mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
commander: remove state_machine_helper tests
This commit is contained in:
Beat Küng
Daniel Agar
parent
e9387cac1d
commit
31dfdea12e
@ -47,7 +47,6 @@ endforeach()
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# standalone tests
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set(cmd_tests
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commander_tests
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controllib_test
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lightware_laser_test
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rc_tests
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@ -71,8 +71,4 @@ px4_add_module(
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mode_util
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)
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if(PX4_TESTING)
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add_subdirectory(commander_tests)
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endif()
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px4_add_unit_gtest(SRC mag_calibration_test.cpp LINKLIBS modules__commander)
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@ -1,41 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015 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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px4_add_module(
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MODULE modules__commander__commander_tests
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MAIN commander_tests
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SRCS
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commander_tests.cpp
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state_machine_helper_test.cpp
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../state_machine_helper.cpp
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DEPENDS
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)
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@ -1,52 +0,0 @@
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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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return stateMachineHelperTest() ? 0 : -1;
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}
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@ -1,283 +0,0 @@
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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 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.h>
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#include "../Arming/ArmStateMachine/ArmStateMachine.hpp"
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class StateMachineHelperTest : public UnitTest
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{
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public:
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StateMachineHelperTest() = default;
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~StateMachineHelperTest() override = default;
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bool run_tests() override;
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private:
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bool mainStateTransitionTest();
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};
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bool StateMachineHelperTest::mainStateTransitionTest()
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{
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// This structure represent a single test case for testing Main State transitions.
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typedef struct {
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const char *assertMsg; // Text to show when test case fails
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uint8_t condition_bits; // Bits for various condition_* values
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uint8_t from_state; // State prior to transition request
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main_state_t to_state; // State to transition to
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transition_result_t expected_transition_result; // Expected result from main_state_transition call
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} MainTransitionTest_t;
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// Bits for condition_bits
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#define MTT_ALL_NOT_VALID 0
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#define MTT_ROTARY_WING 1 << 0
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#define MTT_LOC_ALT_VALID 1 << 1
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#define MTT_LOC_POS_VALID 1 << 2
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#define MTT_HOME_POS_VALID 1 << 3
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#define MTT_GLOBAL_POS_VALID 1 << 4
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static const MainTransitionTest_t rgMainTransitionTests[] = {
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// TRANSITION_NOT_CHANGED tests
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{
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"no transition: identical states",
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MTT_ALL_NOT_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_NOT_CHANGED
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},
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// TRANSITION_CHANGED tests
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{
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"transition: MANUAL to ACRO - rotary",
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MTT_ROTARY_WING,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_CHANGED
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},
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{
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"transition: MANUAL to ACRO - not rotary",
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MTT_ALL_NOT_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_CHANGED
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},
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{
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"transition: ACRO to MANUAL",
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MTT_ALL_NOT_VALID,
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commander_state_s::MAIN_STATE_ACRO, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED
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},
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{
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"transition: MANUAL to AUTO_MISSION - global position valid, home position valid",
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MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_MISSION, TRANSITION_CHANGED
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},
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{
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"transition: AUTO_MISSION to MANUAL - global position valid, home position valid",
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MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
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commander_state_s::MAIN_STATE_AUTO_MISSION, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED
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},
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{
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"transition: MANUAL to AUTO_LOITER - global position valid",
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MTT_GLOBAL_POS_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_LOITER, TRANSITION_CHANGED
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},
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{
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"transition: AUTO_LOITER to MANUAL - global position valid",
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MTT_GLOBAL_POS_VALID,
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commander_state_s::MAIN_STATE_AUTO_LOITER, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED
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},
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{
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"transition: MANUAL to AUTO_RTL - global position valid, home position valid",
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MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_RTL, TRANSITION_CHANGED
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},
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{
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"transition: AUTO_RTL to MANUAL - global position valid, home position valid",
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MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
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commander_state_s::MAIN_STATE_AUTO_RTL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED
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},
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{
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"transition: MANUAL to ALTCTL - not rotary",
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MTT_LOC_ALT_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED
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},
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{
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"transition: MANUAL to ALTCTL - rotary, global position not valid, local altitude valid",
