cleanup expander

drivers/expander.cpp

@@ -4,12 +4,16 @@
 #include "blk_box_drivers/i2c.h"
 #include "driver/i2c_master.h"
 #include "driver/gpio.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
 #include "esp_log.h"
 #include "esp_err.h"
 
 static const char *TAG = "EXPANDER";
 
-i2c_master_dev_handle_t expander_i2c_dev_handle;
+static TaskHandle_t expander_task_handle = NULL;
+
+static i2c_master_dev_handle_t expander_i2c_dev_handle;
 
 const static uint8_t REG_WHOAMI = 0x01;
 const static uint8_t REG_SW_VERSION = 0x02;
@@ -27,15 +31,48 @@ const static uint8_t REG_HALL_SENSITIVITY = 0x31;
 const static uint8_t REG_CLOSE_SENSITIVITY = 0x32;
 const static uint8_t REG_SWITCH_TOUCH_EVENT = 0x33;
 
-ExpanderPeripheral expander_peripheral;
+/// The global data for the expander peripheral.
+class ExpanderPeripheral {
+    // TODO: change these to private
+    // or even make this class hidden
+    public: 
+    SemaphoreHandle_t state_mutex;
+    ExpanderState state;
+
+    // channels
+    QueueHandle_t button_press_events;
+    QueueHandle_t button_release_events;
+    QueueHandle_t switch_flip_events;
+    QueueHandle_t switch_touch_events;
+    QueueHandle_t touch_events;
+    QueueHandle_t keypad_press_events;
+    QueueHandle_t keypad_release_events;
+};
+
+ExpanderPeripheral expander_peripheral_singleton;
 
 // forward declarations
+static void get_events();
 static void handle_event(uint8_t event);
 static void handle_button_switch_event(uint8_t event);
 static void handle_keypad_event(uint8_t event);
 static void handle_touch_event(uint8_t event);
 static void handle_rfid_event(uint8_t event);
 static void handle_close_hal_event(uint8_t event);
+static void expander_task(void *arg);
+
+// ISR handler
+static void IRAM_ATTR expander_isr_handler(void *arg) {
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+
+    if (expander_task_handle != NULL) {
+        vTaskNotifyGiveFromISR(expander_task_handle, &xHigherPriorityTaskWoken);
+    }
+
+    if (xHigherPriorityTaskWoken == pdTRUE) {
+        portYIELD_FROM_ISR();
+    }
+}
 
 void init_expander() {
     ESP_LOGI(TAG, "Initializing expander...");
@@ -50,11 +87,28 @@ void init_expander() {
         }
     };
 
+    // TODO: replace all these ESP_ERROR_CHECK with proper error handling that doesn't just crash the program
     ESP_ERROR_CHECK(i2c_master_bus_add_device(i2c_main_bus_handle, &dev_config, &expander_i2c_dev_handle));
     ESP_LOGD(TAG, "Expander I2C device added to bus");
 
-    // TODO: setup interrupt on PIN_EXPANDER_INT
+    // setup interrupt on PIN_EXPANDER_INT
+    gpio_config_t io_conf = {
+        .pin_bit_mask = (1ULL << PIN_EXPANDER_INT),
+        .mode = GPIO_MODE_INPUT,
+        .pull_up_en = GPIO_PULLUP_ENABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_NEGEDGE
+    };
 
+    ESP_ERROR_CHECK(gpio_config(&io_conf));
+
+    // Install ISR service (only call once in your program)
+    ESP_ERROR_CHECK(gpio_install_isr_service(0));
+
+    // Attach the ISR to the expander pin
+    ESP_ERROR_CHECK(gpio_isr_handler_add(PIN_EXPANDER_INT, expander_isr_handler, NULL));
+
+    // verify the expander connection status by reading the WHOAMI register
     uint8_t read_buf[2] = {0};
 
