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500 lines
24 KiB
C++
500 lines
24 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Simon Wilks <sjwilks@gmail.com>
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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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/**
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* @file state_machine_helper_test.cpp
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* System state machine unit test.
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*
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*/
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#include "state_machine_helper_test.h"
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#include "../state_machine_helper.h"
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#include <unit_test/unit_test.h>
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class StateMachineHelperTest : public UnitTest
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{
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public:
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StateMachineHelperTest();
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virtual ~StateMachineHelperTest();
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virtual bool run_tests(void);
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private:
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bool armingStateTransitionTest();
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bool mainStateTransitionTest();
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bool isSafeTest();
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};
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StateMachineHelperTest::StateMachineHelperTest() {
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}
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StateMachineHelperTest::~StateMachineHelperTest() {
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}
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bool StateMachineHelperTest::armingStateTransitionTest(void)
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{
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// These are the critical values from vehicle_status_s and actuator_armed_s which must be primed
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// to simulate machine state prior to testing an arming state transition. This structure is also
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// use to represent the expected machine state after the transition has been requested.
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typedef struct {
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arming_state_t arming_state; // vehicle_status_s.arming_state
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bool armed; // actuator_armed_s.armed
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bool ready_to_arm; // actuator_armed_s.ready_to_arm
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} ArmingTransitionVolatileState_t;
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// This structure represents a test case for arming_state_transition. It contains the machine
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// state prior to transtion, the requested state to transition to and finally the expected
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// machine state after transition.
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typedef struct {
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const char* assertMsg; // Text to show when test case fails
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ArmingTransitionVolatileState_t current_state; // Machine state prior to transtion
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hil_state_t hil_state; // Current vehicle_status_s.hil_state
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bool condition_system_sensors_initialized; // Current vehicle_status_s.condition_system_sensors_initialized
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bool safety_switch_available; // Current safety_s.safety_switch_available
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bool safety_off; // Current safety_s.safety_off
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arming_state_t requested_state; // Requested arming state to transition to
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ArmingTransitionVolatileState_t expected_state; // Expected machine state after transition
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transition_result_t expected_transition_result; // Expected result from arming_state_transition
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} ArmingTransitionTest_t;
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// We use these defines so that our test cases are more readable
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#define ATT_ARMED true
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#define ATT_DISARMED false
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#define ATT_READY_TO_ARM true
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#define ATT_NOT_READY_TO_ARM false
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#define ATT_SENSORS_INITIALIZED true
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#define ATT_SENSORS_NOT_INITIALIZED false
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#define ATT_SAFETY_AVAILABLE true
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#define ATT_SAFETY_NOT_AVAILABLE true
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#define ATT_SAFETY_OFF true
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#define ATT_SAFETY_ON false
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// These are test cases for arming_state_transition
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static const ArmingTransitionTest_t rgArmingTransitionTests[] = {
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// TRANSITION_NOT_CHANGED tests
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{ "no transition: identical states",
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{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_INIT,
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{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_NOT_CHANGED },
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// TRANSITION_CHANGED tests
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// Check all basic valid transitions, these don't require special state in vehicle_status_t or safety_s
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{ "transition: init to standby",
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{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_STANDBY,
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{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
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{ "transition: init to standby error",
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{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_STANDBY_ERROR,
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{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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{ "transition: init to reboot",
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{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_REBOOT,
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{ ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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{ "transition: standby to init",
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{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_INIT,
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{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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{ "transition: standby to standby error",
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{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_STANDBY_ERROR,
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{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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{ "transition: standby to reboot",
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{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_REBOOT,
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{ ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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{ "transition: armed to standby",
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{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_STANDBY,
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{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
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{ "transition: armed to armed error",
