✨ (RobotController): Add transition from setup to working if connected

leka · Jul 15, 2024 · 6909201 · 6909201
1 parent 569b838
commit 6909201
Show file tree

Hide file tree

Showing 2 changed files with 20 additions and 3 deletions.
diff --git a/libs/RobotKit/include/StateMachine.h b/libs/RobotKit/include/StateMachine.h
@@ -205,8 +205,9 @@ struct StateMachine {
 
 		return make_transition_table(
 			// clang-format off
-			* sm::state::setup    + event<sm::event::setup_complete> [sm::guard::is_not_charging {}] = sm::state::idle
-			, sm::state::setup    + event<sm::event::setup_complete> [sm::guard::is_charging {}]     = sm::state::charging
+			* sm::state::setup    + event<sm::event::setup_complete> [sm::guard::is_not_charging {} && sm::guard::is_not_connected {}] = sm::state::idle
+			, sm::state::setup    + event<sm::event::setup_complete> [sm::guard::is_not_charging {} && sm::guard::is_connected {}]     = sm::state::working
+			, sm::state::setup    + event<sm::event::setup_complete> [sm::guard::is_charging {}]                                       = sm::state::charging
 			, sm::state::setup    + boost::sml::on_exit<_>  / sm::action::run_launching_behavior {}
 
 			, sm::state::idle     + boost::sml::on_entry<_> / (sm::action::start_sleep_timeout {}, sm::action::start_waiting_behavior {})

diff --git a/libs/RobotKit/tests/StateMachine_test.cpp b/libs/RobotKit/tests/StateMachine_test.cpp
@@ -53,20 +53,36 @@ TEST_F(StateMachineTest, initialState)
 	EXPECT_FALSE(sm.is(lksm::state::charging));
 }
 
-TEST_F(StateMachineTest, stateSetupEventSetupCompleteGuardIsChargingFalse)
+TEST_F(StateMachineTest, stateSetupEventSetupCompleteGuardIsChargingFalseIsConnectedFalse)
 {
 	sm.set_current_states(lksm::state::setup);
 
 	EXPECT_CALL(mock_rc, runLaunchingBehavior).Times(1);
 	EXPECT_CALL(mock_rc, isCharging).WillRepeatedly(Return(false));
 	EXPECT_CALL(mock_rc, startSleepTimeout).Times(1);
 	EXPECT_CALL(mock_rc, startWaitingBehavior).Times(1);
+	EXPECT_CALL(mock_rc, isBleConnected).WillRepeatedly(Return(false));
 
 	sm.process_event(lksm::event::setup_complete {});
 
 	EXPECT_TRUE(sm.is(lksm::state::idle));
 }
 
+TEST_F(StateMachineTest, stateSetupEventSetupCompleteGuardIsChargingFalseIsConnectedTrue)
+{
+	sm.set_current_states(lksm::state::setup);
+
+	EXPECT_CALL(mock_rc, runLaunchingBehavior).Times(1);
+	EXPECT_CALL(mock_rc, isCharging).WillRepeatedly(Return(false));
+	EXPECT_CALL(mock_rc, startIdleTimeout).Times(1);
+	EXPECT_CALL(mock_rc, startWorkingBehavior).Times(1);
+	EXPECT_CALL(mock_rc, isBleConnected).WillRepeatedly(Return(true));
+
+	sm.process_event(lksm::event::setup_complete {});
+
+	EXPECT_TRUE(sm.is(lksm::state::working));
+}
+
 TEST_F(StateMachineTest, stateSetupEventSetupCompleteGuardIsChargingTrue)
 {
 	sm.set_current_states(lksm::state::setup);