demo-epb/tests/unit/test_actuator_driver.c

/**
 * @file test_actuator_driver.c
 * @brief Unit tests for the Actuator Driver.
 *
 * @reqs SWE-006 SWE-013 SWE-014 SWE-015
 * @arch SWA-003
 */
#include "../unit_test_framework.h"
#include "../../src/actuator_driver.h"

TestStats g_test_stats = {0, 0};

static void test_init(void)
{
    TEST_BEGIN("init -> both actuators STOP, 0 mA");
    ASSERT_EQ(actuator_init(), EPB_OK);
    ActuatorStatus l = actuator_get_status(ACTUATOR_LEFT);
    ActuatorStatus r = actuator_get_status(ACTUATOR_RIGHT);
    ASSERT_EQ(l.direction, ACT_DIR_STOP);
    ASSERT_EQ(r.direction, ACT_DIR_STOP);
    ASSERT_EQ(l.current_ma, 0);
    TEST_END();
}

static void test_apply_invalid_id(void)
{
    TEST_BEGIN("apply: invalid ID -> EINVAL");
    (void)actuator_init();
    ASSERT_EQ(actuator_apply((ActuatorId)42, 50), EPB_EINVAL);
    TEST_END();
}

static void test_apply_pwm_out_of_range(void)
{
    TEST_BEGIN("apply: PWM > 100% -> EINVAL");
    (void)actuator_init();
    ASSERT_EQ(actuator_apply(ACTUATOR_LEFT, 101), EPB_EINVAL);
    TEST_END();
}

static void test_apply_normal(void)
{
    TEST_BEGIN("apply normal -> direction=APPLY, pwm=80");
    (void)actuator_init();
    ASSERT_EQ(actuator_apply(ACTUATOR_LEFT, 80), EPB_OK);
    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
    ASSERT_EQ(s.direction, ACT_DIR_APPLY);
    ASSERT_EQ(s.pwm_percent, 80);
    TEST_END();
}

static void test_release_normal(void)
{
    TEST_BEGIN("release normal -> direction=RELEASE");
    (void)actuator_init();
    ASSERT_EQ(actuator_release(ACTUATOR_LEFT, 70), EPB_OK);
    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
    ASSERT_EQ(s.direction, ACT_DIR_RELEASE);
    TEST_END();
}

static void test_isr_samples_current(void)
{
    TEST_BEGIN("ISR sample sets current_ma and peak");
    (void)actuator_init();
    (void)actuator_apply(ACTUATOR_LEFT, 80);
    actuator_isr_1khz(ACTUATOR_LEFT, 3000);
    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
    ASSERT_EQ(s.current_ma, 3000);
    ASSERT_EQ(s.peak_current_ma, 3000);
    TEST_END();
}

static void test_overcurrent_cutoff_after_100ms(void)
{
    TEST_BEGIN("Overcurrent > 8 A for 100 ms -> STOP + overcurrent flag");
    (void)actuator_init();
    (void)actuator_apply(ACTUATOR_LEFT, 80);
    /* 100 samples (= 100 ms at 1 kHz) above 8 A */
    for (int i = 0; i < 100; ++i) {
        actuator_isr_1khz(ACTUATOR_LEFT, 8500);
    }
    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
    ASSERT_EQ(s.direction, ACT_DIR_STOP);
    ASSERT_TRUE(s.overcurrent);
    ASSERT_EQ(s.last_error, EPB_EOVERCURRENT);
    TEST_END();
}

static void test_overcurrent_below_window_no_cutoff(void)
{
    TEST_BEGIN("Overcurrent < 100 ms does not trip yet");
    (void)actuator_init();
    (void)actuator_apply(ACTUATOR_LEFT, 80);
    for (int i = 0; i < 50; ++i) {
        actuator_isr_1khz(ACTUATOR_LEFT, 8500);
    }
    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
    ASSERT_EQ(s.direction, ACT_DIR_APPLY);
    ASSERT_TRUE(!s.overcurrent);
    TEST_END();
}

static void test_overcurrent_blocks_subsequent_apply(void)
{
    TEST_BEGIN("after overcurrent: subsequent apply -> EOVERCURRENT");
    (void)actuator_init();
    (void)actuator_apply(ACTUATOR_LEFT, 80);
    for (int i = 0; i < 120; ++i) {
        actuator_isr_1khz(ACTUATOR_LEFT, 9000);
    }
    EpbStatus rc = actuator_apply(ACTUATOR_LEFT, 80);
    ASSERT_EQ(rc, EPB_EOVERCURRENT);
    TEST_END();
}

static void test_clamping_force_estimate(void)
{
    TEST_BEGIN("Clamping force estimation from peak current (SWE-015)");
    (void)actuator_init();
    (void)actuator_apply(ACTUATOR_LEFT, 80);
    actuator_isr_1khz(ACTUATOR_LEFT, 4000);  /* 4 A peak */
    actuator_isr_1khz(ACTUATOR_LEFT, 3500);  /* then lower */
    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
    /* F = (4000 * 2500) / 1000 = 10000 N */
    ASSERT_EQ(s.clamping_force_n, 10000);
    TEST_END();
}

static void test_stop_clears_pwm(void)
{
    TEST_BEGIN("stop -> direction=STOP, pwm=0");
    (void)actuator_init();
    (void)actuator_apply(ACTUATOR_LEFT, 80);
    (void)actuator_stop(ACTUATOR_LEFT);
    ActuatorStatus s = actuator_get_status(ACTUATOR_LEFT);
    ASSERT_EQ(s.direction, ACT_DIR_STOP);
    ASSERT_EQ(s.pwm_percent, 0);
    TEST_END();
}

int main(void)
{
    printf("== test_actuator_driver ==\n");
    test_init();
    test_apply_invalid_id();
    test_apply_pwm_out_of_range();
    test_apply_normal();
    test_release_normal();
    test_isr_samples_current();
    test_overcurrent_cutoff_after_100ms();
    test_overcurrent_below_window_no_cutoff();
    test_overcurrent_blocks_subsequent_apply();
    test_clamping_force_estimate();
    test_stop_clears_pwm();
    TEST_SUMMARY();
}