✨ (StateMachine): Revert cancelled transition to DeepSleeping state

Revert partially commit b9b43ac in PR #1323
leka · Jul 9, 2024 · 9a4dd79 · 9a4dd79
1 parent a22fae5
commit 9a4dd79
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Showing 2 changed files with 20 additions and 20 deletions.
diff --git a/libs/RobotKit/include/StateMachine.h b/libs/RobotKit/include/StateMachine.h
@@ -232,7 +232,7 @@ struct StateMachine {
 			, sm::state::sleeping + event<sm::event::charge_did_start>    [sm::guard::is_charging {}]                       = sm::state::charging
 			, sm::state::sleeping + event<sm::event::emergency_stop>                                                        = sm::state::emergency_stopped
 			, sm::state::sleeping + event<sm::event::autonomous_activities_mode_requested>                                  = sm::state::autonomous_activities
-			//, sm::state::sleeping + event<sm::event::deep_sleep_timeout_did_end>                                            = sm::state::deep_sleeping
+			, sm::state::sleeping + event<sm::event::deep_sleep_timeout_did_end>                                            = sm::state::deep_sleeping
 
 			, sm::state::deep_sleeping + boost::sml::on_entry<_> / sm::action::suspend_hardware_for_deep_sleep {}
 
@@ -248,7 +248,7 @@ struct StateMachine {
 			, sm::state::charging + event<sm::event::command_received>                                                                    = sm::state::charging
 			, sm::state::charging + event<sm::event::emergency_stop>                                                                      = sm::state::emergency_stopped
 			, sm::state::charging + event<sm::event::autonomous_activities_mode_requested>                                                = sm::state::charging
-			//, sm::state::charging + event<sm::event::deep_sleep_timeout_did_end>                                                          = sm::state::deep_sleeping
+			, sm::state::charging + event<sm::event::deep_sleep_timeout_did_end>                                                          = sm::state::deep_sleeping
 
 			, sm::state::file_exchange + boost::sml::on_entry<_> / sm::action::start_file_exchange {}
 			, sm::state::file_exchange + boost::sml::on_exit<_>  / sm::action::stop_file_exchange {}

diff --git a/libs/RobotKit/tests/StateMachine_test.cpp b/libs/RobotKit/tests/StateMachine_test.cpp
@@ -232,18 +232,18 @@ TEST_F(StateMachineTest, stateSleepEventAutonomousActivityRequested)
 	EXPECT_TRUE(sm.is(lksm::state::autonomous_activities));
 }
 
-// TEST_F(StateMachineTest, stateSleepEventTimeout)
-// {
-// 	sm.set_current_states(lksm::state::sleeping);
+TEST_F(StateMachineTest, stateSleepEventTimeout)
+{
+	sm.set_current_states(lksm::state::sleeping);
 
-// 	EXPECT_CALL(mock_rc, stopSleepingBehavior).Times(1);
-// 	EXPECT_CALL(mock_rc, stopDeepSleepTimeout).Times(1);
-// 	EXPECT_CALL(mock_rc, suspendHardwareForDeepSleep).Times(1);
+	EXPECT_CALL(mock_rc, stopSleepingBehavior).Times(1);
+	EXPECT_CALL(mock_rc, stopDeepSleepTimeout).Times(1);
+	EXPECT_CALL(mock_rc, suspendHardwareForDeepSleep).Times(1);
 
-// 	sm.process_event(lksm::event::deep_sleep_timeout_did_end {});
+	sm.process_event(lksm::event::deep_sleep_timeout_did_end {});
 
-// 	EXPECT_TRUE(sm.is(lksm::state::deep_sleeping));
-// }
+	EXPECT_TRUE(sm.is(lksm::state::deep_sleeping));
+}
 
 TEST_F(StateMachineTest, stateIdleEventChargeDidStart)
 {
@@ -359,18 +359,18 @@ TEST_F(StateMachineTest, stateChargingEventAutonomousActivityRequested)
 	EXPECT_TRUE(sm.is(lksm::state::charging));
 }
 
-// TEST_F(StateMachineTest, stateChargingEventTimeout)
-// {
-// 	sm.set_current_states(lksm::state::charging);
+TEST_F(StateMachineTest, stateChargingEventTimeout)
+{
+	sm.set_current_states(lksm::state::charging);
 
-// 	EXPECT_CALL(mock_rc, stopChargingBehavior).Times(1);
-// 	EXPECT_CALL(mock_rc, stopDeepSleepTimeout).Times(1);
-// 	EXPECT_CALL(mock_rc, suspendHardwareForDeepSleep).Times(1);
+	EXPECT_CALL(mock_rc, stopChargingBehavior).Times(1);
+	EXPECT_CALL(mock_rc, stopDeepSleepTimeout).Times(1);
+	EXPECT_CALL(mock_rc, suspendHardwareForDeepSleep).Times(1);
 
-// 	sm.process_event(lksm::event::deep_sleep_timeout_did_end {});
+	sm.process_event(lksm::event::deep_sleep_timeout_did_end {});
 
-// 	EXPECT_TRUE(sm.is(lksm::state::deep_sleeping));
-// }
+	EXPECT_TRUE(sm.is(lksm::state::deep_sleeping));
+}
 
 TEST_F(StateMachineTest, stateSleepingEventBleConnection)
 {