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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 09:07:36 +08:00
HealthAndArmingChecks: add unit tests for Report
This commit is contained in:
Beat Küng
@@ -36,3 +36,6 @@ px4_add_library(health_and_arming_checks
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HealthAndArmingChecks.cpp
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)
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px4_add_functional_gtest(SRC HealthAndArmingChecksTest.cpp
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LINKLIBS health_and_arming_checks mode_util
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)
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@@ -177,7 +177,7 @@ bool Report::report(bool is_armed, bool force)
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const hrt_abstime now = hrt_absolute_time();
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const bool has_difference = _had_unreported_difference || _results[0] != _results[1];
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if (now - _last_report < min_reporting_interval && !force) {
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if (now - _last_report < _min_reporting_interval && !force) {
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if (has_difference) {
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_had_unreported_difference = true;
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}
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@@ -50,6 +50,10 @@
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#define CONSOLE_PRINT_ARMING_CHECK_EVENT(log_level, id, str)
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#endif
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#ifndef FRIEND_TEST // for gtest
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#define FRIEND_TEST(a, b)
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#endif
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using namespace time_literals;
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class HealthAndArmingChecks;
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@@ -185,7 +189,8 @@ public:
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}
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};
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Report(vehicle_status_flags_s &status_flags) : _status_flags(status_flags) { }
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Report(vehicle_status_flags_s &status_flags, hrt_abstime min_reporting_interval = 2_s)
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: _min_reporting_interval(min_reporting_interval), _status_flags(status_flags) { }
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~Report() = default;
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vehicle_status_flags_s &failsafeFlags() { return _status_flags; }
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@@ -292,6 +297,13 @@ private:
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NavModes getModeGroup(uint8_t nav_state) const;
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friend class HealthAndArmingChecks;
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FRIEND_TEST(ReporterTest, basic_no_checks);
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FRIEND_TEST(ReporterTest, basic_fail_all_modes);
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FRIEND_TEST(ReporterTest, arming_checks_mode_category);
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FRIEND_TEST(ReporterTest, arming_checks_mode_category2);
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FRIEND_TEST(ReporterTest, reporting);
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FRIEND_TEST(ReporterTest, reporting_multiple);
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/**
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* Reset current results.
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* The calling order needs to be:
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@@ -305,7 +317,7 @@ private:
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bool report(bool is_armed, bool force);
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static constexpr hrt_abstime min_reporting_interval{2_s};
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const hrt_abstime _min_reporting_interval;
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/// event buffer: stores current events + arguments.
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/// Since the amount of extra arguments varies, 4 bytes is used here as estimate
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@@ -0,0 +1,285 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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 "Common.hpp"
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#include <uORB/topics/event.h>
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#include <uORB/Subscription.hpp>
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#include <stdint.h>
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using namespace time_literals;
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// to run: make tests TESTFILTER=HealthAndArmingChecks
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class ReporterTest : 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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// ensure topic exists, otherwise we might lose first queued events
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orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH);
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}
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};
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TEST_F(ReporterTest, basic_no_checks)
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{
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vehicle_status_flags_s status_flags{};
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Report reporter{status_flags, 0_s};
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ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
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reporter.reset();
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reporter.finalize();
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reporter.report(false, false);
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ASSERT_TRUE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
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ASSERT_EQ((uint8_t)reporter.armingCheckResults().can_arm, 0xff);
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ASSERT_EQ((uint64_t)reporter.armingCheckResults().error, 0);
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ASSERT_EQ((uint64_t)reporter.armingCheckResults().warning, 0);
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ASSERT_EQ((uint64_t)reporter.healthResults().is_present, 0);
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ASSERT_EQ((uint64_t)reporter.healthResults().error, 0);
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ASSERT_EQ((uint64_t)reporter.healthResults().warning, 0);
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}
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TEST_F(ReporterTest, basic_fail_all_modes)
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{
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vehicle_status_flags_s status_flags{};
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Report reporter{status_flags, 0_s};
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// ensure arming is always denied with a NavModes::All failure
