>(layout[5]), new FloatPlane({ { std::get<1>(layout[5]), wrist } }));
}
}
} // namespace SenseShift::BH
diff --git a/lib/bhaptics/senseshift/bh/encoding.hpp b/lib/bhaptics/senseshift/bh/encoding.hpp
index 1a8b8af4..e23a55f3 100644
--- a/lib/bhaptics/senseshift/bh/encoding.hpp
+++ b/lib/bhaptics/senseshift/bh/encoding.hpp
@@ -7,8 +7,8 @@
#include <string>
#include <tuple>
-#include <senseshift/body/haptics/interface.hpp>
#include <senseshift/body/haptics/body.hpp>
+#include <senseshift/body/haptics/interface.hpp>
namespace SenseShift::BH {
class Decoder {
@@ -30,26 +30,21 @@ namespace SenseShift::BH {
const std::array<std::uint8_t, N>& value,
const std::array<OutputLayout, N>& layout,
const Effect effect
- ) {
+ )
+ {
for (size_t i = 0; i < N; i++) {
const auto [target, position] = layout[i];
const std::uint8_t byte = value[i];
- output->effect(
- target,
- position,
- static_cast<FloatBody::Plane::Value>(effectDataFromByte(byte))
- );
+ output->effect(target, position, static_cast<FloatBody::Plane::Value>(effectDataFromByte(byte)));
}
}
template<size_t N>
static void applyPlain(
- FloatBody* output,
- std::string& value,
- const std::array<OutputLayout, N>& layout,
- const Effect effect
- ) {
+ FloatBody* output, std::string& value, const std::array<OutputLayout, N>& layout, const Effect effect
+ )
+ {
std::array<std::uint8_t, N> buf{};
std::size_t copyLength = std::min(value.size(), sizeof(buf));
std::memcpy(buf.data(), value.c_str(), copyLength);
@@ -67,16 +62,13 @@ namespace SenseShift::BH {
const std::array<Position, N>& layout,
const Effect effect,
const Target target
- ) {
+ )
+ {
for (size_t i = 0; i < N; i++) {
const auto position = layout[i];
const uint8_t byte = value[i];
- output->effect(
- target,
- position,
- static_cast<FloatBody::Plane::Value>(effectDataFromByte(byte))
- );
+ output->effect(target, position, static_cast<FloatBody::Plane::Value>(effectDataFromByte(byte)));
}
}
@@ -87,7 +79,8 @@ namespace SenseShift::BH {
const std::array<Position, N>& layout,
const Effect effect,
const Target target
- ) {
+ )
+ {
std::array<std::uint8_t, N> buf{};
std::size_t copyLength = std::min(value.size(), sizeof(buf));
std::memcpy(buf.data(), value.c_str(), copyLength);
@@ -102,7 +95,8 @@ namespace SenseShift::BH {
FloatBody* output,
const std::array<uint8_t, VEST_PAYLOAD_SIZE>& value,
const std::array<OutputLayout, VEST_LAYOUT_SIZE>& layout
- ) {
+ )
+ {
for (size_t i = 0; i < VEST_PAYLOAD_SIZE; i++) {
const std::uint8_t byte = value[i];
const size_t actIndex = i * 2;
@@ -120,11 +114,9 @@ namespace SenseShift::BH {
}
}
- static void applyVest(
- FloatBody* output,
- std::string& value,
- const std::array<OutputLayout, VEST_LAYOUT_SIZE>& layout
- ) {
+ static void
+ applyVest(FloatBody* output, std::string& value, const std::array<OutputLayout, VEST_LAYOUT_SIZE>& layout)
+ {
std::array<std::uint8_t, VEST_PAYLOAD_SIZE> buf{};
const size_t copyLength = std::min(value.size(), sizeof(buf));
std::memcpy(buf.data(), value.c_str(), copyLength);
@@ -141,7 +133,8 @@ namespace SenseShift::BH {
const std::array<std::uint8_t, VEST_PAYLOAD_SIZE>& value,
const std::array<OutputLayout, VEST_LAYOUT_SIZE>& layout,
const std::array<std::uint8_t, N>& layoutGroups
- ) {
+ )
+ {
std::array<std::uint8_t, VEST_LAYOUT_SIZE> result{};
// Unpack values
@@ -182,11 +175,8 @@ namespace SenseShift::BH {
const auto target = std::get<0>(layout[i]);
const auto position = std::get<1>(layout[i]);
- output->effect(
- target,
- position,
- static_cast<FloatBody::Plane::Value>(effectDataFromByte(result[i], 15))
- );
+ output
+ ->effect(target, position, static_cast<FloatBody::Plane::Value>(effectDataFromByte(result[i], 15)));
}
}
@@ -196,7 +186,8 @@ namespace SenseShift::BH {
std::string& value,
const std::array<OutputLayout, VEST_LAYOUT_SIZE>& layout,
const std::array<std::uint8_t, N>& layoutGroups
- ) {
+ )
+ {
std::array<std::uint8_t, VEST_PAYLOAD_SIZE> buf{};
const size_t copyLength = std::min(value.size(), sizeof(buf));
std::memcpy(buf.data(), value.c_str(), copyLength);
diff --git a/lib/haptics/senseshift/body/haptics/body.cpp b/lib/haptics/senseshift/body/haptics/body.cpp
index bb373d3e..eac297c1 100644
--- a/lib/haptics/senseshift/body/haptics/body.cpp
+++ b/lib/haptics/senseshift/body/haptics/body.cpp
@@ -1,11 +1,11 @@
#include "senseshift/body/haptics/body.hpp"
#include "senseshift/body/haptics/interface.hpp"
-#include <senseshift/output/output.hpp>
#include <senseshift/core/logging.hpp>
+#include <senseshift/output/output.hpp>
namespace SenseShift::Body::Haptics {
- static const char *const TAG = "haptic.body";
+ static const char* const TAG = "haptic.body";
template<typename Tp, typename Ta>
void OutputBody<Tp, Ta>::effect(const Target& target, const Position& pos, const typename Plane::Value& val)
diff --git a/lib/haptics/senseshift/body/haptics/body.hpp b/lib/haptics/senseshift/body/haptics/body.hpp
index 6586220a..d381348a 100644
--- a/lib/haptics/senseshift/body/haptics/body.hpp
+++ b/lib/haptics/senseshift/body/haptics/body.hpp
@@ -23,17 +23,17 @@ namespace SenseShift::Body::Haptics {
OutputBody() = default;
- void setup() {
+ void setup()
+ {
for (auto& [target, plane] : this->targets_) {
plane->setup();
}
}
- void addTarget(Target target, Plane* plane) {
- this->targets_[target] = plane;
- }
+ void addTarget(Target target, Plane* plane) { this->targets_[target] = plane; }
- auto getTarget(Target target) -> std::optional<Plane*> {
+ auto getTarget(Target target) -> std::optional<Plane*>
+ {
auto find = this->targets_.find(target);
if (find == this->targets_.end()) {
return std::nullopt;
diff --git a/lib/haptics/senseshift/body/haptics/plane.cpp b/lib/haptics/senseshift/body/haptics/plane.cpp
index 9fbe77ee..85fb184b 100644
--- a/lib/haptics/senseshift/body/haptics/plane.cpp
+++ b/lib/haptics/senseshift/body/haptics/plane.cpp
@@ -4,11 +4,11 @@
#include <algorithm>
#include <map>
-#include <senseshift/output/output.hpp>
#include <senseshift/core/logging.hpp>
+#include <senseshift/output/output.hpp>
namespace SenseShift::Body::Haptics {
- static const char *const TAG = "haptic.plane";
+ static const char* const TAG = "haptic.plane";
template<typename Tc, typename To>
void OutputPlane<Tc, To>::setActuators(const ActuatorMap& actuators)
@@ -58,7 +58,8 @@ namespace SenseShift::Body::Haptics {
}
template<typename Tc, typename To>
- [[nodiscard]] auto OutputPlane_Closest<Tc, To>::findClosestPoint(const PositionSet& pts, const Position& target) -> const Position&
+ [[nodiscard]] auto OutputPlane_Closest<Tc, To>::findClosestPoint(const PositionSet& pts, const Position& target)
+ -> const Position&
{
// check if exact point exists
const auto find = pts.find(target);
@@ -69,7 +70,7 @@ namespace SenseShift::Body::Haptics {
// find the closest point by square distance
std::multimap<float, Position> distance_map = {};
for (const auto& point : pts) {
- distance_map.insert({(target - point), point });
+ distance_map.insert({ (target - point), point });
}
const auto nearest = std::min_element(distance_map.begin(), distance_map.end());
diff --git a/lib/haptics/senseshift/body/haptics/plane.hpp b/lib/haptics/senseshift/body/haptics/plane.hpp
index a12b3d75..5971ee32 100644
--- a/lib/haptics/senseshift/body/haptics/plane.hpp
+++ b/lib/haptics/senseshift/body/haptics/plane.hpp
@@ -7,9 +7,9 @@
#include <set>
#include <vector>
+#include <senseshift/math/point2.hpp>
#include <senseshift/output/output.hpp>
#include <senseshift/utility.hpp>
-#include <senseshift/math/point2.hpp>
namespace SenseShift::Body::Haptics {
/// Output "plane" (e.g. Chest, Palm, Finger, etc.).
@@ -59,17 +59,18 @@ namespace SenseShift::Body::Haptics {
/// \tparam To The type of the output value.
template<typename Tc, typename To>
class OutputPlane_Closest : public OutputPlane<Tc, To> {
- public:
+ public:
using Value = To;
using PositionSet = typename OutputPlane<Tc, To>::PositionSet;
- explicit OutputPlane_Closest(const typename OutputPlane<Tc, To>::ActuatorMap& actuators) : OutputPlane<Tc, To>(actuators)
+ explicit OutputPlane_Closest(const typename OutputPlane<Tc, To>::ActuatorMap& actuators) :
+ OutputPlane<Tc, To>(actuators)
{
}
void effect(const Position&, const Value&) override;
- private:
+ private:
[[nodiscard]] static auto findClosestPoint(const PositionSet&, const Position&) -> const Position&;
};
@@ -79,10 +80,10 @@ namespace SenseShift::Body::Haptics {
// TODO: configurable margin
class PlaneMapper_Margin {
public:
-
/// Maps a 2D matrix into a 1D (coord, object) map.
template<typename Tp>
- [[nodiscard]] static constexpr auto mapMatrixCoordinates(std::vector<std::vector<Tp*>> map2d) -> std::map<Position, Tp*>
+ [[nodiscard]] static constexpr auto mapMatrixCoordinates(std::vector<std::vector<Tp*>> map2d)
+ -> std::map<Position, Tp*>
{
std::map<Position, Tp*> points{};
diff --git a/lib/io/senseshift/output/output.hpp b/lib/io/senseshift/output/output.hpp
index 0392714f..581770d7 100644
--- a/lib/io/senseshift/output/output.hpp
+++ b/lib/io/senseshift/output/output.hpp
@@ -5,7 +5,7 @@
namespace SenseShift::Output {
template<typename Tp>
class IOutput : public IInitializable {
- public:
+ public:
using ValueType = Tp;
virtual void writeState(ValueType value) = 0;
diff --git a/lib/math/senseshift/math/point2.hpp b/lib/math/senseshift/math/point2.hpp
index faa2f475..57d3f1e2 100644
--- a/lib/math/senseshift/math/point2.hpp
+++ b/lib/math/senseshift/math/point2.hpp
@@ -25,7 +25,10 @@ namespace SenseShift::Math {
constexpr inline auto operator!=(const Point2<Tp>& rhs) const -> bool { return !(*this == rhs); }
- constexpr auto operator<(const Point2<Tp>& rhs) const -> bool { return std::tie(x, y) < std::tie(rhs.x, rhs.y); }
+ constexpr auto operator<(const Point2<Tp>& rhs) const -> bool
+ {
+ return std::tie(x, y) < std::tie(rhs.x, rhs.y);
+ }
constexpr auto operator-(const Point2<Tp>& rhs) const -> float
{
diff --git a/test/test_bhaptics_encoding/main.cpp b/test/test_bhaptics_encoding/main.cpp
index 72b70776..0d171a91 100644
--- a/test/test_bhaptics_encoding/main.cpp
+++ b/test/test_bhaptics_encoding/main.cpp
@@ -16,16 +16,17 @@ class TestActuator : public IOutput<float> {
void writeState(float newIntensity) override { this->intensity = newIntensity; }
};
-#define ASSERT_EQUAL_FLOAT_ROUNDED(expected, actual, precision) \
- TEST_ASSERT_EQUAL_FLOAT( \
- std::round(expected * std::pow(10, precision)) / std::pow(10, precision), \
- std::round(actual * std::pow(10, precision)) / std::pow(10, precision) \
+#define ASSERT_EQUAL_FLOAT_ROUNDED(expected, actual, precision) \
+ TEST_ASSERT_EQUAL_FLOAT( \
+ std::round(expected* std::pow(10, precision)) / std::pow(10, precision), \
+ std::round(actual * std::pow(10, precision)) / std::pow(10, precision) \
)
void test_layout_tactsuitx16(void)
{
static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX16_SIZE> bhLayout = { BH_LAYOUT_TACTSUITX16 };
- static const std::array<std::uint8_t,BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups = BH_LAYOUT_TACTSUITX16_GROUPS;
+ static const std::array<std::uint8_t, BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups =
+ BH_LAYOUT_TACTSUITX16_GROUPS;
auto body = new FloatBody();
@@ -69,22 +70,22 @@ void test_layout_tactsuitx16(void)
Decoder::applyVestGrouped(body, values, bhLayout, layoutGroups);
ASSERT_EQUAL_FLOAT_ROUNDED(0, actuator0->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(273.0F/4095.0F, actuator1->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(3276.0F/4095.0F, actuator2->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(3549.0F/4095.0F, actuator3->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(546.0F/4095.0F, actuator4->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(819.0F/4095.0F, actuator5->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(3822.0F/4095.0F, actuator6->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(4095.0F/4095.0F, actuator7->intensity, 2);
-
- ASSERT_EQUAL_FLOAT_ROUNDED(1092.0F/4095.0F, actuator8->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(1365.0F/4095.0F, actuator9->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(2184.0F/4095.0F, actuator10->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(2457.0F/4095.0F, actuator11->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(1638.0F/4095.0F, actuator12->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(1911.0F/4095.0F, actuator13->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(2730.0F/4095.0F, actuator14->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(3003.0F/4095.0F, actuator15->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(273.0F / 4095.0F, actuator1->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3276.0F / 4095.0F, actuator2->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3549.0F / 4095.0F, actuator3->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(546.0F / 4095.0F, actuator4->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(819.0F / 4095.0F, actuator5->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3822.0F / 4095.0F, actuator6->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(4095.0F / 4095.0F, actuator7->intensity, 2);
+
+ ASSERT_EQUAL_FLOAT_ROUNDED(1092.0F / 4095.0F, actuator8->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1365.0F / 4095.0F, actuator9->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2184.0F / 4095.0F, actuator10->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2457.0F / 4095.0F, actuator11->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1638.0F / 4095.0F, actuator12->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1911.0F / 4095.0F, actuator13->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2730.0F / 4095.0F, actuator14->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3003.0F / 4095.0F, actuator15->intensity, 2);
}
void test_layout_tactsuitx40(void)
@@ -127,36 +128,36 @@ void test_layout_tactsuitx40(void)
bhLayout
