Formula Student Electronics & Software
The code for the embedded software
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test_integration.cpp
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1#include "model/systemData.hpp"
2#include "comm/communicator.hpp"
3#include "embedded/digitalSender.hpp"
4#include "logic/stateLogic.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.digitalData.asms_on = true;
30 // sd.digitalData.watchdog_state = true;
31 sd.digitalData.sdcState_OPEN = false;
32
33 uint8_t bamo_msg[] = {VDC_BUS, 0x00, BAMOCAR_VDC_HIGH}; // VDC_BUS fill
34 communicator.bamocarCallback(bamo_msg);
35
36 sd.digitalData.pneumatic_line_pressure = true;
37 uint8_t hydraulic_msg[] = {HYDRAULIC_LINE, HYDRAULIC_PRESSURE_HIGH, 0x00};
38 communicator.c1Callback(hydraulic_msg);
39
40 // Iterate a few times to go to check wd
41 Metro time{1};
42 while (!time.checkWithoutReset()) {
43 as_state.calculateState();
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.calculateState();
51 sd.failureDetection.inversorAliveTimestamp.reset();
52 sd.failureDetection.pcAliveTimestamp.reset();
53 sd.failureDetection.steerAliveTimestamp.reset();
54 sd.failureDetection.resSignalLossTimestamp.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.failureDetection.emergencySignal);
70
71 TEST_ASSERT_EQUAL(CheckupManager::CheckupState::CHECK_TIMESTAMPS, as_state._checkupManager.checkupState);
72
73 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state);
74}
75
80void test_off_to_ready_recheck() {
81 reset();
82
83 bool went_ready = false;
84 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
85
86 sd.digitalData.asms_on = true;
87 // sd.digitalData.watchdog_state = true;
88 sd.digitalData.sdcState_OPEN = false;
89
90 uint8_t bamo_msg[] = {VDC_BUS, 0x00, BAMOCAR_VDC_HIGH}; // VDC_BUS fill
91 communicator.bamocarCallback(bamo_msg);
92
93 sd.digitalData.pneumatic_line_pressure = true;
94 uint8_t hydraulic_msg[] = {HYDRAULIC_LINE, HYDRAULIC_PRESSURE_HIGH, 0x00};
95 communicator.c1Callback(hydraulic_msg);
96
97 // // Iterate a few times to go to check wd
98 // Metro time{1};
99 // while (!time.checkWithoutReset()) {
100 // as_state.calculateState();
101 // }
102
103 // sd.digitalData.watchdog_state = false;
104 sd.digitalData.asms_on = false; // switch previously checked condition
105 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
106 // Wait for wd timeout
107
108 Metro time2{INITIAL_CHECKUP_STEP_TIMEOUT};
109 while (!time2.checkWithoutReset()) {
110 if (as_state.state == State::AS_READY)
111 went_ready = true;
112
113 as_state.calculateState();
114 sd.failureDetection.inversorAliveTimestamp.reset();
115 sd.failureDetection.pcAliveTimestamp.reset();
116 sd.failureDetection.steerAliveTimestamp.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.bamocarCallback(bamo_msg2);
137
138 Metro time3{1};
139 while (!time3.checkWithoutReset()) {
140 as_state.calculateState();
141 if (as_state.state == AS_OFF)
142 reverted_to_off = true;
143 }
144
145 TEST_ASSERT_EQUAL(false, reverted_to_off);
146 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state);
147}
148
153void test_ready_to_emg_to_off() {
154 reset();
155 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
156 to_ready();
157 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state);
158
159 Metro time{COMPONENT_TIMESTAMP_TIMEOUT + 10};
160 while (!time.checkWithoutReset()){
161 as_state.calculateState();
162 }
163
164 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state);
165
166 Metro time2{EBS_BUZZER_TIMEOUT / 2};
167 while (!time2.checkWithoutReset()){
168 as_state.calculateState();
169 }
170 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state);
171
172 Metro time3{EBS_BUZZER_TIMEOUT / 2};
173 while (!time3.checkWithoutReset()){
174 as_state.calculateState();
175 }
176 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state);
177 sd.digitalData.asms_on = false;
178 as_state.calculateState();
179 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
180}
181
186void test_ready_to_driving_to_emg() {
187 reset();
188 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
189 to_ready();
190 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state);
191
192 Metro time{READY_TIMEOUT_MS / 2};
193 while (!time.checkWithoutReset()){
194 as_state.calculateState();
195 sd.failureDetection.inversorAliveTimestamp.reset();
196 sd.failureDetection.pcAliveTimestamp.reset();
197 sd.failureDetection.steerAliveTimestamp.reset();
198 sd.failureDetection.resSignalLossTimestamp.reset();
199 // sd.digitalData.watchdogTimestamp.reset();
200 }
201
202 uint8_t msg[8] = {RES_GO, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
