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Board Interface V2 #216

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Merged
gabryelreyes merged 8 commits into from
Jan 3, 2026
Merged

Board Interface V2 #216

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f27e73b
Added V2 interfaces
gabryelreyes Jan 2, 2026
e43d275
Renamed button "reset" interface
gabryelreyes Jan 2, 2026
52bc8b0
Adapted Target Board
gabryelreyes Jan 2, 2026
a95b45f
Adapted Sim Board
gabryelreyes Jan 2, 2026
24bb7c3
Try to run inside a webots container
gabryelreyes Jan 2, 2026
0aa6156
Try to build simulation environments
gabryelreyes Jan 2, 2026
8fbb234
Removed failed CI test for simulation
gabryelreyes Jan 2, 2026
42bcb9f
Fixed some Doxygen rename consistencies
gabryelreyes Jan 2, 2026
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2 changes: 1 addition & 1 deletion lib/APPLineFollower/src/States/ReadyState.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ void ReadyState::entry()

void ReadyState::process(StateMachine& sm)
{
IButton& button = Board::getInstance().getButton();
IButton& button = Board::getInstance().getButtonReset();

if (nullptr == m_lineSensors)
{
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2 changes: 1 addition & 1 deletion lib/APPLineFollower/src/States/ReleaseTrackState.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ void ReleaseTrackState::entry()

void ReleaseTrackState::process(StateMachine& sm)
{
IButton& button = Board::getInstance().getButton();
IButton& button = Board::getInstance().getButtonReset();

/* Change parameter set? */
if (true == Util::isButtonTriggered(button, m_isButtonPressed))
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2 changes: 1 addition & 1 deletion lib/APPLineFollower/src/States/StartupState.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,7 @@ void StartupState::entry()

void StartupState::process(StateMachine& sm)
{
IButton& button = Board::getInstance().getButton();
IButton& button = Board::getInstance().getButtonReset();

switch (m_subState)
{
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48 changes: 45 additions & 3 deletions lib/HALInterfaces/src/IBoard.h
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Original file line number Diff line number Diff line change
Expand Up @@ -93,11 +93,32 @@ class IBoard
virtual IBattery& getBattery() = 0;

/**
* Get button driver.
* Get button "Reset" driver.
*
* @return Button driver.
* @return Button "Reset" driver.
*/
virtual IButton& getButton() = 0;
virtual IButton& getButtonReset() = 0;

/**
* Get button "A" driver.
*
* @return Button "A" driver.
*/
virtual IButton& getButtonA() = 0;

/**
* Get button "B" driver.
*
* @return Button "B" driver.
*/
virtual IButton& getButtonB() = 0;

/**
* Get button "C" driver.
*
* @return Button "C" driver.
*/
virtual IButton& getButtonC() = 0;

/**
* Get red LED driver.
Expand All @@ -120,6 +141,27 @@ class IBoard
*/
virtual ILed& getBlueLed() = 0;

/**
* Get LED "A" driver.
*
* @return LED "A" driver.
*/
virtual ILed& getLedA() = 0;

/**
* Get LED "B" driver.
*
* @return LED "B" driver.
*/
virtual ILed& getLedB() = 0;

/**
* Get LED "C" driver.
*
* @return LED "C" driver.
*/
virtual ILed& getLedC() = 0;

/**
* Get Network driver.
*
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8 changes: 7 additions & 1 deletion lib/HALSim/src/Board.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,10 +113,16 @@ Board::Board() :
m_robot.getReceiver(RobotDeviceNames::RECEIVER_NAME_SERIAL)),
m_keyboard(m_simTime, m_robot.getKeyboard()),
m_battery(),
m_button(m_keyboard),
m_buttonReset(m_keyboard),
m_buttonA(m_keyboard),
m_buttonB(m_keyboard),
m_buttonC(m_keyboard),
m_ledBlue(),
m_ledGreen(),
m_ledRed(),
m_ledA(),
m_ledB(),
m_ledC(),
m_network(),
m_hostRobot(m_serialDrv),
m_configFilePath(),
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94 changes: 89 additions & 5 deletions lib/HALSim/src/Board.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,9 +47,15 @@
#include <WString.h>
#include "Battery.h"
#include "ButtonReset.h"
#include "ButtonA.h"
#include "ButtonB.h"
#include "ButtonC.h"
#include "LedBlue.h"
#include "LedGreen.h"
#include "LedRed.h"
#include "LedA.h"
#include "LedB.h"
#include "LedC.h"
#include "Network.h"
#include "Robot.h"
#include "WebotsSerialDrv.h"
Expand Down Expand Up @@ -107,13 +113,43 @@ class Board : public IBoard
}

/**
* Get button driver.
* Get button "Reset" driver.
*
* @return Button driver.
* @return Button "Reset" driver.
*/
IButton& getButton() final
IButton& getButtonReset() final
{
return m_button;
return m_buttonReset;
}

