♻️ (IMU): Register wake up callback on enable

leka · Aug 19, 2024 · a284b3f · a284b3f
1 parent a104897
commit a284b3f
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Showing 5 changed files with 12 additions and 38 deletions.
diff --git a/drivers/CoreIMU/include/CoreIMU.hpp b/drivers/CoreIMU/include/CoreIMU.hpp
@@ -26,8 +26,7 @@ class CoreIMU : public interface::IMU, public interface::DeepSleepEnabled
 	void enableOnDataReadyInterrupt() final;
 	void disableOnDataReadyInterrupt() final;
 
-	void registerOnWakeUpCallback(std::function<void()> const &callback) final;
-	void enableOnWakeUpInterrupt() final;
+	void enableOnWakeUpInterrupt(std::function<void()> const &callback) final;
 	void disableOnWakeUpInterrupt() final;
 
 	void setPowerMode(PowerMode mode) final;

diff --git a/drivers/CoreIMU/source/CoreIMU.cpp b/drivers/CoreIMU/source/CoreIMU.cpp
@@ -137,12 +137,7 @@ void CoreIMU::disableDeepSleep()
 	setPowerMode(interface::IMU::PowerMode::Normal);
 }
 
-void CoreIMU::registerOnWakeUpCallback(std::function<void()> const &callback)
-{
-	_on_wake_up_callback = callback;
-}
-
-void CoreIMU::enableOnWakeUpInterrupt()
+void CoreIMU::enableOnWakeUpInterrupt(std::function<void()> const &callback)
 {
 	// ? Set filter and disable user offset
 	lsm6dsox_xl_hp_path_internal_set(&_register_io_function, LSM6DSOX_USE_SLOPE);
@@ -162,6 +157,8 @@ void CoreIMU::enableOnWakeUpInterrupt()
 	};
 	lsm6dsox_pin_int1_route_set(&_register_io_function, lsm6dsox_int1);
 
+	_on_wake_up_callback = callback;
+
 	auto on_wake_up_callback = [this] {
 		_event_queue.call([this] {
 			lsm6dsox_all_sources_t all_source;

diff --git a/drivers/CoreIMU/tests/CoreIMU_test.cpp b/drivers/CoreIMU/tests/CoreIMU_test.cpp
@@ -122,34 +122,15 @@ TEST_F(CoreIMUTest, disableDeepSleep)
 	coreimu.disableDeepSleep();
 }
 
-TEST_F(CoreIMUTest, onWakeUpCallback)
-{
-	MockFunction<void()> mock_callback;
-
-	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
-	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
-	EXPECT_CALL(mock_callback, Call).Times(AnyNumber());
-
-	coreimu.registerOnWakeUpCallback(mock_callback.AsStdFunction());
-
-	auto on_rise_callback = spy_InterruptIn_getRiseCallback();
-	on_rise_callback();
-}
-
-TEST_F(CoreIMUTest, emptyOnWakeUpCallback)
-{
-	coreimu.registerOnWakeUpCallback({});
-
-	auto on_rise_callback = spy_InterruptIn_getRiseCallback();
-	on_rise_callback();
-}
-
 TEST_F(CoreIMUTest, enableOnWakeUpInterrupt)
 {
+	auto mock_wake_up_callback = MockFunction<void()> {};
+
 	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
 	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
+	EXPECT_CALL(mock_wake_up_callback, Call).Times(AnyNumber());
 
-	coreimu.enableOnWakeUpInterrupt();
+	coreimu.enableOnWakeUpInterrupt(mock_wake_up_callback.AsStdFunction());
 }
 
 TEST_F(CoreIMUTest, disableOnWakeUpInterrupt)
@@ -170,7 +151,6 @@ TEST_F(CoreIMUTest, switchCallbacks)
 	EXPECT_CALL(mocki2c, read).Times(AnyNumber());
 
 	coreimu.registerOnDataReadyCallback(mock_data_available_callback.AsStdFunction());
-	coreimu.registerOnWakeUpCallback(mock_wake_up_callback.AsStdFunction());
 
 	{
 		// Enable Data Available
@@ -194,7 +174,7 @@ TEST_F(CoreIMUTest, switchCallbacks)
 		// Enable Wake Up
 		EXPECT_CALL(mock_data_available_callback, Call).Times(0);
 		EXPECT_CALL(mock_wake_up_callback, Call).Times(AnyNumber());
-		coreimu.enableOnWakeUpInterrupt();
+		coreimu.enableOnWakeUpInterrupt(mock_wake_up_callback.AsStdFunction());
 		on_rise_callback = spy_InterruptIn_getRiseCallback();
 		on_rise_callback();
 	}

diff --git a/include/interface/drivers/IMU.hpp b/include/interface/drivers/IMU.hpp
@@ -54,9 +54,8 @@ class IMU
 	virtual void enableOnDataReadyInterrupt()  = 0;
 	virtual void disableOnDataReadyInterrupt() = 0;
 
-	virtual void registerOnWakeUpCallback(std::function<void()> const &callback) = 0;
-	virtual void enableOnWakeUpInterrupt()										 = 0;
-	virtual void disableOnWakeUpInterrupt()										 = 0;
+	virtual void enableOnWakeUpInterrupt(std::function<void()> const &callback) = 0;
+	virtual void disableOnWakeUpInterrupt()										= 0;
 
 	virtual void setPowerMode(PowerMode) = 0;
 };

diff --git a/tests/unit/mocks/mocks/leka/IMU.h b/tests/unit/mocks/mocks/leka/IMU.h
@@ -19,8 +19,7 @@ class IMU : public interface::IMU
 	MOCK_METHOD(void, enableOnDataReadyInterrupt, (), (override));
 	MOCK_METHOD(void, disableOnDataReadyInterrupt, (), (override));
 
-	void registerOnWakeUpCallback(std::function<void()> const &cb) override { wake_up_callback = cb; }
-	MOCK_METHOD(void, enableOnWakeUpInterrupt, (), (override));
+	void enableOnWakeUpInterrupt(std::function<void()> const &cb) override { wake_up_callback = cb; }
 	MOCK_METHOD(void, disableOnWakeUpInterrupt, (), (override));
 
 	void call_data_ready_callback(const SensorData &data) { data_ready_callback(data); }