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MTT_ROTARY_WING | MTT_LOC_ALT_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED
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},
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{
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"transition: MANUAL to ALTCTL - rotary, global position valid, local altitude not valid",
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MTT_ROTARY_WING | MTT_GLOBAL_POS_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED
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},
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{
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"transition: ALTCTL to MANUAL - local altitude valid",
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MTT_LOC_ALT_VALID,
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commander_state_s::MAIN_STATE_ALTCTL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED
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},
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{
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"transition: MANUAL to POSCTL - local position not valid, global position valid",
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MTT_GLOBAL_POS_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_POSCTL, TRANSITION_CHANGED
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},
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{
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"transition: MANUAL to POSCTL - local position valid, global position not valid",
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MTT_LOC_POS_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_POSCTL, TRANSITION_CHANGED
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},
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{
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"transition: POSCTL to MANUAL - local position valid, global position valid",
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MTT_LOC_POS_VALID,
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commander_state_s::MAIN_STATE_POSCTL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED
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},
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// TRANSITION_DENIED tests
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{
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"no transition: MANUAL to AUTO_MISSION - global position not valid",
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MTT_ALL_NOT_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_MISSION, TRANSITION_DENIED
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},
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{
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"no transition: MANUAL to AUTO_LOITER - global position not valid",
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MTT_ALL_NOT_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_LOITER, TRANSITION_DENIED
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},
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{
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"no transition: MANUAL to AUTO_RTL - global position not valid, home position not valid",
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MTT_ALL_NOT_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED
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},
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{
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"no transition: MANUAL to AUTO_RTL - global position not valid, home position valid",
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MTT_HOME_POS_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED
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},
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{
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"no transition: MANUAL to AUTO_RTL - global position valid, home position not valid",
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MTT_GLOBAL_POS_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED
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},
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{
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"transition: MANUAL to ALTCTL - not rotary",
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MTT_ALL_NOT_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_DENIED
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},
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{
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"no transition: MANUAL to ALTCTL - rotary, global position not valid, local altitude not valid",
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MTT_ROTARY_WING,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_DENIED
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},
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{
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"no transition: MANUAL to POSCTL - local position not valid, global position not valid",
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MTT_ALL_NOT_VALID,
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commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_POSCTL, TRANSITION_DENIED
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},
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};
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size_t cMainTransitionTests = sizeof(rgMainTransitionTests) / sizeof(rgMainTransitionTests[0]);
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for (size_t i = 0; i < cMainTransitionTests; i++) {
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const MainTransitionTest_t *test = &rgMainTransitionTests[i];
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// Setup initial machine state
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struct vehicle_status_s current_vehicle_status = {};
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struct commander_state_s current_commander_state = {};
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struct vehicle_status_flags_s current_status_flags = {};
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current_commander_state.main_state = test->from_state;
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current_vehicle_status.vehicle_type = (test->condition_bits & MTT_ROTARY_WING) ?
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vehicle_status_s::VEHICLE_TYPE_ROTARY_WING : vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
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current_status_flags.local_altitude_valid = test->condition_bits & MTT_LOC_ALT_VALID;
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current_status_flags.local_position_valid = test->condition_bits & MTT_LOC_POS_VALID;
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current_status_flags.home_position_valid = test->condition_bits & MTT_HOME_POS_VALID;
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current_status_flags.global_position_valid = test->condition_bits & MTT_GLOBAL_POS_VALID;
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current_status_flags.auto_mission_available = true;
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// Attempt transition
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transition_result_t result = main_state_transition(current_vehicle_status, test->to_state, current_status_flags,
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current_commander_state);
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// Validate result of transition
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ut_compare(test->assertMsg, test->expected_transition_result, result);
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if (test->expected_transition_result == result) {
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if (test->expected_transition_result == TRANSITION_CHANGED) {
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ut_compare(test->assertMsg, test->to_state, current_commander_state.main_state);
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} else {
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ut_compare(test->assertMsg, test->from_state, current_commander_state.main_state);
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}
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}
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}
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return true;
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}
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bool StateMachineHelperTest::run_tests()
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{
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ut_run_test(mainStateTransitionTest);
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return (_tests_failed == 0);
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}
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ut_declare_test(stateMachineHelperTest, StateMachineHelperTest)
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@ -1,42 +0,0 @@
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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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
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/**
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* @file state_machine_helper_test.h
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*/
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#pragma once
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bool stateMachineHelperTest(void);
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