Formula Student Electronics & Software
The code for the embedded software
Loading...
Searching...
No Matches
test_integration.cpp
Go to the documentation of this file.
1#include "comm/communicator.hpp"
2#include "embedded/digitalSender.hpp"
3#include "logic/stateLogic.hpp"
4#include "model/systemData.hpp"
5#include "unity.h"
6
7#define HYDRAULIC_PRESSURE_HIGH 0xf8
8#define HYDRAULIC_PRESSURE_LOW 0x01
9#define BAMOCAR_VDC_HIGH 0x11
10#define RES_GO 0x02
11
12SystemData sd;
13Communicator communicator = Communicator(&sd); // CAN
14DigitalSender digitalSender = DigitalSender(); // Digital outputs
15ASState as_state = ASState(&sd, &communicator, &digitalSender);
16
24
28void to_ready() {
29 sd.digital_data_.asms_on_ = true;
30 // sd.digitalData.watchdog_state = true;
31 sd.digital_data_.sdc_open_ = false;
32
33 uint8_t bamo_msg[] = {VDC_BUS, 0x00, BAMOCAR_VDC_HIGH}; // VDC_BUS fill
34 communicator.bamocar_callback(bamo_msg);
35
36 sd.digital_data_.pneumatic_line_pressure_ = true;
37 uint8_t hydraulic_msg[] = {HYDRAULIC_LINE, HYDRAULIC_PRESSURE_HIGH, 0x00};
38 communicator.c1_callback(hydraulic_msg);
39
40 // Iterate a few times to go to check wd
41 Metro time{1};
42 while (!time.checkWithoutReset()) {
43 as_state.calculate_state();
44 }
45
46 // sd.digitalData.watchdog_state = false;
47 // Wait for wd timeout
48 Metro time2{INITIAL_CHECKUP_STEP_TIMEOUT};
49 while (!time2.checkWithoutReset()) {
50 as_state.calculate_state();
51 sd.failure_detection_.inversor_alive_timestamp_.reset();
52 sd.failure_detection_.pc_alive_timestamp_.reset();
53 sd.failure_detection_.steer_alive_timestamp_.reset();
54 sd.failure_detection_.res_signal_loss_timestamp_.reset();
55 // sd.digitalData.watchdogTimestamp.reset();
56 }
57}
58
63void test_off_to_ready_success(void) {
64 reset();
65 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
66
67 to_ready();
68
69 TEST_ASSERT_EQUAL(false, sd.failure_detection_.emergency_signal_);
70
71 TEST_ASSERT_EQUAL(CheckupManager::CheckupState::CHECK_TIMESTAMPS,
72 as_state._checkup_manager_.checkupState);
73
74 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_);
75}
76
81void test_off_to_ready_recheck() {
82 reset();
83
84 bool went_ready = false;
85 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
86
87 sd.digital_data_.asms_on_ = true;
88 // sd.digitalData.watchdog_state = true;
89 sd.digital_data_.sdc_open_ = false;
90
91 uint8_t bamo_msg[] = {VDC_BUS, 0x00, BAMOCAR_VDC_HIGH}; // VDC_BUS fill
92 communicator.bamocar_callback(bamo_msg);
93
94 sd.digital_data_.pneumatic_line_pressure_ = true;
95 uint8_t hydraulic_msg[] = {HYDRAULIC_LINE, HYDRAULIC_PRESSURE_HIGH, 0x00};
96 communicator.c1_callback(hydraulic_msg);
97
98 // // Iterate a few times to go to check wd
99 // Metro time{1};
100 // while (!time.checkWithoutReset()) {
101 // as_state.calculate_state();
102 // }
103
104 // sd.digitalData.watchdog_state = false;
105 sd.digital_data_.asms_on_ = false; // switch previously checked condition
106 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
107 // Wait for wd timeout
108
109 Metro time2{INITIAL_CHECKUP_STEP_TIMEOUT};
110 while (!time2.checkWithoutReset()) {
111 if (as_state.state_ == State::AS_READY) went_ready = true;
112
113 as_state.calculate_state();
114 sd.failure_detection_.inversor_alive_timestamp_.reset();
115 sd.failure_detection_.pc_alive_timestamp_.reset();
116 sd.failure_detection_.steer_alive_timestamp_.reset();
117 // sd.digitalData.watchdogTimestamp.reset(); // todo check
118 }
119
120 TEST_ASSERT_EQUAL(false, went_ready);
121 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
122}
123
127void test_off_to_ready_wayback_impossible() {
128 bool reverted_to_off = false;
129 reset();
130 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
131 to_ready();
132 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_);
133
134 // Procedure to go back to AS_OFF state
135 uint8_t bamo_msg2[] = {VDC_BUS, 0x00, 0x00}; // cd voltage set to below threshold
136 communicator.bamocar_callback(bamo_msg2);
137
138 Metro time3{1};
139 while (!time3.checkWithoutReset()) {
140 as_state.calculate_state();
141 if (as_state.state_ == State::AS_OFF) reverted_to_off = true;
142 }
