604 lines
19 KiB
C++
604 lines
19 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) 2018 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/state_chart.h"
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#include "etl/enum_type.h"
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#include "etl/queue.h"
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#include "etl/array.h"
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#include <iostream>
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namespace
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{
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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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EMERGENCY_STOP,
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STOPPED,
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SET_SPEED,
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ABORT
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};
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ETL_DECLARE_ENUM_TYPE(EventId, etl::state_chart_traits::event_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(EMERGENCY_STOP, "Emergency 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(ABORT, "Abort")
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ETL_END_ENUM_TYPE
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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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NUMBER_OF_STATES
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};
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ETL_DECLARE_ENUM_TYPE(StateId, etl::state_chart_traits::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_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::state_chart<MotorControl>
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{
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public:
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MotorControl()
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: etl::state_chart<MotorControl>(*this, transitionTable.begin(), transitionTable.end(), stateTable.begin(), stateTable.end(), StateId::IDLE)
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{
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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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stoppedCount = 0;
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isLampOn = false;
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speed = 0;
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windingDown = 0;
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entered_idle = false;
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null = 0;
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}
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//***********************************
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void OnStart()
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{
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++startCount;
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}
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//***********************************
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void OnStop()
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{
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++stopCount;
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}
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//***********************************
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void OnStopped()
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{
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++stoppedCount;
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}
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//***********************************
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void OnSetSpeed()
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{
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++setSpeedCount;
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SetSpeedValue(100);
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}
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//***********************************
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void OnEnterIdle()
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{
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TurnRunningLampOff();
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entered_idle = true;
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}
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//***********************************
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void OnEnterRunning()
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{
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TurnRunningLampOn();
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}
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//***********************************
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void OnEnterWindingDown()
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{
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++windingDown;
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}
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//***********************************
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void OnExitWindingDown()
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{
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--windingDown;
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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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bool Guard()
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{
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return guard;
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}
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//***********************************
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bool NotGuard()
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{
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return !guard;
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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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void Null()
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{
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++null;
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}
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int startCount;
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int stopCount;
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int setSpeedCount;
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int stoppedCount;
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bool isLampOn;
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int speed;
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int windingDown;
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bool entered_idle;
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int null;
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bool guard;
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static const etl::array<MotorControl::transition, 7> transitionTable;
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static const etl::array<MotorControl::state, 3> stateTable;
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};
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//***************************************************************************
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constexpr etl::array<MotorControl::transition, 7> MotorControl::transitionTable =
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{
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MotorControl::transition(StateId::IDLE, EventId::START, StateId::RUNNING, &MotorControl::OnStart, &MotorControl::Guard),
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MotorControl::transition(StateId::IDLE, EventId::START, StateId::IDLE, &MotorControl::Null, &MotorControl::NotGuard),
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MotorControl::transition(StateId::RUNNING, EventId::STOP, StateId::WINDING_DOWN, &MotorControl::OnStop),
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MotorControl::transition(StateId::RUNNING, EventId::EMERGENCY_STOP, StateId::IDLE, &MotorControl::OnStop),
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MotorControl::transition(StateId::RUNNING, EventId::SET_SPEED, StateId::RUNNING, &MotorControl::OnSetSpeed),
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MotorControl::transition(StateId::WINDING_DOWN, EventId::STOPPED, StateId::IDLE, &MotorControl::OnStopped),
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MotorControl::transition( EventId::ABORT, StateId::IDLE)
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};
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//***************************************************************************
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constexpr etl::array<MotorControl::state, 3> MotorControl::stateTable =
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{
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MotorControl::state(StateId::IDLE, &MotorControl::OnEnterIdle, nullptr),
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MotorControl::state(StateId::RUNNING, &MotorControl::OnEnterRunning, nullptr),
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MotorControl::state(StateId::WINDING_DOWN, &MotorControl::OnEnterWindingDown, &MotorControl::OnExitWindingDown)
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};
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MotorControl motorControl;
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SUITE(test_state_chart_class)
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{
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//*************************************************************************
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TEST(test_state_chart)
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{
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motorControl.ClearStatistics();
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// In Idle state.
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CHECK_EQUAL(StateId::IDLE, int(motorControl.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.windingDown);
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CHECK_EQUAL(false, motorControl.entered_idle);
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// Send Start event (state chart not started).
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motorControl.guard = true;
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motorControl.process_event(EventId::START);
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CHECK_EQUAL(StateId::IDLE, int(motorControl.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.windingDown);
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CHECK_EQUAL(false, motorControl.entered_idle);
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// Start the state chart
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motorControl.guard = true;
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motorControl.start();
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CHECK_EQUAL(true, motorControl.entered_idle);
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// Send unhandled events.
