diff --git a/.gitea/workflows/validate.yml b/.gitea/workflows/validate.yml index f7b7fde..248740f 100644 --- a/.gitea/workflows/validate.yml +++ b/.gitea/workflows/validate.yml @@ -23,7 +23,6 @@ jobs: lcov \ python3 python3-pip \ git ca-certificates - pip3 install --break-system-packages doorstop || pip3 install doorstop || true - name: Static Analysis (Cppcheck) run: make static @@ -38,11 +37,14 @@ jobs: - name: Coverage Report run: make coverage - - name: Doorstop Check - run: | - if [ -f .doorstop.yml ]; then - doorstop || echo "Doorstop check produced warnings" - fi + - name: Traceability Check + run: python3 tools/traceability.py check + + - name: Traceability Matrix publishen + run: python3 tools/traceability.py publish docs/traceability + + - name: PlantUML Diagramme rendern + run: python3 tools/render_plantuml.py - name: Upload Coverage HTML uses: actions/upload-artifact@v3 @@ -51,6 +53,20 @@ jobs: name: coverage-html path: build/coverage-html/ + - name: Upload Traceability Matrix + uses: actions/upload-artifact@v3 + if: always() + with: + name: traceability + path: docs/traceability/ + + - name: Upload Architektur-Diagramme + uses: actions/upload-artifact@v3 + if: always() + with: + name: architecture-diagrams + path: docs/diagrams/ + - name: Upload Test Results uses: actions/upload-artifact@v3 if: always() diff --git a/Makefile b/Makefile index 75482fd..8ebc87d 100644 --- a/Makefile +++ b/Makefile @@ -13,10 +13,12 @@ BUILD = build SRCS = $(SRC_DIR)/switch_debouncer.c \ $(SRC_DIR)/actuator_driver.c \ - $(SRC_DIR)/apply_controller.c + $(SRC_DIR)/apply_controller.c \ + $(SRC_DIR)/safety_manager.c OBJS = $(SRCS:%.c=$(BUILD)/%.o) -TESTS = test_switch_debouncer test_actuator_driver test_apply_controller +TESTS = test_switch_debouncer test_actuator_driver test_apply_controller \ + test_safety_manager TEST_BINS = $(TESTS:%=$(BUILD)/%) .PHONY: all test coverage clean misra static diff --git a/arch/swe/SWA-001.md b/arch/swe/SWA-001.md index 2b0c773..5861d9f 100644 --- a/arch/swe/SWA-001.md +++ b/arch/swe/SWA-001.md @@ -10,6 +10,8 @@ links: - SWE-008 - SWE-009 - SWE-010 + - SWE-011 + - SWE-012 asil: D --- diff --git a/arch/swe/SWA-002.md b/arch/swe/SWA-002.md index 35ab07d..6aea22e 100644 --- a/arch/swe/SWA-002.md +++ b/arch/swe/SWA-002.md @@ -10,6 +10,7 @@ links: - SWE-002 - SWE-003 - SWE-004 + - SWE-005 asil: D --- diff --git a/docs/diagrams/SA-001-1.svg b/docs/diagrams/SA-001-1.svg new file mode 100644 index 0000000..cfbe632 --- /dev/null +++ b/docs/diagrams/SA-001-1.svg @@ -0,0 +1 @@ +EPB ECUAktor linksAktor rechtsWheel Speed Sensoren (x4)InclinometerEPB-Schalter + LEDCAN-BusKombi-DisplayOBD-TesterPWM, I-MessPWM, I-MessPulseSPIGPIOLED \ No newline at end of file diff --git a/docs/diagrams/SWA-001-1.svg b/docs/diagrams/SWA-001-1.svg new file mode 100644 index 0000000..3ef2bf0 --- /dev/null +++ b/docs/diagrams/SWA-001-1.svg @@ -0,0 +1 @@ +Safety ManagerEngine State MonitorHill-Hold LogicAuto-Apply LogicApply ControllerWheel Speed PlausiInclinometer FilterApply-Anforderungv_vehiclegrade \ No newline at end of file diff --git a/docs/diagrams/SWA-001-2.svg b/docs/diagrams/SWA-001-2.svg new file mode 100644 index 0000000..df9a66e --- /dev/null +++ b/docs/diagrams/SWA-001-2.svg @@ -0,0 +1 @@ +IdleHillHoldArmedHillHoldActiveAutoApplyArmedAutoApplyTriggeredgrade>5% & v=0 & brakebrake releasedv>2 km/hengine_off & v=0t>=2sapplied \ No newline at end of file diff --git a/docs/diagrams/SWA-002-1.svg b/docs/diagrams/SWA-002-1.svg new file mode 100644 index 0000000..0dd74ea --- /dev/null +++ b/docs/diagrams/SWA-002-1.svg @@ -0,0 +1 @@ +Apply ControllerActuator Driver LActuator Driver RSwitch DebouncerSafety ManagerDisplay ManagerWatchdogapply/releaseapply/releasesw_apply, sw_releaseauto_apply, hill_hold_requeststatusalive_check \ No newline at end of file diff --git a/docs/diagrams/SWA-002-2.svg b/docs/diagrams/SWA-002-2.svg new file mode 100644 index 0000000..3d71f55 --- /dev/null +++ b/docs/diagrams/SWA-002-2.svg @@ -0,0 +1 @@ +ReleasedApplyingAppliedReleasingErrorapply_request & v_lowcurrent_target_reachedrelease_request & preconditions_ok50ms hold check (re-clamp if needed)release_completetimeout > 1500mstimeout > 1200msreset & no fault \ No newline at end of file diff --git a/docs/diagrams/SWA-003-1.svg b/docs/diagrams/SWA-003-1.svg new file mode 100644 index 0000000..720965d --- /dev/null +++ b/docs/diagrams/SWA-003-1.svg @@ -0,0 +1 @@ +Apply ControllerActuator DriverHardware PWMHardware ADCDiagnostic Managerpwm_setcurrent_sampleDTC \ No newline at end of file diff --git a/docs/traceability/index.html b/docs/traceability/index.html new file mode 100644 index 0000000..4e92be4 --- /dev/null +++ b/docs/traceability/index.html @@ -0,0 +1,29 @@ + + +demo-epb — Traceability Matrix + +

demo-epb — Traceability Matrix

+

Generiert aus 50 Items (SYS: 10, SWE: 25, SA: 5, SWA: 10).

