Update rvc example to handel new pause compatible states (project-chi…

…p#30963) * Updated the RVC example app to appropriatly handel the RvcOpState Pasue and Resume commands for the new pause and resume compatible states. * Updated the RVC example app's state machine diagram. * Restyled by clang-format * Added some clarifying comments to the RvcDevice pause and resume commands handle methods. Renamed variable for clarity. Removed unnecessary temp hold of pause state. * Restyled by clang-format * Changed the naming to note the state that was paused rather than the state that we will resume to as we cannot know the state that the device will resume to when the pause command is handled. * Clarified comments following reviews. * Modified the resume callback logic to be more concise. * Restyled by clang-format --------- Co-authored-by: Restyled.io <[email protected]> Co-authored-by: chrismapp <[email protected]>
thivya-amazon · Dec 18, 2023 · dbdc264 · dbdc264
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diff --git a/examples/rvc-app/RVC_app_state_diagram.png b/examples/rvc-app/RVC_app_state_diagram.png
diff --git a/examples/rvc-app/RVC_app_state_diagram_drawio.xml b/examples/rvc-app/RVC_app_state_diagram_drawio.xml
@@ -1,2 +1,2 @@
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diff --git a/examples/rvc-app/rvc-common/include/rvc-device.h b/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

diff --git a/examples/rvc-app/rvc-common/src/rvc-device.cpp b/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()