adding more tests for the state machine

TESTING.md

@@ -0,0 +1,11 @@
+testing strategy:
+- using GTest for mocking systems 
+- custom re-definitions of interfaces (for now)
+    - cant use GTest mocking easily for this I dont think
+
+- the mock interfaces will just be empty classes p much to have something that the systems classes can have pointers to if they own a pointer to an interface
+
+- the mock systems will use the gmock lib for better mocking of systems for system to system interaction in the test env
+
+
+

lib/mock_interfaces/DashboardInterface.h

@@ -4,8 +4,8 @@ class DashboardInterface
 {
 private:
 public:
-    bool start_button;
-    bool start_button_pressed() { return start_button; };
+    bool start_button_status_;
+    bool start_button_pressed() { return  start_button_status_; };
 };
 
 #endif /* DASHBOARDINTERFACE */

lib/state_machine/include/MCUStateMachine.h

@@ -2,6 +2,7 @@
 #define __MCU_STATE_MACHINE__
 
 #include "Logger.h"
+
 #include "PedalsSystem.h"
 #include "DrivetrainSystem.h"
 #include "Buzzer.h"
@@ -27,11 +28,12 @@ template <typename DrivetrainSysType>
 class MCUStateMachine
 {
 public:
-    MCUStateMachine(BuzzerController *buzzer, DrivetrainSysType *drivetrain, DashboardInterface *dashboard)
+    MCUStateMachine(BuzzerController *buzzer, DrivetrainSysType *drivetrain, DashboardInterface *dashboard, PedalsSystem *pedals)
     {
         buzzer_ = buzzer;
         drivetrain_ = drivetrain;
         dashboard_ = dashboard;
+        pedals_ = pedals;
     }
 
     /// @brief our components can use this time to tell when to do things. We can set this ourselves for testing purposes instead of using metro timers

platformio.ini

@@ -1,6 +1,6 @@
 [env:test_env]
 platform = native
-
+test_framework = googletest
 build_src_filter =
   -<**/*.c>
   -<**/*.cpp>
@@ -22,6 +22,7 @@ upload_protocol = teensy-cli
 extra_scripts = pre:extra_script.py
 lib_ignore =
     mock_interfaces
+    mock_systems
 lib_deps = 
     SPI
     https://github.com/tonton81/FlexCAN_T4

test/main.cpp

@@ -1,24 +1,17 @@
+#include <gtest/gtest.h>
+
 #include "state_machine_test.h"
-#include "pedals_system_test.h"
-void setUp(void)
-{
-    // declare a component obj
-    // possibly make temp class that is a freind class of PedalsSystem to access private members
-    // possibly modify the
-}
+// #include "pedals_system_test.h"
 
-void tearDown(void)
-{
-}
 
-int main()
-{
 
-    UNITY_BEGIN();
+int main(int argc, char **argv)
+{
 
-    RUN_TEST(test_pedal_is_active);
-    RUN_TEST(test_state_machine_init_tick);
-
 
-    UNITY_END(); // stop unit testing
+    testing::InitGoogleMock(&argc, argv);
+	if (RUN_ALL_TESTS())
+	;
+	// Always return zero-code and allow PlatformIO to parse results
+	return 0;
 }

test/pedals_system_test.h

@@ -7,7 +7,6 @@ author: Lucas Plant
 
 #ifndef PEDALS_SYSTEM_TEST
 #define PEDALS_SYSTEM_TEST
-#include <unity.h>
 #include <string>
 #include "PedalsSystem.h"
 #include <array>

test/state_machine_test.h

@@ -1,55 +1,116 @@
 #ifndef STATE_MACHINE_TEST
 #define STATE_MACHINE_TEST
-#include <unity.h>
+#include <gtest/gtest.h>
+#include <gmock/gmock.h>
 #include "MCUStateMachine.h"
-#include "PedalsSystem.h"
+
+
+
+
 class DrivetrainMock
 {
 public:
-
-
     bool drivetrain_ready_;
-    bool drivetrain_ready() {};
+    bool hv_thresh_;
+    bool drivetrain_ready(){};
     /// @param curr_time current system tick time (millis()) that sets the init phase start time
     void enable_drivetrain_hv(unsigned long curr_time){};
 
     // startup phase 2
-    bool check_drivetrain_quit_dc_on() {};
+    bool check_drivetrain_quit_dc_on(){};
 