143
144 TEST_ASSERT_EQUAL(false, reverted_to_off);
145 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state_);
146}
147
152void test_ready_to_emg_to_off() {
153 reset();
154 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
155 to_ready();
156 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_);
157
158 Metro time{COMPONENT_TIMESTAMP_TIMEOUT + 10};
159 while (!time.checkWithoutReset()) {
160 as_state.calculate_state();
161 }
162
163 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state_);
164
165 Metro time2{EBS_BUZZER_TIMEOUT / 2};
166 while (!time2.checkWithoutReset()) {
167 as_state.calculate_state();
168 }
169 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state_);
170
171 Metro time3{EBS_BUZZER_TIMEOUT / 2};
172 while (!time3.checkWithoutReset()) {
173 as_state.calculate_state();
174 }
175 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state_);
176 sd.digital_data_.asms_on_ = false;
177 as_state.calculate_state();
178 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
179}
180
185void test_ready_to_driving_to_emg() {
186 reset();
187 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
188 to_ready();
189 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_);
190
191 Metro time{READY_TIMEOUT_MS / 2};
192 while (!time.checkWithoutReset()) {
193 as_state.calculate_state();
194 sd.failure_detection_.inversor_alive_timestamp_.reset();
195 sd.failure_detection_.pc_alive_timestamp_.reset();
196 sd.failure_detection_.steer_alive_timestamp_.reset();
197 sd.failure_detection_.res_signal_loss_timestamp_.reset();
198 // sd.digitalData.watchdogTimestamp.reset();
199 }
200
201 uint8_t msg[8] = {RES_GO, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
202 communicator.res_state_callback(msg);
203
204 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_);
205
206 Metro time2{READY_TIMEOUT_MS / 2};
207 while (!time2.checkWithoutReset()) {
208 as_state.calculate_state();
209 sd.failure_detection_.inversor_alive_timestamp_.reset();
210 sd.failure_detection_.pc_alive_timestamp_.reset();
211 sd.failure_detection_.steer_alive_timestamp_.reset();
212 sd.failure_detection_.res_signal_loss_timestamp_.reset();
213 // sd.digitalData.watchdogTimestamp.reset();
214 }
215
216 communicator.res_state_callback(msg);
217 as_state.calculate_state();
218 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state_);
219
220 // brake pressure has a threshold to be updated, otherwise emergency
221 Metro time3{RELEASE_EBS_TIMEOUT_MS / 2};
222 while (!time3.checkWithoutReset()) {
223 sd.failure_detection_.inversor_alive_timestamp_.reset();
224 sd.failure_detection_.pc_alive_timestamp_.reset();
225 sd.failure_detection_.steer_alive_timestamp_.reset();
226 sd.failure_detection_.res_signal_loss_timestamp_.reset();
227 // sd.digitalData.watchdogTimestamp.reset();
228 as_state.calculate_state();
229 }
230
231 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state_); // still within threshold, okay
232
233 Metro time4{RELEASE_EBS_TIMEOUT_MS + 10};
234 while (!sd.r2d_logics_.releaseEbsTimestamp.checkWithoutReset()) {
235 sd.failure_detection_.inversor_alive_timestamp_.reset();
236 sd.failure_detection_.pc_alive_timestamp_.reset();
237 sd.failure_detection_.steer_alive_timestamp_.reset();
238 sd.failure_detection_.res_signal_loss_timestamp_.reset();
239 // sd.digitalData.watchdogTimestamp.reset();
240 as_state.calculate_state();
241 }
242 // threshold over, still with brake pressure, emergency
243 TEST_ASSERT_TRUE(sd.r2d_logics_.releaseEbsTimestamp.checkWithoutReset());
244 as_state.calculate_state();
245 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state_);
246}
247
252void test_ready_to_driving_to_emg2() {
253 reset();
254 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
255 to_ready();
256 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_);
257
258 Metro time{READY_TIMEOUT_MS};
259 while (!time.checkWithoutReset()) {
260 as_state.calculate_state();
261 sd.failure_detection_.inversor_alive_timestamp_.reset();
262 sd.failure_detection_.pc_alive_timestamp_.reset();
263 sd.failure_detection_.steer_alive_timestamp_.reset();
264 sd.failure_detection_.res_signal_loss_timestamp_.reset();
