Initial commit: demo-epb v1.0 — Elektrische Parkbremse Demo
Vollstaendige Demo des slohmaier Dev Process anhand einer EPB-Steuergeraet- Software. Zeigt ASPICE 4.0 / ISO 26262-konforme Entwicklung im Monorepo. Inhalte: - 5 Plaene (PID, PM-, QA-, SWE-, Test-Plan) in Word, ausgefuellt mit EPB-spezifischen Inhalten - 10 System-Anforderungen + 25 Software-Anforderungen (Doorstop-MD) - 5 System-Architektur-Elemente + 10 Software-Architektur-Elemente mit PlantUML-Diagrammen und vollstaendigem Mapping - 3 implementierte Komponenten (Apply Controller D, Actuator Driver B, Switch Debouncer QM) plus 7 Header-Stubs - 28 Unit-Tests, alle gruen, mit Coverage- und MISRA-Build-Targets - Audit-Artefakte: 1 Review-Protokoll, 1 Non-Conformity, 1 MISRA-Record - Gitea-Actions-CI-Pipeline (validate.yml) - Doorstop-Konfiguration fuer bidirektionale Traceability - Generator-Skript fuer alle 50 Reqs/Arch-Elemente aus Strukturdaten - README mit gefuehrter Tour fuer Prospects
This commit is contained in:
Stefan Lohmaier
@@ -0,0 +1,157 @@
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/**
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* @file test_actuator_driver.c
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* @brief Unit-Tests fuer den Actuator-Driver.
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*
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* @reqs SWE-006 SWE-013 SWE-014 SWE-015
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* @arch SWA-003
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*/
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#include "../unit_test_framework.h"
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#include "../../src/actuator_driver.h"
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TestStats g_test_stats = {0, 0};
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static void test_init(void)
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{
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TEST_BEGIN("init -> beide Aktoren STOP, 0 mA");
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ASSERT_EQ(actuator_init(), EPB_OK);
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ActuatorStatus l = actuator_get_status(ACTUATOR_LEFT);
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ActuatorStatus r = actuator_get_status(ACTUATOR_RIGHT);
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ASSERT_EQ(l.direction, ACT_DIR_STOP);
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ASSERT_EQ(r.direction, ACT_DIR_STOP);
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ASSERT_EQ(l.current_ma, 0);
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TEST_END();
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}
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static void test_apply_invalid_id(void)
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{
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TEST_BEGIN("apply: invalid ID -> EINVAL");
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(void)actuator_init();
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ASSERT_EQ(actuator_apply((ActuatorId)42, 50), EPB_EINVAL);
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TEST_END();
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}
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static void test_apply_pwm_out_of_range(void)
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{
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TEST_BEGIN("apply: PWM > 100% -> EINVAL");
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(void)actuator_init();
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ASSERT_EQ(actuator_apply(ACTUATOR_LEFT, 101), EPB_EINVAL);
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TEST_END();
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}
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static void test_apply_normal(void)
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{
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TEST_BEGIN("apply normal -> direction=APPLY, pwm=80");
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(void)actuator_init();
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ASSERT_EQ(actuator_apply(ACTUATOR_LEFT, 80), EPB_OK);
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ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
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ASSERT_EQ(s.direction, ACT_DIR_APPLY);
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ASSERT_EQ(s.pwm_percent, 80);
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TEST_END();
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}
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static void test_release_normal(void)
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{
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TEST_BEGIN("release normal -> direction=RELEASE");
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(void)actuator_init();
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ASSERT_EQ(actuator_release(ACTUATOR_LEFT, 70), EPB_OK);
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ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
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ASSERT_EQ(s.direction, ACT_DIR_RELEASE);
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TEST_END();
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}
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static void test_isr_samples_current(void)
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{
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TEST_BEGIN("ISR-Sample setzt current_ma und peak");
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(void)actuator_init();
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(void)actuator_apply(ACTUATOR_LEFT, 80);
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actuator_isr_1khz(ACTUATOR_LEFT, 3000);
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ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
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ASSERT_EQ(s.current_ma, 3000);
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ASSERT_EQ(s.peak_current_ma, 3000);
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TEST_END();
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}
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static void test_overcurrent_cutoff_after_100ms(void)
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{
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TEST_BEGIN("Overcurrent > 8 A fuer 100 ms -> STOP + overcurrent flag");
