Merge pull request #79 from senseshift/refactor/namespace

refactor: apply new `SenseShift` namespace and directory
senseshift · Aug 24, 2023 · 6ae3811 · 6ae3811 · github-actions · Aug 24, 2023
2 parents 2598d7e + bb73823
commit 6ae3811
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Showing 82 changed files with 893 additions and 1,041 deletions.
diff --git a/.clang-format b/.clang-format
@@ -7,9 +7,7 @@ AllowAllConstructorInitializersOnNextLine: 'true'
 AllowAllParametersOfDeclarationOnNextLine: 'true'
 AllowShortBlocksOnASingleLine: 'false'
 AllowShortCaseLabelsOnASingleLine: 'false'
-# TODO
-# AllowShortFunctionsOnASingleLine: Inline
-AllowShortFunctionsOnASingleLine: Empty
+AllowShortFunctionsOnASingleLine: Inline
 AllowShortIfStatementsOnASingleLine: Never
 AllowShortLambdasOnASingleLine: Empty
 AllowShortLoopsOnASingleLine: 'false'

diff --git a/.github/scripts/get_firmware_name.sh b/.github/scripts/get_firmware_name.sh
@@ -8,17 +8,17 @@ getBhapticsName() {
     echo "::debug::Getting bHaptics name for $target"
     echo "::debug::Flags are $flags"
 
-    if [[ $flags =~ BLUETOOTH_USE_NIMBLE=true ]]; then
+    if [[ $flags =~ SENSESHIFT_BLE_USE_NIMBLE=true ]]; then
         echo "::debug::Nimble is enabled, appending +nimble to the target"
         target="$target+nimble"
     fi
 
-    if [[ $flags =~ BATTERY_ENABLED=true ]]; then
+    if [[ $flags =~ SENSESHIFT_BATTERY_ENABLED=true ]]; then
         echo "::debug::Battery is enabled, appending +battery to the target"
         target="$target+battery"
     fi
 
-    if [[ $flags =~ SERIAL_PLOTTER=true ]]; then
+    if [[ $flags =~ SENSESHIFT_SERIAL_PLOTTER=true ]]; then
         echo "::debug::Serial Plotter is enabled, appending +serialplotter to the target"
         target="$target+serialplotter"
     fi
@@ -32,6 +32,22 @@ getBhapticsName() {
     fi
 }
 
+handleCalibrationFlag() {
+    local target=$1
+    local flag=$2
+    local prefix=$3
+
+    if [[ $flag =~ MinMaxCalibrator ]]; then
+        target="$target+${prefix}_minmax"
+    elif [[ $flag =~ FixedCenterPointDeviationCalibrator ]]; then
+        target="$target+${prefix}_fcpd"
+    elif [[ $flag =~ CenterPointDeviationCalibrator ]]; then
+        target="$target+${prefix}_cpd"
+    fi
+
+    echo "$target"
+}
+
 getOpenGlovesName() {
     local target=$1
     # rest of params
@@ -43,27 +59,20 @@ getOpenGlovesName() {
     if [[ $flags =~ OPENGLOVES_COMM_SERIAL ]]; then
         echo "::debug::Serial is enabled, appending +serial to the target"
         target="$target+serial"
-    fi
-
-    if [[ $flags =~ OPENGLOVES_COMM_BTSERIAL ]]; then
+    elif [[ $flags =~ OPENGLOVES_COMM_BTSERIAL ]]; then
         echo "::debug::Bluetooth Serial is enabled, appending +bluetooth to the target"
         target="$target+bluetooth"
     fi
 
-    if [[ $flags =~ CALIBRATION_CURL=OH::MinMaxCalibrator ]]; then
-        echo "::debug::MinMaxCalibrator is enabled, appending +curl_minmax to the target"
-        target="$target+curl_minmaxcalib"
-    fi
-
-    if [[ $flags =~ CALIBRATION_CURL=OH::CenterPointDeviationCalibrator ]]; then
-        echo "::debug::CenterPointDeviationCalibrator is enabled, appending +curl_cpcalib to the target"
-        target="$target+curl_cpcalib"
-    fi
+    for flag in "${@:2}"; do
+        if [[ $flag =~ CALIBRATION_CURL ]]; then
+            target=$(handleCalibrationFlag "$target" "$flag" "curl_calib")
+        fi
 
