🩹 (StateMachine): Add transition to reboot on command receveived duri…

…ng DS
leka · Jul 15, 2024 · 0fc2d02 · 0fc2d02
1 parent 569b838
commit 0fc2d02
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Showing 2 changed files with 12 additions and 0 deletions.
diff --git a/libs/RobotKit/include/StateMachine.h b/libs/RobotKit/include/StateMachine.h
@@ -246,6 +246,7 @@ struct StateMachine {
 
 			, sm::state::deep_sleeping + event<sm::event::ble_connection>    = X
 			, sm::state::deep_sleeping + event<sm::event::ble_disconnection> = X
+			, sm::state::deep_sleeping + event<sm::event::command_received>  = 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
@@ -289,6 +289,17 @@ TEST_F(StateMachineTest, stateDeepSleepingEventBleDisconnection)
 	EXPECT_TRUE(sm.is(X));
 }
 
+TEST_F(StateMachineTest, stateDeepSleepingEventCommandReceived)
+{
+	sm.set_current_states(lksm::state::deep_sleeping);
+
+	EXPECT_CALL(mock_rc, wakeUp);
+
+	sm.process_event(lksm::event::command_received {});
+
+	EXPECT_TRUE(sm.is(X));
+}
+
 TEST_F(StateMachineTest, stateIdleEventChargeDidStart)
 {
 	sm.set_current_states(lksm::state::idle);