#include <unity.h>
#include <cstring>
#include <set>
#include <vector>
#include "DiabloEnums.h"
#include "DiabloPacketUtils.cpp"
#include "DiabloPacketUtils.h"
#include "DiabloPackets.h"

Include dependency graph for test_actuator_state_machine.cpp:

Enumerations
enum class	ActuatorControllerState : uint8_t { WaitingForServer , Active , StandardAbort , NoConnectionAbort , PTAbort , NoPTAbort , AbortFinished , ConnectionLossDetected , StandaloneAbort , WaitingForServer , Active , StandardAbort , NoConnectionAbort , AbortFinished , ConnectionLossDetected , WaitingForServer = 1 , Active = 2 , ConnectionLossDetected = 3 , NoConnectionAbort = 4 , NoConnAbortFollower = 5 , PTAbort = 6 , NoPTAbort = 7 , AbortFinished = 8 , WaitingForServer = 1 , Active = 2 , ConnectionLossDetected = 3 , NoConnectionAbort = 4 , NoConnAbortFollower = 5 , PTAbort = 6 , NoPTAbort = 7 , AbortFinished = 8 }
	Actuator state machine unit tests. More...
enum class	IncomingPacketKind { None , ServerHeartbeat , Config , Abort , AbortDone , ClearAbort , SensorData , None , ServerHeartbeat , Config , Abort , AbortDone , ClearAbort , None , ServerHeartbeat , Config , Abort , AbortDone , ClearAbort , SensorData , NoConnAbort , None , ServerHeartbeat , Config , Abort , AbortDone , ClearAbort , SensorData , NoConnAbort , None , ServerHeartbeat , SensorConfig , ClearAbort , NoConnAbort }

Functions
static daq::BoardState	getBoardStateForHeartbeat (ActuatorControllerState state)
static ActuatorControllerState	applyPacketTransition (ActuatorControllerState state, IncomingPacketKind kind, bool is_abort_controller, bool enable_transitions)
void	test_actuator_waiting_config_goes_active ()
void	test_actuator_waiting_heartbeat_stays ()
void	test_actuator_connloss_heartbeat_goes_active ()
void	test_actuator_abort_finished_clear_goes_active ()
void	test_actuator_active_abort_stays_active ()
void	test_actuator_active_abort_goes_abort_finished ()
void	test_actuator_active_abort_done_stays_active ()
void	test_actuator_active_abort_done_goes_abort_finished ()
void	test_actuator_active_noconn_abort_stays_active ()
void	test_actuator_active_noconn_abort_goes_follower ()
void	test_actuator_noconn_abort_state_clear_doesnt_transition ()
void	test_actuator_pt_abort_clear_doesnt_transition ()
void	test_actuator_none_kind_stays ()
void	test_actuator_heartbeat_state_mapping_table ()
void	test_actuator_heartbeat_board_id_preserved ()
void	setUp ()
void	tearDown ()
int	main (int argc, char **argv)

Enumeration Type Documentation

◆ ActuatorControllerState

enum class ActuatorControllerState : uint8_t

strong

Actuator state machine unit tests.

Tests the actuator applyPacketTransition() and getBoardStateForHeartbeat() functions. Because these are static in Actuator_Hotfire/main.cpp with tightly coupled globals, we extract the pure logic here for testing.

Enumerator
WaitingForServer
Active
StandardAbort
NoConnectionAbort
PTAbort
NoPTAbort
AbortFinished
ConnectionLossDetected
StandaloneAbort
WaitingForServer
Active
StandardAbort
NoConnectionAbort
AbortFinished
ConnectionLossDetected
WaitingForServer
Active
ConnectionLossDetected
NoConnectionAbort
NoConnAbortFollower
PTAbort
NoPTAbort
AbortFinished
WaitingForServer
Active
ConnectionLossDetected
NoConnectionAbort
NoConnAbortFollower
PTAbort
NoPTAbort
AbortFinished

Definition at line 25 of file test_actuator_state_machine.cpp.

◆ IncomingPacketKind

enum class IncomingPacketKind

strong

Enumerator
None
ServerHeartbeat
Config
Abort
AbortDone
ClearAbort
SensorData
None
ServerHeartbeat
Config
Abort
AbortDone
ClearAbort
None
ServerHeartbeat
Config
Abort
AbortDone
ClearAbort
SensorData
NoConnAbort
None
ServerHeartbeat
Config
Abort
AbortDone
ClearAbort
SensorData
NoConnAbort
None
ServerHeartbeat
SensorConfig
ClearAbort
NoConnAbort

Definition at line 36 of file test_actuator_state_machine.cpp.

Function Documentation

◆ applyPacketTransition()

ActuatorControllerState applyPacketTransition	(	ActuatorControllerState	state,
		IncomingPacketKind	kind,
		bool	is_abort_controller,
		bool	enable_transitions )