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🔀️ Merge branch 'yann/refactor/rc/use-batterykit' into develop
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@ladislas
ladislas committed Jul 10, 2024
2 parents 2ac11db + 4cb518c commit 85b45aa
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Showing 6 changed files with 93 additions and 92 deletions.
4 changes: 3 additions & 1 deletion app/os/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
#include "rtos/Thread.h"

#include "ActivityKit.h"
#include "BatteryKit.h"
#include "ChooseReinforcer.h"
#include "CoreBattery.h"
#include "CoreBufferedSerial.h"
Expand Down Expand Up @@ -89,6 +90,7 @@ namespace battery {
}

auto cells = CoreBattery {PinName::BATTERY_VOLTAGE, battery::charge::status_input};
auto kit = BatteryKit {battery::cells};

} // namespace battery

Expand Down Expand Up @@ -418,7 +420,7 @@ namespace robot {
internal::timeout_state_internal,
internal::timeout_state_transition,
internal::timeout_autonomous_activities,
battery::cells,
battery::kit,
internal::serialnumberkit,
firmware::kit,
motors::left::motor,
Expand Down
52 changes: 23 additions & 29 deletions libs/RobotKit/include/RobotController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,12 +30,12 @@
#include "SerialNumberKit.h"
#include "StateMachine.h"
#include "interface/RobotController.h"
#include "interface/drivers/Battery.h"
#include "interface/drivers/DeepSleepEnabled.h"
#include "interface/drivers/FirmwareUpdate.h"
#include "interface/drivers/LCD.hpp"
#include "interface/drivers/Motor.h"
#include "interface/drivers/Timeout.h"
#include "interface/libs/BatteryKit.h"
#include "interface/libs/LedKit.h"
#include "interface/libs/VideoKit.h"

Expand All @@ -51,7 +51,7 @@ class RobotController : public interface::RobotController
sm_t state_machine {static_cast<interface::RobotController &>(*this), logger};

explicit RobotController(interface::Timeout &timeout_state_internal, interface::Timeout &timeout_state_transition,
interface::Timeout &timeout_autonomous_activities, interface::Battery &battery,
interface::Timeout &timeout_autonomous_activities, interface::BatteryKit &batterykit,
SerialNumberKit &serialnumberkit, interface::FirmwareUpdate &firmware_update,
interface::Motor &motor_left, interface::Motor &motor_right, interface::LED &ears,
interface::LED &belt, interface::LedKit &ledkit, interface::LCD &lcd,
Expand All @@ -60,7 +60,7 @@ class RobotController : public interface::RobotController
: _timeout_state_internal(timeout_state_internal),
_timeout_state_transition(timeout_state_transition),
_timeout_autonomous_activities(timeout_autonomous_activities),
_battery(battery),
_batterykit(batterykit),
_serialnumberkit(serialnumberkit),
_firmware_update(firmware_update),
_motor_left(motor_left),
Expand Down Expand Up @@ -155,7 +155,7 @@ class RobotController : public interface::RobotController

auto isCharging() -> bool final
{
auto is_charging = _battery.isCharging();
auto is_charging = _batterykit.isCharging();

_service_monitoring.setChargingStatus(is_charging);

Expand All @@ -181,7 +181,7 @@ class RobotController : public interface::RobotController
{
using namespace std::chrono_literals;

onChargingBehavior(_battery_kit.level());
onChargingBehavior(_batterykit.level());
_behaviorkit.blinkOnCharge();
rtos::ThisThread::sleep_for(500ms);
_lcd.turnOn();
Expand All @@ -202,7 +202,7 @@ class RobotController : public interface::RobotController
{
using namespace std::chrono_literals;
stopActuators();
if (_battery.isCharging()) {
if (_batterykit.isCharging()) {
_behaviorkit.bleConnectionWithoutVideo();
rtos::ThisThread::sleep_for(5s);
_behaviorkit.blinkOnCharge();
Expand All @@ -215,7 +215,7 @@ class RobotController : public interface::RobotController
void startDisconnectionBehavior() final
{
stopActuators();
if (_battery.isCharging()) {
if (_batterykit.isCharging()) {
_behaviorkit.blinkOnCharge();
}
}
Expand All @@ -238,7 +238,7 @@ class RobotController : public interface::RobotController
void startFileExchange() final
{
_behaviorkit.fileExchange();
if (_battery.isCharging()) {
if (_batterykit.isCharging()) {
_behaviorkit.blinkOnCharge();
}
_lcd.turnOn();
Expand Down Expand Up @@ -274,7 +274,7 @@ class RobotController : public interface::RobotController