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for (uint8_t nav_state = 0; nav_state < vehicle_status_s::NAVIGATION_STATE_MAX; ++nav_state) {
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reporter.reset();
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reporter.armingCheckFailure(NavModes::All, health_component_t::manual_control_input,
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events::ID("arming_test_basic_fail_all_modes_fail1"), events::Log::Info, "");
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reporter.finalize();
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reporter.report(false, false);
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ASSERT_FALSE(reporter.canArm(nav_state));
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ASSERT_TRUE(reporter.canRun(nav_state));
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}
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}
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TEST_F(ReporterTest, arming_checks_mode_category)
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{
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vehicle_status_flags_s status_flags{};
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Report reporter{status_flags, 0_s};
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// arming must still be possible for non-relevant failures
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reporter.reset();
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reporter.armingCheckFailure(NavModes::PositionControl | NavModes::Stabilized, health_component_t::manual_control_input,
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events::ID("arming_test_arming_checks_mode_category_fail1"), events::Log::Warning, "");
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reporter.clearCanRunBits(NavModes::PositionControl | NavModes::Stabilized);
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reporter.healthFailure(NavModes::PositionControl, health_component_t::local_position_estimate,
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events::ID("arming_test_arming_checks_mode_category_fail2"), events::Log::Info, "");
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reporter.setIsPresent(health_component_t::battery);
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reporter.finalize();
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reporter.report(false, false);
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ASSERT_TRUE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
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ASSERT_TRUE(reporter.canRun(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
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ASSERT_FALSE(reporter.canRun(vehicle_status_s::NAVIGATION_STATE_POSCTL));
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ASSERT_EQ((uint8_t)reporter.armingCheckResults().can_arm, (uint8_t)~(NavModes::PositionControl | NavModes::Stabilized));
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ASSERT_EQ((uint64_t)reporter.armingCheckResults().error, 0);
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ASSERT_EQ(reporter.armingCheckResults().warning, events::px4::enums::health_component_t::manual_control_input);
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ASSERT_EQ(reporter.healthResults().is_present, events::px4::enums::health_component_t::battery);
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ASSERT_EQ((uint64_t)reporter.healthResults().error, 0);
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ASSERT_EQ((uint64_t)reporter.healthResults().warning, 0);
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}
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TEST_F(ReporterTest, arming_checks_mode_category2)
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{
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vehicle_status_flags_s status_flags{};
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Report reporter{status_flags, 0_s};
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// A matching mode category must deny arming
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reporter.reset();
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reporter.healthFailure(NavModes::Mission, health_component_t::manual_control_input,
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events::ID("arming_test_arming_checks_mode_category2_fail1"), events::Log::Warning, "");
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reporter.finalize();
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reporter.report(false, false);
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ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION));
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ASSERT_EQ((uint8_t)reporter.armingCheckResults().can_arm, (uint8_t)~(NavModes::Mission));
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ASSERT_EQ((uint64_t)reporter.armingCheckResults().error, 0);
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ASSERT_EQ((uint64_t)reporter.armingCheckResults().warning, 0);
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ASSERT_EQ((uint64_t)reporter.healthResults().is_present, 0);
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ASSERT_EQ((uint64_t)reporter.healthResults().error, 0);
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ASSERT_EQ(reporter.healthResults().warning, events::px4::enums::health_component_t::manual_control_input);
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}
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TEST_F(ReporterTest, reporting)
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{
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vehicle_status_flags_s status_flags{};
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Report reporter{status_flags, 0_s};
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uORB::Subscription event_sub{ORB_ID(event)};
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event_sub.subscribe();
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event_s event;
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while (event_sub.update(&event)); // clear all updates
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for (int j = 0; j < 2; ++j) { // test with and without additional report arguments
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const bool with_arg = j == 0;
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for (int i = 0; i < 3; ++i) { // repeat same report: we expect reporting only the first time
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reporter.reset();
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if (with_arg) {
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reporter.armingCheckFailure<uint16_t>(NavModes::All, health_component_t::manual_control_input,
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events::ID("arming_test_reporting_fail1"), events::Log::Warning, "", 4938);
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} else {
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reporter.armingCheckFailure(NavModes::PositionControl, health_component_t::manual_control_input,
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events::ID("arming_test_reporting_fail2"), events::Log::Warning, "");
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}
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reporter.finalize();
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reporter.report(false, false);
