Merge pull request psmgeelen#10 from GreenWizard2015/feature/add-power-control

Pump Power Level Control Feature

Author: GreenWizard2015

controller/tea_poor/lib/Arduino/WaterPumpController.cpp

@@ -20,10 +20,10 @@ void WaterPumpController::setup() {
   stop();
 }
 
-void WaterPumpController::start() {
+void WaterPumpController::start(int power) {
   _isRunning = true;
   digitalWrite(_brakePin, LOW); // release breaks
-  analogWrite(_powerPin, 255);
+  analogWrite(_powerPin, power);
 }
 
 void WaterPumpController::stop() {

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() 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/CommandProcessor/CommandProcessor.cpp renamed to controller/tea_poor/lib/Core/CommandProcessor.cpp

@@ -44,13 +44,17 @@ std::string CommandProcessor::status() {
   return response.str();
 }
 
-std::string CommandProcessor::pour_tea(const char *milliseconds) {
+std::string CommandProcessor::pour_tea(const char *milliseconds, const char *power) {
   if (!isValidIntNumber(milliseconds, _waterPumpSafeThreshold + 1)) {
     // send error message as JSON
     return std::string("{ \"error\": \"invalid milliseconds value\" }");
   }
+  if (!isValidIntNumber(power, 101)) {
+    // send error message as JSON
+    return std::string("{ \"error\": \"invalid power value\" }");
+  }
   // start pouring tea
-  _waterPump->start( atoi(milliseconds), _env->time() );
+  _waterPump->start( atoi(milliseconds), atoi(power) );
   return status();
 }
 

controller/tea_poor/lib/CommandProcessor/CommandProcessor.h renamed to controller/tea_poor/lib/Core/CommandProcessor.h

@@ -20,7 +20,7 @@ class CommandProcessor {
     {}
 
     std::string status();
-    std::string pour_tea(const char *milliseconds);
+    std::string pour_tea(const char *milliseconds, const char *power);
     std::string stop();
   private:
     const int _waterPumpSafeThreshold;

controller/tea_poor/lib/WaterPumpScheduler/WaterPumpScheduler.cpp renamed to controller/tea_poor/lib/Core/WaterPumpScheduler.cpp

@@ -1,7 +1,8 @@
 #include "WaterPumpScheduler.h"
 
-WaterPumpScheduler::WaterPumpScheduler(IWaterPumpPtr waterPump, unsigned long forceStopIntervalMs) :
+WaterPumpScheduler::WaterPumpScheduler(IWaterPumpPtr waterPump, IEnvironmentPtr env, unsigned long forceStopIntervalMs) :
   _waterPump(waterPump),
+  _env(env),
   _forceStopIntervalMs(forceStopIntervalMs)
 {
 }
@@ -12,17 +13,18 @@ void WaterPumpScheduler::setup() {
   _waterPump->setup();
 }
 
-void WaterPumpScheduler::start(unsigned long runTimeMs, unsigned long currentTimeMs) {
-  _stopTime = currentTimeMs + runTimeMs;
-  _waterPump->start();
+void WaterPumpScheduler::start(unsigned long runTimeMs, int power) {
+  _stopTime = _env->time() + runTimeMs;
+  _waterPump->start(power);
 }
 
 void WaterPumpScheduler::stop() {
   _waterPump->stop();
   _stopTime = 0; // a bit of paranoia :)
 }
 
-void WaterPumpScheduler::tick(unsigned long currentTimeMs) {
+void WaterPumpScheduler::tick() {
+  const auto currentTimeMs = _env->time();
   if (_stopTime <= currentTimeMs) {
     stop();
     _stopTime = currentTimeMs + _forceStopIntervalMs; // force stop after X milliseconds

controller/tea_poor/lib/WaterPumpScheduler/WaterPumpScheduler.h renamed to controller/tea_poor/lib/Core/WaterPumpScheduler.h

@@ -3,27 +3,30 @@
 
 #include <IWaterPump.h>
 #include <IWaterPumpSchedulerAPI.h>
+#include <IEnvironment.h>
 
 // This class is responsible for scheduling water pump
 // It is used to make sure that water pump is running for a limited time
 // It is also ensuring that water pump is stopped if not needed
 class WaterPumpScheduler : public IWaterPumpSchedulerAPI {
 private:
   IWaterPumpPtr _waterPump;
+  IEnvironmentPtr _env;
   unsigned long _stopTime = 0;
   // each X milliseconds will force stop water pump
   unsigned long _forceStopIntervalMs;
 public:
-  WaterPumpScheduler(IWaterPumpPtr waterPump, unsigned long forceStopIntervalMs);
-  WaterPumpScheduler(IWaterPumpPtr waterPump) : WaterPumpScheduler(waterPump, 1000) {}
+  WaterPumpScheduler(IWaterPumpPtr waterPump, IEnvironmentPtr env, unsigned long forceStopIntervalMs);
+  // forceStopIntervalMs is set to 1000ms by default
+  WaterPumpScheduler(IWaterPumpPtr waterPump, IEnvironmentPtr env) : WaterPumpScheduler(waterPump, env, 1000) {}
   ~WaterPumpScheduler();
 
   void setup();
   // for simplicity and testability we are passing current time as parameter
-  void tick(unsigned long currentTimeMs);
+  void tick();
 