auto isReadyToFileExchange() -> bool final
{
auto is_robot_ready = (_battery.isCharging() && _battery.level() > _minimal_battery_level_to_update);
auto is_robot_ready = (_batterykit.isCharging() && _batterykit.level() > _minimal_battery_level_to_update);

if (!is_robot_ready) {
_service_file_exchange.setFileExchangeState(false);
Expand All @@ -285,7 +285,7 @@ class RobotController : public interface::RobotController

auto isReadyToUpdate() -> bool final
{
auto is_robot_ready = _battery.isCharging() && _battery.level() > _minimal_battery_level_to_update;
auto is_robot_ready = _batterykit.isCharging() && _batterykit.level() > _minimal_battery_level_to_update;

auto firmware_version = _service_update.getVersion();
auto is_version_available = _firmware_update.isVersionAvailable(firmware_version);
Expand Down Expand Up @@ -460,8 +460,8 @@ class RobotController : public interface::RobotController

_activitykit.registerBeforeProcessCallback([this] { resetAutonomousActivitiesTimeout(); });

_battery_kit.onDataUpdated([this](uint8_t level) {
auto is_charging = _battery.isCharging();
_batterykit.onDataUpdated([this](uint8_t level) {
auto is_charging = _batterykit.isCharging();

auto advertising_data = _ble.getAdvertisingData();
advertising_data.battery = level;
Expand All @@ -477,18 +477,17 @@ class RobotController : public interface::RobotController
}
});

auto on_low_battery = [this] {
if (!_battery.isCharging()) {
_batterykit.onLowBattery([this] {
if (!_batterykit.isCharging()) {
_behaviorkit.lowBattery();
}

if (_battery.level() == 0) {
if (_batterykit.level() == 0) {
system_reset();
}
};
_battery_kit.onLowBattery(on_low_battery);
});

_battery_kit.startEventHandler();
_batterykit.startEventHandler();

_ble.onConnectionCallback([this] { raise(event::ble_connection {}); });

Expand All @@ -498,11 +497,9 @@ class RobotController : public interface::RobotController

// Setup callbacks for each State Machine events

auto on_charge_did_start = [this]() { raise(event::charge_did_start {}); };
_battery.onChargeDidStart(on_charge_did_start);
_batterykit.onChargeDidStart([this] { raise(event::charge_did_start {}); });

auto on_charge_did_stop = [this]() { raise(event::charge_did_stop {}); };
_battery.onChargeDidStop(on_charge_did_stop);
_batterykit.onChargeDidStop([this] { raise(event::charge_did_stop {}); });

_service_monitoring.onSoftReboot([] { system_reset(); });

Expand All @@ -512,7 +509,7 @@ class RobotController : public interface::RobotController
std::ignore = _configkit.write(config_robot_name, robot_name);
});

auto on_commands_received = [this](std::span<uint8_t> _buffer) {
_service_commands.onCommandsReceived([this](std::span<uint8_t> _buffer) {
raise(event::command_received {});

if (!isCharging()) {
Expand All @@ -521,8 +518,7 @@ class RobotController : public interface::RobotController

_cmdkit.push(std::span {_buffer.data(), std::size(_buffer)});
}
};
_service_commands.onCommandsReceived(on_commands_received);
});

_service_file_exchange.onSetFileExchangeState([this](bool file_exchange_requested) {
if (file_exchange_requested) {
Expand All @@ -532,8 +528,7 @@ class RobotController : public interface::RobotController
}
});

auto on_update_requested = [this]() { raise(event::update_requested {}); };
_service_update.onUpdateRequested(on_update_requested);
_service_update.onUpdateRequested([this] { raise(event::update_requested {}); });

raise(event::setup_complete {});
}
Expand Down Expand Up @@ -573,8 +568,7 @@ class RobotController : public interface::RobotController
rtos::Kernel::Clock::time_point start = rtos::Kernel::Clock::now();
rtos::Kernel::Clock::time_point stop = rtos::Kernel::Clock::now();

interface::Battery &_battery;
BatteryKit _battery_kit {_battery};
interface::BatteryKit &_batterykit;
uint8_t _minimal_battery_level_to_update {25};

