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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Merge pull request #15 from sjwilks/multirotor_unittests
Add a simple unit testing framework and tests for the commander state machine.
This commit is contained in:
Lorenz Meier
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Simon Wilks <sjwilks@gmail.com>
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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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/**
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* @file commander_tests.cpp
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* Commander unit tests. Run the tests as follows:
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* nsh> commander_tests
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*
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*/
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#include <systemlib/err.h>
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#include "state_machine_helper_test.h"
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extern "C" __EXPORT int commander_tests_main(int argc, char *argv[]);
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int commander_tests_main(int argc, char *argv[])
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{
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state_machine_helper_test();
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//state_machine_test();
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return 0;
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}
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@@ -0,0 +1,41 @@
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############################################################################
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#
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# Copyright (c) 2013 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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#
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# System state machine tests.
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#
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MODULE_COMMAND = commander_tests
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SRCS = commander_tests.cpp \
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state_machine_helper_test.cpp \
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../state_machine_helper.cpp
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@@ -0,0 +1,247 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Simon Wilks <sjwilks@gmail.com>
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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
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* 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
|
||||
* without specific prior written permission.
|
||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* 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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/**
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* @file state_machine_helper_test.cpp
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* System state machine unit test.
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*
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*/
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#include "state_machine_helper_test.h"
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#include "../state_machine_helper.h"
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#include <unit_test/unit_test.h>
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class StateMachineHelperTest : public UnitTest
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{
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public:
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StateMachineHelperTest();
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virtual ~StateMachineHelperTest();
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virtual const char* run_tests();
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private:
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const char* arming_state_transition_test();
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const char* arming_state_transition_arm_disarm_test();
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const char* main_state_transition_test();
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const char* is_safe_test();
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};
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StateMachineHelperTest::StateMachineHelperTest() {
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}
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StateMachineHelperTest::~StateMachineHelperTest() {
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}
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const char*
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StateMachineHelperTest::arming_state_transition_test()
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{
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struct vehicle_status_s status;
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struct safety_s safety;
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arming_state_t new_arming_state;
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struct actuator_armed_s armed;
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// Identical states.
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status.arming_state = ARMING_STATE_INIT;
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new_arming_state = ARMING_STATE_INIT;
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mu_assert("no transition: identical states",
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TRANSITION_NOT_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed));
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// INIT to STANDBY.
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armed.armed = false;
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armed.ready_to_arm = false;
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status.arming_state = ARMING_STATE_INIT;
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status.condition_system_sensors_initialized = true;
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new_arming_state = ARMING_STATE_STANDBY;
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mu_assert("transition: init to standby",
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TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed));
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mu_assert("current state: standby", ARMING_STATE_STANDBY == status.arming_state);
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mu_assert("not armed", !armed.armed);
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mu_assert("ready to arm", armed.ready_to_arm);
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// INIT to STANDBY, sensors not initialized.
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armed.armed = false;
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armed.ready_to_arm = false;
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status.arming_state = ARMING_STATE_INIT;
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status.condition_system_sensors_initialized = false;
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new_arming_state = ARMING_STATE_STANDBY;
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mu_assert("no transition: sensors not initialized",
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TRANSITION_DENIED == arming_state_transition(&status, &safety, new_arming_state, &armed));
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mu_assert("current state: init", ARMING_STATE_INIT == status.arming_state);
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mu_assert("not armed", !armed.armed);
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mu_assert("not ready to arm", !armed.ready_to_arm);
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return 0;
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}
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const char*
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StateMachineHelperTest::arming_state_transition_arm_disarm_test()
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{
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struct vehicle_status_s status;
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struct safety_s safety;
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arming_state_t new_arming_state;
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struct actuator_armed_s armed;
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// TODO(sjwilks): ARM then DISARM.
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return 0;
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}
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const char*
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StateMachineHelperTest::main_state_transition_test()
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{
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struct vehicle_status_s current_state;
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main_state_t new_main_state;
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// Identical states.
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current_state.main_state = MAIN_STATE_MANUAL;
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new_main_state = MAIN_STATE_MANUAL;
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mu_assert("no transition: identical states",
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TRANSITION_NOT_CHANGED == main_state_transition(¤t_state, new_main_state));
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mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
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// AUTO to MANUAL.