     ESP_ERROR_CHECK(i2c_master_transmit_receive(expander_i2c_dev_handle, &REG_WHOAMI, 1, read_buf, 1, EXPANDER_TIMEOUT_MS));
@@ -69,24 +123,49 @@ void init_expander() {
     ESP_ERROR_CHECK(i2c_master_transmit_receive(expander_i2c_dev_handle, &REG_SW_VERSION, 1, read_buf, 2, EXPANDER_TIMEOUT_MS));
 
     // init the peripheral struct
-    expander_peripheral.state_mutex = xSemaphoreCreateMutex();
-    expander_peripheral.button_press_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(Button));
-    expander_peripheral.button_release_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(Button));
-    expander_peripheral.switch_flip_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(SwitchFlip));
-    expander_peripheral.switch_touch_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(SwitchTouch));
-    expander_peripheral.touch_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(TouchedReleased));
-    expander_peripheral.keypad_press_events= xQueueCreate(EXPANDER_KEYPAD_QUEUE_SIZE, sizeof(KeypadKey));
-    expander_peripheral.keypad_release_events= xQueueCreate(EXPANDER_KEYPAD_QUEUE_SIZE, sizeof(KeypadKey));
+    expander_peripheral_singleton.state_mutex = xSemaphoreCreateMutex();
+    expander_peripheral_singleton.button_press_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(Button));
+    expander_peripheral_singleton.button_release_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(Button));
+    expander_peripheral_singleton.switch_flip_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(SwitchFlip));
+    expander_peripheral_singleton.switch_touch_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(SwitchTouch));
+    expander_peripheral_singleton.touch_events= xQueueCreate(EXPANDER_EVENT_QUEUE_SIZE, sizeof(TouchedReleased));
+    expander_peripheral_singleton.keypad_press_events= xQueueCreate(EXPANDER_KEYPAD_QUEUE_SIZE, sizeof(KeypadKey));
+    expander_peripheral_singleton.keypad_release_events= xQueueCreate(EXPANDER_KEYPAD_QUEUE_SIZE, sizeof(KeypadKey));
 
     ESP_LOGI(TAG, "Expander initialized! SW version: v%d.%d", read_buf[0], read_buf[1]);
+
+    // Create the expander background worker task
+    BaseType_t task_created = xTaskCreate(
+        expander_task,
+        "expander_task",
+        4096,
+        NULL,
+        tskIDLE_PRIORITY + 1,
+        &expander_task_handle
+    );
+
+    if (task_created != pdPASS) {
+        ESP_LOGE(TAG, "Failed to create expander task");
+    }
 }
 
-void get_events() {
+static void expander_task(void *arg) {
+    (void)arg;
+
+    while (true) {
+        get_events();
+
+        // Wait for interrupt notification (signal is sent when INT falls)
+        ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+    }
+}
+
+static void get_events() {
     uint8_t recv;
-    do {
+    while (gpio_get_level(PIN_EXPANDER_INT) == 0) {
         ESP_ERROR_CHECK(i2c_master_transmit_receive(expander_i2c_dev_handle, &REG_EVENT_QUEUE_POP, 1, &recv, 1, EXPANDER_TIMEOUT_MS));
         handle_event(recv);
-    } while (gpio_get_level(PIN_EXPANDER_INT) == 0);
+    }
 }
 
 static void handle_event(uint8_t event) {
@@ -95,7 +174,7 @@ static void handle_event(uint8_t event) {
     const uint8_t TOUCH = 0b010;
     const uint8_t RFID = 0b011;
 
-    ESP_LOGI(TAG, "Expander event: 0b%08b (0x%02X)", event, event);
+    ESP_LOGD(TAG, "Expander event: 0b%08b (0x%02X)", event, event);
 
     if (event == 0) {
         ESP_LOGE(TAG, "We read from event queue while it was empty!");
@@ -141,35 +220,29 @@ static void handle_button_switch_event(uint8_t event) {
 
