Stefan Lohmaier
fb2c083551
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Phase 2 of the English translation: Word documents (filled, EPB-specific): - 8 plans (PID, PM, QA, SWE, Test, Project Manual, CM, RM) - 6 safety docs (HARA, Safety Case, FMEDA, MISRA Compliance, Verification Report, Tool Qualification Cppcheck) - 2 manuals (User, Service) - 3 audit artefacts (Review minutes, NC-001, MISRA-REC-001) - All regenerated via pandoc from English markdown sources Code, tests, headers: - All file headers, struct comments, function docstrings in English - All test names (TEST_BEGIN strings) translated - Inline comments translated - 46 tests still green after translation CI workflows: - All step names in English - Step descriptions, comments, release notes template in English README.md fully rewritten in English with proper guided tour. Phase 3 (still pending): dev-process repo templates + toolstack/setup docs.
241 lines
7.0 KiB
C
241 lines
7.0 KiB
C
/**
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* @file test_apply_controller.c
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* @brief Unit tests for the Apply Controller (ASIL-D core).
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*
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* @reqs SWE-001 SWE-002 SWE-003 SWE-004 SWE-005
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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 at standstill -> 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 without standstill is ignored");
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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 when both clamping forces >= 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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/* Clamping forces stay at 0 -> timeout after 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 maintains clamping force (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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/* Clamping force drops to 10000 (below tolerance threshold 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 must re-apply -> 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 without engine is rejected");
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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 with all preconditions -> 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 increases monotonically (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 on neutral 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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