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🚚 (CoreMotor): Move & rename CoreMotorBase to interface/drivers/Motor.h #757

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merged 8 commits into from
May 6, 2022
Merged

🚚 (CoreMotor): Move & rename CoreMotorBase to interface/drivers/Motor.h #757

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053f2f6
:truck: (CoreMotor): Move & rename CoreMotorBase to interface/drivers…
ladislas May 5, 2022
23652b3
:recycle: (interface): Create interface::DigitalOut alias
ladislas May 6, 2022
127937a
:recycle: (CoreMotor): Replace mbed::interface::DigitalOut with our own
ladislas May 6, 2022
5f139e7
:recycle: (BehaviorKit): ctor - replace CoreMotor& with interface::Mo…
ladislas May 6, 2022
a6e0c55
:clown_face: (CoreMotor): Add mock::CoreMotor
ladislas May 6, 2022
92a484c
:white_check_mark: (BehaviorKit): Replace CoreMotor w/ mock::CoreMotor
ladislas May 6, 2022
3bd6c72
:recycle: (RobotKit): ctor - replace CoreMotor& with interface::Motor&
ladislas May 6, 2022
dec7c53
:white_check_mark: (RobotKit): Replace CoreMotor w/ mock::CoreMotor
ladislas May 6, 2022
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1 change: 1 addition & 0 deletions app/os/main.cpp
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Expand Up @@ -24,6 +24,7 @@
#include "CoreLL.h"
#include "CoreLTDC.hpp"
#include "CoreMCU.h"
#include "CoreMotor.h"
#include "CorePwm.h"
#include "CoreQSPI.h"
#include "CoreRFIDReader.h"
Expand Down
14 changes: 6 additions & 8 deletions drivers/CoreMotor/include/CoreMotor.h
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Expand Up @@ -4,18 +4,16 @@

#pragma once

#include "drivers/PwmOut.h"
#include "drivers/interfaces/InterfaceDigitalOut.h"

#include "CoreMotorBase.h"
#include "interface/drivers/DigitalOut.h"
#include "interface/drivers/Motor.h"
#include "interface/drivers/PwmOut.h"

namespace leka {

class CoreMotor : public CoreMotorBase
class CoreMotor : public interface::Motor
{
public:
CoreMotor(mbed::interface::DigitalOut &dir_1, mbed::interface::DigitalOut &dir_2, interface::PwmOut &speed)
CoreMotor(interface::DigitalOut &dir_1, interface::DigitalOut &dir_2, interface::PwmOut &speed)
: _dir_1(dir_1), _dir_2(dir_2), _speed(speed)
{
// nothing do to
Expand All @@ -28,8 +26,8 @@ class CoreMotor : public CoreMotorBase
void setDirections(int dir_1, int dir_2);
void setSpeed(float speed);

mbed::interface::DigitalOut &_dir_1;
mbed::interface::DigitalOut &_dir_2;
interface::DigitalOut &_dir_1;
interface::DigitalOut &_dir_2;
interface::PwmOut &_speed;
};

Expand Down
13 changes: 13 additions & 0 deletions include/interface/drivers/DigitalOut.h
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@@ -0,0 +1,13 @@
// Leka - LekaOS
// Copyright 2020 APF France handicap
// SPDX-License-Identifier: Apache-2.0

#pragma once

#include "drivers/interfaces/InterfaceDigitalOut.h"

namespace leka::interface {

using DigitalOut = mbed::interface::DigitalOut;

}
18 changes: 11 additions & 7 deletions drivers/CoreMotor/include/CoreMotorBase.h → include/interface/drivers/Motor.h
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Expand Up @@ -17,13 +17,17 @@ enum class Rotation

using rotation_t = Rotation;

class CoreMotorBase
{
public:
virtual ~CoreMotorBase() = default;
namespace interface {

virtual void spin(rotation_t rotation, float speed) = 0;
virtual void stop() = 0;
};
class Motor

{
public:
virtual ~Motor() = default;

virtual void spin(rotation_t rotation, float speed) = 0;
virtual void stop() = 0;
};

