Abstract base class for haptic drivers. More...

#include <HapticBase.hpp>

Inheritance diagram for HapticBase:

Public Member Functions
virtual	~HapticBase ()=default

virtual void	end ()
	Deinitialize the haptic driver and release resources.

virtual bool	isReady () const =0
	Check if the driver is initialized and ready.

virtual bool	run ()=0
	Start haptic playback.

virtual bool	stop ()=0
	Stop haptic playback immediately.

virtual bool	isPlaying () const =0
	Check if haptic is currently playing.

virtual HapticStatus	getStatus () const =0
	Get current playback status.

virtual void	emergencyStop ()
	Emergency stop - stops all vibration immediately.

virtual bool	setGain (uint8_t gain)=0
	Set the gain/amplitude (0x00 to 0xFF).

virtual uint8_t	getGain () const =0
	Get the current gain value.

virtual bool	playEffect (HapticEffectId effect)=0
	Play a haptic effect.

virtual bool	playEffectAsync (HapticEffectId effect)
	Play a haptic effect (non-blocking).

virtual void	continuousVibration (uint32_t duration_ms, bool blocking=true)
	Play a continuous vibration for specified duration.

virtual void	vibrationUpdate ()
	Update vibration state (for non-blocking mode).

virtual bool	setSequence (uint8_t slot, HapticEffectId effect)
	Set a waveform in the sequence.

virtual bool	clearSequence ()
	Clear the waveform sequence.

virtual bool	playSequence ()
	Play the waveform sequence.

virtual const char *	getChipName () const =0
	Get the chip name.

virtual uint8_t	getChipID () const =0
	Get the chip ID.

virtual HapticActuatorType	getActuatorType () const =0
	Get the actuator type.

virtual bool	setActuatorType (HapticActuatorType type)=0
	Set the actuator type.

virtual HapticCapabilities	getCapabilities () const =0
	Get device capabilities.

virtual bool	calibrate ()
	Perform auto-calibration.

virtual bool	needsCalibration () const
	Check if calibration is needed.

virtual uint32_t	getF0 () const
	Get the measured resonant frequency (F0).

virtual uint32_t	getVbat ()
	Get the battery voltage.

virtual bool	setMode (HapticMode mode)
	Set the operating mode.

virtual HapticMode	getMode () const
	Get the current operating mode.

virtual bool	setRealtimeValue (uint8_t value)
	Set RTP (real-time playback) value.

Protected Member Functions
	HapticBase (const char *name)
	Constructor for derived classes.

void	setReady (bool ready)
	Set ready state.

Protected Attributes
const char *	_chipName

bool	_isReady

Detailed Description

Abstract base class for haptic drivers.

This class provides a unified interface for different haptic motor drivers (e.g., DRV2605, AW86224, AW86225). It allows users to write platform-independent haptic control code while each driver handles chip-specific details.

Usage Example

// Works with any HapticBase-compatible driver
HapticBase* haptic;
 
// Query capabilities
auto cap = haptic->getCapabilities();
if (cap.hasContinuousMode) {
    haptic->continuousVibration(1000);  // 1 second
}

Design Principles

Feature probing: Return false or default values for unsupported operations
Unified API: Same method names across different chips
Optional features: Subclasses can override default implementations

Definition at line 58 of file HapticBase.hpp.

Constructor & Destructor Documentation

◆ ~HapticBase()

virtual HapticBase::~HapticBase ( )

virtualdefault

◆ HapticBase()

HapticBase::HapticBase ( const char * name )

inlineexplicitprotected

Constructor for derived classes.

Parameters

name	Chip name string for getChipName().

Definition at line 320 of file HapticBase.hpp.

Member Function Documentation

◆ calibrate()

virtual bool HapticBase::calibrate ( )

inlinevirtual

Perform auto-calibration.

Returns: true if successful, false otherwise.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 245 of file HapticBase.hpp.

◆ clearSequence()

virtual bool HapticBase::clearSequence ( )

inlinevirtual

Clear the waveform sequence.

Returns: true if successful, false otherwise.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 192 of file HapticBase.hpp.