     // on entry logic
-    void request_enable() {};
-    void command_drivetrain_no_torque() {};
+    void request_enable(){};
+    void command_drivetrain_no_torque(){};
 
     // final check for drivetrain initialization to check if quit inverter on
     bool drivetrain_enabled(){};
 
     // check to see if init time limit has passed
-    bool inverter_init_timeout(unsigned long curr_time) {};
+    bool inverter_init_timeout(unsigned long curr_time){};
 
-    bool hv_over_threshold_on_drivetrain() {};
-    void disable() {};
-    bool drivetrain_error_occured() {};
+    bool hv_over_threshold_on_drivetrain() { return hv_thresh_; };
+    void disable(){};
+    bool drivetrain_error_occured(){};
 
-    void command_drivetrain(const DrivetrainCommand &data) {};
+    void command_drivetrain(const DrivetrainCommand &data){};
 };
 
-
 BuzzerController buzzer(500);
 
 DrivetrainMock drivetrain;
 
+
+PedalsParams params_for_test = {1, 1, 10, 10, 1, 1, 9, 9};
+PedalsSystem pedals(params_for_test, params_for_test);
+
 DashboardInterface dash_interface;
 
-MCUStateMachine<DrivetrainMock> state_machine(&buzzer, &drivetrain, &dash_interface);
+MCUStateMachine<DrivetrainMock> state_machine(&buzzer, &drivetrain, &dash_interface, &pedals);
 
-void test_state_machine_init_tick(void)
+TEST(MCUStateMachineTesting, test_state_machine_init_tick)
 {
     unsigned long sys_time = 1000;
-    TEST_ASSERT_TRUE(state_machine.get_state() == CAR_STATE::STARTUP);
+    EXPECT_EQ(state_machine.get_state(), CAR_STATE::STARTUP);
     state_machine.tick_state_machine(sys_time);
-    TEST_ASSERT_TRUE(state_machine.get_state() == CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE);
+    EXPECT_EQ(state_machine.get_state(), CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE);
 }
 
 
 
+TEST(MCUStateMachineTesting, test_state_machine_tractive_system_activation)
+{
+    unsigned long sys_time = 1000;
+
+    // ticking without hv over threshold testing and ensuring the tractive system not active still 
+    state_machine.tick_state_machine(sys_time);
+    sys_time += 1;
+    drivetrain.hv_thresh_ = false;
+    state_machine.tick_state_machine(sys_time);
+    sys_time += 1;
+    EXPECT_EQ(state_machine.get_state(), CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE);
+
+    // hv going over threshold -> tractive system
+    drivetrain.hv_thresh_ = true;
+    sys_time +=1;
+    state_machine.tick_state_machine(sys_time);
+    EXPECT_EQ(state_machine.get_state(), CAR_STATE::TRACTIVE_SYSTEM_ACTIVE);
+
+
+    // hv going under thresh -> tractive system not active
+    drivetrain.hv_thresh_ =false; 
+    sys_time +=1;
+    state_machine.tick_state_machine(sys_time);
+    EXPECT_EQ(state_machine.get_state(), CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE);
+}
+
+TEST(MCUStateMachineTesting, test_state_machine_tractive_system_enabling)
+{
+    unsigned long sys_time = 1000;
+
+    // ticking without hv over threshold testing and ensuring the tractive system not active still 
+    state_machine.tick_state_machine(sys_time);
+    sys_time += 1;
+    drivetrain.hv_thresh_ = false;
+    state_machine.tick_state_machine(sys_time);
+    sys_time += 1;
+    EXPECT_EQ(state_machine.get_state(), CAR_STATE::TRACTIVE_SYSTEM_NOT_ACTIVE);
+
+    // hv going over threshold -> tractive system
+    drivetrain.hv_thresh_ = true;
+    sys_time +=1;
+    state_machine.tick_state_machine(sys_time);
+    EXPECT_EQ(state_machine.get_state(), CAR_STATE::TRACTIVE_SYSTEM_ACTIVE);
+
+
+    sys_time +=1;
+    dash_interface.start_button_status_ = true;
+    auto pedals_brake_active_res = pedals.evaluate_pedals({0,0,3,3}, sys_time);
+    state_machine.tick_state_machine(sys_time);
+    EXPECT_EQ(state_machine.get_state(), CAR_STATE::ENABLING_INVERTERS);
+
+
+}
+
+
 #endif /* STATE_MACHINE_TEST */