⏪️ (git): Revert "🔀️ Merge branch 'yann/feature/rc/deep-sleep-use-imu…

…-to-wakeup' into develop" This reverts commit 3dd931d, reversing changes made to 94a0112.
leka · Sep 20, 2024 · 6fadea6 · 6fadea6
1 parent b28bfcc
commit 6fadea6
Show file tree

Hide file tree

Showing 5 changed files with 7 additions and 32 deletions.
diff --git a/app/os/main.cpp b/app/os/main.cpp
@@ -434,7 +434,6 @@ namespace robot {
 		commandkit,
 		rfidkit,
 		activitykit,
-		imu::coreimu,
 	};
 
 }	// namespace robot
@@ -541,6 +540,7 @@ namespace deep_sleep {
 		&motors::right::motor,
 		&display::internal::corelcd,
 		&rfidkit,
+		&imu::coreimu,
 	});
 }
 

diff --git a/libs/RobotKit/include/RobotController.h b/libs/RobotKit/include/RobotController.h
@@ -32,7 +32,6 @@
 #include "interface/RobotController.h"
 #include "interface/drivers/DeepSleepEnabled.h"
 #include "interface/drivers/FirmwareUpdate.h"
-#include "interface/drivers/IMU.hpp"
 #include "interface/drivers/LCD.hpp"
 #include "interface/drivers/Motor.h"
 #include "interface/drivers/Timeout.h"
@@ -57,7 +56,7 @@ class RobotController : public interface::RobotController
 							 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::IMU &imu)
+							 RFIDKit &rfidkit, ActivityKit &activitykit)
 		: _timeout_state_internal(timeout_state_internal),
 		  _timeout_state_transition(timeout_state_transition),
 		  _timeout_autonomous_activities(timeout_autonomous_activities),
@@ -74,8 +73,7 @@ class RobotController : public interface::RobotController
 		  _behaviorkit(behaviorkit),
 		  _cmdkit(cmdkit),
 		  _rfidkit(rfidkit),
-		  _activitykit(activitykit),
-		  _imu(imu)
+		  _activitykit(activitykit)
 	{
 		// nothing to do
 	}
@@ -321,9 +319,6 @@ class RobotController : public interface::RobotController
 		auto advertising_data			  = _ble.getAdvertisingData();
 		advertising_data.is_deep_sleeping = true;
 		_ble.setAdvertisingData(advertising_data);
-
-		_imu.registerOnWakeUpCallback([this] { raise(event::robot_is_shaken {}); });
-		_imu.enableOnWakeUpInterrupt();
 	}
 
 	void wakeUp() final { system_reset(); }
@@ -608,7 +603,6 @@ class RobotController : public interface::RobotController
 	interface::VideoKit &_videokit;
 	RFIDKit &_rfidkit;
 	ActivityKit &_activitykit;
-	interface::IMU &_imu;
 
 	BehaviorKit &_behaviorkit;
 	CommandKit &_cmdkit;

diff --git a/libs/RobotKit/include/StateMachine.h b/libs/RobotKit/include/StateMachine.h
@@ -46,9 +46,6 @@ namespace sm::event {
 	struct magic_card_detected {
 	};
 
-	struct robot_is_shaken {
-	};
-
 }	// namespace sm::event
 
 namespace sm::state {
@@ -247,11 +244,10 @@ struct StateMachine {
 			, sm::state::deep_sleeping + boost::sml::on_entry<_> / sm::action::suspend_hardware_for_deep_sleep {}
 			, sm::state::deep_sleeping + boost::sml::on_exit<_>  / sm::action::wake_up {}
 
-			, sm::state::deep_sleeping + event<sm::event::charge_did_start>    = X
-			, sm::state::deep_sleeping + event<sm::event::charge_did_stop>     = X
-			, sm::state::deep_sleeping + event<sm::event::ble_connection>      = X
+			, sm::state::deep_sleeping + event<sm::event::charge_did_start> = X
+			, sm::state::deep_sleeping + event<sm::event::charge_did_stop>  = X
+			, sm::state::deep_sleeping + event<sm::event::ble_connection>   = X
 			, sm::state::deep_sleeping + event<sm::event::magic_card_detected> = X
-			, sm::state::deep_sleeping + event<sm::event::robot_is_shaken>     = X
 
 			, sm::state::charging + boost::sml::on_entry<_> / (sm::action::start_deep_sleep_timeout {}, sm::action::start_charging_behavior {} )
 			, sm::state::charging + boost::sml::on_exit<_>  / (sm::action::stop_deep_sleep_timeout  {}, sm::action::stop_charging_behavior  {} )

diff --git a/libs/RobotKit/tests/RobotController_test.h b/libs/RobotKit/tests/RobotController_test.h
@@ -27,7 +27,6 @@
 #include "mocks/leka/CoreMotor.h"
 #include "mocks/leka/EventQueue.h"
 #include "mocks/leka/FirmwareUpdate.h"
-#include "mocks/leka/IMU.h"
 #include "mocks/leka/LEDAnimation.h"
 #include "mocks/leka/LedKit.h"
 #include "mocks/leka/MCU.h"
@@ -109,8 +108,6 @@ class RobotControllerTest : public testing::Test
 	ActivityKit activitykit {mock_videokit};
 	activity::DisplayTags display_tag {rfidkit, mock_videokit};
 
-	mock::IMU mock_imu {};
-
 	stub::EventLoopKit event_loop {};
 	CommandKit cmdkit {event_loop};
 
@@ -130,8 +127,7 @@ class RobotControllerTest : public testing::Test
 																			  bhvkit,
 																			  cmdkit,
 																			  rfidkit,
-																			  activitykit,
-																			  mock_imu};
+																			  activitykit};
 
 	ble::GapMock &mbed_mock_gap			= ble::gap_mock();
 	ble::GattServerMock &mbed_mock_gatt = ble::gatt_server_mock();

diff --git a/libs/RobotKit/tests/StateMachine_test.cpp b/libs/RobotKit/tests/StateMachine_test.cpp
@@ -290,17 +290,6 @@ TEST_F(StateMachineTest, stateDeepSleepingEventMagicCardDetected)
 	EXPECT_TRUE(sm.is(X));
 }
 
-TEST_F(StateMachineTest, stateDeepSleepingEventRobotIsShaken)
-{
-	sm.set_current_states(lksm::state::deep_sleeping);
-
-	EXPECT_CALL(mock_rc, wakeUp);
-
-	sm.process_event(lksm::event::robot_is_shaken {});
-
-	EXPECT_TRUE(sm.is(X));
-}
-
 TEST_F(StateMachineTest, stateIdleEventChargeDidStart)
 {
 	sm.set_current_states(lksm::state::idle);