Timeout in BehaviorKit

leka · Dec 18, 2023 · 5558904 · 5558904
1 parent 83880ac
commit 5558904
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Showing 5 changed files with 35 additions and 5 deletions.
diff --git a/include/interface/libs/BehaviorKit.h b/include/interface/libs/BehaviorKit.h
@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <chrono>
 #include <span>
 
 #include "interface/Behavior.h"
@@ -17,6 +18,7 @@ class BehaviorKit
 	virtual ~BehaviorKit() = default;
 
 	virtual void registerBehaviors(std::span<interface::Behavior *> behaviors) = 0;
+	virtual void setTimeoutDuration(std::chrono::seconds duration)			   = 0;
 	virtual void start(interface::Behavior *behavior)						   = 0;
 	virtual void start(BehaviorID id)										   = 0;
 	virtual void stop()														   = 0;

diff --git a/libs/BehaviorKit/include/BehaviorKit.h b/libs/BehaviorKit/include/BehaviorKit.h
@@ -7,6 +7,7 @@
 #include <span>
 
 #include "interface/Behavior.h"
+#include "interface/drivers/Timeout.h"
 #include "interface/libs/BehaviorKit.h"
 #include "interface/libs/EventLoop.h"
 #include "internal/BehaviorID.h"
@@ -16,9 +17,10 @@ namespace leka {
 class BehaviorKit : public interface::BehaviorKit
 {
   public:
-	explicit BehaviorKit(interface::EventLoop &event_loop);
+	explicit BehaviorKit(interface::EventLoop &event_loop, interface::Timeout &timeout);
 
 	void registerBehaviors(std::span<interface::Behavior *> behaviors) final;
+	void setTimeoutDuration(std::chrono::seconds duration) final;
 
 	void start(interface::Behavior *behavior) final;
 	void start(BehaviorID id) final;
@@ -28,6 +30,8 @@ class BehaviorKit : public interface::BehaviorKit
 	void run();
 
 	interface::EventLoop &_event_loop;
+	interface::Timeout &_timeout;
+	std::chrono::seconds _timeout_duration {20};
 
 	std::span<interface::Behavior *> _behaviors {};
 	interface::Behavior *_behavior = nullptr;

diff --git a/libs/BehaviorKit/source/BehaviorKit.cpp b/libs/BehaviorKit/source/BehaviorKit.cpp
@@ -7,16 +7,23 @@
 
 using namespace leka;
 
-BehaviorKit::BehaviorKit(interface::EventLoop &event_loop) : _event_loop(event_loop)
+BehaviorKit::BehaviorKit(interface::EventLoop &event_loop, interface::Timeout &timeout)
+	: _event_loop(event_loop), _timeout(timeout)
 {
 	_event_loop.registerCallback([this] { run(); });
+	_timeout.onTimeout([this] { stop(); });
 }
 
 void BehaviorKit::registerBehaviors(std::span<interface::Behavior *> behaviors)
 {
 	_behaviors = behaviors;
 }
 
+void BehaviorKit::setTimeoutDuration(std::chrono::seconds duration)
+{
+	_timeout_duration = duration;
+}
+
 void BehaviorKit::start(interface::Behavior *behavior)
 {
 	stop();
@@ -28,6 +35,9 @@ void BehaviorKit::start(interface::Behavior *behavior)
 	}
 
 	_event_loop.start();
+	if (_timeout_duration != std::chrono::seconds {0}) {
+		_timeout.start(_timeout_duration);
+	}
 }
 
 void BehaviorKit::start(BehaviorID id)
@@ -54,4 +64,5 @@ void BehaviorKit::stop()
 	if (_behavior != nullptr) {
 		_behavior->stop();
 	}
+	_timeout.stop();
 }
diff --git a/libs/BehaviorKit/tests/BehaviorKit_test.cpp b/libs/BehaviorKit/tests/BehaviorKit_test.cpp
@@ -7,6 +7,7 @@
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
 #include "mocks/leka/Behavior.h"
+#include "mocks/leka/Timeout.h"
 #include "stubs/leka/EventLoopKit.h"
 
