system_safety_mode_tests.cpp File Reference

Configuration validation, safety mode, frozen configuration and configuration hash. More...

#include <algorithm>
#include <atomic>
#include <chrono>
#include <iterator>
#include <limits>
#include <memory>
#include <optional>
#include <thread>
#include <regex>
#include <string>
#include <vector>
#include "gtest/gtest.h"
#include "diagnostic_msgs/msg/diagnostic_status.hpp"
#include "easynav_interfaces/msg/heartbeat.hpp"
#include "easynav_interfaces/msg/safety_status.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "lifecycle_msgs/msg/transition.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "rclcpp/rclcpp.hpp"
#include "easynav_core/SafetyChannel.hpp"
#include "easynav_system/RealTime.hpp"
#include "easynav_system/SystemNode.hpp"

Include dependency graph for system_safety_mode_tests.cpp:

Classes
class	SystemSafetyChannelTest
class	SystemSafetyModeTest

Functions
	TEST_F (SystemSafetyChannelTest, AnInvalidSafetyStatusStopsTheRobot)
	TEST_F (SystemSafetyChannelTest, AProtectiveStopStopsTheRobotAndItResumesFromZero)
	TEST_F (SystemSafetyChannelTest, ASpeedLimitSlowsTheRobotDownAndIsLifted)
	TEST_F (SystemSafetyChannelTest, InvalidSafetyStatusTimeoutsFailToConfigure)
	TEST_F (SystemSafetyChannelTest, LosingTheSafetyStatusStopsTheRobot)
	TEST_F (SystemSafetyChannelTest, TheRobotOnlyMovesWithAValidSafetyStatus)
	TEST_F (SystemSafetyChannelTest, WithoutSafetyStatusNothingChanges)
	TEST_F (SystemSafetyModeTest, AComponentBlockingLongerThanAWindowIsReported)
	TEST_F (SystemSafetyModeTest, AComponentFasterThanTheSystemCycleFailsToConfigure)
	TEST_F (SystemSafetyModeTest, AComponentKeepingItsFrequencyIsReportedOk)
	TEST_F (SystemSafetyModeTest, AComponentThatCannotKeepItsFrequencyIsOnlyAWarning)
	TEST_F (SystemSafetyModeTest, AControllerOverrunningTheRtCycleIsOnlyReportedOutsideSafetyMode)
	TEST_F (SystemSafetyModeTest, AControllerOverrunningTheRtCycleStopsEasyNavInSafetyMode)
	TEST_F (SystemSafetyModeTest, AnInactivePeriodIsNotALateCycle)
	TEST_F (SystemSafetyModeTest, AnOldRobotPoseBrakesTheRobotInSafetyMode)
	TEST_F (SystemSafetyModeTest, ASlowControllerWithinTheToleranceIsNotReported)
	TEST_F (SystemSafetyModeTest, ConfigurationHashFollowsReconfigurations)
	TEST_F (SystemSafetyModeTest, ConfigurationHashIsAStableSha256OfEveryParameter)
	TEST_F (SystemSafetyModeTest, DefaultsConfigureOutsideSafetyMode)
	TEST_F (SystemSafetyModeTest, InvalidRobotLimitsFailToConfigureAndLeaveNothingConfigured)
	TEST_F (SystemSafetyModeTest, InvalidSystemParametersFailToConfigureInAnyMode)
	TEST_F (SystemSafetyModeTest, IsolatedOverrunsDoNotStopEasyNavInSafetyMode)
	TEST_F (SystemSafetyModeTest, LateRtCyclesAreOnlyReportedOutsideSafetyMode)
	TEST_F (SystemSafetyModeTest, LateRtCyclesStopEasyNavInSafetyMode)
	TEST_F (SystemSafetyModeTest, OutsideSafetyModeTheConfigurationIsNotFrozen)
	TEST_F (SystemSafetyModeTest, RobotLimitsMayNotExceedTheSafetyLimitsWhenGiven)
	TEST_F (SystemSafetyModeTest, SafetyModeConfiguresWithEverythingItRequires)
	TEST_F (SystemSafetyModeTest, SafetyModeFailsToConfigureWithoutWhatItRequires)
	TEST_F (SystemSafetyModeTest, SafetyModeFreezesTheConfiguration)
	TEST_F (SystemSafetyModeTest, SafetyModeRejectsReconfigurationRequests)
	TEST_F (SystemSafetyModeTest, TheHeartbeatStopsWhenTheRtCycleStops)
	TEST_F (SystemSafetyModeTest, TheTimeInactiveIsNotSlowness)
	TEST_F (SystemSafetyModeTest, UninitializedParametersDoNotBreakTheFrequencyCheck)

Detailed Description

Configuration validation, safety mode, frozen configuration and configuration hash.

