inference working

karaulj · Jun 22, 2021 · 2648ee2 · 2648ee2
1 parent df553a0
commit 2648ee2
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Showing 30 changed files with 9,965 additions and 81 deletions.
diff --git a/components/device_profile/BlueDeviceProfile.cpp b/components/device_profile/BlueDeviceProfile.cpp
@@ -18,3 +18,9 @@
 
 static const char *TAG = "BlueDeviceProfile";
 
+
+void BlueDeviceProfile::profileSelectedCallback()
+{
+    ESP_LOGI(TAG, "Blue profile selected");
+    xQueueSend(ledCmdQueue, (void*)&RGB_CMD_BLUE_PROFILE, 1/portTICK_PERIOD_MS);
+}
diff --git a/components/device_profile/GreenDeviceProfile.cpp b/components/device_profile/GreenDeviceProfile.cpp
@@ -20,6 +20,13 @@
 static const char *TAG = "GreenDeviceProfile";
 
 
+void GreenDeviceProfile::profileSelectedCallback()
+{
+    ESP_LOGI(TAG, "Green profile selected");
+    xQueueSend(ledCmdQueue, (void*)&RGB_CMD_GREEN_PROFILE, 1/portTICK_PERIOD_MS);
+}
+
+
 void GreenDeviceProfile::gestureClickCallback()
 {
     ESP_LOGI(TAG, "%s: sendPlayPause", __func__);

diff --git a/components/device_profile/IDeviceProfile.cpp b/components/device_profile/IDeviceProfile.cpp
@@ -22,6 +22,13 @@ static const char *TAG = "IDeviceProfile";
 uint32_t IDeviceProfile::cnt = 0;
 
 
+void IDeviceProfile::profileSelectedCallback()
+{
+    xQueueSend(ledCmdQueue, (void*)&RGB_CMD_GESTURE_NOT_IMPL, 1/portTICK_PERIOD_MS);
+    ESP_LOGW(TAG, "%s not implemented for profile with id %d", __func__, id);
+}
+
+
 void IDeviceProfile::gestureClickCallback()
 {
     xQueueSend(ledCmdQueue, (void*)&RGB_CMD_GESTURE_NOT_IMPL, 1/portTICK_PERIOD_MS);

diff --git a/components/device_profile/RedDeviceProfile.cpp b/components/device_profile/RedDeviceProfile.cpp
@@ -25,15 +25,24 @@
 static const char *TAG = "RedDeviceProfile";
 
 
+void RedDeviceProfile::profileSelectedCallback()
+{
+    ESP_LOGI(TAG, "Red profile selected");
+    xQueueSend(ledCmdQueue, (void*)&RGB_CMD_RED_PROFILE, 1/portTICK_PERIOD_MS);
+}
+
+
 void RedDeviceProfile::gestureClickCallback()
 {
+    ESP_LOGI(TAG, "%s: batteryLevel", __func__);
     // battery level
     xQueueSend(ledCmdQueue, (void*)&RGB_CMD_BATTERY_LEVEL, 1/portTICK_PERIOD_MS);
 }
 
 
 void RedDeviceProfile::gestureUpCallback()
 {
+    ESP_LOGI(TAG, "%s: bleStatus", __func__);
     // BLE HID status
     xQueueSend(
         ledCmdQueue,
@@ -46,6 +55,7 @@ void RedDeviceProfile::gestureUpCallback()
 
 void RedDeviceProfile::gestureDownCallback()
 {
+    ESP_LOGI(TAG, "%s: batteryChargingStatus", __func__);
     // battery charging status
     xQueueSend(
         ledCmdQueue,
@@ -55,8 +65,11 @@ void RedDeviceProfile::gestureDownCallback()
     );
 }
 
+
 void RedDeviceProfile::gestureLeftCallback()
 {
+    ESP_LOGI(TAG, "%s: accelLEDFade", __func__);
+
     // turn off inference task so we can use the Z button
     vTaskSuspend(joystickInferenceTaskHandle);
 