-    if [[ $flags =~ CALIBRATION_CURL=OH::FixedCenterPointDeviationCalibrator ]]; then
-        echo "::debug::FixedCenterPointDeviationCalibrator is enabled, appending +curl_fcpcalib to the target"
-        target="$target+curl_fcpcalib"
-    fi
+        if [[ $flag =~ CALIBRATION_SPLAY ]]; then
+            target=$(handleCalibrationFlag "$target" "$flag" "splay_calib")
+        fi
+    done
 
     echo "firmware=$target"
     if [[ -n "$GITHUB_ACTIONS" ]]; then
@@ -77,9 +86,9 @@ getOpenGlovesName() {
 target=$1
 echo "::debug::Target is $target"
 if [[ $target =~ ^(bhaptics) ]]; then
-    getBhapticsName $@
+    getBhapticsName "${@}"
 elif [[ $target =~ ^(opengloves|lucidgloves|indexer) ]]; then
-    getOpenGlovesName $@
+    getOpenGlovesName "${@}"
 else
     echo "::error::Unknown target $target"
     exit 1

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -32,31 +32,31 @@ jobs:
           - bhaptics_tactal
           - bhaptics_tactvisor
           - bhaptics_tactglove_right
-        battery_flag: [ BATTERY_ENABLED=true ]
-        serial_plotter_flag: [ SERIAL_PLOTTER=false ]
-        nimble_flag: [ BLUETOOTH_USE_NIMBLE=false ]
+        battery_flag: [ SENSESHIFT_BATTERY_ENABLED=true ]
+        serial_plotter_flag: [ SENSESHIFT_SERIAL_PLOTTER=false ]
+        nimble_flag: [ SENSESHIFT_BLE_USE_NIMBLE=false ]
         coverage: [ false ]
 
         include:
           # Extra tests for x40, as it uses the most features
           - target: bhaptics_tactsuit_x40
             os: ubuntu-latest
             coverage: true
-            battery_flag: BATTERY_ENABLED=true
-            serial_plotter_flag: SERIAL_PLOTTER=true
-            nimble_flag: BLUETOOTH_USE_NIMBLE=true
+            battery_flag: SENSESHIFT_BATTERY_ENABLED=true
+            serial_plotter_flag: SENSESHIFT_SERIAL_PLOTTER=true
+            nimble_flag: SENSESHIFT_BLE_USE_NIMBLE=true
           # - target: bhaptics_tactsuit_x40
           #   os: ubuntu-latest
           #   coverage: true
-          #   battery_flag: BATTERY_ENABLED=true
-          #   serial_plotter_flag: SERIAL_PLOTTER=true
-          #   nimble_flag: BLUETOOTH_USE_NIMBLE=false
+          #   battery_flag: SENSESHIFT_BATTERY_ENABLED=true
+          #   serial_plotter_flag: SENSESHIFT_SERIAL_PLOTTER=true
+          #   nimble_flag: SENSESHIFT_BLE_USE_NIMBLE=false
           - target: bhaptics_tactsuit_x40
             os: ubuntu-latest
             coverage: false
-            battery_flag: BATTERY_ENABLED=true
-            serial_plotter_flag: SERIAL_PLOTTER=false
-            nimble_flag: BLUETOOTH_USE_NIMBLE=true
+            battery_flag: SENSESHIFT_BATTERY_ENABLED=true
+            serial_plotter_flag: SENSESHIFT_SERIAL_PLOTTER=false
+            nimble_flag: SENSESHIFT_BLE_USE_NIMBLE=true
 
     steps:
       - uses: actions/checkout@v3
@@ -177,15 +177,15 @@ jobs:
         include:
           - os: ubuntu-latest
             target: lucidgloves-prototype4-ffb
-            curl_calibration_flag: CALIBRATION_CURL="OH::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>"
+            curl_calibration_flag: CALIBRATION_CURL="::SenseShift::Calibration::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>"
             coverage: true
           - os: ubuntu-latest
             target: lucidgloves-prototype4-ffb
-            curl_calibration_flag: CALIBRATION_CURL="OH::CenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
+            curl_calibration_flag: CALIBRATION_CURL="::SenseShift::Calibration::CenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
             coverage: true
           - os: ubuntu-latest
             target: lucidgloves-prototype4-ffb
-            curl_calibration_flag: CALIBRATION_CURL="OH::FixedCenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
+            curl_calibration_flag: CALIBRATION_CURL="::SenseShift::Calibration::FixedCenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
             coverage: true
           - os: ubuntu-latest
             target: indexer-csf

diff --git a/.github/workflows/codeql-analysis.yml b/.github/workflows/codeql-analysis.yml
@@ -31,9 +31,9 @@ jobs:
 
