/**************************************************************************** * * Copyright (C) 2013 PX4 Development Team. All rights reserved. * Author: Simon Wilks * * 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. * ****************************************************************************/ /** * @file state_machine_helper_test.cpp * System state machine unit test. * */ #include "state_machine_helper_test.h" #include "../state_machine_helper.h" #include #include "../Arming/PreFlightCheck/PreFlightCheck.hpp" class StateMachineHelperTest : public UnitTest { public: StateMachineHelperTest() = default; ~StateMachineHelperTest() override = default; bool run_tests() override; private: bool armingStateTransitionTest(); bool mainStateTransitionTest(); }; bool StateMachineHelperTest::armingStateTransitionTest() { // These are the critical values from vehicle_status_s and actuator_armed_s which must be primed // to simulate machine state prior to testing an arming state transition. This structure is also // use to represent the expected machine state after the transition has been requested. typedef struct { arming_state_t arming_state; // vehicle_status_s.arming_state 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 transition, the requested state to transition to and finally the expected // machine state after transition. typedef struct { const char *assertMsg; // Text to show when test case fails ArmingTransitionVolatileState_t current_state; // Machine state prior to transition hil_state_t hil_state; // Current vehicle_status_s.hil_state bool condition_system_sensors_initialized; // Current vehicle_status_s.condition_system_sensors_initialized bool safety_switch_available; // Current safety_s.safety_switch_available bool safety_off; // Current safety_s.safety_off arming_state_t requested_state; // Requested arming state to transition to 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 #define ATT_READY_TO_ARM true #define ATT_NOT_READY_TO_ARM false #define ATT_SENSORS_INITIALIZED true #define ATT_SENSORS_NOT_INITIALIZED false #define ATT_SAFETY_AVAILABLE true #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", { 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", { 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", { 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", { 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_SHUTDOWN, { vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, { "transition: standby to init", { 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", { 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", { 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_SHUTDOWN, { vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, { "transition: armed to standby", { 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: standby error to reboot", { 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_SHUTDOWN, { vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED }, { "transition: in air restore to armed", { 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", { 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_SHUTDOWN, { vehicle_status_s::ARMING_STATE_SHUTDOWN, 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", { 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", { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, 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", { vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_ON, 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 }, // 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", { 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: armed to init", { 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", { 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_SHUTDOWN, { 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 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_SHUTDOWN, 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_SHUTDOWN, 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 //{ "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 { "no transition: init to armed, 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]; PreFlightCheck::arm_requirements_t arm_req{}; // 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; vehicle_control_mode_s control_mode{}; // Attempt transition transition_result_t result = arming_state_transition(status, control_mode, safety, test->requested_state, armed, true /* enable pre-arm checks */, nullptr /* no mavlink_log_pub */, status_flags, arm_req, 2e6, /* 2 seconds after boot, everything should be checked */ arm_disarm_reason_t::unit_test); // 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; } 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 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 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 #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", MTT_ALL_NOT_VALID, commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_NOT_CHANGED }, // TRANSITION_CHANGED tests { "transition: MANUAL to ACRO - rotary", MTT_ROTARY_WING, commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_CHANGED }, { "transition: MANUAL to ACRO - not rotary", MTT_ALL_NOT_VALID, commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_CHANGED }, { "transition: ACRO to MANUAL", MTT_ALL_NOT_VALID, 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", MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID, 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", MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID, commander_state_s::MAIN_STATE_AUTO_MISSION, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED }, { "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 }, { "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 }, { "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 }, { "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 }, { "transition: MANUAL to ALTCTL - not rotary", MTT_LOC_ALT_VALID, 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", MTT_ROTARY_WING | MTT_LOC_ALT_VALID, 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", MTT_ROTARY_WING | MTT_GLOBAL_POS_VALID, commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED }, { "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 }, { "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 }, { "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 }, { "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 }, // TRANSITION_DENIED tests { "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 }, { "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 }, { "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 }, { "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 }, { "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 }, { "transition: MANUAL to ALTCTL - not rotary", MTT_ALL_NOT_VALID, 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", MTT_ROTARY_WING, 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", MTT_ALL_NOT_VALID, 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]; // Setup initial machine state struct vehicle_status_s current_vehicle_status = {}; struct commander_state_s current_commander_state = {}; struct vehicle_status_flags_s current_status_flags = {}; current_commander_state.main_state = test->from_state; current_vehicle_status.vehicle_type = (test->condition_bits & MTT_ROTARY_WING) ? vehicle_status_s::VEHICLE_TYPE_ROTARY_WING : vehicle_status_s::VEHICLE_TYPE_FIXED_WING; current_status_flags.condition_local_altitude_valid = test->condition_bits & MTT_LOC_ALT_VALID; current_status_flags.condition_local_position_valid = test->condition_bits & MTT_LOC_POS_VALID; current_status_flags.condition_home_position_valid = test->condition_bits & MTT_HOME_POS_VALID; current_status_flags.condition_global_position_valid = test->condition_bits & MTT_GLOBAL_POS_VALID; 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, current_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); } } } return true; } bool StateMachineHelperTest::run_tests() { ut_run_test(armingStateTransitionTest); ut_run_test(mainStateTransitionTest); return (_tests_failed == 0); } ut_declare_test(stateMachineHelperTest, StateMachineHelperTest)