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commander fix and enforce code style
This commit is contained in:
Daniel Agar
@@ -59,215 +59,261 @@ private:
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bool StateMachineHelperTest::armingStateTransitionTest()
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{
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// These are the critical values from vehicle_status_s and actuator_armed_s which must be primed
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// to simulate machine state prior to testing an arming state transition. This structure is also
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// use to represent the expected machine state after the transition has been requested.
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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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// These are the critical values from vehicle_status_s and actuator_armed_s which must be primed
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// to simulate machine state prior to testing an arming state transition. This structure is also
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// use to represent the expected machine state after the transition has been requested.
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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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// state prior to transition, the requested state to transition to and finally the expected
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// machine state after transition.
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typedef struct {
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const char* assertMsg; // Text to show when test case fails
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ArmingTransitionVolatileState_t current_state; // Machine state prior to transition
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hil_state_t hil_state; // Current vehicle_status_s.hil_state
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bool condition_system_sensors_initialized; // Current vehicle_status_s.condition_system_sensors_initialized
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bool safety_switch_available; // Current safety_s.safety_switch_available
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bool safety_off; // Current safety_s.safety_off
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arming_state_t requested_state; // Requested arming state to transition to
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ArmingTransitionVolatileState_t expected_state; // Expected machine state after transition
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transition_result_t expected_transition_result; // Expected result from arming_state_transition
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} ArmingTransitionTest_t;
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// This structure represents a test case for arming_state_transition. It contains the machine
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// state prior to transition, the requested state to transition to and finally the expected
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// machine state after transition.
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typedef struct {
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const char *assertMsg; // Text to show when test case fails
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ArmingTransitionVolatileState_t current_state; // Machine state prior to transition
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hil_state_t hil_state; // Current vehicle_status_s.hil_state
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bool
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condition_system_sensors_initialized; // Current vehicle_status_s.condition_system_sensors_initialized
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bool safety_switch_available; // Current safety_s.safety_switch_available
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bool safety_off; // Current safety_s.safety_off
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arming_state_t requested_state; // Requested arming state to transition to
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ArmingTransitionVolatileState_t expected_state; // Expected machine state after transition
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transition_result_t expected_transition_result; // Expected result from arming_state_transition
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} ArmingTransitionTest_t;
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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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#define ATT_SAFETY_NOT_AVAILABLE true
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#define ATT_SAFETY_OFF true
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#define ATT_SAFETY_ON false
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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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#define ATT_SAFETY_NOT_AVAILABLE true
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#define ATT_SAFETY_OFF true
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#define ATT_SAFETY_ON false
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// These are test cases for arming_state_transition
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static const ArmingTransitionTest_t rgArmingTransitionTests[] = {
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// TRANSITION_NOT_CHANGED tests
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// These are test cases for arming_state_transition
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static const ArmingTransitionTest_t rgArmingTransitionTests[] = {
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// TRANSITION_NOT_CHANGED tests
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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,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_NOT_CHANGED },
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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,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_NOT_CHANGED
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},
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// TRANSITION_CHANGED tests
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// TRANSITION_CHANGED tests
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// Check all basic valid transitions, these don't require special state in vehicle_status_t or safety_s
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// Check all basic valid transitions, these don't require special state in vehicle_status_t or safety_s
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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_STANDBY,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
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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_STANDBY,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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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_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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{
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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_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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},
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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_REBOOT,