} // namespace interface
} // namespace leka
9 changes: 5 additions & 4 deletions libs/BehaviorKit/include/BehaviorKit.h
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Expand Up @@ -4,16 +4,17 @@

#pragma once

#include "CoreMotor.h"
#include "LedKit.h"
#include "interface/drivers/Motor.h"
#include "interface/libs/VideoKit.h"

namespace leka {

class BehaviorKit
{
public:
explicit BehaviorKit(interface::VideoKit &videokit, LedKit &ledkit, CoreMotor &motor_left, CoreMotor &motor_right)
explicit BehaviorKit(interface::VideoKit &videokit, LedKit &ledkit, interface::Motor &motor_left,
interface::Motor &motor_right)
: _videokit(videokit), _ledkit(ledkit), _motor_left(motor_left), _motor_right(motor_right)
{
// nothing do to
Expand Down Expand Up @@ -45,8 +46,8 @@ class BehaviorKit
private:
interface::VideoKit &_videokit;
LedKit &_ledkit;
CoreMotor &_motor_left;
CoreMotor &_motor_right;
interface::Motor &_motor_left;
interface::Motor &_motor_right;
};

} // namespace leka
77 changes: 21 additions & 56 deletions libs/BehaviorKit/tests/BehaviorKit_test.cpp
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Expand Up @@ -6,12 +6,12 @@

#include "rtos/tests/UNITTESTS/doubles/Thread_stub.h"

#include "CoreMotor.h"
#include "CorePwm.h"
#include "LedKit.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
#include "mocks/leka/CoreLED.h"
#include "mocks/leka/CoreMotor.h"
#include "mocks/leka/LEDAnimation.h"
#include "mocks/leka/PwmOut.h"
#include "mocks/leka/VideoKit.h"
Expand All @@ -25,7 +25,7 @@ using ::testing::InSequence;
class BehaviorKitTest : public ::testing::Test
{
protected:
BehaviorKitTest() : behaviorkit(mock_videokit, ledkit, motor_left, motor_right) {};
BehaviorKitTest() : behaviorkit(mock_videokit, ledkit, mock_motor_left, mock_motor_right) {};

// void SetUp() override {}
// void TearDown() override {}
Expand All @@ -42,16 +42,8 @@ class BehaviorKitTest : public ::testing::Test

mock::LEDAnimation mock_animation {};

mbed::mock::DigitalOut dir_1_left = {};
mbed::mock::DigitalOut dir_2_left = {};
mock::PwmOut speed_left = {};

mbed::mock::DigitalOut dir_1_right = {};
mbed::mock::DigitalOut dir_2_right = {};
mock::PwmOut speed_right = {};

CoreMotor motor_left {dir_1_left, dir_2_left, speed_left};
CoreMotor motor_right {dir_1_right, dir_2_right, speed_right};
mock::CoreMotor mock_motor_left {};
mock::CoreMotor mock_motor_right {};

BehaviorKit behaviorkit;
};
Expand All @@ -66,22 +58,15 @@ TEST_F(BehaviorKitTest, spinBlink)
auto expected_speed = 1;

EXPECT_CALL(mock_videokit, playVideo);

{
InSequence seq;

EXPECT_CALL(dir_1_left, write(0));
EXPECT_CALL(dir_2_left, write(1));
EXPECT_CALL(speed_left, write(expected_speed));
EXPECT_CALL(dir_1_right, write(0));
EXPECT_CALL(dir_2_right, write(1));
EXPECT_CALL(speed_right, write(expected_speed));

EXPECT_CALL(dir_1_left, write(0));
EXPECT_CALL(dir_2_left, write(0));
EXPECT_CALL(speed_left, write(0));
EXPECT_CALL(dir_1_right, write(0));
EXPECT_CALL(dir_2_right, write(0));
EXPECT_CALL(speed_right, write(0));
EXPECT_CALL(mock_motor_left, spin(Rotation::counterClockwise, expected_speed));
EXPECT_CALL(mock_motor_right, spin(Rotation::counterClockwise, expected_speed));