+ + + + + + + + + + + + +
System-RequirementSystem-Arch (SA)Software-Req (SWE)Software-Arch (SWA)
SYS-001 D
Halten der Parkbremse im Stillstand
SA-001 D
EPB ECU
SA-002 D
Aktoren (Caliper-Motoren)
SWE-001 D
Apply-Controller haelt Klemmkraft
SWE-002 D
Watchdog ueberwacht Apply-Controller
SWE-022 B
Stillstands-Erkennung aus Wheel Speeds
SWA-002 D
Apply Controller
SWA-004 B
Wheel Speed Plausibilisierung
SYS-002 D
Apply auf Fahrer-Anforderung
SA-001 D
EPB ECU
SA-002 D
Aktoren (Caliper-Motoren)
SWE-003 D
Schalter-Apply-Signal an Apply-Controller weiterleiten
SWE-004 D
Klemmkraft-Erreichen bestaetigen
SWE-022 B
Stillstands-Erkennung aus Wheel Speeds
SWE-025 QM
Switch-Debouncing
SWA-002 D
Apply Controller
SWA-004 B
Wheel Speed Plausibilisierung
SWA-006 QM
Switch Debouncer
SYS-003 B
Release auf Fahrer-Anforderung
SA-001 D
EPB ECU
SA-002 D
Aktoren (Caliper-Motoren)
SWE-005 B
Release-Voraussetzungen pruefen
SWE-006 B
Aktoren in Release-Position fahren
SWE-025 QM
Switch-Debouncing
SWA-002 D
Apply Controller
SWA-003 B
Actuator Driver
SWA-006 QM
Switch Debouncer
SYS-004 D
Auto-Apply bei Motor-Aus
SA-001 D
EPB ECU
SWE-007 D
Motor-Aus-Bedingung erkennen
SWE-008 D
Auto-Apply nach 2 s Verzoegerung
SWA-001 D
Safety Manager
SYS-005 D
Hill-Hold am Berg
SA-001 D
EPB ECU
SA-003 B
Sensor-Cluster
SWE-009 D
Hill-Hold-Aktivierungsbedingung
SWE-010 D
Hill-Hold-Uebergabe an Apply-Controller
SWE-024 B
Inclinometer Tiefpass-Filter
SWA-001 D
Safety Manager
SWA-005 B
Inclinometer Filter
SYS-006 B
Auto-Release beim Anfahren (Drive-Away-Assist)
SA-001 D
EPB ECU
SA-003 B
Sensor-Cluster
SWE-011 B
Anfahrabsicht erkennen
SWE-012 B
Sicherheits-Check vor Auto-Release
SWE-022 B
Stillstands-Erkennung aus Wheel Speeds
SWA-001 D
Safety Manager
SWA-004 B
Wheel Speed Plausibilisierung
SYS-007 B
Aktor-Stromueberwachung
SA-001 D
EPB ECU
SA-002 D
Aktoren (Caliper-Motoren)
SA-003 B
Sensor-Cluster
SWE-013 B
Strommessung mit 1 kHz
SWE-014 B
Overcurrent-Cutoff
SWE-015 B
Klemmkraft-Schaetzung aus Strom-Profil
SWE-023 B
Wheel Speed Plausibilisierung
SWA-003 B
Actuator Driver
SWA-004 B
Wheel Speed Plausibilisierung
SYS-008 QM
Service-Modus fuer Werkstatt
SA-001 D
EPB ECU
SA-004 QM
HMI (Schalter, LED, Display)
SWE-016 QM
UDS RoutineControl 0x31 fuer Service-Release
SWE-017 QM
Service-Mode-Indikator
SWA-009 QM
Service Mode
SYS-009 QM
UDS-Diagnose
SA-001 D
EPB ECU
SA-005 QM
CAN-Bus
SWE-018 QM
UDS Service 0x19 ReadDTC
SWE-019 QM
UDS Service 0x22 ReadDataByIdentifier
SWA-008 QM
Diagnostic Manager
SWA-010 QM
Logger
SYS-010 QM
HMI-Statusanzeige
SA-001 D
EPB ECU
SA-004 QM
HMI (Schalter, LED, Display)
SA-005 QM
CAN-Bus
SWE-020 QM
LED-Steuerung
SWE-021 QM
CAN-Status-Frame
SWA-007 QM
Display Manager
\ No newline at end of file diff --git a/docs/traceability/matrix.json b/docs/traceability/matrix.json new file mode 100644 index 0000000..249864b --- /dev/null +++ b/docs/traceability/matrix.json @@ -0,0 +1,404 @@ +[ + { + "sys": { + "id": "SYS-001", + "asil": "D", + "title": "Halten der Parkbremse im Stillstand" + }, + "sa": [ + { + "id": "SA-001", + "asil": "D" + }, + { + "id": "SA-002", + "asil": "D" + } + ], + "swe": [ + { + "id": "SWE-001", + "asil": "D" + }, + { + "id": "SWE-002", + "asil": "D" + }, + { + "id": "SWE-022", + "asil": "B" + } + ], + "swa": [ + { + "id": "SWA-002", + "asil": "D" + }, + { + "id": "SWA-004", + "asil": "B" + } + ] + }, + { + "sys": { + "id": "SYS-002", + "asil": "D", + "title": "Apply auf Fahrer-Anforderung" + }, + "sa": [ + { + "id": "SA-001", + "asil": "D" + }, + { + "id": "SA-002", + "asil": "D" + } + ], + "swe": [ + { + "id": "SWE-003", + "asil": "D" + }, + { + "id": "SWE-004", + "asil": "D" + }, + { + "id": "SWE-022", + "asil": "B" + }, + { + "id": "SWE-025", + "asil": "QM" + } + ], + "swa": [ + { + "id": "SWA-002", + "asil": "D" + }, + { + "id": "SWA-004", + "asil": "B" + }, + { + "id": "SWA-006", + "asil": "QM" + } + ] + }, + { + "sys": { + "id": "SYS-003", + "asil": "B", + "title": "Release auf Fahrer-Anforderung" + }, + "sa": [ + { + "id": "SA-001", + "asil": "D" + }, + { + "id": "SA-002", + "asil": "D" + } + ], + "swe": [ + { + "id": "SWE-005", + "asil": "B" + }, + { + "id": "SWE-006", + "asil": "B" + }, + { + "id": "SWE-025", + "asil": "QM" + } + ], + "swa": [ + { + "id": "SWA-002", + "asil": "D" + }, + { + "id": "SWA-003", + "asil": "B" + }, + { + "id": "SWA-006", + "asil": "QM" + } + ] + }, + { + "sys": { + "id": "SYS-004", + "asil": "D", + "title": "Auto-Apply bei Motor-Aus" + }, + "sa": [ + { + "id": "SA-001", + "asil": "D" + } + ], + "swe": [ + { + "id": "SWE-007", + "asil": "D" + }, + { + "id": "SWE-008", + "asil": "D" + } + ], + "swa": [ + { + "id": "SWA-001", + "asil": "D" + } + ] + }, + { + "sys": { + "id": "SYS-005", + "asil": "D", + "title": "Hill-Hold am Berg" + }, + "sa": [ + { + "id": "SA-001", + "asil": "D" + }, + { + "id": "SA-003", + "asil": "B" + } + ], + "swe": [ + { + "id": "SWE-009", + "asil": "D" + }, + { + "id": "SWE-010", + "asil": "D" + }, + { + "id": "SWE-024", + "asil": "B" + } + ], + "swa": [ + { + "id": "SWA-001", + "asil": "D" + }, + { + "id": "SWA-005", + "asil": "B" + } + ] + }, + { + "sys": { + "id": "SYS-006", + "asil": "B", + "title": "Auto-Release beim Anfahren (Drive-Away-Assist)" + }, + "sa": [ + { + "id": "SA-001", + "asil": "D" + }, + { + "id": "SA-003", + "asil": "B" + } + ], + "swe": [ + { + "id": "SWE-011", + "asil": "B" + }, + { + "id": "SWE-012", + "asil": "B" + }, + { + "id": "SWE-022", + "asil": "B" + } + ], + "swa": [ + { + "id": "SWA-001", + "asil": "D" + }, + { + "id": "SWA-004", + "asil": "B" + } + ] + }, + { + "sys": { + "id": "SYS-007", + "asil": "B", + "title": "Aktor-Stromueberwachung" + }, + "sa": [ + { + "id": "SA-001", + "asil": "D" + }, + { + "id": "SA-002", + "asil": "D" + }, + { + "id": "SA-003", + "asil": "B" + } + ], + "swe": [ + { + "id": "SWE-013", + "asil": "B" + }, + { + "id": "SWE-014", + "asil": "B" + }, + { + "id": "SWE-015", + "asil": "B" + }, + { + "id": "SWE-023", + "asil": "B" + } + ], + "swa": [ + { + "id": "SWA-003", + "asil": "B" + }, + { + "id": "SWA-004", + "asil": "B" + } + ] + }, + { + "sys": { + "id": "SYS-008", + "asil": "QM", + "title": "Service-Modus fuer Werkstatt" + }, + "sa": [ + { + "id": "SA-001", + "asil": "D" + }, + { + "id": "SA-004", + "asil": "QM" + } + ], + "swe": [ + { + "id": "SWE-016", + "asil": "QM" + }, + { + "id": "SWE-017", + "asil": "QM" + } + ], + "swa": [ + { + "id": "SWA-009", + "asil": "QM" + } + ] + }, + { + "sys": { + "id": "SYS-009", + "asil": "QM", + "title": "UDS-Diagnose" + }, + "sa": [ + { + "id": "SA-001", + "asil": "D" + }, + { + "id": "SA-005", + "asil": "QM" + } + ], + "swe": [ + { + "id": "SWE-018", + "asil": "QM" + }, + { + "id": "SWE-019", + "asil": "QM" + } + ], + "swa": [ + { + "id": "SWA-008", + "asil": "QM" + }, + { + "id": "SWA-010", + "asil": "QM" + } + ] + }, + { + "sys": { + "id": "SYS-010", + "asil": "QM", + "title": "HMI-Statusanzeige" + }, + "sa": [ + { + "id": "SA-001", + "asil": "D" + }, + { + "id": "SA-004", + "asil": "QM" + }, + { + "id": "SA-005", + "asil": "QM" + } + ], + "swe": [ + { + "id": "SWE-020", + "asil": "QM" + }, + { + "id": "SWE-021", + "asil": "QM" + } + ], + "swa": [ + { + "id": "SWA-007", + "asil": "QM" + } + ] + } +] \ No newline at end of file diff --git a/src/safety_manager.c b/src/safety_manager.c new file mode 100644 index 0000000..4634984 --- /dev/null +++ b/src/safety_manager.c @@ -0,0 +1,139 @@ +/** + * @file safety_manager.c + * @brief Safety Manager — Hill-Hold + Auto-Apply Logik. + * + * @arch SWA-001 + * @reqs SWE-007 SWE-008 SWE-009 SWE-010 + * + * ASIL: D. Diese Komponente entscheidet, wann der Apply Controller eine + * Apply-Anforderung erhaelt (Hill-Hold-Uebergabe, Auto-Apply bei Motor-Aus). + * Aenderungen erfordern Technical Review mit 2 Approvals. + */ +#include + +#include "safety_manager.h" + +typedef struct { + SafetyState state; + uint16_t ticks_in_state; /* 50ms-Ticks im aktuellen Zustand */ + bool apply_requested; +} SafetyCtx; + +static SafetyCtx s_ctx; + +static void enter(SafetyState s) +{ + s_ctx.state = s; + s_ctx.ticks_in_state = 0U; +} + +static bool standstill(const SafetyInputs* in) +{ + return in->vehicle_speed_kmh < SAFETY_STANDSTILL_KMH; +} + +static bool grade_steep(const SafetyInputs* in) +{ + /* @reqs SWE-009: Hill-Hold ab |grade| > 5% */ + float g = in->grade_percent; + if (g < 0.0f) { + g = -g; + } + return g > SAFETY_HILLHOLD_GRADE_PCT; +} + +EpbStatus safety_mgr_init(void) +{ + s_ctx.state = SAFETY_IDLE; + s_ctx.ticks_in_state = 0U; + s_ctx.apply_requested = false; + return EPB_OK; +} + +void safety_mgr_step_50ms(const SafetyInputs* in) +{ + if (in == NULL) { + return; + } + + if (s_ctx.ticks_in_state < UINT16_MAX) { + ++s_ctx.ticks_in_state; + } + + /* Default: no apply request unless explicitly set below. */ + s_ctx.apply_requested = false; + + switch (s_ctx.state) { + case SAFETY_IDLE: + /* @reqs SWE-009: Hill-Hold-Aktivierung */ + if (grade_steep(in) && standstill(in) && in->brake_pedal_pressed) { + enter(SAFETY_HILL_HOLD_ARMED); + break; + } + /* @reqs SWE-007: Motor-Aus-Bedingung erkennen */ + if (!in->engine_running && standstill(in) + && in->current_state != EPB_STATE_APPLIED + && in->current_state != EPB_STATE_APPLYING) { + enter(SAFETY_AUTO_APPLY_ARMED); + } + break; + + case SAFETY_HILL_HOLD_ARMED: + /* @reqs SWE-010: Beim Loslassen des Bremspedals Apply triggern */ + if (!in->brake_pedal_pressed) { + s_ctx.apply_requested = true; + enter(SAFETY_HILL_HOLD_ACTIVE); + break; + } + /* Bedingung fuer Hill-Hold nicht mehr erfuellt? */ + if (!grade_steep(in) || !standstill(in)) { + enter(SAFETY_IDLE); + } + break; + + case SAFETY_HILL_HOLD_ACTIVE: + /* Beendet, wenn Fahrzeug rollt oder Bremse appliziert */ + if (in->vehicle_speed_kmh > SAFETY_RELEASE_KMH + || in->current_state == EPB_STATE_APPLIED) { + enter(SAFETY_IDLE); + } else { + s_ctx.apply_requested = true; + } + break; + + case SAFETY_AUTO_APPLY_ARMED: + /* Bedingung muss durchgaengig erfuellt sein */ + if (in->engine_running || !standstill(in)) { + enter(SAFETY_IDLE); + break; + } + /* @reqs SWE-008: Auto-Apply nach 2 s (40 Ticks) Verzoegerung */ + if (s_ctx.ticks_in_state >= SAFETY_AUTO_APPLY_DELAY_50MS) { + s_ctx.apply_requested = true; + enter(SAFETY_AUTO_APPLY_TRIGGERED); + } + break; + + case SAFETY_AUTO_APPLY_TRIGGERED: + if (in->current_state == EPB_STATE_APPLIED) { + enter(SAFETY_IDLE); + } else { + s_ctx.apply_requested = true; + } + break; + + default: + enter(SAFETY_IDLE); + break; + } +} + +bool safety_mgr_apply_requested(void) +{ + return s_ctx.apply_requested; +} + +SafetyState safety_mgr_get_state(void) +{ + return s_ctx.state; +} diff --git a/src/safety_manager.h b/src/safety_manager.h new file mode 100644 index 0000000..784a69d --- /dev/null +++ b/src/safety_manager.h @@ -0,0 +1,51 @@ +/** + * @file safety_manager.h + * @brief Safety Manager — Hill-Hold + Auto-Apply Logik. + * + * @arch SWA-001 + * @reqs SWE-007 SWE-008 SWE-009 SWE-010 + * + * ASIL: D. + * + * State Machine: + * IDLE --(engine_off & v<0.5)--> AUTO_APPLY_ARMED + * AUTO_APPLY_ARMED --(40 * 50ms = 2s)--> AUTO_APPLY_TRIGGERED + * AUTO_APPLY_TRIGGERED --(state==APPLIED)--> IDLE + * + * IDLE --(grade>5% & v<0.5 & brake)--> HILL_HOLD_ARMED + * HILL_HOLD_ARMED --(!brake)--> HILL_HOLD_ACTIVE + * HILL_HOLD_ACTIVE --(v>2 km/h | state==APPLIED)--> IDLE + */ +#ifndef SAFETY_MANAGER_H +#define SAFETY_MANAGER_H + +#include "epb_types.h" + +typedef enum { + SAFETY_IDLE = 0, + SAFETY_HILL_HOLD_ARMED = 1, + SAFETY_HILL_HOLD_ACTIVE = 2, + SAFETY_AUTO_APPLY_ARMED = 3, + SAFETY_AUTO_APPLY_TRIGGERED = 4 +} SafetyState; + +typedef struct { + bool engine_running; + bool brake_pedal_pressed; + float vehicle_speed_kmh; + float grade_percent; + EpbState current_state; /* aus Apply Controller */ +} SafetyInputs; + +/* Schwellwerte als Konstanten, damit Tests darauf zugreifen koennen. */ +#define SAFETY_AUTO_APPLY_DELAY_50MS 40U /* 40 * 50ms = 2.0 s */ +#define SAFETY_STANDSTILL_KMH 0.5f +#define SAFETY_RELEASE_KMH 2.0f +#define SAFETY_HILLHOLD_GRADE_PCT 5.0f + +EpbStatus safety_mgr_init(void); +void safety_mgr_step_50ms(const SafetyInputs* in); +bool safety_mgr_apply_requested(void); +SafetyState safety_mgr_get_state(void); + +#endif /* SAFETY_MANAGER_H */ diff --git a/src/stubs/safety_manager.h b/src/stubs/safety_manager.h deleted file mode 100644 index 9db5241..0000000 --- a/src/stubs/safety_manager.h +++ /dev/null @@ -1,27 +0,0 @@ -/** - * @file safety_manager.h - * @brief Safety Manager — Hill-Hold + Auto-Apply Logik. - * - * @arch SWA-001 - * @reqs SWE-007 SWE-008 SWE-009 SWE-010 - * - * ASIL: D. STUB — nicht implementiert in dieser Demo. - */ -#ifndef SAFETY_MANAGER_H -#define SAFETY_MANAGER_H - -#include "../epb_types.h" - -typedef struct { - bool engine_running; - bool brake_pedal_pressed; - float vehicle_speed_kmh; - float grade_percent; - EpbState current_state; -} SafetyInputs; - -EpbStatus safety_mgr_init(void); -void safety_mgr_step_50ms(const SafetyInputs* in); -bool safety_mgr_apply_requested(void); - -#endif diff --git a/tests/unit/test_safety_manager.c b/tests/unit/test_safety_manager.c new file mode 100644 index 0000000..d8b9bba --- /dev/null +++ b/tests/unit/test_safety_manager.c @@ -0,0 +1,240 @@ +/** + * @file test_safety_manager.c + * @brief Unit-Tests fuer den Safety Manager (ASIL-D). + * + * @reqs SWE-007 SWE-008 SWE-009 SWE-010 + * @arch SWA-001 + */ +#include "../unit_test_framework.h" +#include "../../src/safety_manager.h" + +TestStats g_test_stats = {0, 0}; + +static SafetyInputs make_driving(void) +{ + SafetyInputs in = {0}; + in.engine_running = true; + in.brake_pedal_pressed = false; + in.vehicle_speed_kmh = 50.0f; + in.grade_percent = 0.0f; + in.current_state = EPB_STATE_RELEASED; + return in; +} + +static