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{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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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_REBOOT,
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{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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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_INIT,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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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_INIT,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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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_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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{
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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_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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},
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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_REBOOT,
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{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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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_REBOOT,
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{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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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_STANDBY,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
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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_STANDBY,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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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_REBOOT,
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{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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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_REBOOT,
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{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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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_ARMED,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
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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_ARMED,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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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_REBOOT,
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{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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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_REBOOT,
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{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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// hil on tests, standby error to standby not normally allowed
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// hil on tests, standby error to standby not normally allowed
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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,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
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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,
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{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED
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},
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// Safety switch arming tests
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// Safety switch arming tests
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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_OFF, 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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{
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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_OFF, 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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},
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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_OFF, 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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{
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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_OFF, 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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},
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// TRANSITION_DENIED tests
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// TRANSITION_DENIED tests
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// Check some important basic invalid transitions, these don't require special state in vehicle_status_t or safety_s
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// Check some important basic invalid transitions, these don't require special state in vehicle_status_t or safety_s
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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_ARMED,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
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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_ARMED,
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{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
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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_INIT,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
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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_INIT,
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{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
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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,
|
||||
vehicle_status_s::ARMING_STATE_REBOOT,
|
||||
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
|
||||
{
|
||||
"no transition: armed to reboot",
|
||||
{ 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,
|
||||
vehicle_status_s::ARMING_STATE_REBOOT,
|
||||
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
{ "no transition: standby error to armed",
|
||||
{ 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,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
|
||||
{
|
||||
"no transition: standby error to armed",
|
||||
{ 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,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
{ "no transition: standby error to standby",
|
||||
{ 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,
|
||||
vehicle_status_s::ARMING_STATE_STANDBY,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
|
||||
{
|
||||
"no transition: standby error to standby",
|
||||
{ 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,
|
||||
vehicle_status_s::ARMING_STATE_STANDBY,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
{ "no transition: reboot to armed",
|
||||
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
|
||||
{
|
||||
"no transition: reboot to armed",
|
||||
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
{ "no transition: in air restore to standby",
|
||||
{ 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,
|
||||
vehicle_status_s::ARMING_STATE_STANDBY,
|
||||
{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
|
||||
{
|
||||
"no transition: in air restore to standby",
|
||||
{ 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,
|
||||
vehicle_status_s::ARMING_STATE_STANDBY,
|
||||
{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
// Sensor tests
|
||||
// Sensor tests
|
||||
|
||||
