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Initial commit: demo-epb v1.0 — Elektrische Parkbremse Demo

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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
2026-05-11 13:51:02 -07:00
commit 1855162e6d
92 changed files with 4116 additions and 0 deletions
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tests/unit/test_apply_controller.c
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/**
* @file test_apply_controller.c
* @brief Unit-Tests fuer den Apply-Controller (ASIL-D Kern).
*
* @reqs SWE-001 SWE-002 SWE-003 SWE-004
* @arch SWA-002
*/
#include "../unit_test_framework.h"
#include "../../src/apply_controller.h"
#include "../../src/actuator_driver.h"
TestStats g_test_stats = {0, 0};
static ApplyInputs make_idle_inputs(void)
{
ApplyInputs in = {0};
in.sw_state = SWITCH_NEUTRAL;
in.standstill = true;
in.engine_running = true;
in.brake_pedal_pressed = true;
in.gear_engaged = true;
in.safety_apply_request = false;
in.left_force_n = 0;
in.right_force_n = 0;
return in;
}
static void apply_full_cycle_until_state(ApplyInputs* in, EpbState target, int max_steps)
{
for (int i = 0; i < max_steps; ++i) {
apply_ctrl_step_50ms(in);
if (apply_ctrl_get_state() == target) {
return;
}
}
}
static void test_init(void)
{
TEST_BEGIN("init -> RELEASED");
(void)actuator_init();
ASSERT_EQ(apply_ctrl_init(), EPB_OK);
ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_RELEASED);
TEST_END();
}
static void test_null_input(void)
{
TEST_BEGIN("step_50ms(NULL) -> last_error=EINVAL");
(void)actuator_init();
(void)apply_ctrl_init();
apply_ctrl_step_50ms(NULL);
ASSERT_EQ(apply_ctrl_last_error(), EPB_EINVAL);
TEST_END();
}
static void test_apply_request_starts_applying(void)
{
TEST_BEGIN("Apply-Request bei Stillstand -> APPLYING");
(void)actuator_init();
(void)apply_ctrl_init();
ApplyInputs in = make_idle_inputs();
in.sw_state = SWITCH_APPLY;
apply_ctrl_step_50ms(&in);
ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_APPLYING);
TEST_END();
}
static void test_no_apply_without_standstill(void)
{
TEST_BEGIN("Apply-Request ohne Stillstand wird ignoriert");
(void)actuator_init();
(void)apply_ctrl_init();
ApplyInputs in = make_idle_inputs();
in.standstill = false;
in.sw_state = SWITCH_APPLY;
apply_ctrl_step_50ms(&in);
ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_RELEASED);
TEST_END();
}
static void test_applying_reaches_applied_on_target_force(void)
{
TEST_BEGIN("APPLYING -> APPLIED wenn beide Klemmkraefte >= Target");
(void)actuator_init();
(void)apply_ctrl_init();
ApplyInputs in = make_idle_inputs();
in.sw_state = SWITCH_APPLY;
apply_ctrl_step_50ms(&in); /* -> APPLYING */
in.sw_state = SWITCH_NEUTRAL;
in.left_force_n = 12000;
in.right_force_n = 12000;
apply_ctrl_step_50ms(&in);
ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_APPLIED);
TEST_END();
}
static void test_applying_timeout_to_error(void)
{
TEST_BEGIN("APPLYING-Timeout (>30 Steps) -> ERROR");
(void)actuator_init();
(void)apply_ctrl_init();
ApplyInputs in = make_idle_inputs();
in.sw_state = SWITCH_APPLY;
apply_ctrl_step_50ms(&in); /* -> APPLYING */
in.sw_state = SWITCH_NEUTRAL;
/* Klemmkraefte bleiben bei 0 -> Timeout nach 30 Steps */
apply_full_cycle_until_state(&in, EPB_STATE_ERROR, 35);
ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_ERROR);
ASSERT_EQ(apply_ctrl_last_error(), EPB_ETIMEOUT);
TEST_END();
}
static void test_applied_holds_force(void)
{
TEST_BEGIN("APPLIED haelt Klemmkraft (SWE-001)");