EXPECT_CALL(mock_motor_left, stop());
EXPECT_CALL(mock_motor_right, stop());
}

behaviorkit.spinBlink();
Expand All @@ -95,19 +80,11 @@ TEST_F(BehaviorKitTest, blinkGreen)
{
InSequence seq;

EXPECT_CALL(dir_1_left, write(1));
EXPECT_CALL(dir_2_left, write(0));
EXPECT_CALL(speed_left, write(expected_speed));
EXPECT_CALL(dir_1_right, write(1));
EXPECT_CALL(dir_2_right, write(0));
EXPECT_CALL(speed_right, write(expected_speed));

EXPECT_CALL(dir_1_left, write(0));
EXPECT_CALL(dir_2_left, write(0));
EXPECT_CALL(speed_left, write(0));
EXPECT_CALL(dir_1_right, write(0));
EXPECT_CALL(dir_2_right, write(0));
EXPECT_CALL(speed_right, write(0));
EXPECT_CALL(mock_motor_left, spin(Rotation::clockwise, expected_speed));
EXPECT_CALL(mock_motor_right, spin(Rotation::clockwise, expected_speed));

EXPECT_CALL(mock_motor_left, stop());
EXPECT_CALL(mock_motor_right, stop());
}

behaviorkit.blinkGreen();
Expand All @@ -117,12 +94,8 @@ TEST_F(BehaviorKitTest, spinLeftAnySpeed)
{
auto expected_speed = 0.7;

EXPECT_CALL(dir_1_left, write(1));
EXPECT_CALL(dir_2_left, write(0));
EXPECT_CALL(speed_left, write(expected_speed));
EXPECT_CALL(dir_1_right, write(1));
EXPECT_CALL(dir_2_right, write(0));
EXPECT_CALL(speed_right, write(expected_speed));
EXPECT_CALL(mock_motor_left, spin(Rotation::clockwise, expected_speed));
EXPECT_CALL(mock_motor_right, spin(Rotation::clockwise, expected_speed));

behaviorkit.spinLeft(expected_speed);
}
Expand All @@ -131,12 +104,8 @@ TEST_F(BehaviorKitTest, spinRightAnySpeed)
{
auto expected_speed = 0.3;

EXPECT_CALL(dir_1_left, write(0));
EXPECT_CALL(dir_2_left, write(1));
EXPECT_CALL(speed_left, write(expected_speed));
EXPECT_CALL(dir_1_right, write(0));
EXPECT_CALL(dir_2_right, write(1));
EXPECT_CALL(speed_right, write(expected_speed));
EXPECT_CALL(mock_motor_left, spin(Rotation::counterClockwise, expected_speed));
EXPECT_CALL(mock_motor_right, spin(Rotation::counterClockwise, expected_speed));

behaviorkit.spinRight(expected_speed);
}
Expand All @@ -156,12 +125,8 @@ TEST_F(BehaviorKitTest, stop)

EXPECT_CALL(mock_videokit, stopVideo);
EXPECT_CALL(mock_animation, stop).Times(1);
EXPECT_CALL(dir_1_left, write(0));
EXPECT_CALL(dir_2_left, write(0));
EXPECT_CALL(speed_left, write(0));
EXPECT_CALL(dir_1_right, write(0));
EXPECT_CALL(dir_2_right, write(0));
EXPECT_CALL(speed_right, write(0));
EXPECT_CALL(mock_motor_left, stop());
EXPECT_CALL(mock_motor_right, stop());

behaviorkit.stop();
}
8 changes: 4 additions & 4 deletions libs/CommandKit/include/commands/MotorsCommand.h
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Expand Up @@ -6,14 +6,14 @@

#include <span>

#include "CoreMotorBase.h"
#include "Utils.h"
#include "interface/Command.h"
#include "interface/drivers/Motor.h"

namespace leka {

struct MotorsCommand : interface::Command {
MotorsCommand(CoreMotorBase &left, CoreMotorBase &right) : _left(left), _right(right) {}
MotorsCommand(interface::Motor &left, interface::Motor &right) : _left(left), _right(right) {}

auto id() -> uint8_t override { return cmd::id; }

Expand Down Expand Up @@ -69,8 +69,8 @@ struct MotorsCommand : interface::Command {
};

std::array<uint8_t, cmd::size> args {};
CoreMotorBase &_left;
CoreMotorBase &_right;
interface::Motor &_left;
interface::Motor &_right;
};

