Person sensor

Source/CompositeDevices.sln

@@ -31,6 +31,20 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Relays.ElectromagneticRelay
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "ElectronmagneticRelayModule_Sample", "Relays.ElectromagneticRelayModule\Samples\ElectronmagneticRelayModule_Sample\ElectronmagneticRelayModule_Sample.csproj", "{815E8496-8359-4D35-83EB-A1120D3AA404}"
 EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Sensors", "Sensors", "{78203E26-CBDE-48BC-B8CF-617F8A863D65}"
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Motion", "Motion", "{7A284A89-FBA4-4E57-9357-B0F3AE9AE429}"
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "UsefulSensors", "UsefulSensors", "{B9A8627E-0A83-4FEB-B3CF-7772109C3F44}"
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "PersonSensor", "PersonSensor", "{4A6B7EF6-7730-4570-A72F-6E4506227668}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Sensors.Motion.UsefulSensors.PersonSensor", "Sensors.Motion.UsefulSensors.PersonSensor\Driver\Sensors.Motion.UsefulSensors.PersonSensor.csproj", "{773E12FF-A4F0-4835-9BAA-34454DB42E6B}"
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Sample", "Sample", "{1B4743D8-E3B7-4466-9A66-266B91AB3676}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "PersonSensor_Sample", "Sensors.Motion.UsefulSensors.PersonSensor\Samples\PersonSensor_Sample\PersonSensor_Sample.csproj", "{6046728F-EFF4-4B77-8C15-7CB87B145395}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -93,6 +107,18 @@ Global
 		{815E8496-8359-4D35-83EB-A1120D3AA404}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{815E8496-8359-4D35-83EB-A1120D3AA404}.Release|Any CPU.Build.0 = Release|Any CPU
 		{815E8496-8359-4D35-83EB-A1120D3AA404}.Release|Any CPU.Deploy.0 = Release|Any CPU
+		{773E12FF-A4F0-4835-9BAA-34454DB42E6B}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{773E12FF-A4F0-4835-9BAA-34454DB42E6B}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{773E12FF-A4F0-4835-9BAA-34454DB42E6B}.Debug|Any CPU.Deploy.0 = Debug|Any CPU
+		{773E12FF-A4F0-4835-9BAA-34454DB42E6B}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{773E12FF-A4F0-4835-9BAA-34454DB42E6B}.Release|Any CPU.Build.0 = Release|Any CPU
+		{773E12FF-A4F0-4835-9BAA-34454DB42E6B}.Release|Any CPU.Deploy.0 = Release|Any CPU
+		{6046728F-EFF4-4B77-8C15-7CB87B145395}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{6046728F-EFF4-4B77-8C15-7CB87B145395}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{6046728F-EFF4-4B77-8C15-7CB87B145395}.Debug|Any CPU.Deploy.0 = Debug|Any CPU
+		{6046728F-EFF4-4B77-8C15-7CB87B145395}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{6046728F-EFF4-4B77-8C15-7CB87B145395}.Release|Any CPU.Build.0 = Release|Any CPU
+		{6046728F-EFF4-4B77-8C15-7CB87B145395}.Release|Any CPU.Deploy.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -110,6 +136,12 @@ Global
 		{BC092D17-F8D5-4BEA-ABE4-E98B44A04DA6} = {AE474B14-7388-421B-BB92-8700CD54BC57}
 		{29CF3228-7907-4FD6-88E3-DB91023B6281} = {AE474B14-7388-421B-BB92-8700CD54BC57}
 		{815E8496-8359-4D35-83EB-A1120D3AA404} = {BC092D17-F8D5-4BEA-ABE4-E98B44A04DA6}
+		{7A284A89-FBA4-4E57-9357-B0F3AE9AE429} = {78203E26-CBDE-48BC-B8CF-617F8A863D65}
+		{B9A8627E-0A83-4FEB-B3CF-7772109C3F44} = {7A284A89-FBA4-4E57-9357-B0F3AE9AE429}
+		{4A6B7EF6-7730-4570-A72F-6E4506227668} = {B9A8627E-0A83-4FEB-B3CF-7772109C3F44}
+		{773E12FF-A4F0-4835-9BAA-34454DB42E6B} = {4A6B7EF6-7730-4570-A72F-6E4506227668}
+		{1B4743D8-E3B7-4466-9A66-266B91AB3676} = {4A6B7EF6-7730-4570-A72F-6E4506227668}
+		{6046728F-EFF4-4B77-8C15-7CB87B145395} = {1B4743D8-E3B7-4466-9A66-266B91AB3676}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {BF2FC8CE-57C6-468C-B82D-D8204E6D9360}

