Merge pull request #85 from MK16kawai/dev

update tof100&lvglcfg&tmc2209&camera

components/3rd_party/lvgl/src/maix_lvgl.cpp

@@ -7,6 +7,7 @@
 #include "maix_basic.hpp"
 
 #include "pointing_device.hpp"
+#include "lv_indev_private.h"
 
 // extern "C" {
 // #include "cursor_48.c"
@@ -99,6 +100,7 @@ namespace maix
          * Use the 'mouse' driver which reads the PC's mouse*/
 #if CONFIG_LVGL_USE_MOUSE
         lv_indev_t * indev = lv_indev_create();
+        indev->long_press_repeat_time = 100;
         lv_indev_set_type(indev, LV_INDEV_TYPE_POINTER);
         pointing_device_init(indev);
         lv_indev_set_read_cb(indev, pointing_device_read);

components/ext_devs/ext_dev/include/maix_tmc2209.hpp

@@ -1,12 +1,12 @@
 #include <memory>
 #include <string>
 #include <cmath>
-#include "TMC2209.h"
 #include "maix_basic.hpp"
 #include <functional>
 
-namespace maix::ext_dev::tmc2209 {
+class TMC2209;
 
+namespace maix::ext_dev::tmc2209 {
 
 template<typename T>
 class SlideErrorHandler {
@@ -138,6 +138,8 @@ class Slide {
     Slide(Slide&&)                    = default;
     Slide& operator=(Slide&&)         = default;
 
+    ~Slide();
+
     /**
      * @brief Load configuration from a file
      *
@@ -225,7 +227,7 @@ class Slide {
     uint8_t stop_default_per_;
 
 private:
-    std::unique_ptr<TMC2209> tmc2209;
+    std::unique_ptr<TMC2209> tmc2209{nullptr};
     float step_angle;
     uint16_t micro_step;
     float round_mm;
@@ -275,6 +277,8 @@ class ScrewSlide {
     ScrewSlide(ScrewSlide&&)                    = default;
     ScrewSlide& operator=(ScrewSlide&&)         = default;
 
+    ~ScrewSlide();
+
     /**
      * @brief Move the slide by a specified length
      *
@@ -334,7 +338,7 @@ class ScrewSlide {
 
 
 private:
-    std::unique_ptr<TMC2209> tmc2209;
+    std::unique_ptr<TMC2209> tmc2209{nullptr};
     float step_angle;
     uint16_t micro_step;
     float screw_pitch;

components/ext_devs/ext_dev/src/tmc2209/maix_tmc2209.cpp

@@ -3,6 +3,7 @@
 #include <fstream>
 #include <deque>
 #include <memory>
+#include "TMC2209.h"
 
 namespace maix::ext_dev::tmc2209 {
 
@@ -572,6 +573,8 @@ Slide::Slide(const char* port, uint8_t addr, long baud, /* Uart init param */
     this->tmc2209->setMicrostepsPerStep(micro_step);
 }
 
+Slide::~Slide() {}
+
 void Slide::load_conf(std::string path)
 {
     if (path.empty()) {
@@ -776,6 +779,8 @@ ScrewSlide::ScrewSlide(const char* port, uint8_t addr, long baud, /* Uart init p
     this->tmc2209->setMicrostepsPerStep(micro_step);
 }
 
+ScrewSlide::~ScrewSlide() {}
+
 void ScrewSlide::move(float oft, int speed_mm_s, std::function<bool(float)> callback)
 {
     uint16_t speed_factor = (speed_mm_s<=0) ? \

components/ext_devs/ext_dev_tof100/CMakeLists.txt

@@ -7,7 +7,7 @@ append_srcs_dir(ADD_SRCS "src")
 append_srcs_dir(ADD_SRCS "src/tof100_lib")
 
 
-list(APPEND ADD_REQUIREMENTS basic peripheral vision)
+list(APPEND ADD_REQUIREMENTS basic peripheral vision ext_dev)
 
 # if (PLATFORM_LINUX)
 #     append_srcs_dir(ADD_SRCS "port/linux")

components/ext_devs/ext_dev_tof100/include/maix_opns303x.hpp → components/ext_devs/ext_dev_tof100/include/maix_tof100.hpp