         Switch sw = static_cast<Switch>(number);
         SwitchFlip sw_flip = SwitchFlip(sw, pressed);
-        if (xQueueSendToBack(expander_peripheral.switch_flip_events, &sw_flip, 0) != pdTRUE) {
-            ESP_LOGE(TAG, "Failed to send switch flip event!");
-        }
-        xSemaphoreTake(expander_peripheral.state_mutex, portMAX_DELAY);
+        xQueueSendToBack(expander_peripheral_singleton.switch_flip_events, &sw_flip, 0);
+        xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
         if (pressed) {
             // set
-            expander_peripheral.state.switch_state |= 1 << number;
+            expander_peripheral_singleton.state.switch_state |= 1 << number;
         } else {
             // clear
-            expander_peripheral.state.switch_state &= ~(1 << number);
+            expander_peripheral_singleton.state.switch_state &= ~(1 << number);
         }
-        xSemaphoreGive(expander_peripheral.state_mutex);
+        xSemaphoreGive(expander_peripheral_singleton.state_mutex);
     } else {
         // button
         Button button = static_cast<Button>(number);
         if (pressed) {
-            if (xQueueSendToBack(expander_peripheral.button_press_events, &button, 0) != pdTRUE) {
-                ESP_LOGE(TAG, "Failed to send button press event!");
-            }
-            xSemaphoreTake(expander_peripheral.state_mutex, portMAX_DELAY);
-            expander_peripheral.state.button_state |= 1 << number;
-            xSemaphoreGive(expander_peripheral.state_mutex);
+            xQueueSendToBack(expander_peripheral_singleton.button_press_events, &button, 0);
+            xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+            expander_peripheral_singleton.state.button_state |= 1 << number;
+            xSemaphoreGive(expander_peripheral_singleton.state_mutex);
         } else {
-            if (xQueueSendToBack(expander_peripheral.button_release_events, &button, 0) != pdTRUE) {
-                ESP_LOGE(TAG, "Failed to send button release event!");
-            }
-            xSemaphoreTake(expander_peripheral.state_mutex, portMAX_DELAY);
-            expander_peripheral.state.button_state &= ~(1 << number);
-            xSemaphoreGive(expander_peripheral.state_mutex);
+            xQueueSendToBack(expander_peripheral_singleton.button_release_events, &button, 0);
+            xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+            expander_peripheral_singleton.state.button_state &= ~(1 << number);
+            xSemaphoreGive(expander_peripheral_singleton.state_mutex);
         }
     }
 }
@@ -189,19 +262,15 @@ static void handle_keypad_event(uint8_t event) {
     // }
 
     if (pressed) {
-        if (xQueueSendToBack(expander_peripheral.keypad_press_events, &key, 0) != pdTRUE) {
-            ESP_LOGE(TAG, "Failed to send keypad press event!");
-        }
-        xSemaphoreTake(expander_peripheral.state_mutex, portMAX_DELAY);
-        expander_peripheral.state.keypad_state |= 1 << number;
-        xSemaphoreGive(expander_peripheral.state_mutex);
+        xQueueSendToBack(expander_peripheral_singleton.keypad_press_events, &key, 0);
+        xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+        expander_peripheral_singleton.state.keypad_state |= 1 << number;
+        xSemaphoreGive(expander_peripheral_singleton.state_mutex);
     } else {
-        if (xQueueSendToBack(expander_peripheral.keypad_release_events, &key, 0) != pdTRUE) {
-            ESP_LOGE(TAG, "Failed to send keypad release event!");
-        }
-        xSemaphoreTake(expander_peripheral.state_mutex, portMAX_DELAY);
-        expander_peripheral.state.keypad_state &= ~(1 << number);
-        xSemaphoreGive(expander_peripheral.state_mutex);
+        xQueueSendToBack(expander_peripheral_singleton.keypad_release_events, &key, 0);
+        xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+        expander_peripheral_singleton.state.keypad_state &= ~(1 << number);
+        xSemaphoreGive(expander_peripheral_singleton.state_mutex);
     }
 }
 
