Merge pull request #58 from senseshift/develop

Release-Candidate 0.6.0
senseshift · Jun 19, 2023 · 4337383 · 4337383 · github-actions · Jun 19, 2023
2 parents 419faca + b17ea3d
commit 4337383
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -15,7 +15,7 @@ on:
       - '**/*.md'
 
 jobs:
-  build:
+  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 }}
     runs-on: ${{ matrix.os }}
     strategy:
@@ -30,6 +30,7 @@ jobs:
           - bhaptics_tactosyh_hand_right
           - bhaptics_tactosyf_foot_right
           - bhaptics_tactal
+          - bhaptics_tactvisor
           - bhaptics_tactglove_right
         battery_flag: [ BATTERY_ENABLED=true ]
         serial_plotter_flag: [ SERIAL_PLOTTER=false ]
@@ -76,11 +77,15 @@ jobs:
           restore-keys: |
             ${{ runner.os }}-pip-
 
-      - uses: actions/cache@v3
+      - name: Cache PlatformIO
+        uses: actions/cache@v3
         with:
-          path: ~/.platformio/.cache
-          key: ${{ runner.os }}-pio-${{ matrix.target }}
+          path: |
+            ~/.platformio/.cache
+            ./.pio
+          key: ${{ runner.os }}-pio-${{ matrix.target }}-${{ hashFiles('platformio.ini') }}
           restore-keys: |
+            ${{ runner.os }}-pio-${{ matrix.target }}-
             ${{ runner.os }}-pio-
 
       - name: Set up Python
@@ -118,7 +123,7 @@ jobs:
           pio pkg update --global
 
       - name: Install libs
-        run: pio lib -e ${{matrix.target}} install
+        run: pio pkg install -e ${{matrix.target}}
 
       - name: Change memory segments
         if: matrix.coverage
@@ -146,6 +151,109 @@ jobs:
           path: ./build/lcov/lcov.info.${{matrix.target}}
           retention-days: 5
 
+  build-opengloves:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ ubuntu-latest ]
+        target:
+          - opengloves
+        curl_calibration_flag:
+          - CALIBRATION_CURL="OH::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>"
+          - CALIBRATION_CURL="OH::CenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
+          - CALIBRATION_CURL="OH::FixedCenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
+        coverage: [ true ]
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Speedup package installation
+        if: matrix.coverage
+        uses: abbbi/github-actions-tune@v1
+
+      - name: Setup LCOV
+        if: matrix.coverage
+        uses: hrishikesh-kadam/setup-lcov@v1
+
+      - 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/.cache
+            ./.pio
+          key: ${{ runner.os }}-pio-${{ matrix.target }}-${{ hashFiles('platformio.ini') }}
+          restore-keys: |
+            ${{ runner.os }}-pio-${{ matrix.target }}-
+            ${{ runner.os }}-pio-
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.9'
+
+      - name: Enable coverage (non-macOS)
+        if: runner.os != 'macOS' && matrix.coverage
+        run: |
+          sed -i '/__OH_FIRMWARE__/p; s/-D __OH_FIRMWARE__/-lgcov --coverage/' platformio.ini
+      - name: Enable coverage (macOS)
+        if: runner.os == 'macOS' && matrix.coverage
+        run: |
+          sed -i '' '/__OH_FIRMWARE__/p; s/-D __OH_FIRMWARE__/-lgcov --coverage/' platformio.ini
+
+      - name: Update build flags (non-macOS)
+        if: runner.os != 'macOS'
+        run: |
+          sed -i '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.curl_calibration_flag }}/' platformio.ini
+      - name: Update build flags (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          sed -i '' '/__OH_FIRMWARE__/p; s/__OH_FIRMWARE__/${{ matrix.curl_calibration_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: Install libs
+        run: pio pkg install -e ${{matrix.target}}
+
+      - 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
+
+      - name: Build
+        run: |
+          echo "::group::platformio.ini"
+          cat platformio.ini
+          echo "::endgroup::"
+          pio run --environment ${{matrix.target}}
+
+      - name: Collect initial coverage
+        if: matrix.coverage
+        run: |
+          mkdir -p ./build/lcov
+          lcov -i -d ./.pio/build/${{matrix.target}}/ -c -o ./build/lcov/lcov.info.${{matrix.target}}-${{ hashFiles('platformio.ini') }} -gcov-tool ~/.platformio/packages/toolchain-xtensa-esp32/bin/xtensa-esp32-elf-gcov
+
+      - name: Upload coverage Artifact
+        uses: actions/upload-artifact@v3
+        if: matrix.coverage
+        with:
+          name: lcov.info.${{matrix.target}}-${{ hashFiles('platformio.ini') }}
+          path: ./build/lcov/lcov.info.${{matrix.target}}-*
+          retention-days: 5
+
   test:
     runs-on: ubuntu-latest
     strategy:
@@ -174,9 +282,12 @@ jobs:
       - name: Cache PlatformIO
         uses: actions/cache@v3
         with:
-          path: ~/.platformio
-          key: ${{ runner.os }}-pio-${{ hashFiles('**/lockfiles') }}
+          path: |
+            ~/.platformio/.cache
+            ./.pio
+          key: ${{ runner.os }}-pio-${{ matrix.target }}-${{ hashFiles('platformio.ini') }}
           restore-keys: |
+            ${{ runner.os }}-pio-${{ matrix.target }}
             ${{ runner.os }}-pio-
 
