system_fault_injection_tests.cpp File Reference

The whole RT cycle of SystemNode with a controller that misbehaves (FaultyController). More...

#include <algorithm>
#include <chrono>
#include <cmath>
#include <memory>
#include <optional>
#include <string>
#include <vector>
#include "gtest/gtest.h"
#include "diagnostic_msgs/msg/diagnostic_status.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "lifecycle_msgs/msg/transition.hpp"
#include "rclcpp/rclcpp.hpp"
#include "easynav_system/SystemNode.hpp"

Include dependency graph for system_fault_injection_tests.cpp:

Classes
class	SystemFaultInjectionTest

Functions
	TEST_F (SystemFaultInjectionTest, DeactivatingAfterAFaultLeavesTheRobotStopped)
	TEST_F (SystemFaultInjectionTest, FrozenControllerStopsTheRobot)
	TEST_F (SystemFaultInjectionTest, HealthyControllerMovesTheRobotWithoutDiagnostics)
	TEST_F (SystemFaultInjectionTest, HugeCommandsAreClampedToTheRobotLimits)
	TEST_F (SystemFaultInjectionTest, NaNFromTheStartNeverReachesTheRobot)
	TEST_F (SystemFaultInjectionTest, SilentControllerStopsTheRobotAndIsDiagnosed)
	TEST_F (SystemFaultInjectionTest, ThrowingControllerStopsTheRobotAndEasyNavKeepsRunning)

Detailed Description

The whole RT cycle of SystemNode with a controller that misbehaves (FaultyController).

Function Documentation

TEST_F() [1/7]

TEST_F	(	SystemFaultInjectionTest	,
		DeactivatingAfterAFaultLeavesTheRobotStopped	)

TEST_F() [2/7]

TEST_F	(	SystemFaultInjectionTest	,
		FrozenControllerStopsTheRobot	)

TEST_F() [3/7]

TEST_F	(	SystemFaultInjectionTest	,
		HealthyControllerMovesTheRobotWithoutDiagnostics	)

TEST_F() [4/7]

TEST_F	(	SystemFaultInjectionTest	,
		HugeCommandsAreClampedToTheRobotLimits	)

TEST_F() [5/7]

TEST_F	(	SystemFaultInjectionTest	,
		NaNFromTheStartNeverReachesTheRobot	)

TEST_F() [6/7]

TEST_F	(	SystemFaultInjectionTest	,
		SilentControllerStopsTheRobotAndIsDiagnosed	)

TEST_F() [7/7]

TEST_F	(	SystemFaultInjectionTest	,
		ThrowingControllerStopsTheRobotAndEasyNavKeepsRunning	)