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testing cleanup

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This commit is contained in:
Daniel Agar
2016-05-13 13:01:41 +02:00
committed by Lorenz Meier
parent 12165ba5a4
commit 008354f935
11 changed files with 153 additions and 145 deletions
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src/modules/commander/commander_tests/state_machine_helper_test.cpp
+16 -17
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@@ -255,10 +255,10 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
// 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 },
//{ "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
@@ -297,10 +297,10 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
5.0f);
// 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);
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;
@@ -449,17 +449,16 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
&current_status_flags, &current_commander_state);
// Validate result of transition
ut_assert(test->assertMsg, test->expected_transition_result == result);
ut_compare(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_commander_state.main_state);
ut_compare(test->assertMsg, test->to_state, current_commander_state.main_state);
} else {
ut_assert(test->assertMsg, test->from_state == current_commander_state.main_state);
ut_compare(test->assertMsg, test->from_state, current_commander_state.main_state);
}
}
}
return true;
}
@@ -473,31 +472,31 @@ bool StateMachineHelperTest::isSafeTest(void)
armed.lockdown = false;
safety.safety_switch_available = true;
safety.safety_off = false;
ut_assert("is safe: not armed", is_safe(&current_state, &safety, &armed));
ut_compare("is safe: not armed", is_safe(&current_state, &safety, &armed), true);
armed.armed = false;
armed.lockdown = true;
safety.safety_switch_available = true;
safety.safety_off = true;
ut_assert("is safe: software lockdown", is_safe(&current_state, &safety, &armed));
ut_compare("is safe: software lockdown", is_safe(&current_state, &safety, &armed), true);
armed.armed = true;
armed.lockdown = false;
safety.safety_switch_available = true;
safety.safety_off = true;
ut_assert("not safe: safety off", !is_safe(&current_state, &safety, &armed));
ut_compare("not safe: safety off", is_safe(&current_state, &safety, &armed), false);
armed.armed = true;
armed.lockdown = false;
safety.safety_switch_available = true;
safety.safety_off = false;
ut_assert("is safe: safety off", is_safe(&current_state, &safety, &armed));
ut_compare("is safe: safety off", is_safe(&current_state, &safety, &armed), true);
armed.armed = true;
armed.lockdown = false;
safety.safety_switch_available = false;
safety.safety_off = false;
ut_assert("not safe: no safety switch", !is_safe(&current_state, &safety, &armed));
ut_compare("not safe: no safety switch", is_safe(&current_state, &safety, &armed), false);
return true;
}