refactor(Battery): use analog float sensor

senseshift · Jan 27, 2024 · 750494a · 750494a
1 parent 9e33f0b
commit 750494a
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Showing 18 changed files with 55 additions and 84 deletions.
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -5,7 +5,10 @@
 #include <Wire.h>
 
 #include "senseshift.h"
+
+#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_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -5,8 +5,11 @@
 #include <Wire.h>
 
 #include "senseshift.h"
+
+#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/lib/arduino/senseshift/arduino/input/sensor/analog.hpp b/lib/arduino/senseshift/arduino/input/sensor/analog.hpp
@@ -1,33 +1,35 @@
 #pragma once
 
+#include <cstdint>
+
 #include <senseshift/input/sensor.hpp>
 
 #include <Arduino.h>
 
 namespace SenseShift::Arduino::Input {
-    using IAnalogSensor = ::SenseShift::Input::ISimpleSensor<uint16_t>;
-
     template<bool Invert = false>
-    class AnalogSensor : public IAnalogSensor {
-        uint8_t pin_;
+    class AnalogSensor : public ::SenseShift::Input::IFloatSensor {
+        std::uint8_t pin_;
 
       public:
-        AnalogSensor(const uint8_t pin) : pin_(pin) {}
+        AnalogSensor(const std::uint8_t pin) : pin_(pin) {}
 
         void init() override { pinMode(this->pin_, INPUT); };
 
-        [[nodiscard]] auto getValue() -> uint16_t override;
+        [[nodiscard]] auto getValue() -> float override;
     };
 
     template<>
-    [[nodiscard]] inline auto AnalogSensor<false>::getValue() -> uint16_t
+    [[nodiscard]] inline auto AnalogSensor<false>::getValue() -> float
     {
-        return analogRead(this->pin_);
+        const auto raw = analogRead(this->pin_);
+        return static_cast<float>(raw) / ANALOG_MAX;
     }
 
     template<>
-    [[nodiscard]] inline auto AnalogSensor<true>::getValue() -> uint16_t
+    [[nodiscard]] inline auto AnalogSensor<true>::getValue() -> float
     {
-        return ANALOG_MAX - analogRead(this->pin_);
+        const auto raw = ANALOG_MAX - analogRead(this->pin_);
+        return static_cast<float>(raw) / ANALOG_MAX;
     }
 } // namespace SenseShift::Arduino::Input
diff --git a/lib/arduino/senseshift/arduino/output/actuator/servo.hpp b/lib/arduino/senseshift/arduino/output/actuator/servo.hpp
diff --git a/lib/arduino/senseshift/arduino/output/analog.hpp b/lib/arduino/senseshift/arduino/output/analog.hpp
@@ -8,7 +8,7 @@
 
 namespace SenseShift::Arduino::Output {
     /// Arduino analog output
-    class AnalogOutput : public ::SenseShift::Output::FloatOutput {
+    class AnalogOutput : public ::SenseShift::Output::IFloatOutput {
       public:
         static inline constexpr std::uint16_t MAX_INTENSITY = 255;
 
@@ -20,7 +20,8 @@ namespace SenseShift::Arduino::Output {
         }
 
         void writeState(const float value) override {
-            analogWrite(this->pin_, value * MAX_INTENSITY);
+            const auto duty = static_cast<int>(value * MAX_INTENSITY);
+            analogWrite(this->pin_, duty);
         }
 
       private:

diff --git a/lib/arduino/senseshift/arduino/output/pca9685.hpp b/lib/arduino/senseshift/arduino/output/pca9685.hpp
@@ -10,7 +10,7 @@
 #include <Wire.h>
 
 namespace SenseShift::Arduino::Output {
-    class PCA9685Output : public ::SenseShift::Output::FloatOutput {
+    class PCA9685Output : public ::SenseShift::Output::IFloatOutput {
       public:
         static inline constexpr std::uint16_t MAX_INTENSITY = 4095;
 
@@ -20,12 +20,10 @@ namespace SenseShift::Arduino::Output {
             this->driver_->begin();
         }
 
-        void writeState(const ValueType intensity) override
+        void writeState(const ValueType value) override
         {
-            this->driver_->setPin(
-                this->channel_,
-                intensity * MAX_INTENSITY
-            );
+            const auto duty = static_cast<std::uint16_t>(value * MAX_INTENSITY);
+            this->driver_->setPin(this->channel_, duty);
         }
 
       private:

diff --git a/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp b/lib/arduino_esp32/senseshift/arduino/output/ledc.hpp
@@ -11,7 +11,7 @@ namespace SenseShift::Arduino::Output {
     static const char *const TAG = "output.ledc";
 
