✨ (CommandKit): Add BehaviorCommand

app/os/main.cpp

@@ -65,6 +65,7 @@
 #include "SuperSimon.h"
 #include "VideoKit.h"
 #include "bootutil/bootutil.h"
+#include "commands/BehaviorCommand.h"
 #include "commands/LedFullCommand.h"
 #include "commands/LedRangeCommand.h"
 #include "commands/LedSingleCommand.h"
@@ -292,6 +293,7 @@ namespace command {
 		auto led_range	= LedRangeCommand {leds::ears, leds::belt};
 		auto motors		= MotorsCommand {motors::left::motor, motors::right::motor};
 		auto reinforcer = ReinforcerCommand {reinforcerkit};
+		auto behavior	= BehaviorCommand {behaviorkit};
 
 	}	// namespace internal
 
@@ -301,6 +303,7 @@ namespace command {
 		&internal::led_range,
 		&internal::motors,
 		&internal::reinforcer,
+		&internal::behavior,
 	});
 
 }	// namespace command

libs/CommandKit/CMakeLists.txt

@@ -19,6 +19,7 @@ target_link_libraries(CommandKit
 	CoreLED
 	CoreMotor
 	ReinforcerKit
+	BehaviorKit
 	EventLoopKit
 	mbed-os
 )

libs/CommandKit/include/commands/BehaviorCommand.h

@@ -0,0 +1,120 @@
+// Leka - LekaOS
+// Copyright 2022 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include <span>
+
+#include "BehaviorKit.h"
+#include "Utils.h"
+#include "interface/Command.h"
+
+namespace leka {
+
+struct BehaviorCommand : interface::Command {
+	explicit BehaviorCommand(BehaviorKit &kit) : _behaviorkit(kit) {}
+
+	auto id() -> uint8_t override { return cmd::id; }
+
+	auto data() -> uint8_t * override
+	{
+		args = {};
+		return args.data();
+	}
+
+	[[nodiscard]] auto size() const -> std::size_t override { return std::size(args); }
+
+	auto execute() -> bool override
+	{
+		auto [id, chcksm] = std::tuple_cat(args);
+
+		auto expected = [&] { return utils::math::checksum8(std::span {args.data(), args.size() - 1}); };
+
+		if (chcksm != expected()) {
+			return false;
+		}
+
+		switch (id) {
+			case cmd::behavior::stop:
+				_behaviorkit.stop();
+				break;
+			case cmd::behavior::launching:
+				_behaviorkit.launching();
+				break;
+			case cmd::behavior::sleeping:
+				_behaviorkit.sleeping();
+				break;
+			case cmd::behavior::waiting:
+				_behaviorkit.waiting();
+				break;
+			case cmd::behavior::blink_on_charge:
+				_behaviorkit.blinkOnCharge();
+				break;
+			case cmd::behavior::low_battery:
+				_behaviorkit.lowBattery();
+				break;
+			case cmd::behavior::charging_empty:
+				_behaviorkit.chargingEmpty();
+				break;
+			case cmd::behavior::charging_low:
+				_behaviorkit.chargingLow();
+				break;
+			case cmd::behavior::charging_medium:
+				_behaviorkit.chargingMedium();
+				break;
+			case cmd::behavior::charging_high:
+				_behaviorkit.chargingHigh();
+				break;
+			case cmd::behavior::charging_full:
+				_behaviorkit.chargingFull();
+				break;
+			case cmd::behavior::ble_connection_without_video:
+				_behaviorkit.bleConnectionWithoutVideo();
+				break;
+			case cmd::behavior::ble_connection_with_video:
+				_behaviorkit.bleConnectionWithVideo();
+				break;
+			case cmd::behavior::working:
+				_behaviorkit.working();
+				break;
+			case cmd::behavior::file_exchange:
+				_behaviorkit.fileExchange();
+				break;
+			default:
+				_behaviorkit.stop();
+				break;
+		}
+
+		return true;
+	}
+
+  private:
+	struct cmd {
+		static constexpr auto id   = uint8_t {0x60};
+		static constexpr auto size = uint8_t {1 + 1};	// id + page + Checksum
+
+		struct behavior {
+			static constexpr auto stop						   = uint8_t {0x00};
+			static constexpr auto launching					   = uint8_t {0x01};
+			static constexpr auto sleeping					   = uint8_t {0x02};
+			static constexpr auto waiting					   = uint8_t {0x03};
+			static constexpr auto blink_on_charge			   = uint8_t {0x04};
+			static constexpr auto low_battery				   = uint8_t {0x05};
+			static constexpr auto charging_empty			   = uint8_t {0x06};
+			static constexpr auto charging_low				   = uint8_t {0x07};
+			static constexpr auto charging_medium			   = uint8_t {0x08};
+			static constexpr auto charging_high				   = uint8_t {0x09};
+			static constexpr auto charging_full				   = uint8_t {0x0A};
+			static constexpr auto ble_connection_without_video = uint8_t {0x0B};
+			static constexpr auto ble_connection_with_video	   = uint8_t {0x0C};
+			static constexpr auto working					   = uint8_t {0x0D};
+			static constexpr auto file_exchange				   = uint8_t {0x0E};
+		};
+	};
+
+	std::array<uint8_t, cmd::size> args {};
+	BehaviorKit &_behaviorkit;
+};
+
+}	// namespace leka

spikes/lk_command_kit/main.cpp

@@ -38,6 +38,7 @@
 #include "ReinforcerKit.h"
 #include "SDBlockDevice.h"
 #include "VideoKit.h"
+#include "commands/BehaviorCommand.h"
 #include "commands/LedFullCommand.h"
 #include "commands/LedRangeCommand.h"
 #include "commands/LedSingleCommand.h"
@@ -147,6 +148,7 @@ auto videokit = VideoKit {internal::event_loop, internal::corevideo};
 
 }	// namespace display
 
+auto behaviorkit   = BehaviorKit {display::videokit, ledkit, motor::left, motor::right};
 auto reinforcerkit = ReinforcerKit {display::videokit, ledkit, motionkit};
 
 namespace command {
@@ -161,6 +163,7 @@ namespace internal {
 	auto led_range	= LedRangeCommand {leds::ears, leds::belt};
 	auto motors		= MotorsCommand {motor::left, motor::right};
 	auto reinforcer = ReinforcerCommand {reinforcerkit};
+	auto behavior	= BehaviorCommand {behaviorkit};
 
 }	// namespace internal
 
@@ -211,6 +214,7 @@ auto list = std::to_array<interface::Command *>({
 	&internal::led_full,
 	&internal::led_range,
 	&internal::reinforcer,
+	&internal::behavior,
 });
 
 }	// namespace command