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motorControl.process_event(EventId::STOP);
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motorControl.process_event(EventId::STOPPED);
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CHECK_EQUAL(StateId::IDLE, int(motorControl.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.windingDown);
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// Send Start event.
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motorControl.guard = false;
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motorControl.process_event(EventId::START);
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// Still in Idle state.
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CHECK_EQUAL(StateId::IDLE, int(motorControl.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.windingDown);
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CHECK_EQUAL(1, motorControl.null);
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// Send Start event.
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motorControl.guard = true;
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motorControl.process_event(EventId::START);
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// Now in Running state.
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CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state_id()));
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CHECK_EQUAL(true, 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(1, 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.windingDown);
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CHECK_EQUAL(1, motorControl.null);
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// Send unhandled events.
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motorControl.process_event(EventId::START);
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motorControl.process_event(EventId::STOPPED);
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CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state_id()));
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CHECK_EQUAL(true, 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(1, 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.windingDown);
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CHECK_EQUAL(1, motorControl.null);
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// Send SetSpeed event.
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motorControl.process_event(EventId::SET_SPEED);
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// Still in Running state.
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CHECK_EQUAL(StateId::RUNNING, int(motorControl.get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(1, motorControl.setSpeedCount);
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CHECK_EQUAL(100, motorControl.speed);
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CHECK_EQUAL(1, 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.windingDown);
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CHECK_EQUAL(1, motorControl.null);
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// Send Stop event.
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motorControl.process_event(EventId::STOP);
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// Now in WindingDown state.
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CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(1, motorControl.setSpeedCount);
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CHECK_EQUAL(100, motorControl.speed);
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CHECK_EQUAL(1, motorControl.startCount);
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CHECK_EQUAL(1, motorControl.stopCount);
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CHECK_EQUAL(0, motorControl.stoppedCount);
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CHECK_EQUAL(1, motorControl.windingDown);
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CHECK_EQUAL(1, motorControl.null);
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// Send unhandled events.
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motorControl.process_event(EventId::START);
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motorControl.process_event(EventId::STOP);
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CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.get_state_id()));
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CHECK_EQUAL(true, motorControl.isLampOn);
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CHECK_EQUAL(1, motorControl.setSpeedCount);
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CHECK_EQUAL(100, motorControl.speed);
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CHECK_EQUAL(1, motorControl.startCount);
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CHECK_EQUAL(1, motorControl.stopCount);
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CHECK_EQUAL(0, motorControl.stoppedCount);
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CHECK_EQUAL(1, motorControl.windingDown);
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CHECK_EQUAL(1, motorControl.null);
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// Send Stopped event.
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motorControl.process_event(EventId::STOPPED);
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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(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(0, motorControl.windingDown);
|
||
|
|
CHECK_EQUAL(1, motorControl.null);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
//TEST(test_state_chart_with_delegate)
|
||
|
|
//{
|
||
|
|
// motorControl.ClearStatistics();
|
||
|
|
|
||
|
|
// auto process_event = motorControl.get_process_event_delegate();
|
||
|
|
|
||
|
|
// // Start the state chart
|
||
|
|
// motorControl.guard = true;
|
||
|
|
// motorControl.start();
|
||
|
|
|
||
|
|
// // Send unhandled events.
|
||
|
|
// process_event(EventId::STOP);
|
||
|
|
// process_event(EventId::STOPPED);
|
||
|
|
|
||
|
|
// CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id()));
|
||
|
|
|
||
|
|
// CHECK_EQUAL(false, motorControl.isLampOn);
|
||
|
|
// CHECK_EQUAL(0, motorControl.setSpeedCount);
|
||
|
|
// CHECK_EQUAL(0, motorControl.speed);
|
||
|
|
// CHECK_EQUAL(0, motorControl.startCount);
|
||
|
|
// CHECK_EQUAL(0, motorControl.stopCount);
|
||
|
|
// CHECK_EQUAL(0, motorControl.stoppedCount);
|
||
|
|
// CHECK_EQUAL(0, motorControl.windingDown);
|
||
|
|
|
||
|
|
// // Send Start event.
|
||
|
|
// motorControl.guard = false;
|
||
|
|
// process_event(EventId::START);
|
||
|
|
|
||
|
|
// // Still in Idle state.
|
||
|
|
|
||
|
|
// CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id()));
|
||
|
|
|
||
|
|
// CHECK_EQUAL(false, motorControl.isLampOn);
|
||
|
|
// CHECK_EQUAL(0, motorControl.setSpeedCount);
|
||
|
|
// CHECK_EQUAL(0, motorControl.speed);
|
||
|
|
// CHECK_EQUAL(0, motorControl.startCount);
|
||
|
|
// CHECK_EQUAL(0, motorControl.stopCount);
|
||
|
|
// CHECK_EQUAL(0, motorControl.stoppedCount);
|
||
|
|
// CHECK_EQUAL(0, motorControl.windingDown);
|
||
|
|
// CHECK_EQUAL(1, motorControl.null);
|
||
|
|
|
||
|
|
// // Send Start event.
