✨ (RobotController): Implement suspendHardwareForDeepSleep

leka · Jul 9, 2024 · 6ed5247 · 6ed5247
1 parent 9a4dd79
commit 6ed5247
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Showing 2 changed files with 14 additions and 1 deletion.
diff --git a/libs/RobotKit/include/RobotController.h b/libs/RobotKit/include/RobotController.h
@@ -308,7 +308,15 @@ class RobotController : public interface::RobotController
 		stopActuators();
 	}
 
-	void suspendHardwareForDeepSleep() final { log_info("TO IMPLEMENT - configuring hardware for deep sleep"); }
+	void suspendHardwareForDeepSleep() final
+	{
+		auto hardwares_to_suspend =
+			std::to_array<interface::DeepSleepEnabled *>({&_motor_left, &_motor_right, &_lcd, &_rfidkit});
+
+		for (auto &hardware: hardwares_to_suspend) {
+			hardware->enableDeepSleep();
+		}
+	}
 
 	void resetEmergencyStopCounter() final { _emergency_stop_counter = 0; }
 

diff --git a/libs/RobotKit/tests/RobotController_test_hardware.cpp b/libs/RobotKit/tests/RobotController_test_hardware.cpp
@@ -32,6 +32,11 @@ TEST_F(RobotControllerTest, stopActuatorsAndLcd)
 
 TEST_F(RobotControllerTest, suspendHardwareForDeepSleep)
 {
+	EXPECT_CALL(mock_motor_left, enableDeepSleep);
+	EXPECT_CALL(mock_motor_right, enableDeepSleep);
+	EXPECT_CALL(mock_lcd, enableDeepSleep);
+	// TODO: Expect_call of RFID
+
 	rc.suspendHardwareForDeepSleep();
 }