✨ (libs): Add TouchSensorKit

Co-Authored-By: YannL <[email protected]>

libs/CMakeLists.txt

@@ -21,6 +21,7 @@ add_subdirectory(${LIBS_DIR}/ReinforcerKit)
 add_subdirectory(${LIBS_DIR}/RobotKit)
 add_subdirectory(${LIBS_DIR}/RFIDKit)
 add_subdirectory(${LIBS_DIR}/SerialNumberKit)
+add_subdirectory(${LIBS_DIR}/TouchSensorKit)
 add_subdirectory(${LIBS_DIR}/UIAnimationKit)
 add_subdirectory(${LIBS_DIR}/VideoKit)
 add_subdirectory(${LIBS_DIR}/WebKit)

libs/TouchSensorKit/CMakeLists.txt

@@ -0,0 +1,27 @@
+# Leka - LekaOS
+# Copyright 2022 APF France handicap
+# SPDX-License-Identifier: Apache-2.0
+
+add_library(TouchSensorKit STATIC)
+
+target_include_directories(TouchSensorKit
+	PUBLIC
+	include
+)
+
+target_sources(TouchSensorKit
+	PRIVATE
+	source/TouchSensorKit.cpp
+)
+
+target_link_libraries(TouchSensorKit
+	mbed-os
+	CoreEventQueue
+	CoreTouchSensor
+)
+
+if(${CMAKE_PROJECT_NAME} STREQUAL "LekaOSUnitTests")
+	leka_unit_tests_sources(
+		tests/TouchSensorKit_test.cpp
+	)
+endif()

libs/TouchSensorKit/include/Position.h

@@ -0,0 +1,21 @@
+// Leka - LekaOS
+// Copyright 2022 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include <cstdint>
+
+namespace leka {
+
+enum class Position : uint8_t
+{
+	ear_left		 = 0,
+	ear_right		 = 1,
+	belt_left_back	 = 2,
+	belt_left_front	 = 3,
+	belt_right_back	 = 4,
+	belt_right_front = 5,
+};
+
+}

libs/TouchSensorKit/include/TouchSensorKit.h

@@ -0,0 +1,62 @@
+// Leka - LekaOS
+// Copyright 2022 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include <map>
+
+#include "CoreEventQueue.h"
+#include "Position.h"
+#include "interface/drivers/TouchSensor.h"
+
+namespace leka {
+
+class TouchSensorKit
+{
+  public:
+	explicit TouchSensorKit(interface::TouchSensor &ear_left, interface::TouchSensor &ear_right,
+							interface::TouchSensor &belt_left_back, interface::TouchSensor &belt_left_front,
+							interface::TouchSensor &belt_right_back, interface::TouchSensor &belt_right_front)
+		: _ear_left(ear_left),
+		  _ear_right(ear_right),
+		  _belt_left_back(belt_left_back),
+		  _belt_left_front(belt_left_front),
+		  _belt_right_back(belt_right_back),
+		  _belt_right_front(belt_right_front) {};
+
+	void initialize();
+
+	void setRefreshDelay(std::chrono::milliseconds delay);
+	void enable();
+	void disable();
+
+	void registerOnSensorTouched(std::function<void(const Position)> const &on_sensor_touched_callback);
+	void registerOnSensorReleased(std::function<void(const Position)> const &on_sensor_released_callback);
+
+	auto isTouched(Position position) -> bool;
+
+  private:
+	void run();
+
+	void setSensitivity(Position position, float value);
+
+	CoreEventQueue _event_queue {};
+	std::chrono::milliseconds _refresh_delay {100};
+	int _event_id {};
+
+	interface::TouchSensor &_ear_left;
+	interface::TouchSensor &_ear_right;
+	interface::TouchSensor &_belt_left_back;
+	interface::TouchSensor &_belt_left_front;
+	interface::TouchSensor &_belt_right_back;
+	interface::TouchSensor &_belt_right_front;
+
+	static constexpr auto default_max_sensitivity_value = float {1.F};
+
+	std::map<Position, bool> _previous_is_touched {};
+
+	std::function<void(const Position)> _on_sensor_touched_callback {};
+	std::function<void(const Position)> _on_sensor_released_callback {};
+};
+}	// namespace leka

