🚸 (BehaviorKit): Trigger back BlinkOnCharge after BleConnection

leka · Dec 15, 2022 · 21d767a · 21d767a
1 parent cf4a918
commit 21d767a
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Showing 5 changed files with 14 additions and 1 deletion.
diff --git a/libs/BehaviorKit/source/BehaviorKit.cpp b/libs/BehaviorKit/source/BehaviorKit.cpp
@@ -84,6 +84,9 @@ void BehaviorKit::bleConnection(bool with_video)
 	_ledkit.start(&led::animation::ble_connection);
 	if (with_video) {
 		_videokit.playVideoOnce("/fs/home/vid/system/robot-system-ble_connection-wink-no_eyebrows.avi");
+	} else {
+		rtos::ThisThread::sleep_for(5s);
+		blinkOnCharge();
 	}
 }
 

diff --git a/libs/BehaviorKit/tests/BehaviorKit_test.cpp b/libs/BehaviorKit/tests/BehaviorKit_test.cpp
@@ -100,8 +100,9 @@ TEST_F(BehaviorKitTest, batteryBehaviors)
 
 TEST_F(BehaviorKitTest, bleConnectionWhileCharging)
 {
-	EXPECT_CALL(mock_videokit, playVideoOnce).Times(0);
 	EXPECT_CALL(mock_ledkit, start(isSameAnimation(&led::animation::ble_connection))).Times(1);
+	EXPECT_CALL(mock_videokit, playVideoOnce).Times(0);
+	EXPECT_CALL(mock_ledkit, start(isSameAnimation(&led::animation::blink_on_charge))).Times(1);
 
 	behaviorkit.bleConnection(false);
 }

diff --git a/libs/RobotKit/tests/RobotController_test_stateCharging.cpp b/libs/RobotKit/tests/RobotController_test_stateCharging.cpp
@@ -99,6 +99,9 @@ TEST_F(RobotControllerTest, stateChargingDisconnectedEventBleConnection)
 		.InSequence(on_ble_connection_sequence);
 	EXPECT_CALL(mock_videokit, playVideoOnce).Times(0).InSequence(on_ble_connection_sequence);
 	EXPECT_CALL(mock_lcd, turnOn).Times(0).InSequence(on_ble_connection_sequence);
+	EXPECT_CALL(mock_ledkit, start(isSameAnimation(&led::animation::blink_on_charge)))
+		.Times(1)
+		.InSequence(on_ble_connection_sequence);
 
 	Sequence on_charging_entry_sequence;
 	EXPECT_CALL(battery, level).InSequence(on_charging_entry_sequence);

diff --git a/libs/RobotKit/tests/RobotController_test_stateConnected.cpp b/libs/RobotKit/tests/RobotController_test_stateConnected.cpp
@@ -15,6 +15,9 @@ TEST_F(RobotControllerTest, startConnectionBehaviorIsCharging)
 		.InSequence(on_ble_connection_sequence);
 	EXPECT_CALL(mock_videokit, playVideoOnce).Times(0).InSequence(on_ble_connection_sequence);
 	EXPECT_CALL(mock_lcd, turnOn).Times(0).InSequence(on_ble_connection_sequence);
+	EXPECT_CALL(mock_ledkit, start(isSameAnimation(&led::animation::blink_on_charge)))
+		.Times(1)
+		.InSequence(on_ble_connection_sequence);
 
 	rc.startConnectionBehavior();
 }

diff --git a/libs/RobotKit/tests/RobotController_test_stateEmergencyStopped.cpp b/libs/RobotKit/tests/RobotController_test_stateEmergencyStopped.cpp
@@ -150,6 +150,9 @@ TEST_F(RobotControllerTest, stateEmergencyStoppedEventBleConnectionGuardIsChargi
 		.InSequence(on_ble_connection_sequence);
 	EXPECT_CALL(mock_videokit, playVideoOnce).Times(0).InSequence(on_ble_connection_sequence);
 	EXPECT_CALL(mock_lcd, turnOn).Times(0).InSequence(on_ble_connection_sequence);
+	EXPECT_CALL(mock_ledkit, start(isSameAnimation(&led::animation::blink_on_charge)))
+		.Times(1)
+		.InSequence(on_ble_connection_sequence);
 
 	Sequence start_charging_behavior_sequence;
 	EXPECT_CALL(battery, level).InSequence(start_charging_behavior_sequence);