SafetyInputs make_standstill(void) +{ + SafetyInputs in = make_driving(); + in.vehicle_speed_kmh = 0.0f; + in.brake_pedal_pressed = true; + return in; +} + +static void step_n(SafetyInputs* in, int n) +{ + for (int i = 0; i < n; ++i) { + safety_mgr_step_50ms(in); + } +} + +static void test_init(void) +{ + TEST_BEGIN("init -> IDLE, kein Apply-Request"); + ASSERT_EQ(safety_mgr_init(), EPB_OK); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_IDLE); + ASSERT_TRUE(!safety_mgr_apply_requested()); + TEST_END(); +} + +static void test_null_input(void) +{ + TEST_BEGIN("NULL Input ist no-op"); + (void)safety_mgr_init(); + safety_mgr_step_50ms(NULL); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_IDLE); + TEST_END(); +} + +/* ---- Auto-Apply (SWE-007 + SWE-008) ---- */ + +static void test_auto_apply_armed_on_engine_off(void) +{ + TEST_BEGIN("SWE-007: Motor aus + Stillstand -> AUTO_APPLY_ARMED"); + (void)safety_mgr_init(); + SafetyInputs in = make_driving(); + in.engine_running = false; + in.vehicle_speed_kmh = 0.0f; + safety_mgr_step_50ms(&in); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_AUTO_APPLY_ARMED); + ASSERT_TRUE(!safety_mgr_apply_requested()); + TEST_END(); +} + +static void test_auto_apply_triggers_after_2s(void) +{ + TEST_BEGIN("SWE-008: nach ca. 2s -> TRIGGERED + Apply-Request"); + (void)safety_mgr_init(); + SafetyInputs in = make_driving(); + in.engine_running = false; + in.vehicle_speed_kmh = 0.0f; + /* Halfway: still armed, no request */ + step_n(&in, 20); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_AUTO_APPLY_ARMED); + ASSERT_TRUE(!safety_mgr_apply_requested()); + /* Run up to TRIGGERED within at most 25 more steps (~2 s leeway) */ + for (int i = 0; i < 25; ++i) { + safety_mgr_step_50ms(&in); + if (safety_mgr_get_state() == SAFETY_AUTO_APPLY_TRIGGERED) break; + } + ASSERT_EQ(safety_mgr_get_state(), SAFETY_AUTO_APPLY_TRIGGERED); + ASSERT_TRUE(safety_mgr_apply_requested()); + TEST_END(); +} + +static void test_auto_apply_aborts_on_engine_on(void) +{ + TEST_BEGIN("Auto-Apply bricht ab wenn Motor wieder an"); + (void)safety_mgr_init(); + SafetyInputs in = make_driving(); + in.engine_running = false; + in.vehicle_speed_kmh = 0.0f; + step_n(&in, 20); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_AUTO_APPLY_ARMED); + in.engine_running = true; + safety_mgr_step_50ms(&in); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_IDLE); + TEST_END(); +} + +static void test_auto_apply_returns_idle_when_applied(void) +{ + TEST_BEGIN("AUTO_APPLY_TRIGGERED -> IDLE wenn Apply Controller fertig"); + (void)safety_mgr_init(); + SafetyInputs in = make_driving(); + in.engine_running = false; + in.vehicle_speed_kmh = 0.0f; + /* Drive to TRIGGERED */ + for (int i = 0; i < 50; ++i) { + safety_mgr_step_50ms(&in); + if (safety_mgr_get_state() == SAFETY_AUTO_APPLY_TRIGGERED) break; + } + ASSERT_EQ(safety_mgr_get_state(), SAFETY_AUTO_APPLY_TRIGGERED); + in.current_state = EPB_STATE_APPLIED; + safety_mgr_step_50ms(&in); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_IDLE); + ASSERT_TRUE(!safety_mgr_apply_requested()); + TEST_END(); +} + +/* ---- Hill-Hold (SWE-009 + SWE-010) ---- */ + +static void test_hillhold_arms_on_grade_brake_standstill(void) +{ + TEST_BEGIN("SWE-009: Grad >5% + Stillstand + Bremse -> HILL_HOLD_ARMED"); + (void)safety_mgr_init(); + SafetyInputs in = make_standstill(); + in.grade_percent = 8.0f; + safety_mgr_step_50ms(&in); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_HILL_HOLD_ARMED); + ASSERT_TRUE(!safety_mgr_apply_requested()); + TEST_END(); +} + +static void test_hillhold_negative_grade_also_triggers(void) +{ + TEST_BEGIN("Hill-Hold auch bei negativem Grad (abschuessig)"); + (void)safety_mgr_init(); + SafetyInputs in = make_standstill(); + in.grade_percent = -7.0f; + safety_mgr_step_50ms(&in); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_HILL_HOLD_ARMED); + TEST_END(); +} + +static void test_hillhold_below_threshold_no_arm(void) +{ + TEST_BEGIN("Grad < 5% -> kein Hill-Hold"); + (void)safety_mgr_init(); + SafetyInputs in = make_standstill(); + in.grade_percent = 4.0f; + safety_mgr_step_50ms(&in); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_IDLE); + TEST_END(); +} + +static void test_hillhold_active_on_brake_release(void) +{ + TEST_BEGIN("SWE-010: Bremse losgelassen -> HILL_HOLD_ACTIVE + Apply-Request"); + (void)safety_mgr_init(); + SafetyInputs in = make_standstill(); + in.grade_percent = 8.0f; + safety_mgr_step_50ms(&in); /* -> HILL_HOLD_ARMED */ + in.brake_pedal_pressed = false; + safety_mgr_step_50ms(&in); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_HILL_HOLD_ACTIVE); + ASSERT_TRUE(safety_mgr_apply_requested()); + TEST_END(); +} + +static void test_hillhold_active_ends_on_vehicle_rolling(void) +{ + TEST_BEGIN("HILL_HOLD_ACTIVE endet wenn Fahrzeug rollt (v > 2 km/h)"); + (void)safety_mgr_init(); + SafetyInputs in = make_standstill(); + in.grade_percent = 8.0f; + safety_mgr_step_50ms(&in); + in.brake_pedal_pressed = false; + safety_mgr_step_50ms(&in); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_HILL_HOLD_ACTIVE); + in.vehicle_speed_kmh = 3.0f; + safety_mgr_step_50ms(&in); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_IDLE); + TEST_END(); +} + +static void test_hillhold_armed_to_idle_if_grade_drops(void) +{ + TEST_BEGIN("HILL_HOLD_ARMED -> IDLE wenn Grad < 5% wird"); + (void)safety_mgr_init(); + SafetyInputs in = make_standstill(); + in.grade_percent = 8.0f; + safety_mgr_step_50ms(&in); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_HILL_HOLD_ARMED); + in.grade_percent = 1.0f; + safety_mgr_step_50ms(&in); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_IDLE); + TEST_END(); +} + +/* ---- Mutually exclusive: nicht in beiden Modi gleichzeitig ---- */ + +static void test_already_applied_does_not_arm_auto_apply(void) +{ + TEST_BEGIN("Bereits Applied: kein Auto-Apply Arming"); + (void)safety_mgr_init(); + SafetyInputs in = make_driving(); + in.engine_running = false; + in.vehicle_speed_kmh = 0.0f; + in.current_state = EPB_STATE_APPLIED; + safety_mgr_step_50ms(&in); + ASSERT_EQ(safety_mgr_get_state(), SAFETY_IDLE); + TEST_END(); +} + +int main(void) +{ + printf("== test_safety_manager ==\n"); + test_init(); + test_null_input(); + test_auto_apply_armed_on_engine_off(); + test_auto_apply_triggers_after_2s(); + test_auto_apply_aborts_on_engine_on(); + test_auto_apply_returns_idle_when_applied(); + test_hillhold_arms_on_grade_brake_standstill(); + test_hillhold_negative_grade_also_triggers(); + test_hillhold_below_threshold_no_arm(); + test_hillhold_active_on_brake_release(); + test_hillhold_active_ends_on_vehicle_rolling(); + test_hillhold_armed_to_idle_if_grade_drops(); + test_already_applied_does_not_arm_auto_apply(); + TEST_SUMMARY(); +} diff --git a/tools/generate_doorstop_items.py b/tools/generate_doorstop_items.py index ad30600..b0dddf8 100644 --- a/tools/generate_doorstop_items.py +++ b/tools/generate_doorstop_items.py @@ -439,7 +439,7 @@ SA_ELEMENTS = [ SWA_ELEMENTS = [ { "id": "SWA-001", "asil": "D", - "links": ["SWE-007", "SWE-008", "SWE-009", "SWE-010"], + "links": ["SWE-007", "SWE-008", "SWE-009", "SWE-010", "SWE-011", "SWE-012"], "title": "Safety Manager", "text": textwrap.dedent(""" ## Verantwortung @@ -500,7 +500,7 @@ SWA_ELEMENTS = [ }, { "id": "SWA-002", "asil": "D", - "links": ["SWE-001", "SWE-002", "SWE-003", "SWE-004"], + "links": ["SWE-001", "SWE-002", "SWE-003", "SWE-004", "SWE-005"], "title": "Apply Controller", "text": textwrap.dedent(""" ## Verantwortung diff --git a/tools/render_plantuml.py b/tools/render_plantuml.py new file mode 100644 index 0000000..2601254 --- /dev/null +++ b/tools/render_plantuml.py @@ -0,0 +1,106 @@ +#!/usr/bin/env python3 +""" +Rendert alle @startuml ... @enduml Bloecke aus arch/**/*.md als SVG. + +Verwendet einen erreichbaren PlantUML-HTTP-Server (Default: www.plantuml.com). +In CI kann die Server-URL ueber PLANTUML_SERVER ueberschrieben werden. + +Output: docs/diagrams/-.svg + +Run: + python3 tools/render_plantuml.py + PLANTUML_SERVER=http://plantuml-server:8080 python3 tools/render_plantuml.py +""" +from __future__ import annotations + +import os +import re +import sys +import urllib.request +import zlib +from pathlib import Path + +REPO = Path(__file__).resolve().parent.parent +SERVER = os.environ.get("PLANTUML_SERVER", "https://www.plantuml.com/plantuml") + +# Map standard base64 to PlantUML's base64 alphabet +_B64 = ( + "0123456789" + "ABCDEFGHIJKLMNOPQRSTUVWXYZ" + "abcdefghijklmnopqrstuvwxyz" + "-_" +) + + +def _encode_3bytes(b1: int, b2: int, b3: int) -> str: + c1 = b1 >> 2 + c2 = ((b1 & 0x3) << 4) | (b2 >> 4) + c3 = ((b2 & 0xF) << 2) | (b3 >> 6) + c4 = b3 & 0x3F + return _B64[c1] + _B64[c2] + _B64[c3] + _B64[c4] + + +def plantuml_encode(text: str) -> str: + """Encode PlantUML source to its URL-safe representation.""" + compressed = zlib.compress(text.encode("utf-8"), 9) + # Strip zlib header (2 bytes) and Adler32 trailer (4 bytes) + raw = compressed[2:-4] + out = "" + i = 0 + while i < len(raw): + b1 = raw[i] + b2 = raw[i + 1] if i + 1 < len(raw) else 0 + b3 = raw[i + 2] if i + 2 < len(raw) else 0 + out += _encode_3bytes(b1, b2, b3) + i += 3 + return out + + +BLOCK_RE = re.compile(r"```plantuml\s*\n(@startuml.