kraftort/tests/test_arbitration.cpp

#include <unity.h>

#include "config.h"
#include "state_machine.h"

namespace {
using DeviceState = kraftort::state::DeviceState;

void advanceToGpsWait(kraftort::state::StateMachine& sm) {
  kraftort::state::StateInputs in{};
  sm.begin(0);
  in.now_ms = kraftort::config::kBootVisualMs + 10;
  sm.update(in);
  in = {};
  in.now_ms = sm.stateSinceMs() + 10;
  in.button_short_press = true;
  sm.update(in);
}

void advanceToActive(kraftort::state::StateMachine& sm) {
  advanceToGpsWait(sm);
  kraftort::state::StateInputs in{};
  const uint32_t gps_wait_entry = sm.stateSinceMs();
  for (uint32_t sample = 0; sample < kraftort::config::kFixStableSamples; ++sample) {
    in.now_ms = gps_wait_entry + (sample + 1) * 10;
    in.gps_has_fix = true;
    sm.update(in);
  }
}

}  // namespace

void test_boot_to_ble_and_gps_wait() {
  kraftort::state::StateMachine sm;
  sm.begin(0);
  TEST_ASSERT_EQUAL_INT(static_cast<int>(kraftort::state::DeviceState::Boot),
                        static_cast<int>(sm.state()));

  kraftort::state::StateInputs in;
  in.now_ms = 900;
  sm.update(in);
  TEST_ASSERT_EQUAL_INT(static_cast<int>(kraftort::state::DeviceState::BleMaintenance),
                        static_cast<int>(sm.state()));

  in = {};
  in.now_ms = 1000;
  in.button_short_press = true;
  sm.update(in);
  TEST_ASSERT_EQUAL_INT(static_cast<int>(kraftort::state::DeviceState::GpsWait),
                        static_cast<int>(sm.state()));
}

void test_stable_fix_required_for_active() {
  kraftort::state::StateMachine sm;
  sm.begin(0);
  kraftort::state::StateInputs in;
  in.now_ms = 900;
  sm.update(in);
  in = {};
  in.now_ms = 1000;
  in.button_short_press = true;
  sm.update(in);

  in = {};
  in.now_ms = 1200;
  in.gps_has_fix = true;
  sm.update(in);
  in.now_ms = 1300;
  sm.update(in);
  TEST_ASSERT_EQUAL_INT(static_cast<int>(kraftort::state::DeviceState::GpsWait),
                        static_cast<int>(sm.state()));

  in.now_ms = 1400;
  sm.update(in);
  TEST_ASSERT_EQUAL_INT(static_cast<int>(kraftort::state::DeviceState::Active),
                        static_cast<int>(sm.state()));
}

void test_long_press_deep_sleep() {
  kraftort::state::StateMachine sm;
  sm.begin(0);
  kraftort::state::StateInputs in;
  in.now_ms = 100;
  in.button_long_press = true;
  sm.update(in);
  TEST_ASSERT_EQUAL_INT(static_cast<int>(kraftort::state::DeviceState::DeepSleep),
                        static_cast<int>(sm.state()));
}

void test_ble_window_timeout_transitions_to_gps_wait() {
  kraftort::state::StateMachine sm;
  kraftort::state::StateInputs in;
  sm.begin(0);
  in.now_ms = kraftort::config::kBootVisualMs + 10;
  sm.update(in);
  in = {};
  in.now_ms = sm.stateSinceMs() + kraftort::config::kBleWindowMs;
  sm.update(in);
  TEST_ASSERT_EQUAL_INT(static_cast<int>(DeviceState::GpsWait),
                        static_cast<int>(sm.state()));
  TEST_ASSERT_EQUAL_UINT32(in.now_ms, sm.stateSinceMs());
}

void test_active_reverts_to_gps_wait_when_fix_lost() {
  kraftort::state::StateMachine sm;
  advanceToActive(sm);
  TEST_ASSERT_EQUAL_INT(static_cast<int>(DeviceState::Active),
                        static_cast<int>(sm.state()));

  kraftort::state::StateInputs in;
  in.now_ms = sm.stateSinceMs() + 20;
  in.gps_has_fix = false;
  sm.update(in);
  TEST_ASSERT_EQUAL_INT(static_cast<int>(DeviceState::GpsWait),
                        static_cast<int>(sm.state()));
  TEST_ASSERT_EQUAL_UINT32(in.now_ms, sm.stateSinceMs());

  const uint32_t gps_wait_entry = sm.stateSinceMs();
  for (uint32_t sample = 0; sample < kraftort::config::kFixStableSamples - 1; ++sample) {
    in = {};
    in.now_ms = gps_wait_entry + (sample + 1) * 10;
    in.gps_has_fix = true;
    sm.update(in);
    TEST_ASSERT_EQUAL_INT(static_cast<int>(DeviceState::GpsWait),
                          static_cast<int>(sm.state()));
  }
}

int runUnityTests(void) {
  UNITY_BEGIN();
  RUN_TEST(test_boot_to_ble_and_gps_wait);
  RUN_TEST(test_stable_fix_required_for_active);
  RUN_TEST(test_long_press_deep_sleep);
  RUN_TEST(test_ble_window_timeout_transitions_to_gps_wait);
  RUN_TEST(test_active_reverts_to_gps_wait_when_fix_lost);
  return UNITY_END();
}

#ifdef ARDUINO
#include <Arduino.h>
void setup() { delay(1000); runUnityTests(); }
void loop() {}
#else
int main() { return runUnityTests(); }
#endif