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Test Coverage Overview

Notation

  • state."field" denotes elements in the vda5050 state
  • "[]" denotes a list/-access
  • "[*]" denotes "for all"
  • "[+]" denotes "exists"
  • "[>=n]" denotes "at least n"
  • "[name]" denotes the elements that correspond to an object "name"

1 Instant Actions

1.1 Cancel

  • 1.1.1 [Manual] No Order Pre:

    • state.nodeStates = []
    • state.edgeStates = []
    • receive cancelOrder

    Post:

    • "noOrderToCancel" in state.errors

  • 1.1.2 [Manual] Operates normally after canceling
    Pre:

    • Load Order
    • receive cancelOrder

    Post:

    • state.nodeStates = []
    • state.edgeStates = []
    • can execute next order

  • 1.1.3 [Manual] Status when canceling
    Pre:

    • Load Order
    • Receive cancelOrder

    Post:

    • state.actionStates[cancelAction].status = running
    • status.driving = false
    • state.actionStates[*].status = finished|failed
    • state.actionStates[cancelAction].status = finished

1.2 Pause

  • 1.2.1 [Manual] Not pausable (AGVs decision)
    Pre:

    • Load Order
    • state.actionStates[*].status =/= paused
    • state.paused = false
    • receive startPause
    • AGV.pauseResumeCallback ~> fail (AGV can not pause)

    Post:

    • state.actionStates[*].status =/= paused
    • state.actionStates[startPauseAction].status = failed
    • state.paused = false

  • [Manual] 1.2.2 No Order Pre:

    • state.nodeStates = []
    • state.edgeStates = []
    • receive startPause
    • receive Order

    Post:

    • state.paused = true
    • state.actionStates[*].status = paused
    • state.driving = false

1.3 Resume

  • 1.3.1 [Manual] Not resumable (AGVs decision)
    Pre:

    • Load Order
    • state.actionStates[*].status =/= running
    • state.paused = true
    • receive stopPause
    • AGV.pauseResumeCallback ~> fail (AGV can not resume)

    Post:

    • state.actionStates[*].status =/= running
    • state.actionStates[stopPauseAction].status = failed
    • state.paused = true

  • 1.3.2 [Manual] No Order
    Pre:

    • state.nodeStates = []
    • state.edgeStates = []
    • receive stopPause
    • receive Order

    Post:

    • state.paused = false
    • state.actionStates[*].status =/= paused

1.4 StateRequest

  • 1.4.1 [Manual] Send State
    Pre:

    • received sendState

    Post:

    • state sent

1.5 LogReport

  • 1.5.1 [Manual] Forward to AGV Pre:

    • received logReport

    Post:

    • AGV logged

1.6 Preemption

  • 1.6.1 [Automatic] Receive Order after InstantAction
    Pre:

    • received InstantAction
    • state.actionStates[+] == running
    • receive Order

    Post:

    • state.actionStates[+] == running
    • state.driving = false

  • 1.6.2 [Automatic] Receive HARD InstantAction while running NONE Action
    Pre:

    • receive order (n1)
    • n1.actions[*].blockingType == NONE
    • state.driving = true
    • receive HARD InstantAction

    Post:

    • state.actionStates[+] == running
    • state.actionStates[on n1] == finished | failed
    • state.driving = false

  • 1.6.3 [Automatic] Receive SOFT InstantAction while running NONE Action
    Pre:

    • receive order (n1)
    • n1.actions[*].blockingType == NONE
    • state.driving = true
    • receive SOFT InstantAction

    Post:

    • state.actionStates[+] == running
    • state.actionStates[on n1] == running
    • state.driving = false

  • 1.6.4 [Automatic] Receive NONE InstantAction while running NONE Action
    Pre:

    • receive order (n1)
    • n1.actions[*].blockingType == NONE
    • state.driving = true
    • receive NONE InstantAction

    Post:

    • state.actionStates[+] == running
    • state.actionStates[on n1] == running
    • state.driving = true

  • 1.6.5 [Automatic] Receive HARD InstantAction while running SOFT Action
    Pre:

    • receive order (n1)
    • n1.actions[*].blockingType == SOFT
    • state.driving = false
    • receive HARD InstantAction

    Post:

    • state.actionStates[+] == running
    • state.actionStates[on n1] == finished | failed
    • state.driving = false

  • 1.6.6 [Automatic] Receive SOFT InstantAction while running SOFT Action
    Pre:

    • receive order (n1)
    • n1.actions[*].blockingType == SOFT
    • state.driving = false
    • receive SOFT InstantAction

    Post:

    • state.actionStates[+] == running
    • state.actionStates[on n1] == running
    • state.driving = false

  • 1.6.7 [Automatic] Receive NONE InstantAction while running SOFT Action
    Pre:

    • receive order (n1)
    • n1.actions[*].blockingType == SOFT
    • state.driving = false
    • receive NONE InstantAction

    Post:

    • state.actionStates[+] == running
    • state.actionStates[on n1] == running
    • state.driving = false

  • 1.6.8 [Automatic] Receive HARD InstantAction while running HARD Action
    Pre:

    • receive order (n1)
    • n1.actions[*].blockingType == HARD
    • state.driving = false
    • receive HARD InstantAction

    Post:

    • state.actionStates[+] == running
    • state.actionStates[on n1] == finished | failed
    • state.driving = false

