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Merge pull request #146 from Hyp-ed/utils-spi-mac-fix
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SNS: Macbook SPI fix
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@mifrandir
mifrandir authored Apr 13, 2022
2 parents 7f8a34c + 8e56476 commit ed0ac55
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Showing 2 changed files with 23 additions and 23 deletions.
2 changes: 1 addition & 1 deletion src/utils/io/spi.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
#if LINUX
#include <linux/spi/spidev.h>
#else
#define _IOW(type, nr, size) 10 // random demo functionality
#define _IOC_SIZEBITS 13
#define SPI_IOC_MAGIC 'k'
#define SPI_IOC_WR_MODE _IOW(SPI_IOC_MAGIC, 1, uint8_t)
#define SPI_IOC_WR_MAX_SPEED_HZ _IOW(SPI_IOC_MAGIC, 4, uint32_t)
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44 changes: 22 additions & 22 deletions test/state_machine/transitions.test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ TEST_F(TransitionFunctionality, handlesNoEmergency)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, false) << "falsely detected emergency";
}
}
Expand Down Expand Up @@ -118,7 +118,7 @@ TEST_F(TransitionFunctionality, handlesBrakeEmergency)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to detect brake emergency";
}
}
Expand Down Expand Up @@ -149,7 +149,7 @@ TEST_F(TransitionFunctionality, handlesNavEmergency)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to detect emergency in Navigation";
}
}
Expand Down Expand Up @@ -180,7 +180,7 @@ TEST_F(TransitionFunctionality, handlesBatteriesEmergency)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to detect emergency in Batteries";
}
}
Expand Down Expand Up @@ -211,7 +211,7 @@ TEST_F(TransitionFunctionality, handlesTelemetryEmergency)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to detect emergency in Telemetry";
}
}
Expand Down Expand Up @@ -242,7 +242,7 @@ TEST_F(TransitionFunctionality, handlesSensorsEmergency)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to detect emergency in Sensors";
}
}
Expand Down Expand Up @@ -273,7 +273,7 @@ TEST_F(TransitionFunctionality, handlesMotorsEmergency)
motors_data.module_status = data::ModuleStatus::kCriticalFailure;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to detect emergency in motors";
}
}
Expand Down Expand Up @@ -304,7 +304,7 @@ TEST_F(TransitionFunctionality, handlesStopCommand)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = true;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to register stop command";
}
}
Expand Down Expand Up @@ -337,7 +337,7 @@ TEST_F(TransitionFunctionality, handlesAllInitialised)
sensors_data.module_status = goal;
motors_data.module_status = goal;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, true) << "failed to detect all modules being initialised";
}
}
Expand Down Expand Up @@ -369,7 +369,7 @@ TEST_F(TransitionFunctionality, handlesBrakesNotInitialised)
sensors_data.module_status = goal;
motors_data.module_status = goal;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, false) << "failed to detect uninitialised brakes";
}
}
Expand Down Expand Up @@ -402,7 +402,7 @@ TEST_F(TransitionFunctionality, handlesNavigationNotInitialised)
sensors_data.module_status = goal;
motors_data.module_status = goal;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, false) << "failed to detect Navigation not being initialised";
}
}
Expand Down Expand Up @@ -436,7 +436,7 @@ TEST_F(TransitionFunctionality, handlesBatteriesNotInitialised)
sensors_data.module_status = goal;
motors_data.module_status = goal;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, false) << "failed to detect Batteries not being initialised";
}
}
Expand Down Expand Up @@ -470,7 +470,7 @@ TEST_F(TransitionFunctionality, handlesTelemetryNotInitialised)
sensors_data.module_status = goal;
motors_data.module_status = goal;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, false) << "failed to detect Telemetry not being initialised";
}
}
Expand Down Expand Up @@ -504,7 +504,7 @@ TEST_F(TransitionFunctionality, handlesSensorsNotInitialised)
sensors_data.module_status = other;
motors_data.module_status = goal;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, false) << "failed to detect Sensors not being initialised";
}
}
Expand Down Expand Up @@ -538,7 +538,7 @@ TEST_F(TransitionFunctionality, handlesMotorsNotInitialised)
sensors_data.module_status = goal;
motors_data.module_status = other;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, false) << "failed to detect Motors not being initialise";
}
}
Expand Down Expand Up @@ -566,7 +566,7 @@ TEST_F(TransitionFunctionality, handlesAllReady)
sensors_data.module_status = data::ModuleStatus::kReady;
motors_data.module_status = data::ModuleStatus::kReady;
const auto all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, true) << "failed to detect that all modules are ready";
}

Expand Down Expand Up @@ -595,7 +595,7 @@ TEST_F(TransitionFunctionality, handlesBrakesNotReady)
sensors_data.module_status = data::ModuleStatus::kReady;
motors_data.module_status = data::ModuleStatus::kReady;
const bool all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, false) << "failed to detect Brakes not being ready";
}
}
Expand Down Expand Up @@ -625,7 +625,7 @@ TEST_F(TransitionFunctionality, handlesNavigationNotReady)
sensors_data.module_status = data::ModuleStatus::kReady;
motors_data.module_status = data::ModuleStatus::kReady;
const bool all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, false) << "failed to detect Navigation not being ready";
}
}
Expand Down Expand Up @@ -655,7 +655,7 @@ TEST_F(TransitionFunctionality, handlesBatteriesNotReady)
sensors_data.module_status = data::ModuleStatus::kReady;
motors_data.module_status = data::ModuleStatus::kReady;
const bool all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, false) << "failed to detect Batteries not being ready";
}
}
Expand Down Expand Up @@ -684,7 +684,7 @@ TEST_F(TransitionFunctionality, handlesTelemetryNotReady)
sensors_data.module_status = data::ModuleStatus::kReady;
motors_data.module_status = data::ModuleStatus::kReady;
const bool all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, false) << "failed to detect Telemetry not being ready";
}
}
Expand Down Expand Up @@ -714,7 +714,7 @@ TEST_F(TransitionFunctionality, handlesSensorsNotReady)
sensors_data.module_status = other;
motors_data.module_status = data::ModuleStatus::kReady;
const bool all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, false) << "failed to detect Sensors not being ready";
}
}
Expand Down Expand Up @@ -744,7 +744,7 @@ TEST_F(TransitionFunctionality, handlesMotorsNotReady)
sensors_data.module_status = data::ModuleStatus::kReady;
motors_data.module_status = other;
const bool all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, false) << "failed to detect Motors not being ready";
}
}
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