SerialNumberKit &_serialnumberkit;
Expand Down
9 changes: 7 additions & 2 deletions libs/RobotKit/tests/RobotController_test.h
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
#include "SerialNumberKit.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
#include "mocks/leka/Battery.h"
#include "mocks/leka/BatteryKit.h"
#include "mocks/leka/CoreLCD.h"
#include "mocks/leka/CoreLED.h"
#include "mocks/leka/CoreMotor.h"
Expand Down Expand Up @@ -79,7 +79,7 @@ class RobotControllerTest : public testing::Test
mock::Timeout timeout_state_internal {};
mock::Timeout timeout_state_transition {};
mock::Timeout timeout_autonomous_activities {};
mock::Battery battery {};
mock::BatteryKit battery {};

mock::MCU mock_mcu {};
SerialNumberKit serialnumberkit {mock_mcu, SerialNumberKit::DEFAULT_CONFIG};
Expand Down Expand Up @@ -139,6 +139,8 @@ class RobotControllerTest : public testing::Test
interface::Timeout::callback_t on_charging_start_timeout = {};
interface::Timeout::callback_t on_autonomous_activities_timeout = {};

std::function<void(uint8_t)> on_data_updated {};
std::function<void()> on_low_battery {};
std::function<void()> on_charge_did_start {};
std::function<void()> on_charge_did_stop {};

Expand Down Expand Up @@ -179,6 +181,7 @@ class RobotControllerTest : public testing::Test
{
EXPECT_CALL(battery, isCharging).Times(AnyNumber());
EXPECT_CALL(battery, level).Times(AnyNumber());
EXPECT_CALL(battery, startEventHandler).Times(AnyNumber());

EXPECT_CALL(mock_ledkit, stop).Times(AnyNumber());
EXPECT_CALL(mock_motor_left, stop).Times(AnyNumber());
Expand All @@ -196,6 +199,8 @@ class RobotControllerTest : public testing::Test
} // ? On Idle entry

// Saved callback
EXPECT_CALL(battery, onDataUpdated).WillOnce(SaveArg<0>(&on_data_updated));
EXPECT_CALL(battery, onLowBattery).WillOnce(SaveArg<0>(&on_low_battery));
EXPECT_CALL(battery, onChargeDidStart).WillOnce(SaveArg<0>(&on_charge_did_start));
EXPECT_CALL(battery, onChargeDidStop).WillOnce(SaveArg<0>(&on_charge_did_stop));

Expand Down
54 changes: 54 additions & 0 deletions libs/RobotKit/tests/RobotController_test_hardware.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,60 @@ TEST_F(RobotControllerTest, wakeUp)
// nothing expected
}

TEST_F(RobotControllerTest, onDataUpdated)
{
{
EXPECT_CALL(battery, isCharging).WillOnce(Return(false));

EXPECT_CALL(mbed_mock_gap, setAdvertisingPayload);
// TODO: Specify which BLE service and what is expected if necessary
EXPECT_CALL(mbed_mock_gatt, write(_, _, _, _)).Times(2);
}

on_data_updated(0);

{
EXPECT_CALL(battery, isCharging).WillOnce(Return(true));

EXPECT_CALL(mbed_mock_gap, setAdvertisingPayload);
// TODO: Specify which BLE service and what is expected if necessary
EXPECT_CALL(mbed_mock_gatt, write(_, _, _, _)).Times(2);

{
EXPECT_CALL(
mock_videokit,
displayImage(std::filesystem::path {"/fs/home/img/system/robot-battery-charging-empty_red.jpg"}));
} // TODO: Replace with EXPECT_CALL(mock_behaviorkit, chargingEmpty);
}

on_data_updated(0);
}

TEST_F(RobotControllerTest, onLowBattery)
{
{
EXPECT_CALL(battery, isCharging).WillOnce(Return(true));

EXPECT_CALL(battery, level).WillOnce(Return(1));
}
on_low_battery();