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{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_ARMED_ERROR,
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{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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{ "transition: armed error to standby error",
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{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_STANDBY_ERROR,
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{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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{ "transition: standby error to reboot",
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{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_REBOOT,
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{ ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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{ "transition: in air restore to armed",
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{ ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_ARMED,
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{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
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{ "transition: in air restore to reboot",
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{ ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_REBOOT,
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{ ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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// hil on tests, standby error to standby not normally allowed
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{ "transition: standby error to standby, hil on",
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{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_STANDBY,
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{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
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// Safety switch arming tests
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{ "transition: standby to armed, no safety switch",
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{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
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ARMING_STATE_ARMED,
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{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
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{ "transition: standby to armed, safety switch off",
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{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
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ARMING_STATE_ARMED,
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{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
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// standby error
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{ "transition: armed error to standby error requested standby",
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{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_STANDBY,
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{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
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// TRANSITION_DENIED tests
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// Check some important basic invalid transitions, these don't require special state in vehicle_status_t or safety_s
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{ "no transition: init to armed",
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{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_ARMED,
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{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
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{ "no transition: standby to armed error",
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{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_ARMED_ERROR,
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{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
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{ "no transition: armed to init",
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{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_INIT,
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{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
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{ "no transition: armed to reboot",
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{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_REBOOT,
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{ ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
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{ "no transition: armed error to armed",
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{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_ARMED,
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{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
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{ "no transition: armed error to reboot",
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{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_REBOOT,
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{ ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
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{ "no transition: standby error to armed",
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{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_ARMED,
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{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
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{ "no transition: standby error to standby",
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{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_STANDBY,
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{ ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
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{ "no transition: reboot to armed",
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{ ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_ARMED,
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{ ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
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{ "no transition: in air restore to standby",
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{ ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_STANDBY,
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{ ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
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// Sensor tests
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{ "no transition: init to standby - sensors not initialized",
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{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_STANDBY,
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{ ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
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// Safety switch arming tests
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{ "no transition: init to standby, safety switch on",
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{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
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ARMING_STATE_ARMED,
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{ ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
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};
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struct vehicle_status_s status;
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struct safety_s safety;
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struct actuator_armed_s armed;
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size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
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for (size_t i=0; i<cArmingTransitionTests; i++) {
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const ArmingTransitionTest_t* test = &rgArmingTransitionTests[i];
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// Setup initial machine state
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status.arming_state = test->current_state.arming_state;
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status.condition_system_sensors_initialized = test->condition_system_sensors_initialized;
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status.hil_state = test->hil_state;
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safety.safety_switch_available = test->safety_switch_available;
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safety.safety_off = test->safety_off;
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armed.armed = test->current_state.armed;