//{ "transition to standby error: init to standby - sensors not initialized",
|
||||
// { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
// vehicle_status_s::ARMING_STATE_STANDBY,
|
||||
// { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
|
||||
//{ "transition to standby error: init to standby - sensors not initialized",
|
||||
// { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
|
||||
// vehicle_status_s::ARMING_STATE_STANDBY,
|
||||
// { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
|
||||
|
||||
// Safety switch arming tests
|
||||
// Safety switch arming tests
|
||||
|
||||
{ "no transition: init to standby, safety switch on",
|
||||
{ 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,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
|
||||
};
|
||||
{
|
||||
"no transition: init to standby, safety switch on",
|
||||
{ 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,
|
||||
vehicle_status_s::ARMING_STATE_ARMED,
|
||||
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
|
||||
},
|
||||
};
|
||||
|
||||
struct vehicle_status_s status = {};
|
||||
struct vehicle_status_flags_s status_flags = {};
|
||||
struct safety_s safety = {};
|
||||
struct actuator_armed_s armed = {};
|
||||
|
||||
size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
|
||||
for (size_t i=0; i<cArmingTransitionTests; i++) {
|
||||
const ArmingTransitionTest_t* test = &rgArmingTransitionTests[i];
|
||||
size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
|
||||
|
||||
const bool check_gps = false;
|
||||
for (size_t i = 0; i < cArmingTransitionTests; i++) {
|
||||
const ArmingTransitionTest_t *test = &rgArmingTransitionTests[i];
|
||||
|
||||
// Setup initial machine state
|
||||
status.arming_state = test->current_state.arming_state;
|
||||
status_flags.condition_system_sensors_initialized = test->condition_system_sensors_initialized;
|
||||
status.hil_state = test->hil_state;
|
||||
// The power status of the test unit is not relevant for the unit test
|
||||
status_flags.circuit_breaker_engaged_power_check = true;
|
||||
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;
|
||||
const bool check_gps = false;
|
||||
|
||||
// Attempt transition
|
||||
transition_result_t result = arming_state_transition(&status, safety, test->requested_state, &armed,
|
||||
false /* no pre-arm checks */,
|
||||
nullptr /* no mavlink_log_pub */,
|
||||
&status_flags,
|
||||
(check_gps ? ARM_REQ_GPS_BIT : 0),
|
||||
2e6 /* 2 seconds after boot, everything should be checked */
|
||||
);
|
||||
// Setup initial machine state
|
||||
status.arming_state = test->current_state.arming_state;
|
||||
status_flags.condition_system_sensors_initialized = test->condition_system_sensors_initialized;
|
||||
status.hil_state = test->hil_state;
|
||||
// The power status of the test unit is not relevant for the unit test
|
||||
status_flags.circuit_breaker_engaged_power_check = true;
|
||||
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;
|
||||
|
||||
// Validate result of transition
|
||||
ut_compare(test->assertMsg, test->expected_transition_result, result);
|
||||
ut_compare(test->assertMsg, status.arming_state, test->expected_state.arming_state);
|
||||
ut_compare(test->assertMsg, armed.armed, test->expected_state.armed);
|
||||
ut_compare(test->assertMsg, armed.ready_to_arm, test->expected_state.ready_to_arm);
|
||||
}
|
||||
// Attempt transition
|
||||
transition_result_t result = arming_state_transition(&status, safety, test->requested_state, &armed,
|
||||
false /* no pre-arm checks */,
|
||||
nullptr /* no mavlink_log_pub */,
|
||||
&status_flags,
|
||||
(check_gps ? ARM_REQ_GPS_BIT : 0),
|
||||
2e6 /* 2 seconds after boot, everything should be checked */
|
||||
);
|
||||
|
||||
// Validate result of transition
|
||||
ut_compare(test->assertMsg, test->expected_transition_result, result);
|
||||
ut_compare(test->assertMsg, status.arming_state, test->expected_state.arming_state);
|
||||
ut_compare(test->assertMsg, armed.armed, test->expected_state.armed);
|
||||
ut_compare(test->assertMsg, armed.ready_to_arm, test->expected_state.ready_to_arm);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
@@ -276,7 +322,7 @@ 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
|
||||
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
|
||||
@@ -284,125 +330,176 @@ bool StateMachineHelperTest::mainStateTransitionTest()
|
||||
} 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
|
||||
#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",
|
||||
{
|
||||
"no transition: identical states",
|
||||
MTT_ALL_NOT_VALID,
|
||||
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_NOT_CHANGED },
|
||||
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_NOT_CHANGED
|
||||
},
|
||||
|
||||
// TRANSITION_CHANGED tests
|
||||
|
||||
{ "transition: MANUAL to ACRO - rotary",
|
||||
{
|
||||
"transition: MANUAL to ACRO - rotary",
|
||||
MTT_ROTARY_WING,
|
||||
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_CHANGED },
|
||||
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{ "transition: MANUAL to ACRO - not rotary",
|
||||
{
|
||||
"transition: MANUAL to ACRO - not rotary",
|
||||
MTT_ALL_NOT_VALID,
|
||||
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_CHANGED },
|
||||
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{ "transition: ACRO to MANUAL",
|
||||
{
|
||||
"transition: ACRO to MANUAL",
|
||||
MTT_ALL_NOT_VALID,
|
||||
commander_state_s::MAIN_STATE_ACRO, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
commander_state_s::MAIN_STATE_AUTO_MISSION, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{ "transition: MANUAL to AUTO_LOITER - global position valid",
|
||||
{
|
||||
"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 },
|
||||
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_LOITER, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{ "transition: AUTO_LOITER to MANUAL - global position valid",
|
||||
{
|
||||
"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 },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
commander_state_s::MAIN_STATE_AUTO_RTL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{ "transition: MANUAL to ALTCTL - not rotary",
|
||||
{
|
||||
"transition: MANUAL to ALTCTL - not rotary",
|
||||
MTT_LOC_ALT_VALID,
|
||||
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{ "transition: ALTCTL to MANUAL - local altitude valid",
|
||||
{
|
||||
"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 },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_POSCTL, TRANSITION_CHANGED
|
||||
},
|
||||
|
||||
{ "transition: POSCTL to MANUAL - local position valid, global position valid",
|
||||
{
|
||||
"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 },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED
|
||||
},
|
||||
|
||||
{ "transition: MANUAL to ALTCTL - not rotary",
|
||||
{
|
||||
"transition: MANUAL to ALTCTL - not rotary",
|
||||
MTT_ALL_NOT_VALID,
|
||||
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_DENIED },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
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",
|
||||
{
|
||||
"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 },
|
||||
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];
|
||||
|
||||
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 = {};
|
||||
@@ -418,13 +515,16 @@ bool StateMachineHelperTest::mainStateTransitionTest()
|
||||
current_status_flags.condition_auto_mission_available = true;
|
||||
|
||||
// Attempt transition
|
||||
transition_result_t result = main_state_transition(current_vehicle_status, test->to_state, current_status_flags, ¤t_commander_state);
|
||||
transition_result_t result = main_state_transition(current_vehicle_status, test->to_state, current_status_flags,
|
||||
¤t_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);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user