       - name: Set up Python
@@ -191,6 +302,9 @@ jobs:
           pio upgrade --dev
           pio pkg update --global
 
+      - name: Install libs
+        run: pio pkg install -e ${{matrix.target}}
+
       - name: Run Unit Tests
         run: pio test -e ${{matrix.target}}
 
@@ -207,7 +321,10 @@ jobs:
           retention-days: 5
 
   coverage-report:
-    needs: [build, test]
+    needs:
+      - build-bhaptics
+      - build-opengloves
+      - test
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3

diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
@@ -25,6 +25,7 @@ jobs:
           - bhaptics_tactosyf_foot_left
           - bhaptics_tactosyf_foot_right
           - bhaptics_tactal
+          - bhaptics_tactvisor
           - bhaptics_tactglove_left
           - bhaptics_tactglove_right
         battery_flag:

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -53,7 +53,12 @@
         "bit": "cpp",
         "set": "cpp",
         "iostream": "cpp",
-        "*.hpp": "cpp"
+        "*.hpp": "cpp",
+        "xlocmon": "cpp",
+        "xmemory": "cpp",
+        "xtree": "cpp",
+        "xhash": "cpp",
+        "xlocnum": "cpp"
     },
     "files.eol": "\n",
     "files.insertFinalNewline": true,

diff --git a/README.md b/README.md
@@ -73,21 +73,27 @@ Please note, that documentation is still work-in-progress
 
 ## Supported devices
 
-| Device                 | Supported Devices    | Retail price | DIY Price | Hardware                                                                                            |
-| :--------------------  | :------------------- | -----------: | --------: | :-------------------------------------------------------------------------------------------------- |
-| Haptics Face Interface | Tactal               | US $149      | ~20$      | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#haptic-face-interface) |
-| Haptic Gloves          | TactGlove            | US $299      | ~20$      | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#haptic-glove)          |
-| Haptic Sleeves         | Tactosy for arms     | US $249      | ~20$      | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#haptic-forearm-sleeve) |
-| Haptic Hand Gauntlet   | Tactosy for hands    | US $249      | ~20$      | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#haptic-gauntlet)       |
-| Haptic Feet Device     | Tactosy for feet     | US $249      | ~20$      | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#haptic-feet-device)    |
-| X16 Haptic Vest        | TactSuit X16         | US $299      | ~40$      | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#x16-haptic-vest)       |
-| X40 Haptic Vest        | TactSuit X40, Tactot | US $499      | ~70$      | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#x40-haptic-vest)       |
+| Device                 | Supported Devices    | Retail price | DIY Price         | Hardware                                                                                          |
+| :--------------------  | :------------------- | -----------: | ----------------: | :------------------------------------------------------------------------------------------------ |
+| Haptics Face Interface | Tactal, TactVisor    | US $149      | ~$20              | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#haptic-face-interface) |
+| Haptic Gloves          | TactGlove            | US $299      | ~$20              | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#haptic-glove)          |
+| Haptic Sleeves         | Tactosy for arms     | US $249      | ~$20              | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#haptic-forearm-sleeve) |
+| Haptic Hand Gauntlet   | Tactosy for hands    | US $249      | ~$20              | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#haptic-gauntlet)       |
+| Haptic Feet Device     | Tactosy for feet     | US $249      | ~$20              | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#haptic-feet-device)    |
+| X16 Haptic Vest        | TactSuit X16         | US $299      | ~$40              | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#x16-haptic-vest)       |
+| X40 Haptic Vest        | TactSuit X40, Tactot | US $499      | ~$70              | See [Hardware Reference](https://github.com/senseshift/senseshift-hardware#x40-haptic-vest)       |
+| VR Glove / OpenGloves  | LucidGloves          | N/A          | ~$40 &mdash; ~$80 | See [Original Wiki](https://github.com/LucidVR/lucidgloves/wiki)                                  |
 
