WIP

Author: ClemensElflein

src/services.cpp

@@ -15,6 +15,7 @@ ImuService imu_service{xbot::service_ids::IMU};
 PowerService power_service{xbot::service_ids::POWER};
 GpsService gps_service{xbot::service_ids::GPS};
 InputService input_service{xbot::service_ids::INPUT};
+MowerUiService mower_ui_service{xbot::service_ids::MOWER_UI};
 
 void StartServices() {
 #define START_IF_NEEDED(service, id)                \

src/services.hpp

@@ -7,6 +7,7 @@
 #include "services/imu_service/imu_service.hpp"
 #include "services/input_service/input_service.hpp"
 #include "services/mower_service/mower_service.hpp"
+#include "services/mower_ui_service/mower_ui_service.hpp"
 #include "services/power_service/power_service.hpp"
 
 extern EmergencyService emergency_service;
@@ -16,6 +17,7 @@ extern ImuService imu_service;
 extern PowerService power_service;
 extern GpsService gps_service;
 extern InputService input_service;
+extern MowerUiService mower_ui_service;
 
 void StartServices();
 

src/services/mower_ui_service/mower_ui_service.cpp

@@ -42,4 +42,9 @@ void MowerUiService::OnCurrentPathIndexChanged(const int16_t &new_value) {
   xbot::service::Lock lk{&mtx_};
   current_path_index_ = new_value;
 }
+void MowerUiService::OnTransactionEnd() {
+  if (state_changed_callback_) {
+    state_changed_callback_();
+  }
+}
 

src/services/mower_ui_service/mower_ui_service.hpp

@@ -52,6 +52,11 @@ class MowerUiService : public MowerUiServiceBase {
 
   void SendAction(HighLevelAction action);
 
+  void SetCallback(const etl::delegate<void()> &callback) {
+    xbot::service::Lock lk{&mtx_};
+    state_changed_callback_ = callback;
+  }
+
  private:
   MUTEX_DECL(mtx_);
 
@@ -63,13 +68,16 @@ class MowerUiService : public MowerUiServiceBase {
   int16_t current_path_ = 0;
   int16_t current_path_index_ = 0;
 
+  etl::delegate<void()> state_changed_callback_{};
+
   void OnStateIDChanged(const HighLevelStatus& new_value) override;
   void OnStateNameChanged(const char* new_value, uint32_t length) override;
   void OnSubStateNameChanged(const char* new_value, uint32_t length) override;
   void OnGpsQualityChanged(const float& new_value) override;
   void OnCurrentAreaChanged(const int16_t& new_value) override;
   void OnCurrentPathChanged(const int16_t& new_value) override;
   void OnCurrentPathIndexChanged(const int16_t& new_value) override;
+  void OnTransactionEnd() override;
 };
 
 #endif  // OPENMOWER_MOWER_UI_SERVICE_HPP