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-rw-r--r--src/modules/commander/commander_tests/state_machine_helper_test.cpp534
1 files changed, 395 insertions, 139 deletions
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
index 40bedd9f3..2e18c4284 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
@@ -49,13 +49,12 @@ public:
StateMachineHelperTest();
virtual ~StateMachineHelperTest();
- virtual const char* run_tests();
+ virtual void runTests(void);
private:
- const char* arming_state_transition_test();
- const char* arming_state_transition_arm_disarm_test();
- const char* main_state_transition_test();
- const char* is_safe_test();
+ bool armingStateTransitionTest();
+ bool mainStateTransitionTest();
+ bool isSafeTest();
};
StateMachineHelperTest::StateMachineHelperTest() {
@@ -64,132 +63,393 @@ StateMachineHelperTest::StateMachineHelperTest() {
StateMachineHelperTest::~StateMachineHelperTest() {
}
-const char*
-StateMachineHelperTest::arming_state_transition_test()
+bool StateMachineHelperTest::armingStateTransitionTest(void)
{
+ // These are the critical values from vehicle_status_s and actuator_armed_s which must be primed
+ // to simulate machine state prior to testing an arming state transition. This structure is also
+ // use to represent the expected machine state after the transition has been requested.
+ typedef struct {
+ arming_state_t arming_state; // vehicle_status_s.arming_state
+ bool armed; // actuator_armed_s.armed
+ bool ready_to_arm; // actuator_armed_s.ready_to_arm
+ } ArmingTransitionVolatileState_t;
+
+ // This structure represents a test case for arming_state_transition. It contains the machine
+ // state prior to transtion, the requested state to transition to and finally the expected
+ // machine state after transition.
+ typedef struct {
+ const char* assertMsg; // Text to show when test case fails
+ ArmingTransitionVolatileState_t current_state; // Machine state prior to transtion
+ hil_state_t hil_state; // Current vehicle_status_s.hil_state
+ bool condition_system_sensors_initialized; // Current vehicle_status_s.condition_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",
+ { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_INIT,
+ { 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",
+ { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_STANDBY,
+ { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ { "transition: init to standby error",
+ { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_STANDBY_ERROR,
+ { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ { "transition: init to reboot",
+ { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_REBOOT,
+ { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ { "transition: standby to init",
+ { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_INIT,
+ { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ { "transition: standby to standby error",
+ { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_STANDBY_ERROR,
+ { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ { "transition: standby to reboot",
+ { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_REBOOT,
+ { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ { "transition: armed to standby",
+ { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_STANDBY,
+ { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ { "transition: armed to armed error",
+ { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_ARMED_ERROR,
+ { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ { "transition: armed error to standby error",
+ { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_STANDBY_ERROR,
+ { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ { "transition: standby error to reboot",
+ { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_REBOOT,
+ { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ { "transition: in air restore to armed",
+ { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_ARMED,
+ { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ { "transition: in air restore to reboot",
+ { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_REBOOT,
+ { ARMING_STATE_REBOOT, 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",
+ { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_STANDBY,
+ { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ // Safety switch arming tests
+
+ { "transition: standby to armed, no safety switch",
+ { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
+ ARMING_STATE_ARMED,
+ { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ { "transition: standby to armed, safety switch off",
+ { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
+ ARMING_STATE_ARMED,
+ { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+
+ // standby error
+ { "transition: armed error to standby error requested standby",
+ { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_STANDBY,
+ { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_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",
+ { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_ARMED,
+ { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+
+ { "no transition: standby to armed error",
+ { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_ARMED_ERROR,
+ { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+
+ { "no transition: armed to init",
+ { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_INIT,
+ { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+
+ { "no transition: armed to reboot",
+ { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_REBOOT,
+ { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+
+ { "no transition: armed error to armed",
+ { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_ARMED,
+ { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+
+ { "no transition: armed error to reboot",
+ { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_REBOOT,
+ { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+
+ { "no transition: standby error to armed",
+ { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_ARMED,
+ { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+
+ { "no transition: standby error to standby",
+ { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_STANDBY,
+ { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+
+ { "no transition: reboot to armed",
+ { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_ARMED,
+ { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+
+ { "no transition: in air restore to standby",
+ { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_STANDBY,
+ { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+
+ // Sensor tests
+
+ { "no transition: init to standby - sensors not initialized",
+ { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_STANDBY,
+ { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+
+ // Safety switch arming tests
+
+ { "no transition: init to standby, safety switch on",
+ { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+ ARMING_STATE_ARMED,
+ { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+ };
+
struct vehicle_status_s status;
- struct safety_s safety;
- arming_state_t new_arming_state;
- struct actuator_armed_s armed;
-
- // Identical states.