203 communicator.resStateCallback(msg);
204
205 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state);
206
207 Metro time2{READY_TIMEOUT_MS / 2};
208 while (!time2.checkWithoutReset()){
209 as_state.calculateState();
210 sd.failureDetection.inversorAliveTimestamp.reset();
211 sd.failureDetection.pcAliveTimestamp.reset();
212 sd.failureDetection.steerAliveTimestamp.reset();
213 sd.failureDetection.resSignalLossTimestamp.reset();
214 // sd.digitalData.watchdogTimestamp.reset();
215 }
216
217 communicator.resStateCallback(msg);
218 as_state.calculateState();
219 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state);
220
221 // brake pressure has a threshold to be updated, otherwise emergency
222 Metro time3{RELEASE_EBS_TIMEOUT_MS / 2};
223 while (!time3.checkWithoutReset()){
224 sd.failureDetection.inversorAliveTimestamp.reset();
225 sd.failureDetection.pcAliveTimestamp.reset();
226 sd.failureDetection.steerAliveTimestamp.reset();
227 sd.failureDetection.resSignalLossTimestamp.reset();
228 // sd.digitalData.watchdogTimestamp.reset();
229 as_state.calculateState();
230 }
231
232 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state); // still within threshold, okay
233
234 Metro time4{RELEASE_EBS_TIMEOUT_MS + 10};
235 while (!sd.r2dLogics.releaseEbsTimestamp.checkWithoutReset()){
236 sd.failureDetection.inversorAliveTimestamp.reset();
237 sd.failureDetection.pcAliveTimestamp.reset();
238 sd.failureDetection.steerAliveTimestamp.reset();
239 sd.failureDetection.resSignalLossTimestamp.reset();
240 // sd.digitalData.watchdogTimestamp.reset();
241 as_state.calculateState();
242 }
243 // threshold over, still with brake pressure, emergency
244 TEST_ASSERT_TRUE(sd.r2dLogics.releaseEbsTimestamp.checkWithoutReset());
245 as_state.calculateState();
246 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state);
247}
248
253void test_ready_to_driving_to_emg2() {
254 reset();
255 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
256 to_ready();
257 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state);
258
259 Metro time{READY_TIMEOUT_MS};
260 while (!time.checkWithoutReset()){
261 as_state.calculateState();
262 sd.failureDetection.inversorAliveTimestamp.reset();
263 sd.failureDetection.pcAliveTimestamp.reset();
264 sd.failureDetection.steerAliveTimestamp.reset();
265 sd.failureDetection.resSignalLossTimestamp.reset();
266 // sd.digitalData.watchdogTimestamp.reset();
267 }
268
269 uint8_t msg[8] = {RES_GO, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
270 communicator.resStateCallback(msg);
271 as_state.calculateState();
272
273 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state);
274
275 uint8_t hydraulic_msg[] = {HYDRAULIC_LINE, HYDRAULIC_PRESSURE_LOW, 0x00}; // loose brake activation
276 communicator.c1Callback(hydraulic_msg);
277 as_state.calculateState();
278 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state);
279
280 sd.digitalData.sdcState_OPEN = true;
281 as_state.calculateState();
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.r2dLogics.r2d = true;
295 as_state.calculateState();
296 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state);
297
298 uint8_t pc_msg[] = {MISSION_FINISHED};
299 communicator.pcCallback(pc_msg);
300
301 uint8_t c1_msg[] = {RIGHT_WHEEL_CODE, 0x00, 0x01, 0x00, 0x00}; // value not 0
302 communicator.c1Callback(c1_msg); // right wheel = msg
303 sd.sensors._left_wheel_rpm = 0;
304
305 as_state.calculateState();
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.c1Callback(c1_msg2); // right wheel = msg
310
311 as_state.calculateState();
312 TEST_ASSERT_EQUAL(State::AS_FINISHED, as_state.state);
313
314 sd.digitalData.asms_on = false;
315 as_state.calculateState();
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.r2dLogics.r2d = true;
329 as_state.calculateState();
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.missionFinished = true;
334 as_state.calculateState();
335 TEST_ASSERT_EQUAL(State::AS_FINISHED, as_state.state);
336 sd.failureDetection.emergencySignal = true;
337 as_state.calculateState();
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.digitalData.asms_on = false;
349 as_state.calculateState();
350 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
351
352 sd.mission = Mission::MANUAL;
353 as_state.calculateState();
354 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
355
356 sd.digitalData.pneumatic_line_pressure = false;
357 as_state.calculateState();
358 TEST_ASSERT_EQUAL(State::AS_MANUAL, as_state.state);
359
360 sd.digitalData.pneumatic_line_pressure = true;
361 as_state.calculateState();