265 // sd.digitalData.watchdogTimestamp.reset();
266 }
267
268 uint8_t msg[8] = {RES_GO, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
269 communicator.res_state_callback(msg);
270 as_state.calculate_state();
271
272 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state_);
273
274 uint8_t hydraulic_msg[] = {HYDRAULIC_LINE, HYDRAULIC_PRESSURE_LOW,
275 0x00}; // loose brake activation
276 communicator.c1_callback(hydraulic_msg);
277 as_state.calculate_state();
278 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state_);
279
280 sd.digital_data_.sdc_open_ = true;
281 as_state.calculate_state();
282 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state_);
283}
284
289void test_driving_to_finished_to_off() {
290 reset();
291 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
292 to_ready();
293 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_);
294 sd.r2d_logics_.r2d = true;
295 as_state.calculate_state();
296 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state_);
297
298 uint8_t pc_msg[] = {MISSION_FINISHED};
299 communicator.pc_callback(pc_msg);
300
301 uint8_t c1_msg[] = {RIGHT_WHEEL_CODE, 0x00, 0x01, 0x00, 0x00}; // value not 0
302 communicator.c1_callback(c1_msg); // right wheel = msg
303 sd.sensors_._left_wheel_rpm = 0;
304
305 as_state.calculate_state();
306 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state_);
307
308 uint8_t c1_msg2[] = {RIGHT_WHEEL_CODE, 0x00, 0x00, 0x00, 0x00};
309 communicator.c1_callback(c1_msg2); // right wheel = msg
310
311 as_state.calculate_state();
312 TEST_ASSERT_EQUAL(State::AS_FINISHED, as_state.state_);
313
314 sd.digital_data_.asms_on_ = false;
315 as_state.calculate_state();
316 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
317}
318
323void test_finished_to_emg() {
324 reset();
325 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
326 to_ready();
327 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_);
328 sd.r2d_logics_.r2d = true;
329 as_state.calculate_state();
330 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state_);
331 sd.sensors_._left_wheel_rpm = 0;
332 sd.sensors_._right_wheel_rpm = 0;
333 sd.mission_finished_ = true;
334 as_state.calculate_state();
335 TEST_ASSERT_EQUAL(State::AS_FINISHED, as_state.state_);
336 sd.failure_detection_.emergency_signal_ = true;
337 as_state.calculate_state();
338 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state_);
339}
340
345void test_off_to_manual_wayback() {
346 reset();
347 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
348 sd.digital_data_.asms_on_ = false;
349 as_state.calculate_state();
350 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
351
352 sd.mission_ = Mission::MANUAL;
353 as_state.calculate_state();
354 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
355
356 sd.digital_data_.pneumatic_line_pressure_ = false;
357 as_state.calculate_state();
358 TEST_ASSERT_EQUAL(State::AS_MANUAL, as_state.state_);
359
360 sd.digital_data_.pneumatic_line_pressure_ = true;
361 as_state.calculate_state();
362 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
363}
364
368void test_flow_driving() {
369 reset();
370 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
371 uint8_t hydraulic_msg[] = {HYDRAULIC_LINE, HYDRAULIC_PRESSURE_HIGH, 0x00};
372 communicator.c1_callback(hydraulic_msg);
373 as_state.calculate_state();
374
375 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
376 sd.r2d_logics_.r2d = true;
377
378 as_state.calculate_state();
379 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
380 to_ready(); // will validate asms is on and ts is active
381 as_state.calculate_state();
382 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_);
383
384 as_state.calculate_state();
385 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_); // r2d reset after transition to ready
386
387 sd.r2d_logics_.r2d = true;
388 as_state.calculate_state();
389 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state_);
390}
391
395void test_flow_ready() {
396 reset();
397 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
398
399 sd.digital_data_.asms_on_ = true;
400 // sd.digitalData.watchdog_state = true;
