Merge pull request #67 from senseshift/develop

Release 0.6.0-rc.2

.clang-format

@@ -1,11 +1,66 @@
 ---
-BasedOnStyle: Chromium
+AccessModifierOffset: '-2'
+AlignAfterOpenBracket: BlockIndent
+AlignEscapedNewlines: Left
+AllowAllArgumentsOnNextLine: 'false'
+AllowAllConstructorInitializersOnNextLine: 'true'
+AllowAllParametersOfDeclarationOnNextLine: 'true'
 AllowShortBlocksOnASingleLine: 'false'
+AllowShortCaseLabelsOnASingleLine: 'false'
+AllowShortFunctionsOnASingleLine: Empty
 AllowShortIfStatementsOnASingleLine: Never
+AllowShortLambdasOnASingleLine: Empty
 AllowShortLoopsOnASingleLine: 'false'
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: 'true'
+AlwaysBreakTemplateDeclarations: 'Yes'
+BinPackArguments: 'false'
+BinPackParameters: 'false'
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: WebKit
+BreakBeforeTernaryOperators: 'true'
+BreakConstructorInitializers: AfterColon
+BreakInheritanceList: AfterColon
+BreakStringLiterals: 'false'
+ColumnLimit: '120'
 CompactNamespaces: 'false'
+ConstructorInitializerAllOnOneLineOrOnePerLine: 'true'
+ConstructorInitializerIndentWidth: '2'
+ContinuationIndentWidth: '2'
+Cpp11BracedListStyle: 'false'
+DerivePointerAlignment: 'false'
+DisableFormat: 'false'
+FixNamespaceComments: 'true'
+IncludeBlocks: Preserve
+IndentCaseLabels: 'true'
+IndentPPDirectives: None
+IndentWidth: '4'
+IndentWrappedFunctionNames: 'true'
+KeepEmptyLinesAtTheStartOfBlocks: 'false'
 Language: Cpp
+MaxEmptyLinesToKeep: '1'
 NamespaceIndentation: All
 PointerAlignment: Left
 ReflowComments: 'true'
+SortIncludes: 'true'
+SortUsingDeclarations: 'false'
+SpaceAfterCStyleCast: 'true'
+SpaceAfterLogicalNot: 'false'
+SpaceAfterTemplateKeyword: 'false'
+SpaceBeforeAssignmentOperators: 'true'
+SpaceBeforeCpp11BracedList: 'false'
+SpaceBeforeCtorInitializerColon: 'true'
+SpaceBeforeInheritanceColon: 'true'
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: 'true'
+SpaceInEmptyParentheses: 'false'
+SpacesInAngles: 'false'
+SpacesInCStyleCastParentheses: 'false'
+SpacesInContainerLiterals: 'false'
+SpacesInParentheses: 'false'
+SpacesInSquareBrackets: 'false'
+Standard: Cpp11
+TabWidth: '4'
 UseTab: Never
+
+...

.clang-tidy

@@ -0,0 +1 @@
+Checks: 'bugprone-*,clang-analyzer-*,google-*,hicpp-*,misc-*,modernize-*,performance-*,portability-*,readability-*'

.editorconfig

@@ -18,7 +18,7 @@ indent_size = 4
 max_line_length = 80
 
 [*.{c++,cc,cpp,cxx,h,h++,hh,hpp,hxx,inl,ipp,tlh,tli}]
-indent_size = 2
+indent_size = 4
 cpp_indent_case_contents_when_block = true
 cpp_new_line_before_open_brace_namespace = same_line
 