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(void)actuator_init();
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(void)actuator_apply(ACTUATOR_LEFT, 80);
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/* 100 Samples (= 100 ms bei 1 kHz) ueber 8 A */
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for (int i = 0; i < 100; ++i) {
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actuator_isr_1khz(ACTUATOR_LEFT, 8500);
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}
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ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
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ASSERT_EQ(s.direction, ACT_DIR_STOP);
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ASSERT_TRUE(s.overcurrent);
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ASSERT_EQ(s.last_error, EPB_EOVERCURRENT);
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TEST_END();
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}
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static void test_overcurrent_below_window_no_cutoff(void)
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{
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TEST_BEGIN("Overcurrent < 100 ms loest noch nicht aus");
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(void)actuator_init();
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(void)actuator_apply(ACTUATOR_LEFT, 80);
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for (int i = 0; i < 50; ++i) {
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actuator_isr_1khz(ACTUATOR_LEFT, 8500);
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}
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ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
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ASSERT_EQ(s.direction, ACT_DIR_APPLY);
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ASSERT_TRUE(!s.overcurrent);
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TEST_END();
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}
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static void test_overcurrent_blocks_subsequent_apply(void)
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{
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TEST_BEGIN("nach Overcurrent: weiterer apply -> EOVERCURRENT");
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(void)actuator_init();
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(void)actuator_apply(ACTUATOR_LEFT, 80);
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for (int i = 0; i < 120; ++i) {
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actuator_isr_1khz(ACTUATOR_LEFT, 9000);
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}
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EpbStatus rc = actuator_apply(ACTUATOR_LEFT, 80);
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ASSERT_EQ(rc, EPB_EOVERCURRENT);
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TEST_END();
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}
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static void test_clamping_force_estimate(void)
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{
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TEST_BEGIN("Klemmkraft-Schaetzung aus Peak-Strom (SWE-015)");
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(void)actuator_init();
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(void)actuator_apply(ACTUATOR_LEFT, 80);
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actuator_isr_1khz(ACTUATOR_LEFT, 4000); /* 4 A Peak */
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actuator_isr_1khz(ACTUATOR_LEFT, 3500); /* danach niedriger */
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ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
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/* F = (4000 * 2500) / 1000 = 10000 N */
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ASSERT_EQ(s.clamping_force_n, 10000);
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TEST_END();
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}
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static void test_stop_clears_pwm(void)
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{
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TEST_BEGIN("stop -> direction=STOP, pwm=0");
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(void)actuator_init();
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(void)actuator_apply(ACTUATOR_LEFT, 80);
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(void)actuator_stop(ACTUATOR_LEFT);
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ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
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ASSERT_EQ(s.direction, ACT_DIR_STOP);
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ASSERT_EQ(s.pwm_percent, 0);
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TEST_END();
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}
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int main(void)
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{
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printf("== test_actuator_driver ==\n");
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test_init();
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test_apply_invalid_id();
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test_apply_pwm_out_of_range();
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test_apply_normal();
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test_release_normal();
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test_isr_samples_current();
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test_overcurrent_cutoff_after_100ms();
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test_overcurrent_below_window_no_cutoff();
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test_overcurrent_blocks_subsequent_apply();
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test_clamping_force_estimate();
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test_stop_clears_pwm();
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TEST_SUMMARY();
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}
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@@ -0,0 +1,240 @@
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/**
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* @file test_apply_controller.c
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* @brief Unit-Tests fuer den Apply-Controller (ASIL-D Kern).
