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fix uorb constants for test functions

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This commit is contained in:
Thomas Gubler
2015-01-28 08:25:42 +01:00
parent 1915537281
commit 8e7974e2e2
1 changed files with 173 additions and 173 deletions
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src/modules/commander/commander_tests/state_machine_helper_test.cpp
+173 -173
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@@ -73,7 +73,7 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
bool armed; // actuator_armed_s.armed
bool ready_to_arm; // actuator_armed_s.ready_to_arm
} ArmingTransitionVolatileState_t;
// This structure represents a test case for arming_state_transition. It contains the machine
// state prior to transtion, the requested state to transition to and finally the expected
// machine state after transition.
@@ -88,7 +88,7 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
ArmingTransitionVolatileState_t expected_state; // Expected machine state after transition
transition_result_t expected_transition_result; // Expected result from arming_state_transition
} ArmingTransitionTest_t;
// We use these defines so that our test cases are more readable
#define ATT_ARMED true
#define ATT_DISARMED false
@@ -100,182 +100,182 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
#define ATT_SAFETY_NOT_AVAILABLE true
#define ATT_SAFETY_OFF true
#define ATT_SAFETY_ON false
// These are test cases for arming_state_transition
static const ArmingTransitionTest_t rgArmingTransitionTests[] = {
// TRANSITION_NOT_CHANGED tests
{ "no transition: identical states",
{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_INIT,
{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_NOT_CHANGED },
{ 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,
vehicle_status_s::ARMING_STATE_INIT,
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_NOT_CHANGED },
// TRANSITION_CHANGED tests
// Check all basic valid transitions, these don't require special state in vehicle_status_t or safety_s
{ "transition: init to standby",
{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_STANDBY,
{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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,
vehicle_status_s::ARMING_STATE_STANDBY,
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: init to standby error",
{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_STANDBY_ERROR,
{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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,
vehicle_status_s::ARMING_STATE_STANDBY_ERROR,
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: init to reboot",
{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_REBOOT,
{ ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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,
vehicle_status_s::ARMING_STATE_REBOOT,
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: standby to init",
{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_INIT,
{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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_INIT,
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: standby to standby error",
{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_STANDBY_ERROR,
{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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_STANDBY_ERROR,
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: standby to reboot",
{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_REBOOT,
{ ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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_REBOOT,
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: armed to standby",
{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_STANDBY,
{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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_STANDBY,
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: armed to armed error",
{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_ARMED_ERROR,
{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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_ARMED_ERROR,
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: armed error to standby error",
{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_STANDBY_ERROR,
{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, 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_STANDBY_ERROR,
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: standby error to reboot",
{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_REBOOT,
{ ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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_REBOOT,
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: in air restore to armed",
{ ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_ARMED,
{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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,
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: in air restore to reboot",
{ ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_REBOOT,
{ ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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,
vehicle_status_s::ARMING_STATE_REBOOT,
{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
// hil on tests, standby error to standby not normally allowed
{ "transition: standby error to standby, hil on",
{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_STANDBY,
{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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,
vehicle_status_s::ARMING_STATE_STANDBY,
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
// Safety switch arming tests
{ "transition: standby to armed, no safety switch",
{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
ARMING_STATE_ARMED,
{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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,
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
{ "transition: standby to armed, safety switch off",
{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
ARMING_STATE_ARMED,
{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
{ 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,
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
// standby error
{ "transition: armed error to standby error requested standby",
{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_STANDBY,
{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, ATT_ARMED, 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_CHANGED },
// TRANSITION_DENIED tests
// Check some important basic invalid transitions, these don't require special state in vehicle_status_t or safety_s
{ "no transition: init to armed",
{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_ARMED,
{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ 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,
vehicle_status_s::ARMING_STATE_ARMED,
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ "no transition: standby to armed error",
{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_ARMED_ERROR,
{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
{ 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_ERROR,
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
{ "no transition: armed to init",
{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_INIT,
{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
{ 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_INIT,
{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
{ "no transition: armed to reboot",
{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_REBOOT,
{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
{ 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 error to armed",
{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_ARMED,
{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, ATT_ARMED, 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_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ "no transition: armed error to reboot",