     /// Arduino analog output
-    class LedcOutput : public ::SenseShift::Output::FloatOutput {
+    class LedcOutput : public ::SenseShift::Output::IFloatOutput {
     public:
         explicit LedcOutput(
           const std::uint8_t pin,

diff --git a/lib/battery/senseshift/battery.hpp b/lib/battery/senseshift/battery.hpp
@@ -60,6 +60,7 @@ namespace SenseShift::Battery {
     });
 
     struct BatteryState {
+        static constexpr std::uint8_t MAX_LEVEL = 255;
         uint8_t level;
     };
 

diff --git a/lib/battery/senseshift/battery/sensor.hpp b/lib/battery/senseshift/battery/sensor.hpp
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <cstdint>
+
 #include "senseshift/battery.hpp"
 
 #include <senseshift/freertos/task.hpp>
@@ -18,17 +20,19 @@ namespace SenseShift::Battery {
 
     class NaiveBatterySensor : public IBatterySensor {
       public:
-        NaiveBatterySensor(::SenseShift::Input::ISimpleSensor<uint16_t>* sensor) : sensor(sensor){};
+        explicit NaiveBatterySensor(::SenseShift::Input::IFloatSensor* sensor) : sensor(sensor){};
 
         [[nodiscard]] auto getValue() -> BatteryState override
         {
-            return { .level =
-                       static_cast<uint8_t>(::SenseShift::simpleMap<uint16_t>(this->sensor->getValue(), 4095, 255)) };
+            const auto level = static_cast<std::uint8_t>(this->sensor->getValue() * BatteryState::MAX_LEVEL);
+
+            return { .level = level};
         };
+
         void init() override { this->sensor->init(); }
 
       private:
-        ISimpleSensor<uint16_t> * sensor;
+        ::SenseShift::Input::IFloatSensor* sensor;
     };
 
     class BatterySensor : public ::SenseShift::Input::MemoizedSensor<::SenseShift::Battery::BatteryState> {

diff --git a/lib/bhaptics/senseshift/bh/encoding.hpp b/lib/bhaptics/senseshift/bh/encoding.hpp
@@ -207,7 +207,8 @@ namespace SenseShift::BH {
       private:
         static auto effectDataFromByte(const uint8_t byte, const uint8_t maxValue = 100) -> VibroEffectData
         {
-            return VibroEffectData(byte / maxValue);
+            const auto value = static_cast<float>(byte) / static_cast<float>(maxValue);
+            return VibroEffectData(value);
         }
     };
 } // namespace SenseShift::BH
diff --git a/lib/freertos/senseshift/freertos/input/sensor.hpp b/lib/freertos/senseshift/freertos/input/sensor.hpp
@@ -32,12 +32,12 @@ namespace SenseShift::FreeRTOS::Input {
         }
     };
 
-    template<typename _Tp>
-    class TaskedSensor : public SensorUpdateTask, public ::SenseShift::Input::ISimpleSensor<_Tp> {
+    template<typename Tp>
+    class TaskedSensor : public SensorUpdateTask, public ::SenseShift::Input::ISimpleSensor<Tp> {
         friend class SensorUpdateTask;
 
       private:
-        using Sensor = ::SenseShift::Input::MemoizedSensor<_Tp>;
+        using Sensor = ::SenseShift::Input::MemoizedSensor<Tp>;
 
       public:
         TaskedSensor(Sensor* sensor, std::uint32_t updateDelay, TaskConfig taskConfig) :
@@ -51,7 +51,7 @@ namespace SenseShift::FreeRTOS::Input {
 
         void init() override { this->sensor->init(); };
 
-        _Tp getValue() override { return this->sensor->getValue(); };
+        Tp getValue() override { return this->sensor->getValue(); };
 
       private:
         Sensor* sensor;

diff --git a/lib/haptics/senseshift/body/haptics/body.cpp b/lib/haptics/senseshift/body/haptics/body.cpp
@@ -19,5 +19,5 @@ namespace SenseShift::Body::Haptics {
         find->second->effect(pos, val);
     }
 
