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Issue #40008: deconstrain RVC example's GoHome handler to fix TC-RVCOPSTATE-2.5 (#40402)
* Issue #40008: deconstrain `GoHome` to avoid need for `idle` run mode in TC-RVCOPSTATE-2.5 - `GoHome` was rejecting non-Stopped opstate requests to GoHome. I don't see any spec text supporting that constraint. - Update GoHome handler to also update RVC Run Mode to Idle. It doesn't have to be set to Idle immediately to meet spec, but doing so immediately avoids the need to maintain more global state. * Restyled by whitespace * Restyled by clang-format * update (compressed) drawio xml * update diagram monospace font for rendering closer to previous; updat png --------- Co-authored-by: Restyled.io <commits@restyled.io>
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<?xml version="1.0" encoding="UTF-8"?>
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aC/9dAvcBL17/0fdRFG3WiN8eV9nipZy2bzNXUcu/+QBhKCjniYU8rJiwo1SJ1thwniyP9IJw3INtf8zdrGAaS/woufuiqyevLEUoNVbTecz2VCmZjSt5dHqzCnOzy2NH9zlW5nE6/TE+e7sPbFLcelm1MxQGP4GMSWVebblhbBSdZq3X7QwFOduxd3CJ0cAVLnGeZKTsT54mC8UqO5/QHxy1UzO9kJJ3ZSyDjniS56q2PbMNCpEtcPtkRetTbDIOFscaXztLAg56lE5pJhZi+0tIodPPGCxxsC0e1My8M0aKGIxdXjNLvyFkO8D90S/Sw82Btm2FCWwb5MXeeMW2Pkve5yCe7MK2VMHRMbzXHSqWf5LrAqTLQH1yOQGPimSG5FAWcoXuy9p2lgwlmYHnhQATacI01yrfBS8WirYtEcudYqVYEtrRwn7Xzr/ZucGWPtZn1YXn39Meff779WuGA6fPaSfcK9m+3T6vNPvbKQjqat9lKoKhk4uApjOoDhMQhucN0jSBwTFKc3HZEun1lhnDuW8iFoaAoB9xcpIGhogBJJ//yyrksbHf3tQ190jVq35LSMHvgDir8aDK7tM1P8+lN+GBefw6ETfi73kvb0LS272YINiRxsRV+eQwH3nwwM7BnT1jaQYDYWsDGl2OKHOgxNOxj4YcMJbSzcOvReAI+bMLp79EfGH7/Yb0sntadRS6cMuF1LIUVTvLUWPmqD5sJj9hEu4mDIenVbozHoJ+B1S33SG/zkYBsQhKycZT7oelCQxGl8enqmQ3Qsip1JaPw2l5JNrt0S5355H+54zqX0T0je+75dkLEyVbG6bfryGLX94M7t5SutsqMvaV0tXnqnT0ovakw3jbdHs7npMl8dliKtOtDVHUKmGsla66LhikfdJVD55TP7pDSgk6H6CMVr5ngyUNWYBJWeXhSqYuNUouEVBXKXP1zlgs2YeZHRdMH8aQubPfJxhpJoSbfyW7RLFH1JhlKXC/F73kEoS7lqijASbWIiSx/vR35VpEyVcy0kGW3OrHu4Rli6dJsw1AUnU+MhyiSYBE6kSr3bWWFJxE82TkBa4tn1LHHHVifuXKu5yPX/gFn7/+Azc/BxPy+8360LOZsIabSlly/CHbIzcHhPQ72we+89167lX3wVB5lTLd10g4g0NkT9R24LPrpe3gMtySPpJ8FjsrFd/wf</diagram></mxfile>

examples/rvc-app/rvc-common/src/rvc-device.cpp

Lines changed: 10 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -142,13 +142,21 @@ void RvcDevice::HandleOpStateGoHomeCallback(Clusters::OperationalState::GenericO
142142
{
143143
switch (mOperationalStateInstance.GetCurrentOperationalState())
144144
{
145-
case to_underlying(OperationalState::OperationalStateEnum::kStopped): {
146-
if (mRunModeInstance.GetCurrentMode() != RvcRunMode::ModeIdle)
145+
case to_underlying(OperationalState::OperationalStateEnum::kStopped):
146+
case to_underlying(OperationalState::OperationalStateEnum::kPaused):
147+
case to_underlying(OperationalState::OperationalStateEnum::kRunning): {
148+
if (mOperationalStateInstance.GetCurrentOperationalState() ==
149+
to_underlying(OperationalState::OperationalStateEnum::kStopped) &&
150+
mRunModeInstance.GetCurrentMode() != RvcRunMode::ModeIdle)
147151
{
148152
err.Set(to_underlying(OperationalState::ErrorStateEnum::kCommandInvalidInState));
149153
return;
150154
}
151155

156+
// Spec requires device to be in Idle RVC Run Mode _after_ docking happens,
157+
// but to avoid need for an additional state variable, set Idle now.
158+
mRunModeInstance.UpdateCurrentMode(RvcRunMode::ModeIdle);
159+
152160
auto error = mOperationalStateInstance.SetOperationalState(
153161
to_underlying(RvcOperationalState::OperationalStateEnum::kSeekingCharger));
154162

src/python_testing/TC_RVCOPSTATE_2_5.py

Lines changed: 0 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -236,9 +236,6 @@ async def test_TC_RVCOPSTATE_2_5(self):
236236
# TH sends GoHome command to the DUT
237237
self.step("8")
238238

239-
# TODO: add this idle mode set to test plan, as RVC must be idle for GoHome to be performed successfully
240-
await self.send_change_to_mode_with_check(idle_mode, RvcStatusEnum.Success)
241-
242239
await self.send_go_home_cmd_with_check(Clusters.OperationalState.Enums.ErrorStateEnum.kNoError)
243240
await self.read_operational_state_with_check(Clusters.RvcOperationalState.Enums.OperationalStateEnum.kSeekingCharger)
244241

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