@@ -80,6 +93,8 @@ void RedDeviceProfile::gestureLeftCallback()
 
 void RedDeviceProfile::gestureRightCallback()
 {
+    ESP_LOGI(TAG, "%s: joystickLEDFade", __func__);
+
     // use Z button
     vTaskSuspend(joystickInferenceTaskHandle);
 

diff --git a/components/device_profile/include/BlueDeviceProfile.h b/components/device_profile/include/BlueDeviceProfile.h
@@ -16,6 +16,7 @@
 class BlueDeviceProfile: public IDeviceProfile
 {
 public:
+    void profileSelectedCallback();
     void gestureClickCallback();
     void gestureUpCallback();
     void gestureDownCallback();

diff --git a/components/device_profile/include/GreenDeviceProfile.h b/components/device_profile/include/GreenDeviceProfile.h
@@ -16,6 +16,7 @@
 class GreenDeviceProfile : public IDeviceProfile
 {
 public:
+    void profileSelectedCallback();
     void gestureClickCallback();
     void gestureUpCallback();
     void gestureDownCallback();

diff --git a/components/device_profile/include/IDeviceProfile.h b/components/device_profile/include/IDeviceProfile.h
@@ -20,6 +20,7 @@ class IDeviceProfile
     const uint32_t id = cnt++;
     virtual ~IDeviceProfile() {cnt--;};
 
+    virtual void profileSelectedCallback();
     virtual void gestureClickCallback();
     virtual void gestureUpCallback();
     virtual void gestureDownCallback();

diff --git a/components/device_profile/include/RedDeviceProfile.h b/components/device_profile/include/RedDeviceProfile.h
@@ -16,6 +16,7 @@
 class RedDeviceProfile: public IDeviceProfile
 {
 public:
+    void profileSelectedCallback();
     void gestureClickCallback();
     void gestureUpCallback();
     void gestureDownCallback();

diff --git a/components/rgb_led/include/rgb_commands.h b/components/rgb_led/include/rgb_commands.h
@@ -48,6 +48,11 @@ const rgb_cmd_t RGB_CMD_ACCEL_FADE_100_MS       = 0x75;
 const rgb_cmd_t RGB_CMD_JOYSTICK_RG_FADE        = 0x80;
 const rgb_cmd_t RGB_CMD_JOYSTICK_RB_FADE        = 0x81;
 const rgb_cmd_t RGB_CMD_JOYSTICK_GB_FADE        = 0x82;
+// profile selection
+const rgb_cmd_t RGB_CMD_RED_PROFILE             = 0x90;
+const rgb_cmd_t RGB_CMD_GREEN_PROFILE           = 0x91;
+const rgb_cmd_t RGB_CMD_BLUE_PROFILE            = 0x92;
+
 
 
 // All RGB command functions declared here
@@ -84,6 +89,11 @@ extern void rgbcAccelFade100ms(RGB_CC_LED* led);
 extern void rgbcJoystick_RG_Fade(RGB_CC_LED* led);
 extern void rgbcJoystick_RB_Fade(RGB_CC_LED* led);
 extern void rgbcJoystick_GB_Fade(RGB_CC_LED* led);
+// profile selection
+extern void rgbcRedProfile(RGB_CC_LED* led);
+extern void rgbcGreenProfile(RGB_CC_LED* led);
+extern void rgbcBlueProfile(RGB_CC_LED* led);
+
 