.github/workflows/ci.yml

@@ -158,12 +158,23 @@ jobs:
       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 ]
+          - lucidgloves-prototype3-esp32
+          - lucidgloves-prototype4-esp32
+        coverage: [ false ]
+
+        include:
+          - os: ubuntu-latest
+            target: lucidgloves-prototype4-esp32
+            curl_calibration_flag: CALIBRATION_CURL="OH::MinMaxCalibrator<uint16_t, 0, ANALOG_MAX>"
+            coverage: true
+          - os: ubuntu-latest
+            target: lucidgloves-prototype4-esp32
+            curl_calibration_flag: CALIBRATION_CURL="OH::CenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
+            coverage: true
+          - os: ubuntu-latest
+            target: lucidgloves-prototype4-esp32
+            curl_calibration_flag: CALIBRATION_CURL="OH::FixedCenterPointDeviationCalibrator<uint16_t, 20, 270, 0, ANALOG_MAX>"
+            coverage: true
 
     steps:
       - uses: actions/checkout@v3

.github/workflows/lint.yml

@@ -0,0 +1,35 @@
+name: Lint
+
+on:
+  pull_request:
+    branches:
+      - master
+      - develop
+    paths-ignore:
+      - '**/*.md'
+  push:
+    branches:
+      - master
+      - develop
+    paths-ignore:
+      - '**/*.md'
+
+jobs:
+  clang-format:
+    name: clang-format - `${{ matrix.path }}`
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        path:
+          - 'lib'
+          - 'include'
+          - 'firmware'
+          - 'examples'
+      fail-fast: false
+    steps:
+      - uses: actions/checkout@v3
+      - name: Run clang-format style check for C/C++/Protobuf programs.
+        uses: jidicula/[email protected]
+        with:
+          clang-format-version: '16'
+          check-path: ${{ matrix.path }}

.github/workflows/release.yml

@@ -28,6 +28,9 @@ jobs:
           - bhaptics_tactvisor
           - bhaptics_tactglove_left
           - bhaptics_tactglove_right
+
+          - lucidgloves-prototype3-esp32
+          - lucidgloves-prototype4-esp32
         battery_flag:
           - BATTERY_ENABLED=true
         nimble_flag:

examples/bhaptics-ble-bt-serial.cpp

@@ -10,8 +10,8 @@
 #include <connection_bhble.hpp>
 #include <output_writers/pwm.hpp>
 
-#include <HardwareSerial.h>
 #include <BluetoothSerial.h>
+#include <HardwareSerial.h>
 
 using namespace OH;
 using namespace BH;
@@ -27,44 +27,51 @@ static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
 
 class BLECallbacks : public BHBLEConnectionCallbacks {
   public:
-    void postInit() {
-      btSerial->begin("SenseShift Serial");
+    void postInit()
+    {
+        btSerial->begin("SenseShift Serial");
     }
 };
 
-void setupMode() {
-  // Configure PWM pins to their positions on the face
-  auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+void setupMode()
+{
+    // Configure PWM pins to their positions on the face
+    auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
       // clang-format off
       {new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14)},
       // clang-format on
-  });
+    });
 
-  auto* face = new HapticPlane_Closest(faceOutputs);
-  app->getHapticBody()->addComponent(OUTPUT_PATH_ACCESSORY, face);
+    auto* face = new HapticPlane_Closest(faceOutputs);
+    app->getHapticBody()->addComponent(OUTPUT_PATH_ACCESSORY, face);
 
-  app->getHapticBody()->setup();
+    app->getHapticBody()->setup();
 
-  uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
-  ConnectionBHBLE_Config config = {
-      .deviceName = BLUETOOTH_NAME,
-      .appearance = BH_BLE_APPEARANCE,
-      .serialNumber = serialNumber,
-  };
-  auto* bhBleConnection = new ConnectionBHBLE(config, [](std::string& value)->void {
-    plainOutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
-  }, app);
-  bhBleConnection->setCallbacks(new BLECallbacks());
-  bhBleConnection->begin();
+    uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
+    ConnectionBHBLE_Config config = {
+        .deviceName = BLUETOOTH_NAME,
+        .appearance = BH_BLE_APPEARANCE,
+        .serialNumber = serialNumber,
+    };
+    auto* bhBleConnection = new ConnectionBHBLE(
+      config,
+      [](std::string& value) -> void {
+          plainOutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
+      },
+      app
+    );
+    bhBleConnection->setCallbacks(new BLECallbacks());
+    bhBleConnection->begin();
 }
 
