🔀 Merge branch 'yann/feature/sm/add-transition-sleeping-state-to-idle…

…-state' into develop
leka · Mar 21, 2022 · addfcf4 · addfcf4
2 parents b7610db + 434145c
commit addfcf4
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diff --git a/libs/RobotKit/include/StateMachine.h b/libs/RobotKit/include/StateMachine.h
@@ -15,6 +15,8 @@ namespace sm::event {
 	};
 	struct sleep_timeout_did_end {
 	};
+	struct command_received {
+	};
 	struct charge_did_start {
 	};
 	struct charge_did_stop {
@@ -118,6 +120,7 @@ struct StateMachine {
 			, sm::state::sleeping + boost::sml::on_entry<_> / sm::action::start_sleeping_behavior {}
 			, sm::state::sleeping + boost::sml::on_exit<_>  / sm::action::stop_sleeping_behavior {}
 
+			, sm::state::sleeping + event<sm::event::command_received>                                   = sm::state::idle
 			, sm::state::sleeping + event<sm::event::charge_did_start> [sm::guard::is_charging {}]       = sm::state::charging
 
 			, sm::state::charging + boost::sml::on_entry<_> / sm::action::start_charging_behavior {}

diff --git a/libs/RobotKit/tests/RobotController_test.cpp b/libs/RobotKit/tests/RobotController_test.cpp
@@ -241,6 +241,15 @@ TEST_F(RobotControllerTest, stateIdleEventTimeout)
 	EXPECT_TRUE(rc.state_machine.is(lksm::state::sleeping));
 }
 
+TEST_F(RobotControllerTest, stateSleepingEventCommandReceived)
+{
+	rc.state_machine.set_current_states(lksm::state::sleeping);
+
+	// TODO: Trigger command_received in StateMachine from BLE
+
+	// EXPECT_TRUE(rc.state_machine.is(lksm::state::idle));
+}
+
 TEST_F(RobotControllerTest, stateSleepingEventChargeDidStartGuardIsChargingTrue)
 {
 	rc.state_machine.set_current_states(lksm::state::sleeping);

diff --git a/libs/RobotKit/tests/StateMachine_test.cpp b/libs/RobotKit/tests/StateMachine_test.cpp
@@ -91,6 +91,19 @@ TEST_F(StateMachineTest, stateIdleEventTimeout)
 	EXPECT_TRUE(sm.is(lksm::state::sleeping));
 }
 
+TEST_F(StateMachineTest, stateSleepEventCommandReceived)
+{
+	sm.set_current_states(lksm::state::sleeping);
+
+	EXPECT_CALL(mock_rc, stopSleepingBehavior).Times(1);
+	EXPECT_CALL(mock_rc, startSleepTimeout).Times(1);
+	EXPECT_CALL(mock_rc, startWaitingBehavior).Times(1);
+
+	sm.process_event(lksm::event::command_received {});
+
+	EXPECT_TRUE(sm.is(lksm::state::idle));
+}
+
 TEST_F(StateMachineTest, stateSleepEventChargeDidStart)
 {
 	sm.set_current_states(lksm::state::sleeping);