 
 #endif /* COMPONENTS_RGB_CC_LED_INCLUDE_RGB_COMMANDS_H_ */
diff --git a/components/rgb_led/rgb_commands.cpp b/components/rgb_led/rgb_commands.cpp
@@ -22,7 +22,6 @@ void rgbcSystemInit(RGB_CC_LED* led)
     led->setColor(0, 0, 0, 200, 200, 200);
     vTaskDelay(250 / portTICK_PERIOD_MS);
 }
-
 void rgbcRestart(RGB_CC_LED* led)
 {
     for (int i=0; i<3; i++)
@@ -37,7 +36,6 @@ void rgbcRestart(RGB_CC_LED* led)
         vTaskDelay(200 / portTICK_PERIOD_MS);
     }
 }
-
 void rgbcClearAll(RGB_CC_LED* led)
 {
     led->setColor(0, 0, 0);
@@ -57,7 +55,6 @@ void rgbcBleConnected(RGB_CC_LED* led)
         vTaskDelay(100 / portTICK_PERIOD_MS);
     }
 }
-
 void rgbcBleDisconnected(RGB_CC_LED* led)
 {
     led->setColor(0, 0, RGB_CC_LED_MAX/2);
@@ -72,7 +69,6 @@ void rgbcBleDisconnected(RGB_CC_LED* led)
         vTaskDelay(100 / portTICK_PERIOD_MS);
     }
 }
-
 void rgbcBlePairingModeActive(RGB_CC_LED* led)
 {
     for (int i=0; i<3; i++)
@@ -95,12 +91,10 @@ void rgbcDeviceMode(RGB_CC_LED* led)
         vTaskDelay(100 / portTICK_PERIOD_MS);
     }
 }
-
 void rgbcGestureActive(RGB_CC_LED* led)
 {
-    led->setColor(0, 0, RGB_CC_LED_MAX/4);
+    led->setColor(RGB_CC_LED_MAX/8, RGB_CC_LED_MAX/8, RGB_CC_LED_MAX/8);
 }
-
 void rgbcGestureFound(RGB_CC_LED* led)
 {
     for (int i=0; i<2; i++)
@@ -111,7 +105,6 @@ void rgbcGestureFound(RGB_CC_LED* led)
         vTaskDelay(100 / portTICK_PERIOD_MS);
     }
 }
-
 void rgbcGestureNotFound(RGB_CC_LED* led)
 {
     for (int i=0; i<2; i++)
@@ -122,15 +115,13 @@ void rgbcGestureNotFound(RGB_CC_LED* led)
         vTaskDelay(100 / portTICK_PERIOD_MS);
     }
 }
-
 void rgbcGestureNotImpl(RGB_CC_LED* led)
 {
     led->setColor(RGB_CC_LED_MAX/4, 0, RGB_CC_LED_MAX/2);   // dark purple
     vTaskDelay(600 / portTICK_PERIOD_MS);
     rgbcClearAll(led);
     vTaskDelay(150 / portTICK_PERIOD_MS);
 }
-
 void rgbcCancelGesture(RGB_CC_LED* led)
 {
     led->setColor(RGB_CC_LED_MAX/2, 0, 0);
@@ -158,7 +149,6 @@ void rgbcBatteryRange(RGB_CC_LED* led)
     vTaskDelay(1000 / portTICK_PERIOD_MS);
     rgbcClearAll(led);
 }
-
 void rgbcBatteryLevel(RGB_CC_LED* led, color_level_t level)
 {
     led->setColor(RGB_CC_LED_MAX, 0, 0);
@@ -172,7 +162,6 @@ void rgbcBatteryLevel(RGB_CC_LED* led, color_level_t level)
     vTaskDelay(1000 / portTICK_PERIOD_MS);
     rgbcClearAll(led);
 }
-
 void rgbcBatteryCharging(RGB_CC_LED* led)
 {
     for (int i=0; i<3; i++)
@@ -183,7 +172,6 @@ void rgbcBatteryCharging(RGB_CC_LED* led)
         vTaskDelay(250 / portTICK_PERIOD_MS);
     }
 }
-
 void rgbcBatteryNotCharging(RGB_CC_LED* led)
 {
     for (int i=0; i<3; i++)
@@ -236,4 +224,33 @@ void rgbcJoystick_RG_Fade(RGB_CC_LED* led) { rgbcJoystick_Fade(led, 0x01); }
 void rgbcJoystick_RB_Fade(RGB_CC_LED* led) { rgbcJoystick_Fade(led, 0x02); }
 void rgbcJoystick_GB_Fade(RGB_CC_LED* led) { rgbcJoystick_Fade(led, 0x04); }
 