   // Public API
-  void start(unsigned long runTimeMs, unsigned long currentTimeMs) override;
+  void start(unsigned long runTimeMs, int power) override;
   void stop() override;
   WaterPumpStatus status() override;
 };

controller/tea_poor/lib/interfaces/IWaterPump.h

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

controller/tea_poor/lib/interfaces/IWaterPumpSchedulerAPI.h

@@ -22,7 +22,7 @@ class IWaterPumpSchedulerAPI {
 public:
   virtual ~IWaterPumpSchedulerAPI() {}
   virtual void stop() = 0;
-  virtual void start(unsigned long runTimeMs, unsigned long currentTimeMs) = 0;
+  virtual void start(unsigned long runTimeMs, int power) = 0;
   virtual WaterPumpStatus status() = 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>
@@ -9,13 +10,15 @@
 #include <sstream>
 #include <ArduinoEnvironment.h>
 
-IEnvironmentPtr env = std::make_shared<ArduinoEnvironment>();
+const auto env = std::make_shared<ArduinoEnvironment>();
 
 // Setting up water pump
-auto waterPump = std::make_shared<WaterPumpScheduler>(
-  std::make_shared<WaterPumpController>(
-    WATER_PUMP_DIRECTION_PIN, WATER_PUMP_BRAKE_PIN, WATER_PUMP_POWER_PIN
-  )
+const auto waterPump = std::make_shared<WaterPumpScheduler>(
+  std::make_shared<AdjustedWaterPump>(
+    std::make_shared<WaterPumpController>(
+      WATER_PUMP_DIRECTION_PIN, WATER_PUMP_BRAKE_PIN, WATER_PUMP_POWER_PIN
+    )
+  ), env
 );
 
 // build command processor
@@ -46,8 +49,11 @@ RemoteControl remoteControl(
     app.get("/pour_tea", [](Request &req, Response &res) {
       char milliseconds[64];
       req.query("milliseconds", milliseconds, 64);
+
+      char power[64];
+      req.query("powerLevel", power, 64);
 
-      const auto response = commandProcessor.pour_tea(milliseconds);
+      const auto response = commandProcessor.pour_tea(milliseconds, power);
       withExtraHeaders(res);
       res.print(response.c_str());
     });
@@ -73,6 +79,6 @@ void setup() {
 }
 
 void loop() {
-  waterPump->tick(millis());
+  waterPump->tick();
   remoteControl.process();
 };

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/CommandProcessor_test.h

@@ -3,53 +3,68 @@
 #include "mocks/FakeWaterPumpSchedulerAPI.h"
 #include "mocks/FakeEnvironment.h"
 
+const auto VALID_POWER = "100";
 const auto INVALID_TIME_ERROR_MESSAGE = "{ \"error\": \"invalid milliseconds value\" }";
+const auto INVALID_POWER_ERROR_MESSAGE = "{ \"error\": \"invalid power value\" }";
 // test that pour_tea() method returns error message if milliseconds:
 // - greater than threshold
 // - less than 0
 // - empty string
 // - not a number
 TEST(CommandProcessor, pour_tea_invalid_milliseconds) {
   CommandProcessor commandProcessor(123, nullptr, nullptr);
-  ASSERT_EQ(commandProcessor.pour_tea("1234"), INVALID_TIME_ERROR_MESSAGE);
-  ASSERT_EQ(commandProcessor.pour_tea("-1"), INVALID_TIME_ERROR_MESSAGE);
-  ASSERT_EQ(commandProcessor.pour_tea(""), INVALID_TIME_ERROR_MESSAGE);
-  ASSERT_EQ(commandProcessor.pour_tea("abc"), INVALID_TIME_ERROR_MESSAGE);
+  ASSERT_EQ(commandProcessor.pour_tea("1234", VALID_POWER), INVALID_TIME_ERROR_MESSAGE);
+  ASSERT_EQ(commandProcessor.pour_tea("-1", VALID_POWER), INVALID_TIME_ERROR_MESSAGE);
+  ASSERT_EQ(commandProcessor.pour_tea("", VALID_POWER), INVALID_TIME_ERROR_MESSAGE);
+  ASSERT_EQ(commandProcessor.pour_tea("abc", VALID_POWER), INVALID_TIME_ERROR_MESSAGE);
+}
+
+// test that pour_tea() method returns error message if power:
+// - greater than 100
+// - less than 0
+// - empty string
+// - not a number
+TEST(CommandProcessor, pour_tea_invalid_power) {
+  CommandProcessor commandProcessor(123, nullptr, nullptr);
+  ASSERT_EQ(commandProcessor.pour_tea("123", "101"), INVALID_POWER_ERROR_MESSAGE);
+  ASSERT_EQ(commandProcessor.pour_tea("123", "-1"), INVALID_POWER_ERROR_MESSAGE);
+  ASSERT_EQ(commandProcessor.pour_tea("123", ""), INVALID_POWER_ERROR_MESSAGE);
+  ASSERT_EQ(commandProcessor.pour_tea("123", "abc"), INVALID_POWER_ERROR_MESSAGE);
 }
 
