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Merge pull request #33 from hytech-racing/drivetrain_system_testing
Drivetrain system testing
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,7 +1,159 @@ | ||
| #ifndef DRIVETRAIN_SYSTEM_TEST | ||
| #define DRIVETRAIN_SYSTEM_TEST | ||
| #include "DrivetrainSystem.h" | ||
|
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| // TODO @ben | ||
| // TODO handle startup sequence stuff | ||
| // | ||
| struct InverterCommand | ||
| { | ||
| float torque_setpoint_nm; | ||
| float speed_setpoint_rpm; | ||
| }; | ||
| class InverterMock | ||
| { | ||
| public: | ||
| int request_enable_hv_count_, request_enable_inverter_count_; | ||
| float torque_setpoint_nm_; | ||
| float speed_setpoint_rpm_; | ||
| InverterMock() | ||
| { | ||
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| request_enable_hv_count_ = 0; | ||
| request_enable_inverter_count_ = 0; | ||
| error_ = false; | ||
| system_ready_ = false; | ||
| dc_quit_on_ = false; | ||
| quit_inverter_on_ = false; | ||
| }; | ||
|
|
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| bool error_, system_ready_, dc_quit_on_, quit_inverter_on_; | ||
| uint16_t voltage_; | ||
|
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| // want to ensure that we are only sending requests once at a time | ||
| // stage 1 | ||
| void request_enable_hv() | ||
| { | ||
| request_enable_hv_count_++; | ||
| dc_quit_on_ = true; | ||
| }; | ||
| // stage 2 | ||
| void request_enable_inverter() | ||
| { | ||
|
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| request_enable_inverter_count_++; | ||
| quit_inverter_on_ = true; | ||
| }; | ||
|
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| void command_no_torque(){}; | ||
| bool error() { return error_; }; | ||
| bool inverter_system_ready() { return system_ready_; }; | ||
| void command_reset() { error_ = false; }; | ||
| uint16_t dc_bus_voltage() { return voltage_; }; | ||
| bool dc_quit_on() { return dc_quit_on_; } | ||
| bool quit_inverter_on() { return quit_inverter_on_; } | ||
| void handle_command(const InverterCommand &cmd) | ||
| { | ||
| torque_setpoint_nm_ = cmd.torque_setpoint_nm; | ||
| speed_setpoint_rpm_ = cmd.speed_setpoint_rpm; | ||
| }; | ||
| }; | ||
|
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||
| TEST(DrivetrainSystemTesting, test_drivetrain_startup) | ||
| { | ||
| InverterMock inv_fl, inv_fr, inv_rl, inv_rr; | ||
| DrivetrainSystem<InverterMock> dt({&inv_fl, &inv_fr, &inv_rl, &inv_rr}, 1000); | ||
| unsigned long sys_time = 1000; | ||
| // inverters are not ready so an inverter startup call shouldnt send any requests to the inverter | ||
| // to start the initialization process | ||
| EXPECT_FALSE(dt.handle_inverter_startup(sys_time)); | ||
| EXPECT_EQ(inv_fl.request_enable_hv_count_, 0); | ||
| EXPECT_EQ(inv_fr.request_enable_hv_count_, 0); | ||
| EXPECT_EQ(inv_rl.request_enable_hv_count_, 0); | ||
| EXPECT_EQ(inv_rr.request_enable_hv_count_, 0); | ||
|
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| inv_fl.system_ready_ = true; | ||
| inv_fr.system_ready_ = true; | ||
| inv_rl.system_ready_ = true; | ||
| inv_rr.system_ready_ = true; | ||
|
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| // this should enable the drivetrain hv | ||
| EXPECT_FALSE(dt.handle_inverter_startup(sys_time)); | ||
|
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| EXPECT_TRUE(inv_fl.dc_quit_on_); | ||
| EXPECT_TRUE(inv_fr.dc_quit_on_); | ||
| EXPECT_TRUE(inv_rl.dc_quit_on_); | ||
| EXPECT_TRUE(inv_rr.dc_quit_on_); | ||
|
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| // im just gonna test one from now on for this type of stuff | ||
