Make robotic vacuum cleaner spec compliant (#37718)

* Start new cycle when RVC Run Mode is changed from idle to cleaning/mapping

* Fix bug : Last call to onOperationalStateTimeTick happens after state is already set to Stopped resulting in dereferencing a null pointer. Fix this by returning from function if state is stopped

* Change RunMode to Idle after cleaning cycle completes

* Restyled by whitespace

* Fix tags list for Mapping mode

* use getters instead of extern

---------

Co-authored-by: Restyled.io <commits@restyled.io>

Author: sxb427

examples/chef/common/chef-rvc-mode-delegate.cpp

@@ -29,11 +29,21 @@ using ModeTagStructType = chip::app::Clusters::detail::Structs::ModeTagStruct::T
 
 #ifdef MATTER_DM_PLUGIN_RVC_RUN_MODE_SERVER
 #include <chef-rvc-mode-delegate.h>
+
+#ifdef MATTER_DM_PLUGIN_RVC_OPERATIONAL_STATE_SERVER
+#include <chef-rvc-operational-state-delegate.h>
+#endif // MATTER_DM_PLUGIN_RVC_OPERATIONAL_STATE_SERVER
+
 using namespace chip::app::Clusters::RvcRunMode;
 
 static std::unique_ptr<RvcRunModeDelegate> gRvcRunModeDelegate;
 static std::unique_ptr<ModeBase::Instance> gRvcRunModeInstance;
 
+chip::app::Clusters::ModeBase::Instance * getRvcRunModeInstance()
+{
+    return gRvcRunModeInstance.get();
+}
+
 CHIP_ERROR RvcRunModeDelegate::Init()
 {
     return CHIP_NO_ERROR;
@@ -51,7 +61,35 @@ void RvcRunModeDelegate::HandleChangeToMode(uint8_t NewMode, ModeBase::Commands:
         return;
     }
 
+#ifdef MATTER_DM_PLUGIN_RVC_OPERATIONAL_STATE_SERVER
+    OperationalState::GenericOperationalError err(to_underlying(OperationalState::ErrorStateEnum::kNoError));
+    if (NewMode == RvcRunMode::ModeIdle)
+    {
+        if (currentMode != RvcRunMode::ModeIdle)
+        { // Stop existing cycle when going from cleaning/mapping to idle.
+            ChipLogProgress(DeviceLayer, "Stopping RVC cycle: %d", currentMode);
+            getRvcOperationalStateDelegate()->HandleStopStateCallback(err);
+        }
+    }
+    else
+    {
+        if (currentMode == RvcRunMode::ModeIdle)
+        { // Start a new cycle when going from idle to clening/mapping.
+            ChipLogProgress(DeviceLayer, "Starting new RVC cycle: %d", NewMode);
+            getRvcOperationalStateDelegate()->HandleStartStateCallback(err);
+        }
+    }
+    if (err.IsEqual(OperationalState::GenericOperationalError(to_underlying(OperationalState::ErrorStateEnum::kNoError))))
+    {
+        response.status = to_underlying(ModeBase::StatusCode::kSuccess);
+    }
+    else
+    {
+        response.status = to_underlying(ModeBase::StatusCode::kGenericFailure);
+    }
+#else
     response.status = to_underlying(ModeBase::StatusCode::kSuccess);
+#endif // MATTER_DM_PLUGIN_RVC_OPERATIONAL_STATE_SERVER
 }
 
 CHIP_ERROR RvcRunModeDelegate::GetModeLabelByIndex(uint8_t modeIndex, chip::MutableCharSpan & label)

examples/chef/common/chef-rvc-mode-delegate.h

@@ -42,6 +42,7 @@ class RvcRunModeDelegate : public ModeBase::Delegate
     using ModeTagStructType               = detail::Structs::ModeTagStruct::Type;
     ModeTagStructType ModeTagsIdle[1]     = { { .value = to_underlying(ModeTag::kIdle) } };
     ModeTagStructType ModeTagsCleaning[1] = { { .value = to_underlying(ModeTag::kCleaning) } };
+    ModeTagStructType ModeTagsMapping[1]  = { { .value = to_underlying(ModeTag::kMapping) } };
 