@@ -1,15 +1,14 @@
-#ifndef __MAIX_OPNS303x_HPP__
-#define __MAIX_OPNS303x_HPP__
+#ifndef __MAIX_Tof100_HPP__
+#define __MAIX_Tof100_HPP__
 
 #include <vector>
 #include <cstdint>
 #include <memory>
 
 #include "maix_cmap.hpp"
 #include "maix_image.hpp"
-#include "dragonfly.h"
 
-namespace maix::ext_dev::opns303x {
+namespace maix::ext_dev::tof100 {
 
 #if CONFIG_BUILD_WITH_MAIXPY
     #define TOFMatrix std::vector<std::vector<uint32_t>>
@@ -20,8 +19,8 @@ namespace maix::ext_dev::opns303x {
 #endif
 
 /**
- * @brief Opns303x Resolution
- * @maixpy maix.ext_dev.opns303x.Resolution
+ * @brief Tof100 Resolution
+ * @maixpy maix.ext_dev.tof100.Resolution
  */
 enum class Resolution : uint32_t {
     RES_100x100 = 100,
@@ -30,14 +29,14 @@ enum class Resolution : uint32_t {
 };
 
 /**
- * @brief Opns303x TOF
- * @maixpy maix.ext_dev.opns303x.Opns303x
+ * @brief Tof100 TOF
+ * @maixpy maix.ext_dev.tof100.Tof100
  */
-class Opns303x final {
+class Tof100 final {
 public:
 
     /**
-     * @brief Construct a new Opns303x object
+     * @brief Construct a new Tof100 object
      *
      * @param spi_bus_num SPI bus number.
      * @param resolution @see Resolution
@@ -48,10 +47,10 @@ class Opns303x final {
      *                 the maximum distance in the frame is taken as the maximum reference distance,
      *                 and the minimum distance in the frame is taken as the minimum reference distance.
      *
-     * @maixpy maix.ext_dev.opns303x.Opns303x.__init__
+     * @maixpy maix.ext_dev.tof100.Tof100.__init__
      */
-    Opns303x(int spi_bus_num,
-            ::maix::ext_dev::opns303x::Resolution resolution=::maix::ext_dev::opns303x::Resolution::RES_50x50,
+    Tof100(int spi_bus_num,
+            ::maix::ext_dev::tof100::Resolution resolution=::maix::ext_dev::tof100::Resolution::RES_50x50,
             ::maix::ext_dev::cmap::Cmap cmap=::maix::ext_dev::cmap::Cmap::JET,
             int dis_min=-1, int dis_max=-1);
 
@@ -60,7 +59,7 @@ class Opns303x final {
      *
      * @return Matrix containing the distance data, or an empty matrix ([]) if the operation fails.
      *
-     * @maixpy maix.ext_dev.opns303x.Opns303x.matrix
+     * @maixpy maix.ext_dev.Tof100.Tof100.matrix
      */
     TOFMatrix matrix();
 
@@ -71,7 +70,7 @@ class Opns303x final {
      *         It is the responsibility of the caller to free this memory
      *         in C/C++ to prevent memory leaks.
      *
-     * @maixpy maix.ext_dev.opns303x.Opns303x.image
+     * @maixpy maix.ext_dev.tof100.Tof100.image
      */
     ::maix::image::Image* image();
 
@@ -82,7 +81,7 @@ class Opns303x final {
      *         (x, y, distance) of the pixel with the maximum distance.
      *         If the operation fails, the return values will be x, y < 0.
      *
-     * @maixpy maix.ext_dev.opns303x.Opns303x.max_dis_point
+     * @maixpy maix.ext_dev.tof100.Tof100.max_dis_point
      */
     TOFPoint max_dis_point();
 
@@ -93,7 +92,7 @@ class Opns303x final {
      *         (x, y, distance) of the pixel with the minimum distance.
      *         If the operation fails, the return values will be x, y < 0.
      *
-     * @maixpy maix.ext_dev.opns303x.Opns303x.min_dis_point
+     * @maixpy maix.ext_dev.tof100.Tof100.min_dis_point
      */
     TOFPoint min_dis_point();
 