);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[0][0])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(273.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[0][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(273.0F / 4095.0F, static_cast<TestActuator*>(frontMatrix[0][1])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[0][2])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[0][3])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(546.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[1][0])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(819.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[1][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(546.0F / 4095.0F, static_cast<TestActuator*>(frontMatrix[1][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(819.0F / 4095.0F, static_cast<TestActuator*>(frontMatrix[1][1])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[1][2])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[1][3])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(1092.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[2][0])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(1365.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[2][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1092.0F / 4095.0F, static_cast<TestActuator*>(frontMatrix[2][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1365.0F / 4095.0F, static_cast<TestActuator*>(frontMatrix[2][1])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[2][2])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[2][3])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(1638.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[3][0])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(1911.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[3][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1638.0F / 4095.0F, static_cast<TestActuator*>(frontMatrix[3][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1911.0F / 4095.0F, static_cast<TestActuator*>(frontMatrix[3][1])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[3][2])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[3][3])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(2184.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[4][0])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(2457.0F/4095.0F, static_cast<TestActuator*>(frontMatrix[4][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2184.0F / 4095.0F, static_cast<TestActuator*>(frontMatrix[4][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2457.0F / 4095.0F, static_cast<TestActuator*>(frontMatrix[4][1])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[4][2])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(frontMatrix[4][3])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(2730.0F/4095.0F, static_cast<TestActuator*>(backMatrix[0][0])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(3003.0F/4095.0F, static_cast<TestActuator*>(backMatrix[0][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2730.0F / 4095.0F, static_cast<TestActuator*>(backMatrix[0][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3003.0F / 4095.0F, static_cast<TestActuator*>(backMatrix[0][1])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[0][2])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[0][3])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(3276.0F/4095.0F, static_cast<TestActuator*>(backMatrix[1][0])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(3549.0F/4095.0F, static_cast<TestActuator*>(backMatrix[1][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3276.0F / 4095.0F, static_cast<TestActuator*>(backMatrix[1][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3549.0F / 4095.0F, static_cast<TestActuator*>(backMatrix[1][1])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[1][2])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[1][3])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(3822.0F/4095.0F, static_cast<TestActuator*>(backMatrix[2][0])->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(4095.0F/4095.0F, static_cast<TestActuator*>(backMatrix[2][1])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3822.0F / 4095.0F, static_cast<TestActuator*>(backMatrix[2][0])->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(4095.0F / 4095.0F, static_cast<TestActuator*>(backMatrix[2][1])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[2][2])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[2][3])->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, static_cast<TestActuator*>(backMatrix[3][0])->intensity, 2);
@@ -199,11 +200,11 @@ void test_layout_tactal(void)
Decoder::applyPlain(body, { 0x10, 0x20, 0x30, 0x40, 0x50, 0x60 }, bhLayout, Effect::Vibro, Target::FaceFront);
ASSERT_EQUAL_FLOAT_ROUNDED(0.16F, actuator0->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(1310.0F/4095.0F, actuator1->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(1965.0F/4095.0F, actuator2->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(2620.0F/4095.0F, actuator3->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(3276.0F/4095.0F, actuator4->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(3931.0F/4095.0F, actuator5->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1310.0F / 4095.0F, actuator1->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1965.0F / 4095.0F, actuator2->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2620.0F / 4095.0F, actuator3->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3276.0F / 4095.0F, actuator4->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3931.0F / 4095.0F, actuator5->intensity, 2);
}
void test_layout_tactglove(void)
@@ -230,7 +231,7 @@ void test_layout_tactglove(void)
);
Decoder::applyPlain(body, { 0x64, 0x00, 0x00, 0x00, 0x00, 0x00 }, bhLayout, Effect::Vibro);
- ASSERT_EQUAL_FLOAT_ROUNDED(4095.0F/4095.0F, actuatorThumb->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(4095.0F / 4095.0F, actuatorThumb->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, actuatorIndex->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, actuatorMiddle->intensity, 2);
ASSERT_EQUAL_FLOAT_ROUNDED(0, actuatorRing->intensity, 2);
@@ -238,12 +239,12 @@ void test_layout_tactglove(void)
ASSERT_EQUAL_FLOAT_ROUNDED(0, actuatorWrist->intensity, 2);
Decoder::applyPlain(body, { 0x10, 0x20, 0x30, 0x40, 0x50, 0x60 }, bhLayout, Effect::Vibro);
- ASSERT_EQUAL_FLOAT_ROUNDED(655.0F/4095.0F, actuatorThumb->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(1310.0F/4095.0F, actuatorIndex->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(1965.0F/4095.0F, actuatorMiddle->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(2620.0F/4095.0F, actuatorRing->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(3276.0F/4095.0F, actuatorLittle->intensity, 2);
- ASSERT_EQUAL_FLOAT_ROUNDED(3931.0F/4095.0F, actuatorWrist->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(655.0F / 4095.0F, actuatorThumb->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1310.0F / 4095.0F, actuatorIndex->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(1965.0F / 4095.0F, actuatorMiddle->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(2620.0F / 4095.0F, actuatorRing->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3276.0F / 4095.0F, actuatorLittle->intensity, 2);
+ ASSERT_EQUAL_FLOAT_ROUNDED(3931.0F / 4095.0F, actuatorWrist->intensity, 2);
}
int process(void)
diff --git a/test/test_core_helpers/main.cpp b/test/test_core_helpers/main.cpp
index d13815bd..5dbfd888 100644
--- a/test/test_core_helpers/main.cpp
+++ b/test/test_core_helpers/main.cpp
@@ -1,8 +1,8 @@
#include <senseshift/core/helpers.hpp>
#include <unity.h>
-#include <map>
#include <cstdint>
+#include <map>
using namespace SenseShift;
From c2d34c6c05c9a7fb1b51619370b83fb7daa8e405 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 18 Feb 2024 18:20:23 +0400
Subject: [PATCH 72/82] ci(Wokwi): execute calibration
---
.wokwi/lucidgloves-prototype4+serial/test.yaml | 15 +++++++++++++++
.../senseshift/opengloves/autoconfig.hpp | 4 ++++
2 files changed, 19 insertions(+)
diff --git a/.wokwi/lucidgloves-prototype4+serial/test.yaml b/.wokwi/lucidgloves-prototype4+serial/test.yaml
index cfd56eb9..d3a1f656 100644
--- a/.wokwi/lucidgloves-prototype4+serial/test.yaml
+++ b/.wokwi/lucidgloves-prototype4+serial/test.yaml
@@ -3,6 +3,21 @@ version: 1
author: Leonid Meleshin
steps:
+ - delay: 2000ms
+
+ # Press calibration button
+ - set-control:
+ part-id: btn3
+ control: pressed
+ value: 1
+
+ - delay: 250ms
+
+ - set-control:
+ part-id: btn3
+ control: pressed
+ value: 0
+
- wait-serial: "A0B0C0D0E0F2047G2047"
# Press the 'A' button
diff --git a/lib/opengloves/senseshift/opengloves/autoconfig.hpp b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
index a2e452b0..dd97a556 100644
--- a/lib/opengloves/senseshift/opengloves/autoconfig.hpp
+++ b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
@@ -174,6 +174,10 @@
#define FFB_ENABLED \
(FFB_THUMB_ENABLED || FFB_INDEX_ENABLED || FFB_MIDDLE_ENABLED || FFB_RING_ENABLED || FFB_PINKY_ENABLED)
+#ifndef CALIBRATION_ALWAYS_CALIBRATE
+#define CALIBRATION_ALWAYS_CALIBRATE false
+#endif
+
#ifndef UPDATE_RATE
#define UPDATE_RATE 90
#endif
From 6c1bcc2457de7a591037087178240a84fb89e9b1 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Sun, 18 Feb 2024 21:42:06 +0400
Subject: [PATCH 73/82] feat(deps): remove Frozen lib from submodules
---
.gitmodules | 3 ---
lib/frozen | 1 -
platformio.ini | 1 +
3 files changed, 1 insertion(+), 4 deletions(-)
delete mode 100644 .gitmodules
delete mode 160000 lib/frozen
diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index fb9d97bc..00000000
--- a/.gitmodules
+++ /dev/null
@@ -1,3 +0,0 @@
-[submodule "lib/frozen"]
- path = lib/frozen
- url = https://github.com/senseshift/frozen.git
diff --git a/lib/frozen b/lib/frozen
deleted file mode 160000
index 3a4f00cb..00000000
--- a/lib/frozen
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 3a4f00cb83d580880b8a79864a479e1a14eb8c74
diff --git a/platformio.ini b/platformio.ini
index 4815cf7a..ce93b43b 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -37,6 +37,7 @@ build_src_filter =
-<mode_configs>
lib_deps =
+ https://github.com/senseshift/frozen.git#feature/platformio
[env]
build_flags = ${common.build_flags}
From 2f0b2164da0c01e8920e3b4b982e5c31fdceb93c Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 19 Feb 2024 15:59:20 +0400
Subject: [PATCH 74/82] refactor(OpenGloves): separate autoconfig for
tracking/ffb
---
.../mode_configs/opengloves/opengloves.cpp | 195 +-----------------
lib/freertos/senseshift/freertos/task.hpp | 5 +
.../senseshift/opengloves/autoconfig.hpp | 185 ++++++++++++++++-
3 files changed, 198 insertions(+), 187 deletions(-)
diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
index 0720afe7..382ad083 100644
--- a/firmware/mode_configs/opengloves/opengloves.cpp
+++ b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -1,172 +1,21 @@
-#include "senseshift/body/hands/input/gesture.hpp"
-#include "senseshift/body/hands/input/total_curl.hpp"
-#include <senseshift/arduino/input/sensor/analog.hpp>
-#include <senseshift/arduino/input/sensor/digital.hpp>
-#include <senseshift/arduino/output/servo.hpp>
-#include <senseshift/body/hands/input/gesture.hpp>
-#include <senseshift/input/calibration.hpp>
-#include <senseshift/input/filter.hpp>
-#include <senseshift/input/sensor.hpp>
+#include <senseshift/freertos/task.hpp>
#include <senseshift/opengloves/autoconfig.hpp>
-#include <senseshift/opengloves/opengloves.hpp>
#include <senseshift/opengloves/opengloves_task.hpp>
-#include <senseshift/utility.hpp>
-using namespace ::SenseShift::Input;
-using namespace ::SenseShift::Arduino::Input;
-using namespace ::SenseShift::Arduino::Output;
-using namespace ::SenseShift::Body::Hands::Input;
-using namespace ::SenseShift::OpenGloves;
-
-InputSensors input_sensors;
-
-#ifdef FFB_ENABLED
-OutputWriters output_writers;
-#endif
+using namespace SenseShift::OpenGloves;
void setupMode()
{
-#if FINGER_THUMB_SPLAY
- DEFINE_FINGER_SPLAY(
- thumb,
- PIN_FINGER_THUMB,
- FINGER_THUMB_INVERT,
- CALIBRATION_CURL,
- PIN_FINGER_THUMB_SPLAY,
- FINGER_THUMB_SPLAY_INVERT,
- CALIBRATION_SPLAY
- );
-#elif FINGER_THUMB_ENABLED
- DEFINE_FINGER(thumb_curl, PIN_FINGER_THUMB, FINGER_THUMB_INVERT, CALIBRATION_CURL);
- input_sensors.curl.thumb.curl_total = thumb_curl_sensor;
-#endif
-
-#if FINGER_INDEX_SPLAY
- DEFINE_FINGER_SPLAY(
- index,
- PIN_FINGER_INDEX,
- FINGER_INDEX_INVERT,
- CALIBRATION_CURL,
- PIN_FINGER_INDEX_SPLAY,
- FINGER_INDEX_SPLAY_INVERT,
- CALIBRATION_SPLAY
- );
-#elif FINGER_INDEX_ENABLED
- DEFINE_FINGER(index_curl, PIN_FINGER_INDEX, FINGER_INDEX_INVERT, CALIBRATION_CURL);
- input_sensors.curl.index.curl_total = index_curl_sensor;
-#endif
-
-#if FINGER_MIDDLE_SPLAY
- DEFINE_FINGER_SPLAY(
- middle,
- PIN_FINGER_MIDDLE,
- FINGER_MIDDLE_INVERT,
- CALIBRATION_CURL,
- PIN_FINGER_MIDDLE_SPLAY,
- FINGER_MIDDLE_SPLAY_INVERT,
- CALIBRATION_SPLAY
- );
-#elif FINGER_MIDDLE_ENABLED
- DEFINE_FINGER(middle_curl, PIN_FINGER_MIDDLE, FINGER_MIDDLE_INVERT, CALIBRATION_CURL);
- input_sensors.curl.middle.curl_total = middle_curl_sensor;
-#endif
-
-#if FINGER_RING_SPLAY
- DEFINE_FINGER_SPLAY(
- ring,
- PIN_FINGER_RING,
- FINGER_RING_INVERT,
- CALIBRATION_CURL,
- PIN_FINGER_RING_SPLAY,
- FINGER_RING_SPLAY_INVERT,
- CALIBRATION_SPLAY
- );
-#elif FINGER_RING_ENABLED
- DEFINE_FINGER(ring_curl, PIN_FINGER_RING, FINGER_RING_INVERT, CALIBRATION_CURL);
- input_sensors.curl.ring.curl_total = ring_curl_sensor;
-#endif
-
-#if FINGER_PINKY_SPLAY
- DEFINE_FINGER_SPLAY(
- pinky,
- PIN_FINGER_PINKY,
- FINGER_PINKY_INVERT,
- CALIBRATION_CURL,
- PIN_FINGER_PINKY_SPLAY,
- FINGER_PINKY_SPLAY_INVERT,
- CALIBRATION_SPLAY
- );
-#elif FINGER_PINKY_ENABLED
- DEFINE_FINGER(pinky_curl, PIN_FINGER_PINKY, FINGER_PINKY_INVERT, CALIBRATION_CURL);
- input_sensors.curl.pinky.curl_total = pinky_curl_sensor;
-#endif
-
-#if JOYSTICK_ENABLED
- DEFINE_JOYSTICK_AXIS(joystick_x, PIN_JOYSTICK_X, JOYSTICK_X_INVERT, JOYSTICK_DEADZONE);
- DEFINE_JOYSTICK_AXIS(joystick_y, PIN_JOYSTICK_Y, JOYSTICK_Y_INVERT, JOYSTICK_DEADZONE);
-
- input_sensors.joystick.x = joystick_x_sensor;
- input_sensors.joystick.y = joystick_y_sensor;
-#endif
-
-#if BUTTON_A_ENABLED
- auto* button_a = new BUTTON_CLASS(PIN_BUTTON_A, BUTTON_A_INVERT);
- input_sensors.button_a.press = button_a;
-#endif
-#if BUTTON_B_ENABLED
- auto* button_b = new BUTTON_CLASS(PIN_BUTTON_B, BUTTON_B_INVERT);
- input_sensors.button_b.press = button_b;
-#endif
-#if BUTTON_JOYSTICK_ENABLED
- auto* button_joystick = new BUTTON_CLASS(PIN_BUTTON_JOYSTICK, BUTTON_JOYSTICK_INVERT);
- input_sensors.joystick.press = button_joystick;
-#endif
-#if BUTTON_MENU_ENABLED
- auto* button_menu = new BUTTON_CLASS(PIN_BUTTON_MENU, BUTTON_MENU_INVERT);
-#endif
-#if BUTTON_CALIBRATE_ENABLED
- auto* button_calibrate = new BUTTON_CLASS(PIN_BUTTON_CALIBRATE, BUTTON_CALIBRATE_INVERT);
- input_sensors.button_calibrate.press = button_calibrate;
-#endif
-
-#if GESTURE_TRIGGER_ENABLED
- auto* trigger = new TriggerGesture(index_curl_sensor, GESTURE_TRIGGER_THRESHOLD);
- input_sensors.trigger.press = trigger;
-#elif BUTTON_TRIGGER_ENABLED
- auto trigger = new BUTTON_CLASS(PIN_BUTTON_TRIGGER, BUTTON_TRIGGER_INVERT);
-#endif
-
-#if GESTURE_GRAB_ENABLED
- auto* grab = new GrabGesture(
- GrabGesture::Fingers{ .index = index_curl_sensor,
- .middle = middle_curl_sensor,
- .ring = ring_curl_sensor,
- .pinky = pinky_curl_sensor },
- GESTURE_GRAB_THRESHOLD
- );
- input_sensors.grab.press = grab;
-#elif BUTTON_GRAB_ENABLED
- auto* grab = new BUTTON_CLASS(PIN_BUTTON_GRAB, BUTTON_GRAB_INVERT);
-#endif
+ auto* communication = AutoConfig::createTransport();
+ auto* encoding = new og::AlphaEncoder();
-#if GESTURE_PINCH_ENABLED
- auto* pinch = new PinchGesture(
- PinchGesture::Fingers{ .thumb = thumb_curl_sensor, .index = index_curl_sensor },
- GESTURE_PINCH_THRESHOLD
- );
- input_sensors.pinch.press = pinch;
-#elif BUTTON_PINCH_ENABLED
- auto* pinch = new BUTTON_CLASS(PIN_BUTTON_PINCH, BUTTON_PINCH_INVERT);
-#endif
+ auto input_sensors = AutoConfig::createInput();
- auto* communication = AutoConfig::setupTransport();
- auto* encoding = new og::AlphaEncoder();
OpenGlovesTrackingComponent::Config tracking_config(CALIBRATION_DURATION, CALIBRATION_ALWAYS_CALIBRATE);
- auto* opengloves_tracking =
- new OpenGlovesTrackingComponent(tracking_config, input_sensors, communication, encoding);
+ auto* og_tracking = new OpenGlovesTrackingComponent(tracking_config, input_sensors, communication, encoding);
- auto* opengloves_tracking_task = new ::SenseShift::FreeRTOS::ComponentUpdateTask<OpenGlovesTrackingComponent>(
- opengloves_tracking,
+ auto* og_tracking_task = new SenseShift::FreeRTOS::ComponentUpdateTask<OpenGlovesTrackingComponent>(
+ og_tracking,
1000 / UPDATE_RATE,
{
.name = "OG_TRACKING",
@@ -174,34 +23,10 @@ void setupMode()
.priority = 1,
}
);
- opengloves_tracking_task->begin();
+ og_tracking_task->begin();
#if FFB_ENABLED
-
-#if FFB_THUMB_ENABLED
- auto* thumb_ffb_output = new ServoOutput(PIN_FFB_THUMB);
- output_writers.ffb.thumb = thumb_ffb_output;
-#endif
-
-#if FFB_INDEX_ENABLED
- auto* index_ffb_output = new ServoOutput(PIN_FFB_INDEX);
- output_writers.ffb.index = index_ffb_output;
-#endif
-
-#if FFB_MIDDLE_ENABLED
- auto* middle_ffb_output = new ServoOutput(PIN_FFB_MIDDLE);
- output_writers.ffb.middle = middle_ffb_output;
-#endif
-
-#if FFB_RING_ENABLED
- auto* ring_ffb_output = new ServoOutput(PIN_FFB_RING);
- output_writers.ffb.ring = ring_ffb_output;
-#endif
-
-#if FFB_PINKY_ENABLED
- auto* pinky_ffb_output = new ServoOutput(PIN_FFB_PINKY);
- output_writers.ffb.pinky = pinky_ffb_output;
-#endif
+ auto output_writers = AutoConfig::createFfbOutputs();
auto* og_ffb = new OpenGlovesForceFeedbackComponent(output_writers, communication, encoding);
diff --git a/lib/freertos/senseshift/freertos/task.hpp b/lib/freertos/senseshift/freertos/task.hpp
index 38ea81a0..ee4f3028 100644
--- a/lib/freertos/senseshift/freertos/task.hpp
+++ b/lib/freertos/senseshift/freertos/task.hpp
@@ -1,10 +1,15 @@
#pragma once
+#include <cstdint>
+#include <type_traits>
+
+#include <senseshift/core/component.hpp>
#include <senseshift/core/logging.hpp>
extern "C" void delay(uint32_t ms);
#if defined(ESP32)
+#include <Arduino.h>
#include <freertos/FreeRTOS.h> // Include the base FreeRTOS definitions.
