Make robotic vacuum cleaner spec compliant

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

@@ -29,10 +29,15 @@ 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;
+std::unique_ptr<ModeBase::Instance> gRvcRunModeInstance;
 
 CHIP_ERROR RvcRunModeDelegate::Init()
 {
@@ -51,7 +56,35 @@ 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);
+            gRvcOperationalStateDelegate->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);
+            gRvcOperationalStateDelegate->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

@@ -122,6 +122,8 @@ void Shutdown();
 } // namespace chip
 
 #ifdef MATTER_DM_PLUGIN_RVC_RUN_MODE_SERVER
+extern std::unique_ptr<chip::app::Clusters::ModeBase::Instance> gRvcRunModeInstance;
+
 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

@@ -28,7 +28,11 @@ using namespace chip::app::Clusters::OperationalState;
 using namespace chip::app::Clusters::RvcOperationalState;
 using chip::Protocols::InteractionModel::Status;
 
-static std::unique_ptr<RvcOperationalStateDelegate> gRvcOperationalStateDelegate;
+#ifdef MATTER_DM_PLUGIN_RVC_RUN_MODE_SERVER
+#include <chef-rvc-mode-delegate.h>
+#endif // MATTER_DM_PLUGIN_RVC_RUN_MODE_SERVER
+
+std::unique_ptr<RvcOperationalStateDelegate> gRvcOperationalStateDelegate;
 static std::unique_ptr<RvcOperationalState::Instance> gRvcOperationalStateInstance;
 
 static void onOperationalStateTimerTick(System::Layer * systemLayer, void * data);
@@ -176,6 +180,11 @@ 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 +232,10 @@ 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
+            gRvcRunModeInstance->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
 
+extern std::unique_ptr<chip::app::Clusters::RvcOperationalState::RvcOperationalStateDelegate> gRvcOperationalStateDelegate;
+
 chip::Protocols::InteractionModel::Status chefRvcOperationalStateWriteCallback(chip::EndpointId endpoint, chip::ClusterId clusterId,
                                                                                const EmberAfAttributeMetadata * attributeMetadata,
                                                                                uint8_t * buffer);