@@ -104,7 +103,7 @@ class Opns303x final {
      *         (x, y, distance) of the center pixel in the distance matrix.
      *         If the operation fails, the return values will be x, y < 0.
      *
-     * @maixpy maix.ext_dev.opns303x.Opns303x.center_point
+     * @maixpy maix.ext_dev.tof100.Tof100.center_point
      */
     TOFPoint center_point();
 
@@ -116,7 +115,7 @@ class Opns303x final {
      *         It is the responsibility of the caller to free this memory
      *         in C/C++ to prevent memory leaks.
      *
-     * @maixpy maix.ext_dev.opns303x.Opns303x.image_from
+     * @maixpy maix.ext_dev.tof100.Tof100.image_from
      */
     ::maix::image::Image* image_from(const TOFMatrix& matrix);
 
@@ -128,7 +127,7 @@ class Opns303x final {
      *         (x, y, distance) of the pixel with the maximum distance.
      *         If the operation fails, the return values will be x, y < 0.
      *
-     * @maixpy maix.ext_dev.opns303x.Opns303x.max_dis_point_from
+     * @maixpy maix.ext_dev.tof100.Tof100.max_dis_point_from
      */
     static TOFPoint max_dis_point_from(const TOFMatrix& matrix);
 
@@ -140,7 +139,7 @@ class Opns303x final {
      *         (x, y, distance) of the pixel with the minimum distance.
      *         If the operation fails, the return values will be x, y < 0.
      *
-     * @maixpy maix.ext_dev.opns303x.Opns303x.min_dis_point_from
+     * @maixpy maix.ext_dev.tof100.Tof100.min_dis_point_from
      */
     static TOFPoint min_dis_point_from(const TOFMatrix& matrix);
 
@@ -152,7 +151,7 @@ class Opns303x final {
      *         (x, y, distance) of the center pixel in the matrix.
      *         If the operation fails, the return values will be x, y < 0.
      *
-     * @maixpy maix.ext_dev.opns303x.Opns303x.center_point_from
+     * @maixpy maix.ext_dev.tof100.Tof100.center_point_from
      */
     static TOFPoint center_point_from(const TOFMatrix& matrix);
 
@@ -165,7 +164,7 @@ class Opns303x final {
     TOFPoint _dis_min;
     TOFPoint _dis_max;
     TOFPoint _dis_center;
-    MSL_BinningMode _mode;
+    uint32_t _mode;
     uint32_t _data_size;
     std::unique_ptr<uint8_t[]> _frame_buffer;
     uint8_t _quantization_step{0};
@@ -177,4 +176,4 @@ class Opns303x final {
 
 
 
-#endif // __MAIX_OPNS303x_HPP__
+#endif // __MAIX_Tof100_HPP__

components/ext_devs/ext_dev_tof100/src/maix_opns303x.cpp → components/ext_devs/ext_dev_tof100/src/maix_tof100.cpp

@@ -1,8 +1,9 @@
-#include "maix_opns303x.hpp"
+#include "maix_tof100.hpp"
 #include "dragonfly.h"
 #include "maix_basic.hpp"
 #include "maix_pinmap.hpp"
 #include "maix_gpio.hpp"
+#include "dragonfly.h"
 
 #include <functional>
 
@@ -23,12 +24,12 @@
                             throw std::runtime_error(std::string(_buff));} while(0)
 
 
-namespace maix::ext_dev::opns303x {
+namespace maix::ext_dev::tof100 {
 
 constexpr TOFPoint empty_point{-1,-1, 0};
 
 const char* TAG() {
-    return "Maix OPNS303x";
+    return "Maix Tof100";
 }
 
 void _for_each_in_matrix(const TOFMatrix& matrix, std::function<void(int,int,uint32_t)> cb)
@@ -46,7 +47,7 @@ void _for_each_in_matrix(const TOFMatrix& matrix, std::function<void(int,int,uin
 }
 
 
-Opns303x::Opns303x(int spi_bus_num, Resolution resolution, ::maix::ext_dev::cmap::Cmap cmap, int dis_min, int dis_max)
+Tof100::Tof100(int spi_bus_num, Resolution resolution, ::maix::ext_dev::cmap::Cmap cmap, int dis_min, int dis_max)
     : _cmap(cmap), _min(dis_min), _max(dis_max), _wh(static_cast<uint32_t>(resolution)), _fps_limit(20) /* FPS: auto */
 {
 
