Merge branch 'feature/high-level-service' into feature/YF-cover-ui

Author: ClemensElflein

CMakeLists.txt

@@ -64,6 +64,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         src/services/mower_service/mower_service.cpp
         src/services/gps_service/gps_service.cpp
         src/services/input_service/input_service.cpp
+        src/services/mower_ui_service/mower_ui_service.cpp
         # BQ2567 driver
         src/drivers/charger/bq_2576/bq_2576.cpp
         # BQ25679 driver
@@ -124,6 +125,7 @@ target_add_service(${CMAKE_PROJECT_NAME} DiffDriveService ${CMAKE_CURRENT_SOURCE
 target_add_service(${CMAKE_PROJECT_NAME} MowerService ${CMAKE_CURRENT_SOURCE_DIR}/services/mower_service.json)
 target_add_service(${CMAKE_PROJECT_NAME} GpsService ${CMAKE_CURRENT_SOURCE_DIR}/services/gps_service.json)
 target_add_service(${CMAKE_PROJECT_NAME} InputService ${CMAKE_CURRENT_SOURCE_DIR}/services/input_service.json)
+target_add_service(${CMAKE_PROJECT_NAME} MowerUiService ${CMAKE_CURRENT_SOURCE_DIR}/services/mower_ui_service.json)
 
 set_target_properties(${CMAKE_PROJECT_NAME}
         PROPERTIES SUFFIX ".elf")

services

@@ -11,3 +11,4 @@ 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};

src/services.cpp

@@ -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;
@@ -18,5 +19,6 @@ extern ImuService imu_service;
 extern PowerService power_service;
 extern GpsService gps_service;
 extern InputService input_service;
+extern MowerUiService mower_ui_service;
 
 #endif  // SERVICES_HPP

src/services.hpp

@@ -0,0 +1,50 @@
+//
+// Created by clemens on 5/7/25.
+//
+
+#include "mower_ui_service.hpp"
+
+void MowerUiService::OnStateIDChanged(const HighLevelStatus &new_value) {
+  xbot::service::Lock lk{&mtx_};
+  state_id_ = new_value;
+}
+
+void MowerUiService::OnStateNameChanged(const char *new_value, uint32_t length) {
+  xbot::service::Lock lk{&mtx_};
+  if (new_value && length > 0 && length < state_name_.max_size()) {
+    state_name_ = new_value;
+  }
+}
+
+void MowerUiService::OnSubStateNameChanged(const char *new_value, uint32_t length) {
+  xbot::service::Lock lk{&mtx_};
+  if (new_value && length > 0 && length < sub_state_name_.max_size()) {
+    sub_state_name_ = new_value;
+  }
+}
+
+void MowerUiService::OnGpsQualityChanged(const float &new_value) {
+  xbot::service::Lock lk{&mtx_};
+  gps_quality_ = new_value;
+}
+
+void MowerUiService::OnCurrentAreaChanged(const int16_t &new_value) {
+  xbot::service::Lock lk{&mtx_};
+  current_area_ = new_value;
+}
+
+void MowerUiService::OnCurrentPathChanged(const int16_t &new_value) {
+  xbot::service::Lock lk{&mtx_};
+  current_path_ = new_value;
+}
+
+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.cpp

@@ -0,0 +1,83 @@
+//
+// Created by clemens on 5/7/25.
+//
+
+#ifndef OPENMOWER_MOWER_UI_SERVICE_HPP
+#define OPENMOWER_MOWER_UI_SERVICE_HPP
+
+#include <MowerUiServiceBase.hpp>
+
+#include "globals.hpp"
+#include <etl/string.h>
+#include <xbot-service/Lock.hpp>
+
+using namespace xbot::service;
+
+class MowerUiService : public MowerUiServiceBase {
+ private:
+  THD_WORKING_AREA(wa, 1024) {};
+
+ public:
+  explicit MowerUiService(uint16_t service_id) : MowerUiServiceBase(service_id, wa, sizeof(wa)) {
+  }
+  
+  [[nodiscard]] HighLevelStatus getStateId() { 
+    xbot::service::Lock lk{&mtx_};
+    return state_id_; 
+  }
+  [[nodiscard]] etl::string<100> getStateName() {
+    xbot::service::Lock lk{&mtx_};
+    return state_name_;
+  }
+  [[nodiscard]] etl::string<100> getSubStateName() {
+    xbot::service::Lock lk{&mtx_};
+    return sub_state_name_;
+  }
+  [[nodiscard]] float getGpsQuality() {
+    xbot::service::Lock lk{&mtx_};
+    return gps_quality_;
+  }
+  [[nodiscard]] int16_t getCurrentArea() {
+    xbot::service::Lock lk{&mtx_};
+    return current_area_;
+  }
+  [[nodiscard]] int16_t getCurrentPath() {
+    xbot::service::Lock lk{&mtx_};
+    return current_path_;
+  }
+  [[nodiscard]] int16_t getCurrentPathIndex() {
+    xbot::service::Lock lk{&mtx_};
+    return current_path_index_;
+  }
+
+  void SendAction(HighLevelAction action);
+
+  void SetCallback(const etl::delegate<void()> &callback) {
+    xbot::service::Lock lk{&mtx_};
+    state_changed_callback_ = callback;
+  }
+
+ private:
+  MUTEX_DECL(mtx_);
+  
+  HighLevelStatus state_id_ = MowerUiServiceBase::HighLevelStatus::UNKNOWN;
+  etl::string<100> state_name_{};
+  etl::string<100> sub_state_name_{};
+  float gps_quality_ = 0;
+  int16_t current_area_ = 0;
+  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