#include <freertos/task.h> // Include the task definitions.
diff --git a/lib/opengloves/senseshift/opengloves/autoconfig.hpp b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
index dd97a556..de6eeaf2 100644
--- a/lib/opengloves/senseshift/opengloves/autoconfig.hpp
+++ b/lib/opengloves/senseshift/opengloves/autoconfig.hpp
@@ -1,5 +1,13 @@
#pragma once
+#include <senseshift/arduino/input/sensor/analog.hpp>
+#include <senseshift/arduino/input/sensor/digital.hpp>
+#include <senseshift/arduino/output/servo.hpp>
+#include <senseshift/body/hands/input/gesture.hpp>
+#include <senseshift/body/hands/input/total_curl.hpp>
+#include <senseshift/input/calibration.hpp>
+#include <senseshift/input/filter.hpp>
+#include <senseshift/input/sensor.hpp>
#include <senseshift/opengloves/constants.hpp>
#include <senseshift/opengloves/opengloves.hpp>
@@ -145,7 +153,8 @@
#define BUTTON_GRAB_ENABLED (!GESTURE_GRAB_ENABLED && defined(PIN_BUTTON_GRAB) && (PIN_BUTTON_GRAB != -1))
#define BUTTON_PINCH_ENABLED (!GESTURE_PINCH_ENABLED && defined(PIN_BUTTON_PINCH) && (PIN_BUTTON_PINCH != -1))
-#define BUTTON_CLASS(PIN, INVERT) SimpleSensorDecorator(new DigitalSimpleSensor<INVERT>(PIN));
+#define BUTTON_CLASS(PIN, INVERT) \
+ ::SenseShift::Input::SimpleSensorDecorator(new ::SenseShift::Arduino::Input::DigitalSimpleSensor<INVERT>(PIN));
#pragma endregion
@@ -184,10 +193,182 @@
namespace SenseShift::OpenGloves::AutoConfig {
+ [[nodiscard]] auto createInput() -> InputSensors
+ {
+ InputSensors input_sensors;
+
+#if FINGER_THUMB_SPLAY
+ DEFINE_FINGER_SPLAY(
+ thumb,
+ PIN_FINGER_THUMB,
+ FINGER_THUMB_INVERT,
+ CALIBRATION_CURL,
+ PIN_FINGER_THUMB_SPLAY,
+ FINGER_THUMB_SPLAY_INVERT,
+ CALIBRATION_SPLAY
+ );
+#elif FINGER_THUMB_ENABLED
+ DEFINE_FINGER(thumb_curl, PIN_FINGER_THUMB, FINGER_THUMB_INVERT, CALIBRATION_CURL);
+ input_sensors.curl.thumb.curl_total = thumb_curl_sensor;
+#endif
+
+#if FINGER_INDEX_SPLAY
+ DEFINE_FINGER_SPLAY(
+ index,
+ PIN_FINGER_INDEX,
+ FINGER_INDEX_INVERT,
+ CALIBRATION_CURL,
+ PIN_FINGER_INDEX_SPLAY,
+ FINGER_INDEX_SPLAY_INVERT,
+ CALIBRATION_SPLAY
+ );
+#elif FINGER_INDEX_ENABLED
+ DEFINE_FINGER(index_curl, PIN_FINGER_INDEX, FINGER_INDEX_INVERT, CALIBRATION_CURL);
+ input_sensors.curl.index.curl_total = index_curl_sensor;
+#endif
+
+#if FINGER_MIDDLE_SPLAY
+ DEFINE_FINGER_SPLAY(
+ middle,
+ PIN_FINGER_MIDDLE,
+ FINGER_MIDDLE_INVERT,
+ CALIBRATION_CURL,
+ PIN_FINGER_MIDDLE_SPLAY,
+ FINGER_MIDDLE_SPLAY_INVERT,
+ CALIBRATION_SPLAY
+ );
+#elif FINGER_MIDDLE_ENABLED
+ DEFINE_FINGER(middle_curl, PIN_FINGER_MIDDLE, FINGER_MIDDLE_INVERT, CALIBRATION_CURL);
+ input_sensors.curl.middle.curl_total = middle_curl_sensor;
+#endif
+
+#if FINGER_RING_SPLAY
+ DEFINE_FINGER_SPLAY(
+ ring,
+ PIN_FINGER_RING,
+ FINGER_RING_INVERT,
+ CALIBRATION_CURL,
+ PIN_FINGER_RING_SPLAY,
+ FINGER_RING_SPLAY_INVERT,
+ CALIBRATION_SPLAY
+ );
+#elif FINGER_RING_ENABLED
+ DEFINE_FINGER(ring_curl, PIN_FINGER_RING, FINGER_RING_INVERT, CALIBRATION_CURL);
+ input_sensors.curl.ring.curl_total = ring_curl_sensor;
+#endif
+
+#if FINGER_PINKY_SPLAY
+ DEFINE_FINGER_SPLAY(
+ pinky,
+ PIN_FINGER_PINKY,
+ FINGER_PINKY_INVERT,
+ CALIBRATION_CURL,
+ PIN_FINGER_PINKY_SPLAY,
+ FINGER_PINKY_SPLAY_INVERT,
+ CALIBRATION_SPLAY
+ );
+#elif FINGER_PINKY_ENABLED
+ DEFINE_FINGER(pinky_curl, PIN_FINGER_PINKY, FINGER_PINKY_INVERT, CALIBRATION_CURL);
+ input_sensors.curl.pinky.curl_total = pinky_curl_sensor;
+#endif
+
+#if JOYSTICK_ENABLED
+ DEFINE_JOYSTICK_AXIS(joystick_x, PIN_JOYSTICK_X, JOYSTICK_X_INVERT, JOYSTICK_DEADZONE);
+ DEFINE_JOYSTICK_AXIS(joystick_y, PIN_JOYSTICK_Y, JOYSTICK_Y_INVERT, JOYSTICK_DEADZONE);
+
+ input_sensors.joystick.x = joystick_x_sensor;
+ input_sensors.joystick.y = joystick_y_sensor;
+#endif
+
+#if BUTTON_A_ENABLED
+ auto* button_a = new BUTTON_CLASS(PIN_BUTTON_A, BUTTON_A_INVERT);
+ input_sensors.button_a.press = button_a;
+#endif
+#if BUTTON_B_ENABLED
+ auto* button_b = new BUTTON_CLASS(PIN_BUTTON_B, BUTTON_B_INVERT);
+ input_sensors.button_b.press = button_b;
+#endif
+#if BUTTON_JOYSTICK_ENABLED
+ auto* button_joystick = new BUTTON_CLASS(PIN_BUTTON_JOYSTICK, BUTTON_JOYSTICK_INVERT);
+ input_sensors.joystick.press = button_joystick;
+#endif
+#if BUTTON_MENU_ENABLED
+ auto* button_menu = new BUTTON_CLASS(PIN_BUTTON_MENU, BUTTON_MENU_INVERT);
+#endif
+#if BUTTON_CALIBRATE_ENABLED
+ auto* button_calibrate = new BUTTON_CLASS(PIN_BUTTON_CALIBRATE, BUTTON_CALIBRATE_INVERT);
+ input_sensors.button_calibrate.press = button_calibrate;
+#endif
+
+#if GESTURE_TRIGGER_ENABLED
+ auto* trigger = new Body::Hands::Input::TriggerGesture(index_curl_sensor, GESTURE_TRIGGER_THRESHOLD);
+ input_sensors.trigger.press = trigger;
+#elif BUTTON_TRIGGER_ENABLED
+ auto trigger = new BUTTON_CLASS(PIN_BUTTON_TRIGGER, BUTTON_TRIGGER_INVERT);
+#endif
+
+#if GESTURE_GRAB_ENABLED
+ auto* grab = new Body::Hands::Input::GrabGesture(
+ Body::Hands::Input::GrabGesture::Fingers{ .index = index_curl_sensor,
+ .middle = middle_curl_sensor,
+ .ring = ring_curl_sensor,
+ .pinky = pinky_curl_sensor },
+ GESTURE_GRAB_THRESHOLD
+ );
+ input_sensors.grab.press = grab;
+#elif BUTTON_GRAB_ENABLED
+ auto* grab = new BUTTON_CLASS(PIN_BUTTON_GRAB, BUTTON_GRAB_INVERT);
+#endif
+
+#if GESTURE_PINCH_ENABLED
+ auto* pinch = new Body::Hands::Input::PinchGesture(
+ Body::Hands::Input::PinchGesture::Fingers{ .thumb = thumb_curl_sensor, .index = index_curl_sensor },
+ GESTURE_PINCH_THRESHOLD
+ );
+ input_sensors.pinch.press = pinch;
+#elif BUTTON_PINCH_ENABLED
+ auto* pinch = new BUTTON_CLASS(PIN_BUTTON_PINCH, BUTTON_PINCH_INVERT);
+#endif
+
+ return input_sensors;
+ }
+
+ [[nodiscard]] auto createFfbOutputs() -> OutputWriters
+ {
+ OutputWriters output_writers;
+
+#if FFB_THUMB_ENABLED
+ auto* thumb_ffb_output = new ::SenseShift::Arduino::Output::ServoOutput(PIN_FFB_THUMB);
+ output_writers.ffb.thumb = thumb_ffb_output;
+#endif
+
+#if FFB_INDEX_ENABLED
+ auto* index_ffb_output = new ::SenseShift::Arduino::Output::ServoOutput(PIN_FFB_INDEX);
+ output_writers.ffb.index = index_ffb_output;
+#endif
+
+#if FFB_MIDDLE_ENABLED
+ auto* middle_ffb_output = new ::SenseShift::Arduino::Output::ServoOutput(PIN_FFB_MIDDLE);
+ output_writers.ffb.middle = middle_ffb_output;
+#endif
+
+#if FFB_RING_ENABLED
+ auto* ring_ffb_output = new ::SenseShift::Arduino::Output::ServoOutput(PIN_FFB_RING);
+ output_writers.ffb.ring = ring_ffb_output;
+#endif
+
+#if FFB_PINKY_ENABLED
+ auto* pinky_ffb_output = new ::SenseShift::Arduino::Output::ServoOutput(PIN_FFB_PINKY);
+ output_writers.ffb.pinky = pinky_ffb_output;
+#endif
+
+ return output_writers;
+ }
+
/**
* Setup the transport for the OpenGloves interface.
*/
- [[nodiscard]] auto setupTransport() -> ITransport*
+ [[nodiscard]] auto createTransport() -> ITransport*
{
#if OPENGLOVES_COMMUNICATION == OPENGLOVES_COMM_SERIAL // Serial
auto* pSerial = &SERIAL_PORT;
From 0628ff691aeec648fe58b7940a4a4b581460ef4f Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 19 Feb 2024 16:36:45 +0400
Subject: [PATCH 75/82] style: format INI files
---
ini/bhaptics.ini | 415 ++++++++++++++++++---------------
ini/opengloves-indexer.ini | 306 ++++++++++++------------
ini/opengloves-lucidgloves.ini | 203 ++++++++--------
ini/opengloves.ini | 116 ++++-----
platformio.ini | 71 +++---
5 files changed, 581 insertions(+), 530 deletions(-)
diff --git a/ini/bhaptics.ini b/ini/bhaptics.ini
index f3289e11..0d3c4343 100644
--- a/ini/bhaptics.ini
+++ b/ini/bhaptics.ini
@@ -1,71 +1,78 @@
[bhaptics]
-platform = platformio/espressif32@^6.1.0
+platform = platformio/espressif32@^6.1.0
platform_packages =
- platformio/framework-arduinoespressif32@^3.20014.231204
-framework = arduino
-board = esp32doit-devkit-v1
-upload_speed = 921600
-monitor_speed = 115200
+ platformio/framework-arduinoespressif32@^3.20014.231204
+framework = arduino
+board = esp32doit-devkit-v1
+upload_speed = 921600
+monitor_speed = 115200
-build_flags = ${common.build_flags}
- -D BHAPTICS
-build_unflags = ${common.build_unflags}
+build_flags =
+ ${common.build_flags}
+ -D BHAPTICS
+build_unflags = ${common.build_unflags}
build_src_filter = ${common.build_src_filter}
-lib_deps = ${common.lib_deps}
+lib_deps = ${common.lib_deps}
[env:bhaptics_tactsuit_x16]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTSUITX16
- -D BH_BLE_APPEARANCE=510
- '-D BLUETOOTH_NAME="TactSuitX16"'
- '-D BH_SERIAL_NUMBER={ 0x0d, 0x3a, 0xeb, 0x77, 0xbe, 0xf8, 0x7a, 0x1e, 0x3b, 0x2a }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactsuit_x16.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTSUITX16
+ -D BH_BLE_APPEARANCE=510
+ '-D BLUETOOTH_NAME="TactSuitX16"'
+ '-D BH_SERIAL_NUMBER={ 0x0d, 0x3a, 0xeb, 0x77, 0xbe, 0xf8, 0x7a, 0x1e, 0x3b, 0x2a }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactsuit_x16.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactsuit_x16_pca9685]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTSUITX16
- -D BH_BLE_APPEARANCE=510
- '-D BLUETOOTH_NAME="TactSuitX16"'
- '-D BH_SERIAL_NUMBER={ 0x0d, 0x3a, 0xeb, 0x77, 0xbe, 0xf8, 0x7a, 0x1e, 0x3b, 0x2a }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactsuit_x16_pca9685.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTSUITX16
+ -D BH_BLE_APPEARANCE=510
+ '-D BLUETOOTH_NAME="TactSuitX16"'
+ '-D BH_SERIAL_NUMBER={ 0x0d, 0x3a, 0xeb, 0x77, 0xbe, 0xf8, 0x7a, 0x1e, 0x3b, 0x2a }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactsuit_x16_pca9685.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactsuit_x40]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTSUITX40
- -D BH_BLE_APPEARANCE=509
- '-D BLUETOOTH_NAME="TactSuitX40"'
- '-D BH_SERIAL_NUMBER={ 0xcf, 0xcb, 0x0d, 0x95, 0x5f, 0xf6, 0xee, 0x2c, 0xbd, 0x73 }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactsuit_x40.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTSUITX40
+ -D BH_BLE_APPEARANCE=509
+ '-D BLUETOOTH_NAME="TactSuitX40"'
+ '-D BH_SERIAL_NUMBER={ 0xcf, 0xcb, 0x0d, 0x95, 0x5f, 0xf6, 0xee, 0x2c, 0xbd, 0x73 }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactsuit_x40.cpp>
+lib_deps = ${bhaptics.lib_deps}
; [env:bhaptics_tactbelt]
; platform = ${bhaptics.platform}
@@ -86,183 +93,203 @@ lib_deps = ${bhaptics.lib_deps}
; lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactosy2_forearm_left]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTOSY2
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="Tactosy2_L"'
- '-D BH_SERIAL_NUMBER={ 0xa0, 0xba, 0x0a, 0xd1, 0xbf, 0x36, 0x11, 0x30, 0xa4, 0xff }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactosy2.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTOSY2
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="Tactosy2_L"'
+ '-D BH_SERIAL_NUMBER={ 0xa0, 0xba, 0x0a, 0xd1, 0xbf, 0x36, 0x11, 0x30, 0xa4, 0xff }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactosy2.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactosy2_forearm_right]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTOSY2
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="Tactosy2_R"'
- '-D BH_SERIAL_NUMBER={ 0xb0, 0x1c, 0xc1, 0xf8, 0xec, 0x12, 0x18, 0x4e, 0x09, 0x77 }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactosy2.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTOSY2
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="Tactosy2_R"'
+ '-D BH_SERIAL_NUMBER={ 0xb0, 0x1c, 0xc1, 0xf8, 0xec, 0x12, 0x18, 0x4e, 0x09, 0x77 }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactosy2.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactosyh_hand_left]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTOSYH
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactosyH_L"'
- '-D BH_SERIAL_NUMBER={ 0xc1, 0x36, 0xdc, 0x21, 0xc9, 0xd4, 0x17, 0x85, 0xbb, 0x90 }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactosyh.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTOSYH
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactosyH_L"'
+ '-D BH_SERIAL_NUMBER={ 0xc1, 0x36, 0xdc, 0x21, 0xc9, 0xd4, 0x17, 0x85, 0xbb, 0x90 }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactosyh.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactosyh_hand_right]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTOSYH
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactosyH_R"'
- '-D BH_SERIAL_NUMBER={ 0xc7, 0x5f, 0x3b, 0x06, 0x38, 0xba, 0x34, 0xfa, 0x36, 0xc1 }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactosyh.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTOSYH
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactosyH_R"'
+ '-D BH_SERIAL_NUMBER={ 0xc7, 0x5f, 0x3b, 0x06, 0x38, 0xba, 0x34, 0xfa, 0x36, 0xc1 }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactosyh.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactosyf_foot_left]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTOSYF
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactosyF_L"'
- '-D BH_SERIAL_NUMBER={ 0x1a, 0x45, 0x83, 0x44, 0x03, 0xc5, 0xf3, 0xc3, 0xf3, 0xb8 }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactosyf.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTOSYF
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactosyF_L"'
+ '-D BH_SERIAL_NUMBER={ 0x1a, 0x45, 0x83, 0x44, 0x03, 0xc5, 0xf3, 0xc3, 0xf3, 0xb8 }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactosyf.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactosyf_foot_right]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTOSYF
