✨ (RobotKit): Add CoreHTS and link to BLE service

app/os/CMakeLists.txt

@@ -40,6 +40,7 @@ target_link_libraries(LekaOS
 	IMUKit
 	MotionKit
 	EventLoopKit
+	CoreHTS
 )
 
 target_link_custom_leka_targets(LekaOS)

app/os/main.cpp

@@ -19,6 +19,7 @@
 #include "CoreFlashManagerIS25LP016D.h"
 #include "CoreFont.hpp"
 #include "CoreGraphics.hpp"
+#include "CoreHTS.h"
 #include "CoreI2C.h"
 #include "CoreInterruptIn.h"
 #include "CoreJPEG.hpp"
@@ -150,6 +151,17 @@ namespace factory_reset {
 
 }	// namespace factory_reset
 
+namespace temperature_humidity {
+
+	namespace internal {
+
+		auto i2c = CoreI2C {PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL};
+	}
+
+	auto sensor = CoreHTS {internal::i2c};
+
+}	// namespace temperature_humidity
+
 namespace leds {
 
 	namespace internal {
@@ -417,6 +429,8 @@ namespace robot {
 		internal::timeout_state_transition,
 		internal::timeout_autonomous_activities,
 		battery::cells,
+		temperature_humidity::sensor,
+		temperature_humidity::sensor,
 		internal::serialnumberkit,
 		firmware::kit,
 		motors::left::motor,

libs/RobotKit/include/RobotController.h

@@ -34,6 +34,7 @@
 #include "interface/drivers/FirmwareUpdate.h"
 #include "interface/drivers/LCD.hpp"
 #include "interface/drivers/Motor.h"
+#include "interface/drivers/TemperatureSensor.h"
 #include "interface/drivers/Timeout.h"
 #include "interface/libs/LedKit.h"
 #include "interface/libs/VideoKit.h"
@@ -49,15 +50,18 @@ class RobotController : public interface::RobotController
 
 	explicit RobotController(interface::Timeout &timeout_state_internal, interface::Timeout &timeout_state_transition,
 							 interface::Timeout &timeout_autonomous_activities, interface::Battery &battery,
-							 SerialNumberKit &serialnumberkit, interface::FirmwareUpdate &firmware_update,
-							 interface::Motor &motor_left, interface::Motor &motor_right, interface::LED &ears,
-							 interface::LED &belt, interface::LedKit &ledkit, interface::LCD &lcd,
-							 interface::VideoKit &videokit, BehaviorKit &behaviorkit, CommandKit &cmdkit,
-							 RFIDKit &rfidkit, ActivityKit &activitykit)
+							 interface::TemperatureSensor &temperature_sensor,
+							 interface::HumiditySensor &humidity_sensor, SerialNumberKit &serialnumberkit,
+							 interface::FirmwareUpdate &firmware_update, interface::Motor &motor_left,
+							 interface::Motor &motor_right, interface::LED &ears, interface::LED &belt,
+							 interface::LedKit &ledkit, interface::LCD &lcd, interface::VideoKit &videokit,
+							 BehaviorKit &behaviorkit, CommandKit &cmdkit, RFIDKit &rfidkit, ActivityKit &activitykit)
 		: _timeout_state_internal(timeout_state_internal),
 		  _timeout_state_transition(timeout_state_transition),
 		  _timeout_autonomous_activities(timeout_autonomous_activities),
 		  _battery(battery),
+		  _temperature_sensor(temperature_sensor),
+		  _humidity_sensor(humidity_sensor),
 		  _serialnumberkit(serialnumberkit),
 		  _firmware_update(firmware_update),
 		  _motor_left(motor_left),
@@ -492,6 +496,11 @@ class RobotController : public interface::RobotController
 
 		_battery_kit.startEventHandler();
 
+		_service_monitoring.onTemperatureHumidityRequested([this]() {
+			_service_monitoring.setTemperature(_temperature_sensor.getTemperatureCelsius());
+			_service_monitoring.setHumidity(_humidity_sensor.getRelativeHumidity());
+		});
+
 		_ble.onConnectionCallback([this] { raise(event::ble_connection {}); });
 
 		_ble.onDisconnectionCallback([this] { raise(event::ble_disconnection {}); });
@@ -571,6 +580,8 @@ class RobotController : public interface::RobotController
 	interface::Battery &_battery;
 	BatteryKit _battery_kit {_battery};
 	uint8_t _minimal_battery_level_to_update {25};
+	interface::TemperatureSensor &_temperature_sensor;
+	interface::HumiditySensor &_humidity_sensor;
 
 	SerialNumberKit &_serialnumberkit;