685 lines
20 KiB
C++
685 lines
20 KiB
C++
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/******************************************************************************
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The MIT License(MIT)
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Embedded Template Library.
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https://github.com/ETLCPP/etl
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https://www.etlcpp.com
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Copyright(c) 2017 John Wellbelove
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files(the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions :
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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******************************************************************************/
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#include "unit_test_framework.h"
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#include "etl/fsm.h"
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#include "etl/enum_type.h"
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#include "etl/container.h"
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#include "etl/packet.h"
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#include "etl/queue.h"
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#include <iostream>
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#include <limits>
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namespace
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{
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const etl::message_router_id_t Motor_Control = 0;
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//***************************************************************************
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// Events
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struct EventId
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{
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enum enum_type
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{
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Start,
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Stop,
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Stopped,
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Set_Speed,
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Recursive,
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Self_Transition,
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Unsupported
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};
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ETL_DECLARE_ENUM_TYPE(EventId, etl::message_id_t)
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ETL_ENUM_TYPE(Start, "Start")
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ETL_ENUM_TYPE(Stop, "Stop")
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ETL_ENUM_TYPE(Stopped, "Stopped")
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ETL_ENUM_TYPE(Set_Speed, "Set Speed")
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ETL_ENUM_TYPE(Recursive, "Recursive")
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ETL_ENUM_TYPE(Self_Transition, "Self Transition")
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ETL_ENUM_TYPE(Unsupported, "Unsupported")
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ETL_END_ENUM_TYPE
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};
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//***********************************
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class Start : public etl::message<EventId::Start>
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{
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};
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//***********************************
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class Stop : public etl::message<EventId::Stop>
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{
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public:
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Stop() : isEmergencyStop(false) {}
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Stop(bool emergency) : isEmergencyStop(emergency) {}
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const bool isEmergencyStop;
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};
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//***********************************
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class SetSpeed : public etl::message<EventId::Set_Speed>
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{
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public:
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SetSpeed(int speed_) : speed(speed_) {}
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const int speed;
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};
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//***********************************
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class Stopped : public etl::message<EventId::Stopped>
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{
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};
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//***********************************
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class Recursive : public etl::message<EventId::Recursive>
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{
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};
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//***********************************
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class SelfTransition : public etl::message<EventId::Self_Transition>
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{
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};
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//***********************************
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class Unsupported : public etl::message<EventId::Unsupported>
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{
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};
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//***************************************************************************
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// States
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struct StateId
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{
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enum enum_type
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{
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Idle,
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Running,
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Winding_Down,
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Locked,
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Number_Of_States
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};
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ETL_DECLARE_ENUM_TYPE(StateId, etl::fsm_state_id_t)
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ETL_ENUM_TYPE(Idle, "Idle")
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ETL_ENUM_TYPE(Running, "Running")
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ETL_ENUM_TYPE(Winding_Down, "Winding Down")
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ETL_ENUM_TYPE(Locked, "Locked")
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ETL_END_ENUM_TYPE
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};
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//***********************************
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// The motor control FSM.
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//***********************************
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class MotorControl : public etl::fsm
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{
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public:
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MotorControl()
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: fsm(Motor_Control)
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{
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}
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//***********************************
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void Initialise(etl::ifsm_state** p_states, size_t size)
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{
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set_states(p_states, size);
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ClearStatistics();
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}
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//***********************************
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void ClearStatistics()
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{
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startCount = 0;
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stopCount = 0;
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setSpeedCount = 0;
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unknownCount = 0;
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stoppedCount = 0;
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exited_state = false;
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entered_state = false;
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isLampOn = false;
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speed = 0;
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last_event_id = std::numeric_limits<etl::message_id_t>::max();
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last_returned_state_id = std::numeric_limits<etl::fsm_state_id_t>::max();
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}
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//***********************************
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void SetSpeedValue(int speed_)
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{
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speed = speed_;
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}
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//***********************************
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void TurnRunningLampOn()
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{
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isLampOn = true;
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}
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//***********************************
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void TurnRunningLampOff()
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{
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isLampOn = false;
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}
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//***********************************
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template <typename T>
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void queue_recursive_message(const T& message)
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{
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messageQueue.emplace(message);
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}
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typedef etl::largest<Start, Stop, SetSpeed, Stopped, Recursive, SelfTransition> Largest_t;
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typedef etl::packet<etl::imessage, Largest_t::size, Largest_t::alignment> Packet_t;
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etl::queue<Packet_t, 2> messageQueue;
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int startCount;
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int stopCount;
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int setSpeedCount;
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int unknownCount;
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int stoppedCount;
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bool exited_state;
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bool entered_state;
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bool isLampOn;
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int speed;
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etl::message_id_t last_event_id;
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etl::fsm_state_id_t last_returned_state_id;
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};
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//***********************************
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// The idle state.