-
+void rgbcRedProfile(RGB_CC_LED* led)
+{
+    for (int i=0; i<2; i++)
+    {
+        led->setColor(RGB_CC_LED_MAX/4, 0, 0);
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+        rgbcClearAll(led);
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+    }
+}
+void rgbcGreenProfile(RGB_CC_LED* led)
+{
+    for (int i=0; i<2; i++)
+    {
+        led->setColor(0, RGB_CC_LED_MAX/4, 0);
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+        rgbcClearAll(led);
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+    }
+}
+void rgbcBlueProfile(RGB_CC_LED* led)
+{
+    for (int i=0; i<2; i++)
+    {
+        led->setColor(0, 0, RGB_CC_LED_MAX/4);
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+        rgbcClearAll(led);
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+    }
+}
diff --git a/components/tfmicro/CMakeLists.txt b/components/tfmicro/CMakeLists.txt
@@ -0,0 +1,39 @@
+
+# Copyright 2019 The TensorFlow Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# This component was generated for the 'hello_world' TF Micro example.
+#
+
+# Make sure that the IDF Path environment variable is defined
+if(NOT DEFINED ENV{IDF_PATH})
+  message(FATAL_ERROR "The IDF_PATH environment variable must point to the location of the ESP-IDF.")
+endif()
+
+idf_component_register(
+  SRCS gesture_model_tflite.cc Joystick_CNN_Model.cpp tensorflow/lite/micro/simple_memory_allocator.cc tensorflow/lite/micro/mock_micro_graph.cc tensorflow/lite/micro/micro_error_reporter.cc tensorflow/lite/micro/memory_helpers.cc tensorflow/lite/micro/test_helpers.cc tensorflow/lite/micro/micro_utils.cc tensorflow/lite/micro/recording_micro_allocator.cc tensorflow/lite/micro/micro_time.cc tensorflow/lite/micro/debug_log.cc tensorflow/lite/micro/micro_string.cc tensorflow/lite/micro/recording_simple_memory_allocator.cc tensorflow/lite/micro/micro_profiler.cc tensorflow/lite/micro/all_ops_resolver.cc tensorflow/lite/micro/micro_graph.cc tensorflow/lite/micro/micro_interpreter.cc tensorflow/lite/micro/micro_allocator.cc tensorflow/lite/micro/system_setup.cc tensorflow/lite/micro/memory_planner/linear_memory_planner.cc tensorflow/lite/micro/memory_planner/greedy_memory_planner.cc tensorflow/lite/c/common.c tensorflow/lite/core/api/error_reporter.cc tensorflow/lite/core/api/flatbuffer_conversions.cc tensorflow/lite/core/api/op_resolver.cc tensorflow/lite/core/api/tensor_utils.cc tensorflow/lite/kernels/internal/quantization_util.cc tensorflow/lite/kernels/kernel_util.cc tensorflow/lite/schema/schema_utils.cc tensorflow/lite/micro/kernels/activations.cc tensorflow/lite/micro/kernels/add.cc tensorflow/lite/micro/kernels/add_n.cc tensorflow/lite/micro/kernels/arg_min_max.cc tensorflow/lite/micro/kernels/batch_to_space_nd.cc tensorflow/lite/micro/kernels/cast.cc tensorflow/lite/micro/kernels/ceil.cc tensorflow/lite/micro/kernels/circular_buffer.cc tensorflow/lite/micro/kernels/comparisons.cc tensorflow/lite/micro/kernels/concatenation.cc tensorflow/lite/micro/kernels/conv.cc tensorflow/lite/micro/kernels/conv_common.cc tensorflow/lite/micro/kernels/cumsum.cc tensorflow/lite/micro/kernels/depth_to_space.cc tensorflow/lite/micro/kernels/depthwise_conv.cc tensorflow/lite/micro/kernels/depthwise_conv_common.cc tensorflow/lite/micro/kernels/dequantize.cc tensorflow/lite/micro/kernels/detection_postprocess.cc tensorflow/lite/micro/kernels/elementwise.cc tensorflow/lite/micro/kernels/elu.cc tensorflow/lite/micro/kernels/ethosu.cc tensorflow/lite/micro/kernels/exp.cc tensorflow/lite/micro/kernels/expand_dims.cc tensorflow/lite/micro/kernels/fill.cc tensorflow/lite/micro/kernels/floor.cc tensorflow/lite/micro/kernels/floor_div.cc tensorflow/lite/micro/kernels/floor_mod.cc