Move BLE out of RobotController

leka · Feb 1, 2024 · ac30fce · ac30fce
1 parent 8748b73
commit ac30fce
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Showing 2 changed files with 41 additions and 29 deletions.
diff --git a/app/os/main.cpp b/app/os/main.cpp
@@ -9,6 +9,16 @@
 #include "rtos/ThisThread.h"
 #include "rtos/Thread.h"
 
+#include "BLEKit.h"
+#include "BLEServiceBattery.h"
+#include "BLEServiceCommands.h"
+#include "BLEServiceConfig.h"
+#include "BLEServiceDeviceInformation.h"
+#include "BLEServiceFileExchange.h"
+#include "BLEServiceMagicCard.h"
+#include "BLEServiceMonitoring.h"
+#include "BLEServiceUpdate.h"
+
 #include "ActivityKit.h"
 #include "ChooseReinforcer.h"
 #include "CoreBattery.h"
@@ -281,6 +291,34 @@ auto motionkit = MotionKit {motors::left::motor, motors::right::motor, imukit, m
 auto behaviorkit   = BehaviorKit {videokit, ledkit, motors::left::motor, motors::right::motor};
 auto reinforcerkit = ReinforcerKit {videokit, ledkit, motionkit};
 
+namespace blekit {
+
+	BLEKit instance {};
+	namespace service {
+		BLEServiceBattery battery {};
+		BLEServiceCommands commands {};
+		BLEServiceDeviceInformation device_information {};
+		BLEServiceMonitoring monitoring {};
+		BLEServiceConfig config {};
+		BLEServiceMagicCard magic_card {};
+		BLEServiceFileExchange file_exchange {};
+		BLEServiceUpdate update {};
+
+	}	// namespace service
+
+	auto services = std::to_array<interface::BLEService *>({
+		&service::battery,
+		&service::commands,
+		&service::device_information,
+		&service::monitoring,
+		&service::config,
+		&service::magic_card,
+		&service::file_exchange,
+		&service::update,
+	});
+
+}	// namespace blekit
+
 namespace command {
 
 	namespace internal {
@@ -559,6 +597,9 @@ auto main() -> int
 	sd::init();
 	firmware::initializeFlash();
 
+	blekit::instance.setServices(blekit::services);
+	blekit::instance.init();
+
 	commandkit.registerCommand(command::list);
 	activitykit.registerActivities(activities::activities);
 

diff --git a/libs/RobotKit/include/RobotController.h b/libs/RobotKit/include/RobotController.h
@@ -7,16 +7,6 @@
 #include "platform/mbed_power_mgmt.h"
 #include "rtos/ThisThread.h"
 
-#include "BLEKit.h"
-#include "BLEServiceBattery.h"
-#include "BLEServiceCommands.h"
-#include "BLEServiceConfig.h"
-#include "BLEServiceDeviceInformation.h"
-#include "BLEServiceFileExchange.h"
-#include "BLEServiceMagicCard.h"
-#include "BLEServiceMonitoring.h"
-#include "BLEServiceUpdate.h"
-
 #include "ActivityKit.h"
 #include "BatteryKit.h"
 #include "BehaviorKit.h"
@@ -323,9 +313,6 @@ class RobotController : public interface::RobotController
 
 		_rfidkit.init();
 
-		_ble.setServices(services);
-		_ble.init();
-
 		auto _serial_number = _serialnumberkit.getSerialNumber();
 		_service_device_information.setSerialNumber(_serial_number);
 
@@ -588,22 +575,6 @@ class RobotController : public interface::RobotController
 
 	FileReception file_reception {};
 
-	BLEKit _ble {};
-
-	BLEServiceBattery _service_battery {};
-	BLEServiceCommands _service_commands {};
-	BLEServiceDeviceInformation _service_device_information {};
-	BLEServiceMonitoring _service_monitoring {};
-	BLEServiceConfig _service_config {};
-	BLEServiceMagicCard _service_magic_card {};
-	BLEServiceFileExchange _service_file_exchange {};
-	BLEServiceUpdate _service_update {};
-
-	std::array<interface::BLEService *, 8> services = {
-		&_service_battery, &_service_commands,	 &_service_device_information, &_service_monitoring,
-		&_service_config,  &_service_magic_card, &_service_file_exchange,	   &_service_update,
-	};
-
 	uint8_t _emergency_stop_counter {0};
 };