*?@enduml)\s*\n```", + re.DOTALL) + + +def extract_blocks(md: Path) -> list[str]: + return BLOCK_RE.findall(md.read_text()) + + +def render_one(src: str, out_path: Path) -> None: + encoded = plantuml_encode(src) + url = f"{SERVER.rstrip('/')}/svg/{encoded}" + req = urllib.request.Request(url, headers={"User-Agent": "demo-epb/1.0"}) + with urllib.request.urlopen(req, timeout=30) as resp: + data = resp.read() + out_path.parent.mkdir(parents=True, exist_ok=True) + out_path.write_bytes(data) + + +def main() -> int: + out_dir = REPO / "docs" / "diagrams" + out_dir.mkdir(parents=True, exist_ok=True) + + md_files = sorted((REPO / "arch").rglob("*.md")) + if not md_files: + print("Keine arch/**/*.md gefunden.") + return 0 + + total = 0 + for md in md_files: + rel = md.relative_to(REPO) + blocks = extract_blocks(md) + if not blocks: + continue + for i, block in enumerate(blocks, start=1): + stem = md.stem + target = out_dir / f"{stem}-{i}.svg" + try: + render_one(block, target) + print(f" {rel} block {i} -> {target.relative_to(REPO)}") + total += 1 + except Exception as e: + print(f" WARN: {rel} block {i} render failed: {e}") + print(f"\nDone: {total} Diagrams rendered to {out_dir.relative_to(REPO)}/") + return 0 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/tools/traceability.py b/tools/traceability.py new file mode 100644 index 0000000..7c22a0d --- /dev/null +++ b/tools/traceability.py @@ -0,0 +1,286 @@ +#!/usr/bin/env python3 +""" +Traceability-Werkzeug fuer demo-epb. + +Liest alle Markdown-Items in reqs/ und arch/ ein, validiert Links bidirektional +und erzeugt eine HTML-Traceability-Matrix. + +Doorstop-kompatibles Format (YAML-Frontmatter + Markdown-Body), aber ohne +Doorstop-Dependency — bleibt portabel. + +Subcommands: + check Validiert Konsistenz, exit 1 bei Fehlern + publish DIR Schreibt HTML + JSON nach DIR/ + +Run: + python3 tools/traceability.py check + python3 tools/traceability.py publish docs/traceability/ +""" +from __future__ import annotations + +import html +import json +import re +import sys +from dataclasses import dataclass, field +from pathlib import Path + +REPO = Path(__file__).resolve().parent.parent + +SOURCES = [ + ("SYS", "reqs/sys", "System Requirements"), + ("SWE", "reqs/swe", "Software Requirements"), + ("SA", "arch/sys", "System Architecture"), + ("SWA", "arch/swe", "Software Architecture"), +] + +# Welche Quellen verlinken auf welche? +# (key) -> (target_prefix) : Items mit key linken auf Items mit target_prefix +EXPECTED_LINKS = { + "SA": ["SYS"], + "SWE": ["SYS"], + "SWA": ["SWE"], +} + +# Reverse: welche Quellen MUESSEN von welchen Quellen referenziert werden? +# (target) -> [prefix that should link to target] (coverage check) +COVERAGE = { + "SYS": ["SA", "SWE"], # jede SYS-Req muss durch SA und SWE abgedeckt sein + "SWE": ["SWA"], # jede SWE-Req muss durch SWA abgedeckt sein +} + + +@dataclass +class Item: + id: str + prefix: str + path: Path + title: str + asil: str + links: list[str] = field(default_factory=list) + + +FRONTMATTER_RE = re.compile(r"^---\s*\n(.*?)\n---\s*\n", re.DOTALL) +LINKS_RE = re.compile(r"^\s*-\s+([A-Z]+-\d+)", re.MULTILINE) + + +def parse_item(path: Path, prefix: str) -> Item | None: + text = path.read_text() + m = FRONTMATTER_RE.match(text) + if not m: + return None + fm = m.group(1) + + # Crude YAML parsing — we only need a few fields. + def field_value(name: str) -> str | None: + rx = re.search(rf"^{name}:\s*(.*?)$", fm, re.MULTILINE) + return rx.group(1).strip().strip("'\"") if rx else None + + asil = field_value("asil") or "?" + title = field_value("header") or path.stem + + # links: collect IDs from the `links:` block. + links: list[str] = [] + in_links = False + for line in fm.splitlines(): + if line.startswith("links:"): + in_links = True + continue + if in_links: + if line.startswith(" - "): + m2 = re.match(r" - ([A-Z]+-\d+)", line) + if m2: + links.append(m2.group(1)) + elif not line.startswith(" ") and line.strip(): + in_links = False + + return Item(id=path.stem, prefix=prefix, path=path, title=title, + asil=asil, links=links) + + +def collect_all() -> dict[str, Item]: + items: dict[str, Item] = {} + for prefix, rel, _label in SOURCES: + d = REPO / rel + if not d.exists(): + continue + for f in sorted(d.glob("*.md")): + it = parse_item(f, prefix) + if it is None: + continue + items[it.id] = it + return items + + +def cmd_check(items: dict[str, Item]) -> int: + errors: list[str] = [] + + # 1. Each