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armed.ready_to_arm = test->current_state.ready_to_arm;
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// Attempt transition
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transition_result_t result = arming_state_transition(&status, &safety, test->requested_state, &armed, false /* no pre-arm checks */, 0 /* no mavlink_fd */);
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// Validate result of transition
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ut_assert(test->assertMsg, test->expected_transition_result == result);
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ut_assert(test->assertMsg, status.arming_state == test->expected_state.arming_state);
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ut_assert(test->assertMsg, armed.armed == test->expected_state.armed);
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ut_assert(test->assertMsg, armed.ready_to_arm == test->expected_state.ready_to_arm);
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}
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return true;
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}
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bool StateMachineHelperTest::mainStateTransitionTest(void)
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{
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// This structure represent a single test case for testing Main State transitions.
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typedef struct {
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const char* assertMsg; // Text to show when test case fails
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uint8_t condition_bits; // Bits for various condition_* values
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main_state_t from_state; // State prior to transition request
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main_state_t to_state; // State to transition to
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transition_result_t expected_transition_result; // Expected result from main_state_transition call
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} MainTransitionTest_t;
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// Bits for condition_bits
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#define MTT_ALL_NOT_VALID 0
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#define MTT_ROTARY_WING 1 << 0
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#define MTT_LOC_ALT_VALID 1 << 1
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#define MTT_LOC_POS_VALID 1 << 2
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#define MTT_HOME_POS_VALID 1 << 3
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#define MTT_GLOBAL_POS_VALID 1 << 4
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static const MainTransitionTest_t rgMainTransitionTests[] = {
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// TRANSITION_NOT_CHANGED tests
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{ "no transition: identical states",
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MTT_ALL_NOT_VALID,
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MAIN_STATE_MANUAL, MAIN_STATE_MANUAL, TRANSITION_NOT_CHANGED },
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// TRANSITION_CHANGED tests
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{ "transition: MANUAL to ACRO",
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MTT_ALL_NOT_VALID,
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MAIN_STATE_MANUAL, MAIN_STATE_ACRO, TRANSITION_CHANGED },
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{ "transition: ACRO to MANUAL",
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MTT_ALL_NOT_VALID,
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MAIN_STATE_ACRO, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
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{ "transition: MANUAL to AUTO_MISSION - global position valid, home position valid",
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MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
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MAIN_STATE_MANUAL, MAIN_STATE_AUTO_MISSION, TRANSITION_CHANGED },
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{ "transition: AUTO_MISSION to MANUAL - global position valid, home position valid",
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MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
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MAIN_STATE_AUTO_MISSION, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
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{ "transition: MANUAL to AUTO_LOITER - global position valid",
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MTT_GLOBAL_POS_VALID,
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MAIN_STATE_MANUAL, MAIN_STATE_AUTO_LOITER, TRANSITION_CHANGED },
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{ "transition: AUTO_LOITER to MANUAL - global position valid",
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MTT_GLOBAL_POS_VALID,
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MAIN_STATE_AUTO_LOITER, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
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{ "transition: MANUAL to AUTO_RTL - global position valid, home position valid",
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MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
|
|
MAIN_STATE_MANUAL, 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 },
|
|
|
|
{ "transition: MANUAL to ALTCTL - not rotary",
|
|
MTT_ALL_NOT_VALID,
|
|
MAIN_STATE_MANUAL, 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 },
|
|
|
|
{ "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 },
|
|
|
|
{ "transition: ALTCTL to MANUAL - local altitude valid",
|
|
MTT_LOC_ALT_VALID,
|
|
MAIN_STATE_ALTCTL, 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 },
|
|
|
|
{ "transition: MANUAL to POSCTL - local position valid, global position not valid",
|
|
MTT_LOC_POS_VALID,
|
|
MAIN_STATE_MANUAL, 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 },
|
|
|
|
// 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 },
|
|
|
|
{ "no transition: MANUAL to AUTO_LOITER - global position not valid",
|
|
MTT_ALL_NOT_VALID,
|
|
MAIN_STATE_MANUAL, 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 },
|
|
|
|
{ "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 },
|
|
|
|
{ "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 },
|
|
|
|
{ "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 },
|
|
|
|
{ "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 },
|
|
};
|
|
|
|
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_state;
|
|
current_state.main_state = test->from_state;
|
|
current_state.is_rotary_wing = test->condition_bits & MTT_ROTARY_WING;
|
|
current_state.condition_local_altitude_valid = test->condition_bits & MTT_LOC_ALT_VALID;
|
|
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(¤t_state, test->to_state);
|
|
|
|
// Validate result of transition
|
|
ut_assert(test->assertMsg, test->expected_transition_result == result);
|
|
if (test->expected_transition_result == result) {
|
|
if (test->expected_transition_result == TRANSITION_CHANGED) {
|
|
ut_assert(test->assertMsg, test->to_state == current_state.main_state);
|
|
} else {
|
|
ut_assert(test->assertMsg, test->from_state == current_state.main_state);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
return true;
|
|
}
|
|
|
|
bool StateMachineHelperTest::isSafeTest(void)
|
|
{
|
|
struct vehicle_status_s current_state;
|
|
struct safety_s safety;
|
|
struct actuator_armed_s armed;
|
|
|
|
armed.armed = false;
|
|
armed.lockdown = false;
|
|
safety.safety_switch_available = true;
|
|
safety.safety_off = false;
|
|
ut_assert("is safe: not armed", is_safe(¤t_state, &safety, &armed));
|
|
|
|
armed.armed = false;
|
|
armed.lockdown = true;
|
|
safety.safety_switch_available = true;
|
|
safety.safety_off = true;
|
|
ut_assert("is safe: software lockdown", is_safe(¤t_state, &safety, &armed));
|
|
|
|
armed.armed = true;
|
|
armed.lockdown = false;
|
|
safety.safety_switch_available = true;
|
|
safety.safety_off = true;
|
|
ut_assert("not safe: safety off", !is_safe(¤t_state, &safety, &armed));
|
|
|
|
armed.armed = true;
|
|
armed.lockdown = false;
|
|
safety.safety_switch_available = true;
|
|
safety.safety_off = false;
|
|
ut_assert("is safe: safety off", is_safe(¤t_state, &safety, &armed));
|
|
|
|
armed.armed = true;
|
|
armed.lockdown = false;
|
|
safety.safety_switch_available = false;
|
|
safety.safety_off = false;
|
|
ut_assert("not safe: no safety switch", !is_safe(¤t_state, &safety, &armed));
|
|
|
|
return true;
|
|
}
|
|
|
|
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) |