🔀 Merge branch 'yann/feature/robot-controller/start-ble' into develop

leka · Mar 10, 2022 · 2685f5f · 2685f5f
2 parents e5b8e96 + f6b5006
commit 2685f5f
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Showing 5 changed files with 28 additions and 3 deletions.
diff --git a/app/os/main.cpp b/app/os/main.cpp
@@ -35,6 +35,7 @@ auto main() -> int
 	auto hello = HelloWorld();
 	hello.start();
 
+	rc.initializeComponents();
 	rc.registerEvents();
 
 	while (true) {

diff --git a/libs/RobotKit/CMakeLists.txt b/libs/RobotKit/CMakeLists.txt
@@ -18,7 +18,7 @@ target_sources(RobotKit
 )
 
 target_link_libraries(RobotKit
-	PRIVATE
+	BLEKit
 )
 
 if (${CMAKE_PROJECT_NAME} STREQUAL "LekaOSUnitTests")

diff --git a/libs/RobotKit/include/RobotController.h b/libs/RobotKit/include/RobotController.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include "BLEKit.h"
+
 #include "StateMachine.h"
 #include "interface/RobotController.h"
 #include "interface/drivers/Battery.h"
@@ -27,11 +29,12 @@ class RobotController : public interface::RobotController
 
 	void raise(auto event) { state_machine.process_event(event); };
 
+	void initializeComponents() { _ble.init(); }
+
 	void registerEvents()
 	{
 		using namespace system::robot::sm;
 
-		// Initializations
 		// Setup callbacks for each events
 
 		auto on_sleep_timeout = [this]() { raise(event::sleep_timeout_did_end {}); };
@@ -51,6 +54,8 @@ class RobotController : public interface::RobotController
 	interface::Timeout &_sleep_timeout;
 
 	interface::Battery &_battery;
+
+	BLEKit _ble;
 };
 
 }	// namespace leka
diff --git a/libs/RobotKit/source/RobotController.cpp b/libs/RobotKit/source/RobotController.cpp
@@ -1 +1,5 @@
+// Leka - LekaOS
+// Copyright 2022 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
 #include "RobotController.h"
diff --git a/libs/RobotKit/tests/RobotController_test.cpp b/libs/RobotKit/tests/RobotController_test.cpp
@@ -4,6 +4,8 @@
 
 #include "RobotController.h"
 
+#include "ble_mocks.h"
+
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
 #include "mocks/leka/Battery.h"
@@ -27,14 +29,16 @@ class RobotControllerTest : public testing::Test
   protected:
 	void SetUp() override
 	{
+		ble::init_mocks();
+
 		EXPECT_CALL(sleep_timeout, onTimeout).WillOnce(GetCallback<interface::Timeout::callback_t>(&on_sleep_timeout));
 		EXPECT_CALL(battery, onChargeDidStart).WillOnce(GetCallback<mbed::Callback<void()>>(&on_charge_did_start));
 		EXPECT_CALL(battery, onChargeDidStop).WillOnce(GetCallback<mbed::Callback<void()>>(&on_charge_did_stop));
 		EXPECT_CALL(sleep_timeout, start).Times(1);	  // Hide Uninteresting mock function call
 
 		rc.registerEvents();
 	}
-	// void TearDown() override {}
+	void TearDown() override { ble::delete_mocks(); }
 
 	mock::Timeout sleep_timeout {};
 	mock::Battery battery {};
@@ -52,6 +56,17 @@ TEST_F(RobotControllerTest, initialization)
 	EXPECT_NE(&rc, nullptr);
 }
 
+TEST_F(RobotControllerTest, initializeComponents)
+{
+	ble::GapMock &mbed_mock_gap			= ble::gap_mock();
+	ble::GattServerMock &mbed_mock_gatt = ble::gatt_server_mock();
+
+	EXPECT_CALL(mbed_mock_gap, setEventHandler).Times(1);
+	EXPECT_CALL(mbed_mock_gatt, setEventHandler).Times(1);
+
+	rc.initializeComponents();
+}
+
 TEST_F(RobotControllerTest, stateSetupEventSetupComplete)
 {
 	rc.state_machine.set_current_states(lksm::state::setup);