sensor/imu/bhi260/SensorBHI260AP_Klio.hpp

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#pragma once
 
#include "../../../SensorBuildOpt.h"
#if !SENSORLIB_EXCLUDE_BHI260_KLIO
#include "SensorBHI260AP.hpp"
#include "../../../bosch/bhi260x/bhy2_klio_defs.h"
#include "../../../bosch/bhi260x/bhy2_klio.h"
 
class SensorBHI260AP_Klio
{
public:
    static constexpr int8_t INVALID_LEARNING_INDEX = -1;
 
    enum LearningChangeReason {
        LEARNING_PROGRESSING,               //Learning is progressing.
        LEARNING_NO_REPETITIVE_ACTIVITY,    //Learning was interrupted by a non-repetitive activity.
        LEARNING_NO_SIGNIFICANT,            //Learning was interrupted because no significant movement was detected.
    };
 
    enum KlioPatternState {
        PATTERN_STATE_DISABLE = 0,          //Disable pattern
        PATTERN_STATE_ENABLE,               //Enable pattern
        PATTERN_STATE_SWITCH_HAND,          //Switch hand
        PATTERN_STATE_AP_DISABLE            //Disable adaptive pattern
    };
 
    using KlioParameter = bhy2_klio_parameter_t;
    using KlioError = bhy2_klio_driver_error_state_t;
    using KlioState = bhy2_klio_sensor_state_t;
    using RecognitionCallback = void (*)(uint8_t pattern_id, float count, void *user_data);
    using LearningCallback = void (*)(LearningChangeReason reason, uint32_t progress, int learn_index, void *user_data);
 
    SensorBHI260AP_Klio(SensorBHI260AP &sensor);
 
    ~SensorBHI260AP_Klio();
 
    void end();
 
    bool begin();
 
    bool setState(bool learning_enable, bool learning_reset, bool recognition_enable, bool recognition_reset);
 
    KlioState getState();
 
    bool setState(KlioState sensor_state);
 
    bool learning();
 
    bool recognition(const uint8_t *pattern_ids, size_t size);
 
 
    bool getLearnPattern(uint8_t *pattern, uint16_t  *size);
 
 
    uint8_t getMaxPatterns();
 
    bool getParameter(KlioParameter id, uint8_t *parameter_data, uint16_t *size);
 
    bool setParameter(KlioParameter id, const void *parameter_data, uint16_t size);
 
    bool writePattern(uint8_t idx, const uint8_t  *parameter_data, uint16_t size);
 
    bool writeMultiplePatterns(const uint8_t *ids, const uint8_t **parameter_data_array, const uint16_t *sizes, uint8_t count);
 
    bool setPattern(KlioPatternState operation, const uint8_t *pattern_ids, uint16_t size);
 
    bool enablePattern(const uint8_t *pattern_ids, uint16_t size);
 
    bool readPattern(uint8_t idx, uint8_t *buffer, uint16_t *length);
 
    bool enable(float sample_rate, uint32_t report_latency_ms);
 
    void disable();
 
    bool logout(float sample_rate, uint32_t report_latency_ms);
 
    void setLearningCallback(LearningCallback cb, void *user_data);
 
    void setRecognitionCallback(RecognitionCallback cb, void *user_data);
 
    bool checkError();
 
    KlioError getError() const;
 
    const char *errorToString() const;
 
 
private:
 
    static void static_klio_callback(uint8_t sensor_id, const uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data);
 
    void klio_call_local(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t size, uint64_t *timestamp, void *user_data);
 
    static void static_klio_log_callback(uint8_t sensor_id, const uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data);
 
    void klio_log_call_local(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t size, uint64_t *timestamp, void *user_data);
 
    template<typename Func, typename... Args>
    bool KlioTemplate(Func func, Args &&... args);
 
private:
    SensorBHI260AP *sensor;
    uint16_t max_patterns;
    uint16_t max_pattern_size;
    float *similarity_result_buf;
    uint8_t *similarity_idx_buf;
    LearningCallback learning_callback;
    void *learning_callback_user_data;
    RecognitionCallback recognition_callback;
    void *recognition_callback_user_data;
    KlioError errorCode;
    KlioState k_state;
    static const char *errorMessages[9];
};
 
#endif