forked from Archive/PX4-Autopilot
ArmStateMachine: port over unit tests to functional gtests
This commit is contained in:
Matthias Grob
parent
f968a5947d
commit
92adc71424
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@ -34,4 +34,4 @@
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px4_add_library(CollisionPrevention CollisionPrevention.cpp)
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target_compile_options(CollisionPrevention PRIVATE -Wno-cast-align) # TODO: fix and enable
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px4_add_functional_gtest(SRC CollisionPreventionTest.cpp LINKLIBS CollisionPrevention )
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px4_add_functional_gtest(SRC CollisionPreventionTest.cpp LINKLIBS CollisionPrevention)
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@ -0,0 +1,304 @@
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/****************************************************************************
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*
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* Copyright (C) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <ArmStateMachine.hpp>
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TEST(ArmStateMachineTest, ArmingStateTransitionTest)
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{
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ArmStateMachine arm_state_machine;
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// These are the critical values from vehicle_status_s and actuator_armed_s which must be primed
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// to simulate machine state prior to testing an arming state transition. This structure is also
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// use to represent the expected machine state after the transition has been requested.
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typedef struct {
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arming_state_t arming_state; // vehicle_status_s.arming_state
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bool armed; // actuator_armed_s.armed
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bool ready_to_arm; // actuator_armed_s.ready_to_arm
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} ArmingTransitionVolatileState_t;
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// This structure represents a test case for arming_state_transition. It contains the machine
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// state prior to transition, the requested state to transition to and finally the expected
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// machine state after transition.
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typedef struct {
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const char *assertMsg; // Text to show when test case fails
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ArmingTransitionVolatileState_t current_state; // Machine state prior to transition
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hil_state_t hil_state; // Current vehicle_status_s.hil_state
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bool
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system_sensors_initialized; // Current vehicle_status_s.system_sensors_initialized
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bool safety_switch_available; // Current safety_s.safety_switch_available
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bool safety_off; // Current safety_s.safety_off
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arming_state_t requested_state; // Requested arming state to transition to
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ArmingTransitionVolatileState_t expected_state; // Expected machine state after transition
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transition_result_t expected_transition_result; // Expected result from arming_state_transition
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} ArmingTransitionTest_t;
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// We use these defines so that our test cases are more readable
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#define ATT_ARMED true
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#define ATT_DISARMED false
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#define ATT_READY_TO_ARM true
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#define ATT_NOT_READY_TO_ARM false
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#define ATT_SENSORS_INITIALIZED true
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#define ATT_SENSORS_NOT_INITIALIZED false
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#define ATT_SAFETY_AVAILABLE true
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#define ATT_SAFETY_NOT_AVAILABLE true
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#define ATT_SAFETY_OFF true
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#define ATT_SAFETY_ON false
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// These are test cases for arming_state_transition
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static const ArmingTransitionTest_t rgArmingTransitionTests[] = {
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// TRANSITION_NOT_CHANGED tests
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{
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"no transition: identical states",
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_INIT,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_NOT_CHANGED
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},
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// TRANSITION_CHANGED tests
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// Check all basic valid transitions, these don't require special state in vehicle_status_t or safety_s
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{
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"transition: init to standby",
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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{
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"transition: init to standby error",
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY_ERROR,
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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{
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"transition: init to reboot",
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_SHUTDOWN,
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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{
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"transition: standby to init",
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_INIT,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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{
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"transition: standby to standby error",
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY_ERROR,
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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{
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"transition: standby to reboot",
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_SHUTDOWN,
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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{
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"transition: armed to standby",
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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{
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"transition: standby error to reboot",
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_SHUTDOWN,
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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{
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"transition: in air restore to armed",
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{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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{
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"transition: in air restore to reboot",
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{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_SHUTDOWN,
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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// hil on tests, standby error to standby not normally allowed
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{
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"transition: standby error to standby, hil on",
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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// Safety switch arming tests
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{
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"transition: standby to armed, no safety switch",
