🔀 Merge branch 'yann/feature/sm/update-state-from-file-exchange-state…

…' into develop
leka · Nov 25, 2022 · f4605ce · f4605ce
2 parents 546d5dd + 5176e8e
commit f4605ce
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Showing 3 changed files with 116 additions and 5 deletions.
diff --git a/libs/RobotKit/include/StateMachine.h b/libs/RobotKit/include/StateMachine.h
@@ -234,11 +234,12 @@ struct StateMachine {
 			, sm::state::file_exchange + boost::sml::on_entry<_> / sm::action::on_file_exchange_start {}
 			, sm::state::file_exchange + boost::sml::on_exit<_>  / sm::action::on_file_exchange_end {}
 
-			, sm::state::file_exchange + event<sm::event::file_exchange_stop_requested> [sm::guard::is_not_charging {}] = sm::state::working
-			, sm::state::file_exchange + event<sm::event::file_exchange_stop_requested> [sm::guard::is_charging {}]     = sm::state::charging
-			, sm::state::file_exchange + event<sm::event::ble_disconnection>            [sm::guard::is_not_charging {}] = sm::state::idle
-			, sm::state::file_exchange + event<sm::event::ble_disconnection>            [sm::guard::is_charging {}]     = sm::state::charging
-			, sm::state::file_exchange + event<sm::event::emergency_stop>                                               = sm::state::emergency_stopped
+			, sm::state::file_exchange + event<sm::event::file_exchange_stop_requested> [sm::guard::is_not_charging {}]    = sm::state::working
+			, sm::state::file_exchange + event<sm::event::file_exchange_stop_requested> [sm::guard::is_charging {}]        = sm::state::charging
+			, sm::state::file_exchange + event<sm::event::ble_disconnection>            [sm::guard::is_not_charging {}]    = sm::state::idle
+			, sm::state::file_exchange + event<sm::event::ble_disconnection>            [sm::guard::is_charging {}]        = sm::state::charging
+			, sm::state::file_exchange + event<sm::event::emergency_stop>                                                  = sm::state::emergency_stopped
+			, sm::state::file_exchange + event<sm::event::update_requested>             [sm::guard::is_ready_to_update {}] = sm::state::updating
 
 			, sm::state::updating + boost::sml::on_entry<_> / sm::action::apply_update {}
 

diff --git a/libs/RobotKit/tests/RobotController_test_stateFileExchange.cpp b/libs/RobotKit/tests/RobotController_test_stateFileExchange.cpp
@@ -136,3 +136,87 @@ TEST_F(RobotControllerTest, stateFileExchangeEventEmergencyStop)
 