-void loopMode() {
-  // This way is suboptimal, but hardware interrupts for Serial are not supported by the Arduino framework
-  if (btSerial->available()) {
-    Serial.print(btSerial->read());
-  }
-  if (Serial.available()) {
-    btSerial->write(Serial.read());
-  }
-  sleep(20);
+void loopMode()
+{
+    // This way is suboptimal, but hardware interrupts for Serial are not supported by the Arduino framework
+    if (btSerial->available()) {
+        Serial.print(btSerial->read());
+    }
+    if (Serial.available()) {
+        btSerial->write(Serial.read());
+    }
+    sleep(20);
 }

firmware/firmware.cpp

@@ -21,17 +21,20 @@ extern void loopMode();
 
 SenseShift App;
 
-void setup() {
-  setupMode();
+void setup()
+{
+    setupMode();
 
 #if defined(SERIAL_PLOTTER) && SERIAL_PLOTTER == true
-  auto* serialOutputState = new OH::SerialPlotter_OutputStates<HardwareSerial>(SERIAL_PLOTTER_PORT, App.getHapticBody());
-  serialOutputState->begin();
+    auto* serialOutputState =
+      new OH::SerialPlotter_OutputStates<HardwareSerial>(SERIAL_PLOTTER_PORT, App.getHapticBody());
+    serialOutputState->begin();
 #endif // SERIAL_PLOTTER
 }
 
-void loop() {
-  loopMode();
+void loop()
+{
+    loopMode();
 }
 
 #endif // ARDUINO

firmware/mode_configs/bhaptics/tactal.cpp

@@ -23,42 +23,48 @@ SenseShift* app = &App;
 static const size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
 static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
 
-void setupMode() {
-  // Configure PWM pins to their positions on the face
-  auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
+void setupMode()
+{
+    // Configure PWM pins to their positions on the face
+    auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<AbstractActuator>({
       // clang-format off
       {new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14)},
       // clang-format on
-  });
+    });
 
-  auto* face = new HapticPlane_Closest(faceOutputs);
-  app->getHapticBody()->addComponent(OUTPUT_PATH_ACCESSORY, face);
+    auto* face = new HapticPlane_Closest(faceOutputs);
+    app->getHapticBody()->addComponent(OUTPUT_PATH_ACCESSORY, face);
 
-  app->getHapticBody()->setup();
+    app->getHapticBody()->setup();
 
-  uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
-  ConnectionBHBLE_Config config = {
-      .deviceName = BLUETOOTH_NAME,
-      .appearance = BH_BLE_APPEARANCE,
-      .serialNumber = serialNumber,
-  };
-  auto* bhBleConnection = new ConnectionBHBLE(config, [](std::string& value)->void {
-    plainOutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
-  }, app);
-  bhBleConnection->begin();
+    uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
+    ConnectionBHBLE_Config config = {
+        .deviceName = BLUETOOTH_NAME,
+        .appearance = BH_BLE_APPEARANCE,
+        .serialNumber = serialNumber,
+    };
+    auto* bhBleConnection = new ConnectionBHBLE(
+      config,
+      [](std::string& value) -> void {
+          plainOutputTransformer(app->getHapticBody(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
+      },
+      app
+    );
+    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 }
-  );
-  battery->begin();
+    auto* battery = new BatterySensor(
+      new ADCNaiveBattery(36),
+      &App,
+      { .sampleRate = BATTERY_SAMPLE_RATE },
+      { "ADC Battery", 4096, BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
+    );
+    battery->begin();
 #endif
 }
 
-void loopMode() {
-  // Free up the Arduino loop task
-  vTaskDelete(NULL);
+void loopMode()
+{
+    // Free up the Arduino loop task
+    vTaskDelete(NULL);
 }