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289 lines
10 KiB
C++
289 lines
10 KiB
C++
/****************************************************************************
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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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/* EVENT
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* @skip-file
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*/
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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(ORB_ID(event), nullptr);
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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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failsafe_flags_s failsafe_flags{};
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Report reporter{failsafe_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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failsafe_flags_s failsafe_flags{};
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Report reporter{failsafe_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::remote_control,
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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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failsafe_flags_s failsafe_flags{};
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Report reporter{failsafe_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::remote_control,
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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::remote_control);
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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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failsafe_flags_s failsafe_flags{};
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Report reporter{failsafe_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::remote_control,
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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::remote_control);
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}
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TEST_F(ReporterTest, reporting)
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{
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failsafe_flags_s failsafe_flags{};
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Report reporter{failsafe_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::remote_control,
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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::remote_control,
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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::remote_control,
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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::remote_control,
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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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failsafe_flags_s failsafe_flags{};
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Report reporter{failsafe_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::remote_control,
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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::remote_control,
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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::remote_control,
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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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