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feat: Safety Manager + Traceability + PlantUML in CI
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- Implement Safety Manager (SWA-001, ASIL-D): Hill-Hold + Auto-Apply
  state machine, 13 unit tests
- Update SWA-002 + SWA-001 link coverage so all SWE reqs are covered
- New tool: tools/traceability.py — Markdown-frontmatter-basierter
  Traceability-Checker + HTML/JSON-Matrix-Generator (Doorstop-Format ohne
  Doorstop-Dependency)
- New tool: tools/render_plantuml.py — extrahiert PlantUML-Bloecke aus
  arch/**.md und rendert via plantuml.com zu SVG
- validate.yml: neue Steps Traceability-Check, Matrix-Publish, PlantUML-
  Render; uploaded als Gitea-Artefakte
This commit is contained in:
Stefan Lohmaier
2026-05-11 23:51:55 -07:00
parent 7c1848cb26
commit 4351dfa4e1
19 changed files with 1292 additions and 37 deletions
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tests/unit/test_safety_manager.c
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/**
* @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();
}