🚧 Blink leds disconnection only if charging

leka · Dec 16, 2022 · 2d3b6b4 · 2d3b6b4
1 parent f6ba849
commit 2d3b6b4
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Showing 3 changed files with 22 additions and 3 deletions.
diff --git a/libs/RobotKit/include/RobotController.h b/libs/RobotKit/include/RobotController.h
@@ -199,7 +199,9 @@ class RobotController : public interface::RobotController
 	void startDisconnectionBehavior() final
 	{
 		stopActuators();
-		_behaviorkit.blinkOnCharge();
+		if (_battery.isCharging()) {
+			_behaviorkit.blinkOnCharge();
+		}
 	}
 
 	void startAutonomousActivityMode() final

diff --git a/libs/RobotKit/tests/RobotController_test_stateDisconnected.cpp b/libs/RobotKit/tests/RobotController_test_stateDisconnected.cpp
@@ -4,12 +4,24 @@
 
 #include "./RobotController_test.h"
 
-TEST_F(RobotControllerTest, startDisconnectionBehavior)
+TEST_F(RobotControllerTest, startDisconnectionBehaviorCharging)
 {
 	expectedCallsStopActuators();
 
+	EXPECT_CALL(battery, isCharging).WillOnce(Return(true));
 	EXPECT_CALL(mock_ledkit, start(isSameAnimation(&led::animation::blink_on_charge))).Times(1);
 
 	rc.startDisconnectionBehavior();
 	EXPECT_FALSE(rc.isBleConnected());
 }
+
+TEST_F(RobotControllerTest, startDisconnectionBehaviorNotCharging)
+{
+	expectedCallsStopActuators();
+
+	EXPECT_CALL(battery, isCharging).WillOnce(Return(false));
+	EXPECT_CALL(mock_ledkit, start(isSameAnimation(&led::animation::blink_on_charge))).Times(0);
+
+	rc.startDisconnectionBehavior();
+	EXPECT_FALSE(rc.isBleConnected());
+}
diff --git a/libs/RobotKit/tests/RobotController_test_stateFileExchange.cpp b/libs/RobotKit/tests/RobotController_test_stateFileExchange.cpp
@@ -69,8 +69,10 @@ TEST_F(RobotControllerTest, stateFileExchangeEventDisconnectionGuardIsCharging)
 	// TODO: Specify which BLE service and what is expected if necessary
 	EXPECT_CALL(mbed_mock_gatt, write(_, _, _, _)).Times(AnyNumber()).InSequence(on_file_exchange_end);
 
+	Sequence start_disconnection_behavior;
 	expectedCallsStopActuators();
-	EXPECT_CALL(mock_ledkit, start);
+	EXPECT_CALL(battery, isCharging).InSequence(start_disconnection_behavior).WillOnce(Return(returned_is_charging));
+	EXPECT_CALL(mock_ledkit, start).InSequence(start_disconnection_behavior);
 
 	Sequence start_charging_behavior_sequence;
 	EXPECT_CALL(battery, level).InSequence(start_charging_behavior_sequence);
@@ -99,7 +101,10 @@ TEST_F(RobotControllerTest, stateFileExchangeEventDisconnectionGuardIsNotChargin
 	// TODO: Specify which BLE service and what is expected if necessary
 	EXPECT_CALL(mbed_mock_gatt, write(_, _, _, _)).Times(AnyNumber()).InSequence(on_file_exchange_end);
 
+	Sequence start_disconnection_behavior;
 	expectedCallsStopActuators();
+	EXPECT_CALL(battery, isCharging).InSequence(start_disconnection_behavior).WillOnce(Return(returned_is_charging));
+	EXPECT_CALL(mock_ledkit, start).Times(0).InSequence(start_disconnection_behavior);
 
 	Sequence on_idle_sequence;
 	EXPECT_CALL(timeout, onTimeout).InSequence(on_idle_sequence);