feat: ported APDS9960 sensor screen.

lib/communication/sensors/apds9960.dart

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+import 'dart:math';
+import 'package:pslab/communication/peripherals/i2c.dart';
+import 'package:pslab/communication/science_lab.dart';
+import 'package:pslab/others/logger_service.dart';
+
+import '../../l10n/app_localizations.dart';
+import '../../providers/locator.dart';
+
+class APDS9960 {
+  AppLocalizations appLocalizations = getIt.get<AppLocalizations>();
+
+  static const String tag = "APDS9960";
+
+  static const int address = 0x39;
+
+  static const int enable = 0x80;
+  static const int atime = 0x81;
+  static const int pilt = 0x89;
+  static const int pers = 0x8C;
+  static const int control = 0x8F;
+  static const int status = 0x93;
+  static const int cdatal = 0x94;
+  static const int pdata = 0x9C;
+  static const int gpenth = 0xA0;
+  static const int gexth = 0xA1;
+  static const int gconf1 = 0xA2;
+  static const int gconf2 = 0xA3;
+  static const int gpulse = 0xA6;
+  static const int gconf4 = 0xAB;
+  static const int gflvl = 0xAE;
+  static const int gstatus = 0xAF;
+  static const int aiclear = 0xE7;
+  static const int gfifoU = 0xFC;
+
+  static const int bitMaskEnableEn = 0x01;
+  static const int bitMaskEnableColor = 0x02;
+  static const int bitMaskEnableProx = 0x04;
+  static const int bitMaskEnableGesture = 0x40;
+  static const int bitMaskStatusGint = 0x04;
+  static const int bitMaskGstatusGfov = 0x02;
+  static const int bitMaskGconf4GfifoCLr = 0x04;
+
+  static const int bitPosPersPpers = 4;
+  static const int bitMaskPersPpers = 0xF0;
+
+  static const int bitPosControlAgain = 0;
+  static const int bitMaskControlAgain = 3;
+
+  final I2C i2c;
+
+  List<int> colorData = [0, 0, 0, 0];
+  double lux = 0.0;
+  int proximity = 0;
+  int gesture = 0;
+
+  APDS9960._(this.i2c);
+
+  static Future<APDS9960> create(I2C i2c, ScienceLab scienceLab) async {
+    final apds9960 = APDS9960._(i2c);
+    await apds9960._initialize(scienceLab);
+    return apds9960;
+  }
+
+  Future<void> _initialize(ScienceLab scienceLab) async {
+    if (!scienceLab.isConnected()) {
+      throw Exception("ScienceLab not connected");
+    }
+
+    try {
+      await enableProximity(false);
+      await enableGesture(false);
+      await enableColor(false);
+
+      await setProximityInterruptThreshold([0, 0, 0]);
+      await i2c.write(address, [0], gpenth);
+      await i2c.write(address, [0], gexth);
+      await i2c.write(address, [0], gconf1);
+      await i2c.write(address, [0], gconf2);
+      await i2c.write(address, [0], gconf4);
+      await i2c.write(address, [0], gpulse);
+      await i2c.write(address, [255], atime);
+      await i2c.write(address, [0], control);
+
+      await clearInterrupt();
+
+      await setBit(gconf4, bitMaskGconf4GfifoCLr, true);
+
+      await i2c.write(address, [0], enable);
+      await Future.delayed(const Duration(milliseconds: 25));
+
+      await _enable(true);
+      await Future.delayed(const Duration(milliseconds: 10));
+
+      await setProximityInterruptThreshold([0, 5, 4]);
+      await i2c.write(address, [0x05], gpenth);
+      await i2c.write(address, [0x1E], gexth);
+      await i2c.write(address, [0x82], gconf1);
+      await i2c.write(address, [0x41], gconf2);
+      await i2c.write(address, [0x85], gpulse);
+      await setColorIntegrationTime(256);
+      await setColorGain(1);
+
+      logger.d("APDS9960 initialized successfully");
+    } catch (e) {
+      logger.e("Error initializing APDS9960: $e");
+      rethrow;
+    }
+  }
+
+  Future<void> _enable(bool value) async {
+    await setBit(enable, bitMaskEnableEn, value);
+  }
+
+  Future<void> enableProximity(bool value) async {
+    await setBit(enable, bitMaskEnableProx, value);
+  }
+
+  Future<void> enableGesture(bool value) async {
+    await setBit(enable, bitMaskEnableGesture, value);
+  }
+