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ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL));
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if (i == 0) {
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ASSERT_TRUE(event_sub.update(&event));
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ASSERT_EQ(event.id, events::ID("commander_arming_check_summary"));
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ASSERT_TRUE(event_sub.update(&event));
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if (with_arg) {
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ASSERT_EQ(event.id, events::ID("arming_test_reporting_fail1"));
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} else {
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ASSERT_EQ(event.id, events::ID("arming_test_reporting_fail2"));
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}
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ASSERT_TRUE(event_sub.update(&event));
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ASSERT_EQ(event.id, events::ID("commander_health_summary"));
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} else {
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ASSERT_FALSE(event_sub.updated());
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}
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}
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}
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// now the same for health
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for (int j = 0; j < 2; ++j) {
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const bool with_arg = j == 0;
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for (int i = 0; i < 3; ++i) {
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reporter.reset();
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if (with_arg) {
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reporter.healthFailure<uint16_t>(NavModes::All, health_component_t::manual_control_input,
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events::ID("arming_test_reporting_fail3"), events::Log::Warning, "", 4938);
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} else {
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reporter.healthFailure(NavModes::PositionControl, health_component_t::manual_control_input,
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events::ID("arming_test_reporting_fail4"), events::Log::Warning, "");
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}
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reporter.finalize();
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reporter.report(false, false);
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ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL));
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if (i == 0) {
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ASSERT_TRUE(event_sub.update(&event));
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ASSERT_EQ(event.id, events::ID("commander_arming_check_summary"));
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ASSERT_TRUE(event_sub.update(&event));
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if (with_arg) {
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ASSERT_EQ(event.id, events::ID("arming_test_reporting_fail3"));
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} else {
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ASSERT_EQ(event.id, events::ID("arming_test_reporting_fail4"));
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}
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ASSERT_TRUE(event_sub.update(&event));
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ASSERT_EQ(event.id, events::ID("commander_health_summary"));
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} else {
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ASSERT_FALSE(event_sub.updated());
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}
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}
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}
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}
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TEST_F(ReporterTest, reporting_multiple)
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{
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vehicle_status_flags_s status_flags{};
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Report reporter{status_flags, 0_s};
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uORB::Subscription event_sub{ORB_ID(event)};
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event_sub.subscribe();
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event_s event;
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while (event_sub.update(&event)); // clear all updates
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for (int i = 0; i < 3; ++i) {
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reporter.reset();
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reporter.armingCheckFailure<uint16_t>(NavModes::All, health_component_t::manual_control_input,
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events::ID("arming_test_reporting_multiple_fail1"), events::Log::Warning, "", 4938);
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reporter.armingCheckFailure<float>(NavModes::All, health_component_t::manual_control_input,
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events::ID("arming_test_reporting_multiple_fail2"), events::Log::Warning, "", 123.f);
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reporter.armingCheckFailure<uint8_t>(NavModes::All, health_component_t::manual_control_input,
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events::ID("arming_test_reporting_multiple_fail3"), events::Log::Warning, "", 55);
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reporter.finalize();
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reporter.report(false, false);
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ASSERT_FALSE(reporter.canArm(vehicle_status_s::NAVIGATION_STATE_POSCTL));
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if (i == 0) {
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ASSERT_TRUE(event_sub.update(&event));
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ASSERT_EQ(event.id, events::ID("commander_arming_check_summary"));
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ASSERT_TRUE(event_sub.update(&event));
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ASSERT_EQ(event.id, events::ID("arming_test_reporting_multiple_fail1"));
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ASSERT_TRUE(event_sub.update(&event));
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ASSERT_EQ(event.id, events::ID("arming_test_reporting_multiple_fail2"));
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ASSERT_TRUE(event_sub.update(&event));
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ASSERT_EQ(event.id, events::ID("arming_test_reporting_multiple_fail3"));
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ASSERT_TRUE(event_sub.update(&event));
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ASSERT_EQ(event.id, events::ID("commander_health_summary"));
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} else {
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ASSERT_FALSE(event_sub.updated());
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}
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}
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}
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