 // for simplicity of the UI, we should accept as valid 0 and exactly threshold value
 TEST(CommandProcessor, pour_tea_valid_boundary_values) {
-  auto env = std::make_shared<FakeEnvironment>();
-  auto waterPump = std::make_shared<FakeWaterPumpSchedulerAPI>();
+  const auto env = std::make_shared<FakeEnvironment>();
+  const auto waterPump = std::make_shared<FakeWaterPumpSchedulerAPI>(env);
   CommandProcessor commandProcessor(123, env, waterPump);
-
-  ASSERT_NE(commandProcessor.pour_tea("0"), INVALID_TIME_ERROR_MESSAGE);
-  ASSERT_NE(commandProcessor.pour_tea("123"), INVALID_TIME_ERROR_MESSAGE);
+  
+  ASSERT_NE(commandProcessor.pour_tea("0", VALID_POWER), INVALID_TIME_ERROR_MESSAGE);
+  ASSERT_NE(commandProcessor.pour_tea("123", VALID_POWER), INVALID_TIME_ERROR_MESSAGE);
 }
 
-// test that start pouring tea by calling pour_tea() method and its stops after T milliseconds
+// test that start pouring tea by calling pour_tea() method with specified parameters
 TEST(CommandProcessor, pour_tea) {
-  auto env = std::make_shared<FakeEnvironment>();
+  const auto env = std::make_shared<FakeEnvironment>();
+  const auto waterPump = std::make_shared<FakeWaterPumpSchedulerAPI>(env);
   env->time(2343);
-  auto waterPump = std::make_shared<FakeWaterPumpSchedulerAPI>();
   CommandProcessor commandProcessor(10000, env, waterPump);
-  const auto response = commandProcessor.pour_tea("1234");
-  ASSERT_EQ(waterPump->_log, "start(1234, 2343)\n");
+  const auto response = commandProcessor.pour_tea("1234", "23");
+  ASSERT_EQ(waterPump->_log, "start(1234, 23, 2343)\n");
 }
 
 // test that stop() method stops pouring tea
 TEST(CommandProcessor, stop) {
-  auto env = std::make_shared<FakeEnvironment>();
-  auto waterPump = std::make_shared<FakeWaterPumpSchedulerAPI>();
+  const auto env = std::make_shared<FakeEnvironment>();
+  const auto waterPump = std::make_shared<FakeWaterPumpSchedulerAPI>(env);
   CommandProcessor commandProcessor(123, env, waterPump);
   const auto response = commandProcessor.stop();
   ASSERT_EQ(waterPump->_log, "stop()\n");
 }
 
 // test that status() method returns JSON string with water pump status
 TEST(CommandProcessor, status) {
-  auto env = std::make_shared<FakeEnvironment>();
-  auto waterPump = std::make_shared<FakeWaterPumpSchedulerAPI>();
+  const auto env = std::make_shared<FakeEnvironment>();
+  const auto waterPump = std::make_shared<FakeWaterPumpSchedulerAPI>(env);
   CommandProcessor commandProcessor(123, env, waterPump);
   const auto response = commandProcessor.status();
   ASSERT_EQ(response, "{"
@@ -65,11 +80,11 @@ TEST(CommandProcessor, status) {
 
 // test that status() method returns JSON string with actual time left
 TEST(CommandProcessor, status_running) {
-  auto env = std::make_shared<FakeEnvironment>();
-  auto waterPump = std::make_shared<FakeWaterPumpSchedulerAPI>();
+  const auto env = std::make_shared<FakeEnvironment>();
+  const auto waterPump = std::make_shared<FakeWaterPumpSchedulerAPI>(env);
   CommandProcessor commandProcessor(12345, env, waterPump);
 
-  commandProcessor.pour_tea("1123");
+  commandProcessor.pour_tea("1123", "100");
 
   env->time(123);
   waterPump->_status.isRunning = true;