+  Future<void> enableColor(bool value) async {
+    await setBit(enable, bitMaskEnableColor, value);
+  }
+
+  Future<void> setProximityInterruptThreshold(List<int> settingArray) async {
+    if (settingArray.isNotEmpty &&
+        settingArray[0] >= 0 &&
+        settingArray[0] <= 255) {
+      await i2c.write(address, [settingArray[0]], pilt);
+    }
+    if (settingArray.length > 1 &&
+        settingArray[1] >= 0 &&
+        settingArray[1] <= 255) {
+      await i2c.write(address, [settingArray[1]], pilt);
+    }
+    int persist = 4;
+    if (settingArray.length > 2 &&
+        settingArray[2] >= 0 &&
+        settingArray[2] <= 15) {
+      persist = min(settingArray[2], 15);
+      await setBits(pers, bitPosPersPpers, bitMaskPersPpers, persist);
+    }
+  }
+
+  Future<void> clearInterrupt() async {
+    await i2c.write(address, [], aiclear);
+  }
+
+  Future<void> setColorIntegrationTime(int value) async {
+    await i2c.write(address, [256 - value], atime);
+  }
+
+  Future<void> setColorGain(int value) async {
+    await setBits(control, bitPosControlAgain, bitMaskControlAgain, value);
+  }
+
+  Future<int> getProximity() async {
+    try {
+      List<int> data = await i2c.readBulk(address, pdata, 1);
+      proximity = data[0] & 0xFF;
+      return proximity;
+    } catch (e) {
+      logger.e("Error reading proximity: $e");
+      rethrow;
+    }
+  }
+
+  Future<List<int>> getColorData() async {
+    try {
+      colorData = [
+        await _colorData16(cdatal + 2),
+        await _colorData16(cdatal + 4),
+        await _colorData16(cdatal + 6),
+        await _colorData16(cdatal),
+      ];
+      return colorData;
+    } catch (e) {
+      logger.e("Error reading color data: $e");
+      rethrow;
+    }
+  }
+
+  Future<double> getLux() async {
+    try {
+      await getColorData();
+      lux = (-0.32466 * colorData[0]) +
+          (1.57837 * colorData[1]) +
+          (-0.73191 * colorData[2]);
+      return lux;
+    } catch (e) {
+      logger.e("Error calculating lux: $e");
+      rethrow;
+    }
+  }
+
+  Future<int> getGesture() async {
+    try {
+      if (await getBit(gstatus, bitMaskGstatusGfov)) {
+        await setBit(gconf4, bitMaskGconf4GfifoCLr, true);
+        int waitCycles = 0;
+        while (!(await getBit(status, bitMaskStatusGint)) && waitCycles <= 30) {
+          await Future.delayed(const Duration(milliseconds: 3));
+          waitCycles++;
+        }
+      }
+
+      List<List<int>> frame = [];
+      List<int> datasetsAvailableData = await i2c.readBulk(address, gflvl, 1);
+      int datasetsAvailable = datasetsAvailableData[0] & 0xFF;
+
+      if (await getBit(status, bitMaskStatusGint) && datasetsAvailable > 0) {
+        while (true) {
+          List<int> datasetCountData = await i2c.readBulk(address, gflvl, 1);
+          int datasetCount = datasetCountData[0] & 0xFF;
+          if (datasetCount == 0) break;
+
+          List<int> buffer =
+              await i2c.readBulk(address, gfifoU, min(128, datasetCount * 4));
+
+          for (int i = 0; i < datasetCount; i++) {
+            List<int> bufferDataset = [];
+            for (int j = 0; j < 4; j++) {
+              bufferDataset.add(buffer[i * 4 + j] & 0xFF);
+            }
+
+            bool fullySaturated = bufferDataset.every((val) => val == 255);
+            bool fullyZero = bufferDataset.every((val) => val == 0);
+            bool highCount = bufferDataset.every((val) => val >= 30);
+
+            if (!fullySaturated && !fullyZero && highCount) {
+              if (frame.length < 2) {
+                frame.add(bufferDataset);
+              } else {
+                frame[1] = bufferDataset;
+              }
+            }
+          }
+          await Future.delayed(const Duration(milliseconds: 30));
+        }
+      }
+
+      if (frame.length < 2) {
+        gesture = 0;
+        return gesture;
+      }
+
+      List<int> frame0 = frame[0];
