test: cover edge-cases

senseshift · Feb 9, 2024 · 0fc131a · 0fc131a
1 parent f43319a
commit 0fc131a
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Showing 24 changed files with 262 additions and 120 deletions.
diff --git 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>

diff --git 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>

diff --git 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>

diff --git 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>

diff --git 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>

diff --git 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>

diff --git 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
@@ -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>

diff --git 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>

diff --git 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>
 

diff --git a/lib/battery/senseshift/battery.hpp → lib/battery/senseshift/battery/battery.hpp b/lib/battery/senseshift/battery.hpp → 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 → ...nseshift/battery/input/battery_sensor.hpp b/lib/battery/senseshift/battery/sensor.hpp → ...nseshift/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
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <senseshift/battery.hpp>
+#include "senseshift/battery/battery.hpp"
 #include <senseshift/bh/ble/constants.hpp>
 #include <senseshift/bh/constants.hpp>
 #include <senseshift/events.hpp>
@@ -44,7 +44,7 @@ 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>(
                   static_cast<const ::SenseShift::Battery::BatteryLevelEvent*>(event)->state.level,
                   255,
                   100

diff --git 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
@@ -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
diff --git 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
@@ -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