From d5df351770d6d78a814518e5493229e422f82115 Mon Sep 17 00:00:00 2001
From: Hugo Pezziardi <hugo@pezziardi.net>
Date: Mon, 6 Mar 2023 09:59:37 +0100
Subject: [PATCH] :arrow_up: (IMUKit): IMUKit derive from interface

---
 app/os/main.cpp                        |  1 +
 libs/IMUKit/include/IMUKit.hpp         | 17 ++++++----------
 spikes/lk_command_kit/main.cpp         |  1 +
 tests/unit/mocks/mocks/leka/IMUKit.hpp | 28 ++++++++++++++++++++++++++
 4 files changed, 36 insertions(+), 11 deletions(-)
 create mode 100644 tests/unit/mocks/mocks/leka/IMUKit.hpp

diff --git a/app/os/main.cpp b/app/os/main.cpp
index 3ac5081c44..aa65b7270b 100644
--- a/app/os/main.cpp
+++ b/app/os/main.cpp
@@ -47,6 +47,7 @@
 #include "FlashNumberCounting.h"
 #include "FoodRecognition.h"
 #include "HelloWorld.h"
+#include "IMUKit.hpp"
 #include "LedColorRecognition.h"
 #include "LedKit.h"
 #include "LedNumberCounting.h"
diff --git a/libs/IMUKit/include/IMUKit.hpp b/libs/IMUKit/include/IMUKit.hpp
index 44dc217529..0158757418 100644
--- a/libs/IMUKit/include/IMUKit.hpp
+++ b/libs/IMUKit/include/IMUKit.hpp
@@ -5,26 +5,21 @@
 #pragma once
 
 #include "interface/LSM6DSOX.hpp"
+#include "interface/libs/IMUKit.hpp"
 
 namespace leka {
 
-struct EulerAngles {
-	float pitch;
-	float roll;
-	float yaw;
-};
-
-class IMUKit
+class IMUKit : public interface::IMUKit
 {
   public:
 	explicit IMUKit(interface::LSM6DSOX &lsm6dsox) : _lsm6dsox(lsm6dsox) {}
 
 	void init();
-	void start();
-	void stop();
+	void start() final;
+	void stop() final;
 
-	void setOrigin();
-	[[nodiscard]] auto getEulerAngles() const -> EulerAngles;
+	void setOrigin() final;
+	[[nodiscard]] auto getEulerAngles() const -> EulerAngles final;
 
   private:
 	void drdy_callback(interface::LSM6DSOX::SensorData data);
diff --git a/spikes/lk_command_kit/main.cpp b/spikes/lk_command_kit/main.cpp
index 8282dfe00c..248a1acc0b 100644
--- a/spikes/lk_command_kit/main.cpp
+++ b/spikes/lk_command_kit/main.cpp
@@ -32,6 +32,7 @@
 #include "EventLoopKit.h"
 #include "FATFileSystem.h"
 #include "HelloWorld.h"
+#include "IMUKit.hpp"
 #include "LedKit.h"
 #include "LogKit.h"
 #include "ReinforcerKit.h"
diff --git a/tests/unit/mocks/mocks/leka/IMUKit.hpp b/tests/unit/mocks/mocks/leka/IMUKit.hpp
new file mode 100644
index 0000000000..cb93b1b90f
--- /dev/null
+++ b/tests/unit/mocks/mocks/leka/IMUKit.hpp
@@ -0,0 +1,28 @@
+// Leka - LekaOS
+// Copyright 2023 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include "gmock/gmock.h"
+#include "interface/libs/IMUKit.hpp"
+
+namespace leka::mock {
+
+class IMUKit : public interface::IMUKit
+{
+  public:
+	MOCK_METHOD(void, start, (), (override));
+	MOCK_METHOD(void, stop, (), (override));
+	MOCK_METHOD(void, setOrigin, (), (override));
+	MOCK_METHOD(EulerAngles, getEulerAngles, (), (const, override));
+
+	void onEulerAnglesReady(angles_ready_callback_t const &cb) override { angles_ready_callback = cb; }
+
+	void call_angles_ready_callback(const EulerAngles &data) { angles_ready_callback(data); }
+
+  private:
+	angles_ready_callback_t angles_ready_callback {};
+};
+
+}	// namespace leka::mock