@@ -215,24 +284,20 @@ static void handle_touch_event(uint8_t event) {
 
     if ((sensor & FINGERPRINT_BIT) != 0) {
         TouchedReleased touch_state = static_cast<TouchedReleased>(touched);
-        if (xQueueSendToBack(expander_peripheral.touch_events, &touch_state, 0) != pdTRUE) {
-            ESP_LOGE(TAG, "Failed to send touch event!");
-        }
+        xQueueSendToBack(expander_peripheral_singleton.touch_events, &touch_state, 0);
     } else {
         Switch sw = static_cast<Switch>(sensor);
         SwitchTouch sw_touch = SwitchTouch(sw, touched);
-        if (xQueueSendToBack(expander_peripheral.switch_touch_events, &sw_touch, 0) != pdTRUE) {
-            ESP_LOGE(TAG, "Failed to send switch touch event!");
-        }
+        xQueueSendToBack(expander_peripheral_singleton.switch_touch_events, &sw_touch, 0);
     }
 
-    xSemaphoreTake(expander_peripheral.state_mutex, portMAX_DELAY);
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
     if (touched) {
-        expander_peripheral.state.touch_state |= 1 << sensor;
+        expander_peripheral_singleton.state.touch_state |= 1 << sensor;
     } else {
-        expander_peripheral.state.touch_state &= ~(1 << sensor);
+        expander_peripheral_singleton.state.touch_state &= ~(1 << sensor);
     }
-    xSemaphoreGive(expander_peripheral.state_mutex);
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
 }
 