 	EXPECT_TRUE(rc.state_machine.is(lksm::state::emergency_stopped));
 }
+
+TEST_F(RobotControllerTest, stateFileExchangeEventUpdateRequestedGuardIsReadyToUpdateTrue)
+{
+	rc.state_machine.set_current_states(lksm::state::file_exchange);
+
+	auto returned_is_charging = true;
+	auto returned_level		  = uint8_t {100};
+
+	MockFunction<void()> mock_on_update_loaded_callback;
+	rc.registerOnUpdateLoadedCallback(mock_on_update_loaded_callback.AsStdFunction());
+
+	Sequence on_file_exchange_end;
+	// TODO (@yann): Trigger file_exchange_start_requested in StateMachine from BLE and do not use process_event
+	EXPECT_CALL(mbed_mock_gatt, write(_, _, _, _)).Times(AnyNumber()).InSequence(on_file_exchange_end);
+
+	Sequence is_ready_to_update_sequence;
+	EXPECT_CALL(battery, isCharging)
+		.InSequence(is_ready_to_update_sequence)
+		.WillRepeatedly(Return(returned_is_charging));
+	EXPECT_CALL(battery, level).InSequence(is_ready_to_update_sequence).WillRepeatedly(Return(returned_level));
+
+	EXPECT_CALL(firmware_update, loadUpdate).WillOnce(Return(true));
+	EXPECT_CALL(mock_on_update_loaded_callback, Call);
+
+	rc.state_machine.process_event(lksm::event::update_requested {});
+
+	EXPECT_TRUE(rc.state_machine.is(lksm::state::updating));
+}
+
+TEST_F(RobotControllerTest, stateFileExchangeEventUpdateRequestedGuardIsReadyToUpdateFalseIsNotCharging)
+{
+	rc.state_machine.set_current_states(lksm::state::file_exchange);
+
+	auto returned_is_charging = false;
+	auto returned_level		  = uint8_t {100};
+
+	MockFunction<void()> mock_on_update_loaded_callback;
+	rc.registerOnUpdateLoadedCallback(mock_on_update_loaded_callback.AsStdFunction());
+
+	Sequence on_file_exchange_end;
+	// TODO (@yann): Trigger file_exchange_start_requested in StateMachine from BLE and do not use process_event
+	EXPECT_CALL(mbed_mock_gatt, write(_, _, _, _)).Times(AnyNumber()).InSequence(on_file_exchange_end);
+
+	Sequence is_ready_to_update_sequence;
+	EXPECT_CALL(battery, isCharging)
+		.InSequence(is_ready_to_update_sequence)
+		.WillRepeatedly(Return(returned_is_charging));
+	EXPECT_CALL(battery, level).Times(0).InSequence(is_ready_to_update_sequence);
+
+	EXPECT_CALL(firmware_update, loadUpdate).Times(0);
+	EXPECT_CALL(mock_on_update_loaded_callback, Call).Times(0);
+
+	rc.state_machine.process_event(lksm::event::update_requested {});
+
+	EXPECT_TRUE(rc.state_machine.is(lksm::state::file_exchange));
+}
+
+TEST_F(RobotControllerTest, stateFileExchangeEventUpdateRequestedGuardIsReadyToUpdateFalseBelowMinimalBatteryLevel)
+{
+	rc.state_machine.set_current_states(lksm::state::file_exchange);
+
+	auto returned_is_charging = true;
+	auto returned_level		  = uint8_t {0};
+
+	MockFunction<void()> mock_on_update_loaded_callback;
+	rc.registerOnUpdateLoadedCallback(mock_on_update_loaded_callback.AsStdFunction());
+
+	Sequence on_file_exchange_end;
+	// TODO (@yann): Trigger file_exchange_start_requested in StateMachine from BLE and do not use process_event
+	EXPECT_CALL(mbed_mock_gatt, write(_, _, _, _)).Times(AnyNumber()).InSequence(on_file_exchange_end);
+
+	Sequence is_ready_to_update_sequence;
+	EXPECT_CALL(battery, isCharging)
+		.InSequence(is_ready_to_update_sequence)
+		.WillRepeatedly(Return(returned_is_charging));
+	EXPECT_CALL(battery, level).InSequence(is_ready_to_update_sequence).WillRepeatedly(Return(returned_level));
+
+	EXPECT_CALL(firmware_update, loadUpdate).Times(0);
+	EXPECT_CALL(mock_on_update_loaded_callback, Call).Times(0);
+
+	rc.state_machine.process_event(lksm::event::update_requested {});
+
+	EXPECT_TRUE(rc.state_machine.is(lksm::state::file_exchange));
+}
diff --git a/libs/RobotKit/tests/StateMachine_test.cpp b/libs/RobotKit/tests/StateMachine_test.cpp
@@ -728,3 +728,29 @@ TEST_F(StateMachineTest, stateFileExhangeEventEmergencyStop)
 
 	EXPECT_TRUE(sm.is(lksm::state::emergency_stopped));
 }
+
+TEST_F(StateMachineTest, stateFileExhangeEventUpdateRequestedGuardTrue)
+{
+	sm.set_current_states(lksm::state::file_exchange);
+
+	EXPECT_CALL(mock_rc, onFileExchangeEnd);
+
+	EXPECT_CALL(mock_rc, isReadyToUpdate).WillOnce(Return(true));
+	EXPECT_CALL(mock_rc, applyUpdate);
+
+	sm.process_event(lksm::event::update_requested {});
+
+	EXPECT_TRUE(sm.is(lksm::state::updating));
+}
+
+TEST_F(StateMachineTest, stateFileExhangeEventUpdateRequestedGuardFalse)
+{
+	sm.set_current_states(lksm::state::file_exchange);
+
+	EXPECT_CALL(mock_rc, isReadyToUpdate).WillOnce(Return(false));
+	EXPECT_CALL(mock_rc, applyUpdate).Times(0);
+
+	sm.process_event(lksm::event::update_requested {});
+
+	EXPECT_TRUE(sm.is(lksm::state::file_exchange));
+}