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.c1Callback(hydraulic_msg);
373 as_state.calculateState();
374
375 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
376 sd.r2dLogics.r2d = true;
377
378 as_state.calculateState();
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.calculateState();
382 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state);
383
384 as_state.calculateState();
385 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state); // r2d reset after transition to ready
386
387 sd.r2dLogics.r2d = true;
388 as_state.calculateState();
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.digitalData.asms_on = true;
400 // sd.digitalData.watchdog_state = true;
401 sd.digitalData.sdcState_OPEN = false;
402
403 uint8_t bamo_msg[] = {VDC_BUS, 0x00, BAMOCAR_VDC_HIGH};
404 communicator.bamocarCallback(bamo_msg);
405
406 sd.digitalData.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 activation
409 communicator.c1Callback(hydraulic_msg);
410
411 // Iterate a few times to go to check wd
412 // Metro time{1};
413 // while (!time.checkWithoutReset()) {
414 // as_state.calculateState();
415 // }
416
417 // sd.digitalData.watchdog_state = false;
418 // Wait for wd timeout
419 // Metro time2{INITIAL_CHECKUP_STEP_TIMEOUT};
420 // while (!time2.checkWithoutReset()) {
421 // communicator.c1Callback(hydraulic_msg2);
422 // as_state.calculateState();
423 // sd.failureDetection.inversorAliveTimestamp.reset();
424 // sd.failureDetection.pcAliveTimestamp.reset();
425 // sd.failureDetection.steerAliveTimestamp.reset();
426 // sd.digitalData.watchdogTimestamp.reset();
427 // }
428 // TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
429
430 Metro time3{INITIAL_CHECKUP_STEP_TIMEOUT};
431 while (!time3.checkWithoutReset()) {
432 communicator.c1Callback(hydraulic_msg);
433 as_state.calculateState();
434 sd.failureDetection.inversorAliveTimestamp.reset();
435 sd.failureDetection.pcAliveTimestamp.reset();
436 sd.failureDetection.steerAliveTimestamp.reset();
437 sd.failureDetection.resSignalLossTimestamp.reset();
438 // sd.digitalData.watchdogTimestamp.reset();
439 }
440
441 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state);
442}
443
447void test_flow_emergency() {
448 reset();
449 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
450 to_ready();
451 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state);
452 sd.r2dLogics.r2d = true;
453 as_state.calculateState();
454 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state);
455
456 sd.digitalData.sdcState_OPEN = true; // ebs before finished checks
457
458 as_state.calculateState();
459 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state);
460
461 uint8_t pc_msg[] = {MISSION_FINISHED};
462 communicator.pcCallback(pc_msg);
463 sd.sensors._left_wheel_rpm = 0;
464 uint8_t c1_msg[] = {RIGHT_WHEEL_CODE, 0x00, 0x00, 0x00, 0x00};
465 communicator.c1Callback(c1_msg); // right wheel = msg
466 as_state.calculateState();
467 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state);
468}
469
473void test_flow_finished() {
474 reset();
475 TEST_ASSERT_EQUAL(State::AS_OFF, as_state.state);
476 to_ready();
477 TEST_ASSERT_EQUAL(State::AS_READY, as_state.state);
478 sd.r2dLogics.r2d = true;
479 as_state.calculateState();
480 TEST_ASSERT_EQUAL(State::AS_DRIVING, as_state.state);
481
482 uint8_t pc_msg[] = {MISSION_FINISHED};
483 communicator.pcCallback(pc_msg);
484 sd.sensors._left_wheel_rpm = 0;
485 uint8_t c1_msg[] = {RIGHT_WHEEL_CODE, 0x00, 0x00, 0x00, 0x00};
486 communicator.c1Callback(c1_msg); // right wheel = msg
487 as_state.calculateState();
488 TEST_ASSERT_EQUAL(State::AS_FINISHED, as_state.state);
489
490 sd.digitalData.sdcState_OPEN = true;
491 as_state.calculateState();
492 TEST_ASSERT_EQUAL(State::AS_FINISHED, as_state.state);
493
494 sd.failureDetection.emergencySignal = true;
495 as_state.calculateState();
496 TEST_ASSERT_EQUAL(State::AS_EMERGENCY, as_state.state);
497}
498
499void setUp() {
500
501}
502
503int main() {
504 UNITY_BEGIN();
505 RUN_TEST(test_off_to_ready_success);
506 RUN_TEST(test_off_to_ready_recheck);
507 RUN_TEST(test_off_to_ready_wayback_impossible);
508 RUN_TEST(test_ready_to_driving_to_emg);
509 RUN_TEST(test_ready_to_driving_to_emg2);
510 RUN_TEST(test_ready_to_emg_to_off);
511 RUN_TEST(test_driving_to_finished_to_off);
512 RUN_TEST(test_finished_to_emg);
513 RUN_TEST(test_off_to_manual_wayback);
514 RUN_TEST(test_flow_driving);
515 RUN_TEST(test_flow_ready);
516 RUN_TEST(test_flow_emergency);
517 RUN_TEST(test_flow_finished);
518 return UNITY_END();
519}
ASState
The ASState class manages and transitions between different states of the vehicle system.
