uplift logic from WaterPumpController to AdjustedWaterPump

Author: GreenWizard2015

controller/tea_poor/lib/Arduino/WaterPumpController.cpp

@@ -20,8 +20,7 @@ void WaterPumpController::setup() {
   stop();
 }
 
-void WaterPumpController::start(int powerInPercents) {
-  const int power = map(powerInPercents, 0, 100, 0, _maxPower);
+void WaterPumpController::start(int power) {
   _isRunning = true;
   digitalWrite(_brakePin, LOW); // release breaks
   analogWrite(_powerPin, power);

controller/tea_poor/lib/Arduino/WaterPumpController.h

@@ -7,14 +7,13 @@ class WaterPumpController: public IWaterPump {
   const int _directionPin;
   const int _brakePin;
   const int _powerPin;
-  const int _maxPower = 255;
   bool _isRunning = false;
 public:
   WaterPumpController(int directionPin, int brakePin, int powerPin);
   virtual ~WaterPumpController() override;
 
   virtual void setup() override;
-  virtual void start(int powerInPercents) override;
+  virtual void start(int power) override;
   virtual void stop() override;
 
   virtual bool isRunning() const override { return _isRunning; }

controller/tea_poor/lib/Core/AdjustedWaterPump.h

@@ -0,0 +1,26 @@
+#ifndef ADJUSTEDWATERPUMP_H
+#define ADJUSTEDWATERPUMP_H
+#include <IWaterPump.h>
+#include <math.h>
+
+// lightweight wrapper around IWaterPump
+// its purpose is to adjust power value to the range of 0..255, for now
+class AdjustedWaterPump: public IWaterPump {
+private:
+  const IWaterPumpPtr _pump;
+public:
+  AdjustedWaterPump(IWaterPumpPtr pump) : _pump(pump) {}
+  virtual ~AdjustedWaterPump() override {}
+  
+  virtual void setup() override { _pump->setup(); }
+  virtual void stop() override { _pump->stop(); }
+  virtual bool isRunning() const override { return _pump->isRunning(); }
+
+  virtual void start(int powerInPercents) override {
+    // convert percents to 0..255 range, using float
+    const float power = (255.0f / 100.0f) * (float)powerInPercents;
+    _pump->start(floor(power));
+  }
+};
+
+#endif

controller/tea_poor/lib/interfaces/IWaterPump.h

@@ -8,7 +8,7 @@ class IWaterPump {
   virtual ~IWaterPump() {}
 
   virtual void setup() = 0;
-  virtual void start(int powerInPercents) = 0;
+  virtual void start(int power) = 0;
   virtual void stop() = 0;
 
   virtual bool isRunning() const = 0;

controller/tea_poor/src/main.cpp

@@ -1,6 +1,7 @@
 #include <Arduino.h>
 #include <memory>
 #include <WaterPumpController.h>
+#include <AdjustedWaterPump.h>
 #include <WaterPumpScheduler.h>
 #include <RemoteControl.h>
 #include <CommandProcessor.h>
@@ -9,12 +10,14 @@
 #include <sstream>
 #include <ArduinoEnvironment.h>
 
-const IEnvironmentPtr env = std::make_shared<ArduinoEnvironment>();
+const auto env = std::make_shared<ArduinoEnvironment>();
 
 // Setting up water pump
 const auto waterPump = std::make_shared<WaterPumpScheduler>(
-  std::make_shared<WaterPumpController>(
-    WATER_PUMP_DIRECTION_PIN, WATER_PUMP_BRAKE_PIN, WATER_PUMP_POWER_PIN
+  std::make_shared<AdjustedWaterPump>(
+    std::make_shared<WaterPumpController>(
+      WATER_PUMP_DIRECTION_PIN, WATER_PUMP_BRAKE_PIN, WATER_PUMP_POWER_PIN
+    )
   ), env
 );
 

controller/tea_poor/test/test_native/main.cpp

@@ -3,6 +3,7 @@
 // include tests
 #include "tests/WaterPumpScheduler_test.h"
 #include "tests/CommandProcessor_test.h"
+#include "tests/AdjustedWaterPump_test.h"
 
 int main(int argc, char **argv) {
   ::testing::InitGoogleTest(&argc, argv);

controller/tea_poor/test/test_native/tests/AdjustedWaterPump_test.h

@@ -0,0 +1,18 @@
+#include <gtest/gtest.h>
+#include "mocks/FakeWaterPump.h"
+#include <AdjustedWaterPump.h>
+
+// test that pumps power passed as percents is converted to 0..255 range
+TEST(AdjustedWaterPump, test_pumps_power_passed_as_percents_is_converted_to_0_255_range) {
+  const auto fakeWaterPump = std::make_shared<FakeWaterPump>();
+  AdjustedWaterPump adjustedWaterPump(fakeWaterPump);  
+  // list of pairs: (powerInPercents, expectedPower)
+  const std::vector<std::pair<int, int>> tests = {
+    {0, 0}, {1, 2}, {2, 5},
+    {50, 127}, {100, 255}
+  };
+  for(const auto& test: tests) {
+    adjustedWaterPump.start(test.first);
+    ASSERT_EQ(fakeWaterPump->power(), test.second);
+  }
+}

controller/tea_poor/test/test_native/tests/WaterPumpScheduler_test.h

@@ -14,7 +14,7 @@ TEST(WaterPumpScheduler, test_pump_stops_after_given_time) {
   // start water pump
   fakeEnvironment->time(0);
   waterPumpScheduler.start(runTimeMs, 1);
-  ASSERT_EQ(fakeWaterPump->powerInPercents(), 1);
+  ASSERT_EQ(fakeWaterPump->power(), 1);
   // check status
   auto status = waterPumpScheduler.status();
   ASSERT_TRUE(status.isRunning);
@@ -48,7 +48,7 @@ TEST(WaterPumpScheduler, test_pump_is_periodically_forced_to_stop_after_given_ti
   for(int i = 0; i < 10; i++) {
     // emulate that pump was started again
     fakeWaterPump->start(1);
-    ASSERT_EQ(fakeWaterPump->powerInPercents(), 1);
+    ASSERT_EQ(fakeWaterPump->power(), 1);
     fakeEnvironment->time(fakeEnvironment->time() + T);
     waterPumpScheduler.tick();
     ASSERT_FALSE(fakeWaterPump->isRunning()); // pump should be stopped
@@ -63,5 +63,5 @@ TEST(WaterPumpScheduler, test_pumps_power_is_set_to_specified_value) {
   waterPumpScheduler.setup();
   const int power = 23;
   waterPumpScheduler.start(1, power);
-  ASSERT_EQ(fakeWaterPump->powerInPercents(), power);
+  ASSERT_EQ(fakeWaterPump->power(), power);
 }

controller/tea_poor/test/test_native/tests/mocks/FakeWaterPump.h

@@ -7,17 +7,17 @@
 class FakeWaterPump : public IWaterPump {
 private:
   bool _isRunning = false;
-  int _powerInPercents = 0;
+  int _power = 0;
 public:
   void setup() override { _isRunning = false; }
   void stop() override  { _isRunning = false; }
-  void start(int powerInPercents) override {
+  void start(int power) override {
     _isRunning = true;
-    _powerInPercents = powerInPercents;
+    _power = power;
   }
 
   bool isRunning() const override { return _isRunning; }
-  int powerInPercents() const { return _powerInPercents; }
+  int power() const { return _power; }
 };
 
 #endif // FAKE_WATER_PUMP_H