         # Enabling all flags to test build for every feature
         battery_flag:
-          - BATTERY_ENABLED=true
+          - SENSESHIFT_BATTERY_ENABLED=true
         serial_plotter_flag:
-          - SERIAL_PLOTTER=true
+          - SENSESHIFT_SERIAL_PLOTTER=true
 
     steps:
     - name: Checkout repository

diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
@@ -33,9 +33,9 @@ jobs:
           - bhaptics_tactglove_left
           - bhaptics_tactglove_right
         battery_flag:
-          - BATTERY_ENABLED=true
+          - SENSESHIFT_BATTERY_ENABLED=true
         nimble_flag:
-          - BLUETOOTH_USE_NIMBLE=true
+          - SENSESHIFT_BLE_USE_NIMBLE=true
 
     steps:
       - uses: actions/checkout@v3

diff --git a/examples/bhaptics-ble-bt-serial.cpp b/examples/bhaptics-ble-bt-serial.cpp
@@ -13,7 +13,6 @@
 #include <BluetoothSerial.h>
 #include <HardwareSerial.h>
 
-using namespace OH;
 using namespace BH;
 
 extern SenseShift App;
@@ -27,10 +26,7 @@ static const ::SenseShift::Body::Haptics::Position_t* bhLayout[bhLayoutSize] = B
 
 class BLECallbacks : public BHBLEConnectionCallbacks {
   public:
-    void postInit()
-    {
-        btSerial->begin("SenseShift Serial");
-    }
+    void postInit() { btSerial->begin("SenseShift Serial"); }
 };
 
 void setupMode()

diff --git a/firmware/firmware.cpp b/firmware/firmware.cpp
@@ -4,13 +4,13 @@
 #include <Arduino.h>
 #endif // ARDUINO
 
-#if defined(SERIAL_PLOTTER) && SERIAL_PLOTTER == true
-#include <components/serial_plotter.hpp>
-#endif // SERIAL_PLOTTER
+#if defined(SENSESHIFT_SERIAL_PLOTTER) && SENSESHIFT_SERIAL_PLOTTER == true
+#include <senseshift/arduino/components/serial_plotter.hpp>
+#endif // SENSESHIFT_SERIAL_PLOTTER
 
-#ifndef SERIAL_PLOTTER_PORT
-#define SERIAL_PLOTTER_PORT Serial
-#endif // SERIAL_PLOTTER_PORT
+#ifndef SENSESHIFT_SERIAL_PLOTTER_PORT
+#define SENSESHIFT_SERIAL_PLOTTER_PORT Serial
+#endif // SENSESHIFT_SERIAL_PLOTTER_PORT
 
 #ifndef PIO_UNIT_TESTING
 
@@ -25,11 +25,13 @@ void setup()
 {
     setupMode();
 
-#if defined(SERIAL_PLOTTER) && SERIAL_PLOTTER == true
-    auto* serialOutputState =
-      new OH::SerialPlotter_OutputStates<HardwareSerial>(SERIAL_PLOTTER_PORT, App.getHapticBody());
+#if defined(SENSESHIFT_SERIAL_PLOTTER) && SENSESHIFT_SERIAL_PLOTTER == true
+    auto* serialOutputState = new ::SenseShift::Arduino::SerialPlotter_OutputStates<HardwareSerial>(
+      SENSESHIFT_SERIAL_PLOTTER_PORT,
+      App.getHapticBody()
+    );
     serialOutputState->begin();
-#endif // SERIAL_PLOTTER
+#endif // SENSESHIFT_SERIAL_PLOTTER
 }
 
 void loop()

diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -6,18 +6,20 @@
 
 #include "senseshift.h"
 