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactosyF_R"'
- '-D BH_SERIAL_NUMBER={ 0x14, 0xb9, 0x02, 0x62, 0x41, 0xe4, 0x04, 0xb2, 0xc5, 0x11 }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactosyf.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTOSYF
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactosyF_R"'
+ '-D BH_SERIAL_NUMBER={ 0x14, 0xb9, 0x02, 0x62, 0x41, 0xe4, 0x04, 0xb2, 0xc5, 0x11 }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactosyf.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactal]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTAL
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="Tactal_"'
- '-D BH_SERIAL_NUMBER={ 0xed, 0xcb, 0x55, 0x7c, 0xd7, 0xb9, 0x16, 0xc5, 0x18, 0x2a }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactal.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTAL
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="Tactal_"'
+ '-D BH_SERIAL_NUMBER={ 0xed, 0xcb, 0x55, 0x7c, 0xd7, 0xb9, 0x16, 0xc5, 0x18, 0x2a }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactal.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactvisor]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTAL
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactVisor_V____"'
- '-D BH_SERIAL_NUMBER={ 0x5e, 0xa3, 0xdd, 0x12, 0x00, 0x01, 0x43, 0xc1, 0x26, 0x8a }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactvisor.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTAL
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactVisor_V____"'
+ '-D BH_SERIAL_NUMBER={ 0x5e, 0xa3, 0xdd, 0x12, 0x00, 0x01, 0x43, 0xc1, 0x26, 0x8a }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactvisor.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactglove_left]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTGLOVE
- -D SENSESHIFT_HAND_SIDE=Left
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactGlove (L"'
- '-D BH_SERIAL_NUMBER={ 0xcd, 0x0b, 0x81, 0x45, 0x85, 0xf9, 0x2b, 0x6c, 0xed, 0x5b }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactglove.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTGLOVE
+ -D SENSESHIFT_HAND_SIDE=Left
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactGlove (L"'
+ '-D BH_SERIAL_NUMBER={ 0xcd, 0x0b, 0x81, 0x45, 0x85, 0xf9, 0x2b, 0x6c, 0xed, 0x5b }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactglove.cpp>
+lib_deps = ${bhaptics.lib_deps}
[env:bhaptics_tactglove_right]
-platform = ${bhaptics.platform}
+platform = ${bhaptics.platform}
platform_packages = ${bhaptics.platform_packages}
-framework = ${bhaptics.framework}
-board = ${bhaptics.board}
-upload_speed = ${bhaptics.upload_speed}
-monitor_speed = ${bhaptics.monitor_speed}
+framework = ${bhaptics.framework}
+board = ${bhaptics.board}
+upload_speed = ${bhaptics.upload_speed}
+monitor_speed = ${bhaptics.monitor_speed}
-build_flags = ${bhaptics.build_flags}
- -D BH_DEVICE_TACTGLOVE
- -D SENSESHIFT_HAND_SIDE=Right
- -D BH_BLE_APPEARANCE=508
- '-D BLUETOOTH_NAME="TactGlove (R"'
- '-D BH_SERIAL_NUMBER={ 0x12, 0x0b, 0xae, 0xbf, 0xbc, 0x90, 0x3b, 0x0d, 0x84, 0xdd }'
-build_unflags = ${bhaptics.build_unflags}
-build_src_filter = ${bhaptics.build_src_filter}
- +<mode_configs/bhaptics/tactglove.cpp>
-lib_deps = ${bhaptics.lib_deps}
+build_flags =
+ ${bhaptics.build_flags}
+ -D BH_DEVICE_TACTGLOVE
+ -D SENSESHIFT_HAND_SIDE=Right
+ -D BH_BLE_APPEARANCE=508
+ '-D BLUETOOTH_NAME="TactGlove (R"'
+ '-D BH_SERIAL_NUMBER={ 0x12, 0x0b, 0xae, 0xbf, 0xbc, 0x90, 0x3b, 0x0d, 0x84, 0xdd }'
+build_unflags = ${bhaptics.build_unflags}
+build_src_filter =
+ ${bhaptics.build_src_filter}
+ +<mode_configs/bhaptics/tactglove.cpp>
+lib_deps = ${bhaptics.lib_deps}
diff --git a/ini/opengloves-indexer.ini b/ini/opengloves-indexer.ini
index e9e8f5a8..08048903 100644
--- a/ini/opengloves-indexer.ini
+++ b/ini/opengloves-indexer.ini
@@ -3,173 +3,183 @@
; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:indexer-c]
-platform = ${opengloves.platform}
+platform = ${opengloves.platform}
platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = wemos_d1_mini32
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags} -D OG_ENCODE_FAST
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=25
- -D PIN_FINGER_INDEX=14
- -D PIN_FINGER_MIDDLE=33
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=12
- -D PIN_JOYSTICK_Y=4
- -D PIN_BUTTON_JOYSTICK=0
-
- -D PIN_BUTTON_A=2
- -D PIN_BUTTON_B=11
- ; -D PIN_BUTTON_MENU=5
- -D PIN_BUTTON_CALIBRATE=27
-; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
-; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
-; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+framework = ${opengloves.framework}
+board = wemos_d1_mini32
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags =
+ ${opengloves.build_flags}
+ -D OG_ENCODE_FAST
+ ;;;; Pins configuration
+ ;;;; Comment out to disable
+ -D PIN_FINGER_THUMB=25
+ -D PIN_FINGER_INDEX=14
+ -D PIN_FINGER_MIDDLE=33
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=12
+ -D PIN_JOYSTICK_Y=4
+ -D PIN_BUTTON_JOYSTICK=0
+
+ -D PIN_BUTTON_A=2
+ -D PIN_BUTTON_B=11
+ ; -D PIN_BUTTON_MENU=5
+ -D PIN_BUTTON_CALIBRATE=27
+ ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter =
+ ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; Indexer CF
; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:indexer-cf]
-platform = ${opengloves.platform}
+platform = ${opengloves.platform}
platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = wemos_d1_mini32
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags} -D OG_ENCODE_FAST
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=25
- -D PIN_FINGER_INDEX=14
- -D PIN_FINGER_MIDDLE=33
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=12
- -D PIN_JOYSTICK_Y=4
- -D PIN_BUTTON_JOYSTICK=0
-
- -D PIN_BUTTON_A=2
- -D PIN_BUTTON_B=11
- ; -D PIN_BUTTON_MENU=5
- -D PIN_BUTTON_CALIBRATE=27
- ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
- -D PIN_FFB_THUMB=16
- -D PIN_FFB_INDEX=17
- -D PIN_FFB_MIDDLE=21
- -D PIN_FFB_RING=22
- -D PIN_FFB_PINKY=1
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+framework = ${opengloves.framework}
+board = wemos_d1_mini32
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags =
+ ${opengloves.build_flags}
+ -D OG_ENCODE_FAST
+ ;;;; Pins configuration
+ ;;;; Comment out to disable
+ -D PIN_FINGER_THUMB=25
+ -D PIN_FINGER_INDEX=14
+ -D PIN_FINGER_MIDDLE=33
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=12
+ -D PIN_JOYSTICK_Y=4
+ -D PIN_BUTTON_JOYSTICK=0
+
+ -D PIN_BUTTON_A=2
+ -D PIN_BUTTON_B=11
+ ; -D PIN_BUTTON_MENU=5
+ -D PIN_BUTTON_CALIBRATE=27
+ ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+ -D PIN_FFB_THUMB=16
+ -D PIN_FFB_INDEX=17
+ -D PIN_FFB_MIDDLE=21
+ -D PIN_FFB_RING=22
+ -D PIN_FFB_PINKY=1
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter =
+ ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; Indexer CS
; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:indexer-cs]
-platform = ${opengloves.platform}
+platform = ${opengloves.platform}
platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = wemos_d1_mini32
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=25
- -D PIN_FINGER_INDEX=14
- -D PIN_FINGER_MIDDLE=33
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_FINGER_THUMB_SPLAY=32
- -D PIN_FINGER_INDEX_SPLAY=13
- -D PIN_FINGER_MIDDLE_SPLAY=34
- -D PIN_FINGER_RING_SPLAY=35
- -D PIN_FINGER_PINKY_SPLAY=26
-
- -D PIN_JOYSTICK_X=12
- -D PIN_JOYSTICK_Y=4
- -D PIN_BUTTON_JOYSTICK=0
-
- -D PIN_BUTTON_A=2
- -D PIN_BUTTON_B=11
- ; -D PIN_BUTTON_MENU=5
- -D PIN_BUTTON_CALIBRATE=27
-; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
-; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
-; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+framework = ${opengloves.framework}
+board = wemos_d1_mini32
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags =
+ ${opengloves.build_flags}
+ ;;;; Pins configuration
+ ;;;; Comment out to disable
+ -D PIN_FINGER_THUMB=25
+ -D PIN_FINGER_INDEX=14
+ -D PIN_FINGER_MIDDLE=33
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_FINGER_THUMB_SPLAY=32
+ -D PIN_FINGER_INDEX_SPLAY=13
+ -D PIN_FINGER_MIDDLE_SPLAY=34
+ -D PIN_FINGER_RING_SPLAY=35
+ -D PIN_FINGER_PINKY_SPLAY=26
+
+ -D PIN_JOYSTICK_X=12
+ -D PIN_JOYSTICK_Y=4
+ -D PIN_BUTTON_JOYSTICK=0
+
+ -D PIN_BUTTON_A=2
+ -D PIN_BUTTON_B=11
+ ; -D PIN_BUTTON_MENU=5
+ -D PIN_BUTTON_CALIBRATE=27
+ ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter =
+ ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; Indexer CSF
; Wiring Diagram: https://github.com/Valsvirtuals/Indexer/wiki/wiring-and-pinout
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:indexer-csf]
-platform = ${opengloves.platform}
+platform = ${opengloves.platform}
platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = wemos_d1_mini32
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=25
- -D PIN_FINGER_INDEX=14
- -D PIN_FINGER_MIDDLE=33
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_FINGER_THUMB_SPLAY=32
- -D PIN_FINGER_INDEX_SPLAY=13
- -D PIN_FINGER_MIDDLE_SPLAY=34
- -D PIN_FINGER_RING_SPLAY=35
- -D PIN_FINGER_PINKY_SPLAY=26
-
- -D PIN_JOYSTICK_X=12
- -D PIN_JOYSTICK_Y=4
- -D PIN_BUTTON_JOYSTICK=0
-
- -D PIN_BUTTON_A=2
- -D PIN_BUTTON_B=11
- ; -D PIN_BUTTON_MENU=5
- -D PIN_BUTTON_CALIBRATE=27
- ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
- -D PIN_FFB_THUMB=16
- -D PIN_FFB_INDEX=17
- -D PIN_FFB_MIDDLE=21
- -D PIN_FFB_RING=22
- -D PIN_FFB_PINKY=1
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+framework = ${opengloves.framework}
+board = wemos_d1_mini32
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags =
+ ${opengloves.build_flags}
+ ;;;; Pins configuration
+ ;;;; Comment out to disable
+ -D PIN_FINGER_THUMB=25
+ -D PIN_FINGER_INDEX=14
+ -D PIN_FINGER_MIDDLE=33
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_FINGER_THUMB_SPLAY=32
+ -D PIN_FINGER_INDEX_SPLAY=13
+ -D PIN_FINGER_MIDDLE_SPLAY=34
+ -D PIN_FINGER_RING_SPLAY=35
+ -D PIN_FINGER_PINKY_SPLAY=26
+
+ -D PIN_JOYSTICK_X=12
+ -D PIN_JOYSTICK_Y=4
+ -D PIN_BUTTON_JOYSTICK=0
+
+ -D PIN_BUTTON_A=2
+ -D PIN_BUTTON_B=11
+ ; -D PIN_BUTTON_MENU=5
+ -D PIN_BUTTON_CALIBRATE=27
+ ; -D PIN_BUTTON_TRIGGER=19 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=18 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+ -D PIN_FFB_THUMB=16
+ -D PIN_FFB_INDEX=17
+ -D PIN_FFB_MIDDLE=21
+ -D PIN_FFB_RING=22
+ -D PIN_FFB_PINKY=1
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter =
+ ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
diff --git a/ini/opengloves-lucidgloves.ini b/ini/opengloves-lucidgloves.ini
index 1c50b00a..b777cee8 100644
--- a/ini/opengloves-lucidgloves.ini
+++ b/ini/opengloves-lucidgloves.ini
@@ -3,115 +3,124 @@
; Wiring Diagram: https://github.com/LucidVR/lucidgloves/wiki/Prototype-3-Wiring-Diagram
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:lucidgloves-prototype3]
-platform = ${opengloves.platform}
+platform = ${opengloves.platform}
platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = ${opengloves.board}
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags} -D OG_ENCODE_FAST
-
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=32
- -D PIN_FINGER_INDEX=35
- -D PIN_FINGER_MIDDLE=34
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=33
- -D PIN_JOYSTICK_Y=25
- -D PIN_BUTTON_JOYSTICK=26
-
- -D PIN_BUTTON_A=27
- -D PIN_BUTTON_B=14
-
- -D CALIBRATION_ALWAYS_CALIBRATE=true
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+framework = ${opengloves.framework}
+board = ${opengloves.board}
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags =
+ ${opengloves.build_flags}
+ -D OG_ENCODE_FAST
+
+ ;;;; Pins configuration
+ ;;;; Comment out to disable
+ -D PIN_FINGER_THUMB=32
+ -D PIN_FINGER_INDEX=35
+ -D PIN_FINGER_MIDDLE=34
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=33
+ -D PIN_JOYSTICK_Y=25
+ -D PIN_BUTTON_JOYSTICK=26
+
+ -D PIN_BUTTON_A=27
+ -D PIN_BUTTON_B=14
+
+ -D CALIBRATION_ALWAYS_CALIBRATE=true
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter =
+ ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; LucidGloves Prototype 4
; Wiring Diagram: https://github.com/LucidVR/lucidgloves/wiki/Prototype-4-Wiring-Diagram
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:lucidgloves-prototype4]
-platform = ${opengloves.platform}
+platform = ${opengloves.platform}
platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = ${opengloves.board}
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags} -D OG_ENCODE_FAST
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=32
- -D PIN_FINGER_INDEX=35
- -D PIN_FINGER_MIDDLE=34
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=33
- -D PIN_JOYSTICK_Y=25
- -D PIN_BUTTON_JOYSTICK=26
-
- -D PIN_BUTTON_A=27
- -D PIN_BUTTON_B=14
- ; -D PIN_BUTTON_MENU=27
- -D PIN_BUTTON_CALIBRATE=12
-; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
-; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
-; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+framework = ${opengloves.framework}
+board = ${opengloves.board}
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags =
