safety_module_tests.cpp File Reference

The safety module of easynav_system, on its own: configuration fingerprint, parameter freezer and safety supervisor. More...

#include <sys/resource.h>
#include <unistd.h>
#include <algorithm>
#include <chrono>
#include <cmath>
#include <cstdlib>
#include <filesystem>
#include <fstream>
#include <iterator>
#include <limits>
#include <memory>
#include <optional>
#include <string>
#include <utility>
#include <vector>
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "std_msgs/msg/string.hpp"
#include "diagnostic_msgs/msg/diagnostic_status.hpp"
#include "easynav_interfaces/msg/heartbeat.hpp"
#include "easynav_interfaces/msg/safety_status.hpp"
#include "easynav_controller/ControllerNode.hpp"
#include "easynav_core/SafetyChannel.hpp"
#include "easynav_core/VelocityCommand.hpp"
#include "easynav_system/RealTime.hpp"
#include "easynav_system/safety/ConfigurationFingerprint.hpp"
#include "easynav_system/safety/ParameterFreezer.hpp"
#include "easynav_system/safety/SafetySupervisor.hpp"

Include dependency graph for safety_module_tests.cpp:

Classes
class	SafetyModuleTest

Typedefs
using	Nodes
	EasyNav nodes by name.

Functions
	TEST_F (SafetyModuleTest, AnAtomicSetWithOneFrozenChangeIsRejectedWhole)
	TEST_F (SafetyModuleTest, AnOldRobotPoseInhibitsMotionInSafetyMode)
	TEST_F (SafetyModuleTest, AnOldRobotPoseIsAnErrorOutsideSafetyModeButDoesNotStopTheRobot)
	TEST_F (SafetyModuleTest, AnUninitializedParameterChangesTheDump)
	TEST_F (SafetyModuleTest, DifferentConfigurationsNeverGiveTheSameDump)
	TEST_F (SafetyModuleTest, DisablingTheSafetyStatusOnReconfigureLiftsItsRestrictions)
	TEST_F (SafetyModuleTest, DumpDoesNotDependOnDeclarationOrder)
	TEST_F (SafetyModuleTest, DumpFileNameIncludesTheNamespace)
	TEST_F (SafetyModuleTest, DumpIsReadable)
	TEST_F (SafetyModuleTest, DumpListsEveryParameterSortedByNodeAndName)
	TEST_F (SafetyModuleTest, DumpListsUninitializedParametersWithoutThrowing)
	TEST_F (SafetyModuleTest, FreezingToleratesUninitializedParameters)
	TEST_F (SafetyModuleTest, FrozenParametersCannotChange)
	TEST_F (SafetyModuleTest, HeartbeatAndRtMonitorParametersAreChecked)
	TEST_F (SafetyModuleTest, HeartbeatIsPublishedAtItsPeriodFromTheRtCycle)
	TEST_F (SafetyModuleTest, LoadedPluginsComeFromTheTypesParameters)
	TEST_F (SafetyModuleTest, LoadedPluginsSkipAnUninitializedTypesParameter)
	TEST_F (SafetyModuleTest, LockMemoryFailsToConfigureWithAFiniteMemlockLimit)
	TEST_F (SafetyModuleTest, LogDirectoryFollowsRosLogDir)
	TEST_F (SafetyModuleTest, MaxPoseAgeIsChecked)
	TEST_F (SafetyModuleTest, MemoryLockIsRequestedIndependentlyOfTheSafetyMode)
	TEST_F (SafetyModuleTest, NewParametersOnlyWhileConfiguringInSafetyMode)
	TEST_F (SafetyModuleTest, NoHeartbeatIfItsPeriodIsZero)
	TEST_F (SafetyModuleTest, NoRobotPoseOrNotLocalizedYetOrOffIsNotChecked)
	TEST_F (SafetyModuleTest, RtDiagnosticFollowsTheMonitorOutsideSafetyMode)
	TEST_F (SafetyModuleTest, SafetyModeFailsToConfigureWithoutRealTimeScheduling)
	TEST_F (SafetyModuleTest, SafetyStatusTimeoutIsChecked)
	TEST_F (SafetyModuleTest, SaveDumpWritesOnceAndCreatesTheDirectories)
	TEST_F (SafetyModuleTest, Sha256MatchesKnownVectors)
	TEST_F (SafetyModuleTest, SupervisorChecksTheControllerAgainstTheSafetyLimits)
	TEST_F (SafetyModuleTest, SupervisorChecksTheSafetyLimits)
	TEST_F (SafetyModuleTest, SupervisorFingerprintsAndFreezesOnlyInSafetyMode)
	TEST_F (SafetyModuleTest, SupervisorRequiresTheCommandGuardInSafetyMode)
	TEST_F (SafetyModuleTest, SupervisorSavesAndPublishesTheConfiguration)
	TEST_F (SafetyModuleTest, TheHeartbeatCarriesTheRtStatus)
	TEST_F (SafetyModuleTest, TheHeartbeatIsRequiredInSafetyMode)
	TEST_F (SafetyModuleTest, TheRobotPoseAgeIsReportedOnlyOnChanges)
	TEST_F (SafetyModuleTest, TheSafetyChannelStateIsWrittenEveryRtCycleAndReportedOnChanges)
	TEST_F (SafetyModuleTest, TheSafetyStatusIsRequiredInSafetyMode)
	TEST_F (SafetyModuleTest, TooManyLateRtCyclesStopEasyNavInSafetyMode)
	TEST_F (SafetyModuleTest, WithoutSafetyStatusThereIsNoRestriction)