 static void handle_rfid_event(uint8_t event) {
@@ -244,3 +309,182 @@ static void handle_close_hal_event(uint8_t event) {
     // TODO: impl
     (void)event;
 }
+
+// InputsController implementations
+
+/// Clears all events waiting in the queues.
+void InputsController::clear_all_events() {
+    xQueueReset(expander_peripheral_singleton.button_press_events);
+    xQueueReset(expander_peripheral_singleton.button_release_events);
+    xQueueReset(expander_peripheral_singleton.switch_flip_events);
+    xQueueReset(expander_peripheral_singleton.switch_touch_events);
+    xQueueReset(expander_peripheral_singleton.touch_events);
+    xQueueReset(expander_peripheral_singleton.keypad_press_events);
+    xQueueReset(expander_peripheral_singleton.keypad_release_events);
+}
+
+ExpanderState InputsController::get_input_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    ExpanderState state_copy = expander_peripheral_singleton.state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return state_copy;
+}
+
+/// Returns `true` iff there is a button press event waiting.
+bool InputsController::has_button_press() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.button_press_events) > 0;
+}
+
+/// Gets the next button press event (if any).
+std::optional<Button> InputsController::get_button_press() {
+    Button b;
+    if (xQueueReceive(expander_peripheral_singleton.button_press_events, &b, 0) == pdTRUE) {
+        return b;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next button press event, waiting if neccesary.
+Button InputsController::wait_button_press() {
+    Button b;
+    xQueueReceive(expander_peripheral_singleton.button_press_events, &b, portMAX_DELAY);
+    return b;
+}
+
+/// Gets the current state of the buttons.
+uint8_t InputsController::button_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    uint8_t value = expander_peripheral_singleton.state.button_state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return value;
+}
+
+/// Returns `true` iff there is a button release event waiting.
+bool InputsController::has_button_release() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.button_release_events) > 0;
+}
+
+/// Gets the next button release event (if any).
+std::optional<Button> InputsController::get_button_release() {
+    Button b;
+    if (xQueueReceive(expander_peripheral_singleton.button_release_events, &b, 0) == pdTRUE) {
+        return b;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next button release event, waiting if neccesary.
+Button InputsController::wait_button_release() {
+    Button b;
+    xQueueReceive(expander_peripheral_singleton.button_release_events, &b, portMAX_DELAY);
+    return b;
+}
+
+/// Returns `true` iff there is a switch flip event waiting.
+bool InputsController::has_switch_flip() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.switch_flip_events) > 0;
+}
+
+/// Gets the next switch flip event (if any).
+std::optional<SwitchFlip> InputsController::get_switch_flip() {
+    SwitchFlip s;
+    if (xQueueReceive(expander_peripheral_singleton.switch_flip_events, &s, 0) == pdTRUE) {
+        return s;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next switch flip event, waiting if neccesary.
+SwitchFlip InputsController::wait_switch_flip() {
+    SwitchFlip s;
+    xQueueReceive(expander_peripheral_singleton.switch_flip_events, &s, portMAX_DELAY);
+    return s;
+}
+
+/// Gets the current state of the switches.
+uint8_t InputsController::switch_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    uint8_t value = expander_peripheral_singleton.state.switch_state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return value;
+}
+
+/// Returns `true` iff there is a switch touch event waiting.
+bool InputsController::has_switch_touch() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.switch_touch_events) > 0;
+}
+
+/// Gets the next switch touch event (if any).
+std::optional<SwitchTouch> InputsController::get_switch_touch() {
+    SwitchTouch s;
+    if (xQueueReceive(expander_peripheral_singleton.switch_touch_events, &s, 0) == pdTRUE) {
+        return s;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next switch touch event, waiting if neccesary.
+SwitchTouch InputsController::wait_switch_touch() {
+    SwitchTouch s;
+    xQueueReceive(expander_peripheral_singleton.switch_touch_events, &s, portMAX_DELAY);
+    return s;
+}
+
+/// Gets the current state of the touch sensors.
+uint8_t InputsController::switch_touch_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    uint8_t value = expander_peripheral_singleton.state.touch_state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return value;
+}
+
+/// Returns `true` iff there is a keypad press event waiting.
+bool InputsController::has_keypad_press() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.keypad_press_events) > 0;
+}
+
+/// Gets the next keypad press event (if any).
+std::optional<KeypadKey> InputsController::get_keypad_press() {
+    KeypadKey k;
+    if (xQueueReceive(expander_peripheral_singleton.keypad_press_events, &k, 0) == pdTRUE) {
+        return k;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next keypad press event, waiting if neccesary.
+KeypadKey InputsController::wait_keypad_press() {
+    KeypadKey k;
+    xQueueReceive(expander_peripheral_singleton.keypad_press_events, &k, portMAX_DELAY);
+    return k;
+}
+
+/// Returns `true` iff there is a keypad release event waiting.
+bool InputsController::has_keypad_release() {
+    return uxQueueMessagesWaiting(expander_peripheral_singleton.keypad_release_events) > 0;
+}
+
+/// Gets the next keypad release event (if any).
+std::optional<KeypadKey> InputsController::get_keypad_release() {
+    KeypadKey k;
+    if (xQueueReceive(expander_peripheral_singleton.keypad_release_events, &k, 0) == pdTRUE) {
+        return k;
+    }
+    return std::nullopt;
+}
+
+/// Gets the next keypad release event, waiting if neccesary.
+KeypadKey InputsController::wait_keypad_release() {
+    KeypadKey k;
+    xQueueReceive(expander_peripheral_singleton.keypad_release_events, &k, portMAX_DELAY);
+    return k;
+}
+
+/// Gets the current state of the keypad.
+uint16_t InputsController::keypad_state() {
+    xSemaphoreTake(expander_peripheral_singleton.state_mutex, portMAX_DELAY);
+    uint16_t value = expander_peripheral_singleton.state.keypad_state;
+    xSemaphoreGive(expander_peripheral_singleton.state_mutex);
+    return value;
+}
+

include/blk_box_drivers/expander.hpp

@@ -3,11 +3,14 @@
 
 #include "blk_box_drivers/i2c.h"
 #include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
 #include <freertos/semphr.h>
+#include <optional>
 