+ ${opengloves.build_flags}
+ -D OG_ENCODE_FAST
+ ;;;; Pins configuration
+ ;;;; Comment out to disable
+ -D PIN_FINGER_THUMB=32
+ -D PIN_FINGER_INDEX=35
+ -D PIN_FINGER_MIDDLE=34
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=33
+ -D PIN_JOYSTICK_Y=25
+ -D PIN_BUTTON_JOYSTICK=26
+
+ -D PIN_BUTTON_A=27
+ -D PIN_BUTTON_B=14
+ ; -D PIN_BUTTON_MENU=27
+ -D PIN_BUTTON_CALIBRATE=12
+ ; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter =
+ ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; LucidGloves Prototype 4 + Force Feedback
; Wiring Diagram: https://github.com/LucidVR/lucidgloves/wiki/Prototype-4-Wiring-Diagram
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[env:lucidgloves-prototype4-ffb]
-platform = ${opengloves.platform}
+platform = ${opengloves.platform}
platform_packages = ${opengloves.platform_packages}
-framework = ${opengloves.framework}
-board = ${opengloves.board}
-upload_speed = ${opengloves.upload_speed}
-monitor_speed = ${opengloves.monitor_speed}
-
-build_flags = ${opengloves.build_flags}
- ; Pins configuration
- ; Comment out to disable
- -D PIN_FINGER_THUMB=32
- -D PIN_FINGER_INDEX=35
- -D PIN_FINGER_MIDDLE=34
- -D PIN_FINGER_RING=39
- -D PIN_FINGER_PINKY=36
-
- -D PIN_JOYSTICK_X=33
- -D PIN_JOYSTICK_Y=25
- -D PIN_BUTTON_JOYSTICK=26
-
- -D PIN_BUTTON_A=27
- -D PIN_BUTTON_B=14
- ; -D PIN_BUTTON_MENU=27
- -D PIN_BUTTON_CALIBRATE=12
- ; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
- ; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
- ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
-
- -D PIN_FFB_THUMB=17
- -D PIN_FFB_INDEX=21
- -D PIN_FFB_MIDDLE=19
- -D PIN_FFB_RING=18
- -D PIN_FFB_PINKY=5
-
-build_unflags = ${opengloves.build_unflags}
-build_src_filter = ${opengloves.build_src_filter}
- +<mode_configs/opengloves/opengloves.cpp>
-lib_deps = ${opengloves.lib_deps}
+framework = ${opengloves.framework}
+board = ${opengloves.board}
+upload_speed = ${opengloves.upload_speed}
+monitor_speed = ${opengloves.monitor_speed}
+
+build_flags =
+ ${opengloves.build_flags}
+ -D OG_ENCODE_FAST
+ ;;;; Pins configuration
+ ;;;; Comment out to disable
+ -D PIN_FINGER_THUMB=32
+ -D PIN_FINGER_INDEX=35
+ -D PIN_FINGER_MIDDLE=34
+ -D PIN_FINGER_RING=39
+ -D PIN_FINGER_PINKY=36
+
+ -D PIN_JOYSTICK_X=33
+ -D PIN_JOYSTICK_Y=25
+ -D PIN_BUTTON_JOYSTICK=26
+
+ -D PIN_BUTTON_A=27
+ -D PIN_BUTTON_B=14
+ ; -D PIN_BUTTON_MENU=27
+ -D PIN_BUTTON_CALIBRATE=12
+ ; -D PIN_BUTTON_TRIGGER=12 ; unused if GESTURE_TRIGGER is true
+ ; -D PIN_BUTTON_GRAB=13 ; unused if GESTURE_GRAB is true
+ ; -D PIN_BUTTON_PINCH=23 ; unused if GESTURE_PINCH is true
+
+ -D PIN_FFB_THUMB=17
+ -D PIN_FFB_INDEX=21
+ -D PIN_FFB_MIDDLE=19
+ -D PIN_FFB_RING=18
+ -D PIN_FFB_PINKY=5
+
+build_unflags = ${opengloves.build_unflags}
+build_src_filter =
+ ${opengloves.build_src_filter}
+ +<mode_configs/opengloves/opengloves.cpp>
+lib_deps = ${opengloves.lib_deps}
diff --git a/ini/opengloves.ini b/ini/opengloves.ini
index 12819792..ab5c8333 100644
--- a/ini/opengloves.ini
+++ b/ini/opengloves.ini
@@ -1,60 +1,62 @@
[opengloves]
-platform = platformio/espressif32@^6.1.0
+platform = platformio/espressif32@^6.1.0
platform_packages =
- platformio/framework-arduinoespressif32@^3.20014.231204
-framework = arduino
-board = esp32doit-devkit-v1
-upload_speed = 921600
-monitor_speed = 115200
-
-build_flags = ${common.build_flags}
- -D OPENGLOVES
-
- ; Communication
- ; -D OPENGLOVES_COMMUNICATION=OPENGLOVES_COMM_BLESERIAL ; OPENGLOVES_COMM_SERIAL, OPENGLOVES_COMM_BTSERIAL, OPENGLOVES_COMM_BLESERIAL
- ; Serial
- -D SERIAL_BAUDRATE=115200
- -D SERIAL_PORT=Serial ; Serial, Serial1, Serial2, Serial3
- ; BTSerial
- '-D BTSERIAL_PREFIX="SenseShift_OG"'
- ; '-D BTSERIAL_NAME="SenseShift_OG_Left"'
-
- ; Sensors
- -D FINGER_THUMB_INVERT=false
- -D FINGER_INDEX_INVERT=false
- -D FINGER_MIDDLE_INVERT=false
- -D FINGER_RING_INVERT=false
- -D FINGER_PINKY_INVERT=false
-
- -D FINGER_THUMB_SPLAY_INVERT=false
- -D FINGER_INDEX_SPLAY_INVERT=false
- -D FINGER_MIDDLE_SPLAY_INVERT=false
- -D FINGER_RING_SPLAY_INVERT=false
- -D FINGER_PINKY_SPLAY_INVERT=false
-
- -D JOYSTICK_X_INVERT=false
- -D JOYSTICK_Y_INVERT=false
- -D JOYSTICK_DEADZONE=0.1
- -D BUTTON_JOYSTICK_INVERT=false
-
- -D BUTTON_A_INVERT=false
- -D BUTTON_B_INVERT=false
- -D BUTTON_MENU_INVERT=false
- -D BUTTON_CALIBRATE_INVERT=false
- -D BUTTON_TRIGGER_INVERT=false
- -D BUTTON_GRAB_INVERT=false
- -D BUTTON_PINCH_INVERT=false
-
- -D GESTURE_TRIGGER_ENABLED=true
- -D GESTURE_GRAB_ENABLED=true
- -D GESTURE_PINCH_ENABLED=true
-
- ; Calibration
- -D CALIBRATION_ALWAYS_CALIBRATE=false
- -D CALIBRATION_DURATION=2000 ; in ms
-
- -D UPDATE_RATE=90 ; sensors update rate in Hz
-
-build_unflags = ${common.build_unflags}
+ platformio/framework-arduinoespressif32@^3.20014.231204
+framework = arduino
+board = esp32doit-devkit-v1
+upload_speed = 921600
+monitor_speed = 115200
+
+build_flags =
+ ${common.build_flags}
+ -D OPENGLOVES
+
+ ;;;; Communication
+ ; -D OPENGLOVES_COMMUNICATION=OPENGLOVES_COMM_BLESERIAL ; OPENGLOVES_COMM_SERIAL, OPENGLOVES_COMM_BTSERIAL, OPENGLOVES_COMM_BLESERIAL
+ ;;;; Serial
+ -D SERIAL_BAUDRATE=115200
+ ; Options: Serial, Serial1, Serial2, Serial3
+ -D SERIAL_PORT=Serial
+ ;;;; BTSerial
+ '-D BTSERIAL_PREFIX="SenseShift_OG"'
+ ; '-D BTSERIAL_NAME="SenseShift_OG_Left"'
+
+ ; Sensors
+ -D FINGER_THUMB_INVERT=false
+ -D FINGER_INDEX_INVERT=false
+ -D FINGER_MIDDLE_INVERT=false
+ -D FINGER_RING_INVERT=false
+ -D FINGER_PINKY_INVERT=false
+
+ -D FINGER_THUMB_SPLAY_INVERT=false
+ -D FINGER_INDEX_SPLAY_INVERT=false
+ -D FINGER_MIDDLE_SPLAY_INVERT=false
+ -D FINGER_RING_SPLAY_INVERT=false
+ -D FINGER_PINKY_SPLAY_INVERT=false
+
+ -D JOYSTICK_X_INVERT=false
+ -D JOYSTICK_Y_INVERT=false
+ -D JOYSTICK_DEADZONE=0.1
+ -D BUTTON_JOYSTICK_INVERT=false
+
+ -D BUTTON_A_INVERT=false
+ -D BUTTON_B_INVERT=false
+ -D BUTTON_MENU_INVERT=false
+ -D BUTTON_CALIBRATE_INVERT=false
+ -D BUTTON_TRIGGER_INVERT=false
+ -D BUTTON_GRAB_INVERT=false
+ -D BUTTON_PINCH_INVERT=false
+
+ -D GESTURE_TRIGGER_ENABLED=true
+ -D GESTURE_GRAB_ENABLED=true
+ -D GESTURE_PINCH_ENABLED=true
+
+ ;;;; Calibration
+ -D CALIBRATION_ALWAYS_CALIBRATE=false
+ -D CALIBRATION_DURATION=2000 ; in ms
+
+ -D UPDATE_RATE=90 ; sensors update rate in Hz
+
+build_unflags = ${common.build_unflags}
build_src_filter = ${common.build_src_filter}
-lib_deps = ${common.lib_deps}
+lib_deps = ${common.lib_deps}
diff --git a/platformio.ini b/platformio.ini
index ea55d804..71400ed6 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -9,58 +9,61 @@
; https://docs.platformio.org/page/projectconf.html
[platformio]
-description = Open Source Haptic-feedback device firmware
-lib_dir = ./lib
-src_dir = ./firmware
+description = Open Source Haptic-feedback device firmware
+lib_dir = ./lib
+src_dir = ./firmware
extra_configs =
- ini/bhaptics.ini
- ini/opengloves.ini
- ini/opengloves-lucidgloves.ini
- ini/opengloves-indexer.ini
-default_envs = bhaptics_tactsuit_x16, bhaptics_tactal, bhaptics_tactglove_left, lucidgloves-prototype3
+ ini/bhaptics.ini
+ ini/opengloves.ini
+ ini/opengloves-lucidgloves.ini
+ ini/opengloves-indexer.ini
+default_envs = bhaptics_tactsuit_x16, bhaptics_tactal, bhaptics_tactglove_left, lucidgloves-prototype3
[common]
build_unflags =
- -std=gnu++11
-build_flags =
- -std=gnu++17
- -D __OH_FIRMWARE__
- -D CORE_DEBUG_LEVEL=3
-; -D DEBUG_MODE=0
-; -D DEBUG_ESP_PORT=Serial
-; -D SENSESHIFT_SERIAL_PLOTTER=true
-; -D SENSESHIFT_BATTERY_ENABLED=true
-; -D SENSESHIFT_BLE_USE_NIMBLE=true
+ -std=gnu++11
+build_flags =
+ -std=gnu++17
+ -D __OH_FIRMWARE__
+ -D CORE_DEBUG_LEVEL=3
+; -D DEBUG_MODE=0
+; -D DEBUG_ESP_PORT=Serial
+; -D SENSESHIFT_SERIAL_PLOTTER=true
+; -D SENSESHIFT_BATTERY_ENABLED=true
+; -D SENSESHIFT_BLE_USE_NIMBLE=true
build_src_filter =
- +<*>
- -<mode_configs>
+ +<*>
+ -<mode_configs>
lib_deps =
[env]
-build_flags = ${common.build_flags}
-build_unflags = ${common.build_unflags}
+build_flags = ${common.build_flags}
+build_unflags = ${common.build_unflags}
build_src_filter = ${common.build_src_filter}
-lib_deps = ${common.lib_deps}
-lib_ldf_mode = deep+
+lib_deps = ${common.lib_deps}
+lib_ldf_mode = deep+
-check_tool = clangtidy
+check_tool = clangtidy
check_flags =
- clangtidy: --config-file=./.clang-tidy --fix
+ clangtidy: --config-file=./.clang-tidy --fix
debug_build_flags = -Os
[env:native]
platform = native
-build_unflags = ${common.build_unflags}
-build_flags = ${common.build_flags}
- -lgcov
- --coverage
-build_src_filter = ${common.build_src_filter}
- +<mode_configs/test.cpp>
-lib_deps = ${common.lib_deps}
- fabiobatsilva/ArduinoFake@^0.4
+build_unflags = ${common.build_unflags}
+build_flags =
+ ${common.build_flags}
+ -lgcov
+ --coverage
+build_src_filter =
+ ${common.build_src_filter}
+ +<mode_configs/test.cpp>
+lib_deps =
+ ${common.lib_deps}
+ fabiobatsilva/ArduinoFake@^0.4
test_ignore = test_embedded
From 1d42b34a407293904fe7426d79bde7e4a3ee9d99 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 19 Feb 2024 19:43:14 +0400
Subject: [PATCH 76/82] fix(OpenGloves): manually initialize sensor pointers
---
lib/opengloves/opengloves/opengloves.hpp | 40 ++++
test/test_opengloves_alpha_encoding/main.cpp | 238 ++++++++-----------
2 files changed, 142 insertions(+), 136 deletions(-)
diff --git a/lib/opengloves/opengloves/opengloves.hpp b/lib/opengloves/opengloves/opengloves.hpp
index 2d9fd3b4..e6d708c7 100644
--- a/lib/opengloves/opengloves/opengloves.hpp
+++ b/lib/opengloves/opengloves/opengloves.hpp
@@ -3,8 +3,10 @@
#include <array>
#include <cstddef>
#include <cstdint>
+#include <initializer_list>
#include <map>
#include <string>
+#include <type_traits>
#include <variant>
#include <vector>
@@ -108,6 +110,44 @@ namespace og {
/// I know, it is not the prettiest one, but we need this type of punning to efficiently encode/decode the data
template<typename Tf = float, typename Tb = bool>
struct InputPeripheral {
+ template<
+ typename U = Tf,
+ typename V = Tb,
+ std::enable_if_t<std::is_floating_point_v<U> && std::is_same_v<V, bool>, bool> = true>
+ InputPeripheral()
+ {
+ this->curl.fingers = { {
+ { 0.0F, 0.0F, 0.0F, 0.0F },
+ { 0.0F, 0.0F, 0.0F, 0.0F },
+ { 0.0F, 0.0F, 0.0F, 0.0F },
+ { 0.0F, 0.0F, 0.0F, 0.0F },
+ { 0.0F, 0.0F, 0.0F, 0.0F },
+ } };
+ this->splay.fingers = { 0.0F, 0.0F, 0.0F, 0.0F, 0.0F };
+ this->joystick = { 0.0F, 0.0F, false };
+ this->buttons = { { false, false, false, false, false } };
+ this->analog_buttons = { { { false, 0.0F }, { false, 0.0F } } };
+ }
+
+ template<
+ typename U = Tf,
+ typename V = Tb,
+ std::enable_if_t<std::is_pointer_v<U> && std::is_pointer_v<V>, bool> = true>
+ InputPeripheral()
+ {
+ this->curl.fingers = { {
+ { nullptr, nullptr, nullptr, nullptr },
+ { nullptr, nullptr, nullptr, nullptr },
+ { nullptr, nullptr, nullptr, nullptr },
+ { nullptr, nullptr, nullptr, nullptr },
+ { nullptr, nullptr, nullptr, nullptr },
+ } };
+ this->splay.fingers = { nullptr, nullptr, nullptr, nullptr, nullptr };
+ this->joystick = { nullptr, nullptr, nullptr };
+ this->buttons = { { nullptr, nullptr, nullptr, nullptr, nullptr } };
+ this->analog_buttons = { { { nullptr, nullptr }, { nullptr, nullptr } } };
+ }
+
InputFinger<InputFingerCurl<Tf>> curl;
InputFinger<Tf> splay;
diff --git a/test/test_opengloves_alpha_encoding/main.cpp b/test/test_opengloves_alpha_encoding/main.cpp
index 9467b45c..7fd164d0 100644
--- a/test/test_opengloves_alpha_encoding/main.cpp
+++ b/test/test_opengloves_alpha_encoding/main.cpp
@@ -7,169 +7,135 @@ void test_encode_input_peripherals(void)
{
const IEncoder* encoder = new AlphaEncoder();
+ const auto defaultEmpty = InputPeripheralData();
+
+ auto halfCurl = InputPeripheralData();
+ halfCurl.curl = {
+ .thumb = { .curl_total = 0.5 },
+ .index = { .curl_total = 0.5 },
+ .middle = { .curl_total = 0.5 },
+ .ring = { .curl_total = 0.5 },
+ .pinky = { .curl_total = 0.5 },
+ };
+
+ auto zeroCurl = InputPeripheralData();
+ zeroCurl.curl = {
+ .thumb = { .curl_total = 0.0 },
+ .index = { .curl_total = 0.0 },
+ .middle = { .curl_total = 0.0 },
+ .ring = { .curl_total = 0.0 },
+ .pinky = { .curl_total = 0.0 },
+ };
+
+ auto fullCurl = InputPeripheralData();
+ fullCurl.curl = {
+ .thumb = { .curl_total = 1.0 },
+ .index = { .curl_total = 1.0 },
+ .middle = { .curl_total = 1.0 },
+ .ring = { .curl_total = 1.0 },
+ .pinky = { .curl_total = 1.0 },
+ };
+
+ auto halfSplay = InputPeripheralData();
+ halfSplay.splay = {
+ .thumb = 0.5,
+ .index = 0.5,
+ .middle = 0.5,
+ .ring = 0.5,
+ .pinky = 0.5,
+ };
+
+ auto increasingJoints = InputPeripheralData();
+ increasingJoints.curl = {
+ .thumb = { .curl = { 0.25f, 0.5f, 0.75f, 1.0f } },
+ .index = { .curl = { 0.25f, 0.5f, 0.75f, 1.0f } },
+ .middle = { .curl = { 0.25f, 0.5f, 0.75f, 1.0f } },
+ .ring = { .curl = { 0.25f, 0.5f, 0.75f, 1.0f } },
+ .pinky = { .curl = { 0.25f, 0.5f, 0.75f, 1.0f } },
+ };
+
+ auto joystick = InputPeripheralData();
+ joystick.joystick = {
+ .x = 0.5,
+ .y = 0.5,
+ .press = true,
+ };
+
+ auto buttons = InputPeripheralData();
+ buttons.button_a = { .press = true };
+ buttons.button_calibrate = { .press = true };
+
+ auto gesture = InputPeripheralData();
+ gesture.pinch = { true };
+ gesture.grab = { true };
+
+ auto halfCurlSplay = InputPeripheralData(halfCurl);