Detailed Description

The safety module of easynav_system, on its own: configuration fingerprint, parameter freezer and safety supervisor.

Typedef Documentation

Nodes

using Nodes

EasyNav nodes by name.

Function Documentation

TEST_F() [1/41]

TEST_F	(	SafetyModuleTest	,
		AnAtomicSetWithOneFrozenChangeIsRejectedWhole	)

TEST_F() [2/41]

TEST_F	(	SafetyModuleTest	,
		AnOldRobotPoseInhibitsMotionInSafetyMode	)

TEST_F() [3/41]

TEST_F	(	SafetyModuleTest	,
		AnOldRobotPoseIsAnErrorOutsideSafetyModeButDoesNotStopTheRobot	)

TEST_F() [4/41]

TEST_F	(	SafetyModuleTest	,
		AnUninitializedParameterChangesTheDump	)

TEST_F() [5/41]

TEST_F	(	SafetyModuleTest	,
		DifferentConfigurationsNeverGiveTheSameDump	)

TEST_F() [6/41]

TEST_F	(	SafetyModuleTest	,
		DisablingTheSafetyStatusOnReconfigureLiftsItsRestrictions	)

TEST_F() [7/41]

TEST_F	(	SafetyModuleTest	,
		DumpDoesNotDependOnDeclarationOrder	)

TEST_F() [8/41]

TEST_F	(	SafetyModuleTest	,
		DumpFileNameIncludesTheNamespace	)

TEST_F() [9/41]

TEST_F	(	SafetyModuleTest	,
		DumpIsReadable	)

TEST_F() [10/41]

TEST_F	(	SafetyModuleTest	,
		DumpListsEveryParameterSortedByNodeAndName	)

TEST_F() [11/41]

TEST_F	(	SafetyModuleTest	,
		DumpListsUninitializedParametersWithoutThrowing	)

TEST_F() [12/41]

TEST_F	(	SafetyModuleTest	,
		FreezingToleratesUninitializedParameters	)

TEST_F() [13/41]

TEST_F	(	SafetyModuleTest	,
		FrozenParametersCannotChange	)

TEST_F() [14/41]

TEST_F	(	SafetyModuleTest	,
		HeartbeatAndRtMonitorParametersAreChecked	)

TEST_F() [15/41]