Definition stateLogic.hpp:14
ASState::calculateState
void calculateState()
Calculates the state of the vehicle.
Definition stateLogic.hpp:39
ASState::_checkupManager
CheckupManager _checkupManager
CheckupManager object for handling various checkup operations.
Definition stateLogic.hpp:20
ASState::state
State state
Current state of the vehicle system, initialized to OFF.
Definition stateLogic.hpp:21
CheckupManager::checkupState
CheckupState checkupState
Current state of the checkup process.
Definition checkupManager.hpp:60
Communicator
Class that contains definitions of typical messages to send via CAN It serves only as an example of t...
Definition communicator.hpp:40
Communicator::c1Callback
static void c1Callback(const uint8_t *buf)
Callback for data from C1 Teensy.
Definition communicator.hpp:153
Communicator::resStateCallback
static void resStateCallback(const uint8_t *buf)
Callback RES default callback.
Definition communicator.hpp:170
Communicator::pcCallback
static void pcCallback(const uint8_t *buf)
Callback for message from AS CU.
Definition communicator.hpp:238
Communicator::bamocarCallback
static void bamocarCallback(const uint8_t *buf)
Callback from inversor, for alive signal and data.
Definition communicator.hpp:214
DigitalSender
Class responsible for controlling digital outputs in the Master Teensy.
Definition digitalSender.hpp:14
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:125
Metro::checkWithoutReset
bool checkWithoutReset() const
Checks if the interval has passed without resetting the timer.
Definition metro.h:116
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:43
COMPONENT_TIMESTAMP_TIMEOUT
#define COMPONENT_TIMESTAMP_TIMEOUT
Definition digitalSettings.hpp:3
EBS_BUZZER_TIMEOUT
#define EBS_BUZZER_TIMEOUT
Definition digitalSettings.hpp:5
INITIAL_CHECKUP_STEP_TIMEOUT
#define INITIAL_CHECKUP_STEP_TIMEOUT
Definition digitalSettings.hpp:7
DigitalData::pneumatic_line_pressure
bool pneumatic_line_pressure
Definition digitalData.hpp:16
R2DLogics::releaseEbsTimestamp
Metro releaseEbsTimestamp
Definition systemDiagnostics.hpp:19
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::sensors
Sensors sensors
Definition systemData.hpp:15
SystemData::digitalData
DigitalData digitalData
Definition systemData.hpp:17
SystemData::mission
Mission mission
Definition systemData.hpp:18
SystemData::missionFinished
bool missionFinished
Definition systemData.hpp:20
SystemData::failureDetection
FailureDetection failureDetection
Definition systemData.hpp:14
SystemData::r2dLogics
R2DLogics r2dLogics
Definition systemData.hpp:13
AS_DRIVING
@ AS_DRIVING
Definition structure.hpp:12
AS_READY
@ AS_READY
Definition structure.hpp:11
AS_MANUAL
@ AS_MANUAL
Definition structure.hpp:9
AS_FINISHED
@ AS_FINISHED
Definition structure.hpp:13
AS_EMERGENCY
@ AS_EMERGENCY
Definition structure.hpp:14
AS_OFF
@ AS_OFF
Definition structure.hpp:10
MANUAL
@ MANUAL
Definition structure.hpp:18
READY_TIMEOUT_MS
constexpr unsigned long READY_TIMEOUT_MS
Definition systemDiagnostics.hpp:10
RELEASE_EBS_TIMEOUT_MS
constexpr unsigned long RELEASE_EBS_TIMEOUT_MS
Definition systemDiagnostics.hpp:11
msg
CAN_message_t msg
Definition test_callbacks.cpp:17
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:473
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:153
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:447
setUp
void setUp()
Definition test_integration.cpp:499
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:253
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:80
main
int main()
Definition test_integration.cpp:503
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:186