/**
* Get button "A" driver.
*
* @return Button "A" driver.
*/
IButton& getButtonA() final
{
return m_buttonA;
}

/**
* Get button "B" driver.
*
* @return Button "B" driver.
*/
IButton& getButtonB() final
{
return m_buttonB;
}

/**
* Get button "C" driver.
*
* @return Button "C" driver.
*/
IButton& getButtonC() final
{
return m_buttonC;
}

/**
Expand Down Expand Up @@ -146,6 +182,36 @@ class Board : public IBoard
return m_ledRed;
}

/**
* Get LED "A" driver.
*
* @return LED "A" driver.
*/
ILed& getLedA() final
{
return m_ledA;
}

/**
* Get LED "B" driver.
*
* @return LED "B" driver.
*/
ILed& getLedB() final
{
return m_ledB;
}

/**
* Get LED "C" driver.
*
* @return LED "C" driver.
*/
ILed& getLedC() final
{
return m_ledC;
}

/**
* Get Network driver.
*
Expand Down Expand Up @@ -212,7 +278,16 @@ class Board : public IBoard
Battery m_battery;

/** Button "Reset" driver */
ButtonReset m_button;
ButtonReset m_buttonReset;

/** Button "A" driver */
ButtonA m_buttonA;

/** Button "B" driver */
ButtonB m_buttonB;

/** Button "C" driver */
ButtonC m_buttonC;

/** Blue LED driver */
LedBlue m_ledBlue;
Expand All @@ -223,6 +298,15 @@ class Board : public IBoard
/** Red LED driver */
LedRed m_ledRed;

/** LED "A" driver */
LedA m_ledA;

/** LED "B" driver */
LedB m_ledB;

/** LED "C" driver */
LedC m_ledC;

/** Network driver */
Network m_network;

Expand Down
8 changes: 7 additions & 1 deletion lib/HALTargetCommon/src/Board.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -117,10 +117,16 @@ void Board::process()
Board::Board() :
IBoard(),
m_battery(),
m_button(),
m_buttonReset(),
m_buttonA(),
m_buttonB(),
m_buttonC(),
m_ledBlue(),
m_ledGreen(),
m_ledRed(),
m_ledA(),
m_ledB(),
m_ledC(),
m_network(),
m_hostRobot(),
m_configFilePath(CONFIG_FILE_PATH)
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94 changes: 89 additions & 5 deletions lib/HALTargetCommon/src/Board.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,9 +46,15 @@
#include <IBoard.h>
#include "Battery.h"
#include "ButtonReset.h"
#include "ButtonA.h"
#include "ButtonB.h"
#include "ButtonC.h"
#include "LedBlue.h"
#include "LedGreen.h"
#include "LedRed.h"
#include "LedA.h"
#include "LedB.h"
#include "LedC.h"
#include "Network.h"
#include "ButtonDrv.h"
#include "Robot.h"
Expand Down Expand Up @@ -102,13 +108,43 @@ class Board : public IBoard
}

/**
* Get button driver.
* Get button "Reset" driver.
*
* @return Button driver.
* @return Button "Reset" driver.
*/
IButton& getButton() final
IButton& getButtonReset() final
{
return m_button;
return m_buttonReset;
}

/**
* Get button "A" driver.
*
* @return Button "A" driver.
*/
IButton& getButtonA() final
{
return m_buttonA;
}

/**
* Get button "B" driver.
*
* @return Button "B" driver.
*/
IButton& getButtonB() final
{
return m_buttonB;
}

/**
* Get button "C" driver.
*
* @return Button "C" driver.
*/
IButton& getButtonC() final
{
return m_buttonC;
}

/**
Expand Down Expand Up @@ -141,6 +177,36 @@ class Board : public IBoard
return m_ledRed;
}

/**
* Get LED "A" driver.
*
* @return LED "A" driver.
*/
ILed& getLedA() final
{
return m_ledA;
}

/**
* Get LED "B" driver.
*
* @return LED "B" driver.
*/
ILed& getLedB() final
{
return m_ledB;
}

/**
* Get LED "C" driver.
*
* @return LED "C" driver.
*/
ILed& getLedC() final
{
return m_ledC;
}

/**
* Get Network driver.
*
Expand Down Expand Up @@ -187,7 +253,16 @@ class Board : public IBoard
Battery m_battery;

/** Button "Reset" driver */
ButtonReset m_button;
ButtonReset m_buttonReset;

/** Button "A" driver */
ButtonA m_buttonA;

/** Button "B" driver */
ButtonB m_buttonB;

/** Button "C" driver */
ButtonC m_buttonC;

/** Blue LED driver */
LedBlue m_ledBlue;
Expand All @@ -198,6 +273,15 @@ class Board : public IBoard
/** Red LED driver */
LedRed m_ledRed;

/** LED "A" driver */
LedA m_ledA;

/** LED "B" driver */
LedB m_ledB;

/** LED "C" driver */
LedC m_ledC;

/** Network driver */
Network m_network;

Expand Down