401 sd.digital_data_.sdc_open_ = false;
402
403 uint8_t bamo_msg[] = {VDC_BUS, 0x00, BAMOCAR_VDC_HIGH};
404 communicator.bamocar_callback(bamo_msg);
405
406 sd.digital_data_.pneumatic_line_pressure_ = true;
407 uint8_t hydraulic_msg[] = {HYDRAULIC_LINE, HYDRAULIC_PRESSURE_HIGH, 0x00};
408 // uint8_t hydraulic_msg2[] = {HYDRAULIC_LINE, HYDRAULIC_PRESSURE_LOW, 0x00}; // loose brake
409 // activation
410 communicator.c1_callback(hydraulic_msg);
411
412 // Iterate a few times to go to check wd
413 // Metro time{1};
414 // while (!time.checkWithoutReset()) {
415 // as_state.calculate_state();
416 // }
417
418 // sd.digitalData.watchdog_state = false;
419 // Wait for wd timeout
420 // Metro time2{INITIAL_CHECKUP_STEP_TIMEOUT};
421 // while (!time2.checkWithoutReset()) {
422 // communicator.c1_callback(hydraulic_msg2);
423 // as_state.calculate_state();
424 // sd.failure_detection_.inversor_alive_timestamp_.reset();
425 // sd.failure_detection_.pc_alive_timestamp_.reset();
426 // sd.failure_detection_.steer_alive_timestamp_.reset();
427 // sd.digitalData.watchdogTimestamp.reset();
428 // }
429 // TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
430
431 Metro time3{INITIAL_CHECKUP_STEP_TIMEOUT};
432 while (!time3.checkWithoutReset()) {
433 communicator.c1_callback(hydraulic_msg);
434 as_state.calculate_state();
435 sd.failure_detection_.inversor_alive_timestamp_.reset();
436 sd.failure_detection_.pc_alive_timestamp_.reset();
437 sd.failure_detection_.steer_alive_timestamp_.reset();
438 sd.failure_detection_.res_signal_loss_timestamp_.reset();
439 // sd.digitalData.watchdogTimestamp.reset();
440 }
441
442 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_);
443}
444
448void test_flow_emergency() {
449 reset();
450 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
451 to_ready();
452 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_);
453 sd.r2d_logics_.r2d = true;
454 as_state.calculate_state();
455 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state_);
456
457 sd.digital_data_.sdc_open_ = true; // ebs before finished checks
458
459 as_state.calculate_state();
460 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state_);
461
462 uint8_t pc_msg[] = {MISSION_FINISHED};
463 communicator.pc_callback(pc_msg);
464 sd.sensors_._left_wheel_rpm = 0;
465 uint8_t c1_msg[] = {RIGHT_WHEEL_CODE, 0x00, 0x00, 0x00, 0x00};
466 communicator.c1_callback(c1_msg); // right wheel = msg
467 as_state.calculate_state();
468 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state_);
469}
470
474void test_flow_finished() {
475 reset();
476 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state_);
477 to_ready();
478 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state_);
479 sd.r2d_logics_.r2d = true;
480 as_state.calculate_state();
481 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state_);
482
483 uint8_t pc_msg[] = {MISSION_FINISHED};
484 communicator.pc_callback(pc_msg);
485 sd.sensors_._left_wheel_rpm = 0;
486 uint8_t c1_msg[] = {RIGHT_WHEEL_CODE, 0x00, 0x00, 0x00, 0x00};
487 communicator.c1_callback(c1_msg); // right wheel = msg
488 as_state.calculate_state();
489 TEST_ASSERT_EQUAL(State::AS_FINISHED, as_state.state_);
490
491 sd.digital_data_.sdc_open_ = true;
492 as_state.calculate_state();
493 TEST_ASSERT_EQUAL(State::AS_FINISHED, as_state.state_);
494
495 sd.failure_detection_.emergency_signal_ = true;
496 as_state.calculate_state();
497 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state_);
498}
499
500void setUp() {}
501
502int main() {
503 UNITY_BEGIN();
504 RUN_TEST(test_off_to_ready_success);
505 RUN_TEST(test_off_to_ready_recheck);
506 RUN_TEST(test_off_to_ready_wayback_impossible);
507 RUN_TEST(test_ready_to_driving_to_emg);
508 RUN_TEST(test_ready_to_driving_to_emg2);
509 RUN_TEST(test_ready_to_emg_to_off);
510 RUN_TEST(test_driving_to_finished_to_off);
511 RUN_TEST(test_finished_to_emg);
512 RUN_TEST(test_off_to_manual_wayback);
513 RUN_TEST(test_flow_driving);
514 RUN_TEST(test_flow_ready);
515 RUN_TEST(test_flow_emergency);
516 RUN_TEST(test_flow_finished);
517 return UNITY_END();
518}
ASState
The ASState class manages and transitions between different states of the vehicle system.
