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🎨 (libs): Update TouchSensorKit
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@MMyster
MMyster committed Jul 22, 2022
1 parent 0c39dc0 commit 0572f15
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Showing 4 changed files with 94 additions and 90 deletions.
44 changes: 24 additions & 20 deletions libs/TouchSensorKit/include/TouchSensorKit.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,37 +14,41 @@ enum class Position
{
ear_left,
ear_right,
belt_front_left,
belt_front_right,
belt_back_left,
belt_back_right,
belt_left_back,
belt_left_front,
belt_right_back,
belt_right_front,
};

inline const auto positions = std::array<Position, 6> {
Position::ear_left, Position::ear_right, Position::belt_left_back,
Position::belt_left_front, Position::belt_right_back, Position::belt_right_front,
};

class TouchSensorKit
{
public:
explicit TouchSensorKit() = default;
void setup();
void init();

void updateState();
void printState();
[[nodiscard]] auto isTouched(Position position) -> bool;
[[nodiscard]] auto isTouchedAny() -> bool;

void setPowerMode(Position position, PowerMode power_mode);
void resetByPowerMode();

void adjustSensitivity(uint16_t value, bool saved = false);
void setSensitivity(Position position, uint16_t value, bool saved = false);

void registerOnSensorTouched(std::function<void()> const &on_sensor_touched_callback);

static constexpr uint16_t default_max_sensitivity_value {0x0FFF};
static constexpr uint16_t default_min_sensitivity_value {0x0000};

private:
CoreTouchSensor _sensor_ear_left {ear_left_in, _ear_left_pm, dac_touch_left, Channel::A};
CoreTouchSensor _sensor_ear_right {ear_right_in, _ear_right_pm, dac_touch_right, ear_right_ch};
CoreTouchSensor _sensor_belt_left_back {belt_left_back_in, _belt_left_back_pm, dac_touch_left, belt_left_back_ch};
CoreTouchSensor _sensor_belt_left_front {belt_left_front_in, _belt_left_front_pm, dac_touch_left,
belt_left_front_ch};
CoreTouchSensor _sensor_belt_right_back {belt_right_back_in, _belt_right_back_pm, dac_touch_right,
belt_right_back_ch};
CoreTouchSensor _sensor_belt_right_front {belt_right_front_in, _belt_right_front_pm, dac_touch_right,
belt_right_front_ch};

uint16_t default_max_sensitivity_value {0x0FFF};
uint16_t default_min_sensitivity_value {0x0000};
std::array<CoreTouchSensor, 6> _sensors = {sensor_ear_left, sensor_ear_right, sensor_belt_left_back,
sensor_belt_left_front, sensor_belt_right_back, sensor_belt_right_front};

// struct State{} _state;
std::function<void()> _on_sensor_touched_callback {};
};
} // namespace leka
57 changes: 30 additions & 27 deletions libs/TouchSensorKit/include/internal/TouchSensorSystem.h
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Expand Up @@ -13,32 +13,35 @@

namespace leka {

auto corei2c = CoreI2C {PinName::SENSOR_PROXIMITY_MUX_I2C_SDA, PinName::SENSOR_PROXIMITY_MUX_I2C_SCL};
auto io_expander_reset = mbed::DigitalOut {PinName::SENSOR_PROXIMITY_MUX_RESET, 0};
auto io_expander = CoreIOExpanderMCP23017 {corei2c, io_expander_reset};

auto ear_left_in = io::expanded::DigitalIn<> {io_expander, mcp23017::pin::PB5};
auto ear_right_in = io::expanded::DigitalIn<> {io_expander, mcp23017::pin::PB4};
auto belt_left_back_in = io::expanded::DigitalIn<> {io_expander, mcp23017::pin::PB3};
auto belt_left_front_in = io::expanded::DigitalIn<> {io_expander, mcp23017::pin::PB2};
auto belt_right_back_in = io::expanded::DigitalIn<> {io_expander, mcp23017::pin::PB1};
auto belt_right_front_in = io::expanded::DigitalIn<> {io_expander, mcp23017::pin::PB0};

