Update rvc example to handel new pause compatible states

examples/rvc-app/RVC_app_state_diagram_drawio.xml

@@ -1,2 +1,2 @@
 <?xml version="1.0" encoding="UTF-8"?>
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examples/rvc-app/rvc-common/include/rvc-device.h

@@ -24,6 +24,8 @@ class RvcDevice
     bool mDocked   = false;
     bool mCharging = false;
 
+    uint8_t mStateBeforePause = 0;
+
 public:
     /**
      * This class is responsible for initialising all the RVC clusters and manging the interactions between them as required by

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

@@ -91,28 +91,47 @@ void RvcDevice::HandleRvcCleanChangeToMode(uint8_t newMode, ModeBase::Commands::
 
 void RvcDevice::HandleOpStatePauseCallback(Clusters::OperationalState::GenericOperationalError & err)
 {
+    // This method is only called if the device is in a Pause-compatible state, i.e. `Running` or `SeekingCharger`.
+    mStateBeforePause = mOperationalStateInstance.GetCurrentOperationalState();
     auto error = mOperationalStateInstance.SetOperationalState(to_underlying(OperationalState::OperationalStateEnum::kPaused));
-    if (error == CHIP_NO_ERROR)
-    {
-        err.Set(to_underlying(OperationalState::ErrorStateEnum::kNoError));
-    }
-    else
-    {
-        err.Set(to_underlying(OperationalState::ErrorStateEnum::kUnableToCompleteOperation));
-    }
+    err.Set((error == CHIP_NO_ERROR) ? to_underlying(OperationalState::ErrorStateEnum::kNoError)
+                                     : to_underlying(OperationalState::ErrorStateEnum::kUnableToCompleteOperation));
 }
 
 void RvcDevice::HandleOpStateResumeCallback(Clusters::OperationalState::GenericOperationalError & err)
 {
-    auto error = mOperationalStateInstance.SetOperationalState(to_underlying(OperationalState::OperationalStateEnum::kRunning));
-    if (error == CHIP_NO_ERROR)
+    uint8_t targetState = to_underlying(OperationalState::OperationalStateEnum::kRunning);
+
+    switch (mOperationalStateInstance.GetCurrentOperationalState())
     {
-        err.Set(to_underlying(OperationalState::ErrorStateEnum::kNoError));
+    case to_underlying(RvcOperationalState::OperationalStateEnum::kCharging):
+    case to_underlying(RvcOperationalState::OperationalStateEnum::kDocked): {
+        if (mRunModeInstance.GetCurrentMode() != RvcRunMode::ModeCleaning &&
+            mRunModeInstance.GetCurrentMode() != RvcRunMode::ModeMapping)
+        {
+            err.Set(to_underlying(OperationalState::ErrorStateEnum::kCommandInvalidInState));
+            return;
+        }
     }
-    else
-    {
-        err.Set(to_underlying(OperationalState::ErrorStateEnum::kUnableToCompleteOperation));
+    break;
+    case to_underlying(OperationalState::OperationalStateEnum::kPaused): {
+        if (mStateBeforePause == to_underlying(RvcOperationalState::OperationalStateEnum::kSeekingCharger))
+        {
+            targetState = to_underlying(RvcOperationalState::OperationalStateEnum::kSeekingCharger);
+        }
     }
+    break;
+    default:
+        // This method is only called if the device is in a resume-compatible state, i.e. `Charging`, `Docked` or
+        // `Paused`. Therefor, we do not expect to ever enter this branch.
+        err.Set(to_underlying(OperationalState::ErrorStateEnum::kCommandInvalidInState));
+        return;
+    }
+
+    auto error = mOperationalStateInstance.SetOperationalState(targetState);
+
+    err.Set((error == CHIP_NO_ERROR) ? to_underlying(OperationalState::ErrorStateEnum::kNoError)
+                                     : to_underlying(OperationalState::ErrorStateEnum::kUnableToCompleteOperation));
 }
 
 void RvcDevice::HandleChargedMessage()