tensorflow/lite/micro/kernels/fully_connected.cc tensorflow/lite/micro/kernels/fully_connected_common.cc tensorflow/lite/micro/kernels/gather.cc tensorflow/lite/micro/kernels/gather_nd.cc tensorflow/lite/micro/kernels/hard_swish.cc tensorflow/lite/micro/kernels/if.cc tensorflow/lite/micro/kernels/kernel_runner.cc tensorflow/lite/micro/kernels/kernel_util.cc tensorflow/lite/micro/kernels/l2norm.cc tensorflow/lite/micro/kernels/l2_pool_2d.cc tensorflow/lite/micro/kernels/leaky_relu.cc tensorflow/lite/micro/kernels/logical.cc tensorflow/lite/micro/kernels/logistic.cc tensorflow/lite/micro/kernels/log_softmax.cc tensorflow/lite/micro/kernels/maximum_minimum.cc tensorflow/lite/micro/kernels/mul.cc tensorflow/lite/micro/kernels/neg.cc tensorflow/lite/micro/kernels/pack.cc tensorflow/lite/micro/kernels/pad.cc tensorflow/lite/micro/kernels/pooling.cc tensorflow/lite/micro/kernels/prelu.cc tensorflow/lite/micro/kernels/quantize.cc tensorflow/lite/micro/kernels/quantize_common.cc tensorflow/lite/micro/kernels/reduce.cc tensorflow/lite/micro/kernels/reshape.cc tensorflow/lite/micro/kernels/resize_bilinear.cc tensorflow/lite/micro/kernels/resize_nearest_neighbor.cc tensorflow/lite/micro/kernels/round.cc tensorflow/lite/micro/kernels/shape.cc tensorflow/lite/micro/kernels/softmax.cc tensorflow/lite/micro/kernels/softmax_common.cc tensorflow/lite/micro/kernels/space_to_batch_nd.cc tensorflow/lite/micro/kernels/split.cc tensorflow/lite/micro/kernels/split_v.cc tensorflow/lite/micro/kernels/squeeze.cc tensorflow/lite/micro/kernels/strided_slice.cc tensorflow/lite/micro/kernels/sub.cc tensorflow/lite/micro/kernels/svdf.cc tensorflow/lite/micro/kernels/svdf_common.cc tensorflow/lite/micro/kernels/tanh.cc tensorflow/lite/micro/kernels/transpose.cc tensorflow/lite/micro/kernels/transpose_conv.cc tensorflow/lite/micro/kernels/unpack.cc tensorflow/lite/micro/kernels/zeros_like.cc 
+  INCLUDE_DIRS . third_party/gemmlowp third_party/flatbuffers/include third_party/ruy)
+
+# Reduce the level of paranoia to be able to compile TF sources
+target_compile_options(${COMPONENT_LIB} PRIVATE
+  -Wno-maybe-uninitialized
+  -Wno-missing-field-initializers
+  -Wno-type-limits)
+
+target_compile_options(${COMPONENT_LIB} PRIVATE -Wimplicit-function-declaration -Werror -fno-unwind-tables -ffunction-sections -fdata-sections -fmessage-length=0 -DTF_LITE_STATIC_MEMORY -DTF_LITE_DISABLE_X86_NEON -O3 -Wsign-compare -Wdouble-promotion -Wshadow -Wunused-variable -Wmissing-field-initializers -Wunused-function -Wswitch -Wvla -Wall -Wextra -Wstrict-aliasing -Wno-unused-parameter -DLINUX -DTF_LITE_USE_CTIME)
+#target_compile_options(${COMPONENT_LIB} PRIVATE -Wimplicit-function-declaration -std=c11 -Werror -fno-unwind-tables -ffunction-sections -fdata-sections -fmessage-length=0 -DTF_LITE_STATIC_MEMORY -DTF_LITE_DISABLE_X86_NEON -O3 -Wsign-compare -Wdouble-promotion -Wshadow -Wunused-variable -Wmissing-field-initializers -Wunused-function -Wswitch -Wvla -Wall -Wextra -Wstrict-aliasing -Wno-unused-parameter -DLINUX -DTF_LITE_USE_CTIME)
+target_compile_options(${COMPONENT_LIB} PRIVATE $<$<COMPILE_LANGUAGE:CXX>: -std=c++11 -fno-rtti -fno-exceptions -fno-threadsafe-statics -Werror -fno-unwind-tables -ffunction-sections -fdata-sections -fmessage-length=0 -DTF_LITE_STATIC_MEMORY -DTF_LITE_DISABLE_X86_NEON -O3 -Wsign-compare -Wdouble-promotion -Wshadow -Wunused-variable -Wmissing-field-initializers -Wunused-function -Wswitch -Wvla -Wall -Wextra -Wstrict-aliasing -Wno-unused-parameter -DLINUX -DTF_LITE_USE_CTIME >)
+target_compile_options(${COMPONENT_LIB} INTERFACE $<$<IN_LIST:-DTF_LITE_STATIC_MEMORY,$<TARGET_PROPERTY:${COMPONENT_LIB},COMPILE_OPTIONS>>:-DTF_LITE_STATIC_MEMORY>)
+target_link_libraries(${COMPONENT_LIB} PRIVATE -lm)