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current_state.main_state = MAIN_STATE_AUTO;
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new_main_state = MAIN_STATE_MANUAL;
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mu_assert("transition changed: auto to manual",
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TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state));
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mu_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
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// MANUAL to SEATBELT.
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current_state.main_state = MAIN_STATE_MANUAL;
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current_state.condition_local_altitude_valid = true;
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new_main_state = MAIN_STATE_SEATBELT;
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mu_assert("tranisition: manual to seatbelt",
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TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state));
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mu_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state);
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// MANUAL to SEATBELT, invalid local altitude.
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current_state.main_state = MAIN_STATE_MANUAL;
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current_state.condition_local_altitude_valid = false;
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new_main_state = MAIN_STATE_SEATBELT;
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mu_assert("no transition: invalid local altitude",
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TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state));
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mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
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// MANUAL to EASY.
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current_state.main_state = MAIN_STATE_MANUAL;
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current_state.condition_local_position_valid = true;
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new_main_state = MAIN_STATE_EASY;
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mu_assert("transition: manual to easy",
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TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state));
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mu_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state);
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// MANUAL to EASY, invalid local position.
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current_state.main_state = MAIN_STATE_MANUAL;
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current_state.condition_local_position_valid = false;
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new_main_state = MAIN_STATE_EASY;
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mu_assert("no transition: invalid position",
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TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state));
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mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
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// MANUAL to AUTO.
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current_state.main_state = MAIN_STATE_MANUAL;
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current_state.condition_global_position_valid = true;
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new_main_state = MAIN_STATE_AUTO;
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mu_assert("transition: manual to auto",
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TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state));
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mu_assert("current state: auto", MAIN_STATE_AUTO == current_state.main_state);
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// MANUAL to AUTO, invalid global position.
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current_state.main_state = MAIN_STATE_MANUAL;
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current_state.condition_global_position_valid = false;
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new_main_state = MAIN_STATE_AUTO;
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mu_assert("no transition: invalid global position",
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TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state));
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mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
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return 0;
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}
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const char*
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StateMachineHelperTest::is_safe_test()
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{
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struct vehicle_status_s current_state;
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struct safety_s safety;
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struct actuator_armed_s armed;
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armed.armed = false;
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armed.lockdown = false;
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safety.safety_switch_available = true;
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safety.safety_off = false;
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mu_assert("is safe: not armed", is_safe(¤t_state, &safety, &armed));
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armed.armed = false;
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armed.lockdown = true;
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safety.safety_switch_available = true;
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safety.safety_off = true;
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mu_assert("is safe: software lockdown", is_safe(¤t_state, &safety, &armed));
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armed.armed = true;
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armed.lockdown = false;
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safety.safety_switch_available = true;
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safety.safety_off = true;
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mu_assert("not safe: safety off", !is_safe(¤t_state, &safety, &armed));
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armed.armed = true;
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armed.lockdown = false;
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safety.safety_switch_available = true;
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safety.safety_off = false;
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mu_assert("is safe: safety off", is_safe(¤t_state, &safety, &armed));
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armed.armed = true;
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armed.lockdown = false;
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safety.safety_switch_available = false;
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safety.safety_off = false;
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mu_assert("not safe: no safety switch", !is_safe(¤t_state, &safety, &armed));
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return 0;
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}
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const char*
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StateMachineHelperTest::run_tests()
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{
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mu_run_test(arming_state_transition_test);
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mu_run_test(arming_state_transition_arm_disarm_test);
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mu_run_test(main_state_transition_test);
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mu_run_test(is_safe_test);
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return 0;
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}
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void
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state_machine_helper_test()
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{
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StateMachineHelperTest* test = new StateMachineHelperTest();
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test->UnitTest::print_results(test->run_tests());
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}
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@@ -0,0 +1,44 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Simon Wilks <sjwilks@gmail.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file state_machine_helper_test.h
|
||||
*/
|
||||
|
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#ifndef STATE_MACHINE_HELPER_TEST_H_
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#define STATE_MACHINE_HELPER_TEST_
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void state_machine_helper_test();
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#endif /* STATE_MACHINE_HELPER_TEST_H_ */
|
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