fix: sensor template deduction

senseshift · Feb 8, 2024 · 809f14e · 809f14e
1 parent 13f3b54
commit 809f14e
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Showing 12 changed files with 52 additions and 34 deletions.
diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -61,7 +61,7 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
       batteryVoltageSensor,
       SENSESHIFT_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }

diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -69,7 +69,7 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
       batteryVoltageSensor,
       SENSESHIFT_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }

diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -62,7 +62,7 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
       batteryVoltageSensor,
       SENSESHIFT_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }

diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -63,7 +63,7 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
       batteryVoltageSensor,
       SENSESHIFT_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }

diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -63,7 +63,7 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
       batteryVoltageSensor,
       SENSESHIFT_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }

diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -72,7 +72,7 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
       batteryVoltageSensor,
       SENSESHIFT_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }

diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -77,7 +77,7 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
       batteryVoltageSensor,
       SENSESHIFT_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }

diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -86,7 +86,7 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
       batteryVoltageSensor,
       SENSESHIFT_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }

diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -61,7 +61,7 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
       batteryVoltageSensor,
       SENSESHIFT_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }

diff --git a/firmware/mode_configs/opengloves/opengloves.cpp b/firmware/mode_configs/opengloves/opengloves.cpp
@@ -122,7 +122,7 @@ void setupMode()
 #endif
 
 #if GESTURE_TRIGGER_ENABLED
-    auto* trigger = new AnalogThresholdSensor(index_curl_sensor, GESTURE_TRIGGER_THRESHOLD);
+    auto* trigger = new TriggerGesture(index_curl_sensor, GESTURE_TRIGGER_THRESHOLD);
     input_sensors.trigger.press = trigger;
 #elif BUTTON_TRIGGER_ENABLED
     auto trigger = new BUTTON_CLASS(PIN_BUTTON_TRIGGER, BUTTON_TRIGGER_INVERT);

diff --git a/lib/io/senseshift/input/analog_threshold.hpp b/lib/io/senseshift/input/analog_threshold.hpp
@@ -1,55 +1,66 @@
 #pragma once
 
 #include "senseshift/input/sensor.hpp"
+#include <type_traits>
 
 namespace SenseShift::Input {
-    template<typename Tp>
+    template<typename Tp = float>
     class AnalogThresholdSensor : public BinarySensor, ITickable {
-    public:
+      public:
         /// Analog threshold sensor with hysteresis.
         ///
         /// \param source The source sensor.
         /// \param threshold_upper Upper threshold, that needs to be crossed to transition from `low` to `high` states.
         /// \param threshold_lower Lower threshold, that needs to be crossed to transition from `high` to `low` states.
         explicit AnalogThresholdSensor(
-                ::SenseShift::Input::Sensor<Tp>* source,
-                Tp threshold_upper,
-                float threshold_lower,
-                bool attach_callbacks = false
-        ) : source_(source), threshold_upper_(threshold_upper), threshold_lower_(threshold_lower), attach_callbacks_(attach_callbacks) {}
+          ::SenseShift::Input::Sensor<Tp>* source, Tp threshold_upper, Tp threshold_lower, bool attach_callbacks = false
+        ) :
+          source_(source),
+          threshold_upper_(threshold_upper),
+          threshold_lower_(threshold_lower),
+          attach_callbacks_(attach_callbacks)
+        {
+        }
 
         /// \param source The source sensor.
         /// \param threshold Threshold, that will be used for both upper and lower thresholds.
-        template <typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
+        template<typename U = Tp, std::enable_if_t<std::is_same_v<U, float>, int> = 0>
         explicit AnalogThresholdSensor(
-                ::SenseShift::Input::Sensor<Tp>* source,
-                float threshold = 0.5f,
-                bool attach_callbacks = false
-        ) : AnalogThresholdSensor(source, threshold, threshold, attach_callbacks) { }
+          ::SenseShift::Input::Sensor<Tp>* source, float threshold = 0.5f, bool attach_callbacks = false
+        ) :
+          AnalogThresholdSensor(source, threshold, threshold, attach_callbacks)
+        {
+        }
 
-        void init() override {
+        void init() override
+        {
             SS_SUBSENSOR_INIT(this->source_, this->attach_callbacks_, [this](Tp /*value*/) {
                 this->recalculateState();
             });
         }
 
-        void tick() override {
+        void tick() override
+        {
             if (this->attach_callbacks_) {
-                LOG_E("sensor.analog_threshold", "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!");
+                LOG_E(
+                  "sensor.analog_threshold",
+                  "tick() called when attach_callbacks_ is true, infinite loop go wroom-wroom!"
+                );
             }
             this->recalculateState();
         }
 
-        void recalculateState() {
-            const auto sensor_value  = this->source_->getValue();
+        void recalculateState()
+        {
+            const auto sensor_value = this->source_->getValue();
             this->publishState(sensor_value >= (this->getValue() ? this->threshold_lower_ : this->threshold_upper_));
         }
 
-    private:
+      private:
         ::SenseShift::Input::Sensor<Tp>* source_;
 
-        float threshold_lower_, threshold_upper_;
+        Tp threshold_lower_, threshold_upper_;
 
         bool attach_callbacks_ = false;
     };
-}
+} // namespace SenseShift::Input
diff --git a/test/test_body_gestures/main.cpp b/test/test_body_gestures/main.cpp
@@ -10,12 +10,14 @@ void test_gesture_trigger(void)
     float threshold = 0.5f;
     auto* index = new FloatSensor();
 
-    auto* gesture = new TriggerGesture(index, threshold, true);
+    auto* gesture = new TriggerGesture(index, threshold);
 
     index->publishState(0.4f);
+    gesture->tick();
     TEST_ASSERT_FALSE(gesture->getValue());
 
     index->publishState(0.6f);
+    gesture->tick();
     TEST_ASSERT_TRUE(gesture->getValue());
 }
 
@@ -35,22 +37,25 @@ void test_gesture_grab(void)
         .ring = ring,
         .pinky = pinky,
       },
-      threshold,
-      true
+      threshold
     );
 
     TEST_ASSERT_FALSE(gesture->getValue());
 
     index->publishState(0.6);
+    gesture->tick();
     TEST_ASSERT_FALSE(gesture->getValue());
 
     middle->publishState(0.6);
+    gesture->tick();
     TEST_ASSERT_FALSE(gesture->getValue());
 
     ring->publishState(0.6);
+    gesture->tick();
     TEST_ASSERT_FALSE(gesture->getValue());
 
     pinky->publishState(0.6);
+    gesture->tick();
     TEST_ASSERT_TRUE(gesture->getValue());
 }
 
@@ -61,14 +66,16 @@ void test_gesture_pinch(void)
     auto* thumb = new FloatSensor();
     auto* index = new FloatSensor();
 
-    auto* gesture = new PinchGesture({ .thumb = thumb, .index = index }, threshold, true);
+    auto* gesture = new PinchGesture({ .thumb = thumb, .index = index }, threshold);
 
     TEST_ASSERT_FALSE(gesture->getValue());
 
     thumb->publishState(0.6f);
+    gesture->tick();
     TEST_ASSERT_FALSE(gesture->getValue());
 
     index->publishState(0.6f);
+    gesture->tick();
     TEST_ASSERT_TRUE(gesture->getValue());
 }