- status.arming_state = ARMING_STATE_INIT;
- new_arming_state = ARMING_STATE_INIT;
- mu_assert("no transition: identical states",
- TRANSITION_NOT_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed));
-
- // INIT to STANDBY.
- armed.armed = false;
- armed.ready_to_arm = false;
- status.arming_state = ARMING_STATE_INIT;
- status.condition_system_sensors_initialized = true;
- new_arming_state = ARMING_STATE_STANDBY;
- mu_assert("transition: init to standby",
- TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed));
- mu_assert("current state: standby", ARMING_STATE_STANDBY == status.arming_state);
- mu_assert("not armed", !armed.armed);
- mu_assert("ready to arm", armed.ready_to_arm);
-
- // INIT to STANDBY, sensors not initialized.
- armed.armed = false;
- armed.ready_to_arm = false;
- status.arming_state = ARMING_STATE_INIT;
- status.condition_system_sensors_initialized = false;
- new_arming_state = ARMING_STATE_STANDBY;
- mu_assert("no transition: sensors not initialized",
- TRANSITION_DENIED == arming_state_transition(&status, &safety, new_arming_state, &armed));
- mu_assert("current state: init", ARMING_STATE_INIT == status.arming_state);
- mu_assert("not armed", !armed.armed);
- mu_assert("not ready to arm", !armed.ready_to_arm);
-
- return 0;
-}
-
-const char*
-StateMachineHelperTest::arming_state_transition_arm_disarm_test()
-{
- struct vehicle_status_s status;
- struct safety_s safety;
- arming_state_t new_arming_state;
+ struct safety_s safety;
struct actuator_armed_s armed;
-
- // TODO(sjwilks): ARM then DISARM.
- return 0;
+
+ size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
+ for (size_t i=0; i<cArmingTransitionTests; i++) {
+ const ArmingTransitionTest_t* test = &rgArmingTransitionTests[i];
+
+ // Setup initial machine state
+ status.arming_state = test->current_state.arming_state;
+ status.condition_system_sensors_initialized = test->condition_system_sensors_initialized;
+ status.hil_state = test->hil_state;
+ 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;
+
+ // Attempt transition
+ transition_result_t result = arming_state_transition(&status, &safety, test->requested_state, &armed, 0 /* no mavlink_fd */);
+
+ // Validate result of transition
+ ut_assert(test->assertMsg, test->expected_transition_result == result);
+ ut_assert(test->assertMsg, status.arming_state == test->expected_state.arming_state);
+ ut_assert(test->assertMsg, armed.armed == test->expected_state.armed);
+ ut_assert(test->assertMsg, armed.ready_to_arm == test->expected_state.ready_to_arm);
+ }
+
+ return true;
}
-const char*
-StateMachineHelperTest::main_state_transition_test()
+bool StateMachineHelperTest::mainStateTransitionTest(void)
{
- struct vehicle_status_s current_state;
- main_state_t new_main_state;
+ // This structure represent a single test case for testing Main State transitions.
+ typedef struct {
+ const char* assertMsg; // Text to show when test case fails
+ uint8_t condition_bits; // Bits for various condition_* values
+ main_state_t from_state; // State prior to transition request
+ main_state_t to_state; // State to transition to
+ transition_result_t expected_transition_result; // Expected result from main_state_transition call
+ } MainTransitionTest_t;
+
+ // Bits for condition_bits
+ #define MTT_ALL_NOT_VALID 0
+ #define MTT_ROTARY_WING 1 << 0
+ #define MTT_LOC_ALT_VALID 1 << 1
+ #define MTT_LOC_POS_VALID 1 << 2
+ #define MTT_HOME_POS_VALID 1 << 3
+ #define MTT_GLOBAL_POS_VALID 1 << 4
- // Identical states.
- current_state.main_state = MAIN_STATE_MANUAL;
- new_main_state = MAIN_STATE_MANUAL;
- mu_assert("no transition: identical states",
- TRANSITION_NOT_CHANGED == main_state_transition(&current_state, new_main_state));
- mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
-
- // AUTO to MANUAL.
- current_state.main_state = MAIN_STATE_AUTO;
- new_main_state = MAIN_STATE_MANUAL;
- mu_assert("transition changed: auto to manual",
- TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
- mu_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
-
- // MANUAL to SEATBELT.
- current_state.main_state = MAIN_STATE_MANUAL;
- current_state.condition_local_altitude_valid = true;
- new_main_state = MAIN_STATE_SEATBELT;
- mu_assert("tranisition: manual to seatbelt",
- TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
- mu_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state);
-
- // MANUAL to SEATBELT, invalid local altitude.