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//***********************************
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class Idle : public etl::fsm_state<MotorControl, Idle, StateId::Idle, Start, Recursive, SelfTransition>
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{
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public:
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//***********************************
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etl::fsm_state_id_t on_event(const Start&)
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{
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++get_fsm_context().startCount;
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return StateId::Running;
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}
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//***********************************
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etl::fsm_state_id_t on_event(const Recursive&)
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{
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get_fsm_context().queue_recursive_message(Start());
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return StateId::Idle;
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}
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//***********************************
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etl::fsm_state_id_t on_event(const SelfTransition&)
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{
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get_fsm_context().last_event_id = SelfTransition::ID;
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get_fsm_context().last_returned_state_id = etl::ifsm_state::Self_Transition;
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return etl::ifsm_state::Self_Transition;
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}
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//***********************************
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etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
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{
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++get_fsm_context().unknownCount;
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return StateId::Idle; //No_State_Change;
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}
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//***********************************
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etl::fsm_state_id_t on_enter_state()
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{
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get_fsm_context().TurnRunningLampOff();
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get_fsm_context().entered_state = true;
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return StateId::Locked;
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}
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//***********************************
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void on_exit_state()
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{
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get_fsm_context().exited_state = true;
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}
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};
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//***********************************
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// The running state.
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//***********************************
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class Running : public etl::fsm_state<MotorControl, Running, StateId::Running, Stop, SetSpeed>
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{
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public:
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//***********************************
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etl::fsm_state_id_t on_event(const Stop& event)
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{
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++get_fsm_context().stopCount;
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if (event.isEmergencyStop)
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{
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return StateId::Idle;
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}
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else
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{
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return StateId::Winding_Down;
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}
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}
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//***********************************
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etl::fsm_state_id_t on_event(const SetSpeed& event)
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{
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++get_fsm_context().setSpeedCount;
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get_fsm_context().SetSpeedValue(event.speed);
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return STATE_ID;
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}
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//***********************************
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etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
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{
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++get_fsm_context().unknownCount;
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return STATE_ID;
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}
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//***********************************
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etl::fsm_state_id_t on_enter_state()
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{
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get_fsm_context().TurnRunningLampOn();
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return STATE_ID;
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}
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};
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//***********************************
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// The winding down state.
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//***********************************
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class WindingDown : public etl::fsm_state<MotorControl, WindingDown, StateId::Winding_Down, Stopped>
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{
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public:
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//***********************************
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etl::fsm_state_id_t on_event(const Stopped&)
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{
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++get_fsm_context().stoppedCount;
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return StateId::Idle;
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}
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//***********************************
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etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
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{
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++get_fsm_context().unknownCount;
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return STATE_ID;
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}
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};
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//***********************************
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// The locked state.
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//***********************************
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class Locked : public etl::fsm_state<MotorControl, Locked, StateId::Locked>
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{
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public:
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//***********************************
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etl::fsm_state_id_t on_event_unknown(const etl::imessage&)
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{
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++get_fsm_context().unknownCount;
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return STATE_ID;
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}
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};
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// The states.
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Idle idle;
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Running running;
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WindingDown windingDown;
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Locked locked;
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etl::ifsm_state* stateList[StateId::Number_Of_States] =
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{
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&idle, &running, &windingDown, &locked
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};
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MotorControl motorControl;
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SUITE(test_fsm_states)
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{
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//*************************************************************************
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TEST(test_fsm)
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{
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etl::null_message_router nmr;
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CHECK(motorControl.is_producer());
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CHECK(motorControl.is_consumer());
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motorControl.Initialise(stateList, ETL_OR_STD17::size(stateList));
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motorControl.reset();
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motorControl.ClearStatistics();
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CHECK(!motorControl.is_started());
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// Start the FSM.
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motorControl.start(false);
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CHECK(motorControl.is_started());
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// Now in Idle state.