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*
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* @reqs SWE-001 SWE-002 SWE-003 SWE-004
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* @arch SWA-002
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*/
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#include "../unit_test_framework.h"
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#include "../../src/apply_controller.h"
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#include "../../src/actuator_driver.h"
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TestStats g_test_stats = {0, 0};
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static ApplyInputs make_idle_inputs(void)
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{
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ApplyInputs in = {0};
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in.sw_state = SWITCH_NEUTRAL;
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in.standstill = true;
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in.engine_running = true;
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in.brake_pedal_pressed = true;
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in.gear_engaged = true;
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in.safety_apply_request = false;
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in.left_force_n = 0;
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in.right_force_n = 0;
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return in;
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}
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static void apply_full_cycle_until_state(ApplyInputs* in, EpbState target, int max_steps)
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{
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for (int i = 0; i < max_steps; ++i) {
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apply_ctrl_step_50ms(in);
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if (apply_ctrl_get_state() == target) {
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return;
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}
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}
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}
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static void test_init(void)
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{
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TEST_BEGIN("init -> RELEASED");
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(void)actuator_init();
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ASSERT_EQ(apply_ctrl_init(), EPB_OK);
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ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_RELEASED);
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TEST_END();
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}
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static void test_null_input(void)
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{
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TEST_BEGIN("step_50ms(NULL) -> last_error=EINVAL");
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(void)actuator_init();
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(void)apply_ctrl_init();
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apply_ctrl_step_50ms(NULL);
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ASSERT_EQ(apply_ctrl_last_error(), EPB_EINVAL);
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TEST_END();
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}
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static void test_apply_request_starts_applying(void)
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{
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TEST_BEGIN("Apply-Request bei Stillstand -> APPLYING");
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(void)actuator_init();
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(void)apply_ctrl_init();
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ApplyInputs in = make_idle_inputs();
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in.sw_state = SWITCH_APPLY;
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apply_ctrl_step_50ms(&in);
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ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_APPLYING);
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TEST_END();
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}
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static void test_no_apply_without_standstill(void)
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{
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TEST_BEGIN("Apply-Request ohne Stillstand wird ignoriert");
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(void)actuator_init();
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(void)apply_ctrl_init();
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ApplyInputs in = make_idle_inputs();
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in.standstill = false;
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in.sw_state = SWITCH_APPLY;
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apply_ctrl_step_50ms(&in);
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ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_RELEASED);
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TEST_END();
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}
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static void test_applying_reaches_applied_on_target_force(void)
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{
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TEST_BEGIN("APPLYING -> APPLIED wenn beide Klemmkraefte >= Target");
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(void)actuator_init();
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(void)apply_ctrl_init();
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ApplyInputs in = make_idle_inputs();
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in.sw_state = SWITCH_APPLY;
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apply_ctrl_step_50ms(&in); /* -> APPLYING */
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in.sw_state = SWITCH_NEUTRAL;
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in.left_force_n = 12000;
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in.right_force_n = 12000;
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apply_ctrl_step_50ms(&in);
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ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_APPLIED);
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TEST_END();
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}
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static void test_applying_timeout_to_error(void)
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{
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TEST_BEGIN("APPLYING-Timeout (>30 Steps) -> ERROR");
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(void)actuator_init();
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(void)apply_ctrl_init();
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ApplyInputs in = make_idle_inputs();
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in.sw_state = SWITCH_APPLY;
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apply_ctrl_step_50ms(&in); /* -> APPLYING */
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in.sw_state = SWITCH_NEUTRAL;
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/* Klemmkraefte bleiben bei 0 -> Timeout nach 30 Steps */
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apply_full_cycle_until_state(&in, EPB_STATE_ERROR, 35);
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ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_ERROR);
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ASSERT_EQ(apply_ctrl_last_error(), EPB_ETIMEOUT);
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TEST_END();
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}
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static void test_applied_holds_force(void)
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{
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TEST_BEGIN("APPLIED haelt Klemmkraft (SWE-001)");
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(void)actuator_init();
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(void)apply_ctrl_init();
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ApplyInputs in = make_idle_inputs();
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in.sw_state = SWITCH_APPLY;
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apply_ctrl_step_50ms(&in);
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in.sw_state = SWITCH_NEUTRAL;
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in.left_force_n = 12000;
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in.right_force_n = 12000;
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apply_ctrl_step_50ms(&in); /* -> APPLIED */