 #define EXPANDER_I2C_ADDR (0x7E)
 #define EXPANDER_I2C_SPEED (400000)
-#define EXPANDER_TIMEOUT_MS (10)
+// the actual transaction takes ~0.3ms, but for some reason a timout of ~10 or lower causes issues.
+#define EXPANDER_TIMEOUT_MS (100)
 
 #define EXPANDER_WHOAMI_VALUE (0x85)
 
@@ -29,6 +32,9 @@ enum class Button: uint8_t {
     BLUE = 3,
 };
 
+constexpr uint8_t raw_value(Button v) { return static_cast<uint8_t>(v); }
+constexpr Button button_from_raw(uint8_t raw) { return static_cast<Button>(raw & 0b11); }
+
 /// The four switches on the bottom half.
 enum class Switch: uint8_t {
     S1 = 0,
@@ -37,11 +43,17 @@ enum class Switch: uint8_t {
     S4 = 3,
 };
 
+constexpr uint8_t raw_value(Switch v) { return static_cast<uint8_t>(v); }
+constexpr Switch switch_from_raw(uint8_t raw) { return static_cast<Switch>(raw & 0b11); }
+
 enum class TouchedReleased: uint8_t {
     Released = 0,
     Touched = 1,
 };
 
+constexpr uint8_t raw_value(TouchedReleased v) { return static_cast<uint8_t>(v); }
+constexpr TouchedReleased touched_released_from_raw(uint8_t raw) { return static_cast<TouchedReleased>(raw & 0b1); }
+
 /// One of the keys on the keypad.
 enum class KeypadKey: uint8_t {
     K0 = 0,
@@ -62,26 +74,44 @@ enum class KeypadKey: uint8_t {
     POUND = 15,
 };
 
+constexpr uint8_t raw_value(KeypadKey v) { return static_cast<uint8_t>(v); }
+constexpr KeypadKey keypad_key_from_raw(uint8_t raw) { return static_cast<KeypadKey>(raw & 0b1111); }
+
+constexpr char keypad_key_to_char(KeypadKey key) {
+    static constexpr char lookup[16] = {
+        '0', '1', '2', '3', '4', '5', '6', '7',
+        '8', '9', 'A', 'B', 'C', 'D', '*', '#'
+    };
+    return lookup[static_cast<uint8_t>(key) & 0b1111];
+}
+
+
 struct SwitchFlip {
 private:
-    // [bit2: pressed] [bit1-0: switch] 
+    // [bit2: up] [bit1-0: switch] 
     uint8_t data;
 
 public:
     // Constructor
-    SwitchFlip(Switch sw, bool pressed)
+    SwitchFlip(Switch sw, bool up)
         : data((static_cast<uint8_t>(sw) & 0b11) |
-               ((pressed ? 1 : 0) << 2)) {}
+               ((up ? 1 : 0) << 2)) {}
 
     // Default constructor
     SwitchFlip() : data(0) {}
 
+    // Raw value constructor
+    explicit SwitchFlip(uint8_t raw_data) : data(raw_data) {}
+
+    // Raw value getter
+    uint8_t raw() const { return data; }
+
     // Getters
     Switch get_switch() const {
         return static_cast<Switch>(data & 0b11);
     }
 
-    bool is_pressed() const {
+    bool is_up() const {
         return (data >> 2) & 1;
     }
 
@@ -90,8 +120,8 @@ public:
         data = (data & ~0b11) | (static_cast<uint8_t>(sw) & 0b11);
     }
 
-    void set_pressed(bool pressed) {
-        data = (data & ~(1 << 2)) | ((pressed ? 1 : 0) << 2);
+    void set_up(bool up) {
+        data = (data & ~(1 << 2)) | ((up ? 1 : 0) << 2);
     }
 };
 static_assert(sizeof(SwitchFlip) == 1);
@@ -110,6 +140,12 @@ public:
     // Default constructor
     SwitchTouch() : data(0) {}
 