libs/TouchSensorKit/source/TouchSensorKit.cpp

@@ -0,0 +1,128 @@
+// Leka - LekaOS
+// Copyright 2022 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#include "TouchSensorKit.h"
+#include <array>
+
+#include "rtos/ThisThread.h"
+
+using namespace leka;
+using namespace std::chrono_literals;
+
+void TouchSensorKit::initialize()
+{
+	_ear_left.init();
+	_ear_right.init();
+	_belt_left_back.init();
+	_belt_left_front.init();
+	_belt_right_back.init();
+	_belt_right_front.init();
+
+	setSensitivity(Position::ear_left, default_max_sensitivity_value);
+	setSensitivity(Position::ear_right, default_max_sensitivity_value);
+	setSensitivity(Position::belt_left_back, default_max_sensitivity_value);
+	setSensitivity(Position::belt_left_front, default_max_sensitivity_value);
+	setSensitivity(Position::belt_right_back, default_max_sensitivity_value);
+	setSensitivity(Position::belt_right_front, default_max_sensitivity_value);
+
+	_event_queue.dispatch_forever();
+}
+
+void TouchSensorKit::setRefreshDelay(std::chrono::milliseconds delay)
+{
+	_refresh_delay = delay;
+}
+
+void TouchSensorKit::enable()
+{
+	disable();
+	_event_id = _event_queue.call_every(_refresh_delay, [this] { run(); });
+}
+
+void TouchSensorKit::disable()
+{
+	_event_queue.cancel(_event_id);
+}
+
+void TouchSensorKit::run()
+{
+	auto constexpr positions =
+		std::to_array<Position>({Position::ear_left, Position::ear_right, Position::belt_left_back,
+								 Position::belt_left_front, Position::belt_right_back, Position::belt_right_front});
+
+	for (Position position: positions) {
+		auto is_touched = isTouched(position);
+		if (is_touched && !_previous_is_touched[position] && _on_sensor_touched_callback != nullptr) {
+			_on_sensor_touched_callback(position);
+		}
+		if (!is_touched && _previous_is_touched[position] && _on_sensor_released_callback != nullptr) {
+			_on_sensor_released_callback(position);
+		}
+		_previous_is_touched[position] = is_touched;
+	}
+}
+
+void TouchSensorKit::registerOnSensorTouched(std::function<void(const Position)> const &on_sensor_touched_callback)
+{
+	_on_sensor_touched_callback = on_sensor_touched_callback;
+}
+
+void TouchSensorKit::registerOnSensorReleased(std::function<void(const Position)> const &on_sensor_released_callback)
+{
+	_on_sensor_released_callback = on_sensor_released_callback;
+}
+
+auto TouchSensorKit::isTouched(Position position) -> bool
+{
+	auto read = bool {};
+	switch (position) {
+		case Position::ear_left:
+			read = _ear_left.read();
+			break;
+		case Position::ear_right:
+			read = _ear_right.read();
+			break;
+		case Position::belt_left_back:
+			read = _belt_left_back.read();
+			break;
+		case Position::belt_left_front:
+			read = _belt_left_front.read();
+			break;
+		case Position::belt_right_back:
+			read = _belt_right_back.read();
+			break;
+		case Position::belt_right_front:
+			read = _belt_right_front.read();
+			break;
+		default:
+			break;
+	}
+	return read;
+}
+
+void TouchSensorKit::setSensitivity(Position position, float value)
+{
+	switch (position) {
+		case Position::ear_left:
+			_ear_left.setSensitivity(value);
+			break;
+		case Position::ear_right:
+			_ear_right.setSensitivity(value);
+			break;
+		case Position::belt_left_back:
+			_belt_left_back.setSensitivity(value);
+			break;
+		case Position::belt_left_front:
+			_belt_left_front.setSensitivity(value);
+			break;
+		case Position::belt_right_back:
+			_belt_right_back.setSensitivity(value);
+			break;
+		case Position::belt_right_front:
+			_belt_right_front.setSensitivity(value);
+			break;
+		default:
+			break;
+	}
+}