+ halfCurlSplay.curl = {
+ .thumb = { .curl_total = 0.5 },
+ .index = { .curl_total = 0.5 },
+ .middle = { .curl_total = 0.5 },
+ .ring = { .curl_total = 0.5 },
+ .pinky = { .curl_total = 0.5 },
+ };
+ halfCurlSplay.splay = {
+ .thumb = 0.5,
+ .index = 0.5,
+ .middle = 0.5,
+ .ring = 0.5,
+ .pinky = 0.5,
+ };
+
const std::vector<std::tuple<InputPeripheralData, std::string>> cases = {
{
- InputPeripheralData{},
+ defaultEmpty,
"A0B0C0D0E0\n",
},
{
- InputPeripheralData({
- .curl = {
- .thumb = {
- .curl_total = 0.5,
- },
- .index = {
- .curl_total = 0.5,
- },
- .middle = {
- .curl_total = 0.5,
- },
- .ring = {
- .curl_total = 0.5,
- },
- .pinky = {
- .curl_total = 0.5,
- },
- },
- }),
- "A2047B2047C2047D2047E2047\n",
+ halfCurl,
+ "A2047B2047C2047D2047E2047\n",
},
{
- InputPeripheralData({
- .curl = {
- .thumb = {
- .curl_total = 0.0,
- },
- .index = {
- .curl_total = 0.0,
- },
- .middle = {
- .curl_total = 0.0,
- },
- .ring = {
- .curl_total = 0.0,
- },
- .pinky = {
- .curl_total = 0.0,
- },
- },
- }),
- "A0B0C0D0E0\n",
+ zeroCurl,
+ "A0B0C0D0E0\n",
},
{
- InputPeripheralData({
- .curl = {
- .thumb = {
- .curl_total = 1.0,
- },
- .index = {
- .curl_total = 1.0,
- },
- .middle = {
- .curl_total = 1.0,
- },
- .ring = {
- .curl_total = 1.0,
- },
- .pinky = {
- .curl_total = 1.0,
- },
- },
- }),
- "A4095B4095C4095D4095E4095\n",
+ fullCurl,
+ "A4095B4095C4095D4095E4095\n",
},
{
- InputPeripheralData({
- .splay = {
- .thumb = 0.5,
- .index = 0.5,
- .middle = 0.5,
- .ring = 0.5,
- .pinky = 0.5,
- },
- }),
- "A0(AB)2047B0(BB)2047C0(CB)2047D0(DB)2047E0(EB)2047\n",
+ halfSplay,
+ "A0(AB)2047B0(BB)2047C0(CB)2047D0(DB)2047E0(EB)2047\n",
},
{
- InputPeripheralData({
- .curl = {
- .thumb = {
- .curl = { 0.25f, 0.5f, 0.75f, 1.0f },
- },
- .index = {
- .curl = { 0.25f, 0.5f, 0.75f, 1.0f },
- },
- .middle = {
- .curl = { 0.25f, 0.5f, 0.75f, 1.0f },
- },
- .ring = {
- .curl = { 0.25f, 0.5f, 0.75f, 1.0f },
- },
- .pinky = {
- .curl = { 0.25f, 0.5f, 0.75f, 1.0f },
- },
- },
- }),
+ increasingJoints,
"A1023(AAB)2047(AAC)3071(AAD)4095B1023(BAB)2047(BAC)3071(BAD)4095C1023(CAB)2047(CAC)3071(CAD)4095D1023(DAB)2047(DAC)3071(DAD)4095E1023(EAB)2047(EAC)3071(EAD)4095\n",
},
{
- InputPeripheralData({
- .joystick = {
- .x = 0.5,
- .y = 0.5,
- .press = true,
- },
- }),
- "A0B0C0D0E0F2047G2047H\n"
+ joystick,
+ "A0B0C0D0E0F2047G2047H\n",
},
{
- InputPeripheralData{
- .button_a = { .press = true },
- .button_calibrate = { .press = true },
- },
- "A0B0C0D0E0JO\n"
+ buttons,
+ "A0B0C0D0E0JO\n",
},
{
- InputPeripheralData{
- .pinch = { true },
- .grab = { true },
- },
- "A0B0C0D0E0ML\n"
+ gesture,
+ "A0B0C0D0E0ML\n",
},
{
- InputPeripheralData({
- .curl = {
- .thumb = {
- .curl_total = 0.5,
- },
- .index = {
- .curl_total = 0.5,
- },
- .middle = {
- .curl_total = 0.5,
- },
- .ring = {
- .curl_total = 0.5,
- },
- .pinky = {
- .curl_total = 0.5,
- },
- },
- .splay = {
- .thumb = 0.5,
- .index = 0.5,
- .middle = 0.5,
- .ring = 0.5,
- .pinky = 0.5,
- },
- }),
+ halfCurlSplay,
"A2047(AB)2047B2047(BB)2047C2047(CB)2047D2047(DB)2047E2047(EB)2047\n",
}
};
- for (const auto& [data, expected] : cases) {
+ for (auto i = 0; i < cases.size(); i++) {
+ const auto [data, expected] = cases[i];
const auto encoded = encoder->encode_input(data);
- TEST_ASSERT_EQUAL_STRING(expected.c_str(), encoded.c_str());
+ TEST_ASSERT_EQUAL_STRING_MESSAGE(
+ expected.c_str(),
+ encoded.c_str(),
+ ("Failed case " + std::to_string(i)).c_str()
+ );
}
}
From dc59f8721b0133b081d39d3fda5234049c5a44c3 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 19 Feb 2024 21:18:49 +0400
Subject: [PATCH 77/82] feat(Arduino): bring back INA219 Current Sensor
---
.../arduino/input/sensor/ina219.hpp | 25 +++++++++++++++++++
1 file changed, 25 insertions(+)
create mode 100644 lib/arduino/senseshift/arduino/input/sensor/ina219.hpp
diff --git a/lib/arduino/senseshift/arduino/input/sensor/ina219.hpp b/lib/arduino/senseshift/arduino/input/sensor/ina219.hpp
new file mode 100644
index 00000000..a2f4e6eb
--- /dev/null
+++ b/lib/arduino/senseshift/arduino/input/sensor/ina219.hpp
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <cstdint>
+
+#include <senseshift/input/sensor.hpp>
+
+#include <Adafruit_INA219.h>
+
+namespace SenseShift::Arduino::Input {
+ /// INA219 Current sensor
+ /// TODO: refactor to component, that updates the value in multiple sensors (ESPHome style)
+ class INA219CurrentSimpleSensor : public ::SenseShift::Input::IFloatSimpleSensor {
+ Adafruit_INA219 ina219_;
+
+ public:
+ void init() override
+ {
+ if (!ina219_.success()) {
+ log_e("Failed to find INA219 sensor");
+ }
+ }
+
+ [[nodiscard]] inline auto getValue() -> float override { return ina219_.getCurrent_mA(); }
+ };
+} // namespace SenseShift::Arduino::Input
\ No newline at end of file
From 78431bbc41bd9959c83f9ee93719ecd12b03c3b7 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Mon, 19 Feb 2024 21:19:08 +0400
Subject: [PATCH 78/82] chore: remove references of output serial plotter
---
.github/scripts/get_firmware_name.sh | 5 -
.github/workflows/ci.yml | 10 +-
.github/workflows/codeql-analysis.yml | 165 +++++++++++++-------------
platformio.ini | 1 -
4 files changed, 83 insertions(+), 98 deletions(-)
diff --git a/.github/scripts/get_firmware_name.sh b/.github/scripts/get_firmware_name.sh
index 36b1bfb9..120fafe3 100755
--- a/.github/scripts/get_firmware_name.sh
+++ b/.github/scripts/get_firmware_name.sh
@@ -18,11 +18,6 @@ getBhapticsName() {
target="$target+battery"
fi
- if [[ $flags =~ SENSESHIFT_SERIAL_PLOTTER=true ]]; then
- echo "::debug::Serial Plotter is enabled, appending +serialplotter to the target"
- target="$target+serialplotter"
- fi
-
echo "firmware=$target"
if [[ -n "$GITHUB_ACTIONS" ]]; then
echo "firmware=$target" >> "$GITHUB_OUTPUT"
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 6a12df0c..85d5c815 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -16,7 +16,7 @@ on:
jobs:
build-bhaptics:
- name: Build ${{ matrix.target }} ${{ matrix.coverage && 'with coverage' || 'without coverage' }}, -D ${{ matrix.battery_flag }} -D ${{ matrix.serial_plotter_flag }} -D ${{ matrix.nimble_flag }}
+ name: Build ${{ matrix.target }} ${{ matrix.coverage && 'with coverage' || 'without coverage' }}, -D ${{ matrix.battery_flag }} -D ${{ matrix.nimble_flag }}
runs-on: ${{ matrix.os }}
strategy:
fail-fast: false
@@ -33,7 +33,6 @@ jobs:
- bhaptics_tactvisor
- bhaptics_tactglove_right
battery_flag: [ SENSESHIFT_BATTERY_ENABLED=true ]
- serial_plotter_flag: [ SENSESHIFT_SERIAL_PLOTTER=false ]
nimble_flag: [ SENSESHIFT_BLE_USE_NIMBLE=false ]
coverage: [ false ]
@@ -43,19 +42,16 @@ jobs:
os: ubuntu-latest
coverage: true
battery_flag: SENSESHIFT_BATTERY_ENABLED=true
- serial_plotter_flag: SENSESHIFT_SERIAL_PLOTTER=true
nimble_flag: SENSESHIFT_BLE_USE_NIMBLE=true
# - target: bhaptics_tactsuit_x40
# os: ubuntu-latest
# coverage: true
# battery_flag: SENSESHIFT_BATTERY_ENABLED=true
- # serial_plotter_flag: SENSESHIFT_SERIAL_PLOTTER=true
# nimble_flag: SENSESHIFT_BLE_USE_NIMBLE=false
- target: bhaptics_tactsuit_x40
os: ubuntu-latest
coverage: false
battery_flag: SENSESHIFT_BATTERY_ENABLED=true
- serial_plotter_flag: SENSESHIFT_SERIAL_PLOTTER=false
nimble_flag: SENSESHIFT_BLE_USE_NIMBLE=true
steps:
@@ -66,7 +62,7 @@ jobs:
- name: Get firmware name
id: firmware_name
run: |
- ./.github/scripts/get_firmware_name.sh ${{ matrix.target }} ${{ matrix.serial_plotter_flag }} ${{ matrix.battery_flag }} ${{ matrix.nimble_flag }}
+ ./.github/scripts/get_firmware_name.sh ${{ matrix.target }} ${{ matrix.battery_flag }} ${{ matrix.nimble_flag }}
- name: Enable coverage (non-macOS)
if: runner.os != 'macOS' && matrix.coverage
@@ -81,13 +77,11 @@ jobs:
if: runner.os != 'macOS'
run: |
sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.battery_flag }}/' platformio.ini
- sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.serial_plotter_flag }}/' platformio.ini
sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.nimble_flag }}/' platformio.ini
- name: Update build flags (macOS)
if: runner.os == 'macOS'
run: |
sed -i '' '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.battery_flag }}/' platformio.ini
- sed -i '' '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.serial_plotter_flag }}/' platformio.ini
sed -i '' '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.nimble_flag }}/' platformio.ini
- name: Speedup package installation
diff --git a/.github/workflows/codeql-analysis.yml b/.github/workflows/codeql-analysis.yml
index ed8f6731..8cfbff2c 100644
--- a/.github/workflows/codeql-analysis.yml
+++ b/.github/workflows/codeql-analysis.yml
@@ -32,89 +32,86 @@ jobs:
# Enabling all flags to test build for every feature
battery_flag:
- SENSESHIFT_BATTERY_ENABLED=true
- serial_plotter_flag:
- - SENSESHIFT_SERIAL_PLOTTER=true
steps:
- - name: Checkout repository
- uses: actions/checkout@v3
- with:
- # We must fetch at least the immediate parents so that if this is
- # a pull request then we can checkout the head.
- fetch-depth: 2
- submodules: 'recursive'
-
- # If this run was triggered by a pull request event, then checkout
- # the head of the pull request instead of the merge commit.
- # - run: git checkout HEAD^2
- # if: ${{ github.event_name == 'pull_request' }}
-
- # Initializes the CodeQL tools for scanning.
- - name: Initialize CodeQL
- uses: github/codeql-action/init@v2
- with:
- languages: ${{ matrix.language }}
- config-file: ./.github/codeql/codeql-config.yml
- # If you wish to specify custom queries, you can do so here or in a config file.
- # By default, queries listed here will override any specified in a config file.
- # Prefix the list here with "+" to use these queries and those in the config file.
-
- # Details on CodeQL's query packs refer to : https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
- # queries: security-extended,security-and-quality
-
-
- # Autobuild attempts to build any compiled languages (C/C++, C#, or Java).
- # If this step fails, then you should remove it and run the build manually (see below)
- # - name: Autobuild
- # uses: github/codeql-action/autobuild@v2
-
- # ℹ️ Command-line programs to run using the OS shell.
- # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
-
- # If the Autobuild fails above, remove it and uncomment the following three lines.
- # modify them (or add more) to build your code if your project, please refer to the EXAMPLE below for guidance.
-
- # - run: |
- # echo "Run, Build Application using script"
- # ./location_of_script_within_repo/buildscript.sh
-
- - name: Cache pip
- uses: actions/cache@v3
- with:
- path: ~/.cache/pip
- key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
- restore-keys: |
- ${{ runner.os }}-pip-
- - name: Cache PlatformIO
- uses: actions/cache@v3
- with:
- path: ~/.platformio
- key: ${{ runner.os }}-pio-${{ hashFiles('**/lockfiles') }}
- restore-keys: |
- ${{ runner.os }}-pio-
- - name: Set up Python
- uses: actions/setup-python@v4
- with:
- python-version: '3.9'
-
- - name: Update build flags (non-macOS)
- if: runner.os != 'macOS'
- run: |
- sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.battery_flag }}/' platformio.ini
- sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.serial_plotter_flag }}/' platformio.ini
-
- - name: Install PlatformIO
- run: |
- python -m pip install --upgrade pip
- pip install --upgrade platformio
- pio upgrade --dev
- pio pkg update --global
-
- - name: Build
- run: |
- pio run --environment bhaptics_tactsuit_x40
-
- - name: Perform CodeQL Analysis
- uses: github/codeql-action/analyze@v2
- with:
- category: "/language:${{matrix.language}}"
+ - name: Checkout repository
+ uses: actions/checkout@v3
+ with:
+ # We must fetch at least the immediate parents so that if this is
+ # a pull request then we can checkout the head.
+ fetch-depth: 2
+ submodules: 'recursive'
+
+ # If this run was triggered by a pull request event, then checkout
+ # the head of the pull request instead of the merge commit.
+ # - run: git checkout HEAD^2
+ # if: ${{ github.event_name == 'pull_request' }}
+
+ # Initializes the CodeQL tools for scanning.
+ - name: Initialize CodeQL
+ uses: github/codeql-action/init@v2
+ with:
+ languages: ${{ matrix.language }}
+ config-file: ./.github/codeql/codeql-config.yml
+ # If you wish to specify custom queries, you can do so here or in a config file.
+ # By default, queries listed here will override any specified in a config file.
+ # Prefix the list here with "+" to use these queries and those in the config file.
+
+ # Details on CodeQL's query packs refer to : https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
+ # queries: security-extended,security-and-quality
+
+
+ # Autobuild attempts to build any compiled languages (C/C++, C#, or Java).
+ # If this step fails, then you should remove it and run the build manually (see below)
+ # - name: Autobuild
+ # uses: github/codeql-action/autobuild@v2
+
+ # ℹ️ Command-line programs to run using the OS shell.
+ # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
+
+ # If the Autobuild fails above, remove it and uncomment the following three lines.
+ # modify them (or add more) to build your code if your project, please refer to the EXAMPLE below for guidance.