     const detail::Structs::ModeOptionStruct::Type kModeOptions[3] = {
         detail::Structs::ModeOptionStruct::Type{ .label    = CharSpan::fromCharString("Idle"),
@@ -52,7 +53,7 @@ class RvcRunModeDelegate : public ModeBase::Delegate
                                                  .modeTags = DataModel::List<const ModeTagStructType>(ModeTagsCleaning) },
         detail::Structs::ModeOptionStruct::Type{ .label    = CharSpan::fromCharString("Mapping"),
                                                  .mode     = ModeMapping,
-                                                 .modeTags = DataModel::List<const ModeTagStructType>(ModeTagsIdle) },
+                                                 .modeTags = DataModel::List<const ModeTagStructType>(ModeTagsMapping) },
     };
 
     CHIP_ERROR Init() override;
@@ -122,6 +123,8 @@ void Shutdown();
 } // namespace chip
 
 #ifdef MATTER_DM_PLUGIN_RVC_RUN_MODE_SERVER
+chip::app::Clusters::ModeBase::Instance * getRvcRunModeInstance();
+
 chip::Protocols::InteractionModel::Status chefRvcRunModeWriteCallback(chip::EndpointId endpoint, chip::ClusterId clusterId,
                                                                       const EmberAfAttributeMetadata * attributeMetadata,
                                                                       uint8_t * buffer);

examples/chef/common/chef-rvc-operational-state-delegate.cpp

@@ -28,9 +28,18 @@ using namespace chip::app::Clusters::OperationalState;
 using namespace chip::app::Clusters::RvcOperationalState;
 using chip::Protocols::InteractionModel::Status;
 
+#ifdef MATTER_DM_PLUGIN_RVC_RUN_MODE_SERVER
+#include <chef-rvc-mode-delegate.h>
+#endif // MATTER_DM_PLUGIN_RVC_RUN_MODE_SERVER
+
 static std::unique_ptr<RvcOperationalStateDelegate> gRvcOperationalStateDelegate;
 static std::unique_ptr<RvcOperationalState::Instance> gRvcOperationalStateInstance;
 
+RvcOperationalStateDelegate * getRvcOperationalStateDelegate()
+{
+    return gRvcOperationalStateDelegate.get();
+}
+
 static void onOperationalStateTimerTick(System::Layer * systemLayer, void * data);
 
 DataModel::Nullable<uint32_t> RvcOperationalStateDelegate::GetCountdownTime()
@@ -176,6 +185,11 @@ static void onOperationalStateTimerTick(System::Layer * systemLayer, void * data
     OperationalState::OperationalStateEnum state =
         static_cast<OperationalState::OperationalStateEnum>(instance->GetCurrentOperationalState());
 
+    if (state == OperationalState::OperationalStateEnum::kStopped) // Do not continue the timer when RVC has stopped.
+    {
+        return;
+    }
+
     if (gRvcOperationalStateDelegate->mCountdownTime.IsNull())
     {
         if (state == OperationalState::OperationalStateEnum::kRunning)
@@ -223,6 +237,10 @@ static void onOperationalStateTimerTick(System::Layer * systemLayer, void * data
             gRvcOperationalStateDelegate->mRunningTime = 0;
             gRvcOperationalStateDelegate->mPausedTime  = 0;
             gRvcOperationalStateDelegate->mCountdownTime.SetNull();
+
+#ifdef MATTER_DM_PLUGIN_RVC_RUN_MODE_SERVER
+            getRvcRunModeInstance()->UpdateCurrentMode(RvcRunMode::ModeIdle);
+#endif // MATTER_DM_PLUGIN_RVC_RUN_MODE_SERVER
         }
     }
 }

examples/chef/common/chef-rvc-operational-state-delegate.h

@@ -122,6 +122,8 @@ void Shutdown();
 } // namespace app
 } // namespace chip
 
+chip::app::Clusters::RvcOperationalState::RvcOperationalStateDelegate * getRvcOperationalStateDelegate();
+
 chip::Protocols::InteractionModel::Status chefRvcOperationalStateWriteCallback(chip::EndpointId endpoint, chip::ClusterId clusterId,
                                                                                const EmberAfAttributeMetadata * attributeMetadata,
                                                                                uint8_t * buffer);