From 11ed4ea18da301c993e2be2b094c438052fd33ff Mon Sep 17 00:00:00 2001 From: Comerm28 Date: Sat, 21 Sep 2024 15:20:01 -0400 Subject: [PATCH] updated working rebase --- test/test_systems/tc_mux_v2_testing.h | 56 +++++++++++++-------------- 1 file changed, 28 insertions(+), 28 deletions(-) diff --git a/test/test_systems/tc_mux_v2_testing.h b/test/test_systems/tc_mux_v2_testing.h index 8b8e3730..086fc108 100644 --- a/test/test_systems/tc_mux_v2_testing.h +++ b/test/test_systems/tc_mux_v2_testing.h @@ -57,9 +57,9 @@ TEST(TorqueControllerMuxTesting, test_construction_with_new_controller_orgs) // mode 1 TorqueControllerLoadCellVectoring tc_vec; // mode 2 - dummy_queue q; - CASESystem case_sys(&q, 100, 70, 550, {}); - TorqueControllerCASEWrapper case_wrapper(&case_sys); + DummyQueue_s q; + CASESystem case_sys(&q, 100, 70, 550, {}); + TorqueControllerCASEWrapper case_wrapper(&case_sys); // mode 3 TorqueControllerSimpleLaunch simple_launch; @@ -129,7 +129,7 @@ TEST(TorqueControllerMuxTesting, test_controller_output_swap_logic) // auto out1 = test.getDrivetrainCommand(ControllerMode_e::MODE_0, TorqueLimit_e::TCMUX_FULL_TORQUE, state); out1 = test.getDrivetrainCommand(ControllerMode_e::MODE_1, TorqueLimit_e::TCMUX_FULL_TORQUE, state); - ASSERT_EQ(test.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_0); + ASSERT_EQ(test.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_0); ASSERT_EQ(test.get_tc_mux_status().current_error, TorqueControllerMuxError::ERROR_SPEED_DIFF_TOO_HIGH); set_outputs(inst1, 0, 1); @@ -138,7 +138,7 @@ TEST(TorqueControllerMuxTesting, test_controller_output_swap_logic) out1 = test.getDrivetrainCommand(ControllerMode_e::MODE_1, TorqueLimit_e::TCMUX_FULL_TORQUE, state); - ASSERT_EQ(test.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_1); + ASSERT_EQ(test.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_1); ASSERT_EQ(test.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); } TEST(TorqueControllerMuxTesting, simple_switch_many_active_modes) @@ -156,27 +156,27 @@ TEST(TorqueControllerMuxTesting, simple_switch_many_active_modes) state.vn_data = {}; auto out1 = test.getDrivetrainCommand(ControllerMode_e::MODE_0, TorqueLimit_e::TCMUX_FULL_TORQUE, state); - ASSERT_EQ(test.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_0); + ASSERT_EQ(test.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_0); ASSERT_EQ(test.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); out1 = test.getDrivetrainCommand(ControllerMode_e::MODE_1, TorqueLimit_e::TCMUX_FULL_TORQUE, state); - ASSERT_EQ(test.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_1); + ASSERT_EQ(test.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_1); ASSERT_EQ(test.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); out1 = test.getDrivetrainCommand(ControllerMode_e::MODE_2, TorqueLimit_e::TCMUX_FULL_TORQUE, state); - ASSERT_EQ(test.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_2); + ASSERT_EQ(test.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_2); ASSERT_EQ(test.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); out1 = test.getDrivetrainCommand(ControllerMode_e::MODE_3, TorqueLimit_e::TCMUX_FULL_TORQUE, state); - ASSERT_EQ(test.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_3); + ASSERT_EQ(test.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_3); ASSERT_EQ(test.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); out1 = test.getDrivetrainCommand(ControllerMode_e::MODE_2, TorqueLimit_e::TCMUX_FULL_TORQUE, state); - ASSERT_EQ(test.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_2); + ASSERT_EQ(test.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_2); ASSERT_EQ(test.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); out1 = test.getDrivetrainCommand(ControllerMode_e::MODE_0, TorqueLimit_e::TCMUX_FULL_TORQUE, state); - ASSERT_EQ(test.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_0); + ASSERT_EQ(test.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_0); ASSERT_EQ(test.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); } @@ -219,7 +219,7 @@ TEST(TorqueControllerMuxTesting, test_torque_diff_swap_limit) ASSERT_EQ(test.get_tc_mux_status().current_error, TorqueControllerMuxError::ERROR_TORQUE_DIFF_TOO_HIGH); - ASSERT_EQ(test.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_0); + ASSERT_EQ(test.