+
+ # - run: |
+ # echo "Run, Build Application using script"
+ # ./location_of_script_within_repo/buildscript.sh
+
+ - name: Cache pip
+ uses: actions/cache@v3
+ with:
+ path: ~/.cache/pip
+ key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+ restore-keys: |
+ ${{ runner.os }}-pip-
+ - name: Cache PlatformIO
+ uses: actions/cache@v3
+ with:
+ path: ~/.platformio
+ key: ${{ runner.os }}-pio-${{ hashFiles('**/lockfiles') }}
+ restore-keys: |
+ ${{ runner.os }}-pio-
+ - name: Set up Python
+ uses: actions/setup-python@v4
+ with:
+ python-version: '3.9'
+
+ - name: Update build flags (non-macOS)
+ if: runner.os != 'macOS'
+ run: |
+ sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.battery_flag }}/' platformio.ini
+
+ - name: Install PlatformIO
+ run: |
+ python -m pip install --upgrade pip
+ pip install --upgrade platformio
+ pio upgrade --dev
+ pio pkg update --global
+
+ - name: Build
+ run: |
+ pio run --environment bhaptics_tactsuit_x40
+
+ - name: Perform CodeQL Analysis
+ uses: github/codeql-action/analyze@v2
+ with:
+ category: "/language:${{matrix.language}}"
diff --git a/platformio.ini b/platformio.ini
index 7262c036..e6d2c7c4 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -28,7 +28,6 @@ build_flags =
-D CORE_DEBUG_LEVEL=3
; -D DEBUG_MODE=0
; -D DEBUG_ESP_PORT=Serial
-; -D SENSESHIFT_SERIAL_PLOTTER=true
; -D SENSESHIFT_BATTERY_ENABLED=true
; -D SENSESHIFT_BLE_USE_NIMBLE=true
From bf53c10b7ae08ead2d4d6578108e977eb26b33cc Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 22 Feb 2024 17:21:59 +0400
Subject: [PATCH 79/82] perf(OpenGloves): remove unoptimized float casting
(#96)
* perf(OpenGloves): remove unoptimized float casting
* style: lint-fix
---
examples/float_benchmark/float_benchmark.ino | 129 +++++++++++++++++++
lib/opengloves/opengloves/opengloves.cpp | 32 +----
2 files changed, 130 insertions(+), 31 deletions(-)
create mode 100644 examples/float_benchmark/float_benchmark.ino
diff --git a/examples/float_benchmark/float_benchmark.ino b/examples/float_benchmark/float_benchmark.ino
new file mode 100644
index 00000000..99a7da2e
--- /dev/null
+++ b/examples/float_benchmark/float_benchmark.ino
@@ -0,0 +1,129 @@
+#include <Arduino.h>
+
+#ifdef ESP32
+#include <WiFi.h>
+#else
+#include <ESP8266WiFi.h>
+#endif
+
+#include <inttypes.h>
+
+#define TIMES_TO_LOOP 1000000
+
+/** by Vlad Kaipetsky
+portable assuming FP24 set to nearest rounding mode
+efficient on x86 platform
+*/
+inline int toInt(float fval)
+{
+ static const float Snapper = 3 << 22;
+
+ union UFloatInt {
+ int i;
+ float f;
+ };
+
+ assert(fabs(fval) <= 0x003fffff); // only 23 bit values handled
+ UFloatInt& fi = *(UFloatInt*) &fval;
+ fi.f += Snapper;
+ return ((fi.i) & 0x007fffff) - 0x00400000;
+}
+
+inline auto ifloor_toInt(float x) -> int
+{
+ const auto casted = toInt(x);
+ return casted - (x < casted);
+}
+
+inline int i_cast(float value)
+{
+ return static_cast<int>(value);
+}
+
+inline auto ifloor_cast(float x) -> int
+{
+ const auto casted = i_cast(x);
+ return casted - (x < casted);
+}
+
+inline int ifloor_std_cast(float x)
+{
+ return static_cast<int>(std::floor(x));
+}
+
+volatile int xi, yi, resulti;
+volatile float xf, yf, resultf;
+
+uint32_t seed32()
+{
+ return random(0, 0xffffffff);
+}
+
+float seedfloat()
+{
+ // float x, y;
+
+ // x = seed32();
+ // y = seed32();
+
+ // return x / y;
+ return 4094.8492342342932034F;
+}
+
+void setup()
+{
+ Serial.begin(115200);
+ Serial.println("Preparing system...");
+
+ // Turn WiFi off for consistency
+ WiFi.mode(WIFI_OFF);
+
+ delay(1000);
+ Serial.println("Starting benchmark");
+
+ uint32_t i;
+ uint64_t micros_start, micros_end;
+
+ xf = seedfloat();
+ yf = seedfloat();
+
+ micros_start = micros();
+ for (i = 0; i < TIMES_TO_LOOP; i++)
+ resulti = i_cast(xf);
+ micros_end = micros();
+ Serial.printf("i_cast(%f) => %i\t\tmicros: ", xf, resulti);
+ Serial.println(micros_end - micros_start);
+
+ micros_start = micros();
+ for (i = 0; i < TIMES_TO_LOOP; i++)
+ resulti = ifloor_cast(xf);
+ micros_end = micros();
+ Serial.printf("ifloor_cast(%f) => %i\tmicros: ", xf, resulti);
+ Serial.println(micros_end - micros_start);
+
+ micros_start = micros();
+ for (i = 0; i < TIMES_TO_LOOP; i++)
+ resulti = ifloor_std_cast(xf);
+ micros_end = micros();
+ Serial.printf("ifloor_std_cast(%f) => %i\tmicros: ", xf, resulti);
+ Serial.println(micros_end - micros_start);
+
+ micros_start = micros();
+ for (i = 0; i < TIMES_TO_LOOP; i++)
+ resulti = toInt(xf);
+ micros_end = micros();
+ Serial.printf("toInt(%f) => %i\t\tmicros: ", xf, resulti);
+ Serial.println(micros_end - micros_start);
+
+ micros_start = micros();
+ for (i = 0; i < TIMES_TO_LOOP; i++)
+ resulti = ifloor_toInt(xf);
+ micros_end = micros();
+ Serial.printf("ifloor_toInt(%f) => %i\tmicros: ", xf, resulti);
+ Serial.println(micros_end - micros_start);
+}
+
+void loop()
+{
+ // put your main code here, to run repeatedly:
+}
diff --git a/lib/opengloves/opengloves/opengloves.cpp b/lib/opengloves/opengloves/opengloves.cpp
index 8f3f0c45..010c0204 100644
--- a/lib/opengloves/opengloves/opengloves.cpp
+++ b/lib/opengloves/opengloves/opengloves.cpp
@@ -9,40 +9,10 @@
namespace og {
-#ifdef OG_ENCODE_FASTER
- inline auto ifloor(float d) -> int
- {
- union Cast {
- double d;
- long l;
- };
- volatile Cast c;
- c.d = d + 6755399441055743.5;
- return c.l;
- }
-#elifdef OG_ENCODE_FAST
- /// Source: https://stackoverflow.com/questions/429632/429812#429812
- inline int float2int(double d)
- {
- union Cast {
- double d;
- long l;
- };
- volatile Cast c;
- c.d = d + 6755399441055744;
- return c.l;
- }
-
inline auto ifloor(float x) -> int
{
- return float2int(x) - (x < float2int(x));
+ return static_cast<int>(x);
}
-#else
- inline auto ifloor(float x) -> int
- {
- return static_cast<int>(std::floor(x));
- }
-#endif
auto AlphaEncoder::encode_input(const InputData& input, char* buffer, size_t length) const -> size_t
{
From 47ba284bff723b43daf9badbf3568be4ad340739 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 22 Feb 2024 20:09:29 +0400
Subject: [PATCH 80/82] chore(IDE): stage CLion workspace config (#97)
---
.gitignore | 1 -
.idea/.gitignore | 8 ++
.idea/codeStyles/Project.xml | 122 +++++++++++++++++++
.idea/codeStyles/codeStyleConfig.xml | 5 +
.idea/editor.xml | 102 ++++++++++++++++
.idea/inspectionProfiles/Project_Default.xml | 6 +
.idea/misc.xml | 17 +++
.idea/senseshift-firmware.iml | 2 +
.idea/vcs.xml | 6 +
9 files changed, 268 insertions(+), 1 deletion(-)
create mode 100644 .idea/.gitignore
create mode 100644 .idea/codeStyles/Project.xml
create mode 100644 .idea/codeStyles/codeStyleConfig.xml
create mode 100644 .idea/editor.xml
create mode 100644 .idea/inspectionProfiles/Project_Default.xml
create mode 100644 .idea/misc.xml
create mode 100644 .idea/senseshift-firmware.iml
create mode 100644 .idea/vcs.xml
diff --git a/.gitignore b/.gitignore
index ef82776d..320eb8b6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -9,7 +9,6 @@
*.bak
*.code-workspace
-.idea
cmake-build-debug
# PlatformIO files/dirs
diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 00000000..13566b81
--- /dev/null
+++ b/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
diff --git a/.idea/codeStyles/Project.xml b/.idea/codeStyles/Project.xml
new file mode 100644
index 00000000..9afdb1ca
--- /dev/null
+++ b/.idea/codeStyles/Project.xml
@@ -0,0 +1,122 @@
+<component name="ProjectCodeStyleConfiguration">
+ <code_scheme name="Project" version="173">
+ <option name="OTHER_INDENT_OPTIONS">
+ <value />
+ </option>
+ <RiderCodeStyleSettings>
+ <option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
+ </RiderCodeStyleSettings>
+ <clangFormatSettings>
+ <option name="ENABLED" value="true" />
+ </clangFormatSettings>
+ <files>
+ <extensions>
+ <pair source="cpp" header="hpp" fileNamingConvention="NONE" />
+ <pair source="c" header="h" fileNamingConvention="NONE" />
+ <pair source="cu" header="cuh" fileNamingConvention="NONE" />
+ <pair source="ixx" header="" fileNamingConvention="NONE" />
+ <pair source="mxx" header="" fileNamingConvention="NONE" />
+ <pair source="cppm" header="" fileNamingConvention="NONE" />
+ <pair source="ccm" header="" fileNamingConvention="NONE" />
+ <pair source="cxxm" header="" fileNamingConvention="NONE" />
+ <pair source="c++m" header="" fileNamingConvention="NONE" />
+ </extensions>
+ </files>
+ </code_scheme>
+</component>
\ No newline at end of file
diff --git a/.idea/codeStyles/codeStyleConfig.xml b/.idea/codeStyles/codeStyleConfig.xml
new file mode 100644
index 00000000..79ee123c
--- /dev/null
+++ b/.idea/codeStyles/codeStyleConfig.xml
@@ -0,0 +1,5 @@
+<component name="ProjectCodeStyleConfiguration">
+ <state>
+ <option name="USE_PER_PROJECT_SETTINGS" value="true" />
+ </state>
+</component>
\ No newline at end of file
diff --git a/.idea/editor.xml b/.idea/editor.xml
new file mode 100644
index 00000000..66c86790
--- /dev/null
+++ b/.idea/editor.xml
@@ -0,0 +1,102 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="BackendCodeEditorSettings">
+ <option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
+ <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
+ </component>
+</project>
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
new file mode 100644
index 00000000..146e386f
--- /dev/null
+++ b/.idea/inspectionProfiles/Project_Default.xml
@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+ <profile version="1.0">
+ <option name="myName" value="Project Default" />
+ <inspection_tool class="IncorrectFormatting" enabled="true" level="WEAK WARNING" enabled_by_default="true" />
+ </profile>
+</component>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 00000000..d858eb18
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="ExternalStorageConfigurationManager" enabled="true" />
+ <component name="PlatformIOSettings">
+ <option name="linkedExternalProjectsSettings">
+ <PlatformioProjectSettings>
+ <option name="externalProjectPath" value="$PROJECT_DIR$" />
+ <option name="modules">
+ <set>
+ <option value="$PROJECT_DIR$" />
+ </set>
+ </option>
+ </PlatformioProjectSettings>
+ </option>
+ </component>
+ <component name="PlatformIOWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+</project>
\ No newline at end of file
diff --git a/.idea/senseshift-firmware.iml b/.idea/senseshift-firmware.iml
new file mode 100644
index 00000000..d986c559
--- /dev/null
+++ b/.idea/senseshift-firmware.iml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="External" external.linked.project.id="senseshift-firmware" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="PlatformIO" type="CPP_MODULE" version="4" />
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 00000000..35eb1ddf
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="VcsDirectoryMappings">
+ <mapping directory="" vcs="Git" />
+ </component>
+</project>
\ No newline at end of file
From 433793b7f3be3dfe6569a06ecc38d21e4383df5e Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 22 Feb 2024 22:04:34 +0400
Subject: [PATCH 81/82] feat: deduct interpolation template
---
.../battery/input/battery_sensor.hpp | 5 ++-
lib/core/senseshift/core/helpers.hpp | 26 ++++++++-------
lib/io/senseshift/input/filter.hpp | 8 ++---
test/test_core_helpers/main.cpp | 29 ++++++++---------
test/test_io_filter/main.cpp | 32 ++++++++++++++++++-
5 files changed, 67 insertions(+), 33 deletions(-)
diff --git a/lib/battery/senseshift/battery/input/battery_sensor.hpp b/lib/battery/senseshift/battery/input/battery_sensor.hpp
index d0314a03..0ac6a840 100644
--- a/lib/battery/senseshift/battery/input/battery_sensor.hpp
+++ b/lib/battery/senseshift/battery/input/battery_sensor.hpp
@@ -46,7 +46,10 @@ namespace SenseShift::Battery::Input {
protected:
[[nodiscard]] auto lookupInterpolateLevel(VoltageType voltage) -> float
{
- return ::SenseShift::lookup_table_interpolate<VoltageType, float, Container>(*this->lookup_table_, voltage);
+ return ::SenseShift::lookup_table_interpolate_linear<Container, VoltageType, float>(
+ *this->lookup_table_,
+ voltage
+ );
}
private:
diff --git a/lib/core/senseshift/core/helpers.hpp b/lib/core/senseshift/core/helpers.hpp
index 1d4fb8b1..2ce47264 100644
--- a/lib/core/senseshift/core/helpers.hpp
+++ b/lib/core/senseshift/core/helpers.hpp
@@ -65,21 +65,25 @@ namespace SenseShift {
/// Lookup a value in a table and interpolate between the two closest values.
///
- /// \tparam Tp
- /// \tparam To
- /// \tparam Container
+ /// \tparam Container The type of the lookup table.
+ /// \tparam Tp The type of the lookup table keys.
+ /// \tparam To The type of the lookup table values.
///
/// \param lookup_table Lookup table to use in the format of std::map<Tp, Tp> in descending order.
/// \param value
///
/// \return
- template<typename Tp, typename To, typename Container>
- auto lookup_table_interpolate(Container const& lookup_table, Tp value) -> To
+ template<
+ typename Container,
+ typename Tp = typename Container::key_type,
+ typename To = typename Container::mapped_type>
+ [[nodiscard]] constexpr auto lookup_table_interpolate_linear(Container const& lookup_table, Tp value) -> To
{
- static_assert(std::is_same_v<typename Container::key_type, Tp>);
- static_assert(std::is_same_v<typename Container::mapped_type, To>);
- static_assert(std::is_arithmetic_v<Tp>, "lookup_table_interpolate only supports arithmetic types");
- static_assert(std::is_arithmetic_v<To>, "lookup_table_interpolate only supports arithmetic types");
+ static_assert(std::is_same_v<typename Container::key_type, Tp> && std::is_same_v<typename Container::mapped_type, To>);
+ static_assert(
+ std::is_arithmetic_v<Tp> && std::is_arithmetic_v<To>,
+ "lookup_table_interpolate_linear only supports arithmetic types"
+ );
// If the value is outside the range of the lookup table, return the closest value
if (value <= lookup_table.begin()->first) {
@@ -111,7 +115,7 @@ namespace SenseShift {
using CallbackType = std::function<void(Ts...)>;
/// Add a callback to the list.
- void add(std::function<void(Ts...)>&& callback) { this->callbacks_.push_back(std::move(callback)); }
+ void add(CallbackType&& callback) { this->callbacks_.push_back(std::move(callback)); }
/// Call all callbacks in this manager.
void call(Ts... args)
@@ -126,6 +130,6 @@ namespace SenseShift {
void operator()(Ts... args) { call(args...); }
private:
- std::vector<std::function<void(Ts...)>> callbacks_;
+ std::vector<CallbackType> callbacks_;
};
} // namespace SenseShift
diff --git a/lib/io/senseshift/input/filter.hpp b/lib/io/senseshift/input/filter.hpp
index b13bc857..fe534ee4 100644
--- a/lib/io/senseshift/input/filter.hpp
+++ b/lib/io/senseshift/input/filter.hpp
@@ -265,7 +265,7 @@ namespace SenseShift::Input::Filter {
/// Usually used to filter out noise in the joystick.
class CenterDeadzoneFilter : public IFilter<float> {
public:
- explicit CenterDeadzoneFilter(float deadzone, float center = 0.5f) : deadzone_(deadzone), center_(center){};
+ explicit CenterDeadzoneFilter(float deadzone, float center = 0.5F) : deadzone_(deadzone), center_(center){};
auto filter(ISimpleSensor<float>* /*sensor*/, float value) -> float override
{
@@ -284,9 +284,9 @@ namespace SenseShift::Input::Filter {
///
/// \tparam Tp Type of the lookup table values.
/// \tparam Container Type of the lookup table container.
- template<typename Tp, typename Container>
+ template<typename Container, typename Tp = typename Container::mapped_type>
class LookupTableInterpolationFilter : public IFilter<Tp> {
- static_assert(std::is_same_v<typename Container::value_type, Tp>);
+ static_assert(std::is_same_v<typename Container::key_type, Tp>);
static_assert(std::is_arithmetic_v<Tp>, "LookupTableInterpolationFilter only supports arithmetic types");
public:
@@ -294,7 +294,7 @@ namespace SenseShift::Input::Filter {
auto filter(ISimpleSensor<float>* /*sensor*/, Tp value) -> Tp override
{
- return SenseShift::lookup_table_interpolate<Tp, Container>(this->lookup_table_, value);
+ return SenseShift::lookup_table_interpolate_linear<Container, Tp, Tp>(this->lookup_table_, value);
}
private:
diff --git a/test/test_core_helpers/main.cpp b/test/test_core_helpers/main.cpp
index 5dbfd888..e1bcdd29 100644
--- a/test/test_core_helpers/main.cpp
+++ b/test/test_core_helpers/main.cpp
@@ -66,9 +66,6 @@ void test_remap_simple_float(void)
TEST_ASSERT_EQUAL_FLOAT(255.0f, remap_simple(1.0f, 1.0f, 255.0f));
}
-// Wtf? https://stackoverflow.com/questions/4295890
-#define COMMAE ,
-
void test_lookup_table_interpolate_float(void)
{
const std::map<float, float> table = {
@@ -78,19 +75,19 @@ void test_lookup_table_interpolate_float(void)
{ 1.0f, 18.0f },
};
- TEST_ASSERT_EQUAL_FLOAT(13.0f, lookup_table_interpolate<float COMMAE float>(table, 0.0f));
- TEST_ASSERT_EQUAL_FLOAT(13.6f, lookup_table_interpolate<float COMMAE float>(table, 0.1f));
- TEST_ASSERT_EQUAL_FLOAT(14.2f, lookup_table_interpolate<float COMMAE float>(table, 0.2f));
- TEST_ASSERT_EQUAL_FLOAT(14.5f, lookup_table_interpolate<float COMMAE float>(table, 0.25f));
- TEST_ASSERT_EQUAL_FLOAT(14.8f, lookup_table_interpolate<float COMMAE float>(table, 0.3f));
