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ArmStateMachine: remove dependency on armed.armed
To have the internal state as single source of truth for the arming state within Commander.
This commit is contained in:
Matthias Grob
@@ -154,21 +154,20 @@ transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &s
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// Finish up the state transition
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if (valid_transition) {
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bool was_armed = armed.armed;
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armed.armed = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED);
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armed.ready_to_arm = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
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|| (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY);
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ret = TRANSITION_CHANGED;
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_arm_state = new_arming_state;
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if (was_armed && !armed.armed) { // disarm transition
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// Record arm/disarm reason
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if (isArmed() && (new_arming_state != vehicle_status_s::ARMING_STATE_ARMED)) { // disarm transition
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status.latest_disarming_reason = (uint8_t)calling_reason;
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} else if (!was_armed && armed.armed) { // arm transition
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} else if (!isArmed() && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)) { // arm transition
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status.latest_arming_reason = (uint8_t)calling_reason;
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}
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if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
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// Switch state
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_arm_state = new_arming_state;
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if (isArmed()) {
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status.armed_time = hrt_absolute_time();
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} else {
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@@ -44,7 +44,6 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
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typedef struct {
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arming_state_t arming_state; // vehicle_status_s.arming_state
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bool armed; // actuator_armed_s.armed
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bool ready_to_arm; // actuator_armed_s.ready_to_arm
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} ArmingTransitionVolatileState_t;
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// This structure represents a test case for arming_state_transition. It contains the machine
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@@ -66,8 +65,6 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
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// We use these defines so that our test cases are more readable
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#define ATT_ARMED true
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#define ATT_DISARMED false
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#define ATT_READY_TO_ARM true
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#define ATT_NOT_READY_TO_ARM false
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#define ATT_SENSORS_INITIALIZED true
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#define ATT_SENSORS_NOT_INITIALIZED false
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#define ATT_SAFETY_AVAILABLE true
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@@ -81,9 +78,9 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
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{
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"no transition: identical states",
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_INIT,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_NOT_CHANGED
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, TRANSITION_NOT_CHANGED
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},
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// TRANSITION_CHANGED tests
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@@ -92,97 +89,97 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
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{
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"transition: init to standby",
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_CHANGED
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},
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{
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"transition: init to standby error",
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY_ERROR,
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, TRANSITION_CHANGED
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},
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{
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"transition: init to reboot",
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_SHUTDOWN,
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED}, TRANSITION_CHANGED
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},
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{
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"transition: standby to init",
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_INIT,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, TRANSITION_CHANGED
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},
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{
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"transition: standby to standby error",
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY_ERROR,
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, TRANSITION_CHANGED
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},
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{
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"transition: standby to reboot",
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_SHUTDOWN,
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED}, TRANSITION_CHANGED
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},
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{
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"transition: armed to standby",
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_CHANGED
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},
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{
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"transition: standby error to reboot",
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_SHUTDOWN,
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED}, TRANSITION_CHANGED
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},
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{
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"transition: in air restore to armed",
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{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_CHANGED
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},
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{
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"transition: in air restore to reboot",
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{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_SHUTDOWN,
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED}, TRANSITION_CHANGED
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},
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// hil on tests, standby error to standby not normally allowed
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{
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"transition: standby error to standby, hil on",
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_CHANGED
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},
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// Safety switch arming tests
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{
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"transition: standby to armed, no safety switch",
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_CHANGED
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},
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{
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"transition: standby to armed, safety switch off",
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_CHANGED
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},
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// TRANSITION_DENIED tests
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@@ -191,51 +188,51 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
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{
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"no transition: init to armed",
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED}, TRANSITION_DENIED
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},
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{
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"no transition: armed to init",
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_INIT,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_DENIED
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},
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{
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"no transition: armed to reboot",
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_SHUTDOWN,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_DENIED
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},
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{
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"no transition: standby error to armed",
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, TRANSITION_DENIED
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},
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{
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"no transition: standby error to standby",
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY,
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
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{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED}, TRANSITION_DENIED
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},
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{
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"no transition: reboot to armed",
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
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{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED}, TRANSITION_DENIED
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},
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{
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"no transition: in air restore to standby",
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{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_STANDBY,
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{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
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{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED}, TRANSITION_DENIED
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},
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// Sensor tests
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@@ -249,9 +246,9 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
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{
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"no transition: init to armed, safety switch on",
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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vehicle_status_s::ARMING_STATE_ARMED,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_DENIED
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},
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};
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@@ -276,9 +273,6 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
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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;
|
||||
|
||||
vehicle_control_mode_s control_mode{};
|
||||
|
||||
// Attempt transition
|
||||
@@ -298,7 +292,6 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
|
||||
// Validate result of transition
|
||||
EXPECT_EQ(result, test->expected_transition_result) << test->assertMsg;
|
||||
EXPECT_EQ(arm_state_machine.getArmState(), test->expected_state.arming_state) << test->assertMsg;
|
||||
EXPECT_EQ(armed.armed, test->expected_state.armed) << test->assertMsg;
|
||||
EXPECT_EQ(armed.ready_to_arm, test->expected_state.ready_to_arm) << test->assertMsg;
|
||||
EXPECT_EQ(arm_state_machine.isArmed(), test->expected_state.armed) << test->assertMsg;
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user