TEST_F	(	SafetyModuleTest	,
		HeartbeatIsPublishedAtItsPeriodFromTheRtCycle	)

TEST_F() [16/41]

TEST_F	(	SafetyModuleTest	,
		LoadedPluginsComeFromTheTypesParameters	)

TEST_F() [17/41]

TEST_F	(	SafetyModuleTest	,
		LoadedPluginsSkipAnUninitializedTypesParameter	)

TEST_F() [18/41]

TEST_F	(	SafetyModuleTest	,
		LockMemoryFailsToConfigureWithAFiniteMemlockLimit	)

TEST_F() [19/41]

TEST_F	(	SafetyModuleTest	,
		LogDirectoryFollowsRosLogDir	)

TEST_F() [20/41]

TEST_F	(	SafetyModuleTest	,
		MaxPoseAgeIsChecked	)

TEST_F() [21/41]

TEST_F	(	SafetyModuleTest	,
		MemoryLockIsRequestedIndependentlyOfTheSafetyMode	)

TEST_F() [22/41]

TEST_F	(	SafetyModuleTest	,
		NewParametersOnlyWhileConfiguringInSafetyMode	)

TEST_F() [23/41]

TEST_F	(	SafetyModuleTest	,
		NoHeartbeatIfItsPeriodIsZero	)

TEST_F() [24/41]

TEST_F	(	SafetyModuleTest	,
		NoRobotPoseOrNotLocalizedYetOrOffIsNotChecked	)

TEST_F() [25/41]

TEST_F	(	SafetyModuleTest	,
		RtDiagnosticFollowsTheMonitorOutsideSafetyMode	)

TEST_F() [26/41]

TEST_F	(	SafetyModuleTest	,
		SafetyModeFailsToConfigureWithoutRealTimeScheduling	)

TEST_F() [27/41]

TEST_F	(	SafetyModuleTest	,
		SafetyStatusTimeoutIsChecked	)

TEST_F() [28/41]

TEST_F	(	SafetyModuleTest	,
		SaveDumpWritesOnceAndCreatesTheDirectories	)

TEST_F() [29/41]

TEST_F	(	SafetyModuleTest	,
		Sha256MatchesKnownVectors	)

TEST_F() [30/41]

TEST_F	(	SafetyModuleTest	,
		SupervisorChecksTheControllerAgainstTheSafetyLimits	)

TEST_F() [31/41]

TEST_F	(	SafetyModuleTest	,
		SupervisorChecksTheSafetyLimits	)

TEST_F() [32/41]

TEST_F	(	SafetyModuleTest	,
		SupervisorFingerprintsAndFreezesOnlyInSafetyMode	)

TEST_F() [33/41]

TEST_F	(	SafetyModuleTest	,
		SupervisorRequiresTheCommandGuardInSafetyMode	)

TEST_F() [34/41]

TEST_F	(	SafetyModuleTest	,
		SupervisorSavesAndPublishesTheConfiguration	)

TEST_F() [35/41]

TEST_F	(	SafetyModuleTest	,
		TheHeartbeatCarriesTheRtStatus	)

TEST_F() [36/41]

TEST_F	(	SafetyModuleTest	,
		TheHeartbeatIsRequiredInSafetyMode	)

TEST_F() [37/41]

TEST_F	(	SafetyModuleTest	,
		TheRobotPoseAgeIsReportedOnlyOnChanges	)

TEST_F() [38/41]

TEST_F	(	SafetyModuleTest	,
		TheSafetyChannelStateIsWrittenEveryRtCycleAndReportedOnChanges	)

TEST_F() [39/41]

TEST_F	(	SafetyModuleTest	,
		TheSafetyStatusIsRequiredInSafetyMode	)

TEST_F() [40/41]

TEST_F	(	SafetyModuleTest	,
		TooManyLateRtCyclesStopEasyNavInSafetyMode	)

TEST_F() [41/41]

TEST_F	(	SafetyModuleTest	,
		WithoutSafetyStatusThereIsNoRestriction	)