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CHECK_EQUAL(StateId::Idle, int(motorControl.get_state_id()));
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CHECK_EQUAL(StateId::Idle, int(motorControl.get_state().get_state_id()));
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CHECK_EQUAL(false, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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CHECK_EQUAL(0, motorControl.speed);
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CHECK_EQUAL(0, motorControl.startCount);
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CHECK_EQUAL(0, motorControl.stopCount);
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CHECK_EQUAL(0, motorControl.stoppedCount);
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CHECK_EQUAL(0, motorControl.unknownCount);
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// Send unhandled events.
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motorControl.receive(Stop());
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motorControl.receive(Stopped());
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motorControl.receive(SetSpeed(10));
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CHECK_EQUAL(StateId::Idle, motorControl.get_state_id());
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CHECK_EQUAL(StateId::Idle, motorControl.get_state().get_state_id());
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CHECK_EQUAL(false, motorControl.isLampOn);
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CHECK_EQUAL(0, motorControl.setSpeedCount);
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CHECK_EQUAL(0, motorControl.speed);
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CHECK_EQUAL(0, motorControl.startCount);
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CHECK_EQUAL(0, motorControl.stopCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stoppedCount);
|
||
|
|
CHECK_EQUAL(3, motorControl.unknownCount);
|
||
|
|
|
||
|
|
// Send Start event.
|
||
|
|
motorControl.receive(Start());
|
||
|
|
|
||
|
|
// Now in Running state.
|
||
|
|
|
||
|
|
CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
|
||
|
|
CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));
|
||
|
|
|
||
|
|
CHECK_EQUAL(true, motorControl.isLampOn);
|
||
|
|
CHECK_EQUAL(0, motorControl.setSpeedCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.speed);
|
||
|
|
CHECK_EQUAL(1, motorControl.startCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stopCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stoppedCount);
|
||
|
|
CHECK_EQUAL(3, motorControl.unknownCount);
|
||
|
|
|
||
|
|
// Send unhandled events.
|
||
|
|
motorControl.receive(Start());
|
||
|
|
motorControl.receive(Stopped());
|
||
|
|
|
||
|
|
CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
|
||
|
|
CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));
|
||
|
|
|
||
|
|
CHECK_EQUAL(true, motorControl.isLampOn);
|
||
|
|
CHECK_EQUAL(0, motorControl.setSpeedCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.speed);
|
||
|
|
CHECK_EQUAL(1, motorControl.startCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stopCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stoppedCount);
|
||
|
|
CHECK_EQUAL(5, motorControl.unknownCount);
|
||
|
|
|
||
|
|
// Send SetSpeed event.
|
||
|
|
motorControl.receive(SetSpeed(100));
|
||
|
|
|
||
|
|
// Still in Running state.
|
||
|
|
|
||
|
|
CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
|
||
|
|
CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));
|
||
|
|
|
||
|
|
CHECK_EQUAL(true, motorControl.isLampOn);
|
||
|
|
CHECK_EQUAL(1, motorControl.setSpeedCount);
|
||
|
|
CHECK_EQUAL(100, motorControl.speed);
|
||
|
|
CHECK_EQUAL(1, motorControl.startCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stopCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stoppedCount);
|
||
|
|
CHECK_EQUAL(5, motorControl.unknownCount);
|
||
|
|
|
||
|
|
// Send Stop event.
|
||
|
|
motorControl.receive(Stop());
|
||
|
|
|
||
|
|
// Now in WindingDown state.
|
||
|
|
|
||
|
|
CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
|
||
|
|
CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
|
||
|
|
|
||
|
|
CHECK_EQUAL(true, motorControl.isLampOn);
|
||
|
|
CHECK_EQUAL(1, motorControl.setSpeedCount);
|
||
|
|
CHECK_EQUAL(100, motorControl.speed);
|
||
|
|
CHECK_EQUAL(1, motorControl.startCount);
|
||
|
|
CHECK_EQUAL(1, motorControl.stopCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stoppedCount);
|
||
|
|
CHECK_EQUAL(5, motorControl.unknownCount);
|
||
|
|
|
||
|
|
// Send unhandled events.