Definition stateLogic.hpp:15
ASState::calculate_state
void calculate_state()
Calculates the state of the vehicle.
Definition stateLogic.hpp:46
ASState::_checkup_manager_
CheckupManager _checkup_manager_
CheckupManager object for handling various checkup operations.
Definition stateLogic.hpp:24
ASState::state_
State state_
Current state of the vehicle system, initialized to OFF.
Definition stateLogic.hpp:25
Communicator
Class that contains definitions of typical messages to send via CAN It serves only as an example of t...
Definition communicator.hpp:39
Communicator::res_state_callback
static void res_state_callback(const uint8_t *buf)
Callback RES default callback.
Definition communicator.hpp:166
Communicator::c1_callback
static void c1_callback(const uint8_t *buf)
Callback for data from C1 Teensy.
Definition communicator.hpp:152
Communicator::pc_callback
static void pc_callback(const uint8_t *buf)
Callback for message from AS CU.
Definition communicator.hpp:231
Communicator::bamocar_callback
static void bamocar_callback(const uint8_t *buf)
Callback from inversor, for alive signal and data.
Definition communicator.hpp:202
DigitalSender
Class responsible for controlling digital outputs in the Master Teensy.
Definition digitalSender.hpp:15
Metro
Our own implementation of Metro class.
Definition metro.h:13
Metro::reset
void reset()
Resets the timer to the current time.
Definition metro.h:124
Metro::checkWithoutReset
bool checkWithoutReset() const
Checks if the interval has passed without resetting the timer.
Definition metro.h:115
RIGHT_WHEEL_CODE
constexpr auto RIGHT_WHEEL_CODE
Definition communicatorSettings.hpp:18
MISSION_FINISHED
constexpr auto MISSION_FINISHED
Definition communicatorSettings.hpp:14
HYDRAULIC_LINE
constexpr auto HYDRAULIC_LINE
Definition communicatorSettings.hpp:20
VDC_BUS
constexpr auto VDC_BUS
Definition communicatorSettings.hpp:45
READY_TIMEOUT_MS
constexpr unsigned long READY_TIMEOUT_MS
Definition digitalSettings.hpp:10
RELEASE_EBS_TIMEOUT_MS
constexpr unsigned long RELEASE_EBS_TIMEOUT_MS
Definition digitalSettings.hpp:11
COMPONENT_TIMESTAMP_TIMEOUT
constexpr int COMPONENT_TIMESTAMP_TIMEOUT
Definition digitalSettings.hpp:3
INITIAL_CHECKUP_STEP_TIMEOUT
constexpr int INITIAL_CHECKUP_STEP_TIMEOUT
Definition digitalSettings.hpp:9
EBS_BUZZER_TIMEOUT
constexpr int EBS_BUZZER_TIMEOUT
Definition digitalSettings.hpp:7
DigitalData::pneumatic_line_pressure_
bool pneumatic_line_pressure_
Definition digitalData.hpp:7
R2DLogics::releaseEbsTimestamp
Metro releaseEbsTimestamp
Definition systemDiagnostics.hpp:15
Sensors::_right_wheel_rpm
double _right_wheel_rpm
Definition sensors.hpp:7
Sensors::_left_wheel_rpm
double _left_wheel_rpm
Definition sensors.hpp:8
SystemData
The whole model of the system: holds all the data necessary.
