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Stm: remove last years code (github#9)
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@DylanCavers
DylanCavers authored Oct 30, 2023
1 parent 2b83975 commit c91caa1
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Showing 3 changed files with 1 addition and 220 deletions.
23 changes: 0 additions & 23 deletions lib/state_machine/state_machine.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,18 +8,6 @@ StateMachine::StateMachine() : current_state_{State::kIdle}
{
}

// Transition to next state
bool StateMachine::handleMessage(const Message &message)
{
previous_message_.push(message);
const auto transition = transition_to_state_.find({current_state_, message});
if (transition != transition_to_state_.end()) {
current_state_ = transition->second;
return true;
}
return false;
}

Message StateMachine::stringToMessage(const std::string &message_name)
{
return string_to_message_.at(message_name);
Expand All @@ -35,15 +23,4 @@ State StateMachine::getCurrentState()
return current_state_;
}

Message StateMachine::getPreviousMessage()
{
if (previous_message_.empty()) {
return Message::kNone;
} else {
Message previous_message = previous_message_.front();
previous_message_.pop();
return previous_message;
}
}

} // namespace hyped::state_machine
3 changes: 0 additions & 3 deletions lib/state_machine/state_machine.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,11 +14,9 @@ namespace hyped::state_machine {
class StateMachine {
public:
StateMachine();
bool handleMessage(const Message &message);
Message stringToMessage(const std::string &message_name);
std::string messageToString(const Message &message);
State getCurrentState();
Message getPreviousMessage();

private:
const std::unordered_map<std::string, Message> string_to_message_
Expand Down Expand Up @@ -74,7 +72,6 @@ class StateMachine {
{{State::kFailureStopped, Message::kFailureOff}, State::kOff}};

State current_state_;
std::queue<Message> previous_message_;
};

} // namespace hyped::state_machine
195 changes: 1 addition & 194 deletions test/state_machine/stm_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,202 +4,9 @@

namespace hyped::test {

void testTransition(std::unique_ptr<state_machine::StateMachine> &stm,
state_machine::Message transition_message,
state_machine::State expected_state)
{
stm->handleMessage(transition_message);
ASSERT_TRUE(stm->getCurrentState() == expected_state);
}

TEST(StateMachine, cleanRun)
{
std::unique_ptr stm = std::make_unique<state_machine::StateMachine>();
testTransition(stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kIdle);
testTransition(stm, state_machine::Message::kCalibrating, state_machine::State::kCalibrating);
testTransition(stm, state_machine::Message::kReady, state_machine::State::kReady);
testTransition(stm, state_machine::Message::kAccelerating, state_machine::State::kAccelerating);
testTransition(stm, state_machine::Message::kCruising, state_machine::State::kCruising);
testTransition(stm, state_machine::Message::kMotorBrake, state_machine::State::kMotorBraking);
testTransition(
stm, state_machine::Message::kPreFrictionBrake, state_machine::State::kPreFrictionBraking);
testTransition(
stm, state_machine::Message::kFrictionBrake, state_machine::State::kFrictionBraking);
testTransition(stm, state_machine::Message::kStopped, state_machine::State::kStopped);
testTransition(stm, state_machine::Message::kOff, state_machine::State::kOff);
}

TEST(StateMachine, cleanRunDuplicatedMessages)
{
std::unique_ptr stm = std::make_unique<state_machine::StateMachine>();
testTransition(stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kIdle);
testTransition(stm, state_machine::Message::kCalibrating, state_machine::State::kCalibrating);
testTransition(stm, state_machine::Message::kCalibrating, state_machine::State::kCalibrating);
testTransition(stm, state_machine::Message::kReady, state_machine::State::kReady);
testTransition(stm, state_machine::Message::kReady, state_machine::State::kReady);
testTransition(stm, state_machine::Message::kAccelerating, state_machine::State::kAccelerating);
testTransition(stm, state_machine::Message::kAccelerating, state_machine::State::kAccelerating);
testTransition(stm, state_machine::Message::kCruising, state_machine::State::kCruising);
testTransition(stm, state_machine::Message::kCruising, state_machine::State::kCruising);
testTransition(stm, state_machine::Message::kMotorBrake, state_machine::State::kMotorBraking);
testTransition(stm, state_machine::Message::kMotorBrake, state_machine::State::kMotorBraking);
testTransition(
stm, state_machine::Message::kPreFrictionBrake, state_machine::State::kPreFrictionBraking);
testTransition(
stm, state_machine::Message::kPreFrictionBrake, state_machine::State::kPreFrictionBraking);
testTransition(
stm, state_machine::Message::kFrictionBrake, state_machine::State::kFrictionBraking);
testTransition(
stm, state_machine::Message::kFrictionBrake, state_machine::State::kFrictionBraking);
testTransition(stm, state_machine::Message::kStopped, state_machine::State::kStopped);
testTransition(stm, state_machine::Message::kStopped, state_machine::State::kStopped);
testTransition(stm, state_machine::Message::kOff, state_machine::State::kOff);
testTransition(stm, state_machine::Message::kOff, state_machine::State::kOff);
}