(void)actuator_init();
(void)apply_ctrl_init();
ApplyInputs in = make_idle_inputs();
in.sw_state = SWITCH_APPLY;
apply_ctrl_step_50ms(&in);
in.sw_state = SWITCH_NEUTRAL;
in.left_force_n = 12000;
in.right_force_n = 12000;
apply_ctrl_step_50ms(&in); /* -> APPLIED */
/* Klemmkraft sinkt auf 10000 (unter Toleranz-Schwelle 10800) */
in.left_force_n = 10000;
in.right_force_n = 10000;
apply_ctrl_step_50ms(&in);
/* Apply-Controller muss nachregeln -> APPLYING */
ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_APPLYING);
TEST_END();
}
static void test_release_requires_preconditions(void)
{
TEST_BEGIN("Release ohne Engine wird abgelehnt");
(void)actuator_init();
(void)apply_ctrl_init();
ApplyInputs in = make_idle_inputs();
in.sw_state = SWITCH_APPLY;
apply_ctrl_step_50ms(&in);
in.sw_state = SWITCH_NEUTRAL;
in.left_force_n = 12000;
in.right_force_n = 12000;
apply_ctrl_step_50ms(&in); /* -> APPLIED */
in.sw_state = SWITCH_RELEASE;
in.engine_running = false;
apply_ctrl_step_50ms(&in);
ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_APPLIED);
TEST_END();
}
static void test_release_with_preconditions(void)
{
TEST_BEGIN("Release mit allen Voraussetzungen -> RELEASING -> RELEASED");
(void)actuator_init();
(void)apply_ctrl_init();
ApplyInputs in = make_idle_inputs();
in.sw_state = SWITCH_APPLY;
apply_ctrl_step_50ms(&in);
in.sw_state = SWITCH_NEUTRAL;
in.left_force_n = 12000;
in.right_force_n = 12000;
apply_ctrl_step_50ms(&in); /* APPLIED */
in.sw_state = SWITCH_RELEASE;
apply_ctrl_step_50ms(&in);
ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_RELEASING);
in.sw_state = SWITCH_NEUTRAL;
in.left_force_n = 0;
in.right_force_n = 0;
apply_ctrl_step_50ms(&in);
ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_RELEASED);
TEST_END();
}
static void test_safety_apply_request(void)
{
TEST_BEGIN("Safety-Manager Apply-Request (Hill-Hold/Auto-Apply)");
(void)actuator_init();
(void)apply_ctrl_init();
ApplyInputs in = make_idle_inputs();
in.sw_state = SWITCH_NEUTRAL;
in.safety_apply_request = true;
apply_ctrl_step_50ms(&in);
ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_APPLYING);
TEST_END();
}
static void test_watchdog_alive_counter(void)
{
TEST_BEGIN("Step-Counter steigt monoton (SWE-002 Watchdog-Alive)");
(void)actuator_init();
(void)apply_ctrl_init();
ApplyInputs in = make_idle_inputs();
uint32_t before = apply_ctrl_get_step_count();
apply_ctrl_step_50ms(&in);
apply_ctrl_step_50ms(&in);
apply_ctrl_step_50ms(&in);
ASSERT_EQ(apply_ctrl_get_step_count(), before + 3);
TEST_END();
}
static void test_error_state_recoverable(void)
{
TEST_BEGIN("ERROR -> RELEASED bei neutralem Switch");
(void)actuator_init();
(void)apply_ctrl_init();
ApplyInputs in = make_idle_inputs();
in.sw_state = SWITCH_APPLY;
apply_ctrl_step_50ms(&in);
in.sw_state = SWITCH_NEUTRAL;
apply_full_cycle_until_state(&in, EPB_STATE_ERROR, 35);
ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_ERROR);
apply_ctrl_step_50ms(&in);
ASSERT_EQ(apply_ctrl_get_state(), EPB_STATE_RELEASED);
TEST_END();
}
int main(void)
{
printf("== test_apply_controller ==\n");
test_init();
test_null_input();
test_apply_request_starts_applying();
test_no_apply_without_standstill();
test_applying_reaches_applied_on_target_force();
test_applying_timeout_to_error();
test_applied_holds_force();
test_release_requires_preconditions();
test_release_with_preconditions();
test_safety_apply_request();
test_watchdog_alive_counter();
test_error_state_recoverable();
TEST_SUMMARY();
}