🔀️ Merge branch 'yann/feature/sm/add-transition-deepsleeping-state-to…

…-terminate-state/ble-events' into develop
leka · Jul 9, 2024 · f8bd18c · f8bd18c
2 parents 9845606 + b086532
commit f8bd18c
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diff --git a/libs/RobotKit/include/StateMachine.h b/libs/RobotKit/include/StateMachine.h
@@ -244,6 +244,9 @@ 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_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  {} )
 

diff --git a/libs/RobotKit/tests/StateMachine_test.cpp b/libs/RobotKit/tests/StateMachine_test.cpp
@@ -267,6 +267,28 @@ TEST_F(StateMachineTest, stateDeepSleepingEventChargeDidStop)
 	EXPECT_TRUE(sm.is(X));
 }
 
+TEST_F(StateMachineTest, stateDeepSleepingEventBleConnection)
+{
+	sm.set_current_states(lksm::state::deep_sleeping);
+
+	EXPECT_CALL(mock_rc, wakeUp);
+
+	sm.process_event(lksm::event::ble_connection {});
+
+	EXPECT_TRUE(sm.is(X));
+}
+
+TEST_F(StateMachineTest, stateDeepSleepingEventBleDisconnection)
+{
+	sm.set_current_states(lksm::state::deep_sleeping);
+
+	EXPECT_CALL(mock_rc, wakeUp);
+
+	sm.process_event(lksm::event::ble_disconnection {});
+
+	EXPECT_TRUE(sm.is(X));
+}
+
 TEST_F(StateMachineTest, stateIdleEventChargeDidStart)
 {
 	sm.set_current_states(lksm::state::idle);