🎨 (spike): Update lk_touch_sensor_kit

leka · Jul 22, 2022 · d98bdf7 · d98bdf7
1 parent 7d10ef4
commit d98bdf7
Show file tree

Hide file tree

Showing 5 changed files with 153 additions and 7 deletions.
diff --git a/drivers/CoreTouchSensor/tests/CoreTouchSensor_test.cpp b/drivers/CoreTouchSensor/tests/CoreTouchSensor_test.cpp
@@ -4,6 +4,14 @@
 
 #include "CoreTouchSensor.h"
 
+#include "IOKit/DigitalIn.h"
+#include "IOKit/DigitalOut.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+#include "mocks/leka/CoreI2C.h"
+#include "mocks/leka/CoreQDAC.h"
+#include "mocks/leka/IOExpander.h"
+
 using namespace leka;
 
 using ::testing::Args;

diff --git a/libs/TouchSensorKit/include/TouchSensorKit.h b/libs/TouchSensorKit/include/TouchSensorKit.h
@@ -6,7 +6,7 @@
 
 #include "CoreTouchSensor.h"
 #include "LogKit.h"
-#include "external/TouchSensorSystem.h"
+#include "internal/TouchSensorSystem.h"
 
 namespace leka {
 

diff --git a/spikes/lk_touch_sensor_kit/CMakeLists.txt b/spikes/lk_touch_sensor_kit/CMakeLists.txt
@@ -16,6 +16,11 @@ target_sources(spike_lk_touch_sensor_kit
 
 target_link_libraries(spike_lk_touch_sensor_kit
 	TouchSensorKit
+	CoreEventFlags
+	CoreLED
+	CoreSPI
+	EventLoopKit
+	LedKit
 )
 
 target_link_custom_leka_targets(spike_lk_touch_sensor_kit)
diff --git a/spikes/lk_touch_sensor_kit/Leds.h b/spikes/lk_touch_sensor_kit/Leds.h
@@ -0,0 +1,70 @@
+// Leka - LekaOS
+// Copyright 2022 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include "PinNames.h"
+
+#include "drivers/BufferedSerial.h"
+#include "drivers/HighResClock.h"
+#include "rtos/ThisThread.h"
+
+#include "CoreEventFlags.h"
+#include "CoreLED.h"
+#include "CoreSPI.h"
+#include "EventLoopKit.h"
+#include "HelloWorld.h"
+#include "LedKit.h"
+#include "LogKit.h"
+
+using namespace leka;
+using namespace std::chrono;
+
+namespace leds {
+
+namespace internal {
+
+	namespace ears {
+
+		auto spi			= CoreSPI {LED_EARS_SPI_MOSI, NC, LED_EARS_SPI_SCK};
+		constexpr auto size = 2;
+
+	}	// namespace ears
+
+	namespace belt {
+
+		auto spi			= CoreSPI {LED_BELT_SPI_MOSI, NC, LED_BELT_SPI_SCK};
+		constexpr auto size = 20;
+
+	}	// namespace belt
+
+	namespace animations {
+
+		auto event_loop = EventLoopKit {};
+
+	}	// namespace animations
+
+}	// namespace internal
+
+auto ears = CoreLED<internal::ears::size> {internal::ears::spi};
+auto belt = CoreLED<internal::belt::size> {internal::belt::spi};
+
+void turnOn()
+{
+	ears.setColor(RGB::pure_blue);
+	belt.setColor(RGB::pure_blue);
+	ears.show();
+	belt.show();
+}
+void turnOff()
+{
+	ears.setColor(RGB::black);
+	belt.setColor(RGB::black);
+	ears.show();
+	belt.show();
+}
+
+auto ledkit = LedKit {leds::internal::animations::event_loop, leds::ears, leds::belt};
+
+}	// namespace leds
diff --git a/spikes/lk_touch_sensor_kit/main.cpp b/spikes/lk_touch_sensor_kit/main.cpp
@@ -6,12 +6,68 @@
 #include "rtos/ThisThread.h"
 
 #include "HelloWorld.h"
+#include "Leds.h"
 #include "LogKit.h"
 #include "TouchSensorKit.h"
 
 using namespace leka;
 using namespace std::chrono;
 
