haptics: adds a wrapper for the DRV2605L haptic motor driver

... with facilities to trigger effects via the system fsm.

5 files changed, 25 insertions, 0 deletions

diff --git a/src/system_fsm/booting.cpp b/src/system_fsm/booting.cpp
index 940e10db..affd3ebc 100644
--- a/src/system_fsm/booting.cpp
+++ b/src/system_fsm/booting.cpp
@@ -5,9 +5,11 @@
  */
 
 #include "collation.hpp"
+#include "haptics.hpp"
 #include "system_fsm.hpp"
 
 #include <stdint.h>
+#include <memory>
 
 #include "assert.h"
 #include "esp_err.h"
@@ -75,6 +77,7 @@ auto Booting::entry() -> void {
       std::unique_ptr<drivers::NvsStorage>(drivers::NvsStorage::OpenSync()));
   sServices->touchwheel(
       std::unique_ptr<drivers::TouchWheel>{drivers::TouchWheel::Create()});
+  sServices->haptics(std::make_unique<drivers::Haptics>());
 
   auto adc = drivers::AdcBattery::Create();
   sServices->battery(std::make_unique<battery::Battery>(
diff --git a/src/system_fsm/include/service_locator.hpp b/src/system_fsm/include/service_locator.hpp
index 327d0c50..4aa57df0 100644
--- a/src/system_fsm/include/service_locator.hpp
+++ b/src/system_fsm/include/service_locator.hpp
@@ -13,6 +13,7 @@
 #include "collation.hpp"
 #include "database.hpp"
 #include "gpios.hpp"
+#include "haptics.hpp"
 #include "nvs.hpp"
 #include "samd.hpp"
 #include "storage.hpp"
@@ -79,6 +80,14 @@ class ServiceLocator {
     touchwheel_ = std::move(i);
   }
 
+  auto haptics() -> drivers::Haptics& {
+    return *haptics_;
+  }
+
+  auto haptics(std::unique_ptr<drivers::Haptics> i) {
+    haptics_ = std::move(i);
+  }
+
   auto database() -> std::weak_ptr<database::Database> { return database_; }
 
   auto database(std::unique_ptr<database::Database> i) {
@@ -130,6 +139,7 @@ class ServiceLocator {
   std::unique_ptr<drivers::Samd> samd_;
   std::unique_ptr<drivers::NvsStorage> nvs_;
   std::unique_ptr<drivers::TouchWheel> touchwheel_;
+  std::unique_ptr<drivers::Haptics> haptics_;
   std::unique_ptr<drivers::Bluetooth> bluetooth_;
 
   std::unique_ptr<audio::TrackQueue> queue_;
diff --git a/src/system_fsm/include/system_events.hpp b/src/system_fsm/include/system_events.hpp
index 4db9beb0..2722fa80 100644
--- a/src/system_fsm/include/system_events.hpp
+++ b/src/system_fsm/include/system_events.hpp
@@ -10,6 +10,7 @@
 
 #include "battery.hpp"
 #include "database.hpp"
+#include "haptics.hpp"
 #include "service_locator.hpp"
 #include "tinyfsm.hpp"
 
@@ -55,6 +56,10 @@ struct BatteryStateChanged : tinyfsm::Event {
 
 struct BluetoothDevicesChanged : tinyfsm::Event {};
 
+struct HapticTrigger : tinyfsm::Event {
+  drivers::Haptics::Effect effect;
+};
+
 namespace internal {
 
 struct GpioInterrupt : tinyfsm::Event {};
diff --git a/src/system_fsm/include/system_fsm.hpp b/src/system_fsm/include/system_fsm.hpp
index 28448e5a..c9803bef 100644
--- a/src/system_fsm/include/system_fsm.hpp
+++ b/src/system_fsm/include/system_fsm.hpp
@@ -50,6 +50,8 @@ class SystemState : public tinyfsm::Fsm<SystemState> {
   void react(const internal::GpioInterrupt&);
   void react(const internal::SamdInterrupt&);
 
+  void react(const HapticTrigger&);
+
   virtual void react(const DisplayReady&) {}
   virtual void react(const BootComplete&) {}
   virtual void react(const StorageMounted&) {}
diff --git a/src/system_fsm/system_fsm.cpp b/src/system_fsm/system_fsm.cpp
index 1e92cd62..31aec789 100644
--- a/src/system_fsm/system_fsm.cpp
+++ b/src/system_fsm/system_fsm.cpp
@@ -29,6 +29,11 @@ void SystemState::react(const FatalError& err) {
   }
 }
 
+void SystemState::react(const HapticTrigger& trigger) {
+  auto& haptics = sServices->haptics();
+  haptics.PlayWaveformEffect(trigger.effect);
+}
+
 void SystemState::react(const internal::GpioInterrupt&) {
   auto& gpios = sServices->gpios();
   bool prev_key_lock = gpios.Get(drivers::Gpios::Pin::kKeyLock);