✨ (reinforcer): Add Rainbow reinforcer

libs/LedKit/CMakeLists.txt

@@ -29,6 +29,7 @@ target_sources(LedKit
 		source/LoadingOrange.cpp
 		source/LoadingRed.cpp
 		source/LoadingYellow.cpp
+		source/Rainbow.cpp
 		source/Sad.cpp
 		source/SadCry.cpp
 		source/Sick.cpp

libs/LedKit/include/internal/Rainbow.h

@@ -0,0 +1,38 @@
+// Leka - LekaOS
+// Copyright 2022 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+// ? LCOV_EXCL_START - Exclude from coverage report
+
+#include "LEDAnimation.h"
+
+namespace leka::led::animation {
+
+class Rainbow : public interface::LEDAnimation
+{
+  public:
+	explicit Rainbow(interface::LED &ears, interface::LED &belt) : _ears(ears), _belt(belt) {};
+
+	void start() final;
+	void run() final;
+	void stop() final;
+
+  private:
+	interface::LED &_ears;
+	interface::LED &_belt;
+	uint8_t _step				= 0;
+	uint8_t _stage				= 1;
+	uint8_t _rainbow_tail_index = 0;
+
+	void stagesRainbow();
+	void moveRainbow();
+	[[nodiscard]] auto getRainbowColor(uint8_t index) const -> RGB;
+
+	void turnLedBlack();
+};
+
+}	// namespace leka::led::animation
+
+// ? LCOV_EXCL_STOP - Exclude from coverage report

libs/LedKit/source/Rainbow.cpp

@@ -0,0 +1,88 @@
+// Leka - LekaOS
+// Copyright 2022 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+// ? LCOV_EXCL_START - Exclude from coverage report
+
+#include "Rainbow.h"
+
+#include "MathUtils.h"
+
+namespace leka::led::animation {
+
+void Rainbow::start()
+{
+	turnLedBlack();
+}
+
+void Rainbow::stop()
+{
+	turnLedBlack();
+	_step				= 0;
+	_stage				= 1;
+	_rainbow_tail_index = 0;
+}
+
+void Rainbow::run()
+{
+	if (auto kLastStage = uint8_t {255}; _stage <= kLastStage) {
+		stagesRainbow();
+	} else {
+		_belt.setColor(RGB::black);
+	}
+	_belt.show();
+}
+
+void Rainbow::stagesRainbow()
+{
+	_belt.setColor(RGB::pure_red);
+	moveRainbow();
+	_stage++;
+}
+
+void Rainbow::moveRainbow()
+{
+	static constexpr auto kNumberOfLedsBelt = uint8_t {20};
+	if (_rainbow_tail_index == kNumberOfLedsBelt) {
+		_rainbow_tail_index = 0;
+	}
+	for (auto i = _rainbow_tail_index; i < _rainbow_tail_index + kNumberOfLedsBelt; i++) {
+		if (i < kNumberOfLedsBelt) {
+			RGB color = getRainbowColor(i - _rainbow_tail_index);
+			_belt.setColorAtIndex(i, color);
+		} else {
+			RGB color = getRainbowColor(i - _rainbow_tail_index);
+			_belt.setColorAtIndex(i - kNumberOfLedsBelt, color);
+		}
+	}
+	++_rainbow_tail_index;
+}
+
+auto Rainbow::getRainbowColor(uint8_t index) const -> RGB
+{
+	static constexpr auto kRainbowColorNumber						   = 7;
+	static constexpr std::array<RGB, kRainbowColorNumber> rainbowColor = {
+		RGB::pure_red,	RGB {180, 50, 0},	 RGB {100, 100, 0}, RGB::pure_green,
+		RGB::pure_blue, RGB {0x4b, 0, 0x82}, RGB::magenta};
+
+	auto part_of_rainbow = index / 3;
+	auto position		 = static_cast<float>(index % 3) / 3;
+	if (part_of_rainbow < kRainbowColorNumber - 1) {
+		RGB color =
+			ColorKit::colorGradient(rainbowColor.at(part_of_rainbow), rainbowColor.at(part_of_rainbow + 1), position);
+		return color;
+	}
+	return rainbowColor.at(kRainbowColorNumber - 1);
+}
+
+void Rainbow::turnLedBlack()
+{
+	_ears.setColor(RGB::black);
+	_belt.setColor(RGB::black);
+	_ears.show();
+	_belt.show();
+}
+
+}	// namespace leka::led::animation
+
+// ? LCOV_EXCL_STOP - Exclude from coverage report

spikes/lk_reinforcer/main.cpp

@@ -14,6 +14,7 @@
 #include "HelloWorld.h"
 #include "LedKit.h"
 #include "LogKit.h"
+#include "Rainbow.h"
 #include "SpinBlink.h"
 #include "Sprinkles.h"
 
@@ -34,6 +35,7 @@ led::animation::BlinkGreen animation_blink_green(ears, belt);
 led::animation::SpinBlink animation_spin_blink(ears, belt);
 led::animation::Sprinkles animation_sprinkles(ears, belt);
 led::animation::Fire animation_fire(ears, belt);
+led::animation::Rainbow animation_rainbow(ears, belt);
 
 HelloWorld hello;
 
@@ -46,6 +48,12 @@ auto main() -> int
 	hello.start();
 
 	while (true) {
+		ledkit.start(animation_rainbow);
+		rtos::ThisThread::sleep_for(10s);
+
+		ledkit.stop();
+		rtos::ThisThread::sleep_for(1s);
+
 		ledkit.start(animation_fire);
 		rtos::ThisThread::sleep_for(10s);