♻️ (libs): Update Motionkit calls

leka · Dec 15, 2022 · a280b93 · a280b93
1 parent e2de490
commit a280b93
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Showing 8 changed files with 20 additions and 5 deletions.
diff --git a/app/os/main.cpp b/app/os/main.cpp
@@ -275,10 +275,12 @@ auto imukit = IMUKit {imu::internal::event_loop, imu::accel, imu::gyro};
 namespace motion::internal {
 
 	EventLoopKit event_loop {};
+	CoreTimeout timeout {};
 
 }	// namespace motion::internal
 
-auto motionkit = MotionKit {motors::left::motor, motors::right::motor, imukit, motion::internal::event_loop};
+auto motionkit = MotionKit {motors::left::motor, motors::right::motor, imukit, motion::internal::event_loop,
+							motion::internal::timeout};
 
 auto behaviorkit   = BehaviorKit {videokit, ledkit, motors::left::motor, motors::right::motor};
 auto reinforcerkit = ReinforcerKit {videokit, ledkit, motionkit};

diff --git a/libs/ReinforcerKit/tests/ReinforcerKit_test.cpp b/libs/ReinforcerKit/tests/ReinforcerKit_test.cpp
@@ -12,6 +12,7 @@
 #include "mocks/leka/CoreMotor.h"
 #include "mocks/leka/Gyroscope.h"
 #include "mocks/leka/LedKit.h"
+#include "mocks/leka/Timeout.h"
 #include "mocks/leka/VideoKit.h"
 #include "stubs/leka/EventLoopKit.h"
 
@@ -47,9 +48,11 @@ class ReinforcerkitTest : public ::testing::Test
 	mock::Accelerometer accel {};
 	mock::Gyroscope gyro {};
 
+	mock::Timeout mock_timeout {};
+
 	IMUKit imukit {stub_event_loop_imu, accel, gyro};
 
-	MotionKit motion {mock_motor_left, mock_motor_right, imukit, stub_event_loop_motion};
+	MotionKit motion {mock_motor_left, mock_motor_right, imukit, stub_event_loop_motion, mock_timeout};
 
 	ReinforcerKit reinforcerkit;
 

diff --git a/spikes/lk_command_kit/CMakeLists.txt b/spikes/lk_command_kit/CMakeLists.txt
@@ -28,6 +28,7 @@ target_link_libraries(spike_lk_command_kit
 	CoreIMU
 	IMUKit
 	MotionKit
+	CoreTimeout
 )
 
 target_link_custom_leka_targets(spike_lk_command_kit)
diff --git a/spikes/lk_command_kit/main.cpp b/spikes/lk_command_kit/main.cpp
@@ -30,6 +30,7 @@
 #include "CoreSDRAM.hpp"
 #include "CoreSPI.h"
 #include "CoreSTM32Hal.h"
+#include "CoreTimeout.h"
 #include "CoreVideo.hpp"
 #include "EventLoopKit.h"
 #include "FATFileSystem.h"
@@ -116,10 +117,11 @@ auto imukit = IMUKit {imu::internal::event_loop, imu::accel, imu::gyro};
 namespace motion::internal {
 
 EventLoopKit event_loop {};
+CoreTimeout timeout {};
 
 }	// namespace motion::internal
 
-auto motionkit = MotionKit {motor::left, motor::right, imukit, motion::internal::event_loop};
+auto motionkit = MotionKit {motor::left, motor::right, imukit, motion::internal::event_loop, motion::internal::timeout};
 
 namespace display {
 

diff --git a/spikes/lk_motion_kit/CMakeLists.txt b/spikes/lk_motion_kit/CMakeLists.txt
@@ -25,6 +25,7 @@ target_link_libraries(spike_lk_motion_kit
 	CoreBufferedSerial
 	CoreRFIDReader
 	RFIDKit
+	CoreTimeout
 )
 
 target_link_custom_leka_targets(spike_lk_motion_kit)
diff --git a/spikes/lk_motion_kit/main.cpp b/spikes/lk_motion_kit/main.cpp
@@ -12,6 +12,7 @@
 #include "CoreMotor.h"
 #include "CorePwm.h"
 #include "CoreRFIDReaderCR95HF.h"
+#include "CoreTimeout.h"
 #include "EventLoopKit.h"
 #include "HelloWorld.h"
 #include "IMUKit.h"
@@ -76,10 +77,12 @@ auto imukit = IMUKit {imu::internal::event_loop, imu::accel, imu::gyro};
 namespace motion::internal {
 
 	EventLoopKit event_loop {};
+	CoreTimeout timeout {};
 
 }	// namespace motion::internal
 
-auto motionkit = MotionKit {motors::left::motor, motors::right::motor, imukit, motion::internal::event_loop};
+auto motionkit = MotionKit {motors::left::motor, motors::right::motor, imukit, motion::internal::event_loop,
+							motion::internal::timeout};
 
 namespace rfid {
 

diff --git a/spikes/lk_reinforcer/CMakeLists.txt b/spikes/lk_reinforcer/CMakeLists.txt
@@ -25,6 +25,7 @@ target_link_libraries(spike_lk_reinforcer
 	IMUKit
 	MotionKit
 	ReinforcerKit
+	CoreTimeout
 )
 
 target_link_custom_leka_targets(spike_lk_reinforcer)
diff --git a/spikes/lk_reinforcer/main.cpp b/spikes/lk_reinforcer/main.cpp
@@ -27,6 +27,7 @@
 #include "CoreSDRAM.hpp"
 #include "CoreSPI.h"
 #include "CoreSTM32Hal.h"
+#include "CoreTimeout.h"
 #include "CoreVideo.hpp"
 #include "EventLoopKit.h"
 #include "FATFileSystem.h"
@@ -154,10 +155,11 @@ auto imukit = IMUKit {imu::internal::event_loop, imu::accel, imu::gyro};
 namespace motion::internal {
 
 	EventLoopKit event_loop {};
+	CoreTimeout timeout {};
 
 }	// namespace motion::internal
 
-auto motionkit = MotionKit {motor::left, motor::right, imukit, motion::internal::event_loop};
+auto motionkit = MotionKit {motor::left, motor::right, imukit, motion::internal::event_loop, motion::internal::timeout};
 
 namespace display::internal {