- TEST_ASSERT_EQUAL_FLOAT(15.4f, lookup_table_interpolate<float COMMAE float>(table, 0.4f));
- TEST_ASSERT_EQUAL_FLOAT(16.0f, lookup_table_interpolate<float COMMAE float>(table, 0.5f));
- TEST_ASSERT_EQUAL_FLOAT(16.5f, lookup_table_interpolate<float COMMAE float>(table, 0.55f));
- TEST_ASSERT_EQUAL_FLOAT(17.0f, lookup_table_interpolate<float COMMAE float>(table, 0.6f));
- TEST_ASSERT_EQUAL_FLOAT(17.25f, lookup_table_interpolate<float COMMAE float>(table, 0.7f));
- TEST_ASSERT_EQUAL_FLOAT(17.5f, lookup_table_interpolate<float COMMAE float>(table, 0.8f));
- TEST_ASSERT_EQUAL_FLOAT(17.75f, lookup_table_interpolate<float COMMAE float>(table, 0.9f));
- TEST_ASSERT_EQUAL_FLOAT(18.0f, lookup_table_interpolate<float COMMAE float>(table, 1.0f));
+ TEST_ASSERT_EQUAL_FLOAT(13.0f, lookup_table_interpolate_linear(table, 0.0f));
+ TEST_ASSERT_EQUAL_FLOAT(13.6f, lookup_table_interpolate_linear(table, 0.1f));
+ TEST_ASSERT_EQUAL_FLOAT(14.2f, lookup_table_interpolate_linear(table, 0.2f));
+ TEST_ASSERT_EQUAL_FLOAT(14.5f, lookup_table_interpolate_linear(table, 0.25f));
+ TEST_ASSERT_EQUAL_FLOAT(14.8f, lookup_table_interpolate_linear(table, 0.3f));
+ TEST_ASSERT_EQUAL_FLOAT(15.4f, lookup_table_interpolate_linear(table, 0.4f));
+ TEST_ASSERT_EQUAL_FLOAT(16.0f, lookup_table_interpolate_linear(table, 0.5f));
+ TEST_ASSERT_EQUAL_FLOAT(16.5f, lookup_table_interpolate_linear(table, 0.55f));
+ TEST_ASSERT_EQUAL_FLOAT(17.0f, lookup_table_interpolate_linear(table, 0.6f));
+ TEST_ASSERT_EQUAL_FLOAT(17.25f, lookup_table_interpolate_linear(table, 0.7f));
+ TEST_ASSERT_EQUAL_FLOAT(17.5f, lookup_table_interpolate_linear(table, 0.8f));
+ TEST_ASSERT_EQUAL_FLOAT(17.75f, lookup_table_interpolate_linear(table, 0.9f));
+ TEST_ASSERT_EQUAL_FLOAT(18.0f, lookup_table_interpolate_linear(table, 1.0f));
}
int process(void)
diff --git a/test/test_io_filter/main.cpp b/test/test_io_filter/main.cpp
index f5002158..dc3e77f2 100644
--- a/test/test_io_filter/main.cpp
+++ b/test/test_io_filter/main.cpp
@@ -2,6 +2,8 @@
#include <senseshift/input/sensor.hpp>
#include <unity.h>
+#include <map>
+
#define ASSERT_EQUAL_FLOAT_ROUNDED(expected, actual, precision) \
TEST_ASSERT_EQUAL_FLOAT( \
std::round(expected* std::pow(10, precision)) / std::pow(10, precision), \
@@ -134,6 +136,33 @@ void test_center_deadzone_filter(void)
TEST_ASSERT_EQUAL_FLOAT(1.0f, filter->filter(nullptr, 1.0f));
}
+void test_lookup_table_interpolate_linear_filter(void)
+{
+ const std::map<float, float> lookup_table = {
+ { 0.0f, 0.0f }, { 1.0f, 3.5f }, { 2.0f, 7.0f }, { 3.0f, 10.5f }, { 4.0f, 14.0f }, { 5.0f, 17.5f },
+ };
+ IFilter<float>* filter = new LookupTableInterpolationFilter(lookup_table);
+
+ // test existing values
+ TEST_ASSERT_EQUAL_FLOAT(0.0f, filter->filter(nullptr, 0.0f));
+ TEST_ASSERT_EQUAL_FLOAT(3.5f, filter->filter(nullptr, 1.0f));
+ TEST_ASSERT_EQUAL_FLOAT(7.0f, filter->filter(nullptr, 2.0f));
+ TEST_ASSERT_EQUAL_FLOAT(10.5f, filter->filter(nullptr, 3.0f));
+ TEST_ASSERT_EQUAL_FLOAT(14.0f, filter->filter(nullptr, 4.0f));
+ TEST_ASSERT_EQUAL_FLOAT(17.5f, filter->filter(nullptr, 5.0f));
+
+ // test values in between
+ TEST_ASSERT_EQUAL_FLOAT(1.75f, filter->filter(nullptr, 0.5f));
+ TEST_ASSERT_EQUAL_FLOAT(5.25f, filter->filter(nullptr, 1.5f));
+ TEST_ASSERT_EQUAL_FLOAT(8.75f, filter->filter(nullptr, 2.5f));
+ TEST_ASSERT_EQUAL_FLOAT(12.25f, filter->filter(nullptr, 3.5f));
+ TEST_ASSERT_EQUAL_FLOAT(15.75f, filter->filter(nullptr, 4.5f));
+
+ // test out of range
+ TEST_ASSERT_EQUAL_FLOAT(0.0f, filter->filter(nullptr, -1.0f));
+ TEST_ASSERT_EQUAL_FLOAT(17.5f, filter->filter(nullptr, 6.0f));
+}
+
int process(void)
{
UNITY_BEGIN();
@@ -147,6 +176,7 @@ int process(void)
RUN_TEST(test_sliding_window_moving_average_filter);
RUN_TEST(test_exponential_moving_average_filter);
RUN_TEST(test_center_deadzone_filter);
+ RUN_TEST(test_lookup_table_interpolate_linear_filter);
return UNITY_END();
}
@@ -169,4 +199,4 @@ int main(int argc, char** argv)
return process();
}
-#endif
\ No newline at end of file
+#endif
From c7afbe4aad62bf96137e40ae4ba8d0fc5b4e6c75 Mon Sep 17 00:00:00 2001
From: Leonid Meleshin <hello@leon0399.ru>
Date: Thu, 22 Feb 2024 22:25:26 +0400
Subject: [PATCH 82/82] chore: shorten project defines prefix
---
.github/scripts/get_firmware_name.sh | 4 ++--
.github/workflows/ci.yml | 16 ++++++++--------
.github/workflows/codeql-analysis.yml | 2 +-
.github/workflows/release.yml | 4 ++--
firmware/mode_configs/bhaptics/tactal.cpp | 6 +++---
firmware/mode_configs/bhaptics/tactglove.cpp | 8 ++++----
firmware/mode_configs/bhaptics/tactosy2.cpp | 6 +++---
firmware/mode_configs/bhaptics/tactosyf.cpp | 6 +++---
firmware/mode_configs/bhaptics/tactosyh.cpp | 6 +++---
firmware/mode_configs/bhaptics/tactsuit_x16.cpp | 6 +++---
.../bhaptics/tactsuit_x16_pca9685.cpp | 6 +++---
firmware/mode_configs/bhaptics/tactsuit_x40.cpp | 6 +++---
firmware/mode_configs/bhaptics/tactvisor.cpp | 6 +++---
include/config/battery.h | 16 ++++++++--------
include/config/bluetooth.h | 4 ++--
ini/bhaptics.ini | 4 ++--
.../senseshift/bh/ble/connection.cpp | 8 ++++----
.../senseshift/bh/ble/connection.hpp | 2 +-
platformio.ini | 4 ++--
19 files changed, 60 insertions(+), 60 deletions(-)
diff --git a/.github/scripts/get_firmware_name.sh b/.github/scripts/get_firmware_name.sh
index 120fafe3..b759981f 100755
--- a/.github/scripts/get_firmware_name.sh
+++ b/.github/scripts/get_firmware_name.sh
@@ -8,12 +8,12 @@ getBhapticsName() {
echo "::debug::Getting bHaptics name for $target"
echo "::debug::Flags are $flags"
- if [[ $flags =~ SENSESHIFT_BLE_USE_NIMBLE=true ]]; then
+ if [[ $flags =~ SS_BLE_USE_NIMBLE=true ]]; then
echo "::debug::Nimble is enabled, appending +nimble to the target"
target="$target+nimble"
fi
- if [[ $flags =~ SENSESHIFT_BATTERY_ENABLED=true ]]; then
+ if [[ $flags =~ SS_BATTERY_ENABLED=true ]]; then
echo "::debug::Battery is enabled, appending +battery to the target"
target="$target+battery"
fi
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 85d5c815..0531d546 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -32,8 +32,8 @@ jobs:
- bhaptics_tactal
- bhaptics_tactvisor
- bhaptics_tactglove_right
- battery_flag: [ SENSESHIFT_BATTERY_ENABLED=true ]
- nimble_flag: [ SENSESHIFT_BLE_USE_NIMBLE=false ]
+ battery_flag: [ SS_BATTERY_ENABLED=true ]
+ nimble_flag: [ SS_BLE_USE_NIMBLE=false ]
coverage: [ false ]
include:
@@ -41,18 +41,18 @@ jobs:
- target: bhaptics_tactsuit_x40
os: ubuntu-latest
coverage: true
- battery_flag: SENSESHIFT_BATTERY_ENABLED=true
- nimble_flag: SENSESHIFT_BLE_USE_NIMBLE=true
+ battery_flag: SS_BATTERY_ENABLED=true
+ nimble_flag: SS_BLE_USE_NIMBLE=true
# - target: bhaptics_tactsuit_x40
# os: ubuntu-latest
# coverage: true
- # battery_flag: SENSESHIFT_BATTERY_ENABLED=true
- # nimble_flag: SENSESHIFT_BLE_USE_NIMBLE=false
+ # battery_flag: SS_BATTERY_ENABLED=true
+ # nimble_flag: SS_BLE_USE_NIMBLE=false
- target: bhaptics_tactsuit_x40
os: ubuntu-latest
coverage: false
- battery_flag: SENSESHIFT_BATTERY_ENABLED=true
- nimble_flag: SENSESHIFT_BLE_USE_NIMBLE=true
+ battery_flag: SS_BATTERY_ENABLED=true
+ nimble_flag: SS_BLE_USE_NIMBLE=true
steps:
- uses: actions/checkout@v3
diff --git a/.github/workflows/codeql-analysis.yml b/.github/workflows/codeql-analysis.yml
index 8cfbff2c..423dd5d6 100644
--- a/.github/workflows/codeql-analysis.yml
+++ b/.github/workflows/codeql-analysis.yml
@@ -31,7 +31,7 @@ jobs:
# Enabling all flags to test build for every feature
battery_flag:
- - SENSESHIFT_BATTERY_ENABLED=true
+ - SS_BATTERY_ENABLED=true
steps:
- name: Checkout repository
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index d2eecde2..9d042345 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -33,9 +33,9 @@ jobs:
- bhaptics_tactglove_left
- bhaptics_tactglove_right
battery_flag:
- - SENSESHIFT_BATTERY_ENABLED=true
+ - SS_BATTERY_ENABLED=true
nimble_flag:
- - SENSESHIFT_BLE_USE_NIMBLE=true
+ - SS_BLE_USE_NIMBLE=true
steps:
- uses: actions/checkout@v3
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index ec8ea898..cfdd4e9c 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -55,7 +55,7 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
+#if defined(SS_BATTERY_ENABLED) && SS_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
new MultiplyFilter(3.3F), // Convert to raw pin voltage
@@ -63,8 +63,8 @@ void setupMode()
});
auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ SS_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index d67f58e6..d1397408 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -28,7 +28,7 @@ using namespace SenseShift::Body::Haptics;
extern Application App;
Application* app = &App;
-static constexpr Body::Hands::HandSide handSide = Body::Hands::HandSide::SENSESHIFT_HAND_SIDE;
+static constexpr Body::Hands::HandSide handSide = Body::Hands::HandSide::SS_HAND_SIDE;
// clang-format off
static const auto& bhLayout = handSide == Body::Hands::HandSide::Left ? BH::TactGloveLeftLayout : BH::TactGloveRightLayout;
// clang-format on
@@ -63,7 +63,7 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
+#if defined(SS_BATTERY_ENABLED) && SS_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
new MultiplyFilter(3.3F), // Convert to raw pin voltage
@@ -71,8 +71,8 @@ void setupMode()
});
auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ SS_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index c3053bd3..ea6373b4 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -56,7 +56,7 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
+#if defined(SS_BATTERY_ENABLED) && SS_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
new MultiplyFilter(3.3F), // Convert to raw pin voltage
@@ -64,8 +64,8 @@ void setupMode()
});
auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ SS_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index b2c47e26..63860af4 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -57,7 +57,7 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
+#if defined(SS_BATTERY_ENABLED) && SS_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
new MultiplyFilter(3.3F), // Convert to raw pin voltage
@@ -65,8 +65,8 @@ void setupMode()
});
auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ SS_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index 11bbe0a4..be8bfd79 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -57,7 +57,7 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
+#if defined(SS_BATTERY_ENABLED) && SS_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
new MultiplyFilter(3.3F), // Convert to raw pin voltage
@@ -65,8 +65,8 @@ void setupMode()
});
auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ SS_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index ae6011f2..bdc9521b 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -66,7 +66,7 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
+#if defined(SS_BATTERY_ENABLED) && SS_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
new MultiplyFilter(3.3F), // Convert to raw pin voltage
@@ -74,8 +74,8 @@ void setupMode()
});
auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ SS_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index b8b05c77..2042b582 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -71,7 +71,7 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
+#if defined(SS_BATTERY_ENABLED) && SS_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
new MultiplyFilter(3.3F), // Convert to raw pin voltage
@@ -79,8 +79,8 @@ void setupMode()
});
auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ SS_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index a3d77b06..09e0dab1 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -80,7 +80,7 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
+#if defined(SS_BATTERY_ENABLED) && SS_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
new MultiplyFilter(3.3F), // Convert to raw pin voltage
@@ -88,8 +88,8 @@ void setupMode()
});
auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ SS_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index 38ece6af..b6c618bc 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -55,7 +55,7 @@ void setupMode()
);
bhBleConnection->begin();
-#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
+#if defined(SS_BATTERY_ENABLED) && SS_BATTERY_ENABLED == true
auto* batteryVoltageSensor = new SimpleSensorDecorator(new AnalogSimpleSensor(36));
batteryVoltageSensor->addFilters({
new MultiplyFilter(3.3F), // Convert to raw pin voltage
@@ -63,8 +63,8 @@ void setupMode()
});
auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
batteryVoltageSensor,
- SENSESHIFT_BATTERY_SAMPLE_RATE,
- { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+ SS_BATTERY_SAMPLE_RATE,
+ { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
);
batteryTask->begin();
diff --git a/include/config/battery.h b/include/config/battery.h
index 67747fa3..219b57f1 100644
--- a/include/config/battery.h
+++ b/include/config/battery.h
@@ -1,17 +1,17 @@
#pragma once
-#ifndef SENSESHIFT_BATTERY_ENABLED
-#define SENSESHIFT_BATTERY_ENABLED false
+#ifndef SS_BATTERY_ENABLED
+#define SS_BATTERY_ENABLED false
#endif
-#ifndef SENSESHIFT_BATTERY_SAMPLE_RATE
-#define SENSESHIFT_BATTERY_SAMPLE_RATE 10000
+#ifndef SS_BATTERY_SAMPLE_RATE
+#define SS_BATTERY_SAMPLE_RATE 10000
#endif
-#ifndef SENSESHIFT_BATTERY_THRESHOLD_PERCENTAGE
-#define SENSESHIFT_BATTERY_THRESHOLD_PERCENTAGE 20
+#ifndef SS_BATTERY_THRESHOLD_PERCENTAGE
+#define SS_BATTERY_THRESHOLD_PERCENTAGE 20
#endif
-#ifndef SENSESHIFT_BATTERY_TASK_PRIORITY
-#define SENSESHIFT_BATTERY_TASK_PRIORITY 1
+#ifndef SS_BATTERY_TASK_PRIORITY
+#define SS_BATTERY_TASK_PRIORITY 1
#endif
diff --git a/include/config/bluetooth.h b/include/config/bluetooth.h
index 3de034d4..79ac1c95 100644
--- a/include/config/bluetooth.h
+++ b/include/config/bluetooth.h
@@ -11,6 +11,6 @@
}
#endif
-#ifndef SENSESHIFT_BLE_USE_NIMBLE
-#define SENSESHIFT_BLE_USE_NIMBLE false
+#ifndef SS_BLE_USE_NIMBLE
+#define SS_BLE_USE_NIMBLE false
#endif
diff --git a/ini/bhaptics.ini b/ini/bhaptics.ini
index 0d3c4343..a9dc121b 100644
--- a/ini/bhaptics.ini
+++ b/ini/bhaptics.ini
@@ -263,7 +263,7 @@ monitor_speed = ${bhaptics.monitor_speed}
build_flags =
${bhaptics.build_flags}
-D BH_DEVICE_TACTGLOVE
- -D SENSESHIFT_HAND_SIDE=Left
+ -D SS_HAND_SIDE=Left
-D BH_BLE_APPEARANCE=508
'-D BLUETOOTH_NAME="TactGlove (L"'
'-D BH_SERIAL_NUMBER={ 0xcd, 0x0b, 0x81, 0x45, 0x85, 0xf9, 0x2b, 0x6c, 0xed, 0x5b }'
@@ -284,7 +284,7 @@ monitor_speed = ${bhaptics.monitor_speed}
build_flags =
${bhaptics.build_flags}
-D BH_DEVICE_TACTGLOVE
- -D SENSESHIFT_HAND_SIDE=Right
+ -D SS_HAND_SIDE=Right
-D BH_BLE_APPEARANCE=508
'-D BLUETOOTH_NAME="TactGlove (R"'
'-D BH_SERIAL_NUMBER={ 0x12, 0x0b, 0xae, 0xbf, 0xbc, 0x90, 0x3b, 0x0d, 0x84, 0xdd }'
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
index db642a43..2e05de3a 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.cpp
@@ -6,7 +6,7 @@
#include <Arduino.h>
-#if defined(SENSESHIFT_BLE_USE_NIMBLE) && SENSESHIFT_BLE_USE_NIMBLE == true
+#if defined(SS_BLE_USE_NIMBLE) && SS_BLE_USE_NIMBLE == true
// BLE2902 not needed: https://github.com/h2zero/NimBLE-Arduino/blob/release/1.4/docs/Migration_guide.md#descriptors
#define PROPERTY_READ NIMBLE_PROPERTY::READ
@@ -77,7 +77,7 @@ namespace SenseShift::BH::BLE {
);
};
-#if defined(SENSESHIFT_BLE_USE_NIMBLE) && SENSESHIFT_BLE_USE_NIMBLE == true
+#if defined(SS_BLE_USE_NIMBLE) && SS_BLE_USE_NIMBLE == true
void onStatus(BLECharacteristic* pCharacteristic, Status s, int code) override
#else
void onStatus(BLECharacteristic* pCharacteristic, Status s, uint32_t code) override
@@ -182,7 +182,7 @@ namespace SenseShift::BH::BLE {
| PROPERTY_NOTIFY // for whatever reason, it have to be writable, otherwise Desktop app crashes
);
-#if !defined(SENSESHIFT_BLE_USE_NIMBLE) || SENSESHIFT_BLE_USE_NIMBLE != true
+#if !defined(SS_BLE_USE_NIMBLE) || SS_BLE_USE_NIMBLE != true
batteryChar->addDescriptor(new BLE2902());
#endif
@@ -209,7 +209,7 @@ namespace SenseShift::BH::BLE {
);
monitorChar->setCallbacks(new LogOutputCharCallbacks());
-#if !defined(SENSESHIFT_BLE_USE_NIMBLE) || SENSESHIFT_BLE_USE_NIMBLE != true
+#if !defined(SS_BLE_USE_NIMBLE) || SS_BLE_USE_NIMBLE != true
monitorChar->addDescriptor(new BLE2902());
#endif
diff --git a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
index e5033fb1..c35810b4 100644
--- a/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
+++ b/lib/bhaptics_ble/senseshift/bh/ble/connection.hpp
@@ -10,7 +10,7 @@
#include <Arduino.h>
#include <esp_wifi.h>
-#if defined(SENSESHIFT_BLE_USE_NIMBLE) && SENSESHIFT_BLE_USE_NIMBLE == true
+#if defined(SS_BLE_USE_NIMBLE) && SS_BLE_USE_NIMBLE == true
#include <NimBLEDevice.h>
#else
#include <BLEDevice.h>
diff --git a/platformio.ini b/platformio.ini
index e6d2c7c4..fb8423bb 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -28,8 +28,8 @@ build_flags =
-D CORE_DEBUG_LEVEL=3
; -D DEBUG_MODE=0
; -D DEBUG_ESP_PORT=Serial
-; -D SENSESHIFT_BATTERY_ENABLED=true
-; -D SENSESHIFT_BLE_USE_NIMBLE=true
+; -D SS_BATTERY_ENABLED=true
+; -D SS_BLE_USE_NIMBLE=true
build_src_filter =
+<*>