-    template class OutputBody<Position::Value, Output::FloatOutput::ValueType>;
+    template class OutputBody<Position::Value, Output::IFloatOutput::ValueType>;
 } // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/body.hpp b/lib/haptics/senseshift/body/haptics/body.hpp
@@ -8,7 +8,7 @@
 #include <senseshift/output/output.hpp>
 
 namespace SenseShift::Body::Haptics {
-    /// Output body, contains all the output planes.
+    /// IOutput body, contains all the output planes.
     ///
     /// \tparam Tc The type of the coordinate.
     /// \tparam To The type of the output value.
@@ -40,5 +40,5 @@ namespace SenseShift::Body::Haptics {
         TargetPlaneMap targets_{};
     };
 
-    using FloatBody = OutputBody<Position::Value, Output::FloatOutput::ValueType>;
+    using FloatBody = OutputBody<Position::Value, Output::IFloatOutput::ValueType>;
 } // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/plane.cpp b/lib/haptics/senseshift/body/haptics/plane.cpp
@@ -77,6 +77,6 @@ namespace SenseShift::Body::Haptics {
         return nearest->second;
     }
 
-    template class OutputPlane<Position::Value, Output::FloatOutput::ValueType>;
-    template class OutputPlane_Closest<Position::Value, Output::FloatOutput::ValueType>;
+    template class OutputPlane<Position::Value, Output::IFloatOutput::ValueType>;
+    template class OutputPlane_Closest<Position::Value, Output::IFloatOutput::ValueType>;
 } // namespace SenseShift::Body::Haptics
diff --git a/lib/haptics/senseshift/body/haptics/plane.hpp b/lib/haptics/senseshift/body/haptics/plane.hpp
@@ -28,7 +28,7 @@ namespace SenseShift::Body::Haptics {
         /// The type of the output value (e.g. float) for the plane.
         using Value = To;
         /// The type of the actuator for the plane.
-        using Actuator = Output::Output<Value>;
+        using Actuator = Output::IOutput<Value>;
 
         using ActuatorMap = std::map<Position, Actuator*>;
         using PositionStateMap = std::map<Position, Value>;
@@ -73,8 +73,8 @@ namespace SenseShift::Body::Haptics {
         [[nodiscard]] static auto findClosestPoint(const PositionSet&, const Position&) -> const Position&;
     };
 
-    using FloatPlane = OutputPlane<Position::Value, Output::FloatOutput::ValueType>;
-    using FloatPlane_Closest = OutputPlane_Closest<Position::Value, Output::FloatOutput::ValueType>;
+    using FloatPlane = OutputPlane<Position::Value, Output::IFloatOutput::ValueType>;
+    using FloatPlane_Closest = OutputPlane_Closest<Position::Value, Output::IFloatOutput::ValueType>;
 
     // TODO: configurable margin
     class PlaneMapper_Margin {

diff --git a/lib/io/senseshift/input/sensor.hpp b/lib/io/senseshift/input/sensor.hpp
@@ -21,17 +21,18 @@ namespace SenseShift::Input {
     /// \tparam Tp Type of the sensor value
     template<typename Tp>
     class ISimpleSensor : virtual public IInitializable {
-    public:
+      public:
         using ValueType = Tp;
 
         /// Get the current sensor value
         [[nodiscard]] virtual auto getValue() -> ValueType = 0;
     };
 
     using IBinarySensor = ISimpleSensor<bool>;
+    using IFloatSensor = ISimpleSensor<float>;
 
     template<typename Tp>
-    class ISensor : virtual ISimpleSensor<Tp>, ITickable {};
+    class ISensor : public virtual ISimpleSensor<Tp>, public ITickable {};
 
     /// Memoized sensor decorator. Stores the last read value and returns it on subsequent calls
     /// \tparam Tp Type of the sensor value

diff --git a/lib/io/senseshift/output/binary_output.hpp b/lib/io/senseshift/output/binary_output.hpp
diff --git a/lib/io/senseshift/output/output.hpp b/lib/io/senseshift/output/output.hpp
@@ -4,12 +4,13 @@
 
 namespace SenseShift::Output {
     template<typename Tp>
-    class Output : public IInitializable {
+    class IOutput : public IInitializable {
     public:
         using ValueType = Tp;
 
         virtual void writeState(ValueType value) = 0;
     };
 
-    using FloatOutput = Output<float>;
+    using IBinaryOutput = IOutput<bool>;
+    using IFloatOutput = IOutput<float>;
 } // namespace SenseShift::Output
-Original file line number
+Diff line change
@@ Expand Up / @@ -60,6 +60,7 @@ namespace SenseShift::Battery { @@
         });
         struct BatteryState {
+            static constexpr std::uint8_t MAX_LEVEL = 255;
             uint8_t level;
         };
@@ Expand Down @@