TEST(StateMachine, failureBrakeFromAccelerating)
{
std::unique_ptr stm = std::make_unique<state_machine::StateMachine>();
testTransition(stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kIdle);
testTransition(stm, state_machine::Message::kCalibrating, state_machine::State::kCalibrating);
testTransition(stm, state_machine::Message::kReady, state_machine::State::kReady);
testTransition(stm, state_machine::Message::kAccelerating, state_machine::State::kAccelerating);
testTransition(stm, state_machine::Message::kFailureBrake, state_machine::State::kFailureBraking);
testTransition(
stm, state_machine::Message::kFailureStopped, state_machine::State::kFailureStopped);
testTransition(stm, state_machine::Message::kFailureOff, state_machine::State::kOff);
}

TEST(StateMachine, failureBrakeFromCruising)
{
std::unique_ptr stm = std::make_unique<state_machine::StateMachine>();
testTransition(stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kIdle);
testTransition(stm, state_machine::Message::kCalibrating, state_machine::State::kCalibrating);
testTransition(stm, state_machine::Message::kReady, state_machine::State::kReady);
testTransition(stm, state_machine::Message::kAccelerating, state_machine::State::kAccelerating);
testTransition(stm, state_machine::Message::kCruising, state_machine::State::kCruising);
testTransition(stm, state_machine::Message::kFailureBrake, state_machine::State::kFailureBraking);
testTransition(
stm, state_machine::Message::kFailureStopped, state_machine::State::kFailureStopped);
testTransition(stm, state_machine::Message::kFailureOff, state_machine::State::kOff);
}

TEST(StateMachine, failureBrakeFromMotorBraking)
{
std::unique_ptr stm = std::make_unique<state_machine::StateMachine>();
testTransition(stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kIdle);
testTransition(stm, state_machine::Message::kCalibrating, state_machine::State::kCalibrating);
testTransition(stm, state_machine::Message::kReady, state_machine::State::kReady);
testTransition(stm, state_machine::Message::kAccelerating, state_machine::State::kAccelerating);
testTransition(stm, state_machine::Message::kCruising, state_machine::State::kCruising);
testTransition(stm, state_machine::Message::kMotorBrake, state_machine::State::kMotorBraking);
testTransition(stm, state_machine::Message::kFailureBrake, state_machine::State::kFailureBraking);
testTransition(
stm, state_machine::Message::kFailureStopped, state_machine::State::kFailureStopped);
testTransition(stm, state_machine::Message::kFailureOff, state_machine::State::kOff);
}

TEST(StateMachine, frictionBrakeFailFromAccelerating)
{
std::unique_ptr stm = std::make_unique<state_machine::StateMachine>();
testTransition(stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kIdle);
testTransition(stm, state_machine::Message::kCalibrating, state_machine::State::kCalibrating);
testTransition(stm, state_machine::Message::kReady, state_machine::State::kReady);
testTransition(stm, state_machine::Message::kAccelerating, state_machine::State::kAccelerating);
testTransition(stm,
state_machine::Message::kPreFrictionBrakeFail,
state_machine::State::kPreFrictionBrakingFail);
testTransition(
stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kFrictionBrakingFail);
testTransition(
stm, state_machine::Message::kFailureStopped, state_machine::State::kFailureStopped);
testTransition(stm, state_machine::Message::kFailureOff, state_machine::State::kOff);
}