- current_state.main_state = MAIN_STATE_MANUAL;
- current_state.condition_local_altitude_valid = false;
- new_main_state = MAIN_STATE_SEATBELT;
- mu_assert("no transition: invalid local altitude",
- TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
- mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
-
- // MANUAL to EASY.
- current_state.main_state = MAIN_STATE_MANUAL;
- current_state.condition_local_position_valid = true;
- new_main_state = MAIN_STATE_EASY;
- mu_assert("transition: manual to easy",
- TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
- mu_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state);
-
- // MANUAL to EASY, invalid local position.
- current_state.main_state = MAIN_STATE_MANUAL;
- current_state.condition_local_position_valid = false;
- new_main_state = MAIN_STATE_EASY;
- mu_assert("no transition: invalid position",
- TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
- mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
-
- // MANUAL to AUTO.
- current_state.main_state = MAIN_STATE_MANUAL;
- current_state.condition_global_position_valid = true;
- new_main_state = MAIN_STATE_AUTO;
- mu_assert("transition: manual to auto",
- TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
- mu_assert("current state: auto", MAIN_STATE_AUTO == current_state.main_state);
-
- // MANUAL to AUTO, invalid global position.
- current_state.main_state = MAIN_STATE_MANUAL;
- current_state.condition_global_position_valid = false;
- new_main_state = MAIN_STATE_AUTO;
- mu_assert("no transition: invalid global position",
- TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
- mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
-
- return 0;
+ static const MainTransitionTest_t rgMainTransitionTests[] = {
+
+ // TRANSITION_NOT_CHANGED tests
+
+ { "no transition: identical states",
+ MTT_ALL_NOT_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_MANUAL, TRANSITION_NOT_CHANGED },
+
+ // TRANSITION_CHANGED tests
+
+ { "transition: MANUAL to ACRO",
+ MTT_ALL_NOT_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_ACRO, TRANSITION_CHANGED },
+
+ { "transition: ACRO to MANUAL",
+ MTT_ALL_NOT_VALID,
+ MAIN_STATE_ACRO, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
+
+ { "transition: MANUAL to AUTO_MISSION - global position valid",
+ MTT_GLOBAL_POS_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_AUTO_MISSION, TRANSITION_CHANGED },
+
+ { "transition: AUTO_MISSION to MANUAL - global position valid",
+ MTT_GLOBAL_POS_VALID,
+ MAIN_STATE_AUTO_MISSION, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
+
+ { "transition: MANUAL to AUTO_LOITER - global position valid",
+ MTT_GLOBAL_POS_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_AUTO_LOITER, TRANSITION_CHANGED },
+
+ { "transition: AUTO_LOITER to MANUAL - global position valid",
+ MTT_GLOBAL_POS_VALID,
+ MAIN_STATE_AUTO_LOITER, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
+
+ { "transition: MANUAL to AUTO_RTL - global position valid, home position valid",
+ MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_AUTO_RTL, TRANSITION_CHANGED },
+
+ { "transition: AUTO_RTL to MANUAL - global position valid, home position valid",
+ MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
+ MAIN_STATE_AUTO_RTL, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
+
+ { "transition: MANUAL to ALTCTL - not rotary",
+ MTT_ALL_NOT_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
+
+ { "transition: MANUAL to ALTCTL - rotary, global position not valid, local altitude valid",
+ MTT_ROTARY_WING | MTT_LOC_ALT_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
+
+ { "transition: MANUAL to ALTCTL - rotary, global position valid, local altitude not valid",
+ MTT_ROTARY_WING | MTT_GLOBAL_POS_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
+
+ { "transition: ALTCTL to MANUAL - local altitude valid",
+ MTT_LOC_ALT_VALID,
+ MAIN_STATE_ALTCTL, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
+
+ { "transition: MANUAL to POSCTL - local position not valid, global position valid",
+ MTT_GLOBAL_POS_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_POSCTL, TRANSITION_CHANGED },
+
+ { "transition: MANUAL to POSCTL - local position valid, global position not valid",
+ MTT_LOC_POS_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_POSCTL, TRANSITION_CHANGED },
+
+ { "transition: POSCTL to MANUAL - local position valid, global position valid",
+ MTT_LOC_POS_VALID,
+ MAIN_STATE_POSCTL, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
+
+ // TRANSITION_DENIED tests
+
+ { "no transition: MANUAL to AUTO_MISSION - global position not valid",
