🎨 (libs): Update TouchSensorKit

leka · Aug 1, 2022 · 8f04ee0 · 8f04ee0
1 parent 405d88c
commit 8f04ee0
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Showing 4 changed files with 23 additions and 89 deletions.
diff --git a/libs/TouchSensorKit/include/TouchSensorKit.h b/libs/TouchSensorKit/include/TouchSensorKit.h
@@ -4,8 +4,6 @@
 
 #pragma once
 
-#include "LogKit.h"
-#include "external/TouchSensorSystem.h"
 #include "interface/drivers/TouchSensor.h"
 #include "interface/libs/EventLoop.h"
 
@@ -52,10 +50,6 @@ class TouchSensorKit
 	void resetAtPosition(Position position);
 	void setSensitivityAtPosition(Position position, uint16_t value, bool saved = false);
 
-	static constexpr std::array<Position, kNumberOfSensors> _positions {
-		Position::ear_left,		   Position::ear_right,		  Position::belt_left_back,
-		Position::belt_left_front, Position::belt_right_back, Position::belt_right_front};
-
 	interface::EventLoop &_event_loop;
 
 	interface::TouchSensor &_ear_left;

diff --git a/libs/TouchSensorKit/include/external/TouchSensorSystem.h b/libs/TouchSensorKit/include/external/TouchSensorSystem.h
diff --git a/libs/TouchSensorKit/source/TouchSensorKit.cpp b/libs/TouchSensorKit/source/TouchSensorKit.cpp
@@ -3,6 +3,7 @@
 // SPDX-License-Identifier: Apache-2.0
 
 #include "TouchSensorKit.h"
+#include <array>
 
 #include "rtos/ThisThread.h"
 
@@ -18,6 +19,13 @@ void TouchSensorKit::init()
 	_belt_left_front.init();
 	_belt_right_back.init();
 	_belt_right_front.init();
+
+	_ear_left.setSensitivity(default_max_sensitivity_value, true);
+	_ear_right.setSensitivity(default_max_sensitivity_value, true);
+	_belt_left_back.setSensitivity(default_max_sensitivity_value, true);
+	_belt_left_front.setSensitivity(default_max_sensitivity_value, true);
+	_belt_right_back.setSensitivity(default_max_sensitivity_value, true);
+	_belt_right_front.setSensitivity(default_max_sensitivity_value, true);
 }
 
 void TouchSensorKit::start()
@@ -28,9 +36,13 @@ void TouchSensorKit::start()
 
 void TouchSensorKit::run()
 {
+	auto const 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};
 	auto state = std::array<bool, kNumberOfSensors> {};
+
 	while (true) {
-		for (Position position: _positions) {
+		for (Position position: positions) {
 			auto previousState						= state.at(static_cast<size_t>(position));
 			auto currentState						= readAtPosition(position);
 			state.at(static_cast<size_t>(position)) = currentState;
@@ -50,12 +62,12 @@ void TouchSensorKit::stop()
 	_event_loop.stop();
 }
 
-void TouchSensorKit::registerOnSensorTouched(std::function<void(Position)> const &on_sensor_touched_callback)
+void TouchSensorKit::registerOnSensorTouched(std::function<void(const Position)> const &on_sensor_touched_callback)
 {
 	_on_sensor_touched_callback = on_sensor_touched_callback;
 }
 
-void TouchSensorKit::registerOnSensorReleased(std::function<void(Position)> const &on_sensor_released_callback)
+void TouchSensorKit::registerOnSensorReleased(std::function<void(const Position)> const &on_sensor_released_callback)
 {
 	_on_sensor_released_callback = on_sensor_released_callback;
 }
@@ -82,6 +94,7 @@ auto TouchSensorKit::readAtPosition(Position position) -> bool
 			return _belt_right_front.read();
 			break;
 		default:
+			return false;
 			break;
 	}
 }

diff --git a/libs/TouchSensorKit/tests/TouchSensorKit_test.cpp b/libs/TouchSensorKit/tests/TouchSensorKit_test.cpp
@@ -54,6 +54,13 @@ TEST_F(TouchSensorTest, init)
 	EXPECT_CALL(mock_belt_right_front, init).Times(1);
 	EXPECT_CALL(mock_belt_right_back, init).Times(1);
 
+	EXPECT_CALL(mock_ear_left, setSensitivity).Times(1);
+	EXPECT_CALL(mock_ear_right, setSensitivity).Times(1);
+	EXPECT_CALL(mock_belt_left_front, setSensitivity).Times(1);
+	EXPECT_CALL(mock_belt_left_back, setSensitivity).Times(1);
+	EXPECT_CALL(mock_belt_right_front, setSensitivity).Times(1);
+	EXPECT_CALL(mock_belt_right_back, setSensitivity).Times(1);
+
 	touch_sensor_kit.init();
 }
 
@@ -66,18 +73,6 @@ TEST_F(TouchSensorTest, stop)
 {
 	touch_sensor_kit.stop();
 }
-TEST_F(TouchSensorTest, calibrate)
-{
-	const auto default_max_sensitivity_value = uint16_t {0x0FF0};
-	const auto default_min_sensitivity_value = uint16_t {0x000F};
-	const auto step							 = uint16_t {10};
-
-	const auto count = static_cast<uint16_t>((default_max_sensitivity_value - default_min_sensitivity_value) / step);
-
-	EXPECT_CALL(mock_ear_left, read).Times(count + 1);
-	EXPECT_CALL(mock_ear_left, setSensitivity).Times(count + 3);
-	touch_sensor_kit.calibrate(Position::ear_left);
-}
 
 TEST_F(TouchSensorTest, registerOnSensorTouched)
 {