✅ (tests): Add state machine tests for BLE

leka · May 6, 2022 · 41eb886 · 41eb886
1 parent 096024e
commit 41eb886
Show file tree

Hide file tree

Showing 2 changed files with 42 additions and 0 deletions.
diff --git a/libs/RobotKit/tests/StateMachine_test.cpp b/libs/RobotKit/tests/StateMachine_test.cpp
@@ -171,3 +171,43 @@ TEST_F(StateMachineTest, stateChargingEventUpdateRequestedGuardFalse)
 
 	EXPECT_TRUE(sm.is(lksm::state::charging));
 }
+
+TEST_F(StateMachineTest, stateSleepingEventBleConnection)
+{
+	sm.set_current_states(lksm::state::sleeping);
+
+	EXPECT_CALL(mock_rc, startConnectingBehavior).Times(1);
+
+	sm.process_event(lksm::event::ble_connection {});
+
+	EXPECT_TRUE(sm.is(lksm::state::sleeping));
+}
+
+TEST_F(StateMachineTest, stateSleepingEventBleDisconnection)
+{
+	sm.set_current_states(lksm::state::sleeping);
+
+	sm.process_event(lksm::event::ble_disconnection {});
+
+	EXPECT_TRUE(sm.is(lksm::state::idle));
+}
+
+TEST_F(StateMachineTest, stateIdleEventBleConnection)
+{
+	sm.set_current_states(lksm::state::idle);
+
+	EXPECT_CALL(mock_rc, startConnectingBehavior).Times(1);
+
+	sm.process_event(lksm::event::ble_connection {});
+
+	EXPECT_TRUE(sm.is(lksm::state::idle));
+}
+
+TEST_F(StateMachineTest, stateIdleEventBleDisconnection)
+{
+	sm.set_current_states(lksm::state::idle);
+
+	sm.process_event(lksm::event::ble_disconnection {});
+
+	EXPECT_TRUE(sm.is(lksm::state::idle));
+}
diff --git a/libs/RobotKit/tests/mocks/RobotController.h b/libs/RobotKit/tests/mocks/RobotController.h
@@ -27,6 +27,8 @@ struct RobotController : public interface::RobotController {
 	MOCK_METHOD(void, startChargingBehavior, (), (override));
 	MOCK_METHOD(void, stopChargingBehavior, (), (override));
 
+	MOCK_METHOD(void, startConnectingBehavior, (), (override));
+
 	MOCK_METHOD(bool, isReadyToUpdate, (), (override));
 	MOCK_METHOD(void, applyUpdate, (), (override));
 };