+#include <senseshift/arduino/input/sensor/analog.hpp>
 #include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/battery/sensor.hpp>
 #include <senseshift/bh/ble/connection.hpp>
 #include <senseshift/bh/devices.hpp>
 #include <senseshift/bh/encoding.hpp>
+#include <senseshift/freertos/battery.hpp>
 
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include "battery/adc_naive.hpp"
-#endif
-
-using namespace OH;
 using namespace SenseShift;
 using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::FreeRTOS::Battery;
+using namespace SenseShift::FreeRTOS::Input;
+using namespace SenseShift::Battery;
 using namespace SenseShift::BH;
 using namespace SenseShift::Body::Haptics;
 
@@ -53,12 +55,11 @@ void setupMode()
     );
     bhBleConnection->begin();
 
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-    auto* battery = new BatterySensor(
-      new ADCNaiveBattery(36),
-      &App,
-      { .sampleRate = BATTERY_SAMPLE_RATE },
-      { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
+    auto* battery = new TaskedSensor<BatteryState>(
+      new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
+      SENSESHIFT_BATTERY_SAMPLE_RATE,
+      { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
     );
     battery->begin();
 #endif

diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -4,22 +4,23 @@
 #include <Arduino.h>
 #include <Wire.h>
 
-#include <utility.hpp>
-
 #include "senseshift.h"
 
+#include <senseshift/arduino/input/sensor/analog.hpp>
 #include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/battery/sensor.hpp>
 #include <senseshift/bh/ble/connection.hpp>
 #include <senseshift/bh/devices.hpp>
 #include <senseshift/bh/encoding.hpp>
+#include <senseshift/freertos/battery.hpp>
+#include <senseshift/utility.hpp>
 
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include <battery/adc_naive.hpp>
-#endif
-
-using namespace OH;
 using namespace SenseShift;
 using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::FreeRTOS::Battery;
+using namespace SenseShift::FreeRTOS::Input;
+using namespace SenseShift::Battery;
 using namespace SenseShift::BH;
 using namespace SenseShift::Body::Haptics;
 
@@ -62,12 +63,11 @@ void setupMode()
     );
     bhBleConnection->begin();
 
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-    auto* battery = new BatterySensor(
-      new ADCNaiveBattery(36),
-      &App,
-      { .sampleRate = BATTERY_SAMPLE_RATE },
-      { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
+    auto* battery = new TaskedSensor<BatteryState>(
+      new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
+      SENSESHIFT_BATTERY_SAMPLE_RATE,
+      { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
     );
     battery->begin();
 #endif

diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -6,18 +6,20 @@
 
 #include "senseshift.h"
 
+#include <senseshift/arduino/input/sensor/analog.hpp>
 #include <senseshift/arduino/output/pwm.hpp>
+#include <senseshift/battery/sensor.hpp>
 #include <senseshift/bh/ble/connection.hpp>
 #include <senseshift/bh/devices.hpp>
 #include <senseshift/bh/encoding.hpp>
+#include <senseshift/freertos/battery.hpp>
 
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-#include <battery/adc_naive.hpp>
-#endif
-
-using namespace OH;
 using namespace SenseShift;
 using namespace SenseShift::Arduino::Output;
+using namespace SenseShift::Arduino::Input;
+using namespace SenseShift::FreeRTOS::Battery;
+using namespace SenseShift::FreeRTOS::Input;
+using namespace SenseShift::Battery;
 using namespace SenseShift::BH;
 using namespace SenseShift::Body::Haptics;
 
@@ -54,12 +56,11 @@ void setupMode()
     );
     bhBleConnection->begin();
 
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-    auto* battery = new BatterySensor(
-      new ADCNaiveBattery(36),
-      &App,
-      { .sampleRate = BATTERY_SAMPLE_RATE },
-      { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+#if defined(SENSESHIFT_BATTERY_ENABLED) && SENSESHIFT_BATTERY_ENABLED == true
+    auto* battery = new TaskedSensor<BatteryState>(
+      new BatterySensor(new NaiveBatterySensor(new AnalogSensor(36)), app),
+      SENSESHIFT_BATTERY_SAMPLE_RATE,
+      { "ADC Battery", 4096, SENSESHIFT_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
     );
     battery->begin();
 #endif