✨ (StateMachine): Add magic_card_detected event to wakeUp from DeepSl…

…eeping
leka · Jul 22, 2024 · 5cf3059 · 5cf3059
1 parent b7867ed
commit 5cf3059
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Showing 3 changed files with 17 additions and 2 deletions.
diff --git a/libs/RobotKit/include/RobotController.h b/libs/RobotKit/include/RobotController.h
@@ -455,6 +455,7 @@ class RobotController : public interface::RobotController
 			// ! The order of the following functions MUST NOT
 			// ! be changed. It is a temporary fix for #1311
 			// TODO(@leka/dev-embedded): remove when fixed
+			raise(event::magic_card_detected {});
 			_service_magic_card.setMagicCard(card);
 			onMagicCardAvailable(card);
 		});

diff --git a/libs/RobotKit/include/StateMachine.h b/libs/RobotKit/include/StateMachine.h
@@ -43,6 +43,9 @@ namespace sm::event {
 	struct autonomous_activities_mode_exited {
 	};
 
+	struct magic_card_detected {
+	};
+
 }	// namespace sm::event
 
 namespace sm::state {
@@ -243,8 +246,8 @@ struct StateMachine {
 
 			, sm::state::deep_sleeping + event<sm::event::charge_did_start> = X
 			, sm::state::deep_sleeping + event<sm::event::charge_did_stop>  = X
-
-			, sm::state::deep_sleeping + event<sm::event::ble_connection>    = X
+			, sm::state::deep_sleeping + event<sm::event::ble_connection>   = X
+			, sm::state::deep_sleeping + event<sm::event::magic_card_detected> = X
 
 			, sm::state::charging + boost::sml::on_entry<_> / (sm::action::start_deep_sleep_timeout {}, sm::action::start_charging_behavior {} )
 			, sm::state::charging + boost::sml::on_exit<_>  / (sm::action::stop_deep_sleep_timeout  {}, sm::action::stop_charging_behavior  {} )

diff --git a/libs/RobotKit/tests/StateMachine_test.cpp b/libs/RobotKit/tests/StateMachine_test.cpp
@@ -278,6 +278,17 @@ TEST_F(StateMachineTest, stateDeepSleepingEventBleConnection)
 	EXPECT_TRUE(sm.is(X));
 }
 
+TEST_F(StateMachineTest, stateDeepSleepingEventMagicCardDetected)
+{
+	sm.set_current_states(lksm::state::deep_sleeping);
+
+	EXPECT_CALL(mock_rc, wakeUp);
+
+	sm.process_event(lksm::event::magic_card_detected {});
+
+	EXPECT_TRUE(sm.is(X));
+}
+
 TEST_F(StateMachineTest, stateIdleEventChargeDidStart)
 {
 	sm.set_current_states(lksm::state::idle);