Yann/feature/rc/add and link temperature sensor to ble

app/os/CMakeLists.txt

@@ -40,6 +40,7 @@ target_link_libraries(LekaOS
 	IMUKit
 	MotionKit
 	EventLoopKit
+	CoreHTS
 )
 
 target_link_custom_leka_targets(LekaOS)

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();
 

drivers/CoreHTS/include/CoreHTS.h

@@ -7,32 +7,13 @@
 #include <array>
 #include <tuple>
 
-#include "CoreI2C.h"
 #include "Utils.h"
 #include "hts221_reg.h"
+#include "interface/drivers/I2C.h"
+#include "interface/drivers/TemperatureSensor.h"
 
 namespace leka {
 
-namespace interface {
-
-	class TemperatureSensor
-	{
-	  public:
-		virtual ~TemperatureSensor() = default;
-
-		virtual auto getTemperatureCelsius() -> float = 0;
-	};
-
-	class HumiditySensor
-	{
-	  public:
-		virtual ~HumiditySensor() = default;
-
-		virtual auto getRelativeHumidity() -> float = 0;
-	};
-
-}	// namespace interface
-
 class CoreHTS : public interface::TemperatureSensor, public interface::HumiditySensor
 {
 	using Point				 = leka::utils::math::Point;

include/interface/drivers/TemperatureSensor.h

@@ -0,0 +1,25 @@
+// Leka - LekaOS
+// Copyright 2024 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+namespace leka::interface {
+
+class TemperatureSensor
+{
+  public:
+	virtual ~TemperatureSensor() = default;
+
+	virtual auto getTemperatureCelsius() -> float = 0;
+};
+
+class HumiditySensor
+{
+  public:
+	virtual ~HumiditySensor() = default;
+
+	virtual auto getRelativeHumidity() -> float = 0;
+};
+
+}	// namespace leka::interface

libs/RobotKit/CMakeLists.txt

@@ -21,11 +21,9 @@ target_link_libraries(RobotKit
 	BatteryKit
 	SerialNumberKit
 	BLEKit
-	CoreMotor
 	LedKit
 	FileManagerKit
 	CoreMutex
-	VideoKit
 	BehaviorKit
 	CommandKit
 	RFIDKit

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;
 

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,

tests/unit/mocks/mocks/leka/TemperatureSensor.h

@@ -0,0 +1,24 @@
+// Leka - LekaOS
+// Copyright 2024 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include "gmock/gmock.h"
+#include "interface/drivers/TemperatureSensor.h"
+
+namespace leka::mock {
+
+class TemperatureSensor : public interface::TemperatureSensor
+{
+  public:
+	MOCK_METHOD(float, getTemperatureCelsius, (), (override));
+};
+
+class HumiditySensor : public interface::HumiditySensor
+{
+  public:
+	MOCK_METHOD(float, getRelativeHumidity, (), (override));
+};
+
+}	// namespace leka::mock