🚸 (rc): Add behavior when battery is low

Increase battery level triggering the callback
leka · Mar 19, 2022 · 506dad8 · 506dad8
1 parent e2d6a18
commit 506dad8
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Showing 5 changed files with 21 additions and 2 deletions.
diff --git a/libs/BatteryKit/source/BatteryKit.cpp b/libs/BatteryKit/source/BatteryKit.cpp
@@ -10,7 +10,7 @@ using namespace std::chrono_literals;
 void BatteryKit::startEventHandler()
 {
 	auto on_tick = [this] {
-		if (_on_low_battery && level() == 0) {
+		if (_on_low_battery && level() <= 5) {
 			_on_low_battery();
 		}
 

diff --git a/libs/BehaviorKit/include/BehaviorKit.h b/libs/BehaviorKit/include/BehaviorKit.h
@@ -23,6 +23,8 @@ class BehaviorKit
 	void sleeping();
 	void waiting();
 
+	void lowBattery();
+
 	void chargingZero();
 	void chargingRed();
 	void chargingOrange();

diff --git a/libs/BehaviorKit/source/BehaviorKit.cpp b/libs/BehaviorKit/source/BehaviorKit.cpp
@@ -36,6 +36,11 @@ void BehaviorKit::waiting()
 		"/fs/videos/2022_02_14-animation-face-state-waiting-looking-top-right-to-left-without-eyebrows.avi");
 }
 
+void BehaviorKit::lowBattery()
+{
+	_videokit.displayImage("/fs/images/loading.jpg");
+}
+
 void BehaviorKit::chargingZero()
 {
 	_ledkit.start(&LedKit::animation::charging_red);

diff --git a/libs/BehaviorKit/tests/BehaviorKit_test.cpp b/libs/BehaviorKit/tests/BehaviorKit_test.cpp
@@ -86,6 +86,11 @@ TEST_F(BehaviorKitTest, spinRight)
 	behaviorkit.spinBlink();
 }
 
+TEST_F(BehaviorKitTest, lowBattery)
+{
+	behaviorkit.lowBattery();
+}
+
 TEST_F(BehaviorKitTest, stop)
 {
 	static constexpr auto speed = 0.5;

diff --git a/libs/RobotKit/include/RobotController.h b/libs/RobotKit/include/RobotController.h
@@ -158,7 +158,14 @@ class RobotController : public interface::RobotController
 
 		_battery_kit.onDataUpdated([](uint8_t level) { _service_battery.setBatteryLevel(level); });
 
-		auto on_low_battery = [this] { system_reset(); };
+		auto on_low_battery = [this] {
+			_event_queue.call(&_behaviorkit, &BehaviorKit::lowBattery);
+			// TODO: Add turn on screen
+
+			if (_battery.level() == 0) {
+				system_reset();
+			}
+		};
 		_battery_kit.onLowBattery(on_low_battery);
 
 		_battery_kit.startEventHandler();