Tici light sensor (#2150)

* more generic sensor base class

* add file sensor

* light sensor working

* correct sensor type
old-commit-hash: 7cc5710974

selfdrive/sensord/SConscript

@@ -6,7 +6,9 @@ if arch == "aarch64":
   lenv.Program('_gpsd', ['gpsd.cc'], LIBS=['hardware', common, 'diag', 'time_genoff', cereal, messaging, 'capnp', 'zmq', 'kj'])
 else:
   sensors = [
+    'sensors/file_sensor.cc',
     'sensors/i2c_sensor.cc',
+    'sensors/light_sensor.cc',
     'sensors/bmx055_accel.cc',
     'sensors/bmx055_gyro.cc',
     'sensors/bmx055_magn.cc',

selfdrive/sensord/sensors/file_sensor.cc

@@ -0,0 +1,15 @@
+#include <iostream>
+#include <string>
+
+#include "file_sensor.hpp"
+
+FileSensor::FileSensor(std::string filename) : file(filename) {
+}
+
+int FileSensor::init() {
+  return file.is_open() ? 0 : 1;
+}
+
+FileSensor::~FileSensor(){
+  file.close();
+}

selfdrive/sensord/sensors/file_sensor.hpp

@@ -0,0 +1,19 @@
+#pragma once
+
+#include <fstream>
+#include <string>
+
+#include "cereal/gen/cpp/log.capnp.h"
+#include "sensors/sensor.hpp"
+
+
+class FileSensor : public Sensor {
+protected:
+  std::ifstream file;
+
+public:
+  FileSensor(std::string filename);
+  ~FileSensor();
+  int init();
+  virtual void get_event(cereal::SensorEventData::Builder &event) = 0;
+};

selfdrive/sensord/sensors/i2c_sensor.hpp

@@ -3,13 +3,14 @@
 #include <cstdint>
 #include "cereal/gen/cpp/log.capnp.h"
 #include "common/i2c.h"
+#include "sensors/sensor.hpp"
 #include "sensors/constants.hpp"
 
 int16_t read_12_bit(uint8_t lsb, uint8_t msb);
 int16_t read_16_bit(uint8_t lsb, uint8_t msb);
 
 
-class I2CSensor {
+class I2CSensor : public Sensor {
 private:
   I2CBus *bus;
   virtual uint8_t get_device_address() = 0;

selfdrive/sensord/sensors/light_sensor.cc

@@ -0,0 +1,23 @@
+#include <iostream>
+#include <string>
+
+#include "common/timing.h"
+
+#include "light_sensor.hpp"
+#include "constants.hpp"
+
+void LightSensor::get_event(cereal::SensorEventData::Builder &event){
+  uint64_t start_time = nanos_since_boot();
+  file.clear();
+  file.seekg(0);
+
+  int value;
+  file >> value;
+
+  event.setSource(cereal::SensorEventData::SensorSource::RPR0521);
+  event.setVersion(1);
+  event.setSensor(SENSOR_LIGHT);
+  event.setType(SENSOR_TYPE_LIGHT);
+  event.setTimestamp(start_time);
+  event.setLight(value);
+}

selfdrive/sensord/sensors/light_sensor.hpp

@@ -0,0 +1,8 @@
+#pragma once
+#include "file_sensor.hpp"
+
+class LightSensor : public FileSensor {
+public:
+  LightSensor(std::string filename) : FileSensor(filename){};
+  void get_event(cereal::SensorEventData::Builder &event);
+};

selfdrive/sensord/sensors/sensor.hpp

@@ -0,0 +1,9 @@
+#pragma once
+
+#include "cereal/gen/cpp/log.capnp.h"
+
+class Sensor {
+public:
+  virtual int init() = 0;
+  virtual void get_event(cereal::SensorEventData::Builder &event) = 0;
+};

selfdrive/sensord/sensors_qcom2.cc

@@ -9,10 +9,12 @@
 #include "common/timing.h"
 #include "common/swaglog.h"
 
+#include "sensors/sensor.hpp"
 #include "sensors/constants.hpp"
 #include "sensors/bmx055_accel.hpp"
 #include "sensors/bmx055_gyro.hpp"
 #include "sensors/bmx055_magn.hpp"
+#include "sensors/light_sensor.hpp"
 
 volatile sig_atomic_t do_exit = 0;
 
@@ -36,15 +38,17 @@ int sensor_loop() {
   BMX055_Accel accel(i2c_bus_imu);
   BMX055_Gyro gyro(i2c_bus_imu);
   BMX055_Magn magn(i2c_bus_imu);
+  LightSensor light("/sys/class/i2c-adapter/i2c-2/2-0038/iio:device1/in_intensity_both_raw");
 
   // Sensor init
-  std::vector<I2CSensor *> sensors;
+  std::vector<Sensor *> sensors;
   sensors.push_back(&accel);
   sensors.push_back(&gyro);
+  sensors.push_back(&light);
   // sensors.push_back(&magn);
 
 
-  for (I2CSensor * sensor : sensors){
+  for (Sensor * sensor : sensors){
     int err = sensor->init();
     if (err < 0){
       LOGE("Error initializing sensors");