🔀 Merge branch 'yann/feature/rc/on-low-battery' into develop

leka · Mar 19, 2022 · ecd5579 · ecd5579
2 parents fc846a0 + 506dad8
commit ecd5579
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Showing 6 changed files with 26 additions and 4 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
@@ -158,6 +158,16 @@ class RobotController : public interface::RobotController
 
 		_battery_kit.onDataUpdated([](uint8_t level) { _service_battery.setBatteryLevel(level); });
 
+		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();
 
 		// Setup callbacks for each State Machine events

diff --git a/libs/RobotKit/tests/RobotController_test.cpp b/libs/RobotKit/tests/RobotController_test.cpp
@@ -58,7 +58,7 @@ class RobotControllerTest : public testing::Test
 
 		rc.initializeComponents();
 
-		EXPECT_CALL(battery, level).Times(1);
+		EXPECT_CALL(battery, level).Times(AnyNumber());
 		EXPECT_CALL(mbed_mock_gatt, write(_, _, _, _)).Times(AnyNumber());
 		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));
@@ -178,7 +178,7 @@ TEST_F(RobotControllerTest, stateSetupEventSetupCompleteGuardIsChargingFalse)
 	rc.state_machine.set_current_states(lksm::state::setup);
 
 	auto expected_level = 0x2A;
-	EXPECT_CALL(battery, level).WillOnce(Return(expected_level));
+	EXPECT_CALL(battery, level).WillRepeatedly(Return(expected_level));
 	EXPECT_CALL(mbed_mock_gatt, write(_, sameValue(expected_level), _, _)).Times(1);
 
 	EXPECT_CALL(sleep_timeout, onTimeout).Times(1);
@@ -200,7 +200,7 @@ TEST_F(RobotControllerTest, stateSetupEventSetupCompleteGuardIsChargingTrue)
 	rc.state_machine.set_current_states(lksm::state::setup);
 
 	auto expected_level = 0x2A;
-	EXPECT_CALL(battery, level).WillOnce(Return(expected_level));
+	EXPECT_CALL(battery, level).WillRepeatedly(Return(expected_level));
 	EXPECT_CALL(mbed_mock_gatt, write(_, sameValue(expected_level), _, _)).Times(1);
 
 	EXPECT_CALL(sleep_timeout, onTimeout).Times(1);