@@ -87,11 +88,11 @@ Opns303x::Opns303x(int spi_bus_num, Resolution resolution, ::maix::ext_dev::cmap
 
     // msl_process_startup(this->_wh, this->_fps_limit, true);
     if (this->_wh == 25) {
-        this->_mode = MSL_BinningMode2_4x4;
+        this->_mode = static_cast<uint32_t>(MSL_BinningMode2_4x4);
     } else if (this->_wh == 50) {
-        this->_mode = MSL_BinningMode1_2x2;
+        this->_mode = static_cast<uint32_t>(MSL_BinningMode1_2x2);
     } else if (this->_wh == 100) {
-        this->_mode = MSL_BinningMode0_1x1;
+        this->_mode = static_cast<uint32_t>(MSL_BinningMode0_1x1);
     }
 
     msl_setup(this->_fps_limit, static_cast<BinningMode>(this->_mode), 1);
@@ -114,7 +115,7 @@ Opns303x::Opns303x(int spi_bus_num, Resolution resolution, ::maix::ext_dev::cmap
 
 }
 
-TOFMatrix Opns303x::matrix()
+TOFMatrix Tof100::matrix()
 {
     uint8_t* FrameBuf = this->_frame_buffer.get();
     int ret = SPII2CBurstDataRead(DATA_BASE_ADDRESS + DATA_OFFSET_ADDRESS,
@@ -211,27 +212,27 @@ TOFMatrix Opns303x::matrix()
     return res;
 }
 
-::maix::image::Image* Opns303x::image()
+::maix::image::Image* Tof100::image()
 {
     return this->image_from(this->matrix());
 }
 
-TOFPoint Opns303x::max_dis_point()
+TOFPoint Tof100::max_dis_point()
 {
     return this->_dis_max;
 }
 
-TOFPoint Opns303x::min_dis_point()
+TOFPoint Tof100::min_dis_point()
 {
     return this->_dis_min;
 }
 
-TOFPoint Opns303x::center_point()
+TOFPoint Tof100::center_point()
 {
     return this->_dis_center;
 }
 
-::maix::image::Image* Opns303x::image_from(const TOFMatrix& matrix)
+::maix::image::Image* Tof100::image_from(const TOFMatrix& matrix)
 {
     if (matrix.empty()) return nullptr;
 
@@ -292,7 +293,7 @@ ::maix::image::Image* Opns303x::image_from(const TOFMatrix& matrix)
     return new ::maix::image::Image(this->_wh, this->_wh, image::FMT_RGB888, buffer, this->_data_size*3, true);
 }
 
-TOFPoint Opns303x::max_dis_point_from(const TOFMatrix& matrix)
+TOFPoint Tof100::max_dis_point_from(const TOFMatrix& matrix)
 {
     int _x, _y;
     uint32_t v = std::numeric_limits<uint32_t>::min();
@@ -306,7 +307,7 @@ TOFPoint Opns303x::max_dis_point_from(const TOFMatrix& matrix)
     return std::make_tuple(_x, _y, v);
 }
 
-TOFPoint Opns303x::min_dis_point_from(const TOFMatrix& matrix)
+TOFPoint Tof100::min_dis_point_from(const TOFMatrix& matrix)
 {
     int _x, _y;
     uint32_t v = std::numeric_limits<uint32_t>::max();
@@ -320,7 +321,7 @@ TOFPoint Opns303x::min_dis_point_from(const TOFMatrix& matrix)
     return std::make_tuple(_x, _y, v);
 }
 
-TOFPoint Opns303x::center_point_from(const TOFMatrix& matrix)
+TOFPoint Tof100::center_point_from(const TOFMatrix& matrix)
 {
     return std::make_tuple(matrix.size()/2, matrix.at(0).size()/2, matrix[matrix.at(0).size()/2][matrix.size()/2]);
 }

components/ext_devs/ext_dev_tof100/src/tof100_lib/dragonfly.cpp

@@ -1,7 +1,7 @@
 #include "dragonfly.h"
 
 #include "tof_adapter.hpp"
-#include "cmap_jet.hpp"
+// #include "cmap_jet.hpp"
 
 #pragma GCC diagnostic ignored "-Waddress-of-packed-member"
 #pragma GCC diagnostic ignored "-Wsign-compare"