src/SurfaceCleaningController.cpp
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | #include "rvc/SurfaceCleaningController.hpp" | ||
| 2 | |||
| 3 | namespace rvc { | ||
| 4 | |||
| 5 | 38 | SurfaceCleaningController::SurfaceCleaningController(CleaningCommandSink& cleaningSink) | |
| 6 | 38 | : cleaningSink_(cleaningSink) {} | |
| 7 | |||
| 8 | 27 | void SurfaceCleaningController::SessionStateChanged(bool active) { | |
| 9 | 27 | sessionActive_ = active; | |
| 10 | |||
| 11 |
2/2✓ Branch 2 → 3 taken 22 times.
✓ Branch 2 → 4 taken 5 times.
|
27 | if (active) { |
| 12 | 22 | cleaningMode_ = CleaningMode::Active; | |
| 13 | 22 | powerLevel_ = PowerLevel::Normal; | |
| 14 | 22 | return; | |
| 15 | } | ||
| 16 | |||
| 17 | 5 | cleaningMode_ = CleaningMode::Suspended; | |
| 18 | 5 | powerLevel_ = PowerLevel::Off; | |
| 19 | 5 | send(CleaningCommand::suspend); | |
| 20 | } | ||
| 21 | |||
| 22 | 6 | void SurfaceCleaningController::DustSignalUpdated(DustSignal signal) { | |
| 23 | 6 | dustSignal_ = signal; | |
| 24 | |||
| 25 |
2/2✓ Branch 2 → 3 taken 1 time.
✓ Branch 2 → 5 taken 5 times.
|
6 | if (!sessionActive_) { |
| 26 | 1 | send(CleaningCommand::unchangedOrDeferredTBD); | |
| 27 | 1 | return; | |
| 28 | } | ||
| 29 | |||
| 30 |
2/5✓ Branch 5 → 6 taken 2 times.
✗ Branch 5 → 9 not taken.
✓ Branch 5 → 11 taken 3 times.
✗ Branch 5 → 13 not taken.
✗ Branch 5 → 15 not taken.
|
5 | switch (signal) { |
| 31 | 2 | case DustSignal::aboveThreshold: | |
| 32 | 2 | cleaningMode_ = CleaningMode::Boosted; | |
| 33 | 2 | powerLevel_ = PowerLevel::Boost; | |
| 34 | 2 | send(CleaningCommand::boost); | |
| 35 | 2 | cleaningMode_ = CleaningMode::Active; | |
| 36 | 2 | powerLevel_ = PowerLevel::Normal; | |
| 37 | 2 | send(CleaningCommand::normal); | |
| 38 | 2 | break; | |
| 39 | ✗ | case DustSignal::normal: | |
| 40 | ✗ | cleaningMode_ = CleaningMode::Active; | |
| 41 | ✗ | powerLevel_ = PowerLevel::Normal; | |
| 42 | ✗ | send(CleaningCommand::normal); | |
| 43 | ✗ | break; | |
| 44 | 3 | case DustSignal::invalid: | |
| 45 | 3 | cleaningMode_ = CleaningMode::Active; | |
| 46 | 3 | powerLevel_ = PowerLevel::Normal; | |
| 47 | 3 | send(CleaningCommand::normal); | |
| 48 | 3 | break; | |
| 49 | ✗ | case DustSignal::TBD: | |
| 50 | ✗ | send(CleaningCommand::unchangedOrDeferredTBD); | |
| 51 | ✗ | break; | |
| 52 | } | ||
| 53 | } | ||
| 54 | |||
| 55 | 6 | void SurfaceCleaningController::SuspendCleaningForManeuver() { | |
| 56 | 6 | cleaningMode_ = CleaningMode::Suspended; | |
| 57 | 6 | send(CleaningCommand::suspend); | |
| 58 | 6 | } | |
| 59 | |||
| 60 | 6 | void SurfaceCleaningController::ResumeCleaningAfterManeuver() { | |
| 61 |
2/2✓ Branch 2 → 3 taken 1 time.
✓ Branch 2 → 5 taken 5 times.
|
6 | if (!sessionActive_) { |
| 62 | 1 | send(CleaningCommand::unchangedOrDeferredTBD); | |
| 63 | 1 | return; | |
| 64 | } | ||
| 65 | |||
| 66 | 5 | cleaningMode_ = CleaningMode::Active; | |
| 67 | 5 | powerLevel_ = PowerLevel::Normal; | |
| 68 | 5 | send(CleaningCommand::active); | |
| 69 | } | ||
| 70 | |||
| 71 | 25 | void SurfaceCleaningController::send(CleaningCommand command) { | |
| 72 | 25 | cleaningSink_.CleaningCommand(command); | |
| 73 | 25 | } | |
| 74 | |||
| 75 | } // namespace rvc | ||
| 76 |