⚡ (rc): Use EventQueue to update Battery in BLE

leka · Mar 1, 2022 · d4b8347 · d4b8347
1 parent d6e50ba
commit d4b8347
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Showing 3 changed files with 17 additions and 0 deletions.
diff --git a/drivers/CoreEventQueue/include/CoreEventQueue.h b/drivers/CoreEventQueue/include/CoreEventQueue.h
@@ -19,6 +19,10 @@ class CoreEventQueue : public interface::EventQueue
 	void dispatch_forever() final;
 
 	void call(auto f, auto... params) { _event_queue.call(f, params...); }
+	void call_every(std::chrono::duration<int, std::milli> duration, auto f, auto... params)
+	{
+		_event_queue.call_every(duration, f, params...);
+	}
 
 	// ? Overload needed for mbed::BLE compatibility
 	void callMbedCallback(mbed::Callback<void()> const &f);

diff --git a/include/interface/drivers/EventQueue.h b/include/interface/drivers/EventQueue.h
@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <chrono>
 #include <functional>
 
 namespace leka::interface {
@@ -16,6 +17,7 @@ class EventQueue
 	virtual void dispatch_forever() = 0;
 
 	void call(auto f, auto... params);
+	void call_every(std::chrono::microseconds duration, auto f, auto... params);
 };
 
 }	// namespace leka::interface
diff --git a/libs/RobotKit/include/RobotController.h b/libs/RobotKit/include/RobotController.h
@@ -7,6 +7,7 @@
 #include "BLEKit.h"
 #include "BLEServiceBattery.h"
 
+#include "CoreEventQueue.h"
 #include "StateMachine.h"
 #include "interface/RobotController.h"
 #include "interface/drivers/Battery.h"
@@ -39,6 +40,7 @@ class RobotController : public interface::RobotController
 	void registerEvents()
 	{
 		using namespace system::robot::sm;
+		using namespace std::chrono_literals;
 
 		// Setup callbacks for each events
 
@@ -51,13 +53,22 @@ class RobotController : public interface::RobotController
 		auto on_charge_did_stop = [this]() { raise(event::charge_did_stop {}); };
 		_battery.onChargeDidStop(on_charge_did_stop);
 
+		// Setup recurrent checking
+
+		auto update_battery_level = [this]() { _service_battery.setBatteryLevel(_battery.level()); };
+		_recurrent_checking.call_every(1s, update_battery_level);
+
+		_recurrent_checking.dispatch_forever();
+
 		raise(event::setup_complete {});
 	};
 
   private:
 	std::chrono::seconds _sleep_timeout_duration {10};
 	interface::Timeout &_sleep_timeout;
 
+	CoreEventQueue _recurrent_checking {};
+
 	interface::Battery &_battery;
 
 	BLEServiceBattery _service_battery {};