|
||
|
|
motorControl.receive(Start());
|
||
|
|
motorControl.receive(Stop());
|
||
|
|
motorControl.receive(SetSpeed(100));
|
||
|
|
|
||
|
|
CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state_id()));
|
||
|
|
CHECK_EQUAL(StateId::Winding_Down, int(motorControl.get_state().get_state_id()));
|
||
|
|
|
||
|
|
CHECK_EQUAL(true, motorControl.isLampOn);
|
||
|
|
CHECK_EQUAL(1, motorControl.setSpeedCount);
|
||
|
|
CHECK_EQUAL(100, motorControl.speed);
|
||
|
|
CHECK_EQUAL(1, motorControl.startCount);
|
||
|
|
CHECK_EQUAL(1, motorControl.stopCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stoppedCount);
|
||
|
|
CHECK_EQUAL(8, motorControl.unknownCount);
|
||
|
|
|
||
|
|
// Send Stopped event.
|
||
|
|
motorControl.receive(Stopped());
|
||
|
|
|
||
|
|
// Now in Locked state via Idle state.
|
||
|
|
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state_id()));
|
||
|
|
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state().get_state_id()));
|
||
|
|
|
||
|
|
CHECK_EQUAL(false, motorControl.isLampOn);
|
||
|
|
CHECK_EQUAL(1, motorControl.setSpeedCount);
|
||
|
|
CHECK_EQUAL(100, motorControl.speed);
|
||
|
|
CHECK_EQUAL(1, motorControl.startCount);
|
||
|
|
CHECK_EQUAL(1, motorControl.stopCount);
|
||
|
|
CHECK_EQUAL(1, motorControl.stoppedCount);
|
||
|
|
CHECK_EQUAL(8, motorControl.unknownCount);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
TEST(test_fsm_emergency_stop)
|
||
|
|
{
|
||
|
|
etl::null_message_router nmr;
|
||
|
|
|
||
|
|
motorControl.Initialise(stateList, ETL_OR_STD17::size(stateList));
|
||
|
|
motorControl.reset();
|
||
|
|
motorControl.ClearStatistics();
|
||
|
|
|
||
|
|
CHECK(!motorControl.is_started());
|
||
|
|
|
||
|
|
// Start the FSM.
|
||
|
|
motorControl.start(false);
|
||
|
|
CHECK(motorControl.is_started());
|
||
|
|
|
||
|
|
// Now in Idle state.
|
||
|
|
|
||
|
|
// Send Start event.
|
||
|
|
motorControl.receive(Start());
|
||
|
|
|
||
|
|
// Now in Running state.
|
||
|
|
|
||
|
|
CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
|
||
|
|
CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));
|
||
|
|
|
||
|
|
CHECK_EQUAL(true, motorControl.isLampOn);
|
||
|
|
CHECK_EQUAL(0, motorControl.setSpeedCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.speed);
|
||
|
|
CHECK_EQUAL(1, motorControl.startCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stopCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stoppedCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.unknownCount);
|
||
|
|
|
||
|
|
// Send emergency Stop event.
|
||
|
|
motorControl.receive(Stop(true));
|
||
|
|
|
||
|
|
// Now in Locked state via Idle state.
|
||
|
|
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state_id()));
|
||
|
|
CHECK_EQUAL(StateId::Locked, int(motorControl.get_state().get_state_id()));
|
||
|
|
|
||
|
|
CHECK_EQUAL(false, motorControl.isLampOn);
|
||
|
|
CHECK_EQUAL(0, motorControl.setSpeedCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.speed);
|
||
|
|
CHECK_EQUAL(1, motorControl.startCount);
|
||
|
|
CHECK_EQUAL(1, motorControl.stopCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stoppedCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.unknownCount);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
TEST(test_fsm_recursive_event)
|
||
|
|
{
|
||
|
|
etl::null_message_router nmr;
|
||
|
|
|
||
|
|
motorControl.Initialise(stateList, ETL_OR_STD17::size(stateList));
|
||
|
|
motorControl.reset();
|
||
|
|
motorControl.ClearStatistics();
|
||
|
|
|
||
|
|
motorControl.messageQueue.clear();
|
||
|
|
|
||
|
|
// Start the FSM.
|
||
|
|
motorControl.start(false);
|
||
|
|
|
||
|
|
// Now in Idle state.
|
||
|
|
// Send Start event.
|
||
|
|
motorControl.receive(Recursive());
|
||
|
|
|
||
|
|
CHECK_EQUAL(1U, motorControl.messageQueue.size());
|
||
|
|
|
||
|
|
// Send the queued message.
|
||
|
|
motorControl.receive(motorControl.messageQueue.front().get());
|
||
|
|
motorControl.messageQueue.pop();
|
||
|
|
|
||
|
|
// Now in Running state.
