✨ (RobotController): Disconnect robot when entering in DS

Remove transition in StateMachine to avoid infinite reboot loop
leka · Jul 15, 2024 · aa41532 · aa41532
1 parent 640f7d8
commit aa41532
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Showing 2 changed files with 1 addition and 1 deletion.
diff --git a/libs/RobotKit/include/RobotController.h b/libs/RobotKit/include/RobotController.h
@@ -314,6 +314,7 @@ class RobotController : public interface::RobotController
 		for (auto &component: _deep_sleep_enabled_components) {
 			component->enableDeepSleep();
 		}
+		_ble.disconnect();
 	}
 
 	void wakeUp() final { system_reset(); }

diff --git a/libs/RobotKit/include/StateMachine.h b/libs/RobotKit/include/StateMachine.h
@@ -245,7 +245,6 @@ struct StateMachine {
 			, 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_disconnection> = 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  {} )