Function Documentation

TEST_F() [1/33]

TEST_F	(	SystemSafetyChannelTest	,
		AnInvalidSafetyStatusStopsTheRobot	)

TEST_F() [2/33]

TEST_F	(	SystemSafetyChannelTest	,
		AProtectiveStopStopsTheRobotAndItResumesFromZero	)

TEST_F() [3/33]

TEST_F	(	SystemSafetyChannelTest	,
		ASpeedLimitSlowsTheRobotDownAndIsLifted	)

TEST_F() [4/33]

TEST_F	(	SystemSafetyChannelTest	,
		InvalidSafetyStatusTimeoutsFailToConfigure	)

TEST_F() [5/33]

TEST_F	(	SystemSafetyChannelTest	,
		LosingTheSafetyStatusStopsTheRobot	)

TEST_F() [6/33]

TEST_F	(	SystemSafetyChannelTest	,
		TheRobotOnlyMovesWithAValidSafetyStatus	)

TEST_F() [7/33]

TEST_F	(	SystemSafetyChannelTest	,
		WithoutSafetyStatusNothingChanges	)

TEST_F() [8/33]

TEST_F	(	SystemSafetyModeTest	,
		AComponentBlockingLongerThanAWindowIsReported	)

TEST_F() [9/33]

TEST_F	(	SystemSafetyModeTest	,
		AComponentFasterThanTheSystemCycleFailsToConfigure	)

TEST_F() [10/33]

TEST_F	(	SystemSafetyModeTest	,
		AComponentKeepingItsFrequencyIsReportedOk	)

TEST_F() [11/33]

TEST_F	(	SystemSafetyModeTest	,
		AComponentThatCannotKeepItsFrequencyIsOnlyAWarning	)

TEST_F() [12/33]

TEST_F	(	SystemSafetyModeTest	,
		AControllerOverrunningTheRtCycleIsOnlyReportedOutsideSafetyMode	)

TEST_F() [13/33]

TEST_F	(	SystemSafetyModeTest	,
		AControllerOverrunningTheRtCycleStopsEasyNavInSafetyMode	)

TEST_F() [14/33]

TEST_F	(	SystemSafetyModeTest	,
		AnInactivePeriodIsNotALateCycle	)

TEST_F() [15/33]

TEST_F	(	SystemSafetyModeTest	,
		AnOldRobotPoseBrakesTheRobotInSafetyMode	)

TEST_F() [16/33]

TEST_F	(	SystemSafetyModeTest	,
		ASlowControllerWithinTheToleranceIsNotReported	)

TEST_F() [17/33]

TEST_F	(	SystemSafetyModeTest	,
		ConfigurationHashFollowsReconfigurations	)

TEST_F() [18/33]

TEST_F	(	SystemSafetyModeTest	,
		ConfigurationHashIsAStableSha256OfEveryParameter	)

TEST_F() [19/33]

TEST_F	(	SystemSafetyModeTest	,
		DefaultsConfigureOutsideSafetyMode	)

TEST_F() [20/33]

TEST_F	(	SystemSafetyModeTest	,
		InvalidRobotLimitsFailToConfigureAndLeaveNothingConfigured	)

TEST_F() [21/33]

TEST_F	(	SystemSafetyModeTest	,
		InvalidSystemParametersFailToConfigureInAnyMode	)

TEST_F() [22/33]

TEST_F	(	SystemSafetyModeTest	,
		IsolatedOverrunsDoNotStopEasyNavInSafetyMode	)

TEST_F() [23/33]

TEST_F	(	SystemSafetyModeTest	,
		LateRtCyclesAreOnlyReportedOutsideSafetyMode	)

TEST_F() [24/33]

TEST_F	(	SystemSafetyModeTest	,
		LateRtCyclesStopEasyNavInSafetyMode	)

TEST_F() [25/33]

TEST_F	(	SystemSafetyModeTest	,
		OutsideSafetyModeTheConfigurationIsNotFrozen	)

TEST_F() [26/33]

TEST_F	(	SystemSafetyModeTest	,
		RobotLimitsMayNotExceedTheSafetyLimitsWhenGiven	)

TEST_F() [27/33]

TEST_F	(	SystemSafetyModeTest	,
		SafetyModeConfiguresWithEverythingItRequires	)

TEST_F() [28/33]

TEST_F	(	SystemSafetyModeTest	,
		SafetyModeFailsToConfigureWithoutWhatItRequires	)

TEST_F() [29/33]

TEST_F	(	SystemSafetyModeTest	,
		SafetyModeFreezesTheConfiguration	)

TEST_F() [30/33]

TEST_F	(	SystemSafetyModeTest	,
		SafetyModeRejectsReconfigurationRequests	)

TEST_F() [31/33]

TEST_F	(	SystemSafetyModeTest	,
		TheHeartbeatStopsWhenTheRtCycleStops	)

TEST_F() [32/33]

TEST_F	(	SystemSafetyModeTest	,
		TheTimeInactiveIsNotSlowness	)

TEST_F() [33/33]

TEST_F	(	SystemSafetyModeTest	,
		UninitializedParametersDoNotBreakTheFrequencyCheck	)