+ MTT_ALL_NOT_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_AUTO_MISSION, TRANSITION_DENIED },
+
+ { "no transition: MANUAL to AUTO_LOITER - global position not valid",
+ MTT_ALL_NOT_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_AUTO_LOITER, TRANSITION_DENIED },
+
+ { "no transition: MANUAL to AUTO_RTL - global position not valid, home position not valid",
+ MTT_ALL_NOT_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
+
+ { "no transition: MANUAL to AUTO_RTL - global position not valid, home position valid",
+ MTT_HOME_POS_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
+
+ { "no transition: MANUAL to AUTO_RTL - global position valid, home position not valid",
+ MTT_GLOBAL_POS_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
+
+ { "no transition: MANUAL to ALTCTL - rotary, global position not valid, local altitude not valid",
+ MTT_ROTARY_WING,
+ MAIN_STATE_MANUAL, MAIN_STATE_ALTCTL, TRANSITION_DENIED },
+
+ { "no transition: MANUAL to POSCTL - local position not valid, global position not valid",
+ MTT_ALL_NOT_VALID,
+ MAIN_STATE_MANUAL, MAIN_STATE_POSCTL, TRANSITION_DENIED },
+ };
+
+ size_t cMainTransitionTests = sizeof(rgMainTransitionTests) / sizeof(rgMainTransitionTests[0]);
+ for (size_t i=0; i<cMainTransitionTests; i++) {
+ const MainTransitionTest_t* test = &rgMainTransitionTests[i];
+
+ // Setup initial machine state
+ struct vehicle_status_s current_state;
+ current_state.main_state = test->from_state;
+ current_state.is_rotary_wing = test->condition_bits & MTT_ROTARY_WING;
+ current_state.condition_local_altitude_valid = test->condition_bits & MTT_LOC_ALT_VALID;
+ current_state.condition_local_position_valid = test->condition_bits & MTT_LOC_POS_VALID;
+ current_state.condition_home_position_valid = test->condition_bits & MTT_HOME_POS_VALID;
+ current_state.condition_global_position_valid = test->condition_bits & MTT_GLOBAL_POS_VALID;
+
+ // Attempt transition
+ transition_result_t result = main_state_transition(&current_state, test->to_state);
+
+ // Validate result of transition
+ ut_assert(test->assertMsg, test->expected_transition_result == result);
+ if (test->expected_transition_result == result) {
+ if (test->expected_transition_result == TRANSITION_CHANGED) {
+ ut_assert(test->assertMsg, test->to_state == current_state.main_state);
+ } else {
+ ut_assert(test->assertMsg, test->from_state == current_state.main_state);
+ }
+ }
+ }
+
+
+ return true;
}
-const char*
-StateMachineHelperTest::is_safe_test()
+bool StateMachineHelperTest::isSafeTest(void)
{
struct vehicle_status_s current_state;
struct safety_s safety;
@@ -199,49 +459,45 @@ StateMachineHelperTest::is_safe_test()
armed.lockdown = false;
safety.safety_switch_available = true;
safety.safety_off = false;
- mu_assert("is safe: not armed", is_safe(&current_state, &safety, &armed));
+ ut_assert("is safe: not armed", is_safe(&current_state, &safety, &armed));
armed.armed = false;
armed.lockdown = true;
safety.safety_switch_available = true;
safety.safety_off = true;
- mu_assert("is safe: software lockdown", is_safe(&current_state, &safety, &armed));
+ ut_assert("is safe: software lockdown", is_safe(&current_state, &safety, &armed));
armed.armed = true;
armed.lockdown = false;
safety.safety_switch_available = true;
safety.safety_off = true;
- mu_assert("not safe: safety off", !is_safe(&current_state, &safety, &armed));
+ ut_assert("not safe: safety off", !is_safe(&current_state, &safety, &armed));
armed.armed = true;
armed.lockdown = false;
safety.safety_switch_available = true;
safety.safety_off = false;
- mu_assert("is safe: safety off", is_safe(&current_state, &safety, &armed));
+ ut_assert("is safe: safety off", is_safe(&current_state, &safety, &armed));
armed.armed = true;
armed.lockdown = false;
safety.safety_switch_available = false;
safety.safety_off = false;
- mu_assert("not safe: no safety switch", !is_safe(&current_state, &safety, &armed));
+ ut_assert("not safe: no safety switch", !is_safe(&current_state, &safety, &armed));
- return 0;
+ return true;
}
-const char*
-StateMachineHelperTest::run_tests()
+void StateMachineHelperTest::runTests(void)
{
- mu_run_test(arming_state_transition_test);
- mu_run_test(arming_state_transition_arm_disarm_test);
- mu_run_test(main_state_transition_test);
- mu_run_test(is_safe_test);
-
- return 0;
+ ut_run_test(armingStateTransitionTest);
+ ut_run_test(mainStateTransitionTest);
+ ut_run_test(isSafeTest);
}
-void
-state_machine_helper_test()
+void stateMachineHelperTest(void)
{
StateMachineHelperTest* test = new StateMachineHelperTest();
- test->UnitTest::print_results(test->run_tests());
+ test->runTests();
+ test->printResults();
}