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_0); ASSERT_EQ(out1.torqueSetpoints[0], 1); ASSERT_EQ(out1.torqueSetpoints[1], 1); @@ -251,9 +251,9 @@ TEST(TorqueControllerMuxTesting, test_mode0_evaluation) // mode 1 TorqueControllerLoadCellVectoring tc_vec; // mode 2 - dummy_queue q; - CASESystem case_sys(&q, 100, 70, 550, {}); - TorqueControllerCASEWrapper case_wrapper(&case_sys); + DummyQueue_s q; + CASESystem case_sys(&q, 100, 70, 550, {}); + TorqueControllerCASEWrapper case_wrapper(&case_sys); // mode 3 TorqueControllerSimpleLaunch simple_launch; @@ -374,7 +374,7 @@ TEST(TorqueControllerMuxTesting, test_tc_mux_status) auto out1 = test.getDrivetrainCommand(testMode, testTorqLim, state); ASSERT_EQ(test.get_tc_mux_status().current_error, testErr); - ASSERT_EQ(test.get_tc_mux_status().current_controller_mode_, testMode); + ASSERT_EQ(test.get_tc_mux_status().current_controller_mode, testMode); ASSERT_EQ(test.get_tc_mux_status().current_torque_limit_enum, testTorqLim); } TEST(TorqueControllerMuxTesting, test_real_controllers_output) @@ -384,9 +384,9 @@ TEST(TorqueControllerMuxTesting, test_real_controllers_output) // mode 1 TorqueControllerLoadCellVectoring tc_vec; // mode 2 - dummy_queue q; - CASESystem case_sys(&q, 100, 70, 550, {}); - TorqueControllerCASEWrapper case_wrapper(&case_sys); + DummyQueue_s q; + CASESystem case_sys(&q, 100, 70, 550, {}); + TorqueControllerCASEWrapper case_wrapper(&case_sys); // mode 3 TorqueControllerSimpleLaunch simple_launch; @@ -407,39 +407,39 @@ TEST(TorqueControllerMuxTesting, test_real_controllers_output) auto out1 = torque_controller_mux.getDrivetrainCommand(ControllerMode_e::MODE_0, TorqueLimit_e::TCMUX_FULL_TORQUE, state); ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); - ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_0); + ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_0); out1 = torque_controller_mux.getDrivetrainCommand(ControllerMode_e::MODE_1, TorqueLimit_e::TCMUX_FULL_TORQUE, state); ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); - ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_1); + ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_1); out1 = torque_controller_mux.getDrivetrainCommand(ControllerMode_e::MODE_2, TorqueLimit_e::TCMUX_FULL_TORQUE, state); ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); - ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_2); + ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_2); out1 = torque_controller_mux.getDrivetrainCommand(ControllerMode_e::MODE_3, TorqueLimit_e::TCMUX_FULL_TORQUE, state); ASSERT_EQ(static_cast(torque_controller_mux.get_tc_mux_status().current_error), static_cast(TorqueControllerMuxError::NO_ERROR)); - ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_3); + ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_3); out1 = torque_controller_mux.getDrivetrainCommand(ControllerMode_e::MODE_4, TorqueLimit_e::TCMUX_FULL_TORQUE, state); ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); - ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_4); + ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_4); out1 = torque_controller_mux.getDrivetrainCommand(ControllerMode_e::MODE_4, TorqueLimit_e::TCMUX_FULL_TORQUE, state); ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); - ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_4); + ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_4); out1 = torque_controller_mux.getDrivetrainCommand(ControllerMode_e::MODE_3, TorqueLimit_e::TCMUX_FULL_TORQUE, state); ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); - ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_3); + ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_3); out1 = torque_controller_mux.getDrivetrainCommand(ControllerMode_e::MODE_2, TorqueLimit_e::TCMUX_FULL_TORQUE, state); ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); - ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_2); + ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_2); out1 = torque_controller_mux.getDrivetrainCommand(ControllerMode_e::MODE_0, TorqueLimit_e::TCMUX_FULL_TORQUE, state); ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_error, TorqueControllerMuxError::NO_ERROR); - ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode_, ControllerMode_e::MODE_0); + ASSERT_EQ(torque_controller_mux.get_tc_mux_status().current_controller_mode, ControllerMode_e::MODE_0); } #endif // __TC_MUX_V2_TESTING_H__ \ No newline at end of file