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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{
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"transition: standby to armed, safety switch off",
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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// TRANSITION_DENIED tests
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// Check some important basic invalid transitions, these don't require special state in vehicle_status_t or safety_s
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{
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"no transition: init to armed",
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
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},
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{
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"no transition: armed to init",
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_INIT,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
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},
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{
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"no transition: armed to reboot",
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_SHUTDOWN,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
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},
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{
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"no transition: standby error to armed",
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
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},
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{
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"no transition: standby error to standby",
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY,
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
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},
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{
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"no transition: reboot to armed",
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
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},
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{
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"no transition: in air restore to standby",
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{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY,
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{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
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},
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// Sensor tests
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//{ "transition to standby error: init to standby - sensors not initialized",
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// { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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// vehicle_status_s::ARMING_STATE_STANDBY,
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// { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
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// Safety switch arming tests
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{
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"no transition: init to armed, safety switch on",
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
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},
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};
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struct vehicle_status_s status {};
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struct vehicle_status_flags_s status_flags {};
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struct safety_s safety {};
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struct actuator_armed_s armed {};
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size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
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for (size_t i = 0; i < cArmingTransitionTests; i++) {
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const ArmingTransitionTest_t *test = &rgArmingTransitionTests[i];
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PreFlightCheck::arm_requirements_t arm_req{};
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// Setup initial machine state
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status.arming_state = test->current_state.arming_state;
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status_flags.system_sensors_initialized = test->system_sensors_initialized;
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status.hil_state = test->hil_state;
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// The power status of the test unit is not relevant for the unit test
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status_flags.circuit_breaker_engaged_power_check = true;
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safety.safety_switch_available = test->safety_switch_available;
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safety.safety_off = test->safety_off;
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armed.armed = test->current_state.armed;
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armed.ready_to_arm = test->current_state.ready_to_arm;
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vehicle_control_mode_s control_mode{};
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// Attempt transition
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transition_result_t result = arm_state_machine.arming_state_transition(
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status,
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control_mode,
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safety,
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test->requested_state,
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armed,
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true /* enable pre-arm checks */,
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nullptr /* no mavlink_log_pub */,
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status_flags,
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arm_req,
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2e6, /* 2 seconds after boot, everything should be checked */
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arm_disarm_reason_t::unit_test);
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// Validate result of transition
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EXPECT_EQ(result, test->expected_transition_result) << test->assertMsg;
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EXPECT_EQ(status.arming_state, test->expected_state.arming_state) << test->assertMsg;
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EXPECT_EQ(armed.armed, test->expected_state.armed) << test->assertMsg;
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EXPECT_EQ(armed.ready_to_arm, test->expected_state.ready_to_arm) << test->assertMsg;
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}
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}
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@ -37,3 +37,5 @@ px4_add_library(ArmStateMachine
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)
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target_include_directories(ArmStateMachine PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(ArmStateMachine PUBLIC PreFlightCheck)
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px4_add_functional_gtest(SRC ArmStateMachineTest.cpp LINKLIBS ArmStateMachine)
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@ -51,284 +51,12 @@ public:
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StateMachineHelperTest() = default;
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~StateMachineHelperTest() override = default;
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ArmStateMachine _arm_state_machine{};
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bool run_tests() override;
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private:
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bool armingStateTransitionTest();
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bool mainStateTransitionTest();
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};
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bool StateMachineHelperTest::armingStateTransitionTest()
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{
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// These are the critical values from vehicle_status_s and actuator_armed_s which must be primed
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// to simulate machine state prior to testing an arming state transition. This structure is also
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// use to represent the expected machine state after the transition has been requested.
