diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake index 5debea1eb9..bf69b6a7ce 100644 --- a/platforms/posix/cmake/sitl_tests.cmake +++ b/platforms/posix/cmake/sitl_tests.cmake @@ -47,7 +47,6 @@ endforeach() # standalone tests set(cmd_tests - commander_tests controllib_test lightware_laser_test rc_tests diff --git a/src/modules/commander/CMakeLists.txt b/src/modules/commander/CMakeLists.txt index b3d634ac1e..9006b7992d 100644 --- a/src/modules/commander/CMakeLists.txt +++ b/src/modules/commander/CMakeLists.txt @@ -71,8 +71,4 @@ px4_add_module( mode_util ) -if(PX4_TESTING) - add_subdirectory(commander_tests) -endif() - px4_add_unit_gtest(SRC mag_calibration_test.cpp LINKLIBS modules__commander) diff --git a/src/modules/commander/commander_tests/CMakeLists.txt b/src/modules/commander/commander_tests/CMakeLists.txt deleted file mode 100644 index 64df7b6076..0000000000 --- a/src/modules/commander/commander_tests/CMakeLists.txt +++ /dev/null @@ -1,41 +0,0 @@ -############################################################################ -# -# Copyright (c) 2015 PX4 Development Team. All rights reserved. -# -# 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. -# -############################################################################ -px4_add_module( - MODULE modules__commander__commander_tests - MAIN commander_tests - SRCS - commander_tests.cpp - state_machine_helper_test.cpp - ../state_machine_helper.cpp - DEPENDS - ) diff --git a/src/modules/commander/commander_tests/commander_tests.cpp b/src/modules/commander/commander_tests/commander_tests.cpp deleted file mode 100644 index 2bfa5d0bb1..0000000000 --- a/src/modules/commander/commander_tests/commander_tests.cpp +++ /dev/null @@ -1,52 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Simon Wilks - * - * 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 commander_tests.cpp - * Commander unit tests. Run the tests as follows: - * nsh> commander_tests - * - */ - -#include - -#include "state_machine_helper_test.h" - -extern "C" __EXPORT int commander_tests_main(int argc, char *argv[]); - - -int commander_tests_main(int argc, char *argv[]) -{ - return stateMachineHelperTest() ? 0 : -1; -} diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp deleted file mode 100644 index 648fcccd5c..0000000000 --- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp +++ /dev/null @@ -1,283 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Simon Wilks - * - * 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.cpp - * System state machine unit test. - * - */ - -#include "state_machine_helper_test.h" - -#include "../state_machine_helper.h" -#include -#include "../Arming/ArmStateMachine/ArmStateMachine.hpp" - -class StateMachineHelperTest : public UnitTest -{ -public: - StateMachineHelperTest() = default; - ~StateMachineHelperTest() override = default; - - bool run_tests() override; - -private: - bool mainStateTransitionTest(); -}; - -bool StateMachineHelperTest::mainStateTransitionTest() -{ - // 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 - uint8_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 - - static const MainTransitionTest_t rgMainTransitionTests[] = { - - // TRANSITION_NOT_CHANGED tests - - { - "no transition: identical states", - MTT_ALL_NOT_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_NOT_CHANGED - }, - - // TRANSITION_CHANGED tests - - { - "transition: MANUAL to ACRO - rotary", - MTT_ROTARY_WING, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_CHANGED - }, - - { - "transition: MANUAL to ACRO - not rotary", - MTT_ALL_NOT_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_CHANGED - }, - - { - "transition: ACRO to MANUAL", - MTT_ALL_NOT_VALID, - commander_state_s::MAIN_STATE_ACRO, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED - }, - - { - "transition: MANUAL to AUTO_MISSION - global position valid, home position valid", - MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_MISSION, TRANSITION_CHANGED - }, - - { - "transition: AUTO_MISSION to MANUAL - global position valid, home position valid", - MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID, - commander_state_s::MAIN_STATE_AUTO_MISSION, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED - }, - - { - "transition: MANUAL to AUTO_LOITER - global position valid", - MTT_GLOBAL_POS_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_LOITER, TRANSITION_CHANGED - }, - - { - "transition: AUTO_LOITER to MANUAL - global position valid", - MTT_GLOBAL_POS_VALID, - commander_state_s::MAIN_STATE_AUTO_LOITER, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED - }, - - { - "transition: MANUAL to AUTO_RTL - global position valid, home position valid", - MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::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, - commander_state_s::MAIN_STATE_AUTO_RTL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED - }, - - { - "transition: MANUAL to ALTCTL - not rotary", - MTT_LOC_ALT_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED - }, - - { - "transition: MANUAL to ALTCTL - rotary, global position not valid, local altitude valid", - MTT_ROTARY_WING | MTT_LOC_ALT_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED - }, - - { - "transition: MANUAL to ALTCTL - rotary, global position valid, local altitude not valid", - MTT_ROTARY_WING | MTT_GLOBAL_POS_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED - }, - - { - "transition: ALTCTL to MANUAL - local altitude valid", - MTT_LOC_ALT_VALID, - commander_state_s::MAIN_STATE_ALTCTL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED - }, - - { - "transition: MANUAL to POSCTL - local position not valid, global position valid", - MTT_GLOBAL_POS_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_POSCTL, TRANSITION_CHANGED - }, - - { - "transition: MANUAL to POSCTL - local position valid, global position not valid", - MTT_LOC_POS_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_POSCTL, TRANSITION_CHANGED - }, - - { - "transition: POSCTL to MANUAL - local position valid, global position valid", - MTT_LOC_POS_VALID, - commander_state_s::MAIN_STATE_POSCTL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED - }, - - // TRANSITION_DENIED tests - - { - "no transition: MANUAL to AUTO_MISSION - global position not valid", - MTT_ALL_NOT_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_MISSION, TRANSITION_DENIED - }, - - { - "no transition: MANUAL to AUTO_LOITER - global position not valid", - MTT_ALL_NOT_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_LOITER, TRANSITION_DENIED - }, - - { - "no transition: MANUAL to AUTO_RTL - global position not valid, home position not valid", - MTT_ALL_NOT_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED - }, - - { - "no transition: MANUAL to AUTO_RTL - global position not valid, home position valid", - MTT_HOME_POS_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED - }, - - { - "no transition: MANUAL to AUTO_RTL - global position valid, home position not valid", - MTT_GLOBAL_POS_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED - }, - - { - "transition: MANUAL to ALTCTL - not rotary", - MTT_ALL_NOT_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_DENIED - }, - - { - "no transition: MANUAL to ALTCTL - rotary, global position not valid, local altitude not valid", - MTT_ROTARY_WING, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_DENIED - }, - - { - "no transition: MANUAL to POSCTL - local position not valid, global position not valid", - MTT_ALL_NOT_VALID, - commander_state_s::MAIN_STATE_MANUAL, commander_state_s::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_vehicle_status = {}; - struct commander_state_s current_commander_state = {}; - struct vehicle_status_flags_s current_status_flags = {}; - - current_commander_state.main_state = test->from_state; - current_vehicle_status.vehicle_type = (test->condition_bits & MTT_ROTARY_WING) ? - vehicle_status_s::VEHICLE_TYPE_ROTARY_WING : vehicle_status_s::VEHICLE_TYPE_FIXED_WING; - current_status_flags.local_altitude_valid = test->condition_bits & MTT_LOC_ALT_VALID; - current_status_flags.local_position_valid = test->condition_bits & MTT_LOC_POS_VALID; - current_status_flags.home_position_valid = test->condition_bits & MTT_HOME_POS_VALID; - current_status_flags.global_position_valid = test->condition_bits & MTT_GLOBAL_POS_VALID; - current_status_flags.auto_mission_available = true; - - // Attempt transition - transition_result_t result = main_state_transition(current_vehicle_status, test->to_state, current_status_flags, - current_commander_state); - - // Validate result of transition - ut_compare(test->assertMsg, test->expected_transition_result, result); - - if (test->expected_transition_result == result) { - if (test->expected_transition_result == TRANSITION_CHANGED) { - ut_compare(test->assertMsg, test->to_state, current_commander_state.main_state); - - } else { - ut_compare(test->assertMsg, test->from_state, current_commander_state.main_state); - } - } - } - - return true; -} - -bool StateMachineHelperTest::run_tests() -{ - ut_run_test(mainStateTransitionTest); - - return (_tests_failed == 0); -} - -ut_declare_test(stateMachineHelperTest, StateMachineHelperTest) diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.h b/src/modules/commander/commander_tests/state_machine_helper_test.h deleted file mode 100644 index ad502618ca..0000000000 --- a/src/modules/commander/commander_tests/state_machine_helper_test.h +++ /dev/null @@ -1,42 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Simon Wilks - * - * 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 - */ - -#pragma once - -bool stateMachineHelperTest(void); -