StateMachineHelperTest Class Reference

Inheritance diagram for StateMachineHelperTest:

Collaboration diagram for StateMachineHelperTest:

Public Member Functions
	StateMachineHelperTest ()=default
	~StateMachineHelperTest () override=default
bool	run_tests () override
	Override to run your unit tests. More...
Public Member Functions inherited from UnitTest
	UnitTest ()=default
virtual	~UnitTest ()=default
void	print_results ()
	Prints results from running of unit tests. More...

Private Member Functions
bool	armingStateTransitionTest ()
bool	mainStateTransitionTest ()
bool	isSafeTest ()

Additional Inherited Members
Protected Member Functions inherited from UnitTest
virtual void	_init (void)
	Run before each unit test. Override to provide custom behavior. More...
virtual void	_cleanup (void)
	Run after each unit test. Override to provide custom behavior. More...
void	_print_assert (const char *msg, const char *test, const char *file, int line)
void	_print_compare (const char *msg, const char *v1_text, int v1, const char *v2_text, int v2, const char *file, int line)
Protected Attributes inherited from UnitTest
int	_tests_run {0}
	The number of individual unit tests run. More...
int	_tests_failed {0}
	The number of unit tests which failed. More...
int	_tests_passed {0}
	The number of unit tests which passed. More...
int	_assertions {0}
	Total number of assertions tested by all unit tests. More...

Detailed Description

Definition at line 47 of file state_machine_helper_test.cpp.

Constructor & Destructor Documentation

StateMachineHelperTest()

StateMachineHelperTest::StateMachineHelperTest ( )

default

~StateMachineHelperTest()

StateMachineHelperTest::~StateMachineHelperTest ( )

overridedefault

Member Function Documentation

armingStateTransitionTest()

bool StateMachineHelperTest::armingStateTransitionTest ( )

private

Definition at line 61 of file state_machine_helper_test.cpp.

References PreFlightCheck::ARM_REQ_GPS_BIT, actuator_armed_s::armed, armed, vehicle_status_s::arming_state, arming_state_transition(), ATT_ARMED, ATT_DISARMED, ATT_NOT_READY_TO_ARM, ATT_READY_TO_ARM, ATT_SAFETY_AVAILABLE, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF, ATT_SAFETY_ON, ATT_SENSORS_INITIALIZED, vehicle_status_flags_s::circuit_breaker_engaged_power_check, vehicle_status_flags_s::condition_system_sensors_initialized, vehicle_status_s::hil_state, actuator_armed_s::ready_to_arm, safety_s::safety_off, safety_s::safety_switch_available, lps25h::test(), TRANSITION_CHANGED, TRANSITION_DENIED, TRANSITION_NOT_CHANGED, and ut_compare.

Referenced by run_tests().

Here is the call graph for this function:

Here is the caller graph for this function:

isSafeTest()

bool StateMachineHelperTest::isSafeTest ( )

private

Definition at line 539 of file state_machine_helper_test.cpp.

References actuator_armed_s::armed, is_safe(), actuator_armed_s::lockdown, safety_s::safety_off, safety_s::safety_switch_available, and ut_compare.

Referenced by run_tests().

Here is the call graph for this function:

Here is the caller graph for this function:

mainStateTransitionTest()

bool StateMachineHelperTest::mainStateTransitionTest ( )

private

Definition at line 322 of file state_machine_helper_test.cpp.

References vehicle_status_flags_s::condition_auto_mission_available, vehicle_status_flags_s::condition_global_position_valid, vehicle_status_flags_s::condition_home_position_valid, vehicle_status_flags_s::condition_local_altitude_valid, vehicle_status_flags_s::condition_local_position_valid, commander_state_s::main_state, main_state_transition(), MTT_ALL_NOT_VALID, MTT_GLOBAL_POS_VALID, MTT_HOME_POS_VALID, MTT_LOC_ALT_VALID, MTT_LOC_POS_VALID, MTT_ROTARY_WING, lps25h::test(), TRANSITION_CHANGED, TRANSITION_DENIED, TRANSITION_NOT_CHANGED, ut_compare, vehicle_status_s::vehicle_type, and VEHICLE_TYPE_FIXED_WING.

Referenced by run_tests().

Here is the call graph for this function:

Here is the caller graph for this function:

run_tests()

bool StateMachineHelperTest::run_tests ( )

overridevirtual

Override to run your unit tests.

Unit tests should be called using ut_run_test macro.

Returns

true: all unit tests succeeded, false: one or more unit tests failed

Implements UnitTest.

Definition at line 577 of file state_machine_helper_test.cpp.

References UnitTest::_tests_failed, armingStateTransitionTest(), isSafeTest(), mainStateTransitionTest(), stateMachineHelperTest(), ut_declare_test, and ut_run_test.

Here is the call graph for this function:

---

The documentation for this class was generated from the following file:

• src/modules/commander/commander_tests/state_machine_helper_test.cpp