◆ continuousVibration()

void HapticBase::continuousVibration	(	uint32_t	duration_ms,
		bool	blocking = `true`
	)

inlinevirtual

Play a continuous vibration for specified duration.

Default implementation uses playEffect() in a loop. Subclasses should override for optimized continuous mode.

Parameters

duration_ms	Duration in milliseconds.
blocking	If true, blocks until vibration completes.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 336 of file HapticBase.hpp.

◆ emergencyStop()

virtual void HapticBase::emergencyStop ( )

inlinevirtual

Emergency stop - stops all vibration immediately.

Default implementation calls stop(). Subclasses can override for chip-specific emergency handling.

Reimplemented in HapticDriver_DRV2605.

Definition at line 108 of file HapticBase.hpp.

References stop().

◆ end()

virtual void HapticBase::end ( )

inlinevirtual

Deinitialize the haptic driver and release resources.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 68 of file HapticBase.hpp.

◆ getActuatorType()

virtual HapticActuatorType HapticBase::getActuatorType ( ) const

pure virtual

Get the actuator type.

Returns: Current actuator type (ERM or LRA).

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

◆ getCapabilities()

virtual HapticCapabilities HapticBase::getCapabilities ( ) const

pure virtual

Get device capabilities.

Returns: HapticCapabilities struct describing supported features.

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

◆ getChipID()

virtual uint8_t HapticBase::getChipID ( ) const

pure virtual

Get the chip ID.

Returns: Chip identifier value.

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

◆ getChipName()

virtual const char * HapticBase::getChipName ( ) const

pure virtual

Get the chip name.

Returns: Null-terminated string with chip name.

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

◆ getF0()

virtual uint32_t HapticBase::getF0 ( ) const

inlinevirtual

Get the measured resonant frequency (F0).

Returns: F0 in Hz, or 0 if not available.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 263 of file HapticBase.hpp.

◆ getGain()

virtual uint8_t HapticBase::getGain ( ) const

pure virtual

Get the current gain value.

Returns: Current gain (0x00 to 0xFF), or 0 if unsupported.

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

◆ getMode()

virtual HapticMode HapticBase::getMode ( ) const

inlinevirtual

Get the current operating mode.

Returns: Current HapticMode.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 294 of file HapticBase.hpp.

References INTERNAL_TRIGGER.

◆ getStatus()

virtual HapticStatus HapticBase::getStatus ( ) const

pure virtual

Get current playback status.

Returns: Current HapticStatus.

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

◆ getVbat()

virtual uint32_t HapticBase::getVbat ( )

inlinevirtual

Get the battery voltage.

Returns: Voltage in mV, or 0 if unsupported.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 272 of file HapticBase.hpp.

◆ isPlaying()

virtual bool HapticBase::isPlaying ( ) const

pure virtual

Check if haptic is currently playing.

Returns: true if playing, false otherwise.

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

◆ isReady()

virtual bool HapticBase::isReady ( ) const

pure virtual

Check if the driver is initialized and ready.

Returns: true if ready, false otherwise.

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

◆ needsCalibration()

virtual bool HapticBase::needsCalibration ( ) const

inlinevirtual

Check if calibration is needed.

Returns: true if calibration is required, false otherwise.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 254 of file HapticBase.hpp.

◆ playEffect()

virtual bool HapticBase::playEffect ( HapticEffectId effect )

pure virtual

Play a haptic effect.

This is a blocking call - it returns only after the effect completes. For chips that don't support blocking, use playEffectAsync() instead.

Parameters

effect Effect ID to play (chip-specific mapping).

Returns: true if successful, false otherwise.

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Referenced by playEffectAsync().

◆ playEffectAsync()

virtual bool HapticBase::playEffectAsync ( HapticEffectId effect )

inlinevirtual

Play a haptic effect (non-blocking).

Returns immediately; use isPlaying() or vibrationUpdate() to check status.

Parameters

effect Effect ID to play.

Returns: true if started successfully, false otherwise.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 149 of file HapticBase.hpp.

References playEffect().

◆ playSequence()

virtual bool HapticBase::playSequence ( )

inlinevirtual

Play the waveform sequence.