 ## For Developers
 
 * [Code of Conduct](./CODE_OF_CONDUCT.md)
 * [Contributing Guidelines](./CONTRIBUTING.md)
 
+## Credits
+
+* [LucasVRTech](https://github.com/lucas-vrtech) of the LucidGlove project
+* [JohnRThomas](https://github.com/JohnRThomas) for the his implementation of LucidGlove firmware
+
 ## Licensing
 
 [![GPL-3.0](https://www.gnu.org/graphics/gplv3-or-later-sm.png)](./LICENSE)

diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -48,7 +48,12 @@ void setupMode() {
   bhBleConnection->begin();
 
 #if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  auto* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, &App, tskNO_AFFINITY);
+  auto* battery = new BatterySensor(
+    new ADCNaiveBattery(36),
+    &App,
+    { .sampleRate = BATTERY_SAMPLE_RATE },
+    { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+  );
   battery->begin();
 #endif
 }

diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -77,7 +77,12 @@ void setupMode() {
   bhBleConnection->begin();
 
 #if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  auto* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
+  auto* battery = new BatterySensor(
+    new ADCNaiveBattery(36),
+    &App,
+    { .sampleRate = BATTERY_SAMPLE_RATE },
+    { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+  );
   battery->begin();
 #endif
 }

diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -49,7 +49,12 @@ void setupMode() {
   bhBleConnection->begin();
 
 #if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  auto* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
+  auto* battery = new BatterySensor(
+    new ADCNaiveBattery(36),
+    &App,
+    { .sampleRate = BATTERY_SAMPLE_RATE },
+    { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+  );
   battery->begin();
 #endif
 }

diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -50,7 +50,12 @@ void setupMode() {
   bhBleConnection->begin();
 
 #if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  auto* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
+  auto* battery = new BatterySensor(
+    new ADCNaiveBattery(36),
+    &App,
+    { .sampleRate = BATTERY_SAMPLE_RATE },
+    { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+  );
   battery->begin();
 #endif
 }

diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -50,7 +50,12 @@ void setupMode() {
   bhBleConnection->begin();
 
 #if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  auto* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
+  auto* battery = new BatterySensor(
+    new ADCNaiveBattery(36),
+    &App,
+    { .sampleRate = BATTERY_SAMPLE_RATE },
+    { "ADC Battery", 4096, 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
@@ -62,7 +62,12 @@ void setupMode() {
   bhBleConnection->begin();
 
 #if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  auto* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
+  auto* battery = new BatterySensor(
+    new ADCNaiveBattery(36),
+    &App,
+    { .sampleRate = BATTERY_SAMPLE_RATE },
+    { "ADC Battery", 4096, 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
@@ -67,7 +67,12 @@ void setupMode() {
   bhBleConnection->begin();
 
 #if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  auto* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
+  auto* battery = new BatterySensor(
+    new ADCNaiveBattery(36),
+    &App,
+    { .sampleRate = BATTERY_SAMPLE_RATE },
+    { "ADC Battery", 4096, 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
@@ -75,7 +75,12 @@ void setupMode() {
   bhBleConnection->begin();
 
 #if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  auto* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
+  auto* battery = new BatterySensor(
+    new ADCNaiveBattery(36),
+    &App,
+    { .sampleRate = BATTERY_SAMPLE_RATE },
+    { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+  );
   battery->begin();
 #endif
 }