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typedef struct {
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arming_state_t arming_state; // vehicle_status_s.arming_state
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bool armed; // actuator_armed_s.armed
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bool ready_to_arm; // actuator_armed_s.ready_to_arm
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} ArmingTransitionVolatileState_t;
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// This structure represents a test case for arming_state_transition. It contains the machine
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// state prior to transition, the requested state to transition to and finally the expected
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// machine state after transition.
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typedef struct {
|
||||
const char *assertMsg; // Text to show when test case fails
|
||||
ArmingTransitionVolatileState_t current_state; // Machine state prior to transition
|
||||
hil_state_t hil_state; // Current vehicle_status_s.hil_state
|
||||
bool
|
||||
system_sensors_initialized; // Current vehicle_status_s.system_sensors_initialized
|
||||
bool safety_switch_available; // Current safety_s.safety_switch_available
|
||||
bool safety_off; // Current safety_s.safety_off
|
||||
arming_state_t requested_state; // Requested arming state to transition to
|
||||
ArmingTransitionVolatileState_t expected_state; // Expected machine state after transition
|
||||
transition_result_t expected_transition_result; // Expected result from arming_state_transition
|
||||
} ArmingTransitionTest_t;
|
||||
|
||||
// We use these defines so that our test cases are more readable
|
||||
#define ATT_ARMED true
|
||||
#define ATT_DISARMED false
|
||||
#define ATT_READY_TO_ARM true
|
||||
#define ATT_NOT_READY_TO_ARM false
|
||||
#define ATT_SENSORS_INITIALIZED true
|
||||
#define ATT_SENSORS_NOT_INITIALIZED false
|
||||
#define ATT_SAFETY_AVAILABLE true
|
||||
#define ATT_SAFETY_NOT_AVAILABLE true
|
||||
#define ATT_SAFETY_OFF true
|
||||
#define ATT_SAFETY_ON false
|
||||
|
||||
// These are test cases for arming_state_transition
|
||||
static const ArmingTransitionTest_t rgArmingTransitionTests[] = {
|
||||
// TRANSITION_NOT_CHANGED tests
|
||||
|
||||
{
|
||||
"no transition: identical states",
|
||||
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_INIT,
|
||||
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_NOT_CHANGED
|
||||
},
|
||||
|
||||
// TRANSITION_CHANGED tests
|
||||
|
||||
// Check all basic valid transitions, these don't require special state in vehicle_status_t or safety_s
|
||||
|
||||
{
|
||||
"transition: init to standby",
|
||||
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_STANDBY,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{
|
||||
"transition: init to standby error",
|
||||
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_STANDBY_ERROR,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{
|
||||
"transition: init to reboot",
|
||||
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_SHUTDOWN,
|
||||
{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{
|
||||
"transition: standby to init",
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_INIT,
|
||||
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{
|
||||
"transition: standby to standby error",
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_STANDBY_ERROR,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{
|
||||
"transition: standby to reboot",
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_SHUTDOWN,
|
||||
{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{
|
||||
"transition: armed to standby",
|
||||
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_STANDBY,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{
|
||||
"transition: standby error to reboot",
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_SHUTDOWN,
|
||||
{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{
|
||||
"transition: in air restore to armed",
|
||||
{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{
|
||||
"transition: in air restore to reboot",
|
||||
{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_SHUTDOWN,
|
||||
{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
// hil on tests, standby error to standby not normally allowed
|
||||
|
||||
{
|
||||
"transition: standby error to standby, hil on",
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_STANDBY,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
// Safety switch arming tests
|
||||
|
||||
{
|
||||
"transition: standby to armed, no safety switch",
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{
|
||||
"transition: standby to armed, safety switch off",
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
// TRANSITION_DENIED tests
|
||||
|
||||
// Check some important basic invalid transitions, these don't require special state in vehicle_status_t or safety_s
|
||||
|
||||
{
|
||||
"no transition: init to armed",
|
||||
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
{
|
||||
"no transition: armed to init",
|
||||
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_INIT,
|
||||
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
{
|
||||
"no transition: armed to reboot",
|
||||
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_SHUTDOWN,
|
||||
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
{
|
||||
"no transition: standby error to armed",
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
{
|
||||
"no transition: standby error to standby",
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_STANDBY,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
{
|
||||
"no transition: reboot to armed",
|
||||
{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
{
|
||||
"no transition: in air restore to standby",
|
||||
{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_STANDBY,
|
||||
{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
// Sensor tests
|
||||
|
||||
//{ "transition to standby error: init to standby - sensors not initialized",
|
||||
// { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
// vehicle_status_s::ARMING_STATE_STANDBY,
|
||||
// { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
|
||||
|
||||
// Safety switch arming tests
|
||||
|
||||
{
|
||||
"no transition: init to armed, safety switch on",
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
};
|
||||
|
||||
struct vehicle_status_s status = {};
|
||||
struct vehicle_status_flags_s status_flags = {};
|
||||
struct safety_s safety = {};
|
||||
struct actuator_armed_s armed = {};
|
||||
|
||||
size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
|
||||
|
||||
for (size_t i = 0; i < cArmingTransitionTests; i++) {
|
||||
const ArmingTransitionTest_t *test = &rgArmingTransitionTests[i];
|
||||
|
||||
PreFlightCheck::arm_requirements_t arm_req{};
|
||||
|
||||
// Setup initial machine state
|
||||
status.arming_state = test->current_state.arming_state;
|
||||
status_flags.system_sensors_initialized = test->system_sensors_initialized;
|
||||
status.hil_state = test->hil_state;
|
||||
// The power status of the test unit is not relevant for the unit test
|
||||
status_flags.circuit_breaker_engaged_power_check = true;
|
||||
safety.safety_switch_available = test->safety_switch_available;
|
||||
safety.safety_off = test->safety_off;
|
||||
|
||||
armed.armed = test->current_state.armed;
|
||||
armed.ready_to_arm = test->current_state.ready_to_arm;
|
||||
|
||||
vehicle_control_mode_s control_mode{};
|
||||
|
||||
// Attempt transition
|
||||
transition_result_t result = _arm_state_machine.arming_state_transition(
|
||||
status,
|
||||
control_mode,
|
||||
safety,
|
||||
test->requested_state,
|
||||
armed,
|
||||
true /* enable pre-arm checks */,
|
||||
nullptr /* no mavlink_log_pub */,
|
||||
status_flags,
|
||||
arm_req,
|
||||
2e6, /* 2 seconds after boot, everything should be checked */
|
||||
arm_disarm_reason_t::unit_test);
|
||||
|
||||
// Validate result of transition
|
||||
ut_compare(test->assertMsg, test->expected_transition_result, result);
|
||||
ut_compare(test->assertMsg, status.arming_state, test->expected_state.arming_state);
|
||||
ut_compare(test->assertMsg, armed.armed, test->expected_state.armed);
|
||||
ut_compare(test->assertMsg, armed.ready_to_arm, test->expected_state.ready_to_arm);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool StateMachineHelperTest::mainStateTransitionTest()
|
||||
{
|
||||
// This structure represent a single test case for testing Main State transitions.
|
||||
|
|
@ -548,7 +276,6 @@ bool StateMachineHelperTest::mainStateTransitionTest()
|
|||
|
||||
bool StateMachineHelperTest::run_tests()
|
||||
{
|
||||
ut_run_test(armingStateTransitionTest);
|
||||
ut_run_test(mainStateTransitionTest);
|
||||
|
||||
return (_tests_failed == 0);
|
||||
|
|
|
|||
Loading…
Reference in New Issue