Source/Sensors.Motion.UsefulSensors.PersonSensor/Driver/PersonSensor.PersonFace.cs

@@ -0,0 +1,51 @@
+namespace Meadow.Foundation.Sensors;
+
+public partial class PersonSensor
+{
+    /// <summary>
+    /// Represents information about a detected face.
+    /// </summary>
+    public struct PersonFace
+    {
+        /// <summary>
+        /// Confidence level for the detected face.
+        /// </summary>
+        public byte BoxConfidence { get; set; }
+
+        /// <summary>
+        /// X coordinate of the left side of the detected face.
+        /// </summary>
+        public byte BoxLeft { get; set; }
+
+        /// <summary>
+        /// Y coordinate of the top edge of the detected face.
+        /// </summary>
+        public byte BoxTop { get; set; }
+
+        /// <summary>
+        /// X coordinate of the right side of the detected face.
+        /// </summary>
+        public byte BoxRight { get; set; }
+
+        /// <summary>
+        /// Y coordinate of the bottom edge of the detected face.
+        /// </summary>
+        public byte BoxBottom { get; set; }
+
+        /// <summary>
+        /// Confidence level for the assigned ID of the detected face.
+        /// </summary>
+        public sbyte IdConfidence { get; set; }
+
+        /// <summary>
+        /// Numerical ID assigned to the detected face.
+        /// </summary>
+        public sbyte Id { get; set; }
+
+        /// <summary>
+        /// Indicates whether the person is facing the camera (1) or not (0).
+        /// </summary>
+        public byte IsFacing { get; set; }
+    }
+}
+