 using namespace leka;
@@ -22,7 +23,8 @@ class BehaviorKitTest : public ::testing::Test
 	// void TearDown() override {}
 
 	stub::EventLoopKit stub_event_loop {};
-	BehaviorKit behaviorkit {stub_event_loop};
+	mock::Timeout mock_timeout {};
+	BehaviorKit behaviorkit {stub_event_loop, mock_timeout};
 
 	mock::Behavior mock_behavior_a {};
 	mock::Behavior mock_behavior_b {};
@@ -38,14 +40,17 @@ TEST_F(BehaviorKitTest, startFirstBehavior)
 	auto behaviors = std::to_array<interface::Behavior *>({&mock_behavior_a});
 	behaviorkit.registerBehaviors(behaviors);
 
+	EXPECT_CALL(mock_timeout, stop);
+	EXPECT_CALL(mock_timeout, start);
 	EXPECT_CALL(mock_behavior_a, run);
 
 	behaviorkit.start(&mock_behavior_a);
 }
 
 TEST_F(BehaviorKitTest, startBehaviorNullPtr)
 {
-	// nothing expected
+	EXPECT_CALL(mock_timeout, stop);
+	EXPECT_CALL(mock_timeout, start).Times(0);
 
 	behaviorkit.start(nullptr);
 }
@@ -61,6 +66,8 @@ TEST_F(BehaviorKitTest, startFirstBehaviorID)
 	auto behavior_a_id = BehaviorID {1};
 	auto behavior_b_id = BehaviorID {2};
 
+	EXPECT_CALL(mock_timeout, stop);
+	EXPECT_CALL(mock_timeout, start);
 	EXPECT_CALL(mock_behavior_a, id).WillRepeatedly(Return(behavior_a_id));
 	EXPECT_CALL(mock_behavior_b, id).WillRepeatedly(Return(behavior_b_id));
 	EXPECT_CALL(mock_behavior_b, run);
@@ -79,6 +86,8 @@ TEST_F(BehaviorKitTest, startBehaviorIDNotRegistered)
 	auto behavior_a_id = BehaviorID {1};
 	auto behavior_b_id = BehaviorID {2};
 
+	EXPECT_CALL(mock_timeout, stop);
+	EXPECT_CALL(mock_timeout, start).Times(0);
 	EXPECT_CALL(mock_behavior_a, id).WillRepeatedly(Return(behavior_a_id));
 	EXPECT_CALL(mock_behavior_b, id).WillRepeatedly(Return(behavior_b_id));
 
@@ -93,10 +102,14 @@ TEST_F(BehaviorKitTest, startAnyBehavior)
 	});
 	behaviorkit.registerBehaviors(behaviors);
 
+	EXPECT_CALL(mock_timeout, stop);
+	EXPECT_CALL(mock_timeout, start);
 	EXPECT_CALL(mock_behavior_a, run);
 
 	behaviorkit.start(&mock_behavior_a);
 
+	EXPECT_CALL(mock_timeout, stop);
+	EXPECT_CALL(mock_timeout, start);
 	EXPECT_CALL(mock_behavior_a, stop);
 	EXPECT_CALL(mock_behavior_b, run);
 

diff --git a/spikes/lk_auto_charge/main.cpp b/spikes/lk_auto_charge/main.cpp
@@ -104,7 +104,7 @@ auto blekit			  = BLEKit {};
 
 auto behavior_autocharge_seal = behavior::AutochargeSeal {motors::left::motor, motors::right::motor, imukit};
 auto behaviors				  = std::to_array<interface::Behavior *>({&behavior_autocharge_seal});
-auto behavior_kit			  = BehaviorKit {event_loop};
+auto behavior_kit			  = BehaviorKit {event_loop, timeout};
 
 auto last_strategy = BehaviorID {0x00};