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/* Klemmkraft sinkt auf 10000 (unter Toleranz-Schwelle 10800) */
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in.left_force_n = 10000;
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in.right_force_n = 10000;
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apply_ctrl_step_50ms(&in);
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/* Apply-Controller muss nachregeln -> APPLYING */
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ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_APPLYING);
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TEST_END();
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}
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static void test_release_requires_preconditions(void)
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{
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TEST_BEGIN("Release ohne Engine wird abgelehnt");
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(void)actuator_init();
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(void)apply_ctrl_init();
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ApplyInputs in = make_idle_inputs();
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in.sw_state = SWITCH_APPLY;
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apply_ctrl_step_50ms(&in);
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in.sw_state = SWITCH_NEUTRAL;
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in.left_force_n = 12000;
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in.right_force_n = 12000;
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apply_ctrl_step_50ms(&in); /* -> APPLIED */
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in.sw_state = SWITCH_RELEASE;
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in.engine_running = false;
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apply_ctrl_step_50ms(&in);
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ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_APPLIED);
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TEST_END();
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}
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static void test_release_with_preconditions(void)
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{
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TEST_BEGIN("Release mit allen Voraussetzungen -> RELEASING -> RELEASED");
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(void)actuator_init();
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(void)apply_ctrl_init();
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ApplyInputs in = make_idle_inputs();
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in.sw_state = SWITCH_APPLY;
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apply_ctrl_step_50ms(&in);
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in.sw_state = SWITCH_NEUTRAL;
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in.left_force_n = 12000;
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in.right_force_n = 12000;
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apply_ctrl_step_50ms(&in); /* APPLIED */
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in.sw_state = SWITCH_RELEASE;
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apply_ctrl_step_50ms(&in);
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ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_RELEASING);
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in.sw_state = SWITCH_NEUTRAL;
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in.left_force_n = 0;
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in.right_force_n = 0;
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apply_ctrl_step_50ms(&in);
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ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_RELEASED);
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TEST_END();
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}
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static void test_safety_apply_request(void)
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{
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TEST_BEGIN("Safety-Manager Apply-Request (Hill-Hold/Auto-Apply)");
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(void)actuator_init();
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(void)apply_ctrl_init();
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ApplyInputs in = make_idle_inputs();
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in.sw_state = SWITCH_NEUTRAL;
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in.safety_apply_request = true;
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apply_ctrl_step_50ms(&in);
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ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_APPLYING);
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TEST_END();
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}
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static void test_watchdog_alive_counter(void)
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{
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TEST_BEGIN("Step-Counter steigt monoton (SWE-002 Watchdog-Alive)");
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(void)actuator_init();
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(void)apply_ctrl_init();
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ApplyInputs in = make_idle_inputs();
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uint32_t before = apply_ctrl_get_step_count();
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apply_ctrl_step_50ms(&in);
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apply_ctrl_step_50ms(&in);
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apply_ctrl_step_50ms(&in);
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ASSERT_EQ(apply_ctrl_get_step_count(), before + 3);
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TEST_END();
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}
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static void test_error_state_recoverable(void)
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{
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TEST_BEGIN("ERROR -> RELEASED bei neutralem Switch");
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(void)actuator_init();
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(void)apply_ctrl_init();
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ApplyInputs in = make_idle_inputs();
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in.sw_state = SWITCH_APPLY;
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apply_ctrl_step_50ms(&in);
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in.sw_state = SWITCH_NEUTRAL;
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apply_full_cycle_until_state(&in, EPB_STATE_ERROR, 35);
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ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_ERROR);
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apply_ctrl_step_50ms(&in);
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ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_RELEASED);
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TEST_END();
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}
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int main(void)
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{
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printf("== test_apply_controller ==\n");
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test_init();
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test_null_input();
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test_apply_request_starts_applying();
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test_no_apply_without_standstill();
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test_applying_reaches_applied_on_target_force();
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test_applying_timeout_to_error();
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test_applied_holds_force();
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test_release_requires_preconditions();
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test_release_with_preconditions();
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test_safety_apply_request();
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test_watchdog_alive_counter();
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test_error_state_recoverable();
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TEST_SUMMARY();
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}
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@@ -0,0 +1,91 @@
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||||
/**
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* @file test_switch_debouncer.c
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||||
* @brief Unit-Tests fuer den Switch-Debouncer.