link target must exist + for it in items.values(): + for link in it.links: + if link not in items: + errors.append(f"{it.id} links to non-existent {link}") + + # 2. Forward expectation: items of certain prefixes must link to others + for it in items.values(): + expected_prefixes = EXPECTED_LINKS.get(it.prefix, []) + if not expected_prefixes: + continue + actual_prefixes = {items[l].prefix for l in it.links if l in items} + for ep in expected_prefixes: + if ep not in actual_prefixes: + errors.append( + f"{it.id} ({it.prefix}) has no link to a {ep}-* item" + ) + + # 3. Coverage: each item of certain prefix must be referenced by certain types + incoming: dict[str, set[str]] = {iid: set() for iid in items} + for it in items.values(): + for link in it.links: + if link in incoming: + incoming[link].add(it.prefix) + + for it in items.values(): + required = COVERAGE.get(it.prefix, []) + for rp in required: + if rp not in incoming[it.id]: + errors.append( + f"{it.id} ({it.prefix}) is not referenced by any {rp}-* item" + ) + + print(f"\nItems found: {len(items)}") + print(f" SYS: {sum(1 for i in items.values() if i.prefix == 'SYS')}") + print(f" SWE: {sum(1 for i in items.values() if i.prefix == 'SWE')}") + print(f" SA: {sum(1 for i in items.values() if i.prefix == 'SA')}") + print(f" SWA: {sum(1 for i in items.values() if i.prefix == 'SWA')}") + print() + if errors: + print(f"FAIL: {len(errors)} traceability error(s):") + for e in errors: + print(f" - {e}") + return 1 + print("OK — Traceability vollstaendig.") + return 0 + + +def asil_color(asil: str) -> str: + return { + "D": "#d62728", + "C": "#ff7f0e", + "B": "#2ca02c", + "A": "#1f77b4", + "QM": "#888", + }.get(asil, "#aaa") + + +def cmd_publish(items: dict[str, Item], out_dir: Path) -> int: + out_dir.mkdir(parents=True, exist_ok=True) + + # Build forward and reverse maps + children: dict[str, list[str]] = {iid: [] for iid in items} + for it in items.values(): + for link in it.links: + if link in children: + children[link].append(it.id) + + rows = [] + sys_items = [i for i in items.values() if i.prefix == "SYS"] + for sys in sorted(sys_items, key=lambda i: i.id): + sas = [c for c in children[sys.id] if items[c].prefix == "SA"] + swes = [c for c in children[sys.id] if items[c].prefix == "SWE"] + swas = sorted(set(c for s in swes for c in children[s] + if items[c].prefix == "SWA")) + rows.append({ + "sys": sys, "sa": sas, "swe": swes, "swa": swas + }) + + # HTML + parts = [ + "", + "", + "demo-epb — Traceability Matrix", + "", + "

demo-epb — Traceability Matrix

", + f"

Generiert aus {sum(1 for _ in items)} Items " + f"(SYS: {len([i for i in items.values() if i.prefix=='SYS'])}, " + f"SWE: {len([i for i in items.values() if i.prefix=='SWE'])}, " + f"SA: {len([i for i in items.values() if i.prefix=='SA'])}, " + f"SWA: {len([i for i in items.values() if i.prefix=='SWA'])}).

", + "", + "" + "", + ] + + def cell(ids: list[str]) -> str: + if not ids: + return "" + bits = [] + for i in ids: + it = items[i] + c = asil_color(it.asil) + bits.append( + f"
{html.escape(i)} " + f"{html.escape(it.asil)}
" + f"
{html.escape(it.title)}
" + ) + return "" + + for r in rows: + sys = r["sys"] + c = asil_color(sys.asil) + first = (f"") + parts.append("" + first + cell(r["sa"]) + cell(r["swe"]) + cell(r["swa"]) + "") + + parts.append("
System-RequirementSystem-Arch (SA)Software-Req (SWE)Software-Arch (SWA)
—" + "".join(bits) + "
{html.escape(sys.id)} " + f"{html.escape(sys.asil)}
" + f"
{html.escape(sys.title)}
") + + (out_dir / "index.html").write_text("\n".join(parts)) + + # JSON for machine consumption + matrix = [] + for r in rows: + matrix.append({ + "sys": {"id": r["sys"].id, "asil": r["sys"].asil, "title": r["sys"].title}, + "sa": [{"id": i, "asil": items[i].asil} for i in r["sa"]], + "swe": [{"id": i, "asil": items[i].asil} for i in r["swe"]], + "swa": [{"id": i, "asil": items[i].asil} for i in r["swa"]], + }) + (out_dir / "matrix.json").write_text(json.dumps(matrix, indent=2)) + + print(f"Wrote: {out_dir / 'index.html'}") + print(f"Wrote: {out_dir / 'matrix.json'}") + return 0 + + +def main(): + if len(sys.argv) < 2: + print(__doc__) + return 2 + cmd = sys.argv[1] + items = collect_all() + if cmd == "check": + return cmd_check(items) + if cmd == "publish": + out = Path(sys.argv[2] if len(sys.argv) > 2 else "docs/traceability") + rc = cmd_check(items) + if rc != 0: + print("WARN: publishing despite check errors") + cmd_publish(items, out) + return 0 + print(f"unknown command: {cmd}") + return 2 + + +if __name__ == "__main__": + sys.exit(main())