Source/Sensors.Motion.UsefulSensors.PersonSensor/Driver/PersonSensor.cs

@@ -0,0 +1,163 @@
+using Meadow.Hardware;
+using System;
+using System.Linq;
+
+namespace Meadow.Foundation.Sensors;
+
+/// <summary>
+/// Represents a Useful Sensor's Person Sensor
+/// </summary>
+public partial class PersonSensor : II2cPeripheral
+{
+    /// <inheritdoc/>
+    public byte DefaultI2cAddress => 0x62;
+
+    /// <summary>
+    /// The maximun number of faces the sensor can recognize
+    /// </summary>
+    public int MAX_FACE_COUNT => 4;
+
+    /// <summary>
+    /// The max number of specific face IDs the sensor can track
+    /// </summary>
+    public int MAX_IDS_COUNT => 7;
+
+    private readonly int HEADER_LENGTH = 4;
+    private readonly int DATA_LENGTH = 40;
+    private readonly byte[] readBuffer;
+    private readonly II2cCommunications i2cComms;
+
+
+    /// <summary>
+    /// Initializes a new instance of the ElectroMagneticRelayModule device
+    /// </summary>
+    /// <param name="i2cBus">The I2C bus the peripheral is connected to</param>
+    /// <param name="address">The bus address of the peripheral</param>
+    public PersonSensor(II2cBus i2cBus, byte address = 0x62)
+    {
+        i2cComms = new I2cCommunications(i2cBus, address, DATA_LENGTH);
+        readBuffer = new byte[DATA_LENGTH];
+    }
+
+    /// <summary>
+    /// Sets the capture mode of the sensor
+    /// </summary>
+    /// <param name="enable">Continuous if true</param>
+    public void SetContinuousMode(bool enable)
+    {
+        i2cComms.WriteRegister((byte)Commands.MODE, (byte)(enable ? 0x0 : 0x1));
+    }
+
+    /// <summary>
+    /// Sets the Person Sensor to single-shot mode for inference.
+    /// </summary>
+    public void SetSingleShotMode()
+    {
+        i2cComms.WriteRegister((byte)Commands.SINGLE_SHOT, 0x1);
+    }
+
+    /// <summary>
+    /// Sets the debug mode for the Person Sensor.
+    /// </summary>
+    /// <param name="enable">True to enable debug mode, False to disable.</param>
+    public void SetDebugMode(bool enable)
+    {
+        i2cComms.WriteRegister((byte)Commands.DEBUG_MODE, (byte)(enable ? 0x1 : 0x0));
+    }
+
+    /// <summary>
+    /// Enables or disables the ID model for the Person Sensor.
+    /// </summary>
+    /// <param name="enable">True to enable the ID model, False to disable. 
+    /// With this flag set to False, only bounding boxes are captured.</param>
+    public void SetEnableId(bool enable)
+    {
+        i2cComms.WriteRegister((byte)Commands.ENABLE_ID, (byte)(enable ? 0x1 : 0x0));
+    }
+
+    /// <summary>
+    /// Sets whether to persist recognized IDs even when unpowered for the Person Sensor.
+    /// </summary>
+    /// <param name="enable">True to store recognized IDs even when unpowered, False otherwise.</param>
+    public void SetPersistIds(bool enable)
+    {
+        i2cComms.WriteRegister((byte)Commands.PERSIST_IDS, (byte)(enable ? 0x1 : 0x0));
+    }
+
+    /// <summary>
+    /// Initiates wiping recognized IDs from storage for the Person Sensor.
+    /// </summary>
+    public void SetEraseIds()
+    {
+        i2cComms.WriteRegister((byte)Commands.ERASE_IDS, 0x1);
+    }
+
+    /// <summary>
+    /// Initiates calibration for the next identified frame as a specific person ID (0 to 7) for the Person Sensor.
+    /// </summary>
+    /// <param name="id">The person ID to calibrate.</param>
+    /// <exception cref="Exception">Thrown if the specified ID exceeds the maximum number of IDs.</exception>
+    public void SetCalibrateId(byte id)
+    {
+        if (id > MAX_IDS_COUNT)
+        {
+            throw new Exception($"ID ({id}) exceeds the maximum number of IDs ({MAX_IDS_COUNT})");
+        }
+
+        i2cComms.WriteRegister((byte)Commands.CALIBRATE_ID, id);
+    }
+
+    /// <summary>
+    /// Gets the structured sensor data.
+    /// </summary>
+    /// <returns>The structured sensor data.</returns>
+    public PersonSensorResults GetSensorData()
+    {
+        i2cComms.Read(readBuffer);
+        return ParseSensorResults(readBuffer);
+    }
+
+    /// <summary>
+    /// Parses the sensor results from the provided byte array.
+    /// </summary>
+    /// <param name="data">The byte array containing sensor data.</param>
+    /// <returns>The structured sensor data.</returns>
+    public PersonSensorResults ParseSensorResults(byte[] data)
+    {
+        PersonSensorResults results = new();
+        results.Header = data.Take(HEADER_LENGTH).ToArray();
+
+        results.NumberOfFaces = (sbyte)data[HEADER_LENGTH];
+
+        if (results.NumberOfFaces < 0)
+        {
+            throw new Exception($"Number of faces detected ({results.NumberOfFaces}) is less than zero");
+        }
+
+        if (results.NumberOfFaces > MAX_FACE_COUNT)
+        {
+            throw new Exception($"Number of faces detected ({results.NumberOfFaces}) exceeds the maximum number of faces ({MAX_FACE_COUNT})");
+        }
+
+        results.FaceData = new PersonFace[MAX_FACE_COUNT];
+
+        for (int i = 0; i < MAX_FACE_COUNT; ++i)
+        {
+            var faceStartIndex = i * 8 + HEADER_LENGTH + 1;
+            results.FaceData[i] = new PersonFace
+            {
+                BoxConfidence = data[faceStartIndex],
+                BoxLeft = data[faceStartIndex + 1],
+                BoxTop = data[faceStartIndex + 2],
+                BoxRight = data[faceStartIndex + 3],
+                BoxBottom = data[faceStartIndex + 4],
+                IdConfidence = (sbyte)data[faceStartIndex + 5],
+                Id = (sbyte)data[faceStartIndex + 6],
+                IsFacing = data[faceStartIndex + 7]
+            };
+        }
+
+        results.CheckSum = BitConverter.ToUInt16(data.Skip(38).Take(2).ToArray(), 0);
+        return results;
+    }
+}