+      List<int> frame1 = frame[1];
+
+      int frUd = _calcDelta(frame0[0], frame0[1]);
+      int frLr = _calcDelta(frame0[2], frame0[3]);
+      int lrUd = _calcDelta(frame1[0], frame1[1]);
+      int lrLr = _calcDelta(frame1[2], frame1[3]);
+
+      int deltaUd = lrUd - frUd;
+      int deltaLr = lrLr - frLr;
+
+      int stateUd = _getState(deltaUd);
+      int stateLr = _getState(deltaLr);
+
+      gesture = _determineGesture(stateUd, stateLr, deltaUd, deltaLr);
+      return gesture;
+    } catch (e) {
+      logger.e("Error reading gesture: $e");
+      rethrow;
+    }
+  }
+
+  int _calcDelta(int a, int b) {
+    if (a + b == 0) return 0;
+    return ((a - b) * 100) ~/ (a + b);
+  }
+
+  int _getState(int delta) {
+    if (delta >= 30) return 1;
+    if (delta <= -30) return -1;
+    return 0;
+  }
+
+  int _determineGesture(int stateUd, int stateLr, int deltaUd, int deltaLr) {
+    if (stateUd == -1 && stateLr == 0) return 1;
+    if (stateUd == 1 && stateLr == 0) return 2;
+    if (stateUd == 0 && stateLr == -1) return 3;
+    if (stateUd == 0 && stateLr == 1) return 4;
+
+    bool udDominant = deltaUd.abs() > deltaLr.abs();
+    if (stateUd == -1 && stateLr == 1) return udDominant ? 1 : 4;
+    if (stateUd == 1 && stateLr == -1) return udDominant ? 2 : 3;
+    if (stateUd == -1 && stateLr == -1) return udDominant ? 1 : 3;
+    if (stateUd == 1 && stateLr == 1) return udDominant ? 2 : 4;
+    return 0;
+  }
+
+  Future<bool> getBit(int register, int mask) async {
+    try {
+      List<int> data = await i2c.readBulk(address, register, 1);
+      return ((data[0] & 0xFF) & mask) != 0;
+    } catch (e) {
+      logger.e("Error reading bit from register $register: $e");
+      rethrow;
+    }
+  }
+
+  Future<void> setBit(int register, int mask, bool value) async {
+    try {
+      List<int> data = await i2c.readBulk(address, register, 1);
+      int currentValue = data[0] & 0xFF;
+      if (value) {
+        currentValue |= mask;
+      } else {
+        currentValue &= ~mask;
+      }
+      await i2c.write(address, [currentValue], register);
+    } catch (e) {
+      logger.e("Error setting bit in register $register: $e");
+      rethrow;
+    }
+  }
+
+  Future<void> setBits(int register, int pos, int mask, int value) async {
+    try {
+      List<int> data = await i2c.readBulk(address, register, 1);
+      int currentValue = data[0] & 0xFF;
+      currentValue = (currentValue & ~mask) | (value << pos);
+      await i2c.write(address, [currentValue], register);
+    } catch (e) {
+      logger.e("Error setting bits in register $register: $e");
+      rethrow;
+    }
+  }
+
+  Future<int> _colorData16(int register) async {
+    try {
+      List<int> data = await i2c.readBulk(address, register, 2);
+      return ((data[1] & 0xFF) << 8) | (data[0] & 0xFF);
+    } catch (e) {
+      logger.e("Error reading 16-bit color data from register $register: $e");
+      rethrow;
+    }
+  }
+
+  Future<Map<String, dynamic>> getRawData(int mode) async {
+    try {
+      Map<String, dynamic> data = {};
+
+      if (mode == 0) {
+        await enableGesture(false);
+        await enableColor(true);
+        await enableProximity(true);
+
+        data['colorData'] = await getColorData();
+        data['lux'] = await getLux();
+        data['proximity'] = await getProximity();
+      } else {
+        await enableColor(false);
+        await enableGesture(true);
+        await enableProximity(true);
+
+        data['gesture'] = await getGesture();
+      }
+
+      return data;
+    } catch (e) {
+      logger.e("Error getting raw data: $e");
+      rethrow;
+    }
+  }
+
+  String getGestureString(int gestureValue) {
+    switch (gestureValue) {
+      case 1:
+        return 'Up';
+      case 2:
+        return 'Down';
+      case 3:
+        return 'Left';
+      case 4:
+        return 'Right';
+      default:
+        return '';
+    }
+  }
+}