From afc8518fb7ec5a5009770f663fe94444363e9521 Mon Sep 17 00:00:00 2001
From: Giovanni Bruno <g.bruno@arduino.cc>
Date: Fri, 1 Mar 2024 11:21:40 +0100
Subject: [PATCH] added priority on touch buttons

---
 library.properties                  |  2 +-
 src/Arduino_AlvikCarrier.cpp        | 54 ++++++++++++++++++++++++-----
 src/Arduino_AlvikCarrier.h          |  2 +-
 src/definitions/robot_definitions.h |  4 +--
 4 files changed, 50 insertions(+), 12 deletions(-)

diff --git a/library.properties b/library.properties
index 190223d..95ffe2b 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=Arduino_AlvikCarrier
-version=0.3.0
+version=0.3.4
 author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
 maintainer=Arduino <info@arduino.cc>
 sentence=Library and firmware for Arduino Alvik Carrier board
diff --git a/src/Arduino_AlvikCarrier.cpp b/src/Arduino_AlvikCarrier.cpp
index dd14872..a29c924 100644
--- a/src/Arduino_AlvikCarrier.cpp
+++ b/src/Arduino_AlvikCarrier.cpp
@@ -434,17 +434,55 @@ bool Arduino_AlvikCarrier::getTouchKey(const uint8_t key){
     return false;
 }
 
-uint8_t Arduino_AlvikCarrier::getTouchKeys(){
+uint8_t Arduino_AlvikCarrier::getTouchKeys(const bool single_touch){
     touch_value=0;
     if (getAnyTouchPressed()){
         touch_value|=1;
-        touch_value|=getTouchOk()<<1;
-        touch_value|=getTouchDelete()<<2;
-        touch_value|=getTouchCenter()<<3;
-        touch_value|=getTouchUp()<<4;
-        touch_value|=getTouchLeft()<<5;
-        touch_value|=getTouchDown()<<6;
-        touch_value|=getTouchRight()<<7;
+        if (!single_touch){
+            touch_value|=getTouchOk()<<1;
+            touch_value|=getTouchDelete()<<2;
+            touch_value|=getTouchCenter()<<3;
+            touch_value|=getTouchUp()<<4;
+            touch_value|=getTouchLeft()<<5;
+            touch_value|=getTouchDown()<<6;
+            touch_value|=getTouchRight()<<7;
+        }
+        else{
+            if (getTouchOk()){
+                touch_value|=1<<1;
+            }else{
+                if (getTouchDelete()){
+                    touch_value|=1<<2;
+                }
+                else{
+                    if (getTouchCenter()){
+                        touch_value|=1<<3;
+                    }
+                    else{
+                        if (getTouchLeft()){
+                            touch_value|=1<<5;
+                        }
+                        else{
+                            if (getTouchDown()){
+                                touch_value|=1<<6;
+                            }
+                            else{
+                                if (getTouchRight()){
+                                    touch_value|=1<<7;
+                                }
+                                else{
+                                    if (getTouchUp()){
+                                        touch_value|=1<<4;
+                                    }
+                                }
+                            }
+
+                        }
+                    }
+                }
+            }
+        }
+
     }
     return touch_value;
 }
diff --git a/src/Arduino_AlvikCarrier.h b/src/Arduino_AlvikCarrier.h
index a37b0ff..3da1dbf 100644
--- a/src/Arduino_AlvikCarrier.h
+++ b/src/Arduino_AlvikCarrier.h
@@ -179,7 +179,7 @@ class Arduino_AlvikCarrier{
         void updateTouch();                                                             // update touch status
         bool getAnyTouchPressed();                                                      // get any touch pressed
         bool getTouchKey(const uint8_t key);                                            // return true if key touch is pressed
-        uint8_t getTouchKeys();                                                         // return touched pads as byte
+        uint8_t getTouchKeys(const bool single_touch = true);                           // return touched pads as byte
         bool getTouchUp();                                                              // get nav pad up
         bool getTouchRight();                                                           // get nav pad right
         bool getTouchDown();                                                            // get nav pad down
diff --git a/src/definitions/robot_definitions.h b/src/definitions/robot_definitions.h
index 291706a..129ba41 100644
--- a/src/definitions/robot_definitions.h
+++ b/src/definitions/robot_definitions.h
@@ -87,8 +87,8 @@ const float MOTION_FX_PERIOD = (1000U / MOTION_FX_FREQ);
 
 // Library version
 #define VERSION_BYTE_HIGH 0
-#define VERSION_BYTE_MID 2
-#define VERSION_BYTE_LOW 1
+#define VERSION_BYTE_MID 3
+#define VERSION_BYTE_LOW 4