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YannLocatelliYannLocatelli
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✨ (CommandKit): Add BehaviorCommand
1 parent 617322f commit eb77bc6

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4 files changed

+128
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4 files changed

+128
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‎app/os/main.cpp‎

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@@ -65,6 +65,7 @@
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#include "SuperSimon.h"
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#include "VideoKit.h"
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#include "bootutil/bootutil.h"
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#include "commands/BehaviorCommand.h"
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#include "commands/LedFullCommand.h"
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#include "commands/LedRangeCommand.h"
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#include "commands/LedSingleCommand.h"
@@ -292,6 +293,7 @@ namespace command {
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auto led_range = LedRangeCommand {leds::ears, leds::belt};
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auto motors = MotorsCommand {motors::left::motor, motors::right::motor};
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auto reinforcer = ReinforcerCommand {reinforcerkit};
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auto behavior = BehaviorCommand {behaviorkit};
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} // namespace internal
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@@ -301,6 +303,7 @@ namespace command {
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&internal::led_range,
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&internal::motors,
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&internal::reinforcer,
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&internal::behavior,
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});
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} // namespace command

‎libs/CommandKit/CMakeLists.txt‎

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@@ -19,6 +19,7 @@ target_link_libraries(CommandKit
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CoreLED
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CoreMotor
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ReinforcerKit
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BehaviorKit
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EventLoopKit
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mbed-os
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)

‎libs/CommandKit/include/commands/BehaviorCommand.h‎

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@@ -0,0 +1,120 @@
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// Leka - LekaOS
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// Copyright 2022 APF France handicap
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include <span>
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#include "BehaviorKit.h"
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#include "Utils.h"
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#include "interface/Command.h"
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namespace leka {
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struct BehaviorCommand : interface::Command {
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explicit BehaviorCommand(BehaviorKit &kit) : _behaviorkit(kit) {}
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auto id() -> uint8_t override { return cmd::id; }
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auto data() -> uint8_t * override
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{
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args = {};
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return args.data();
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}
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[[nodiscard]] auto size() const -> std::size_t override { return std::size(args); }
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auto execute() -> bool override
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{
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auto [id, chcksm] = std::tuple_cat(args);
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auto expected = [&] { return utils::math::checksum8(std::span {args.data(), args.size() - 1}); };
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if (chcksm != expected()) {
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return false;
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}
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switch (id) {
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case cmd::behavior::stop:
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_behaviorkit.stop();
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break;
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case cmd::behavior::launching:
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_behaviorkit.launching();
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break;
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case cmd::behavior::sleeping:
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_behaviorkit.sleeping();
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break;
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case cmd::behavior::waiting:
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_behaviorkit.waiting();
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break;
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case cmd::behavior::blink_on_charge:
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_behaviorkit.blinkOnCharge();
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break;
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case cmd::behavior::low_battery:
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_behaviorkit.lowBattery();
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break;
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case cmd::behavior::charging_empty:
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_behaviorkit.chargingEmpty();
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break;
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case cmd::behavior::charging_low:
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_behaviorkit.chargingLow();
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break;
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case cmd::behavior::charging_medium:
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_behaviorkit.chargingMedium();
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break;
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case cmd::behavior::charging_high:
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_behaviorkit.chargingHigh();
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break;
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case cmd::behavior::charging_full:
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_behaviorkit.chargingFull();
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break;
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case cmd::behavior::ble_connection_without_video:
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_behaviorkit.bleConnectionWithoutVideo();
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break;
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case cmd::behavior::ble_connection_with_video:
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_behaviorkit.bleConnectionWithVideo();
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break;
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case cmd::behavior::working:
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_behaviorkit.working();
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break;
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case cmd::behavior::file_exchange:
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_behaviorkit.fileExchange();
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break;
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default:
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_behaviorkit.stop();
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break;
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}
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return true;
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}
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private:
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struct cmd {
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static constexpr auto id = uint8_t {0x60};
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static constexpr auto size = uint8_t {1 + 1}; // id + page + Checksum
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struct behavior {
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static constexpr auto stop = uint8_t {0x00};
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static constexpr auto launching = uint8_t {0x01};
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static constexpr auto sleeping = uint8_t {0x02};
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static constexpr auto waiting = uint8_t {0x03};
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static constexpr auto blink_on_charge = uint8_t {0x04};
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static constexpr auto low_battery = uint8_t {0x05};
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static constexpr auto charging_empty = uint8_t {0x06};
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static constexpr auto charging_low = uint8_t {0x07};
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static constexpr auto charging_medium = uint8_t {0x08};
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static constexpr auto charging_high = uint8_t {0x09};
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static constexpr auto charging_full = uint8_t {0x0A};
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static constexpr auto ble_connection_without_video = uint8_t {0x0B};
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static constexpr auto ble_connection_with_video = uint8_t {0x0C};
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static constexpr auto working = uint8_t {0x0D};
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static constexpr auto file_exchange = uint8_t {0x0E};
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};
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};
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std::array<uint8_t, cmd::size> args {};
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BehaviorKit &_behaviorkit;
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};
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} // namespace leka

‎spikes/lk_command_kit/main.cpp‎

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@@ -38,6 +38,7 @@
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#include "ReinforcerKit.h"
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#include "SDBlockDevice.h"
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#include "VideoKit.h"
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#include "commands/BehaviorCommand.h"
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#include "commands/LedFullCommand.h"
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#include "commands/LedRangeCommand.h"
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#include "commands/LedSingleCommand.h"
@@ -147,6 +148,7 @@ auto videokit = VideoKit {internal::event_loop, internal::corevideo};
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} // namespace display
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auto behaviorkit = BehaviorKit {display::videokit, ledkit, motor::left, motor::right};
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auto reinforcerkit = ReinforcerKit {display::videokit, ledkit, motionkit};
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namespace command {
@@ -161,6 +163,7 @@ namespace internal {
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auto led_range = LedRangeCommand {leds::ears, leds::belt};
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auto motors = MotorsCommand {motor::left, motor::right};
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auto reinforcer = ReinforcerCommand {reinforcerkit};
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auto behavior = BehaviorCommand {behaviorkit};
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} // namespace internal
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@@ -211,6 +214,7 @@ auto list = std::to_array<interface::Command *>({
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&internal::led_full,
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&internal::led_range,
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&internal::reinforcer,
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&internal::behavior,
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});
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} // namespace command

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