+namespace TouchLed {
+struct Ear {
+	Position position;
+	uint8_t index;
+};
+
+auto ears = std::array<Ear, 2> {Ear {Position::ear_left, 1}, Ear {Position::ear_right, 0}};
+
+struct Belt {
+	Position position;
+	uint8_t start_index;
+	uint8_t end_index;
+};
+
+auto belt = std::array<Belt, 4> {Belt {Position::belt_left_back, 16, 18}, Belt {Position::belt_left_front, 10, 13},
+								 Belt {Position::belt_right_back, 6, 9}, Belt {Position::belt_right_front, 1, 3}};
+
+void setColorEar(Ear ear, RGB color)
+{
+	leds::ears.setColorAtIndex(ear.index, color);
+	leds::ears.show();
+}
+
+void setColorBelt(Belt belt, RGB color)
+{
+	leds::belt.setColorRange(belt.start_index, belt.end_index, color);
+	leds::belt.show();
+}
+}	// namespace TouchLed
+
+auto touch_sensor_kit = TouchSensorKit();
+
+void printState()
+{
+	log_info("Ear left touched: %s", touch_sensor_kit.isTouched(Position::ear_left) ? "true" : "false");
+	log_info("Ear right touched: %s", touch_sensor_kit.isTouched(Position::ear_right) ? "true" : "false");
+	log_info("Belt left front touched: %s", touch_sensor_kit.isTouched(Position::belt_left_front) ? "true" : "false");
+	log_info("Belt left back touched: %s", touch_sensor_kit.isTouched(Position::belt_left_back) ? "true" : "false");
+	log_info("Belt right front touched: %s", touch_sensor_kit.isTouched(Position::belt_right_front) ? "true" : "false");
+	log_info("Belt right back touched: %s", touch_sensor_kit.isTouched(Position::belt_left_back) ? "true" : "false");
+	log_info("\n\n");
+}
+
+void updateLeds()
+{
+	for (TouchLed::Ear touchled: TouchLed::ears) {
+		touch_sensor_kit.isTouched(touchled.position) ? TouchLed::setColorEar(touchled, RGB::pure_blue)
+													  : TouchLed::setColorEar(touchled, RGB::black);
+	}
+	for (TouchLed::Belt touchled: TouchLed::belt) {
+		touch_sensor_kit.isTouched(touchled.position) ? TouchLed::setColorBelt(touchled, RGB::pure_blue)
+													  : TouchLed::setColorBelt(touchled, RGB::black);
+	}
+}
+
 auto main() -> int
 {
 	logger::init();
@@ -21,8 +77,7 @@ auto main() -> int
 
 	log_info("Hello, World!\n\n");
 
-	auto touch_sensor_kit = TouchSensorKit();
-	touch_sensor_kit.setup();
+	touch_sensor_kit.init();
 
 	auto start = rtos::Kernel::Clock::now();
 
@@ -31,14 +86,22 @@ auto main() -> int
 	auto t = rtos::Kernel::Clock::now() - start;
 	log_info("A message from your board %s --> \"%s\" at %i s\n", MBED_CONF_APP_TARGET_NAME, hello.world,
 			 int(t.count() / 1000));
-	touch_sensor_kit.adjustSensitivity(0, true);
+	for (Position position: positions) {
+		touch_sensor_kit.setSensitivity(position, 0x000F, true);
+	}
 	rtos::ThisThread::sleep_for(2s);
 
+	auto updateLeds_func = [&]() { updateLeds(); };
+	auto printState_func = [&]() { printState(); };
+
+	touch_sensor_kit.resetByPowerMode();
+	// touch_sensor_kit.registerOnSensorTouched(printState_func);
+
+	rtos::ThisThread::sleep_for(500ms);
+
 	while (true) {
-		touch_sensor_kit.updateState();
-		touch_sensor_kit.printState();
+		updateLeds();
 		touch_sensor_kit.resetByPowerMode();
-		log_info("\n\n");
 		rtos::ThisThread::sleep_for(1s);
 	}
 }