{
EXPECT_CALL(battery, isCharging).WillOnce(Return(false));
{
EXPECT_CALL(mock_ledkit, stop);
EXPECT_CALL(
mock_videokit,
displayImage(std::filesystem::path {"/fs/home/img/system/robot-battery-empty-must_be_charged.jpg"}));
EXPECT_CALL(mock_motor_left, stop);
EXPECT_CALL(mock_motor_right, stop);
} // TODO: Replace with EXPECT_CALL(mock_behaviorkit, lowBattery);

EXPECT_CALL(battery, level).WillOnce(Return(0));
}
on_low_battery();
}

TEST_F(RobotControllerTest, onChargeDidStart)
{
{
Expand Down
62 changes: 4 additions & 58 deletions libs/RobotKit/tests/RobotController_test_registerEvents.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,65 +4,11 @@

#include "./RobotController_test.h"

TEST_F(RobotControllerTest, registerEventsIsNotCharging)
TEST_F(RobotControllerTest, registerEvents)
{
// TODO: Add EXPECT_CALL(mock_batterykit, onDataUpdated);
// TODO: Add EXPECT_CALL(mock_batterykit, onLowBattery);

{
EXPECT_CALL(battery, isCharging).WillRepeatedly(Return(false));
EXPECT_CALL(battery, level).WillRepeatedly(Return(0));

{
{
EXPECT_CALL(mock_ledkit, stop);
EXPECT_CALL(mock_videokit, displayImage(std::filesystem::path {
"/fs/home/img/system/robot-battery-empty-must_be_charged.jpg"}));
EXPECT_CALL(mock_motor_left, stop);
EXPECT_CALL(mock_motor_right, stop);
} // TODO: Replace with EXPECT_CALL(mock_behaviorkit, lowBattery);
} // ? : on_data_updated callback call

{
EXPECT_CALL(mbed_mock_gap, setAdvertisingPayload);
// TODO: Specify which BLE service and what is expected if necessary
EXPECT_CALL(mbed_mock_gatt, write(_, _, _, _)).Times(2);
} // ? : on_low_battery callback call

} // TODO: Replace with EXPECT_CALL(mock_batterykit, startEventHandler);

EXPECT_CALL(battery, onChargeDidStart);
EXPECT_CALL(battery, onChargeDidStop);

rc.registerEvents();

// TODO: Expect raise call
}

TEST_F(RobotControllerTest, registerEventsIsCharging)
{
// TODO: Add EXPECT_CALL(mock_batterykit, onDataUpdated);
// TODO: Add EXPECT_CALL(mock_batterykit, onLowBattery);

{
EXPECT_CALL(battery, isCharging).WillRepeatedly(Return(true));
EXPECT_CALL(battery, level).WillRepeatedly(Return(100));

{
{
EXPECT_CALL(mock_videokit, displayImage(std::filesystem::path {
"/fs/home/img/system/robot-battery-charging-quarter_4-green.jpg"}));
} // TODO: Replace with EXPECT_CALL(mock_behaviorkit, chargingFull);
} // ? : on_data_updated callback call

{
EXPECT_CALL(mbed_mock_gap, setAdvertisingPayload);
// TODO: Specify which BLE service and what is expected if necessary
EXPECT_CALL(mbed_mock_gatt, write(_, _, _, _)).Times(2);
} // ? : on_low_battery callback call

} // TODO: Replace with EXPECT_CALL(mock_batterykit, startEventHandler);

EXPECT_CALL(battery, onDataUpdated);
EXPECT_CALL(battery, onLowBattery);
EXPECT_CALL(battery, startEventHandler);
EXPECT_CALL(battery, onChargeDidStart);
EXPECT_CALL(battery, onChargeDidStop);

Expand Down
4 changes: 2 additions & 2 deletions tests/unit/mocks/mocks/leka/BatteryKit.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,13 +9,13 @@

namespace leka::mock {

class Battery : public interface::BatteryKit
class BatteryKit : public interface::BatteryKit
{
public:
MOCK_METHOD(void, startEventHandler, (), (override));

MOCK_METHOD(uint8_t, level, (), (override));
MOCK_METHOD(void, onDataUpdated, (std::function<void()> const &), (override));
MOCK_METHOD(void, onDataUpdated, (std::function<void(uint8_t)> const &), (override));
MOCK_METHOD(void, onLowBattery, (std::function<void()> const &), (override));

MOCK_METHOD(bool, isCharging, (), (override));
Expand Down

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