|
||
|
|
|
||
|
|
CHECK_EQUAL(StateId::Running, int(motorControl.get_state_id()));
|
||
|
|
CHECK_EQUAL(StateId::Running, int(motorControl.get_state().get_state_id()));
|
||
|
|
|
||
|
|
CHECK_EQUAL(true, motorControl.isLampOn);
|
||
|
|
CHECK_EQUAL(0, motorControl.setSpeedCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.speed);
|
||
|
|
CHECK_EQUAL(1, motorControl.startCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stopCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.stoppedCount);
|
||
|
|
CHECK_EQUAL(0, motorControl.unknownCount);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
TEST(test_fsm_supported)
|
||
|
|
{
|
||
|
|
CHECK(motorControl.accepts(EventId::Set_Speed));
|
||
|
|
CHECK(motorControl.accepts(EventId::Start));
|
||
|
|
CHECK(motorControl.accepts(EventId::Stop));
|
||
|
|
CHECK(motorControl.accepts(EventId::Stopped));
|
||
|
|
CHECK(motorControl.accepts(EventId::Unsupported));
|
||
|
|
|
||
|
|
CHECK(motorControl.accepts(SetSpeed(0)));
|
||
|
|
CHECK(motorControl.accepts(Start()));
|
||
|
|
CHECK(motorControl.accepts(Stop()));
|
||
|
|
CHECK(motorControl.accepts(Stopped()));
|
||
|
|
CHECK(motorControl.accepts(Unsupported()));
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
TEST(test_fsm_no_states)
|
||
|
|
{
|
||
|
|
MotorControl mc;
|
||
|
|
|
||
|
|
// No states.
|
||
|
|
etl::ifsm_state** stateList = nullptr;
|
||
|
|
|
||
|
|
CHECK_THROW(mc.set_states(stateList, 0U), etl::fsm_state_list_exception);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
TEST(test_fsm_null_state)
|
||
|
|
{
|
||
|
|
MotorControl mc;
|
||
|
|
|
||
|
|
// Null state.
|
||
|
|
etl::ifsm_state* stateList[StateId::Number_Of_States] =
|
||
|
|
{
|
||
|
|
&idle, &running,& windingDown, nullptr
|
||
|
|
};
|
||
|
|
|
||
|
|
CHECK_THROW(mc.set_states(stateList, StateId::Number_Of_States), etl::fsm_null_state_exception);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
TEST(test_fsm_incorrect_state_order)
|
||
|
|
{
|
||
|
|
MotorControl mc;
|
||
|
|
|
||
|
|
// Incorrect order.
|
||
|
|
etl::ifsm_state* stateList[StateId::Number_Of_States] =
|
||
|
|
{
|
||
|
|
&idle, &windingDown, &running, &locked
|
||
|
|
};
|
||
|
|
|
||
|
|
CHECK_THROW(mc.set_states(stateList, StateId::Number_Of_States), etl::fsm_state_list_order_exception);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
TEST(test_fsm_self_transition)
|
||
|
|
{
|
||
|
|
MotorControl motorControl;
|
||
|
|
|
||
|
|
motorControl.Initialise(stateList, ETL_OR_STD17::size(stateList));
|
||
|
|
motorControl.reset();
|
||
|
|
motorControl.ClearStatistics();
|
||
|
|
|
||
|
|
// Start the FSM.
|
||
|
|
motorControl.start(false);
|
||
|
|
|
||
|
|
CHECK_FALSE(motorControl.exited_state);
|
||
|
|
CHECK_FALSE(motorControl.entered_state);
|
||
|
|
|
||
|
|
// Execute self transition.
|
||
|
|
motorControl.receive(SelfTransition());
|
||
|
|
|
||
|
|
CHECK_EQUAL(size_t(SelfTransition::ID), size_t(motorControl.last_event_id));
|
||
|
|
CHECK_EQUAL(size_t(etl::ifsm_state::Self_Transition), size_t(motorControl.last_returned_state_id));
|
||
|
|
|
||
|
|
CHECK_TRUE(motorControl.exited_state);
|
||
|
|
CHECK_TRUE(motorControl.entered_state);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
TEST(test_fsm_no_states_and_no_start)
|
||
|
|
{
|
||
|
|
MotorControl mc;
|
||
|
|
|
||
|
|
CHECK_THROW(mc.receive(Start()), etl::fsm_not_started);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
}
|