Integrate hand gateway and spatial force rendering

src/force.rs

@@ -0,0 +1,49 @@
+use crate::serial_core::multi_dim_force::PztProcessor;
+
+const FINGER_SAMPLE_COUNT: usize = 84;
+const MIN_TANGENTIAL_MAGNITUDE: f32 = 0.02;
+
+#[derive(Debug, Clone, Copy)]
+pub struct HudSpatialForce {
+    pub angle_deg: f32,
+    pub magnitude: f32,
+}
+
+pub struct ForceEstimatorState {
+    pzt_processor: PztProcessor,
+}
+
+impl ForceEstimatorState {
+    pub fn new() -> Self {
+        Self {
+            pzt_processor: PztProcessor::new(),
+        }
+    }
+
+    pub fn reset(&mut self) {
+        self.pzt_processor.reset_baseline();
+    }
+
+    pub fn analyze(&mut self, values: &[u32]) -> Option<HudSpatialForce> {
+        if values.len() != FINGER_SAMPLE_COUNT {
+            return None;
+        }
+
+        let pzt_values = values.iter().map(|value| *value as f32).collect::<Vec<_>>();
+
+        self.pzt_processor
+            .get_pzt_analysis(&pzt_values)
+            .ok()
+            .filter(|analysis| analysis.magnitude > MIN_TANGENTIAL_MAGNITUDE)
+            .map(|analysis| HudSpatialForce {
+                angle_deg: analysis.angle_deg,
+                magnitude: analysis.magnitude,
+            })
+    }
+}
+
+impl Default for ForceEstimatorState {
+    fn default() -> Self {
+        Self::new()
+    }
+}