auto ear_left_pm = io::expanded::DigitalOut<> {io_expander, mcp23017::pin::PA5};
auto ear_right_pm = io::expanded::DigitalOut<> {io_expander, mcp23017::pin::PA4};
auto belt_left_back_pm = io::expanded::DigitalOut<> {io_expander, mcp23017::pin::PA3};
auto belt_left_front_pm = io::expanded::DigitalOut<> {io_expander, mcp23017::pin::PA2};
auto belt_right_back_pm = io::expanded::DigitalOut<> {io_expander, mcp23017::pin::PA1};
auto belt_right_front_pm = io::expanded::DigitalOut<> {io_expander, mcp23017::pin::PA0};

auto dac_touch_left = CoreQDACMCP4728 {corei2c, 0xC0};
auto dac_touch_right = CoreQDACMCP4728 {corei2c, 0xC2};

auto ear_left_ch = Channel::A;
auto ear_right_ch = Channel::A;
auto belt_left_back_ch = Channel::B;
auto belt_left_front_ch = Channel::B;
auto belt_right_back_ch = Channel::C;
auto belt_right_front_ch = Channel::C;
inline auto corei2c = CoreI2C {PinName::SENSOR_PROXIMITY_MUX_I2C_SDA, PinName::SENSOR_PROXIMITY_MUX_I2C_SCL};
inline auto io_expander_reset = mbed::DigitalOut {PinName::SENSOR_PROXIMITY_MUX_RESET, 0};
inline auto io_expander = CoreIOExpanderMCP23017 {corei2c, io_expander_reset};

inline auto ear_left_in = io::expanded::DigitalIn<> {io_expander, mcp23017::pin::PB5};
inline auto ear_right_in = io::expanded::DigitalIn<> {io_expander, mcp23017::pin::PB4};
inline auto belt_left_back_in = io::expanded::DigitalIn<> {io_expander, mcp23017::pin::PB3};
inline auto belt_left_front_in = io::expanded::DigitalIn<> {io_expander, mcp23017::pin::PB2};
inline auto belt_right_back_in = io::expanded::DigitalIn<> {io_expander, mcp23017::pin::PB1};
inline auto belt_right_front_in = io::expanded::DigitalIn<> {io_expander, mcp23017::pin::PB0};

inline auto ear_left_pm = io::expanded::DigitalOut<> {io_expander, mcp23017::pin::PA5};
inline auto ear_right_pm = io::expanded::DigitalOut<> {io_expander, mcp23017::pin::PA4};
inline auto belt_left_back_pm = io::expanded::DigitalOut<> {io_expander, mcp23017::pin::PA3};
inline auto belt_left_front_pm = io::expanded::DigitalOut<> {io_expander, mcp23017::pin::PA2};
inline auto belt_right_back_pm = io::expanded::DigitalOut<> {io_expander, mcp23017::pin::PA1};
inline auto belt_right_front_pm = io::expanded::DigitalOut<> {io_expander, mcp23017::pin::PA0};

inline auto dac_touch_left = CoreQDACMCP4728 {corei2c, 0xC0};
inline auto dac_touch_right = CoreQDACMCP4728 {corei2c, 0xC2};

inline auto sensor_ear_left = CoreTouchSensor {ear_left_in, ear_left_pm, dac_touch_left, Channel::C};
inline auto sensor_ear_right = CoreTouchSensor {ear_right_in, ear_right_pm, dac_touch_right, Channel::C};
inline auto sensor_belt_left_back = CoreTouchSensor {belt_left_back_in, belt_left_back_pm, dac_touch_left, Channel::B};
inline auto sensor_belt_left_front =
CoreTouchSensor {belt_left_front_in, belt_left_front_pm, dac_touch_left, Channel::A};
inline auto sensor_belt_right_back =
CoreTouchSensor {belt_right_back_in, belt_right_back_pm, dac_touch_right, Channel::B};
inline auto sensor_belt_right_front =
CoreTouchSensor {belt_right_front_in, belt_right_front_pm, dac_touch_right, Channel::A};