{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_REBOOT,
{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, ATT_ARMED, 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_REBOOT,
{ vehicle_status_s::ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ "no transition: standby error to armed",
{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_ARMED,
{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ 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",
{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_STANDBY,
{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ 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",
{ ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_ARMED,
{ ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ 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",
{ ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_STANDBY,
{ ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ 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
{ "no transition: init to standby - sensors not initialized",
{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_STANDBY,
{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
{ 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_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
// Safety switch arming tests
{ "no transition: init to standby, safety switch on",
{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
ARMING_STATE_ARMED,
{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
{ 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 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];
// Setup initial machine state
status.arming_state = test->current_state.arming_state;
status.condition_system_sensors_initialized = test->condition_system_sensors_initialized;
@@ -286,10 +286,10 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
safety.safety_off = test->safety_off;
armed.armed = test->current_state.armed;
armed.ready_to_arm = test->current_state.ready_to_arm;
// Attempt transition
transition_result_t result = arming_state_transition(&status, &safety, test->requested_state, &armed, false /* no pre-arm checks */, 0 /* no mavlink_fd */);
// Validate result of transition
ut_assert(test->assertMsg, test->expected_transition_result == result);
ut_assert(test->assertMsg, status.arming_state == test->expected_state.arming_state);
@@ -310,7 +310,7 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
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
@@ -318,108 +318,108 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
#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,
MAIN_STATE_MANUAL, MAIN_STATE_MANUAL, TRANSITION_NOT_CHANGED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_MANUAL, TRANSITION_NOT_CHANGED },
// TRANSITION_CHANGED tests
{ "transition: MANUAL to ACRO",
MTT_ALL_NOT_VALID,
MAIN_STATE_MANUAL, MAIN_STATE_ACRO, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_ACRO, TRANSITION_CHANGED },
{ "transition: ACRO to MANUAL",
MTT_ALL_NOT_VALID,
MAIN_STATE_ACRO, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_ACRO, vehicle_status_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,
MAIN_STATE_MANUAL, MAIN_STATE_AUTO_MISSION, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_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,
MAIN_STATE_AUTO_MISSION, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_AUTO_MISSION, vehicle_status_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
{ "transition: MANUAL to AUTO_LOITER - global position valid",
MTT_GLOBAL_POS_VALID,
MAIN_STATE_MANUAL, MAIN_STATE_AUTO_LOITER, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_LOITER, TRANSITION_CHANGED },
{ "transition: AUTO_LOITER to MANUAL - global position valid",
MTT_GLOBAL_POS_VALID,
MAIN_STATE_AUTO_LOITER, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_AUTO_LOITER, vehicle_status_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,
MAIN_STATE_MANUAL, MAIN_STATE_AUTO_RTL, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_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,
MAIN_STATE_AUTO_RTL, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_AUTO_RTL, vehicle_status_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
{ "transition: MANUAL to ALTCTL - not rotary",
MTT_ALL_NOT_VALID,
MAIN_STATE_MANUAL, MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_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,
MAIN_STATE_MANUAL, MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_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,
MAIN_STATE_MANUAL, MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
{ "transition: ALTCTL to MANUAL - local altitude valid",
MTT_LOC_ALT_VALID,
MAIN_STATE_ALTCTL, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_ALTCTL, vehicle_status_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
{ "transition: MANUAL to POSCTL - local position not valid, global position valid",
MTT_GLOBAL_POS_VALID,
MAIN_STATE_MANUAL, MAIN_STATE_POSCTL, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_POSCTL, TRANSITION_CHANGED },
{ "transition: MANUAL to POSCTL - local position valid, global position not valid",
MTT_LOC_POS_VALID,
MAIN_STATE_MANUAL, MAIN_STATE_POSCTL, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_POSCTL, TRANSITION_CHANGED },
{ "transition: POSCTL to MANUAL - local position valid, global position valid",
MTT_LOC_POS_VALID,
MAIN_STATE_POSCTL, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
vehicle_status_s::MAIN_STATE_POSCTL, vehicle_status_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
// TRANSITION_DENIED tests
{ "no transition: MANUAL to AUTO_MISSION - global position not valid",
MTT_ALL_NOT_VALID,
MAIN_STATE_MANUAL, MAIN_STATE_AUTO_MISSION, TRANSITION_DENIED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_MISSION, TRANSITION_DENIED },
{ "no transition: MANUAL to AUTO_LOITER - global position not valid",
MTT_ALL_NOT_VALID,
MAIN_STATE_MANUAL, MAIN_STATE_AUTO_LOITER, TRANSITION_DENIED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_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,
MAIN_STATE_MANUAL, MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
{ "no transition: MANUAL to AUTO_RTL - global position not valid, home position valid",
MTT_HOME_POS_VALID,
MAIN_STATE_MANUAL, MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
{ "no transition: MANUAL to AUTO_RTL - global position valid, home position not valid",
MTT_GLOBAL_POS_VALID,
MAIN_STATE_MANUAL, MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
{ "no transition: MANUAL to ALTCTL - rotary, global position not valid, local altitude not valid",
MTT_ROTARY_WING,
MAIN_STATE_MANUAL, MAIN_STATE_ALTCTL, TRANSITION_DENIED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_ALTCTL, TRANSITION_DENIED },
{ "no transition: MANUAL to POSCTL - local position not valid, global position not valid",
MTT_ALL_NOT_VALID,
MAIN_STATE_MANUAL, MAIN_STATE_POSCTL, TRANSITION_DENIED },
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_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];
@@ -432,10 +432,10 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
current_state.condition_local_position_valid = test->condition_bits & MTT_LOC_POS_VALID;
current_state.condition_home_position_valid = test->condition_bits & MTT_HOME_POS_VALID;
current_state.condition_global_position_valid = test->condition_bits & MTT_GLOBAL_POS_VALID;
// Attempt transition
transition_result_t result = main_state_transition(&current_state, test->to_state);
// Validate result of transition
ut_assert(test->assertMsg, test->expected_transition_result == result);
if (test->expected_transition_result == result) {
@@ -495,8 +495,8 @@ bool StateMachineHelperTest::run_tests(void)
ut_run_test(armingStateTransitionTest);
ut_run_test(mainStateTransitionTest);
ut_run_test(isSafeTest);
return (_tests_failed == 0);
}
ut_declare_test(stateMachineHelperTest, StateMachineHelperTest)
ut_declare_test(stateMachineHelperTest, StateMachineHelperTest)