  • 1.6.9 [Automatic] Receive SOFT InstantAction while running HARD Action
    Pre:

    • receive order (n1)
    • n1.actions[*].blockingType == HARD
    • state.driving = false
    • receive SOFT InstantAction

    Post:

    • state.actionStates[+] == running
    • state.actionStates[on n1] == finished | failed
    • state.driving = false

  • 1.6.10 [Automatic] Receive NONE InstantAction while running HARD Action
    Pre:

    • receive order (n1)
    • n1.actions[*].blockingType == HARD
    • state.driving = false
    • receive NONE InstantAction

    Post:

    • state.actionStates[+] == running
    • state.actionStates[on n1] == finished | failed
    • state.driving = true

2 State Update Triggers

  • 2.1 [Manual] Receive Order or Order update
  • 2.2 [Manual] Changed Load
  • 2.3 [Manual] Error
  • 2.4 [Manual] Node reached
  • 2.5 [Manual] OperatingMode changed
  • 2.6 [Manual] Driving changed
  • 2.7 [Manual] {node,edge,action}State changed

3 Action Triggers

  • 3.1 [Automatic] Start when Node is reached
    Pre:

    • Load Order
    • n1.actions =/= []
    • enter node n1

    Post:

    • n1.actions[+].status =/= waiting (at least one not waiting)

  • 3.2 [Automatic] Block driving when action is HARD/SOFT blocking
    Pre:

    • Load Order
    • n1.actions[+].blockingType =/= NONE
    • enter node n1

    Post:

    • state.driving = false
    • n1.actions[+].status =/= waiting

  • 3.3 [Automatic] Do not run HARD blocking actions in parallel
    Pre:

    • Load Order
    • enter node n1
    • n1.actions[2>=].blockingType = HARD

    Post:

    • only one HARD blocking action running

  • 3.4 [Automatic] Cancel Edge-actions, when Edge is left
    Pre:

    • Load Order
    • e1.actions[*] =/= []
    • e1.actions[*].blockingType = NONE
    • e1.actions[*].status = running
    • enter edge e1
    • enter n2 (after e1)

    Post:

    • e1.actions[*].status = finished|failed

  • 3.5 [Automatic] Action order (as in the list)
    Pre:

    • Load Order
    • n1.actions = {a1 ... a4}
    • n1.actions[*].blockingType = HARD
    • enter n1

    Post:

    • status.actionState[a_i].status = running
    • status.actionState[a_i+1].status = waiting
    • ...
    • status.actionState[*].status = finished | failed

4 Header

  • 4.1 [Manual] Increment IDs
  • 4.2 [Manual] timestamp ISO8601 UTC
  • 4.3 [Automatic] protocol version matches VDA5050 version
  • 4.4 [Automatic] only respond to correct manufacturer/SN combination
  • 4.5 log headerID skips

5 Order

  • 5.1 [Manual] Only navigate inside of the base
    Pre:

    • Send Order with Base n1..n3 and Horz n4..n5

    Post:

    • state.nodeStates = [n1..n5]
    • state.driving = true
    • ...
    • state.nodeStates = [n4..n5]
    • state.driving = false

  • 5.2 [Manual] Error when base is changed
    Pre:

    • Receive Order with Base n1..n3
    • Receive Order with Base n3..n1

    Post:

    • state.nodeStates = [n1..n3]
    • state.errors contains "orderError"

  • 5.3 [Skip] Validate order of Nodes and Edges in the list (Order is maintained and checked via seqIds) Pre:

    • state.nodeStates = []
    • Receive Order with Nodes n3..n1

    Post:

    • state.nodeStates = []
    • state.errors contains "orderError"

  • 5.4 Clear horizon on update
    Pre:

    • Receive Order with Base n1..n3 and Horz n4..n5
    • Receive Order with Base n1..n3 and Horz n7..n8

    Post:

    • state.nodeStates = [n1..n3, n7..n8]

  • 5.6 [Skip] check reachability of the first Node (AGV can fail DriveToNodeTask, but not decide while validating the order) Pre:

    • AGV is not in reach of n1
    • receive Order beginning with n1

    Post:

    • state.errors =/= []

  • 5.7 [Automatic] check sequence number consistency
    Pre:

    • Load Order containing sequence ids [1,2,4,5]

    Post:

    • state.errors =/= []

6 Generic Validation

  • 6.1 set "validationError" on invalid order syntax
    Pre:

    • receive message with invalid syntax

    Post:

    • state.errors contains "validationError"

  • 6.2 [Automatic] set "orderUpdateError" on invalid ids Pre:

    • state.orderId = id
    • receive Order with orderId = id2 and orderUpdateId = 1

    Post:

    • state.errors contains "orderUpdateError"

  • 6.3 [Manual] ignore duplicate orderID orderUpdateID combination
    Pre:

    • state.orderId = id
    • state.orderUpdateId = 1
    • state.nodeStates = [n1..n3]
    • state.errors = []
    • receive Order with orderId = id and orderUpdateId = 1 and nodes [n4..n7]

    Post:

    • state.orderId = id
    • state.orderUpdateId = 1
    • state.errors = []
    • state.nodeStates = [n1..n3]

(7) Connection Topic

  • 7.1 Send "last-will"
  • 7.2 [manual] send online/offline message