✨ (RobotKit): Add CoreHTS and link to BLE service

leka · Aug 20, 2024 · 71eadf3 · 71eadf3
1 parent fce0c24
commit 71eadf3
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Showing 4 changed files with 38 additions and 5 deletions.
diff --git a/app/os/CMakeLists.txt b/app/os/CMakeLists.txt
@@ -40,6 +40,7 @@ target_link_libraries(LekaOS
 	IMUKit
 	MotionKit
 	EventLoopKit
+	CoreHTS
 )
 
 target_link_custom_leka_targets(LekaOS)
diff --git a/app/os/main.cpp b/app/os/main.cpp
@@ -20,6 +20,7 @@
 #include "CoreFlashManagerIS25LP016D.h"
 #include "CoreFont.hpp"
 #include "CoreGraphics.hpp"
+#include "CoreHTS.h"
 #include "CoreI2C.h"
 #include "CoreIMU.hpp"
 #include "CoreInterruptIn.h"
@@ -151,6 +152,17 @@ namespace factory_reset {
 
 }	// namespace factory_reset
 
+namespace temperature_humidity {
+
+	namespace internal {
+
+		auto i2c = CoreI2C {PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL};
+	}
+
+	auto sensor = CoreHTS {internal::i2c};
+
+}	// namespace temperature_humidity
+
 namespace leds {
 
 	namespace internal {
@@ -421,6 +433,8 @@ namespace robot {
 		internal::timeout_state_transition,
 		internal::timeout_autonomous_activities,
 		battery::kit,
+		temperature_humidity::sensor,
+		temperature_humidity::sensor,
 		internal::serialnumberkit,
 		firmware::kit,
 		motors::left::motor,
@@ -578,6 +592,7 @@ auto main() -> int
 	commandkit.registerCommand(command::list);
 	activitykit.registerActivities(activities::activities);
 
+	temperature_humidity::sensor.init();
 	imu::coreimu.init();
 	imukit.init();
 

diff --git a/libs/RobotKit/include/RobotController.h b/libs/RobotKit/include/RobotController.h
@@ -34,6 +34,7 @@
 #include "interface/drivers/FirmwareUpdate.h"
 #include "interface/drivers/LCD.hpp"
 #include "interface/drivers/Motor.h"
+#include "interface/drivers/TemperatureSensor.h"
 #include "interface/drivers/Timeout.h"
 #include "interface/libs/BatteryKit.h"
 #include "interface/libs/LedKit.h"
@@ -52,15 +53,18 @@ class RobotController : public interface::RobotController
 
 	explicit RobotController(interface::Timeout &timeout_state_internal, interface::Timeout &timeout_state_transition,
 							 interface::Timeout &timeout_autonomous_activities, interface::BatteryKit &batterykit,
-							 SerialNumberKit &serialnumberkit, interface::FirmwareUpdate &firmware_update,
-							 interface::Motor &motor_left, interface::Motor &motor_right, interface::LED &ears,
-							 interface::LED &belt, interface::LedKit &ledkit, interface::LCD &lcd,
-							 interface::VideoKit &videokit, BehaviorKit &behaviorkit, CommandKit &cmdkit,
-							 RFIDKit &rfidkit, ActivityKit &activitykit)
+							 interface::TemperatureSensor &temperature_sensor,
+							 interface::HumiditySensor &humidity_sensor, SerialNumberKit &serialnumberkit,
+							 interface::FirmwareUpdate &firmware_update, interface::Motor &motor_left,
+							 interface::Motor &motor_right, interface::LED &ears, interface::LED &belt,
+							 interface::LedKit &ledkit, interface::LCD &lcd, interface::VideoKit &videokit,
+							 BehaviorKit &behaviorkit, CommandKit &cmdkit, RFIDKit &rfidkit, ActivityKit &activitykit)
 		: _timeout_state_internal(timeout_state_internal),
 		  _timeout_state_transition(timeout_state_transition),
 		  _timeout_autonomous_activities(timeout_autonomous_activities),
 		  _batterykit(batterykit),
+		  _temperature_sensor(temperature_sensor),
+		  _humidity_sensor(humidity_sensor),
 		  _serialnumberkit(serialnumberkit),
 		  _firmware_update(firmware_update),
 		  _motor_left(motor_left),
@@ -495,6 +499,11 @@ class RobotController : public interface::RobotController
 
 		_batterykit.startEventHandler();
 
+		_service_monitoring.onTemperatureHumidityRequested([this]() {
+			_service_monitoring.setTemperature(_temperature_sensor.getTemperatureCelsius());
+			_service_monitoring.setHumidity(_humidity_sensor.getRelativeHumidity());
+		});
+
 		_ble.onConnectionCallback([this] { raise(event::ble_connection {}); });
 
 		_ble.onDisconnectionCallback([this] { raise(event::ble_disconnection {}); });
@@ -582,6 +591,8 @@ class RobotController : public interface::RobotController
 
 	interface::BatteryKit &_batterykit;
 	uint8_t _minimal_battery_level_to_update {25};
+	interface::TemperatureSensor &_temperature_sensor;
+	interface::HumiditySensor &_humidity_sensor;
 
 	SerialNumberKit &_serialnumberkit;
 

diff --git a/libs/RobotKit/tests/RobotController_test.h b/libs/RobotKit/tests/RobotController_test.h
@@ -31,6 +31,7 @@
 #include "mocks/leka/LedKit.h"
 #include "mocks/leka/MCU.h"
 #include "mocks/leka/PwmOut.h"
+#include "mocks/leka/TemperatureSensor.h"
 #include "mocks/leka/Timeout.h"
 #include "mocks/leka/VideoKit.h"
 #include "mocks/mbed/DigitalOut.h"
@@ -84,6 +85,9 @@ class RobotControllerTest : public testing::Test
 	mock::MCU mock_mcu {};
 	SerialNumberKit serialnumberkit {mock_mcu, SerialNumberKit::DEFAULT_CONFIG};
 
+	mock::TemperatureSensor temperature_sensor {};
+	mock::HumiditySensor humidity_sensor {};
+
 	mock::FirmwareUpdate firmware_update {};
 
 	mock::CoreLED mock_ears;
@@ -115,6 +119,8 @@ class RobotControllerTest : public testing::Test
 																			  timeout_state_transition,
 																			  timeout_autonomous_activities,
 																			  battery,
+																			  temperature_sensor,
+																			  humidity_sensor,
 																			  serialnumberkit,
 																			  firmware_update,
 																			  mock_motor_left,