} // namespace leka
8 changes: 4 additions & 4 deletions libs/HardwareTest/LekaMotors/include/LekaMotors.h
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Expand Up @@ -13,24 +13,24 @@
#include "rtos/ThisThread.h"
#include "rtos/Thread.h"

#include "CoreMotorBase.h"
#include "TwoMotorsBase.h"
#include "interface/drivers/Motor.h"

namespace leka {

class Motors : TwoMotorsBase
{
public:
Motors(CoreMotorBase &motor_right, CoreMotorBase &motor_left);
Motors(interface::Motor &motor_right, interface::Motor &motor_left);
~Motors() {};

void move(direction_t direction, uint8_t speed);
void spin(rotation_t rotation, uint8_t speed);
void stop(void);

private:
CoreMotorBase &_motor_right;
CoreMotorBase &_motor_left;
interface::Motor &_motor_right;
interface::Motor &_motor_left;
};

} // namespace leka
2 changes: 2 additions & 0 deletions libs/HardwareTest/LekaMotors/include/TwoMotorsBase.h
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Expand Up @@ -4,6 +4,8 @@

#pragma once

#include "interface/drivers/Motor.h"

namespace leka {

enum class Direction
Expand Down
2 changes: 1 addition & 1 deletion libs/HardwareTest/LekaMotors/source/LekaMotors.cpp
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Expand Up @@ -8,7 +8,7 @@ namespace leka {

using namespace mbed;

Motors::Motors(CoreMotorBase &motor_right, CoreMotorBase &motor_left)
Motors::Motors(interface::Motor &motor_right, interface::Motor &motor_left)
: _motor_right(motor_right), _motor_left(motor_left)
{
// nothing to do
Expand Down
13 changes: 7 additions & 6 deletions libs/RobotKit/include/RobotController.h
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Expand Up @@ -18,7 +18,6 @@
#include "BatteryKit.h"
#include "BehaviorKit.h"
#include "CommandKit.h"
#include "CoreMotor.h"
#include "CoreMutex.h"
#include "FileReception.h"
#include "LedKit.h"
Expand All @@ -29,6 +28,7 @@
#include "interface/drivers/Battery.h"
#include "interface/drivers/FirmwareUpdate.h"
#include "interface/drivers/LCD.hpp"
#include "interface/drivers/Motor.h"
#include "interface/drivers/Timeout.h"
#include "interface/libs/VideoKit.h"

Expand All @@ -42,9 +42,10 @@ class RobotController : public interface::RobotController
sm_t state_machine {static_cast<interface::RobotController &>(*this), logger};

explicit RobotController(interface::Timeout &timeout, interface::Battery &battery, SerialNumberKit &serialnumberkit,
interface::FirmwareUpdate &firmware_update, CoreMotor &motor_left, CoreMotor &motor_right,
interface::LED &ears, interface::LED &belt, LedKit &ledkit, interface::LCD &lcd,
interface::VideoKit &videokit, BehaviorKit &behaviorkit, CommandKit &cmdkit)
interface::FirmwareUpdate &firmware_update, interface::Motor &motor_left,
interface::Motor &motor_right, interface::LED &ears, interface::LED &belt, LedKit &ledkit,
interface::LCD &lcd, interface::VideoKit &videokit, BehaviorKit &behaviorkit,
CommandKit &cmdkit)
: _timeout(timeout),
_battery(battery),
_serialnumberkit(serialnumberkit),
Expand Down Expand Up @@ -309,8 +310,8 @@ class RobotController : public interface::RobotController
interface::FirmwareUpdate &_firmware_update;
std::function<void()> _on_update_loaded_callback {};

CoreMotor &_motor_left;
CoreMotor &_motor_right;
interface::Motor &_motor_left;
interface::Motor &_motor_right;
interface::LED &_ears;
interface::LED &_belt;
LedKit &_ledkit;
Expand Down
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