Returns: true if successful, false otherwise.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 201 of file HapticBase.hpp.

◆ run()

virtual bool HapticBase::run ( )

pure virtual

Start haptic playback.

Returns: true if successful, false otherwise.

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

◆ setActuatorType()

virtual bool HapticBase::setActuatorType ( HapticActuatorType type )

pure virtual

Set the actuator type.

Parameters

type	Actuator type to set (ERM or LRA).

Returns: true if successful, false otherwise.

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

◆ setGain()

virtual bool HapticBase::setGain ( uint8_t gain )

pure virtual

Set the gain/amplitude (0x00 to 0xFF).

Parameters

gain	Gain value.

Returns: true if successful, false otherwise.

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

◆ setMode()

virtual bool HapticBase::setMode ( HapticMode mode )

inlinevirtual

Set the operating mode.

Parameters

mode	Mode to set.

Returns: true if successful, false otherwise.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 284 of file HapticBase.hpp.

◆ setReady()

void HapticBase::setReady ( bool ready )

inlineprotected

Set ready state.

Parameters

ready Ready state to set.

Definition at line 326 of file HapticBase.hpp.

References _isReady.

Referenced by HapticDriver_AW86224::end(), and HapticDriver_DRV2605::end().

◆ setRealtimeValue()

virtual bool HapticBase::setRealtimeValue ( uint8_t value )

inlinevirtual

Set RTP (real-time playback) value.

Only meaningful when in REAL_TIME_PLAYBACK mode.

Parameters

value RTP drive value (0x00 to 0xFF).

Returns: true if successful, false otherwise.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 309 of file HapticBase.hpp.

◆ setSequence()

virtual bool HapticBase::setSequence	(	uint8_t	slot,
		HapticEffectId	effect
	)

inlinevirtual

Set a waveform in the sequence.

Parameters

slot	Sequence slot index (0 to maxSequenceLength-1).
effect	Effect ID to play at this slot.

Returns: true if successful, false otherwise.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 181 of file HapticBase.hpp.

◆ stop()

virtual bool HapticBase::stop ( )

pure virtual

Stop haptic playback immediately.

Returns: true if successful, false otherwise.

Implemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Referenced by emergencyStop().

◆ vibrationUpdate()

virtual void HapticBase::vibrationUpdate ( )

inlinevirtual

Update vibration state (for non-blocking mode).

Call this periodically in your main loop when using non-blocking vibration functions. Default implementation does nothing.

Reimplemented in HapticDriver_AW86224, and HapticDriver_DRV2605.

Definition at line 171 of file HapticBase.hpp.

Member Data Documentation

◆ _chipName

const char* HapticBase::_chipName

protected

Definition at line 331 of file HapticBase.hpp.

◆ _isReady

bool HapticBase::_isReady

protected

Definition at line 332 of file HapticBase.hpp.

Referenced by HapticDriver_AW86224::calibrate(), HapticDriver_AW86224::getStatus(), HapticDriver_DRV2605::getStatus(), HapticDriver_AW86224::isReady(), HapticDriver_DRV2605::isReady(), HapticDriver_DRV2605::playEffect(), and setReady().

The documentation for this class was generated from the following file:

HapticBase.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Usage Example

Design Principles

Constructor & Destructor Documentation

◆ ~HapticBase()

◆ HapticBase()

Member Function Documentation

◆ calibrate()

◆ clearSequence()

◆ continuousVibration()

◆ emergencyStop()

◆ end()

◆ getActuatorType()

◆ getCapabilities()

◆ getChipID()

◆ getChipName()

◆ getF0()

◆ getGain()

◆ getMode()

◆ getStatus()

◆ getVbat()

◆ isPlaying()

◆ isReady()

◆ needsCalibration()

◆ playEffect()

◆ playEffectAsync()

◆ playSequence()

◆ run()

◆ setActuatorType()

◆ setGain()

◆ setMode()

◆ setReady()

◆ setRealtimeValue()

◆ setSequence()

◆ stop()

◆ vibrationUpdate()

Member Data Documentation

◆ _chipName

◆ _isReady