Definition systemData.hpp:12
SystemData::mission_
Mission mission_
Definition systemData.hpp:18
SystemData::digital_data_
DigitalData digital_data_
Definition systemData.hpp:17
SystemData::r2d_logics_
R2DLogics r2d_logics_
Definition systemData.hpp:13
SystemData::failure_detection_
FailureDetection failure_detection_
Definition systemData.hpp:14
SystemData::mission_finished_
bool mission_finished_
Definition systemData.hpp:21
SystemData::sensors_
Sensors sensors_
Definition systemData.hpp:15
State::AS_DRIVING
@ AS_DRIVING
State::AS_MANUAL
@ AS_MANUAL
State::AS_READY
@ AS_READY
State::AS_FINISHED
@ AS_FINISHED
State::AS_EMERGENCY
@ AS_EMERGENCY
msg
CAN_message_t msg
Definition test_callbacks.cpp:18
test_off_to_ready_wayback_impossible
void test_off_to_ready_wayback_impossible()
Test function to validate AS_READY doesn't revert to AS_Ready.
Definition test_integration.cpp:127
test_driving_to_finished_to_off
void test_driving_to_finished_to_off()
Test function to validate AS_DRIVING to AS_FINISHED transition and AS_FINISHED to AS_OFF after.
Definition test_integration.cpp:289
test_flow_finished
void test_flow_finished()
Test function to validate flow diagram conditions to go AS_FINISHED.
Definition test_integration.cpp:474
communicator
Communicator communicator
Definition test_integration.cpp:13
test_ready_to_emg_to_off
void test_ready_to_emg_to_off()
Test function to validate AS_READY to AS_Emergency and the AS_EMERGENCY to AS_OFF transition.
Definition test_integration.cpp:152
RES_GO
#define RES_GO
Definition test_integration.cpp:10
as_state
ASState as_state
Definition test_integration.cpp:15
test_off_to_ready_success
void test_off_to_ready_success(void)
Test function to validate AS_OFF to AS_Ready transition normal and successful transition.
Definition test_integration.cpp:63
test_finished_to_emg
void test_finished_to_emg()
Test function to validate AS_FINISHED to AS_EMERGENCY transition if RES is activated after mission fi...
Definition test_integration.cpp:323
test_flow_emergency
void test_flow_emergency()
Test function to validate flow diagram conditions to go AS_EMERGENCY.
Definition test_integration.cpp:448
setUp
void setUp()
Definition test_integration.cpp:500
test_ready_to_driving_to_emg2
void test_ready_to_driving_to_emg2()
Test function to validate AS_READY to AS_Driving transition and AS_DRIVING to AS_EMERGENCY if failure...
Definition test_integration.cpp:252
digitalSender
DigitalSender digitalSender
Definition test_integration.cpp:14
HYDRAULIC_PRESSURE_HIGH
#define HYDRAULIC_PRESSURE_HIGH
Definition test_integration.cpp:7
BAMOCAR_VDC_HIGH
#define BAMOCAR_VDC_HIGH
Definition test_integration.cpp:9
to_ready
void to_ready()
Auxiliary function to set state as ready.
Definition test_integration.cpp:28
test_flow_ready
void test_flow_ready()
Test function to validate flow diagram conditions to go AS_READY.
Definition test_integration.cpp:395
HYDRAULIC_PRESSURE_LOW
#define HYDRAULIC_PRESSURE_LOW
Definition test_integration.cpp:8
reset
void reset()
Auxiliary function to reset data values.
Definition test_integration.cpp:20
sd
SystemData sd
Definition test_integration.cpp:12
test_off_to_manual_wayback
void test_off_to_manual_wayback()
Test function to validate AS_OFF to AS_Manual transition and the other way around.
Definition test_integration.cpp:345
test_off_to_ready_recheck
void test_off_to_ready_recheck()
Test function to validate AS_OFF to AS_Ready transition with checks reverting to invalid mid transiti...
Definition test_integration.cpp:81
main
int main()
Definition test_integration.cpp:502
test_flow_driving
void test_flow_driving()
Test function to validate flow diagram conditions to go AS_DRIVING.
Definition test_integration.cpp:368
test_ready_to_driving_to_emg
void test_ready_to_driving_to_emg()
Test function to validate AS_READY to AS_Driving transition and AS_DRIVING to AS_EMERGENCY if brakes ...
Definition test_integration.cpp:185