| EXPECT_EQ(inv_rr.request_enable_hv_count_, 1); | ||
| EXPECT_EQ(inv_rr.request_enable_inverter_count_, 0); // this should enable the inverters | ||
| EXPECT_FALSE(dt.handle_inverter_startup(sys_time)); | ||
|
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| EXPECT_EQ(inv_rr.request_enable_hv_count_, 1); | ||
| EXPECT_EQ(inv_rr.request_enable_inverter_count_, 1); | ||
|
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| EXPECT_TRUE(dt.handle_inverter_startup(sys_time)); | ||
| } | ||
|
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| TEST(DrivetrainSystemTesting, test_drivetrain_init_timeout) | ||
| { | ||
| InverterMock inv_fl, inv_fr, inv_rl, inv_rr; | ||
| DrivetrainSystem<InverterMock> dt({&inv_fl, &inv_fr, &inv_rl, &inv_rr}, 1000); | ||
| unsigned long sys_time = 1000; | ||
| // test and make sure that normally the drivetrain doesnt timeout when changing the time | ||
| EXPECT_FALSE(dt.handle_inverter_startup(sys_time)); | ||
| inv_fl.system_ready_ = true; | ||
| inv_fr.system_ready_ = true; | ||
| inv_rl.system_ready_ = true; | ||
| inv_rr.system_ready_ = true; | ||
| sys_time += 10; | ||
| // tick to request hv enable | ||
| EXPECT_FALSE(dt.handle_inverter_startup(sys_time)); | ||
|
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| sys_time += 10; | ||
| // tick to request enable inverters | ||
| EXPECT_FALSE(dt.handle_inverter_startup(sys_time)); | ||
|
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| sys_time += 10; | ||
| // tick to check inverters status | ||
| EXPECT_TRUE(dt.handle_inverter_startup(sys_time)); | ||
| EXPECT_FALSE(dt.inverter_init_timeout(sys_time)); | ||
|
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| // test timeout | ||
| InverterMock inv_fl2, inv_fr2, inv_rl2, inv_rr2; | ||
| DrivetrainSystem<InverterMock> dt2({&inv_fl2, &inv_fr2, &inv_rl2, &inv_rr2}, 1000); | ||
| unsigned long sys_time2 = 1000; | ||
|
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| EXPECT_FALSE(dt2.handle_inverter_startup(sys_time2)); | ||
| // inv_fl.system_ready_ = true; | ||
| inv_fr2.system_ready_ = true; | ||
| inv_rl2.system_ready_ = true; | ||
| inv_rr2.system_ready_ = true; | ||
| sys_time2 += 1050; | ||
| EXPECT_TRUE(dt.inverter_init_timeout(sys_time2)); | ||
| } | ||
|
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| TEST(DrivetrainSystemTesting, test_drivetrain_inverter_comms) | ||
| { | ||
|
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| InverterMock inv_fl, inv_fr, inv_rl, inv_rr; | ||
| DrivetrainSystem<InverterMock> dt({&inv_fl, &inv_fr, &inv_rl, &inv_rr}, 1000); | ||
| dt.command_drivetrain({{1000.0, 1001.0, 1002.0, 1003.0}, {2000.0, 2001.0, 2002.0, 2003.0}}); | ||
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| // torque_setpoint_nm_ | ||
| // speed_setpoint_rpm_ | ||
|
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| EXPECT_EQ(inv_fl.speed_setpoint_rpm_, 1000.0); | ||
| EXPECT_EQ(inv_fl.torque_setpoint_nm_, 2000.0); | ||
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| EXPECT_EQ(inv_fr.torque_setpoint_nm_, 2001.0); | ||
| EXPECT_EQ(inv_fr.speed_setpoint_rpm_, 1001.0); | ||
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| EXPECT_EQ(inv_rl.torque_setpoint_nm_, 2002.0); | ||
| EXPECT_EQ(inv_rl.speed_setpoint_rpm_, 1002.0); | ||
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| EXPECT_EQ(inv_rr.torque_setpoint_nm_, 2003.0); | ||
| EXPECT_EQ(inv_rr.speed_setpoint_rpm_, 1003.0); | ||
| } | ||
| // TODO test commanding of drivetrain to ensure that the data is getting accross correctly | ||
| #endif /* DRIVETRAIN_SYSTEM_TEST */ |
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