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