} // namespace leka
76 changes: 39 additions & 37 deletions libs/TouchSensorKit/source/TouchSensorKit.cpp
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Expand Up @@ -9,59 +9,61 @@
using namespace leka;
using namespace std::chrono_literals;

void TouchSensorKit::setup()
void TouchSensorKit::init()
{
setPowerMode(touch::power_mode::normal);
for (Position position: positions) {
setPowerMode(position, PowerMode::normal);
}
}

void TouchSensorKit::updateState()
auto TouchSensorKit::isTouched(Position position) -> bool
{
_state.ear_left_touched = (0 == _sensor_ear_left.read());
_state.ear_right_touched = (0 == _sensor_ear_right.read());
_state.belt_left_back_touched = (0 == _sensor_belt_left_back.read());
_state.belt_left_front_touched = (0 == _sensor_belt_left_front.read());
_state.belt_right_back_touched = (0 == _sensor_belt_right_back.read());
_state.belt_right_front_touched = (0 == _sensor_belt_right_front.read());
const auto pos = static_cast<uint8_t>(position);

auto read = (1 == _sensors.at(pos).read());
if (read && _on_sensor_touched_callback != nullptr) {
_on_sensor_touched_callback();
}
return read;
}

void TouchSensorKit::printState()
auto TouchSensorKit::isTouchedAny() -> bool
{
log_info("Ear left touched: %s", _state.ear_left_touched ? "true" : "false");
log_info("Ear right touched: %s", _state.ear_right_touched ? "true" : "false");
log_info("Belt left front touched: %s", _state.belt_left_front_touched ? "true" : "false");
log_info("Belt left back touched: %s", _state.belt_left_back_touched ? "true" : "false");
log_info("Belt right front touched: %s", _state.belt_right_front_touched ? "true" : "false");
log_info("Belt right back touched: %s", _state.belt_right_back_touched ? "true" : "false");
for (Position position: positions) {
if (isTouched(position)) {
return true;
};
};
return false;
}

void TouchSensorKit::setPowerMode(Position position, PowerMode power_mode)
{
const auto pos = static_cast<uint8_t>(position);
_sensors.at(pos).setPowerMode(power_mode);
}

void TouchSensorKit::resetByPowerMode()
{
if (_state.ear_left_touched | _state.ear_right_touched | _state.belt_left_front_touched |
_state.belt_left_back_touched | _state.belt_right_front_touched | _state.belt_right_back_touched) {
setPowerMode(touch::power_mode::low);
rtos::ThisThread::sleep_for(5ms);
setPowerMode(touch::power_mode::normal);
rtos::ThisThread::sleep_for(5ms);
for (Position position: positions) {
if (isTouched(position)) {
setPowerMode(position, PowerMode::low);
rtos::ThisThread::sleep_for(20ms);
setPowerMode(position, PowerMode::normal);
rtos::ThisThread::sleep_for(20ms);
}
}
}

void TouchSensorKit::setPowerMode(int power_mode)
void TouchSensorKit::setSensitivity(Position position, uint16_t value, bool saved)
{
_sensor_ear_left.setPowerMode(power_mode);
_sensor_ear_right.setPowerMode(power_mode);
_sensor_belt_left_back.setPowerMode(power_mode);
_sensor_belt_left_front.setPowerMode(power_mode);
_sensor_belt_right_back.setPowerMode(power_mode);
_sensor_belt_right_front.setPowerMode(power_mode);
const auto pos = static_cast<uint8_t>(position);
_sensors.at(pos).setSensitivity(value, saved);

rtos::ThisThread::sleep_for(10ms);
}

void TouchSensorKit::adjustSensitivity(uint16_t value, bool saved)
void TouchSensorKit::registerOnSensorTouched(std::function<void()> const &on_sensor_touched_callback)
{
_sensor_ear_left.adjustSensitivity(value, saved);
_sensor_ear_right.adjustSensitivity(value, saved);
_sensor_belt_left_back.adjustSensitivity(value, saved);
_sensor_belt_left_front.adjustSensitivity(value, saved);
_sensor_belt_right_back.adjustSensitivity(value, saved);
_sensor_belt_right_front.adjustSensitivity(value, saved);
rtos::ThisThread::sleep_for(1ms);
_on_sensor_touched_callback = on_sensor_touched_callback;
}
7 changes: 1 addition & 6 deletions libs/TouchSensorKit/tests/TouchSensorKit_test.cpp
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Expand Up @@ -25,19 +25,14 @@ TEST_F(TouchSensorTest, initializationDefault)

TEST_F(TouchSensorTest, setup)
{
touch_sensor_kit.setup();
touch_sensor_kit.init();
}

TEST_F(TouchSensorTest, updateState)
{
touch_sensor_kit.updateState();
}

TEST_F(TouchSensorTest, printState)
{
touch_sensor_kit.printState();
}

TEST_F(TouchSensorTest, resetByPowerMode)
{
touch_sensor_kit.resetByPowerMode();
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