🔀️ Merge branch 'yann/bug-fix/rc/disconnect-robot-when-entering-in-DS…

…' into develop
leka · Jul 19, 2024 · b7867ed · b7867ed
2 parents d80edbc + 50d5150
commit b7867ed
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Showing 12 changed files with 47 additions and 14 deletions.
diff --git a/libs/BLEKit/include/BLEKit.h b/libs/BLEKit/include/BLEKit.h
@@ -32,6 +32,8 @@ class BLEKit
 	void onDisconnectionCallback(const std::function<void()> &callback);
 	[[nodiscard]] auto isConnected() const -> bool;
 
+	void disconnect();
+
 	void onMTUNegotiated(const std::function<void(uint16_t)> &callback);
 
   private:

diff --git a/libs/BLEKit/include/CoreGap.h b/libs/BLEKit/include/CoreGap.h
@@ -34,6 +34,8 @@ class CoreGap
 	void onDisconnectionCallback(const std::function<void()> &callback);
 	[[nodiscard]] auto isConnected() const -> bool;
 
+	void disconnect();
+
   private:
 	ble::advertising_handle_t _advertising_handle {ble::LEGACY_ADVERTISING_HANDLE};
 	ble::AdvertisingParameters _advertising_params {};

diff --git a/libs/BLEKit/include/CoreGapEventHandler.h b/libs/BLEKit/include/CoreGapEventHandler.h
@@ -28,13 +28,17 @@ class CoreGapEventHandler : public ble::Gap::EventHandler
 	void onDisconnectionCallback(const std::function<void()> &callback);
 	[[nodiscard]] auto isConnected() const -> bool;
 
+	[[nodiscard]] auto getConnectionHandle() const -> ble::connection_handle_t;
+
   private:
 	bool is_connected = false;
 
 	std::function<void()> _start_advertising {};
 
 	std::function<void(ble::connection_handle_t handle)> _on_connection_callback {};
 	std::function<void()> _on_disconnection_callback {};
+
+	ble::connection_handle_t _handle;
 };
 
 }	// namespace leka
diff --git a/libs/BLEKit/source/BLEKit.cpp b/libs/BLEKit/source/BLEKit.cpp
@@ -65,6 +65,11 @@ auto BLEKit::isConnected() const -> bool
 	return _core_gap.isConnected();
 }
 
+void BLEKit::disconnect()
+{
+	_core_gap.disconnect();
+}
+
 void BLEKit::onMTUNegotiated(const std::function<void(uint16_t)> &callback)
 {
 	_core_gatt_server.onMTUNegotiated(callback);

diff --git a/libs/BLEKit/source/CoreGap.cpp b/libs/BLEKit/source/CoreGap.cpp
@@ -96,3 +96,8 @@ auto CoreGap::isConnected() const -> bool
 {
 	return _gap_event_handler.isConnected();
 }
+
+void CoreGap::disconnect()
+{
+	_gap.disconnect(_gap_event_handler.getConnectionHandle(), ble::local_disconnection_reason_t::USER_TERMINATION);
+}
diff --git a/libs/BLEKit/source/CoreGapEventHandler.cpp b/libs/BLEKit/source/CoreGapEventHandler.cpp
@@ -28,8 +28,8 @@ void CoreGapEventHandler::onConnectionComplete(ConnectionCompleteEvent const &ev
 	}
 
 	if (_on_connection_callback != nullptr) {
-		auto handle = event.getConnectionHandle();
-		_on_connection_callback(handle);
+		_handle = event.getConnectionHandle();
+		_on_connection_callback(_handle);
 	}
 	is_connected = true;
 }
@@ -63,3 +63,8 @@ auto CoreGapEventHandler::isConnected() const -> bool
 {
 	return is_connected;
 }
+
+auto CoreGapEventHandler::getConnectionHandle() const -> connection_handle_t
+{
+	return _handle;
+}
diff --git a/libs/BLEKit/tests/BLEKit_test.cpp b/libs/BLEKit/tests/BLEKit_test.cpp
@@ -140,3 +140,10 @@ TEST_F(BLEKitTest, isConnectedDefault)
 
 	EXPECT_FALSE(is_connected);
 }
+
+TEST_F(BLEKitTest, disconnect)
+{
+	EXPECT_CALL(mbed_mock_gap, disconnect);
+
+	ble.disconnect();
+}
diff --git a/libs/BLEKit/tests/CoreGapEventHandler_test.cpp b/libs/BLEKit/tests/CoreGapEventHandler_test.cpp
@@ -166,3 +166,10 @@ TEST_F(CoreGapEventHandlerTest, isConnected)
 	is_connected = core_gap_event_handler.isConnected();
 	EXPECT_FALSE(is_connected);
 }
+
+TEST_F(CoreGapEventHandlerTest, getConnectionHandle)
+{
+	auto handle = core_gap_event_handler.getConnectionHandle();
+
+	// nothing expected
+}
diff --git a/libs/BLEKit/tests/CoreGap_test.cpp b/libs/BLEKit/tests/CoreGap_test.cpp
@@ -218,3 +218,10 @@ TEST_F(CoreGapTest, isConnectedAfterConnection)
 
 	// nothing expected
 }
+
+TEST_F(CoreGapTest, disconnect)
+{
+	EXPECT_CALL(mbed_mock_gap, disconnect);
+
+	coregap.disconnect();
+}
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  {} )

diff --git a/libs/RobotKit/tests/StateMachine_test.cpp b/libs/RobotKit/tests/StateMachine_test.cpp
@@ -278,17 +278,6 @@ TEST_F(StateMachineTest, stateDeepSleepingEventBleConnection)
 	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);