TEST(StateMachine, frictionBrakeFailFromCruising)
{
std::unique_ptr stm = std::make_unique<state_machine::StateMachine>();
testTransition(stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kIdle);
testTransition(stm, state_machine::Message::kCalibrating, state_machine::State::kCalibrating);
testTransition(stm, state_machine::Message::kReady, state_machine::State::kReady);
testTransition(stm, state_machine::Message::kAccelerating, state_machine::State::kAccelerating);
testTransition(stm, state_machine::Message::kCruising, state_machine::State::kCruising);
testTransition(stm,
state_machine::Message::kPreFrictionBrakeFail,
state_machine::State::kPreFrictionBrakingFail);
testTransition(
stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kFrictionBrakingFail);
testTransition(
stm, state_machine::Message::kFailureStopped, state_machine::State::kFailureStopped);
testTransition(stm, state_machine::Message::kFailureOff, state_machine::State::kOff);
}

TEST(StateMachine, frictionBrakeFailFromMotorBraking)
{
std::unique_ptr stm = std::make_unique<state_machine::StateMachine>();
testTransition(stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kIdle);
testTransition(stm, state_machine::Message::kCalibrating, state_machine::State::kCalibrating);
testTransition(stm, state_machine::Message::kReady, state_machine::State::kReady);
testTransition(stm, state_machine::Message::kAccelerating, state_machine::State::kAccelerating);
testTransition(stm, state_machine::Message::kCruising, state_machine::State::kCruising);
testTransition(stm, state_machine::Message::kMotorBrake, state_machine::State::kMotorBraking);
testTransition(stm,
state_machine::Message::kPreFrictionBrakeFail,
state_machine::State::kPreFrictionBrakingFail);
testTransition(
stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kFrictionBrakingFail);
testTransition(
stm, state_machine::Message::kFailureStopped, state_machine::State::kFailureStopped);
testTransition(stm, state_machine::Message::kFailureOff, state_machine::State::kOff);
}

TEST(StateMachine, failureBrakeFromFrictionBraking)
{
std::unique_ptr stm = std::make_unique<state_machine::StateMachine>();
testTransition(stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kIdle);
testTransition(stm, state_machine::Message::kCalibrating, state_machine::State::kCalibrating);
testTransition(stm, state_machine::Message::kReady, state_machine::State::kReady);
testTransition(stm, state_machine::Message::kAccelerating, state_machine::State::kAccelerating);
testTransition(stm,
state_machine::Message::kPreFrictionBrakeFail,
state_machine::State::kPreFrictionBrakingFail);
testTransition(
stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kFrictionBrakingFail);
testTransition(stm, state_machine::Message::kFailureBrake, state_machine::State::kFailureBraking);
testTransition(
stm, state_machine::Message::kFailureStopped, state_machine::State::kFailureStopped);
testTransition(stm, state_machine::Message::kFailureOff, state_machine::State::kOff);
}

TEST(StateMachine, duplicatedMessagesFailureStates)
TEST(StateMachine, initalize)
{
std::unique_ptr stm = std::make_unique<state_machine::StateMachine>();
testTransition(stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kIdle);
testTransition(stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kIdle);
testTransition(stm, state_machine::Message::kCalibrating, state_machine::State::kCalibrating);
testTransition(stm, state_machine::Message::kCalibrating, state_machine::State::kCalibrating);
testTransition(stm, state_machine::Message::kReady, state_machine::State::kReady);
testTransition(stm, state_machine::Message::kReady, state_machine::State::kReady);
testTransition(stm, state_machine::Message::kAccelerating, state_machine::State::kAccelerating);
testTransition(stm, state_machine::Message::kAccelerating, state_machine::State::kAccelerating);
testTransition(stm,
state_machine::Message::kPreFrictionBrakeFail,
state_machine::State::kPreFrictionBrakingFail);
testTransition(stm,
state_machine::Message::kPreFrictionBrakeFail,
state_machine::State::kPreFrictionBrakingFail);
testTransition(
stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kFrictionBrakingFail);
testTransition(
stm, state_machine::Message::kFrictionBrakeFail, state_machine::State::kFrictionBrakingFail);
testTransition(stm, state_machine::Message::kFailureBrake, state_machine::State::kFailureBraking);
testTransition(stm, state_machine::Message::kFailureBrake, state_machine::State::kFailureBraking);
testTransition(
stm, state_machine::Message::kFailureStopped, state_machine::State::kFailureStopped);
testTransition(
stm, state_machine::Message::kFailureStopped, state_machine::State::kFailureStopped);
testTransition(stm, state_machine::Message::kFailureOff, state_machine::State::kOff);
testTransition(stm, state_machine::Message::kFailureOff, state_machine::State::kOff);
}

} // namespace hyped::test

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