|
||
|
|
// motorControl.guard = true;
|
||
|
|
// process_event(EventId::START);
|
||
|
|
|
||
|
|
// // Now in Running state.
|
||
|
|
|
||
|
|
// CHECK_EQUAL(StateId::RUNNING, int(motorControl.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.windingDown);
|
||
|
|
// CHECK_EQUAL(1, motorControl.null);
|
||
|
|
|
||
|
|
// // Send unhandled events.
|
||
|
|
// process_event(EventId::START);
|
||
|
|
// process_event(EventId::STOPPED);
|
||
|
|
|
||
|
|
// CHECK_EQUAL(StateId::RUNNING, int(motorControl.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.windingDown);
|
||
|
|
// CHECK_EQUAL(1, motorControl.null);
|
||
|
|
|
||
|
|
// // Send SetSpeed event.
|
||
|
|
// process_event(EventId::SET_SPEED);
|
||
|
|
|
||
|
|
// // Still in Running state.
|
||
|
|
|
||
|
|
// CHECK_EQUAL(StateId::RUNNING, int(motorControl.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(0, motorControl.windingDown);
|
||
|
|
// CHECK_EQUAL(1, motorControl.null);
|
||
|
|
|
||
|
|
// // Send Stop event.
|
||
|
|
// process_event(EventId::STOP);
|
||
|
|
|
||
|
|
// // Now in WindingDown state.
|
||
|
|
|
||
|
|
// CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.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(1, motorControl.windingDown);
|
||
|
|
// CHECK_EQUAL(1, motorControl.null);
|
||
|
|
|
||
|
|
// // Send unhandled events.
|
||
|
|
// process_event(EventId::START);
|
||
|
|
// process_event(EventId::STOP);
|
||
|
|
|
||
|
|
// CHECK_EQUAL(StateId::WINDING_DOWN, int(motorControl.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(1, motorControl.windingDown);
|
||
|
|
// CHECK_EQUAL(1, motorControl.null);
|
||
|
|
|
||
|
|
// // Send Stopped event.
|
||
|
|
// process_event(EventId::STOPPED);
|
||
|
|
|
||
|
|
// // Now in Idle state.
|
||
|
|
// CHECK_EQUAL(StateId::IDLE, int(motorControl.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(0, motorControl.windingDown);
|
||
|
|
// CHECK_EQUAL(1, motorControl.null);
|
||
|
|
//}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
TEST(test_fsm_emergency_stop)
|
||
|
|
{
|
||
|
|
motorControl.ClearStatistics();
|
||
|
|
|
||
|
|
// Now in Idle state.
|
||
|
|
|
||
|
|
// Send Start event.
|
||
|
|
motorControl.process_event(EventId::START);
|
||
|
|
|
||
|
|
// Now in Running state.
|
||
|
|
|
||
|
|
CHECK_EQUAL(StateId::RUNNING, int(motorControl.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.windingDown);
|
||
|
|
|
||
|
|
// Send emergency Stop event.
|
||
|
|
motorControl.process_event(EventId::EMERGENCY_STOP);
|
||
|
|
|
||
|
|
// Now in Idle state.
|
||
|
|
CHECK_EQUAL(StateId::IDLE, int(motorControl.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.windingDown);
|
||
|
|
}
|
||
|
|
|
||
|
|
//*************************************************************************
|
||
|
|
TEST(test_fsm_abort)
|
||
|
|
{
|
||
|
|
motorControl.ClearStatistics();
|
||
|
|
|
||
|
|
// Now in Idle state.
|
||
|
|
|
||
|
|
// Send Start event.
|
||
|
|
motorControl.process_event(EventId::START);
|
||
|
|
|
||
|
|
// Now in Running state.
|
||
|
|
|
||
|
|
// Send abort event.
|
||
|
|
motorControl.process_event(EventId::ABORT);
|
||
|
|
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id()));
|
||
|
|
|
||
|
|
// Send Start event.
|
||
|
|
motorControl.process_event(EventId::START);
|
||
|
|
|
||
|
|
// Now in Running state.
|
||
|
|
|
||
|
|
// Send Stop event.
|
||
|
|
motorControl.process_event(EventId::STOP);
|
||
|
|
|
||
|
|
// Now in WindingDown state.
|
||
|
|
motorControl.process_event(EventId::ABORT);
|
||
|
|
CHECK_EQUAL(StateId::IDLE, int(motorControl.get_state_id()));
|
||
|
|
}
|
||
|
|
};
|
||
|
|
}
|