+    // Raw value constructor
+    explicit SwitchTouch(uint8_t raw_data) : data(raw_data) {}
+
+    // Raw value getter
+    uint8_t raw() const { return data; }
+
     // Getters
     Switch get_switch() const {
         return static_cast<Switch>(data & 0b11);
@@ -143,6 +179,12 @@ public:
 
     ButtonOrSwitch() : data(0) {}
 
+    // Raw value constructor
+    explicit ButtonOrSwitch(uint8_t raw_data) : data(raw_data) {}
+
+    // Raw value getter
+    uint8_t raw() const { return data; }
+
     // Getters
     uint8_t number() const {
         return data & 0b11;
@@ -194,28 +236,41 @@ struct ExpanderState {
     ExpanderState() : touch_state(0), button_state(0), switch_state(0), keypad_state(0), hal_sense(0), close_hal_sense(0), hal(0), close_hal(0), rfid_state(0) {}
 };
 
-/// The global data for the expander peripheral.
-class ExpanderPeripheral {
-    // TODO: change these to private
-    public: 
-    SemaphoreHandle_t state_mutex;
-    ExpanderState state;
+class InputsController {
+public:
+    static void clear_all_events();
 
-    // channels
-    QueueHandle_t button_press_events;
-    QueueHandle_t button_release_events;
-    QueueHandle_t switch_flip_events;
-    QueueHandle_t switch_touch_events;
-    QueueHandle_t touch_events;
-    QueueHandle_t keypad_press_events;
-    QueueHandle_t keypad_release_events;
-    // button_press_events: Channel<CriticalSectionRawMutex, Button, EXPANDER_EVENT_QUEUE_SIZE>,
-    // button_release_events: Channel<CriticalSectionRawMutex, Button, EXPANDER_EVENT_QUEUE_SIZE>,
-    // switch_flip_events: Channel<CriticalSectionRawMutex, SwitchFlip, EXPANDER_EVENT_QUEUE_SIZE>,
-    // switch_touch_events: Channel<CriticalSectionRawMutex, SwitchTouch, EXPANDER_EVENT_QUEUE_SIZE>,
-    // touch_events: Channel<CriticalSectionRawMutex, TouchRelease, EXPANDER_EVENT_QUEUE_SIZE>,
-    // keypad_press_events: Channel<CriticalSectionRawMutex, KeypadKey, EXPANDER_KEYPAD_QUEUE_SIZE>,
-    // keypad_release_events: Channel<CriticalSectionRawMutex, KeypadKey, EXPANDER_KEYPAD_QUEUE_SIZE>,
+    static ExpanderState get_input_state();
+    
+    static bool has_button_press();
+    static std::optional<Button> get_button_press();
+    static Button wait_button_press();
+    static uint8_t button_state();
+
+    static bool has_button_release();
+    static std::optional<Button> get_button_release();
+    static Button wait_button_release();
+
+    static bool has_switch_flip();
+    static std::optional<SwitchFlip> get_switch_flip();
+    static SwitchFlip wait_switch_flip();
+    static uint8_t switch_state();
+
+    static bool has_switch_touch();
+    static std::optional<SwitchTouch> get_switch_touch();
+    static SwitchTouch wait_switch_touch();
+    static uint8_t switch_touch_state();
+
+    static bool has_keypad_press();
+    static std::optional<KeypadKey> get_keypad_press();
+    static KeypadKey wait_keypad_press();
+
+    static bool has_keypad_release();
+    static std::optional<KeypadKey> get_keypad_release();
+    static KeypadKey wait_keypad_release();
+    static uint16_t keypad_state();
+
+    // TODO: impl and add the hal and RFID stuff
 };
 
 #endif // EXPANDER_H