|
||||
*
|
||||
* @reqs SWE-025
|
||||
* @arch SWA-006
|
||||
*/
|
||||
#include "../unit_test_framework.h"
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#include "../../src/switch_debouncer.h"
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TestStats g_test_stats = {0, 0};
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static SwitchRaw mk(bool apply, bool release)
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{
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SwitchRaw r = {0};
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r.apply_raw = apply ? 1U : 0U;
|
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r.release_raw = release ? 1U : 0U;
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return r;
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}
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static void test_init_state_is_neutral(void)
|
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{
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TEST_BEGIN("init -> neutral");
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(void)switch_init();
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ASSERT_EQ(switch_get_state(), SWITCH_NEUTRAL);
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TEST_END();
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}
|
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|
||||
static void test_debounce_apply_takes_5_samples(void)
|
||||
{
|
||||
TEST_BEGIN("apply needs 5 stable samples (50 ms)");
|
||||
(void)switch_init();
|
||||
for (int i = 0; i < 4; ++i) {
|
||||
switch_step_10ms(mk(true, false));
|
||||
ASSERT_EQ(switch_get_state(), SWITCH_NEUTRAL);
|
||||
}
|
||||
switch_step_10ms(mk(true, false));
|
||||
ASSERT_EQ(switch_get_state(), SWITCH_APPLY);
|
||||
TEST_END();
|
||||
}
|
||||
|
||||
static void test_debounce_release_takes_5_samples(void)
|
||||
{
|
||||
TEST_BEGIN("release needs 5 stable samples (50 ms)");
|
||||
(void)switch_init();
|
||||
for (int i = 0; i < 5; ++i) {
|
||||
switch_step_10ms(mk(false, true));
|
||||
}
|
||||
ASSERT_EQ(switch_get_state(), SWITCH_RELEASE);
|
||||
TEST_END();
|
||||
}
|
||||
|
||||
static void test_bounce_does_not_change_state(void)
|
||||
{
|
||||
TEST_BEGIN("bouncing input keeps current state");
|
||||
(void)switch_init();
|
||||
for (int i = 0; i < 5; ++i) {
|
||||
switch_step_10ms(mk(true, false));
|
||||
}
|
||||
ASSERT_EQ(switch_get_state(), SWITCH_APPLY);
|
||||
/* Bounce: 1 sample apply, 1 sample neutral, 1 sample release ... */
|
||||
switch_step_10ms(mk(true, false));
|
||||
switch_step_10ms(mk(false, false));
|
||||
switch_step_10ms(mk(false, true));
|
||||
switch_step_10ms(mk(true, false));
|
||||
switch_step_10ms(mk(false, false));
|
||||
ASSERT_EQ(switch_get_state(), SWITCH_APPLY);
|
||||
TEST_END();
|
||||
}
|
||||
|
||||
static void test_both_pressed_is_neutral(void)
|
||||
{
|
||||
TEST_BEGIN("both apply+release pressed -> neutral");
|
||||
(void)switch_init();
|
||||
for (int i = 0; i < 5; ++i) {
|
||||
switch_step_10ms(mk(true, true));
|
||||
}
|
||||
ASSERT_EQ(switch_get_state(), SWITCH_NEUTRAL);
|
||||
TEST_END();
|
||||
}
|
||||
|
||||
int main(void)
|
||||
{
|
||||
printf("== test_switch_debouncer ==\n");
|
||||
test_init_state_is_neutral();
|
||||
test_debounce_apply_takes_5_samples();
|
||||
test_debounce_release_takes_5_samples();
|
||||
test_bounce_does_not_change_state();
|
||||
test_both_pressed_is_neutral();
|
||||
TEST_SUMMARY();
|
||||
}
|
||||
Reference in New Issue
Block a user