Source/Sensors.Motion.UsefulSensors.PersonSensor/Driver/PersonSensor.enums.cs

@@ -0,0 +1,44 @@
+namespace Meadow.Foundation.Sensors
+{
+    public partial class PersonSensor
+    {
+        /// <summary>
+        /// Enumeration of configuration commands for the Person Sensor.
+        /// </summary>
+        enum Commands : byte
+        {
+            /// <summary>
+            /// Mode configuration command. Default: 0x01 (continuous).
+            /// </summary>
+            MODE = 0x01,
+            /// <summary>
+            /// Enable/Disable ID model configuration command. Default: 0x00 (False).
+            /// With this flag set to False, only capture bounding boxes.
+            /// </summary>
+            ENABLE_ID = 0x02,
+            /// <summary>
+            /// Single-shot inference configuration command. Default: 0x00.
+            /// Trigger a single-shot inference. Only works if the sensor is in standby mode.
+            /// </summary>
+            SINGLE_SHOT = 0x03,
+            /// <summary>
+            /// Calibrate the next identified frame as person N, from 0 to 7.
+            /// If two frames pass with no person, this label is discarded. Default: 0x00.
+            /// </summary>
+            CALIBRATE_ID = 0x04,
+            /// <summary>
+            /// Store any recognized IDs even when unpowered configuration command. Default: 0x01 (True).
+            /// </summary>
+            PERSIST_IDS = 0x05,
+            /// <summary>
+            /// Wipe any recognized IDs from storage configuration command. Default: 0x00.
+            /// </summary>
+            ERASE_IDS = 0x06,
+            /// <summary>
+            /// Debug mode configuration command. Default: 0x01 (True).
+            /// Whether to enable the LED indicator on the sensor.
+            /// </summary>
+            DEBUG_MODE = 0x07,
+        }
+    }
+}

Source/Sensors.Motion.UsefulSensors.PersonSensor/Driver/PersonSensorResults.cs

@@ -0,0 +1,29 @@
+using static Meadow.Foundation.Sensors.PersonSensor;
+
+namespace Meadow.Foundation.Sensors;
+
+/// <summary>
+/// Represents the structured results returned from the person sensor.
+/// </summary>
+public class PersonSensorResults
+{
+    /// <summary>
+    /// Header information of the data packet.
+    /// </summary>
+    public byte[] Header { get; set; } = default!;
+
+    /// <summary>
+    /// Number of faces detected.
+    /// </summary>
+    public sbyte NumberOfFaces { get; set; }
+
+    /// <summary>
+    /// Information about detected faces.
+    /// </summary>
+    public PersonFace[] FaceData { get; set; } = new PersonFace[4];
+
+    /// <summary>
+    /// Checksum value of the data packet.
+    /// </summary>
+    public ushort CheckSum { get; set; }
+}