From e2d8ca73a5ddd63d27a70bbc7075923a39ead3e4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 12 Sep 2022 13:58:30 +0200 Subject: [PATCH] commander: add unit tests for failsafe state machine --- src/modules/commander/failsafe/CMakeLists.txt | 3 + .../commander/failsafe/failsafe_test.cpp | 259 ++++++++++++++++++ 2 files changed, 262 insertions(+) create mode 100644 src/modules/commander/failsafe/failsafe_test.cpp diff --git a/src/modules/commander/failsafe/CMakeLists.txt b/src/modules/commander/failsafe/CMakeLists.txt index 01c9e7c2bb..68da3412c0 100644 --- a/src/modules/commander/failsafe/CMakeLists.txt +++ b/src/modules/commander/failsafe/CMakeLists.txt @@ -77,3 +77,6 @@ px4_add_library(failsafe framework.cpp ) +px4_add_functional_gtest(SRC failsafe_test.cpp + LINKLIBS failsafe mode_util +) diff --git a/src/modules/commander/failsafe/failsafe_test.cpp b/src/modules/commander/failsafe/failsafe_test.cpp new file mode 100644 index 0000000000..7872449b15 --- /dev/null +++ b/src/modules/commander/failsafe/failsafe_test.cpp @@ -0,0 +1,259 @@ +/**************************************************************************** + * + * Copyright (c) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +#include "framework.h" +#include + +// to run: make tests TESTFILTER=failsafe_test + +using namespace time_literals; + +class FailsafeTester : public FailsafeBase +{ +public: + FailsafeTester(ModuleParams *parent) : FailsafeBase(parent) {} + +protected: + + void checkStateAndMode(const hrt_abstime &time_us, const State &state, + const vehicle_status_flags_s &status_flags) override + { + CHECK_FAILSAFE(status_flags, rc_signal_lost, ActionOptions(Action::RTL).clearOn(ClearCondition::OnModeChangeOrDisarm)); + CHECK_FAILSAFE(status_flags, data_link_lost, Action::Descend); + + if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) { + CHECK_FAILSAFE(status_flags, mission_failure, Action::Descend); + } + + CHECK_FAILSAFE(status_flags, wind_limit_exceeded, + ActionOptions(Action::RTL).allowUserTakeover(UserTakeoverAllowed::Never)); + + _last_state_test = checkFailsafe(_caller_id_test, _last_state_test, status_flags.fd_motor_failure + && status_flags.fd_critical_failure, Action::Terminate); + } + + Action checkModeFallback(const vehicle_status_flags_s &status_flags, uint8_t user_intended_mode) const override + { + return Action::None; + } + +private: + const int _caller_id_test{genCallerId()}; + bool _last_state_test{false}; +}; + +class FailsafeTest : public ::testing::Test + +{ +public: + + void SetUp() override + { + param_control_autosave(false); + param_t param = param_handle(px4::params::COM_FAIL_ACT_T); + + float hold_delay = 5.f; + param_set(param, &hold_delay); + } + +}; + + +TEST_F(FailsafeTest, general) +{ + FailsafeTester failsafe(nullptr); + + vehicle_status_flags_s failsafe_flags{}; + FailsafeBase::State state{}; + state.armed = true; + state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_POSCTL; + state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING; + hrt_abstime time = 5_s; + bool stick_override_request = false; + + uint8_t updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None); + + // RC lost -> Hold, then RTL + time += 10_ms; + failsafe_flags.rc_signal_lost = true; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Hold); + time += 6_s; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL); + + // DL link lost -> Descend + time += 10_ms; + failsafe_flags.data_link_lost = true; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Descend); + + // DL link regained -> RTL (RC still lost) + time += 10_ms; + failsafe_flags.data_link_lost = false; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL); + + // RC lost cleared -> keep RTL + time += 10_ms; + failsafe_flags.rc_signal_lost = false; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL); + + // Mode change -> clear failsafe + time += 10_ms; + state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_ALTCTL; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None); +} + +TEST_F(FailsafeTest, takeover) +{ + FailsafeTester failsafe(nullptr); + + vehicle_status_flags_s failsafe_flags{}; + FailsafeBase::State state{}; + state.armed = true; + state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_POSCTL; + state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING; + hrt_abstime time = 3847124342; + bool stick_override_request = false; + + uint8_t updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + + // Mission failure -> no failsafe + time += 10_ms; + failsafe_flags.mission_failure = true; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None); + + // Change to mission -> Hold, then Descend + time += 10_ms; + state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Hold); + // Try stick movement during hold -> must be denied + time += 3_s; + stick_override_request = true; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + stick_override_request = false; + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Hold); + // Now Descend + time += 3_s; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Descend); + + // Move sticks -> user takeover active + time += 10_ms; + stick_override_request = true; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_POSCTL; + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn); + ASSERT_TRUE(failsafe.userTakeoverActive()); + stick_override_request = false; + + // Now the failsafe must clear as we switched mode + time += 10_ms; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None); + ASSERT_FALSE(failsafe.userTakeoverActive()); +} + +TEST_F(FailsafeTest, takeover_denied) +{ + FailsafeTester failsafe(nullptr); + + vehicle_status_flags_s failsafe_flags{}; + FailsafeBase::State state{}; + state.armed = true; + state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_POSCTL; + state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING; + hrt_abstime time = 3847124342; + bool stick_override_request = false; + + uint8_t updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + + // Wind limit exceeded -> RTL w/o delay and denying takeover + time += 10_ms; + failsafe_flags.wind_limit_exceeded = true; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL); + // Try takeover (mode switch + stick movements) + time += 10_ms; + stick_override_request = true; + state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_STAB; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + stick_override_request = false; + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL); + + // Test termination + failsafe_flags.fd_motor_failure = true; + failsafe_flags.fd_critical_failure = true; + time += 10_ms; + stick_override_request = true; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + stick_override_request = false; + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Terminate); + + // Termination is final + failsafe_flags.wind_limit_exceeded = false; + failsafe_flags.fd_motor_failure = false; + failsafe_flags.fd_critical_failure = false; + state.armed = false; + time += 10_ms; + stick_override_request = true; + updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); + stick_override_request = false; + ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); + ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Terminate); +} +