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Merge pull request #1255 from PX4/ArmingUTFix 

Fix state transition unit tests
This commit is contained in:
Lorenz Meier 2014-08-05 21:30:46 +02:00
parent d3d5aa9bdc cfe5c45e04
commit 22def1305b
4 changed files with 22 additions and 21 deletions
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18
src/modules/commander/commander.cpp
View File

@ -393,7 +393,7 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char
// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
// output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd_local);
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd_local);
if (arming_res == TRANSITION_CHANGED && mavlink_fd) {
mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
@ -1085,7 +1085,7 @@ int commander_thread_main(int argc, char *argv[])
if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) {
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd)) {
if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd)) {
mavlink_log_info(mavlink_fd, "DISARMED by safety switch");
arming_state_changed = true;
}
@ -1288,14 +1288,14 @@ int commander_thread_main(int argc, char *argv[])
status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
if (armed.armed) {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
} else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
@ -1309,7 +1309,7 @@ int commander_thread_main(int argc, char *argv[])
/* If in INIT state, try to proceed to STANDBY state */
if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) {
/* TODO: check for sensors */
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
@ -1368,7 +1368,7 @@ int commander_thread_main(int argc, char *argv[])
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
@ -1394,7 +1394,7 @@ int commander_thread_main(int argc, char *argv[])
if (status.main_state != MAIN_STATE_MANUAL) {
print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
} else {
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, mavlink_fd);
arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */, mavlink_fd);
if (arming_ret == TRANSITION_CHANGED) {
arming_state_changed = true;
}
@ -2156,7 +2156,7 @@ void *commander_low_prio_loop(void *arg)
int calib_ret = ERROR;
/* try to go to INIT/PREFLIGHT arming state */
if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, mavlink_fd)) {
if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, true /* fRunPreArmChecks */, mavlink_fd)) {
answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
break;
}
@ -2219,7 +2219,7 @@ void *commander_low_prio_loop(void *arg)
tune_negative(true);
}
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, mavlink_fd);
arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
break;
}

10
src/modules/commander/commander_tests/state_machine_helper_test.cpp
View File

@ -286,7 +286,7 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
armed.ready_to_arm = test->current_state.ready_to_arm;
// Attempt transition
transition_result_t result = arming_state_transition(&status, &safety, test->requested_state, &armed, 0 /* no mavlink_fd */);
transition_result_t result = arming_state_transition(&status, &safety, test->requested_state, &armed, false /* no pre-arm checks */, 0 /* no mavlink_fd */);
// Validate result of transition
ut_assert(test->assertMsg, test->expected_transition_result == result);
@ -335,12 +335,12 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
MTT_ALL_NOT_VALID,
MAIN_STATE_ACRO, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
{ "transition: MANUAL to AUTO_MISSION - global position valid",
MTT_GLOBAL_POS_VALID,
{ "transition: MANUAL to AUTO_MISSION - global position valid, home position valid",
MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
MAIN_STATE_MANUAL, MAIN_STATE_AUTO_MISSION, TRANSITION_CHANGED },
{ "transition: AUTO_MISSION to MANUAL - global position valid",
MTT_GLOBAL_POS_VALID,
{ "transition: AUTO_MISSION to MANUAL - global position valid, home position valid",
MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
MAIN_STATE_AUTO_MISSION, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
{ "transition: MANUAL to AUTO_LOITER - global position valid",

13
src/modules/commander/state_machine_helper.cpp
View File

@ -99,11 +99,12 @@ static const char * const state_names[ARMING_STATE_MAX] = {
};
transition_result_t
arming_state_transition(struct vehicle_status_s *status, /// current vehicle status
const struct safety_s *safety, /// current safety settings
arming_state_t new_arming_state, /// arming state requested
struct actuator_armed_s *armed, /// current armed status
const int mavlink_fd) /// mavlink fd for error reporting, 0 for none
arming_state_transition(struct vehicle_status_s *status, ///< current vehicle status
const struct safety_s *safety, ///< current safety settings
arming_state_t new_arming_state, ///< arming state requested
struct actuator_armed_s *armed, ///< current armed status
bool fRunPreArmChecks, ///< true: run the pre-arm checks, false: no pre-arm checks, for unit testing
const int mavlink_fd) ///< mavlink fd for error reporting, 0 for none
{
// Double check that our static arrays are still valid
ASSERT(ARMING_STATE_INIT == 0);
@ -125,7 +126,7 @@ arming_state_transition(struct vehicle_status_s *status, /// current
int prearm_ret = OK;
/* only perform the check if we have to */
if (new_arming_state == ARMING_STATE_ARMED) {
if (fRunPreArmChecks && new_arming_state == ARMING_STATE_ARMED) {
prearm_ret = prearm_check(status, mavlink_fd);
}

2
src/modules/commander/state_machine_helper.h
View File

@ -57,7 +57,7 @@ typedef enum {
bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);
transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd);
arming_state_t new_arming_state, struct actuator_armed_s *armed, bool fRunPreArmChecks, const int mavlink_fd);
transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state);